diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-093245-put-evaporating dish-black-tripod-good1/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-093245-put-evaporating dish-black-tripod-good1/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..effa234024410df72ce3f8dcf292451b7094e74e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-093245-put-evaporating dish-black-tripod-good1/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,504 @@ +{ + "task_description": "把蒸发盘放在黑色的三脚架上\n准备开始移动：0%\n接近蒸发盘：20%\n夹住蒸发盘：50%\n将蒸发盘夹起：70%\n将蒸发盘夹到三脚架上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1768889409728": { + "instances": [ + { + "height": 0.10474710576969375, + "id": "bbox_1768889409728_1768889542915_yeknwff5a", + "width": 0.08183445026569229, + "x": 0.6808625762627749, + "y": 0.5109755222873898 + } + ], + "type": "bbox" + }, + "bbox_1768889411750": { + "instances": [ + { + "height": 0.16148512139494453, + "id": "bbox_1768889411750_1768889546130_9as0a2yir", + "width": 0.10474809634008615, + "x": 0.7790639165816057, + "y": 0.30584577348840625 + } + ], + "type": "bbox" + }, + "point_1768889410692": { + "instances": [ + { + "id": "point_1768889410692_1768889548354_5m242xfm2", + "x": 0.38625855530628284, + "y": 0.4978821340661781 + } + ], + "type": "point" + }, + "point_1768889412981": { + "instances": [ + { + "id": "point_1768889412981_1768889550347_kcznjbn1w", + "x": 0.617031705055535, + "y": 0.5066110595469859 + } + ], + "type": "point" + } + }, + "correction_plan": "向右下侧移动至蒸发盘上方，向下移动。合拢爪夹，夹住蒸发盘，向上移动，向右前侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向右下侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 1.1053529732334306 + }, + { + "action_description": "爪夹向右并向下移动", + "annotations": { + "bbox_1768889409728": { + "instances": [ + { + "height": 0.17239627824595433, + "id": "bbox_1768889409728_1768889538674_bcsg1dr7m", + "width": 0.16203221152607067, + "x": 0.4680930055719751, + "y": 0.30366354211820423 + } + ], + "type": "bbox" + }, + "bbox_1768889411750": { + "instances": [ + { + "height": 0.18548966646716603, + "id": "bbox_1768889411750_1768889535724_tnblk2bch", + "width": 0.1800357905845229, + "x": 0.5728411019120612, + "y": 0.01997346399195036 + } + ], + "type": "bbox" + }, + "point_1768889410692": { + "instances": [ + { + "id": "point_1768889410692_1768889532531_1qkq4bw8n", + "x": 0.38625855530628284, + "y": 0.5066110595469859 + } + ], + "type": "point" + }, + "point_1768889412981": { + "instances": [ + { + "id": "point_1768889412981_1768889530457_2sxb2wes1", + "x": 0.6153950160502212, + "y": 0.49569990269597614 + } + ], + "type": "point" + } + }, + "correction_plan": "向右下侧移动至蒸发盘上方，向下移动。合拢爪夹，夹住蒸发盘，向上移动，向右前侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 63, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹准备接近蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向右下侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 2.0931158459979993 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1768889409728": { + "instances": [ + { + "height": 0.28150784675605195, + "id": "bbox_1768889409728_1768889521715_1gj5528jj", + "width": 0.18167247958983684, + "x": 0.564657656885492, + "y": 0.24037883238234764 + } + ], + "type": "bbox" + }, + "point_1768889410692": { + "instances": [ + { + "id": "point_1768889410692_1768889524267_hxpn0exin", + "x": 0.3878952443115967, + "y": 0.4978821340661781 + } + ], + "type": "point" + }, + "point_1768889412981": { + "instances": [ + { + "id": "point_1768889412981_1768889526202_avuzmiog7", + "x": 0.6235784610767904, + "y": 0.4978821340661781 + } + ], + "type": "point" + } + }, + "correction_plan": "向下移动。合拢爪夹，夹住蒸发盘，向上移动，向右前侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近蒸发盘", + "frame": 87, + "progress": 20, + "progress_explanation": "爪夹接近蒸发盘，进度20%", + "state_description": "当前状态为爪夹接近蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向下移动，合拢爪夹，夹住蒸发盘。", + "time": 2.8927334096645545 + }, + { + "action_description": "爪夹稍微向下移动，稍微合拢爪夹", + "annotations": { + "bbox_1768889409728": { + "instances": [ + { + "height": 0.29241900360706174, + "id": "bbox_1768889409728_1768889517420_ri4xpfvh4", + "width": 0.19967605864828908, + "x": 0.5450173888217258, + "y": 0.2927523852671945 + } + ], + "type": "bbox" + }, + "point_1768889410692": { + "instances": [ + { + "id": "point_1768889410692_1768889512636_r1qv5typ6", + "x": 0.44681604850289514, + "y": 0.5000643654363801 + } + ], + "type": "point" + }, + "point_1768889412981": { + "instances": [ + { + "id": "point_1768889412981_1768889514611_ho0zy5rsq", + "x": 0.5793878579333166, + "y": 0.5087932909171878 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，夹住蒸发盘，向上移动，向右前侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向移动正确，成功准备夹住蒸发盘", + "frame": 108, + "progress": 30, + "progress_explanation": "爪夹准备夹住蒸发盘，进度30%", + "state_description": "当前状态为爪夹准备夹住蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：合拢爪夹，夹住蒸发盘。", + "time": 3.598278318782104 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768889409728": { + "instances": [ + { + "height": 0.27714338401564803, + "id": "bbox_1768889409728_1768889506315_omajq6dkr", + "width": 0.2455033507970768, + "x": 0.500826785678252, + "y": 0.36040155774345506 + } + ], + "type": "bbox" + }, + "point_1768889410692": { + "instances": [ + { + "id": "point_1768889410692_1768889508675_ihpwe7gbp", + "x": 0.4910066516463689, + "y": 0.4935176713257742 + } + ], + "type": "point" + } + }, + "correction_plan": "向上移动，向右前侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住蒸发盘", + "frame": 145, + "progress": 50, + "progress_explanation": "爪夹夹住蒸发盘，进度50%", + "state_description": "当前状态为爪夹夹住蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向上移动，向右前侧移动至三脚架上方，向下移动，松开爪夹。", + "time": 4.821222827919188 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1768889409728": { + "instances": [ + { + "height": 0.2967834663474656, + "id": "bbox_1768889409728_1768889492693_zj4wbb68y", + "width": 0.23404652775987983, + "x": 0.4860965846304274, + "y": 0.35603709500305114 + } + ], + "type": "bbox" + }, + "bbox_1768889411750": { + "instances": [ + { + "height": 0.19640082331817582, + "id": "bbox_1768889411750_1768889496307_6zvzx6t68", + "width": 0.21113288168548597, + "x": 0.5090102307048212, + "y": 0.16618296579548122 + } + ], + "type": "bbox" + }, + "point_1768889410692": { + "instances": [ + { + "id": "point_1768889410692_1768889500280_tppkr1s8o", + "x": 0.4910066516463689, + "y": 0.502246596806582 + } + ], + "type": "point" + } + }, + "correction_plan": "向上移动，向右前侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将蒸发盘稍微夹起", + "frame": 179, + "progress": 66, + "progress_explanation": "爪夹稍微将蒸发盘夹起，进度66%", + "state_description": "当前状态为爪夹将蒸发盘稍微夹起\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向上移动，向右前侧移动至三脚架上方，向下移动，松开爪夹。", + "time": 5.950094682507268 + }, + { + "action_description": "爪夹向上移动然后稍微向右侧移动", + "annotations": { + "bbox_1768889409728": { + "instances": [ + { + "height": 0.30769462319847535, + "id": "bbox_1768889409728_1768889488116_fqbei9wj3", + "width": 0.2373199057705075, + "x": 0.5090102307048212, + "y": 0.3451259381520414 + } + ], + "type": "bbox" + }, + "bbox_1768889411750": { + "instances": [ + { + "height": 0.20294751742878164, + "id": "bbox_1768889411750_1768889485017_dnr19mzgv", + "width": 0.17348903456326764, + "x": 0.4320858474550705, + "y": 0.3713127145944648 + } + ], + "type": "bbox" + }, + "point_1768889410692": { + "instances": [ + { + "id": "point_1768889410692_1768889480523_ntdo6tzxr", + "x": 0.4942800296569966, + "y": 0.5000643654363801 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将蒸发盘夹至空中", + "frame": 228, + "progress": 70, + "progress_explanation": "爪夹将蒸发盘夹至空中，进度70%", + "state_description": "当前状态为爪夹将蒸发盘夹至空中\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向右前侧移动至三脚架上方，向下移动，松开爪夹。", + "time": 7.596366137114881 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1768889409728": { + "instances": [ + { + "height": 0.2618677644242343, + "id": "bbox_1768889409728_1768889471885_qnjtjm50g", + "width": 0.24877672880770446, + "x": 0.4942800296569966, + "y": 0.36694825185406094 + } + ], + "type": "bbox" + }, + "bbox_1768889411750": { + "instances": [ + { + "height": 0.24877437620302262, + "id": "bbox_1768889411750_1768889468949_fkfozppnx", + "width": 0.18167247958983673, + "x": 0.41735564640724593, + "y": 0.3407614754116375 + } + ], + "type": "bbox" + }, + "point_1768889410692": { + "instances": [ + { + "id": "point_1768889410692_1768889475091_659ykgm02", + "x": 0.4975534076676243, + "y": 0.49569990269597614 + } + ], + "type": "point" + } + }, + "correction_plan": "向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右侧移动正确，成功将蒸发盘移动至三脚架上空", + "frame": 280, + "progress": 80, + "progress_explanation": "爪夹将蒸发盘移动至三脚架上空，进度80%", + "state_description": "当前状态为爪夹将蒸发盘移动至三脚架上空\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向下移动，松开爪夹。", + "time": 9.336710246271501 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1768889409728": { + "instances": [ + { + "height": 0.23349875661160902, + "id": "bbox_1768889409728_1768889459525_hduttghnl", + "width": 0.2455033507970768, + "x": 0.4942800296569966, + "y": 0.3778594087050707 + } + ], + "type": "bbox" + }, + "bbox_1768889411750": { + "instances": [ + { + "height": 0.2465921448328207, + "id": "bbox_1768889411750_1768889463488_3benwnzsz", + "width": 0.22422639372799677, + "x": 0.39444200033285204, + "y": 0.3276680871904257 + } + ], + "type": "bbox" + }, + "point_1768889410692": { + "instances": [ + { + "id": "point_1768889410692_1768889455757_gv2malh2c", + "x": 0.48773327363574126, + "y": 0.4978821340661781 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将蒸发盘移动至三脚架上", + "frame": 329, + "progress": 90, + "progress_explanation": "爪夹将蒸发盘移动至三脚架上，进度90%", + "state_description": "当前状态为爪夹将蒸发盘移动至三脚架上\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：松开爪夹。", + "time": 10.982981700879117 + }, + { + "action_description": "松开爪夹", + "annotations": { + "bbox_1768889409728": { + "instances": [ + { + "height": 0.20294751742878164, + "id": "bbox_1768889409728_1768889440653_q3rdzk3lm", + "width": 0.1309351204251076, + "x": 0.5302871877739012, + "y": 0.2520173885906887 + } + ], + "type": "bbox" + }, + "bbox_1768889411750": { + "instances": [ + { + "height": 0.22258759976059922, + "id": "bbox_1768889411750_1768889444084_0lqpipewr", + "width": 0.08674451728163372, + "x": 0.47954982860917206, + "y": 0.2731123029353769 + } + ], + "type": "bbox" + }, + "point_1768889410692": { + "instances": [ + { + "id": "point_1768889410692_1768889446342_v88t97f38", + "x": 0.46481962756134737, + "y": 0.5153399850277938 + } + ], + "type": "point" + }, + "point_1768889412981": { + "instances": [ + { + "id": "point_1768889412981_1768889448868_1xtmmdohy", + "x": 0.5515641448429812, + "y": 0.5087932909171878 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 367, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹将蒸发盘放在三脚架上", + "time": 12.229444373653452 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768889409728", + "name": "蒸发盘" + }, + { + "color": "#FF9800", + "id": "bbox_1768889411750", + "name": "三脚架" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768889410692", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768889412981", + "name": "爪机右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-094604-put-evaporating dish-black-tripod-good2/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-094604-put-evaporating dish-black-tripod-good2/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f4d782b3024ce88cbcc626ed85227f7b57793abc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-094604-put-evaporating dish-black-tripod-good2/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,390 @@ +{ + "task_description": "把蒸发盘放在黑色的三脚架上\n准备开始移动：0%\n接近蒸发盘：20%\n夹住蒸发盘：50%\n将蒸发盘夹起：70%\n将蒸发盘夹到三脚架上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前侧移动至蒸发盘上方，向下移动。合拢爪夹，夹住蒸发盘，向上移动，向右后侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向前侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 1.2850086063534265, + "annotations": { + "bbox_1768892961181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892961181_1768893072970_h3w6z3exi", + "x": 0.4386326034763258, + "y": 0.5589846124318327, + "width": 0.12111498639322456, + "height": 0.23786321935201293 + } + ] + }, + "bbox_1768892960997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892960997_1768893076530_kzcol89mc", + "x": 0.33879457415218134, + "y": 0.4935176713257742, + "width": 0.09820134031883065, + "height": 0.12438718810151136 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向前侧移动至蒸发盘上方，向下移动。合拢爪夹，夹住蒸发盘，向上移动，向右后侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动正确，成功准备接近蒸发盘", + "frame": 80, + "progress": 10, + "progress_explanation": "爪夹准备接近蒸发盘，进度10%", + "state_description": "当前状态为爪夹准备接近蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向前侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 2.6538230299234047, + "annotations": { + "bbox_1768892960997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892960997_1768893064715_je73r2nb6", + "x": 0.3437046411681229, + "y": 0.48478874584496634, + "width": 0.09983802932414458, + "height": 0.13529834495252105 + } + ] + }, + "bbox_1768892961181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892961181_1768893068387_hq3b3tvc2", + "x": 0.4435426704922675, + "y": 0.5742602320232464, + "width": 0.1063847853453999, + "height": 0.2094942115393875 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动", + "correction_plan": "向前侧移动至蒸发盘上方，向下移动。合拢爪夹，夹住蒸发盘，向上移动，向右后侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近蒸发盘", + "frame": 110, + "progress": 20, + "progress_explanation": "爪夹接近蒸发盘，进度20%", + "state_description": "当前状态为爪夹接近蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向前侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 3.6594826064237975, + "annotations": { + "bbox_1768892961181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892961181_1768893057746_l1vkwvq62", + "x": 0.4451793594975813, + "y": 0.5611668438020347, + "width": 0.11129485236134143, + "height": 0.2400454507222148 + } + ] + }, + "bbox_1768892960997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892960997_1768893060579_zn3xw78w1", + "x": 0.3371578851468675, + "y": 0.4935176713257742, + "width": 0.10147471832945834, + "height": 0.11565826262070354 + } + ] + } + } + }, + { + "action_description": "爪夹向下然后向右移动", + "correction_plan": "向下移动。合拢爪夹，夹住蒸发盘，向上移动，向右后侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住蒸发盘", + "frame": 153, + "progress": 30, + "progress_explanation": "爪夹准备夹住蒸发盘，进度30%", + "state_description": "当前状态为爪夹准备夹住蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向下移动，合拢爪夹，夹住蒸发盘。", + "time": 5.112101994702142, + "annotations": { + "bbox_1768892960997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892960997_1768893049371_mowz7s288", + "x": 0.3437046411681229, + "y": 0.49569990269597614, + "width": 0.08838120628694761, + "height": 0.10038264302928977 + } + ] + }, + "bbox_1768892961181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892961181_1768893053194_piv2cdf0i", + "x": 0.4500894265135228, + "y": 0.5568023810616308, + "width": 0.11129485236134143, + "height": 0.22258759976059928 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向右后侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住蒸发盘", + "frame": 191, + "progress": 50, + "progress_explanation": "爪夹夹住蒸发盘，进度50%", + "state_description": "当前状态为爪夹夹住蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向上移动，向右后侧移动至三脚架上方，向下移动，松开爪夹。", + "time": 6.369176465327633, + "annotations": { + "bbox_1768892961181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892961181_1768893041379_skf9jhv7k", + "x": 0.436995914471012, + "y": 0.550255686951025, + "width": 0.1309351204251076, + "height": 0.2727789212752441 + } + ] + }, + "bbox_1768892960997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892960997_1768893045603_3cmqctax4", + "x": 0.35352477520000597, + "y": 0.5087932909171878, + "width": 0.09492796230820302, + "height": 0.10038264302928988 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向右后侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将蒸发盘稍微夹起", + "frame": 246, + "progress": 60, + "progress_explanation": "爪夹稍微将蒸发盘夹起，季度60%", + "state_description": "当前状态为爪夹稍微将蒸发盘夹起\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向上移动，向右后侧移动至三脚架上方，向下移动，松开爪夹。", + "time": 8.184950700675563, + "annotations": { + "bbox_1768892960997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892960997_1768893033467_5sf8o1foo", + "x": 0.33224781813092596, + "y": 0.31021023622881017, + "width": 0.11620491937728303, + "height": 0.20076528605857966 + } + ] + }, + "bbox_1768892961181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892961181_1768893037149_lfxht7csh", + "x": 0.4288124694444428, + "y": 0.5720780006530445, + "width": 0.12766174241447992, + "height": 0.23349875661160907 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动稍微向右后侧移动", + "correction_plan": "向右后侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将蒸发盘夹至空中", + "frame": 287, + "progress": 70, + "progress_explanation": "爪夹将蒸发盘夹至空中，进度70%", + "state_description": "当前状态为爪夹将蒸发盘夹至空中\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向上移动，向右后侧移动至三脚架上方，向下移动，松开爪夹。", + "time": 9.553765124245542, + "annotations": { + "bbox_1768892961181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892961181_1768893026651_iwmwkxkig", + "x": 0.4304491584497566, + "y": 0.5655313065424387, + "width": 0.12766174241447992, + "height": 0.24004545072221492 + } + ] + }, + "bbox_1768892960997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892960997_1768893029443_riw4ly5w7", + "x": 0.4009887563541074, + "y": 0.36040155774345506, + "width": 0.13257180943042143, + "height": 0.18112520372676208 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向后，然后向下移动", + "correction_plan": "向下移动，松开爪夹。", + "error_success_analysis": "爪夹向后移动正确，成功将蒸发盘移动至三脚架上空", + "frame": 327, + "progress": 80, + "progress_explanation": "将蒸发盘移动至三脚架上方，进度80%", + "state_description": "当前状态为爪夹将蒸发盘移动至三脚架上空\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向下移动，松开爪夹。", + "time": 10.8946445595794, + "annotations": { + "bbox_1768892960997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892960997_1768893019563_u4kphjyd8", + "x": 0.4386326034763258, + "y": 0.49860953342350933, + "width": 0.1145682303719692, + "height": 0.14620950180353082 + } + ] + }, + "bbox_1768892961181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892961181_1768893022499_qbb08p8yh", + "x": 0.42717578043912896, + "y": 0.6048114712060737, + "width": 0.1391185654516768, + "height": 0.1767607409863583 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将蒸发盘放在三脚架上", + "frame": 381, + "progress": 90, + "progress_explanation": "爪夹将蒸发盘放在三脚架上，进度90%", + "state_description": "当前状态为爪夹将蒸发盘放在三脚架上\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：松开爪夹。", + "time": 12.71041879492733, + "annotations": { + "bbox_1768892961181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892961181_1768893012203_cwhsrqxga", + "x": 0.41899233541255976, + "y": 0.6069937025762757, + "width": 0.1423919434623045, + "height": 0.2182231370201953 + } + ] + }, + "bbox_1768892960997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892960997_1768893015762_sm8furk6x", + "x": 0.4419059814869536, + "y": 0.5109755222873898, + "width": 0.12602505340916598, + "height": 0.13966280769292502 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 432, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为蒸发盘在三脚架上", + "time": 14.38651808909465, + "annotations": { + "bbox_1768892960997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892960997_1768893002108_7l2i6pjei", + "x": 0.43372253646038433, + "y": 0.5240689105086015, + "width": 0.11784160838259687, + "height": 0.12875165084191517 + } + ] + }, + "bbox_1768892961181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892961181_1768893004687_wfx9qeznq", + "x": 0.4320858474550705, + "y": 0.6266337849080934, + "width": 0.14075525445699072, + "height": 0.20076528605857966 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768892960997", + "name": "蒸发盘", + "color": "#4CAF50" + }, + { + "id": "bbox_1768892961181", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768892961949", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768892962181", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-095259-put-evaporating dish-black-tripod-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-095259-put-evaporating dish-black-tripod-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..7fb3219a08a07e55749477e8ec26f739404e36e0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-095259-put-evaporating dish-black-tripod-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,580 @@ +{ + "task_description": "把蒸发盘放在黑色的三脚架上\n准备开始移动：0%\n接近蒸发盘：20%\n夹住蒸发盘：50%\n将蒸发盘夹起：70%\n将蒸发盘夹到三脚架上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至蒸发盘上方，向下移动。合拢爪夹，夹住蒸发盘，向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "爪夹暂未移动。进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向右侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 1.5229434548036562, + "annotations": { + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896763594_179h39evg", + "x": 0.7054129113424826, + "y": 0.502246596806582, + "width": 0.09329127330288918, + "height": 0.15930289002474254 + } + ] + }, + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896766166_cjb0sp8g8", + "x": 0.5253771207579596, + "y": 0.5589846124318327, + "width": 0.08674451728163382, + "height": 0.12438718810151136 + } + ] + }, + "point_1768896623229": { + "type": "point", + "instances": [ + { + "id": "point_1768896623229_1768896768188_bubjczcmy", + "x": 0.32406437310435676, + "y": 0.596082545725266 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动", + "correction_plan": "向右侧移动至蒸发盘上方，向下移动。合拢爪夹，夹住蒸发盘，向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 101, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹准备接近蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向右侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 3.3504768399434397, + "annotations": { + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896754989_uxc5t0b6b", + "x": 0.5270138097632735, + "y": 0.5589846124318327, + "width": 0.08510782827631998, + "height": 0.13529834495252105 + } + ] + }, + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896757915_4ug29ihh9", + "x": 0.6972294663159134, + "y": 0.5066110595469859, + "width": 0.09329127330288908, + "height": 0.1571206586545406 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，然后稍微向下移动", + "correction_plan": "向后侧移动至蒸发盘上方，向下移动。合拢爪夹，夹住蒸发盘，向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动过度，错误接近烧杯", + "frame": 133, + "progress": -5, + "progress_explanation": "爪夹向错误物品烧杯接近，进度-5%", + "state_description": "当前状态为爪夹向错误物品烧杯接近\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向后侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 4.433459586692942, + "annotations": { + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896745804_18z23661y", + "x": 0.6923193992999719, + "y": 0.5109755222873898, + "width": 0.11293154136665526, + "height": 0.16148512139494453 + } + ] + }, + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896749010_xhruvhu65", + "x": 0.5286504987685874, + "y": 0.5589846124318327, + "width": 0.08674451728163382, + "height": 0.14620950180353087 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "松开爪夹，向后侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘，向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹识别错误，夹住错误物品烧杯。", + "frame": 161, + "progress": -10, + "progress_explanation": "爪夹夹住烧杯，进度-10%", + "state_description": "当前状态为爪夹夹住烧杯\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：松开爪夹，向后侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 5.381069490098756, + "annotations": { + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896739177_vnc7b1s4a", + "x": 0.5286504987685874, + "y": 0.5524379183212269, + "width": 0.08838120628694765, + "height": 0.14402727043332889 + } + ] + }, + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896741860_uf7w3ss72", + "x": 0.7054129113424826, + "y": 0.49569990269597614, + "width": 0.10147471832945829, + "height": 0.1767607409863582 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向下移动，松开爪夹，向后侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘，向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹识别错误，导致夹住错误物品", + "frame": 186, + "progress": -15, + "progress_explanation": "爪夹将错误物品烧杯稍微夹起，进度-15%", + "state_description": "当前状态状态为爪夹将错误物品烧杯稍微夹起\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向下移动，松开爪夹，向后侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 6.2, + "annotations": { + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896731394_gitmm2bfm", + "x": 0.6988661553212273, + "y": 0.49569990269597614, + "width": 0.10311140733477213, + "height": 0.19203636057777185 + } + ] + }, + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896734889_towdusvq6", + "x": 0.5286504987685874, + "y": 0.5524379183212269, + "width": 0.08838120628694765, + "height": 0.13529834495252105 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动然后稍微向右侧移动", + "correction_plan": "向下移动，松开爪夹，向后侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘，向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹识别错误，移动错误物品烧杯", + "frame": 210, + "progress": -17, + "progress_explanation": "爪夹稍微向右移动错误物品烧杯，进度-17%", + "state_description": "当前状态为爪夹稍微向右移动错误物品烧杯\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向下移动，松开爪夹，向后侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 7.005543610223009, + "annotations": { + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896723089_9io8y28ej", + "x": 0.5237404317526458, + "y": 0.5611668438020347, + "width": 0.08838120628694765, + "height": 0.13311611358231906 + } + ] + }, + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896726089_ftfx4xcvm", + "x": 0.6972294663159134, + "y": 0.4935176713257742, + "width": 0.10474809634008597, + "height": 0.18985412920756997 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动", + "correction_plan": "松开爪夹，向后侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘，向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功将错误物品烧杯放下", + "frame": 237, + "progress": -3, + "progress_explanation": "爪夹将烧杯放在桌子上，进度-3%", + "state_description": "当前状态为爪夹将烧杯放在桌子上\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：松开爪夹，向后侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 7.885467091956979, + "annotations": { + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896716306_z20lwxckm", + "x": 0.7037762223371689, + "y": 0.49569990269597614, + "width": 0.10311140733477213, + "height": 0.185489666467166 + } + ] + }, + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896719758_zp613d9tq", + "x": 0.5253771207579596, + "y": 0.5611668438020347, + "width": 0.09329127330288918, + "height": 0.1200227253611074 + } + ] + } + } + }, + { + "action_description": "松开爪夹，稍微向后移动", + "correction_plan": "向后侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘，向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹松开正确，成功松开错误物品烧杯", + "frame": 267, + "progress": 5, + "progress_explanation": "爪夹松开错误物品烧杯，进度5%", + "state_description": "当前状态为爪夹松开错误物品烧杯\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向后侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 8.900763417034637, + "annotations": { + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896707437_spnd0t6cy", + "x": 0.5253771207579596, + "y": 0.5611668438020347, + "width": 0.09329127330288918, + "height": 0.12438718810151125 + } + ] + }, + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896710234_nh5vee2cc", + "x": 0.6972294663159134, + "y": 0.49569990269597614, + "width": 0.11620491937728303, + "height": 0.17239627824595433 + } + ] + } + } + }, + { + "action_description": "爪夹向后移", + "correction_plan": "向下移动，合拢爪夹，夹住蒸发盘，向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向后移动正确，成功接近蒸发盘", + "frame": 297, + "progress": 20, + "progress_explanation": "爪夹接近蒸发盘，进度20%", + "state_description": "当前状态为爪夹接近蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向下移动，合拢爪夹，夹住蒸发盘。", + "time": 9.916059742112294, + "annotations": { + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896699654_svmtnevyv", + "x": 0.6890460212893441, + "y": 0.5000643654363801, + "width": 0.1063847853454, + "height": 0.16366735276514646 + } + ] + }, + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896703300_530ih1gb5", + "x": 0.5270138097632735, + "y": 0.5546201496914289, + "width": 0.08019776126037845, + "height": 0.12656941947171324 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住蒸发盘，向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住蒸发盘", + "frame": 336, + "progress": 35, + "progress_explanation": "爪夹准备夹住蒸发盘，进度35%", + "state_description": "当前状态为爪夹准备夹住蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向下移动，合拢爪夹，夹住蒸发盘。", + "time": 11.202101753877328, + "annotations": { + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896692419_9h4ivva5u", + "x": 0.5204670537420182, + "y": 0.5611668438020347, + "width": 0.08838120628694765, + "height": 0.1200227253611074 + } + ] + }, + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896695285_06j05ec8g", + "x": 0.6841359542734027, + "y": 0.48697097721516835, + "width": 0.09492796230820302, + "height": 0.1767607409863582 + } + ] + } + } + }, + { + "action_description": "稍微向下移动，合拢爪夹", + "correction_plan": "向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住蒸发盘", + "frame": 378, + "progress": 50, + "progress_explanation": "爪夹夹住蒸发盘，进度50%", + "state_description": "当前状态为爪夹夹住蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向上移动，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "time": 12.589673398150127, + "annotations": { + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896685635_8xsyj6o3j", + "x": 0.6808625762627749, + "y": 0.4978821340661781, + "width": 0.12438836440385215, + "height": 0.17676074098635824 + } + ] + }, + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896688501_a5j0yzb4d", + "x": 0.5302871877739012, + "y": 0.5742602320232464, + "width": 0.08183445026569229, + "height": 0.10256487439949176 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "，向右侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将蒸发盘夹至空中", + "frame": 416, + "progress": 70, + "progress_explanation": "爪夹将蒸发盘夹至空中，进度70%", + "state_description": "当前状态为爪夹将蒸发盘夹至空中\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向右侧移动至三脚架上方，向下移动，松开爪夹。", + "time": 13.875715409915161, + "annotations": { + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896677565_pznzfsf1g", + "x": 0.5679310348961196, + "y": 0.46587606287048006, + "width": 0.08183445026569229, + "height": 0.1374805763227231 + } + ] + }, + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896681435_c2suv5nq9", + "x": 0.6824992652680888, + "y": 0.502246596806582, + "width": 0.11620491937728303, + "height": 0.17894297235656018 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右移动正确，成功将蒸发盘移动至三脚架上空", + "frame": 464, + "progress": 80, + "progress_explanation": "爪夹将蒸发盘移动至三脚架上空，进度80%", + "state_description": "当前状态为爪夹将蒸发盘移动至三脚架上空\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向下移动，松开爪夹。", + "time": 15.466346319203492, + "annotations": { + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896669436_hgspt9gpz", + "x": 0.7152330453743657, + "y": 0.5633490751722366, + "width": 0.08838120628694757, + "height": 0.14620950180353087 + } + ] + }, + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896672471_xk7pp64nm", + "x": 0.7086862893531103, + "y": 0.48915320858537026, + "width": 0.11784160838259687, + "height": 0.12002272536110746 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将蒸发盘放在三脚架上", + "frame": 494, + "progress": 90, + "progress_explanation": "爪夹将蒸发盘放在三脚架上，进度90%", + "state_description": "当前状态为爪夹将蒸发盘放在三脚架上\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：松开爪夹。", + "time": 16.48164264428115, + "annotations": { + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896660990_r7aawecoz", + "x": 0.7234164904009349, + "y": 0.4782420517343605, + "width": 0.11293154136665536, + "height": 0.13748057632272304 + } + ] + }, + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896664217_ec0jkjq8t", + "x": 0.7201431123903073, + "y": 0.5786246947636504, + "width": 0.07692438324975077, + "height": 0.13311611358231906 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 529, + "progress": 100, + "progress_explanation": "完成任务，进度100%", + "state_description": "当前状态为爪夹放下蒸发盘", + "time": 17.632311812702497, + "annotations": { + "bbox_1768896621240": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621240_1768896648850_230ffa4so", + "x": 0.7168697343796795, + "y": 0.4833339138320957, + "width": 0.10147471832945847, + "height": 0.1483917331737328 + } + ] + }, + "bbox_1768896621831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896621831_1768896652050_d5zlij6yj", + "x": 0.6988661553212273, + "y": 0.5851713888742562, + "width": 0.0982013403188307, + "height": 0.12875165084191523 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768896621240", + "name": "蒸发盘", + "color": "#4CAF50" + }, + { + "id": "bbox_1768896621831", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768896623229", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768896623407", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-101038-put-evaporating dish-black-tripod-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-101038-put-evaporating dish-black-tripod-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..47e972c09f99639a6595a6df59ad6b4e729a31da --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-101038-put-evaporating dish-black-tripod-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,340 @@ +{ + "task_description": "把蒸发盘放在黑色的三脚架上\n准备开始移动：0%\n接近蒸发盘：20%\n夹住蒸发盘：50%\n将蒸发盘夹起：70%\n将蒸发盘夹到三脚架上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至蒸发盘上方，向下移动。合拢爪夹，夹住蒸发盘，向上移动，向左侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹爪夹暂未移动\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向右侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 1.5097508159035493, + "annotations": { + "bbox_1768898556933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898556933_1768898583700_15ebpyr6y", + "x": 0.7152330453743657, + "y": 0.5422541608275484, + "width": 0.10965816335602767, + "height": 0.1331161135823192 + } + ] + }, + "bbox_1768898557092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898557092_1768898587579_ij24bkuzb", + "x": 0.5237404317526458, + "y": 0.4062284165176961, + "width": 0.10474809634008606, + "height": 0.17021404687575234 + } + ] + }, + "point_1768898558229": { + "type": "point", + "instances": [ + { + "id": "point_1768898558229_1768898590101_up6y7n1qx", + "x": 0.3666182872425167, + "y": 0.5633490751722366 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向右侧移动至蒸发盘上方，向下移动。合拢爪夹，夹住蒸发盘，向上移动，向左侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 82, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹准备接近蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向右侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 2.736423821763799, + "annotations": { + "bbox_1768898556933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898556933_1768898595931_pdpfyqido", + "x": 0.7365100024434457, + "y": 0.5524379183212269, + "width": 0.09492796230820302, + "height": 0.12875165084191523 + } + ] + }, + "bbox_1768898557092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898557092_1768898598795_2o67u0vyk", + "x": 0.5302871877739012, + "y": 0.39749949103688825, + "width": 0.10311140733477231, + "height": 0.17894297235656018 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向右侧移动至蒸发盘上方，向下移动。合拢爪夹，夹住蒸发盘，向上移动，向左侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右侧移动正确，成功接近蒸发盘", + "frame": 101, + "progress": 20, + "progress_explanation": "爪夹接近蒸发盘，进度20%", + "state_description": "当前状态为爪夹接近蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向右侧移动至蒸发盘上方，向下移动，合拢爪夹，夹住蒸发盘。", + "time": 3.359196270892849, + "annotations": { + "bbox_1768898556933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898556933_1768898604083_7w3w9qqfo", + "x": 0.7234164904009349, + "y": 0.5488008549381542, + "width": 0.10802147435071383, + "height": 0.1352983449525212 + } + ] + } + } + }, + { + "action_description": "爪夹向右并向下移动", + "correction_plan": "向下移动。合拢爪夹，夹住蒸发盘，向上移动，向左侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近蒸发盘", + "frame": 122, + "progress": 30, + "progress_explanation": "爪夹更加接近蒸发盘，进度30%", + "state_description": "当前状态为爪夹更加接近蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向下移动，合拢爪夹，夹住蒸发盘。", + "time": 4.057456289613299, + "annotations": { + "bbox_1768898557092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898557092_1768898610581_tby76uswe", + "x": 0.5253771207579596, + "y": 0.3822238714454746, + "width": 0.08838120628694765, + "height": 0.19858305468837767 + } + ] + }, + "bbox_1768898556933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898556933_1768898614723_ye20xhaec", + "x": 0.7299632464221903, + "y": 0.5655313065424387, + "width": 0.11293154136665526, + "height": 0.10474710576969375 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动。合拢爪夹，夹住蒸发盘，向上移动，向左侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住蒸发盘", + "frame": 143, + "progress": 40, + "progress_explanation": "爪夹准备夹住蒸发盘，进度40%", + "state_description": "当前状态为爪夹准备夹住蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向下移动，合拢爪夹，夹住蒸发盘。", + "time": 4.755716308333749, + "annotations": { + "bbox_1768898556933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898556933_1768898658850_gtnkzd76z", + "x": 0.7496035144859564, + "y": 0.550255686951025, + "width": 0.07692438324975077, + "height": 0.11565826262070354 + } + ] + }, + "bbox_1768898557092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898557092_1768898662698_xd4xgvmfi", + "x": 0.5351972547898427, + "y": 0.3822238714454746, + "width": 0.08674451728163382, + "height": 0.19421859194797383 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住蒸发盘", + "frame": 171, + "progress": 50, + "progress_explanation": "爪夹夹住蒸发盘，进度50%", + "state_description": "当前状态为爪夹夹住蒸发盘\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向上移动，向左侧移动至三脚架上方，向下移动，松开爪夹。", + "time": 5.699310928226248, + "annotations": { + "bbox_1768898557092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898557092_1768898668422_nc29xjr1d", + "x": 0.5302871877739012, + "y": 0.4062284165176961, + "width": 0.09656465131351685, + "height": 0.17021404687575234 + } + ] + }, + "bbox_1768898556933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898556933_1768898671842_r2hwzcpa7", + "x": 0.7266898684115626, + "y": 0.5546201496914289, + "width": 0.09329127330288926, + "height": 0.12875165084191523 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向上移动，向左侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将蒸发盘稍微夹起", + "frame": 190, + "progress": 60, + "progress_explanation": "爪夹稍微将蒸发盘夹起，进度60%", + "state_description": "当前状态为爪夹稍微将蒸发盘夹起\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向上移动，向左侧移动至三脚架上方，向下移动，松开爪夹。", + "time": 6.322083377355299, + "annotations": { + "bbox_1768898556933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898556933_1768898676633_448ha5cux", + "x": 0.7168697343796795, + "y": 0.5153399850277938, + "width": 0.07528769424443685, + "height": 0.15057396454393476 + } + ] + }, + "bbox_1768898557092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898557092_1768898680937_ggkacz800", + "x": 0.5351972547898427, + "y": 0.3778594087050707, + "width": 0.0982013403188308, + "height": 0.18112520372676208 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，稍微向左移动", + "correction_plan": "向左侧移动至三脚架上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将蒸发盘夹至空中", + "frame": 202, + "progress": 70, + "progress_explanation": "爪夹将蒸发盘夹至空中，进度70%", + "state_description": "当前状态为爪夹将蒸发盘夹至空中\n为了完成把蒸发盘放在黑色的三脚架上的任务应当：向左侧移动至三脚架上方，向下移动，松开爪夹。", + "time": 6.718393117710148, + "annotations": { + "bbox_1768898557092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898557092_1768898684986_yhvtq9m0c", + "x": 0.5237404317526458, + "y": 0.3887705655560804, + "width": 0.0900178952922615, + "height": 0.1658495841353485 + } + ] + }, + "bbox_1768898556933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898556933_1768898687843_tugbxav1j", + "x": 0.6710424422308919, + "y": 0.3887705655560804, + "width": 0.09165458429757534, + "height": 0.09601818028888592 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "", + "error_success_analysis": "爪夹移动幅度过大，导致打翻三脚架", + "frame": 235, + "progress": -50, + "progress_explanation": "爪夹将三脚架打翻，进度-50%", + "state_description": "当前状态为爪夹将三脚架打翻", + "time": 7.831834769183299, + "annotations": { + "bbox_1768898557092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898557092_1768898694146_z0tcs42v4", + "x": 0.3158809280777875, + "y": 0.4433263498111293, + "width": 0.14730201047824604, + "height": 0.14184503906312695 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768898556933", + "name": "蒸发盘", + "color": "#4CAF50" + }, + { + "id": "bbox_1768898557092", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768898558229", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768898558389", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-103958-put-black bottledparticles-evaporation kit-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-103958-put-black bottledparticles-evaporation kit-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..464913999978cb0ff51ed29dc9b7c59cd479a6a7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-103958-put-black bottledparticles-evaporation kit-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,598 @@ +{ + "task_description": "将黑色瓶装颗粒放入蒸发工具中\n准备开始移动：0%\n接近黑色瓶：20%\n夹住黑色瓶：40%\n将黑色瓶移动至蒸发工具旁：50%\n开始倒黑色颗粒：70%\n将黑色瓶重新放回桌子上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹暂未移动\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶。", + "time": 0, + "annotations": { + "point_1768902900381": { + "type": "point", + "instances": [ + { + "id": "point_1768902900381_1768903029330_tdy0221io", + "x": 0.626851839087418, + "y": 0.502246596806582 + } + ] + }, + "point_1768902900225": { + "type": "point", + "instances": [ + { + "id": "point_1768902900225_1768903031537_9w2ygby9l", + "x": 0.38625855530628284, + "y": 0.4978821340661781 + } + ] + }, + "bbox_1768902899078": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902899078_1768903034946_o1dk39bk1", + "x": 0.7315999354275042, + "y": 0.3538548636328492, + "width": 0.10311140733477223, + "height": 0.12220495673130939 + } + ] + }, + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768903038306_828e9fafj", + "x": 0.8478048548047872, + "y": 0.48915320858537026, + "width": 0.027823713090335468, + "height": 0.05237355288484687 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 79, + "progress": 10, + "progress_explanation": "爪夹准备接近黑色瓶，进度10%", + "state_description": "当前状态为爪夹准备接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶。", + "time": 2.6276083895035938, + "annotations": { + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768903019155_90ecn3hmh", + "x": 0.5842979249492581, + "y": 0.3844061028156765, + "width": 0.05401073717535691, + "height": 0.06546694110605861 + } + ] + }, + "bbox_1768902899078": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902899078_1768903021466_7nyhob0ee", + "x": 0.3960786893381659, + "y": 0.3822238714454746, + "width": 0.1473020104782461, + "height": 0.14620950180353087 + } + ] + }, + "point_1768902900225": { + "type": "point", + "instances": [ + { + "id": "point_1768902900225_1768903023465_n7qzlsc3i", + "x": 0.3878952443115967, + "y": 0.5175222163979957 + } + ] + }, + "point_1768902900381": { + "type": "point", + "instances": [ + { + "id": "point_1768902900381_1768903025346_pbaoxbbbu", + "x": 0.6219417720714765, + "y": 0.502246596806582 + } + ] + } + } + }, + { + "action_description": "爪夹向下并向右侧移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向下移动正确，成功接近黑色瓶", + "frame": 121, + "progress": 20, + "progress_explanation": "爪夹接近黑色瓶，进度20%", + "state_description": "当前状态为爪夹接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶。", + "time": 4.035256508130723, + "annotations": { + "point_1768902900381": { + "type": "point", + "instances": [ + { + "id": "point_1768902900381_1768903009506_5mv44w6jj", + "x": 0.617031705055535, + "y": 0.5087932909171878 + } + ] + }, + "point_1768902900225": { + "type": "point", + "instances": [ + { + "id": "point_1768902900225_1768903011721_zor44irjp", + "x": 0.3829851772956552, + "y": 0.5109755222873898 + } + ] + }, + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768903014957_jikhpebnl", + "x": 0.2700536359289999, + "y": 0.3451259381520414, + "width": 0.062194182201926074, + "height": 0.08947148617828009 + } + ] + } + } + }, + { + "action_description": "爪夹向前并稍微向下移动", + "correction_plan": "向前移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向前移动正确，成功准备夹住黑色瓶", + "frame": 166, + "progress": 30, + "progress_explanation": "爪夹准备夹住黑色瓶，进度30%", + "state_description": "当前状态为爪夹准备夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向前移动。合拢爪夹，夹住黑色瓶。", + "time": 5.536747834666327, + "annotations": { + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902998203_g0fifru8l", + "x": 0.436995914471012, + "y": 0.4062284165176961, + "width": 0.09983802932414462, + "height": 0.1505739645439347 + } + ] + }, + "point_1768902900225": { + "type": "point", + "instances": [ + { + "id": "point_1768902900225_1768903002612_jggleegx2", + "x": 0.38625855530628284, + "y": 0.5066110595469859 + } + ] + }, + "point_1768902900381": { + "type": "point", + "instances": [ + { + "id": "point_1768902900381_1768903004660_nhz29q6oj", + "x": 0.6153950160502212, + "y": 0.5197044477681977 + } + ] + } + } + }, + { + "action_description": "稍微向下移动，合拢爪夹", + "correction_plan": "向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹合拢正确，成功夹住黑色瓶", + "frame": 213, + "progress": 40, + "progress_explanation": "爪夹夹住黑色瓶，进度40%", + "state_description": "当前状态为爪夹夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒", + "time": 7.08516076515617, + "annotations": { + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902994979_b1jyv8d93", + "x": 0.44681604850289514, + "y": 0.43459742433032145, + "width": 0.10965816335602759, + "height": 0.19421859194797378 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将黑色瓶夹起", + "frame": 279, + "progress": 45, + "progress_explanation": "爪夹稍微将黑色瓶夹起，进度45%", + "state_description": "当前状态为爪夹稍微将黑色瓶夹起\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒", + "time": 9.290476151005338, + "annotations": { + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902990363_7wabxpywq", + "x": 0.4517261155188367, + "y": 0.4324151929601195, + "width": 0.1063847853453999, + "height": 0.1571206586545406 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向上移动正确，成功将黑色瓶夹至空中", + "frame": 320, + "progress": 49, + "progress_explanation": "爪夹将黑色瓶夹至空中，进度49%", + "state_description": "当前状态为爪夹将黑色瓶夹至空中\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒", + "time": 10.65120266567823, + "annotations": { + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902982519_8whxz5i1n", + "x": 0.4680930055719751, + "y": 0.4324151929601195, + "width": 0.0900178952922615, + "height": 0.16584958413534842 + } + ] + }, + "bbox_1768902899078": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902899078_1768902984805_nr5d8rwao", + "x": 0.10311135738698765, + "y": 0.6702784123121324, + "width": 0.1603955225207568, + "height": 0.2094942115393875 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向左移动正确，成功将黑色瓶移动至蒸发工具旁", + "frame": 370, + "progress": 50, + "progress_explanation": "爪夹将黑色瓶移动至蒸发工具旁，进度50%", + "state_description": "当前状态为爪夹将黑色瓶移动至蒸发工具旁\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左旋转爪夹，开始倒黑色颗粒", + "time": 12.340380408030786, + "annotations": { + "bbox_1768902899078": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902899078_1768902974435_69dvc6l3p", + "x": 0.22258965477489837, + "y": 0.4716953576237547, + "width": 0.18658254660577836, + "height": 0.26841445853484025 + } + ] + }, + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902976899_u8aitue7c", + "x": 0.458272871540092, + "y": 0.4324151929601195, + "width": 0.10311140733477223, + "height": 0.14402727043332894 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左旋转", + "correction_plan": "向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向左旋转正确，成功准备倒黑色颗粒", + "frame": 431, + "progress": 60, + "progress_explanation": "爪夹准备倒黑色颗粒，进度60%", + "state_description": "当前状态为爪夹准备倒黑色颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左旋转爪夹，开始倒黑色颗粒", + "time": 14.358009378063004, + "annotations": { + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902967958_d1uxdkre4", + "x": 0.4533628045241505, + "y": 0.43459742433032145, + "width": 0.11620491937728303, + "height": 0.16148512139494448 + } + ] + }, + "bbox_1768902899078": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902899078_1768902970499_z9y8hao9y", + "x": 0.24877667885991986, + "y": 0.36694825185406094, + "width": 0.18003579058452296, + "height": 0.2727789212752441 + } + ] + } + } + }, + { + "action_description": "爪夹向左旋转，并稍微向上移动", + "correction_plan": "开始倒黑色颗粒，倒成功后，回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向左旋转正确，成功开始到黑色颗粒", + "frame": 491, + "progress": 70, + "progress_explanation": "爪夹开始到黑色颗粒，进度70%", + "state_description": "当前状态为爪夹开始到黑色颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：开始倒黑色颗粒，倒成功后，回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 16.375638348095222, + "annotations": { + "bbox_1768902899078": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902899078_1768902960980_2r6g8xlx0", + "x": 0.13257175948263686, + "y": 0.17491189127628903, + "width": 0.21604294870142754, + "height": 0.3687971015641301 + } + ] + }, + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902963587_usg2locdr", + "x": 0.46481962756134737, + "y": 0.42150403610910975, + "width": 0.09165458429757534, + "height": 0.1745785096161562 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向右旋转", + "correction_plan": "回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右旋转正确，成功将黑色颗粒倒好", + "frame": 566, + "progress": 75, + "progress_explanation": "爪夹成功将黑色颗粒倒好，进度75%", + "state_description": "当前状态为爪夹成功将黑色颗粒倒好\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 18.86248335766982, + "annotations": { + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902954019_11eeku7kw", + "x": 0.4320858474550705, + "y": 0.4127751106283019, + "width": 0.11784160838259687, + "height": 0.18112520372676216 + } + ] + }, + "bbox_1768902899078": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902899078_1768902956868_hch1vy9u5", + "x": 0.13584513749326455, + "y": 0.05925362865558551, + "width": 0.2684169968714706, + "height": 0.4146239603383711 + } + ] + } + } + }, + { + "action_description": "向右侧旋转爪夹，稍微向后移动", + "correction_plan": "向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右旋转正确，成功回正爪夹", + "frame": 614, + "progress": 80, + "progress_explanation": "爪夹回正，进度80%", + "state_description": "当前状态为爪夹回正\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：回正爪夹，向后移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 20.457817892113898, + "annotations": { + "bbox_1768902899078": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902899078_1768902947980_d7amy0603", + "x": 0.23568316681740908, + "y": 0.362583789113657, + "width": 0.18167247958983684, + "height": 0.2007652860585796 + } + ] + }, + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902950323_wwdnq26pm", + "x": 0.44845273750820897, + "y": 0.4455085811813312, + "width": 0.10147471832945838, + "height": 0.11565826262070354 + } + ] + } + } + }, + { + "action_description": "爪夹向后并向下移动", + "correction_plan": "向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向下移动正确，成功准备方下黑色瓶", + "frame": 671, + "progress": 85, + "progress_explanation": "爪夹准备方下黑色瓶，进度85%", + "state_description": "当前状态为爪夹准备方下黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 22.38160365423764, + "annotations": { + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902941460_vby4yoszw", + "x": 0.4517261155188367, + "y": 0.4367796557005234, + "width": 0.11129485236134143, + "height": 0.1658495841353485 + } + ] + }, + "bbox_1768902899078": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902899078_1768902943924_9utz675o0", + "x": 0.26187019090243063, + "y": 0.24692552649295346, + "width": 0.16694227854201218, + "height": 0.2182231370201953 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将黑色瓶重新放在桌子上", + "frame": 729, + "progress": 90, + "progress_explanation": "爪夹将黑色瓶重新放在桌子上，进度90%", + "state_description": "当前状态为爪夹将黑色瓶重新放在桌子上\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：松开爪夹", + "time": 24.305389416361383, + "annotations": { + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902937476_2xewvb4io", + "x": 0.4680930055719751, + "y": 0.42368626747931165, + "width": 0.09329127330288918, + "height": 0.15493842728433874 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 771, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹张开，瓶子在桌子上", + "time": 25.713037534988512, + "annotations": { + "bbox_1768902898717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768902898717_1768902926212_z1x5amif3", + "x": 0.33879457415218134, + "y": 0.31093763558614135, + "width": 0.11293154136665531, + "height": 0.12220495673130939 + } + ] + }, + "point_1768902900225": { + "type": "point", + "instances": [ + { + "id": "point_1768902900225_1768902928453_8spp2gpum", + "x": 0.4206290244178736, + "y": 0.5327978359894093 + } + ] + }, + "point_1768902900381": { + "type": "point", + "instances": [ + { + "id": "point_1768902900381_1768902930128_96j6yatzh", + "x": 0.5859346139545719, + "y": 0.5131577536575918 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768902898717", + "name": "黑色瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1768902899078", + "name": "蒸发工具", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768902900225", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768902900381", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-103958-put-black bottledparticles-evaporation kit-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-103958-put-black bottledparticles-evaporation kit-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..28df0e7e763331b5767da0fde30dedce5897fee9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-103958-put-black bottledparticles-evaporation kit-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,730 @@ +{ + "task_description": "将黑色瓶装颗粒放入蒸发工具中\n准备开始移动：0%\n接近黑色瓶：20%\n夹住黑色瓶：40%\n将黑色瓶移动至蒸发工具旁：50%\n开始倒黑色颗粒：70%\n将黑色瓶重新放回桌子上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具左边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶。", + "time": 0.960170496784556, + "annotations": { + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963446636_082f6m9or", + "x": 0.7626970265284673, + "y": 0.4156847413558351, + "width": 0.031097091100963058, + "height": 0.058920246995452764 + } + ] + }, + "bbox_1768963416722": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416722_1768963449906_4bljj605k", + "x": 0.5597475898695504, + "y": 0.3211213930798199, + "width": 0.11947829738791071, + "height": 0.1483917331737328 + } + ] + }, + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963452843_ns4txchc2", + "x": 0.38953193331691055, + "y": 0.502246596806582 + } + ] + }, + "point_1768963418534": { + "type": "point", + "instances": [ + { + "id": "point_1768963418534_1768963455068_7jv3p78m2", + "x": 0.6219417720714765, + "y": 0.5066110595469859 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具左边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 83, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹准备接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶。", + "time": 2.779443833840357, + "annotations": { + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963465139_f7wh24371", + "x": 0.6563122411830673, + "y": 0.48478874584496634, + "width": 0.040917225132846194, + "height": 0.043644627404039106 + } + ] + }, + "bbox_1768963416722": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416722_1768963469410_e7if12jdz", + "x": 0.41080889038599055, + "y": 0.5327978359894093, + "width": 0.14075525445699064, + "height": 0.16366735276514646 + } + ] + }, + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963470921_g3nssya5c", + "x": 0.3928053113275382, + "y": 0.5153399850277938 + } + ] + }, + "point_1768963418534": { + "type": "point", + "instances": [ + { + "id": "point_1768963418534_1768963473274_v33q9g93a", + "x": 0.6137583270449073, + "y": 0.502246596806582 + } + ] + } + } + }, + { + "action_description": "爪夹向右并向下移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具左边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹向下移动正确，成功接近黑色瓶", + "frame": 118, + "progress": 20, + "progress_explanation": "爪夹接近黑色瓶，进度20%", + "state_description": "当前状态为爪夹接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶。", + "time": 3.9417573547371183, + "annotations": { + "point_1768963418534": { + "type": "point", + "instances": [ + { + "id": "point_1768963418534_1768963477761_3t5w0ad6b", + "x": 0.6235784610767904, + "y": 0.5000643654363801 + } + ] + }, + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963479769_zbp6bvbh5", + "x": 0.3878952443115967, + "y": 0.502246596806582 + } + ] + }, + "bbox_1768963416722": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416722_1768963483825_x5dk7aeu9", + "x": 0.016366840105353865, + "y": 0.6833718005333441, + "width": 0.15057538848887372, + "height": 0.2400454507222148 + } + ] + }, + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963487601_q4xqg7aos", + "x": 0.33224781813092596, + "y": 0.42368626747931165, + "width": 0.0654675602125538, + "height": 0.04800909014444302 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具左边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近黑色瓶", + "frame": 161, + "progress": 25, + "progress_explanation": "爪夹更加接近黑色瓶，进度25%", + "state_description": "当前状态为爪夹更加接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向下移动，合拢爪夹，夹住黑色瓶。", + "time": 5.356747728002741, + "annotations": { + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963491546_ins9d08wk", + "x": 0.38625855530628284, + "y": 0.3276680871904257, + "width": 0.1145682303719691, + "height": 0.18330743509696407 + } + ] + }, + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963494041_sap4hdxuh", + "x": 0.3829851772956552, + "y": 0.5109755222873898 + } + ] + }, + "point_1768963418534": { + "type": "point", + "instances": [ + { + "id": "point_1768963418534_1768963495809_bsjw60mth", + "x": 0.6137583270449073, + "y": 0.5109755222873898 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具左边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹向前移动正确，成功准备夹住黑色瓶", + "frame": 194, + "progress": 30, + "progress_explanation": "爪夹准备夹住黑色瓶，进度30%", + "state_description": "当前状态为爪夹准备夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：合拢爪夹，夹住黑色瓶。", + "time": 6.468525878425731, + "annotations": { + "point_1768963418534": { + "type": "point", + "instances": [ + { + "id": "point_1768963418534_1768963499889_0sn6ys92b", + "x": 0.6153950160502212, + "y": 0.5066110595469859 + } + ] + }, + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963501706_d7ek1g01o", + "x": 0.3928053113275382, + "y": 0.49569990269597614 + } + ] + }, + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963504921_3zs9x6q9c", + "x": 0.4533628045241505, + "y": 0.4695131262535527, + "width": 0.09656465131351685, + "height": 0.1200227253611074 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至蒸发工具左边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹合拢正确，成功夹住黑色瓶", + "frame": 247, + "progress": 40, + "progress_explanation": "爪夹夹住黑色瓶，进度40%", + "state_description": "当前状态为爪夹夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向左侧移动至蒸发工具左边，向右旋转爪夹", + "time": 8.23726384500776, + "annotations": { + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963508841_lcxjzqqsp", + "x": 0.46481962756134737, + "y": 0.45860196940254294, + "width": 0.08347113927100613, + "height": 0.17021404687575228 + } + ] + }, + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963510801_iiaiy00px", + "x": 0.4533628045241505, + "y": 0.5066110595469859 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向左侧移动至蒸发工具左边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将黑色瓶夹起", + "frame": 327, + "progress": 45, + "progress_explanation": "爪夹稍微夹起黑色瓶，进度45%", + "state_description": "当前状态为爪夹稍微夹起黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向左侧移动至蒸发工具左边，向右旋转爪夹", + "time": 10.91563848011769, + "annotations": { + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963515017_om03qyqrs", + "x": 0.4517261155188367, + "y": 0.502246596806582 + } + ] + }, + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963518120_2ciggevx1", + "x": 0.4664563165666612, + "y": 0.4738775889939566, + "width": 0.08183445026569229, + "height": 0.15275619591413675 + } + ] + }, + "bbox_1768963416722": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416722_1768963521655_fuf4b6tda", + "x": 0.0392804861797477, + "y": 0.827399070966673, + "width": 0.13748187644636295, + "height": 0.12220495673130939 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动然后向左侧移动稍微向右旋转爪夹", + "correction_plan": "向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹向左侧移动正确，成功将黑色瓶移至蒸发工具旁", + "frame": 411, + "progress": 50, + "progress_explanation": "将黑色瓶移至蒸发工具旁，进度50%", + "state_description": "当前状态为将黑色瓶移至蒸发工具旁\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右旋转爪夹，开始倒黑色颗粒", + "time": 13.695083856175161, + "annotations": { + "bbox_1768963416722": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416722_1768963526472_7xvk3qvbb", + "x": 0.5188303647367043, + "y": 0.2883879225267906, + "width": 0.23895659477582135, + "height": 0.23349875661160896 + } + ] + }, + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963529793_jfawqlshu", + "x": 0.44845273750820897, + "y": 0.4673308948833508, + "width": 0.09656465131351685, + "height": 0.11565826262070349 + } + ] + }, + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963535181_mvnz35j8u", + "x": 0.4533628045241505, + "y": 0.5066110595469859 + } + ] + } + } + }, + { + "action_description": "向右侧旋转爪夹", + "correction_plan": "开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹向右侧旋转正确，成功准备倒颗粒", + "frame": 465, + "progress": 60, + "progress_explanation": "爪夹准备倒颗粒，进度60%", + "state_description": "当前状态为爪夹准备倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方", + "time": 15.51435719323096, + "annotations": { + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963539408_rny0x8adv", + "x": 0.45499949352946434, + "y": 0.5087932909171878 + } + ] + }, + "bbox_1768963416722": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416722_1768963542042_t9inx6m5k", + "x": 0.5466540778270397, + "y": 0.16836519716568316, + "width": 0.28805726493523676, + "height": 0.36661487019392813 + } + ] + }, + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963544708_cyli5f30g", + "x": 0.4533628045241505, + "y": 0.4695131262535527, + "width": 0.1227516753985384, + "height": 0.12875165084191523 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹向下移动正确，成功开始到颗粒", + "frame": 528, + "progress": 70, + "progress_explanation": "爪夹开始倒颗粒，进度70%", + "state_description": "当前状态为爪夹开始倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：倒成功后，回正爪夹，向右移动至桌子上方", + "time": 17.586307382655626, + "annotations": { + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963547728_jl16runx2", + "x": 0.44681604850289514, + "y": 0.4876983765724996, + "width": 0.14893869948355984, + "height": 0.12656941947171324 + } + ] + }, + "bbox_1768963416722": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416722_1768963550176_6jn1n3hjx", + "x": 0.48445989562511355, + "y": 0.1487251148338656, + "width": 0.36989171520092895, + "height": 0.373161564304534 + } + ] + }, + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963552258_id4z10dnf", + "x": 0.458272871540092, + "y": 0.49569990269597614 + } + ] + } + } + }, + { + "action_description": "爪夹上下轻微晃动", + "correction_plan": "倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹上下晃动正确，成功倒颗粒", + "frame": 649, + "progress": 75, + "progress_explanation": "爪夹倒颗粒，进度75%", + "state_description": "当前状态为爪夹倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：倒成功后，回正爪夹，向右移动至桌子上方", + "time": 21.6291370205574, + "annotations": { + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963556433_7g7noh8v2", + "x": 0.45499949352946434, + "y": 0.4913354399555722 + } + ] + }, + "bbox_1768963416722": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416722_1768963559899_mdyyhuxsz", + "x": 0.4697296945772889, + "y": 0.13563172661265385, + "width": 0.30115077697774756, + "height": 0.36225040745352416 + } + ] + }, + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963563100_ur1mglwx8", + "x": 0.45499949352946434, + "y": 0.45205527529193706, + "width": 0.09492796230820302, + "height": 0.15712065865454067 + } + ] + } + } + }, + { + "action_description": "爪夹回正，稍微向右侧移动", + "correction_plan": "向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹回正正确，成功完成倒颗粒", + "frame": 728, + "progress": 80, + "progress_explanation": "爪夹完成倒颗粒，进度80%", + "state_description": "当前状态为爪夹完成倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回原位。", + "time": 24.25697628519356, + "annotations": { + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963567440_ugosok1mr", + "x": 0.45499949352946434, + "y": 0.4716953576237547, + "width": 0.09492796230820302, + "height": 0.13529834495252105 + } + ] + }, + "bbox_1768963416722": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416722_1768963570202_6hzaz85pz", + "x": 0.4451793594975813, + "y": 0.35603709500305114, + "width": 0.23077314974925214, + "height": 0.23131652524140708 + } + ] + }, + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963572048_wd4ptf6up", + "x": 0.4533628045241505, + "y": 0.4935176713257742 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向下移动，松开爪夹，重新将瓶子放回原位。", + "error_success_analysis": "爪夹向右侧移动正确，成功将黑色瓶移至桌子上方", + "frame": 800, + "progress": 85, + "progress_explanation": "爪夹将黑色瓶移至桌子上方，进度85%", + "state_description": "当前状态为爪夹将黑色瓶移至桌子上方\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向下移动，松开爪夹，重新将瓶子放回原位。", + "time": 26.68267406793463, + "annotations": { + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963576656_940z0m2pl", + "x": 0.45499949352946434, + "y": 0.48915320858537026 + } + ] + }, + "bbox_1768963416722": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416722_1768963579591_8dudjazos", + "x": 0.2176795877589568, + "y": 0.5677135379126406, + "width": 0.18494585760046447, + "height": 0.17239627824595433 + } + ] + }, + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963583135_9qg8inu85", + "x": 0.4697296945772889, + "y": 0.45860196940254294, + "width": 0.07692438324975077, + "height": 0.15275619591413675 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将黑色瓶放在桌子上\n", + "frame": 838, + "progress": 90, + "progress_explanation": "爪夹将黑色瓶放在桌子上，进度90%", + "state_description": "当前状态为爪夹将黑色瓶放在桌子上\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：松开爪夹", + "time": 27.946058329778936, + "annotations": { + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963587215_vzvzdplqh", + "x": 0.46318293855603354, + "y": 0.4498730439217351, + "width": 0.08347113927100613, + "height": 0.14402727043332894 + } + ] + }, + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963589696_89hxso7ps", + "x": 0.458272871540092, + "y": 0.5087932909171878 + } + ] + }, + "point_1768963418534": { + "type": "point", + "instances": [ + { + "id": "point_1768963418534_1768963592023_j5obdseqx", + "x": 0.5450173888217258, + "y": 0.4913354399555722 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 881, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹放开黑色瓶", + "time": 29.366667, + "annotations": { + "point_1768963418534": { + "type": "point", + "instances": [ + { + "id": "point_1768963418534_1768963595751_0tfd99v5z", + "x": 0.5630209678801781, + "y": 0.502246596806582 + } + ] + }, + "point_1768963418322": { + "type": "point", + "instances": [ + { + "id": "point_1768963418322_1768963597808_i1e6u7lwg", + "x": 0.4304491584497566, + "y": 0.5000643654363801 + } + ] + }, + "bbox_1768963416221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768963416221_1768963600499_tk0m8gs5k", + "x": 0.512283608715449, + "y": 0.3385792440414355, + "width": 0.11620491937728294, + "height": 0.13311611358231915 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768963416221", + "name": "黑色瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1768963416722", + "name": "蒸发工具", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768963418322", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768963418534", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-103958-put-black bottledparticles-evaporation kit-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-103958-put-black bottledparticles-evaporation kit-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..8376e3dbdb9fb609b2f04fd1a9105b978b6c4ed3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-103958-put-black bottledparticles-evaporation kit-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,858 @@ +{ + "task_description": "将黑色瓶装颗粒放入蒸发工具中\n准备开始移动：0%\n接近黑色瓶：20%\n夹住黑色瓶：40%\n将黑色瓶移动至蒸发工具旁：50%\n开始倒黑色颗粒：70%\n将黑色瓶重新放回桌子上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 1.0791954590137514, + "annotations": { + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768967079154_pumtftm5k", + "x": 0.6055748820183381, + "y": 0.4433263498111293, + "width": 0.03437046911159074, + "height": 0.04364462740403905 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768967082212_8u28iyp7e", + "x": 0.8085243186772548, + "y": 0.2731123029353769, + "width": 0.07528769424443701, + "height": 0.11347603125050157 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768967085196_7kj6qf5h8", + "x": 0.38953193331691055, + "y": 0.502246596806582 + } + ] + }, + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768967087184_9dg84c6gk", + "x": 0.6104849490342796, + "y": 0.5066110595469859 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 83, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹准备接近黑色盆\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 2.7683732013663067, + "annotations": { + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768967064618_mkfa8e481", + "x": 0.6104849490342796, + "y": 0.5066110595469859 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768967066778_2lic42qll", + "x": 0.39771537834347975, + "y": 0.5131577536575918 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768967070281_8zpiqh4o0", + "x": 0.8739918788898086, + "y": 0.11599164428083629, + "width": 0.10147471832945847, + "height": 0.1723962782459543 + } + ] + }, + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768967073850_i5emu5e7i", + "x": 0.5990281259970827, + "y": 0.2796589970459828, + "width": 0.052374048170043076, + "height": 0.08292479206767425 + } + ] + } + } + }, + { + "action_description": "爪夹向右并向下移动，然后稍微向前移动", + "correction_plan": "向前移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向下移动正确。成功接近黑色瓶", + "frame": 128, + "progress": 20, + "progress_explanation": "爪夹接近黑色瓶，进度20%", + "state_description": "当前状态为爪夹接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向前移动，合拢爪夹，夹住黑色瓶。", + "time": 4.266666666666667, + "annotations": { + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768967057788_7im1p7i43", + "x": 0.5171936757313904, + "y": 0.3451259381520414, + "width": 0.09165458429757534, + "height": 0.10911156851009765 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768967060346_i3q8s0k8o", + "x": 0.39444200033285204, + "y": 0.5087932909171878 + } + ] + }, + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768967062321_o2s3bly2k", + "x": 0.6121216380395935, + "y": 0.5066110595469859 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动", + "correction_plan": "向前移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向前移动正确，成功更加接近黑色瓶", + "frame": 170, + "progress": 25, + "progress_explanation": "爪夹更加接近黑色瓶，进度25%", + "state_description": "当前状态为爪夹更加接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向前移动，合拢爪夹，夹住黑色瓶。", + "time": 5.677512646529041, + "annotations": { + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768967047332_ln2nttiwc", + "x": 0.6055748820183381, + "y": 0.5000643654363801 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768967049059_aguefow41", + "x": 0.39771537834347975, + "y": 0.5087932909171878 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768967051650_on3vidpp3", + "x": 0.9394594391023625, + "y": 0.11599164428083629, + "width": 0.052374048170042896, + "height": 0.13311611358231915 + } + ] + }, + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768967054056_325qymmng", + "x": 0.4599095605454059, + "y": 0.40186395377729217, + "width": 0.09656465131351685, + "height": 0.16584958413534842 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向前，稍微合拢爪夹", + "correction_plan": "合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹稍微合拢正确，成功准备夹住黑色瓶", + "frame": 204, + "progress": 30, + "progress_explanation": "爪夹准备夹住黑色瓶，进度30%", + "state_description": "当前状态为爪夹准备夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：合拢爪夹，夹住黑色瓶。", + "time": 6.803631141430744, + "annotations": { + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768967036868_e3a5vg0h3", + "x": 0.4697296945772889, + "y": 0.4105928792581, + "width": 0.07856107225506462, + "height": 0.15275619591413664 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768967039354_o431br7hq", + "x": 0.9247292380545378, + "y": 0.129085032502048, + "width": 0.06874093822318147, + "height": 0.14184503906312695 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768967041178_033kbo735", + "x": 0.41899233541255976, + "y": 0.5000643654363801 + } + ] + }, + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768967043178_9vd398j03", + "x": 0.5908446809705135, + "y": 0.5087932909171878 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹合拢正确，成功夹住黑色瓶", + "frame": 258, + "progress": 40, + "progress_explanation": "爪夹夹住黑色盆，进度40%", + "state_description": "当前状态为爪夹夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒", + "time": 8.586652091691773, + "annotations": { + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768967023882_v808txatp", + "x": 0.5581109008642365, + "y": 0.49569990269597614 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768967025747_w90keq6jh", + "x": 0.4533628045241505, + "y": 0.5109755222873898 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768967028691_2mekl9a9i", + "x": 0.9247292380545378, + "y": 0.12690280113184607, + "width": 0.07037762722849532, + "height": 0.15057396454393476 + } + ] + }, + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768967031634_uutrztg4c", + "x": 0.46481962756134737, + "y": 0.4411441184409273, + "width": 0.07856107225506462, + "height": 0.15493842728433863 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向上移动正确，成功将黑色瓶稍微夹起", + "frame": 311, + "progress": 45, + "progress_explanation": "爪夹稍微将黑色瓶夹起，进度45%", + "state_description": "当前状态为爪夹稍微将黑色瓶夹起\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒", + "time": 10.369673041952804, + "annotations": { + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768967013051_h63vf1adl", + "x": 0.45499949352946434, + "y": 0.43459742433032145, + "width": 0.08838120628694765, + "height": 0.1680318155055504 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768967016001_s6k1zszza", + "x": 0.7937941176294303, + "y": 0.04397800906417184, + "width": 0.16857896754732601, + "height": 0.20512974879898357 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768967018034_dls9ykg8e", + "x": 0.4599095605454059, + "y": 0.49569990269597614 + } + ] + }, + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768967020307_28he4zldz", + "x": 0.5581109008642365, + "y": 0.48697097721516835 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动然后稍微向右侧移动", + "correction_plan": "向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右移动正确，成功将黑色瓶移动至蒸发工具旁", + "frame": 374, + "progress": 50, + "progress_explanation": "爪夹将黑色瓶移至蒸发工具旁，进度50%", + "state_description": "当前状态为爪夹将黑色瓶移至蒸发工具旁\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右旋转爪夹，开始倒黑色颗粒", + "time": 12.481145219893499, + "annotations": { + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768966999723_wyzyolhkt", + "x": 0.553200833848295, + "y": 0.4804242831045624 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768967002228_kzgkj9icy", + "x": 0.4533628045241505, + "y": 0.49569990269597614 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768967005602_pp5ibhu3c", + "x": 0.5842979249492581, + "y": 0.2971168480075984, + "width": 0.15384876649950147, + "height": 0.17021404687575234 + } + ] + }, + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768967008723_r70pmuvxh", + "x": 0.46318293855603354, + "y": 0.4411441184409273, + "width": 0.09492796230820302, + "height": 0.1614851213949446 + } + ] + } + } + }, + { + "action_description": "爪夹向右并向下移动，然后向右旋转", + "correction_plan": "向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右旋转正确，成功准备到颗粒", + "frame": 429, + "progress": 60, + "progress_explanation": "爪夹准备倒颗粒，进度60%", + "state_description": "当前状态为爪夹准备倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右旋转爪夹，开始倒黑色颗粒", + "time": 14.311087774108765, + "annotations": { + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768966989595_hmy1xnim2", + "x": 0.4517261155188367, + "y": 0.456419738032341, + "width": 0.0900178952922615, + "height": 0.15057396454393476 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768966992555_kja5o0yf1", + "x": 0.6153950160502212, + "y": 0.27093007156517496, + "width": 0.22749977173862446, + "height": 0.2880545408666578 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768966994253_0mxpc7ijg", + "x": 0.4533628045241505, + "y": 0.4978821340661781 + } + ] + }, + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768966996395_zygrvcmvn", + "x": 0.5482907668323536, + "y": 0.502246596806582 + } + ] + } + } + }, + { + "action_description": "爪夹向右旋转并向下移动", + "correction_plan": "开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右旋转正确，成功开始倒颗粒", + "frame": 494, + "progress": 70, + "progress_explanation": "爪夹开始倒颗粒，进度70%", + "state_description": "当前状态为爪夹开始倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：开始倒黑色颗粒，倒成功后，回正爪夹", + "time": 16.4694815560037, + "annotations": { + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768966975931_u7vuu36dj", + "x": 0.5564742118589228, + "y": 0.4935176713257742 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768966978747_v4ts4vmwk", + "x": 0.45499949352946434, + "y": 0.5087932909171878 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768966981868_km4xas3il", + "x": 0.5368339437951566, + "y": 0.2272854441611359, + "width": 0.2978773989671198, + "height": 0.373161564304534 + } + ] + }, + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768966985246_qdybd6zhy", + "x": 0.4500894265135228, + "y": 0.456419738032341, + "width": 0.08674451728163382, + "height": 0.15057396454393476 + } + ] + } + } + }, + { + "action_description": "爪夹轻微上下晃动", + "correction_plan": "倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹上下晃动正确，成功倒颗粒", + "frame": 567, + "progress": 75, + "progress_explanation": "爪夹倒颗粒，进度75%", + "state_description": "当前状态为爪夹倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：倒成功后，回正爪夹", + "time": 18.90940496162406, + "annotations": { + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768966964651_ipi1zo5k0", + "x": 0.45499949352946434, + "y": 0.45205527529193706, + "width": 0.07528769424443685, + "height": 0.1527561959141367 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768966967864_4l2qhqf7f", + "x": 0.5041001636888798, + "y": 0.09635156194901871, + "width": 0.21113288168548597, + "height": 0.3186057800494852 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768966970291_wdnwaqplo", + "x": 0.45499949352946434, + "y": 0.4913354399555722 + } + ] + }, + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768966972614_w8760qmk2", + "x": 0.5630209678801781, + "y": 0.48915320858537026 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动同时回正爪夹", + "correction_plan": "向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向上移动正确，成功完成倒颗粒", + "frame": 622, + "progress": 80, + "progress_explanation": "爪夹完成倒颗粒，进度80%", + "state_description": "当前状态为爪夹完成倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 20.739347515839324, + "annotations": { + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768966952572_hriaxuy98", + "x": 0.5499274558376673, + "y": 0.502246596806582 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768966954492_xppf0oj5b", + "x": 0.4500894265135228, + "y": 0.48697097721516835 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768966957045_j2oiwcr5i", + "x": 0.5564742118589228, + "y": 0.3451259381520414, + "width": 0.1636689005313845, + "height": 0.16148512139494453 + } + ] + }, + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768966960172_mia07mtte", + "x": 0.46481962756134737, + "y": 0.4455085811813312, + "width": 0.07692438324975077, + "height": 0.1505739645439347 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功准备将黑色瓶放在桌子上", + "frame": 707, + "progress": 85, + "progress_explanation": "爪夹准备将黑色瓶放在桌子上，进度85%", + "state_description": "当前状态为爪夹准备将黑色瓶放在桌子上\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 23.554643753093583, + "annotations": { + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768966942031_1sqbqteeh", + "x": 0.4599095605454059, + "y": 0.45205527529193706, + "width": 0.08838120628694765, + "height": 0.1527561959141367 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768966944613_uttk3dtiv", + "x": 0.6661323752149504, + "y": 0.1618185030550773, + "width": 0.1718523455579537, + "height": 0.2422276820924168 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768966946331_4ro3836aw", + "x": 0.458272871540092, + "y": 0.48915320858537026 + } + ] + }, + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768966948396_uwlp29hmo", + "x": 0.5499274558376673, + "y": 0.4935176713257742 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将黑色瓶放在桌子上", + "frame": 743, + "progress": 90, + "progress_explanation": "爪夹将黑色瓶放在桌子上，进度90%", + "state_description": "当前状态为爪夹将黑色瓶放在桌子上\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：松开爪夹", + "time": 24.774605455903764, + "annotations": { + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768966928137_dxespwbet", + "x": 0.5613842788748642, + "y": 0.4978821340661781 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768966930365_z6t2fhbhz", + "x": 0.44845273750820897, + "y": 0.4913354399555722 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768966933164_xpg0uwzdx", + "x": 0.8199811417144518, + "y": 0.030884620842960123, + "width": 0.16530558953669824, + "height": 0.31205908593887927 + } + ] + }, + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768966936610_d2ohatg8p", + "x": 0.4615462495507197, + "y": 0.45205527529193706, + "width": 0.08674451728163382, + "height": 0.15057396454393485 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 774, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹将黑色瓶放在桌子上", + "time": 25.80688074289699, + "annotations": { + "bbox_1768966885021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966885021_1768966918286_3k5i1goeg", + "x": 0.4042621343647351, + "y": 0.35021780024977656, + "width": 0.06710424921786773, + "height": 0.10692933713989566 + } + ] + }, + "bbox_1768966886150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768966886150_1768966921547_s5zzw1p7z", + "x": 0.6808625762627749, + "y": 0.02870238947275817, + "width": 0.24877672880770438, + "height": 0.2422276820924168 + } + ] + }, + "point_1768966887061": { + "type": "point", + "instances": [ + { + "id": "point_1768966887061_1768966923461_frc9uiiug", + "x": 0.42717578043912896, + "y": 0.5109755222873898 + } + ] + }, + "point_1768966887278": { + "type": "point", + "instances": [ + { + "id": "point_1768966887278_1768966925188_xjvowv1g5", + "x": 0.5810245469386304, + "y": 0.502246596806582 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768966885021", + "name": "黑色瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1768966886150", + "name": "蒸发工具", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768966887061", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768966887278", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-105823-put-black bottledparticles-evaporation kit-mix1/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-105823-put-black bottledparticles-evaporation kit-mix1/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..1999ba6a821830d3be6682aba523383482993992 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-105823-put-black bottledparticles-evaporation kit-mix1/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,482 @@ +{ + "task_description": "将黑色瓶装颗粒放入蒸发工具中\n准备开始移动：0%\n接近黑色瓶：20%\n夹住黑色瓶：40%\n将黑色瓶移动至蒸发工具旁：50%\n开始倒黑色颗粒：70%\n将黑色瓶重新放回桌子上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶。", + "time": 0.9281056157071398, + "annotations": { + "bbox_1768978769863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978769863_1768979022033_nuzanhxq0", + "x": 0.7888840506134887, + "y": 0.454237506662139, + "width": 0.040917225132846194, + "height": 0.07637809795706835 + } + ] + }, + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768979025363_e593r1ek1", + "x": 0.6350352841139874, + "y": 0.2600189147141652, + "width": 0.08838120628694757, + "height": 0.1265694194717133 + } + ] + }, + "point_1768978770806": { + "type": "point", + "instances": [ + { + "id": "point_1768978770806_1768979028227_d4o2e5iy2", + "x": 0.4009887563541074, + "y": 0.5939003143550641 + } + ] + }, + "point_1768978770957": { + "type": "point", + "instances": [ + { + "id": "point_1768978770957_1768979030441_f510zy8ef", + "x": 0.5024634746835658, + "y": 0.5939003143550641 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 96, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹准备接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶。", + "time": 3.201967843828042, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768979003394_6k5goni98", + "x": 0.6317619061033596, + "y": 0.26729300818210233, + "width": 0.09656465131351685, + "height": 0.1200227253611074 + } + ] + }, + "bbox_1768978769863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978769863_1768979008761_wfb6y4pan", + "x": 0.7937941176294303, + "y": 0.456419738032341, + "width": 0.03437046911159074, + "height": 0.0676491724762606 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右移动正确，成功接近黑色瓶", + "frame": 141, + "progress": 20, + "progress_explanation": "爪夹接近黑色盆，进度20%", + "state_description": "当前状态为爪夹接近黑色盆\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶。", + "time": 4.6869390948457745, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978999178_i2cd042xw", + "x": 0.6333985951086735, + "y": 0.25347222060355934, + "width": 0.08019776126037836, + "height": 0.15493842728433865 + } + ] + }, + "bbox_1768978769863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978769863_1768979014748_a3b7blzif", + "x": 0.8036142516613133, + "y": 0.4695131262535527, + "width": 0.031097091100963148, + "height": 0.05455578425504885 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，合拢爪夹", + "correction_plan": "张开爪夹，向前移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向下移动错误，没有夹到黑色瓶", + "frame": 181, + "progress": 15, + "progress_explanation": "爪夹更加接近黑色瓶，进度25%", + "state_description": "当前状态为夹桌子\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：张开爪夹，向前移动。合拢爪夹，夹住黑色瓶。", + "time": 6.0326942910805945, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978995505_ujsl7uuuh", + "x": 0.6252151500821042, + "y": 0.2556544519737613, + "width": 0.09492796230820302, + "height": 0.15493842728433868 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动，张开爪夹", + "correction_plan": "向前移动，合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹角度错误", + "frame": 221, + "progress": 18, + "progress_explanation": "爪夹重新接近黑色瓶，18%", + "state_description": "当前状态为爪夹重新接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶。", + "time": 7.378449487315414, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978990019_pccoh5v04", + "x": 0.638308662124615, + "y": 0.2622011460843672, + "width": 0.08183445026569221, + "height": 0.12002272536110743 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动并向右移动", + "correction_plan": "向前移动，合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近黑色瓶", + "frame": 276, + "progress": 25, + "progress_explanation": "爪夹更加接近黑色瓶，进度25%", + "state_description": "当前状态为爪夹更加接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向前移动，合拢爪夹，夹住黑色瓶。", + "time": 9.188258199493273, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978986117_p8xi1pdhh", + "x": 0.6317619061033596, + "y": 0.2665656088247711, + "width": 0.0900178952922615, + "height": 0.12656941947171327 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向前移动正确，成功准备夹住黑色瓶", + "frame": 308, + "progress": 30, + "progress_explanation": "爪夹准备夹住黑色瓶，进度30%", + "state_description": "当前状态为爪夹准备夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：合拢爪夹，夹住黑色瓶。", + "time": 10.255581286162268, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978982321_2poamawma", + "x": 0.6350352841139874, + "y": 0.2622011460843672, + "width": 0.08838120628694757, + "height": 0.139662807692925 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹合拢正确，成功夹住黑色瓶", + "frame": 351, + "progress": 40, + "progress_explanation": "爪夹夹住黑色瓶，进度40%", + "state_description": "当前状态为爪夹夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒", + "time": 11.694147185585697, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978978721_ooij78kor", + "x": 0.6284885280927319, + "y": 0.25783668334396326, + "width": 0.0982013403188307, + "height": 0.15275619591413672 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将黑色瓶夹起", + "frame": 388, + "progress": 45, + "progress_explanation": "爪夹稍微将黑色瓶夹起，进度45%", + "state_description": "当前状态为爪夹稍微将黑色瓶夹起\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒", + "time": 12.947091678631908, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978972866_ralwcq5l0", + "x": 0.6284885280927319, + "y": 0.2622011460843672, + "width": 0.09656465131351685, + "height": 0.12438718810151134 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动并向左侧移动", + "correction_plan": "向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向上移动正确，成功将黑色瓶夹至蒸发工具旁", + "frame": 426, + "progress": 50, + "progress_explanation": "爪夹将黑色瓶移动至蒸发工具旁，进度50%", + "state_description": "当前状态为爪夹将黑色瓶移动至蒸发工具旁\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左旋转爪夹，开始倒黑色颗粒", + "time": 14.20003617167812, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978969539_wix85mkgp", + "x": 0.6301252170980457, + "y": 0.24910775786315542, + "width": 0.09329127330288918, + "height": 0.14839173317373283 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧旋转", + "correction_plan": "开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向左侧移动正确，成功开始倒颗粒", + "frame": 490, + "progress": 70, + "progress_explanation": "爪夹开始倒颗粒，进度70%", + "state_description": "当前状态为爪夹开始倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方", + "time": 16.33468234501611, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978964570_4k7z9u4c2", + "x": 0.6399453511299289, + "y": 0.2512899892333574, + "width": 0.06710424921786765, + "height": 0.08728925480807816 + } + ] + } + } + }, + { + "action_description": "爪夹稍微上下晃动", + "correction_plan": "倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹晃动正确，成功倒颗粒", + "frame": 542, + "progress": 75, + "progress_explanation": "爪夹倒颗粒，进度70%", + "state_description": "当前状态为爪夹倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：倒成功后，回正爪夹，向右移动至桌子上方", + "time": 18.051680354005367, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978960162_20wag1r55", + "x": 0.6219417720714765, + "y": 0.2512899892333574, + "width": 0.07692438324975077, + "height": 0.10911156851009765 + } + ] + } + } + }, + { + "action_description": "爪机向右旋转，向后移动", + "correction_plan": "向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右旋转正确，成功倒好颗粒", + "frame": 600, + "progress": 80, + "progress_explanation": "爪夹倒好颗粒，进度80%", + "state_description": "当前状态为爪夹倒好颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右移动至桌子上方", + "time": 20.00070512096614, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978954019_t3vdzyhym", + "x": 0.6350352841139874, + "y": 0.27093007156517496, + "width": 0.08183445026569221, + "height": 0.08292479206767425 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动", + "correction_plan": "向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右侧移动正确", + "frame": 658, + "progress": 85, + "progress_explanation": "爪夹将黑色瓶移动至桌子上方，进度85%", + "state_description": "当前状态为爪夹将黑色瓶移动至桌子上方\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 21.94972988792691, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978950882_ajnk66l26", + "x": 0.6219417720714765, + "y": 0.25347222060355934, + "width": 0.10802147435071383, + "height": 0.13529834495252108 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将黑色瓶放在桌子上", + "frame": 717, + "progress": 90, + "progress_explanation": "爪夹将黑色瓶放在桌子上，进度90%", + "state_description": "当前状态为爪夹将黑色瓶放在桌子上\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：松开爪夹", + "time": 23.898754654887682, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978946169_yf06stthw", + "x": 0.6284885280927319, + "y": 0.2622011460843672, + "width": 0.10474809634008615, + "height": 0.1309338822121172 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 774, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹将黑色瓶松开", + "time": 25.801374070254155, + "annotations": { + "bbox_1768978770038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978770038_1768978929731_65c9m3rlr", + "x": 0.6333985951086735, + "y": 0.2629285454416984, + "width": 0.08019776126037836, + "height": 0.1352983449525211 + } + ] + }, + "bbox_1768978769863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978769863_1768978936675_k6q1ncgb9", + "x": 0.7921574286241164, + "y": 0.43023296158991753, + "width": 0.03273378010627699, + "height": 0.04800909014444296 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768978769863", + "name": "黑色瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1768978770038", + "name": "蒸发工具", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768978770806", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768978770957", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-105823-put-black bottledparticles-evaporation kit-mix1/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-105823-put-black bottledparticles-evaporation kit-mix1/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..244e47c90b2efa855e0dcf56c0795098bc596291 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-105823-put-black bottledparticles-evaporation kit-mix1/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,797 @@ +{ + "task_description": "将黑色瓶装颗粒放入蒸发工具中\n准备开始移动：0%\n接近黑色瓶：20%\n夹住黑色瓶：40%\n将黑色瓶移动至蒸发工具旁：50%\n开始倒黑色颗粒：70%\n将黑色瓶重新放回桌子上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 0, + "annotations": { + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768983079119_8z3t09ekf", + "x": 0.5695677239014335, + "y": 0.41132027861543125, + "width": 0.03600715811690458, + "height": 0.06983140384646246 + } + ] + }, + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768983082500_attfgnsc4", + "x": 0.7119596673637381, + "y": 0.24474329512275153, + "width": 0.07528769424443685, + "height": 0.09601818028888595 + } + ] + }, + "point_1768982855931": { + "type": "point", + "instances": [ + { + "id": "point_1768982855931_1768983084815_vzpvkasgo", + "x": 0.39444200033285204, + "y": 0.5109755222873898 + } + ] + }, + "point_1768982856124": { + "type": "point", + "instances": [ + { + "id": "point_1768982856124_1768983086855_175ll7ytd", + "x": 0.617031705055535, + "y": 0.5087932909171878 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 65, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 2.1705528015218585, + "annotations": { + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768983065776_alk8ud41t", + "x": 0.5466540778270397, + "y": 0.31457469896921403, + "width": 0.04255391413815994, + "height": 0.043644627404039106 + } + ] + }, + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768983069391_pqcyhd66g", + "x": 0.7365100024434457, + "y": 0.1378139579828558, + "width": 0.08183445026569229, + "height": 0.1571206586545406 + } + ] + }, + "point_1768982855931": { + "type": "point", + "instances": [ + { + "id": "point_1768982855931_1768983071423_clbs8axfq", + "x": 0.39444200033285204, + "y": 0.4978821340661781 + } + ] + }, + "point_1768982856124": { + "type": "point", + "instances": [ + { + "id": "point_1768982856124_1768983073391_6647dt45r", + "x": 0.6219417720714765, + "y": 0.502246596806582 + } + ] + } + } + }, + { + "action_description": "爪夹向右并向下移动", + "correction_plan": "向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹识别错误，接近错误物体烧杯", + "frame": 104, + "progress": -5, + "progress_explanation": "爪夹接近错误物体烧杯，进度-5%", + "state_description": "当前状态为爪夹接近错误物体烧杯\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 3.482981008305548, + "annotations": { + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768983051055_pxymseqhy", + "x": 0.17512567362079684, + "y": 0.4127751106283019, + "width": 0.07037762722849535, + "height": 0.07637809795706835 + } + ] + }, + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768983054552_m5iyr8ehe", + "x": 0.2373198558227229, + "y": 0.017791232621748407, + "width": 0.44026934242942434, + "height": 0.12220495673130936 + } + ] + }, + "point_1768982855931": { + "type": "point", + "instances": [ + { + "id": "point_1768982855931_1768983057210_t6jrs7k7m", + "x": 0.3928053113275382, + "y": 0.4978821340661781 + } + ] + }, + "point_1768982856124": { + "type": "point", + "instances": [ + { + "id": "point_1768982856124_1768983059822_mc1vlfvu0", + "x": 0.6284885280927319, + "y": 0.5087932909171878 + } + ] + } + } + }, + { + "action_description": "向下移动合拢爪夹", + "correction_plan": "松开爪夹，向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹识别错误，夹住错误物体烧杯", + "frame": 150, + "progress": -10, + "progress_explanation": "夹住错误物体烧杯，进度-10%", + "state_description": "当前状态为夹住错误物体烧杯\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：松开爪夹，向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 4.9973212469021115, + "annotations": { + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768983035901_mvz1owubf", + "x": 0.2716903249343137, + "y": 0.3713127145944648, + "width": 0.06710424921786765, + "height": 0.08510702343787617 + } + ] + }, + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768983039189_qy43627u4", + "x": 0.4500894265135228, + "y": 0.01997346399195036, + "width": 0.24059328378113518, + "height": 0.19858305468837772 + } + ] + }, + "point_1768982855931": { + "type": "point", + "instances": [ + { + "id": "point_1768982855931_1768983042070_dlr1jaz5a", + "x": 0.4910066516463689, + "y": 0.4935176713257742 + } + ] + }, + "point_1768982856124": { + "type": "point", + "instances": [ + { + "id": "point_1768982856124_1768983044239_1ubrm8as8", + "x": 0.5237404317526458, + "y": 0.4935176713257742 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下，松开爪夹", + "correction_plan": "向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹松开正确，成功放下烧杯", + "frame": 214, + "progress": 5, + "progress_explanation": "爪夹放下烧杯，进度5%", + "state_description": "当前状态为爪夹放下烧杯\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 7.117397580937304, + "annotations": { + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768983022608_24119unlk", + "x": 0.17512567362079684, + "y": 0.42150403610910975, + "width": 0.08019776126037843, + "height": 0.07856032932727033 + } + ] + }, + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768983025752_8hyxrithm", + "x": 0.29133059299807984, + "y": 0.022155695362152315, + "width": 0.28805726493523676, + "height": 0.1964008233181758 + } + ] + }, + "point_1768982855931": { + "type": "point", + "instances": [ + { + "id": "point_1768982855931_1768983027944_86emtsl16", + "x": 0.4288124694444428, + "y": 0.5066110595469859 + } + ] + }, + "point_1768982856124": { + "type": "point", + "instances": [ + { + "id": "point_1768982856124_1768983030240_iuk4ummtt", + "x": 0.5793878579333166, + "y": 0.5066110595469859 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动然后向左侧移动", + "correction_plan": "向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向左移动正确，成功准备接近黑色瓶", + "frame": 253, + "progress": 15, + "progress_explanation": "爪夹准备接近黑色瓶，进度15%", + "state_description": "当前状态为爪夹准备接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 8.429825787720993, + "annotations": { + "point_1768982856124": { + "type": "point", + "instances": [ + { + "id": "point_1768982856124_1768983008128_6euw3w57i", + "x": 0.5777511689280027, + "y": 0.4978821340661781 + } + ] + }, + "point_1768982855931": { + "type": "point", + "instances": [ + { + "id": "point_1768982855931_1768983010176_vv83izucz", + "x": 0.42553909143381513, + "y": 0.5087932909171878 + } + ] + }, + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768983014073_dchljzakh", + "x": 0.6579489301883811, + "y": 0.017791232621748407, + "width": 0.16203221152607075, + "height": 0.17457850961615626 + } + ] + }, + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768983016841_cqala07oe", + "x": 0.47954982860917206, + "y": 0.2927523852671945, + "width": 0.03600715811690458, + "height": 0.05237355288484687 + } + ] + } + } + }, + { + "action_description": "爪夹向下并向前移动", + "correction_plan": "向前移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向下移动正确，成功接近黑色瓶", + "frame": 298, + "progress": 20, + "progress_explanation": "爪夹接近黑色瓶，进度20%", + "state_description": "当前状态为爪夹接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向前移动，合拢爪夹，夹住黑色瓶。", + "time": 9.944166026317557, + "annotations": { + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768982996415_qcng7o9wr", + "x": 0.7741538495656641, + "y": 0.02652015810255622, + "width": 0.14893869948355984, + "height": 0.08292479206767421 + }, + { + "id": "bbox_1768982854891_1768982999800_m1641r6tl", + "x": 0.40262544535942124, + "y": 0.33639701267123356, + "width": 0.09492796230820302, + "height": 0.10911156851009765 + } + ] + }, + "point_1768982855931": { + "type": "point", + "instances": [ + { + "id": "point_1768982855931_1768983001759_ffu8yvzo3", + "x": 0.42717578043912896, + "y": 0.502246596806582 + } + ] + }, + "point_1768982856124": { + "type": "point", + "instances": [ + { + "id": "point_1768982856124_1768983003753_bpzrq79vd", + "x": 0.5761144799226889, + "y": 0.5131577536575918 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动合拢爪夹", + "correction_plan": "向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹合拢正确，成功夹住黑色瓶", + "frame": 348, + "progress": 40, + "progress_explanation": "爪夹夹住黑色瓶，进度40%", + "state_description": "当前状态为爪夹夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒", + "time": 11.60994028877378, + "annotations": { + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768982972809_6c0zqp392", + "x": 0.4664563165666612, + "y": 0.46296643214294686, + "width": 0.07365100523912309, + "height": 0.17021404687575234 + } + ] + }, + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768982976457_dbvxjk99r", + "x": 0.828164586741021, + "y": 0.009062307140940593, + "width": 0.1505753884888737, + "height": 0.22913429387120507 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将黑色瓶夹起", + "frame": 406, + "progress": 45, + "progress_explanation": "爪夹稍微将黑色瓶夹起，进度45%", + "state_description": "当前状态为爪夹稍微将黑色瓶夹起\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒", + "time": 13.528104590996096, + "annotations": { + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768982963585_mnic9u6vh", + "x": 0.7790639165816057, + "y": 0.10944495017023043, + "width": 0.16694227854201227, + "height": 0.24877437620302267 + } + ] + }, + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768982968033_x3bqaxx15", + "x": 0.4664563165666612, + "y": 0.45205527529193706, + "width": 0.08510782827631998, + "height": 0.15930289002474265 + } + ] + } + } + }, + { + "action_description": "爪夹向上并稍微向右移动", + "correction_plan": "向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "夹向右移动正确，成功将黑色瓶移动至蒸发工具旁", + "frame": 447, + "progress": 50, + "progress_explanation": "爪夹将黑色瓶移至蒸发工具旁，进度50%", + "state_description": "当前状态为爪夹将黑色瓶移至蒸发工具旁\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒", + "time": 14.891010805733004, + "annotations": { + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768982956049_n0h5563yo", + "x": 0.4615462495507197, + "y": 0.454237506662139, + "width": 0.08347113927100613, + "height": 0.13966280769292502 + } + ] + }, + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768982959265_5xoa4fmsx", + "x": 0.7086862893531103, + "y": 0.222920981420732, + "width": 0.1505753884888737, + "height": 0.27059668990504215 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动稍微向右侧旋转爪夹", + "correction_plan": "向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向侧移动正确，成功准备倒颗粒", + "frame": 492, + "progress": 60, + "progress_explanation": "爪夹准备倒颗粒，进度60%", + "state_description": "当前状态为爪夹准备倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右旋转爪夹，开始倒黑色颗粒", + "time": 16.405351044329567, + "annotations": { + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768982949683_6jtgbgw84", + "x": 0.6121216380395935, + "y": 0.2622011460843672, + "width": 0.25205010681833206, + "height": 0.3360636310111007 + } + ] + }, + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768982952563_jmselrjpd", + "x": 0.458272871540092, + "y": 0.4695131262535527, + "width": 0.08838120628694765, + "height": 0.15930289002474254 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧旋转", + "correction_plan": "倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右侧旋转正确，成功开始倒黑色颗粒", + "frame": 574, + "progress": 70, + "progress_explanation": "爪夹开始倒颗粒，进度70%", + "state_description": "当前状态为爪夹开始倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 19.131163473803383, + "annotations": { + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768982941761_rk4kwun8u", + "x": 0.44681604850289514, + "y": 0.456419738032341, + "width": 0.1063847853453999, + "height": 0.1680318155055504 + } + ] + }, + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768982945288_1uru2x0r8", + "x": 0.5924813699758273, + "y": 0.21637428731012612, + "width": 0.2880572649352368, + "height": 0.43426404267018875 + } + ] + } + } + }, + { + "action_description": "爪夹上下晃动", + "correction_plan": "倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹上下晃动正确，成功倒颗粒", + "frame": 624, + "progress": 75, + "progress_explanation": "爪夹倒颗粒，进度75%", + "state_description": "当前状态为爪夹倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 20.796937736259608, + "annotations": { + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768982935219_0975amb1h", + "x": 0.5482907668323536, + "y": 0.12253833839144217, + "width": 0.32079104504151357, + "height": 0.45608635637220823 + } + ] + }, + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768982938122_8ibjhq2zg", + "x": 0.458272871540092, + "y": 0.4673308948833508, + "width": 0.08183445026569229, + "height": 0.15493842728433863 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧旋转", + "correction_plan": "向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向左旋转正确，成功回正黑色瓶", + "frame": 675, + "progress": 80, + "progress_explanation": "爪夹回正黑色瓶，进度80%", + "state_description": "当前状态为爪夹回正黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 22.513190006669046, + "annotations": { + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768982927803_t15qxwnof", + "x": 0.4615462495507197, + "y": 0.4324151929601195, + "width": 0.08674451728163382, + "height": 0.1920363605777719 + } + ] + }, + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768982930467_3jn3b4vld", + "x": 0.6153950160502212, + "y": 0.4498730439217351, + "width": 0.1473020104782461, + "height": 0.17894297235656012 + } + ] + } + } + }, + { + "action_description": "爪夹向后并向下移动", + "correction_plan": "向下移动，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将黑色瓶夹至桌子上空", + "frame": 750, + "progress": 85, + "progress_explanation": "爪夹将黑色瓶夹至桌子上空，进度85%", + "state_description": "当前状态为爪夹将黑色瓶夹至桌子上空\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 24.98661239637677, + "annotations": { + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768982919403_gbupgnfa3", + "x": 0.5581109008642365, + "y": 0.29929907937780037, + "width": 0.1342084984357353, + "height": 0.16366735276514652 + } + ] + }, + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768982923162_foh0fzxy8", + "x": 0.458272871540092, + "y": 0.4782420517343605, + "width": 0.09165458429757534, + "height": 0.14620950180353087 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将黑色瓶放在桌子上", + "frame": 816, + "progress": 90, + "progress_explanation": "爪夹将黑色瓶放在桌子上，进度90%", + "state_description": "当前状态为爪夹将黑色瓶放在桌子上\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：松开爪夹", + "time": 27.2076447463184, + "annotations": { + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768982905876_dj4zoxdzi", + "x": 0.7626970265284673, + "y": 0.009062307140940593, + "width": 0.1882192356110922, + "height": 0.139662807692925 + } + ] + }, + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768982910274_8hz2rdvex", + "x": 0.458272871540092, + "y": 0.456419738032341, + "width": 0.09492796230820302, + "height": 0.16584958413534842 + } + ] + } + } + }, + { + "action_description": "爪夹松开", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 880, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹将黑色瓶放在桌子上", + "time": 29.333333, + "annotations": { + "bbox_1768982854579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854579_1768982889741_8rsovcu86", + "x": 0.4599095605454059, + "y": 0.41786697272603707, + "width": 0.07037762722849532, + "height": 0.12438718810151131 + } + ] + }, + "point_1768982855931": { + "type": "point", + "instances": [ + { + "id": "point_1768982855931_1768982892067_jxoic5ut7", + "x": 0.4517261155188367, + "y": 0.5000643654363801 + } + ] + }, + "point_1768982856124": { + "type": "point", + "instances": [ + { + "id": "point_1768982856124_1768982893910_bq4cf7sl5", + "x": 0.5581109008642365, + "y": 0.5000643654363801 + } + ] + }, + "bbox_1768982854891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982854891_1768982900978_lc4eyc555", + "x": 0.7577869595125256, + "y": -0.001848849710069172, + "width": 0.17839910157920907, + "height": 0.15275619591413672 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768982854579", + "name": "黑色瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1768982854891", + "name": "蒸发工具", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768982855931", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768982856124", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-110323-put-black bottledparticles-evaporation kit-mix2/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-110323-put-black bottledparticles-evaporation kit-mix2/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..c389168480a4afd3179ddd310791e07f2f5bc6b1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-110323-put-black bottledparticles-evaporation kit-mix2/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,570 @@ +{ + "task_description": "将黑色瓶装颗粒放入蒸发工具中\n准备开始移动：0%\n接近黑色瓶：20%\n夹住黑色瓶：40%\n将黑色瓶移动至蒸发工具旁：50%\n开始倒黑色颗粒：70%\n将黑色瓶重新放回桌子上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 0.6016045465957877, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986374109_9gz03isjd", + "x": 0.543380699816412, + "y": 0.3800416400752726, + "width": 0.10147471832945838, + "height": 0.10692933713989573 + } + ] + }, + "bbox_1768986254951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986254951_1768986376997_lnytifzsu", + "x": 0.30278741603527676, + "y": 0.6331804790186992, + "width": 0.05073735916472919, + "height": 0.08074256069747227 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 71, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 2.356288936559998, + "annotations": { + "bbox_1768986254951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986254951_1768986367707_opv1iwi4a", + "x": 0.3011507270299629, + "y": 0.6637317182015265, + "width": 0.05401073717535691, + "height": 0.07201363521666444 + } + ] + }, + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986369964_mw2hgh47c", + "x": 0.5450173888217258, + "y": 0.3713127145944648, + "width": 0.12111498639322456, + "height": 0.11565826262070354 + } + ] + } + } + }, + { + "action_description": "爪夹向右并向下移动", + "correction_plan": "向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右移动错误，导致向三脚架接近", + "frame": 104, + "progress": -5, + "progress_explanation": "爪夹向三脚架接近，进度-5%", + "state_description": "当前状态为爪夹向三脚架接近\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 3.4592334102517874, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986363086_ug560mchf", + "x": 0.553200833848295, + "y": 0.36694825185406094, + "width": 0.09329127330288918, + "height": 0.10692933713989566 + } + ] + }, + "bbox_1768986254951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986254951_1768986365197_l8k5wztkl", + "x": 0.30278741603527676, + "y": 0.6506383299803148, + "width": 0.04419060314347378, + "height": 0.06983140384646246 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右移动错误，导致触碰到三脚架", + "frame": 135, + "progress": -10, + "progress_explanation": "爪夹触碰到三脚架，进度-10%", + "state_description": "当前状态为爪夹触碰到三脚架\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 4.512044044230313, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986359013_fv27qlt2z", + "x": 0.5842979249492581, + "y": 0.3800416400752726, + "width": 0.1145682303719692, + "height": 0.10038264302928983 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向后移动正确，成功离开三脚架", + "frame": 176, + "progress": 5, + "progress_explanation": "爪夹离开三脚架，进度5%", + "state_description": "当前状态为爪夹离开三脚架\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 5.8656577164884185, + "annotations": { + "bbox_1768986254951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986254951_1768986351981_36qy61d1a", + "x": 0.3076974830512183, + "y": 0.6768251064227382, + "width": 0.0327337801062769, + "height": 0.06546694110605861 + } + ] + }, + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986355405_o86hoxk4s", + "x": 0.6023015040077104, + "y": 0.3800416400752726, + "width": 0.0982013403188307, + "height": 0.11347603125050157 + } + ] + } + } + }, + { + "action_description": "爪夹向后移", + "correction_plan": "向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹后移动正确，成功准备接近黑色瓶", + "frame": 223, + "progress": 8, + "progress_explanation": "爪夹向黑色瓶移动，进度8%", + "state_description": "当前状态为爪夹向黑色瓶移动\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 7.419806747599576, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986346670_1tlke5yqn", + "x": 0.5859346139545719, + "y": 0.3887705655560804, + "width": 0.1063847853453999, + "height": 0.10474710576969375 + } + ] + }, + "bbox_1768986254951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986254951_1768986348815_gevve8ead", + "x": 0.2847838369768244, + "y": 0.644091635869709, + "width": 0.052374048170043076, + "height": 0.08947148617827996 + } + ] + } + } + }, + { + "action_description": "爪夹向左后侧移动", + "correction_plan": "向下移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向后移动正确，成功准备接近黑色瓶", + "frame": 254, + "progress": 15, + "progress_explanation": "爪夹准备接近黑色瓶，进度15%", + "state_description": "当前状态为爪夹准备接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向下移动，合拢爪夹，夹住黑色瓶。", + "time": 8.472617381578104, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986343357_55lapf4uy", + "x": 0.5941180589811411, + "y": 0.3887705655560804, + "width": 0.10147471832945838, + "height": 0.09601818028888592 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向前移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向移动正确，成功接近黑色瓶", + "frame": 289, + "progress": 20, + "progress_explanation": "爪夹接近黑色瓶，进度20%", + "state_description": "当前状态为爪夹接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向前移动，合拢爪夹，夹住黑色瓶。", + "time": 9.625695694983156, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986340310_qxfet6md9", + "x": 0.595754747986455, + "y": 0.3778594087050707, + "width": 0.10474809634008615, + "height": 0.11129379988029958 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向前移动，合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向前移动正确，成功更加接近黑色瓶", + "frame": 325, + "progress": 30, + "progress_explanation": "爪夹更加接近黑色瓶，进度30%", + "state_description": "当前状态为爪夹更加接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向前移动，合拢爪夹，夹住黑色瓶。", + "time": 10.828907848101471, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986337294_hvqo601ak", + "x": 0.6055748820183381, + "y": 0.3713127145944648, + "width": 0.10147471832945838, + "height": 0.12220495673130939 + } + ] + } + } + }, + { + "action_description": "爪夹稍微合拢爪夹", + "correction_plan": "合拢爪夹，夹住黑色瓶，向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹稍微合拢正确，成功准备夹住黑色瓶", + "frame": 381, + "progress": 35, + "progress_explanation": "爪夹准备夹住黑色瓶，进度35%", + "state_description": "当前状态为爪夹准备夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：合拢爪夹，夹住黑色瓶。", + "time": 12.683859917492208, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986334214_ww0o8pznu", + "x": 0.6006648150023965, + "y": 0.37640457669219995, + "width": 0.08183445026569221, + "height": 0.12002272536110746 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹合拢正确，成功将黑色瓶夹住", + "frame": 430, + "progress": 40, + "progress_explanation": "爪夹夹住黑色瓶，进度40%", + "state_description": "当前状态为爪夹夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒", + "time": 14.338276628029892, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986330486_n75o1a0dp", + "x": 0.5973914369917688, + "y": 0.3778594087050707, + "width": 0.10311140733477231, + "height": 0.09383594891868399 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向上移动正确，成功将黑色瓶夹至空中", + "frame": 483, + "progress": 45, + "progress_explanation": "爪夹将黑色瓶夹至空中，进度45%", + "state_description": "当前状态为爪夹将黑色瓶夹至空中\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至蒸发工具旁边，向右旋转爪夹，开始倒黑色颗粒", + "time": 16.092961017994103, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986327062_bbzanblqr", + "x": 0.6088482600289657, + "y": 0.3865883341858785, + "width": 0.09492796230820302, + "height": 0.10911156851009765 + } + ] + } + } + }, + { + "time": 17.546842369678732, + "frame": 526, + "progress": 50, + "action_description": "爪夹向上移动然后向右移动，然后稍微向右旋转", + "state_description": "当前状态为爪夹将黑色瓶夹至蒸发工具旁\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右旋转爪夹，开始倒黑色颗粒", + "progress_explanation": "爪夹将黑色瓶夹至蒸发工具旁，进度50%", + "error_success_analysis": "爪夹向右移动正确，成功将黑色瓶夹至蒸发工具旁", + "correction_plan": "向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986324022_qgrb8dkud", + "x": 0.595754747986455, + "y": 0.37204011395179604, + "width": 0.11129485236134151, + "height": 0.12002272536110746 + } + ] + } + } + }, + { + "action_description": "爪夹向右旋转", + "correction_plan": "向右旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右旋转正确，成功准备倒颗粒", + "frame": 572, + "progress": 60, + "progress_explanation": "爪夹准备倒颗粒，进度60%", + "state_description": "当前状态为爪夹准备倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：开始倒黑色颗粒", + "time": 19.05085756107663, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986320375_zqvmhfwq8", + "x": 0.607211571023652, + "y": 0.3865883341858785, + "width": 0.09329127330288918, + "height": 0.10692933713989566 + } + ] + } + } + }, + { + "action_description": "爪夹向右旋转", + "correction_plan": "开始倒黑色颗粒，倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向有旋转正确，成功开始倒颗粒", + "frame": 629, + "progress": 70, + "progress_explanation": "爪夹开始倒颗粒，进度70%", + "state_description": "当前状态为爪夹开始倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 20.955943470180628, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986316915_hhof01rlx", + "x": 0.626851839087418, + "y": 0.4498730439217351, + "width": 0.044190603143473874, + "height": 0.03928016466363514 + } + ] + } + } + }, + { + "action_description": "爪夹轻微上下晃动", + "correction_plan": "倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹上下晃动正确，成功倒颗粒", + "frame": 690, + "progress": 75, + "progress_explanation": "爪夹倒颗粒，进度75%", + "state_description": "当前状态为爪夹倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：倒成功后，回正爪夹，向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 23.01143089842442, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986314230_fuu2w2yn2", + "x": 0.6121216380395935, + "y": 0.3778594087050707, + "width": 0.07201431623380916, + "height": 0.12220495673130939 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动同时向左旋转爪夹", + "correction_plan": "向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向左旋转正确，成功倒完颗粒", + "frame": 770, + "progress": 80, + "progress_explanation": "爪夹倒完颗粒，进度80%", + "state_description": "当前状态为爪夹倒完颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 25.66852440322737, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986311822_1ggz0ozcb", + "x": 0.5842979249492581, + "y": 0.3822238714454746, + "width": 0.11129485236134143, + "height": 0.11565826262070349 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左侧旋转，然后向左移动", + "correction_plan": "向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向左旋转正确，成功回正爪夹", + "frame": 811, + "progress": 85, + "progress_explanation": "爪夹回正，进度85%", + "state_description": "当前状态为爪夹回正\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 27.022138075485472, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986299142_gzbq43zy2", + "x": 0.6055748820183381, + "y": 0.37204011395179604, + "width": 0.09001789529226141, + "height": 0.10474710576969375 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将黑色瓶放在桌子上", + "frame": 845, + "progress": 90, + "progress_explanation": "爪夹将黑色瓶放在桌子上，进度90%", + "state_description": "当前状态为爪夹将黑色瓶放在桌子上\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：松开爪夹", + "time": 28.175216388890522, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986307022_ygjvzdq06", + "x": 0.5908446809705135, + "y": 0.3800416400752726, + "width": 0.09656465131351685, + "height": 0.07856032932727033 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 874, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹将黑色瓶放在桌子", + "time": 29.133333, + "annotations": { + "bbox_1768986255127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768986255127_1768986304202_d10i6xqk8", + "x": 0.5924813699758273, + "y": 0.39313502829648433, + "width": 0.1227516753985384, + "height": 0.10256487439949181 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768986254951", + "name": "黑色瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1768986255127", + "name": "蒸发工具", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768986255903", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768986256079", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-114309-put-black bottledparticles-evaporation kit-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-114309-put-black bottledparticles-evaporation kit-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4d67d746004aa2d5e08955f5b64e25f525715b4b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-114309-put-black bottledparticles-evaporation kit-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,738 @@ +{ + "task_description": "将黑色瓶装颗粒放入蒸发工具箱中\n准备开始移动：0%\n接近黑色瓶：20%\n夹住黑色瓶：40%\n将黑色瓶移动至蒸发工具旁：50%\n开始倒黑色颗粒：70%\n将黑色瓶重新放回桌子上：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 1.0084119000510454, + "annotations": { + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990297318_fgeoi31dq", + "x": 0.7725171605603502, + "y": 0.45860196940254294, + "width": 0.03109709110096297, + "height": 0.0545557842550488 + } + ] + }, + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990299805_2esls5wd0", + "x": 0.7315999354275042, + "y": 0.22946767553133787, + "width": 0.09492796230820302, + "height": 0.10474710576969377 + } + ] + }, + "point_1768990117698": { + "type": "point", + "instances": [ + { + "id": "point_1768990117698_1768990301413_t8tf68388", + "x": 0.384621866300969, + "y": 0.5000643654363801 + } + ] + }, + "point_1768990117866": { + "type": "point", + "instances": [ + { + "id": "point_1768990117866_1768990303114_onbxtp7ti", + "x": 0.6219417720714765, + "y": 0.5131577536575918 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 68, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 2.2521211752805006, + "annotations": { + "point_1768990117866": { + "type": "point", + "instances": [ + { + "id": "point_1768990117866_1768990287190_obiq1l0lk", + "x": 0.6186683940608488, + "y": 0.5066110595469859 + } + ] + }, + "point_1768990117698": { + "type": "point", + "instances": [ + { + "id": "point_1768990117698_1768990288942_ph6bhxr7n", + "x": 0.38625855530628284, + "y": 0.48915320858537026 + } + ] + }, + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990291438_5ym7dpuib", + "x": 0.5679310348961196, + "y": 0.030884620842960123, + "width": 0.0982013403188308, + "height": 0.09601818028888594 + } + ] + }, + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990294198_o9l9zw96b", + "x": 0.6612223081990087, + "y": 0.2622011460843672, + "width": 0.04746398115410155, + "height": 0.05673801562525075 + } + ] + } + } + }, + { + "action_description": "爪夹向下并向右移动", + "correction_plan": "向右侧移动至黑色瓶上方，向下移动。合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向下移动正确，成功接近黑色瓶", + "frame": 91, + "progress": 20, + "progress_explanation": "爪夹接近黑色瓶，进度20%", + "state_description": "当前状态为爪夹接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右侧移动至黑色瓶上方，向下移动，合拢爪夹，夹住黑色瓶。", + "time": 3.025237751774486, + "annotations": { + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990277679_eg266plaw", + "x": 0.3666182872425167, + "y": 0.31239246759901207, + "width": 0.06055749319661223, + "height": 0.091653717548482 + } + ] + }, + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990280334_qettvyrlh", + "x": 0.14893864953577532, + "y": 0.07671147961720114, + "width": 0.1783991015792091, + "height": 0.1571206586545406 + } + ] + }, + "point_1768990117698": { + "type": "point", + "instances": [ + { + "id": "point_1768990117698_1768990282046_t40i0l52c", + "x": 0.38625855530628284, + "y": 0.49569990269597614 + } + ] + }, + "point_1768990117866": { + "type": "point", + "instances": [ + { + "id": "point_1768990117866_1768990283791_5oc3orbcu", + "x": 0.6186683940608488, + "y": 0.5109755222873898 + } + ] + } + } + }, + { + "action_description": "爪夹向下并向前移动", + "correction_plan": "向前移动，合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近黑色瓶", + "frame": 112, + "progress": 30, + "progress_explanation": "爪夹更加接近黑色瓶，进度30%", + "state_description": "当前状态为爪夹更加接近黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向前移动，合拢爪夹，夹住黑色瓶。", + "time": 3.7311267998776905, + "annotations": { + "point_1768990117866": { + "type": "point", + "instances": [ + { + "id": "point_1768990117866_1768990269310_kd99zoygs", + "x": 0.6137583270449073, + "y": 0.5087932909171878 + } + ] + }, + "point_1768990117698": { + "type": "point", + "instances": [ + { + "id": "point_1768990117698_1768990270966_9wucl915k", + "x": 0.39771537834347975, + "y": 0.5087932909171878 + } + ] + }, + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990274126_oix6zf2xu", + "x": 0.41899233541255976, + "y": 0.26874784019497305, + "width": 0.058920804191298436, + "height": 0.16366735276514646 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，稍微合拢爪夹", + "correction_plan": "合拢爪夹，夹住黑色瓶，向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向前移动正确，成功将准备夹住黑色瓶", + "frame": 143, + "progress": 35, + "progress_explanation": "爪夹准备夹住黑色瓶，进度35%", + "state_description": "当前状态为爪夹准备夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：合拢爪夹，夹住黑色瓶。", + "time": 4.773153489934801, + "annotations": { + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990259918_gtlrmgjtt", + "x": 0.436995914471012, + "y": 0.4695131262535527, + "width": 0.10965816335602767, + "height": 0.1527561959141367 + } + ] + }, + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990262686_tlcyka6if", + "x": 0.0392804861797477, + "y": 0.022155695362152315, + "width": 0.24386666179176292, + "height": 0.10256487439949179 + } + ] + }, + "point_1768990117698": { + "type": "point", + "instances": [ + { + "id": "point_1768990117698_1768990264320_78swljs0y", + "x": 0.4304491584497566, + "y": 0.5087932909171878 + } + ] + }, + "point_1768990117866": { + "type": "point", + "instances": [ + { + "id": "point_1768990117866_1768990265926_3s8qim8o8", + "x": 0.5842979249492581, + "y": 0.5153399850277938 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹合拢正确，成功夹住黑色瓶", + "frame": 173, + "progress": 40, + "progress_explanation": "爪夹夹住黑色瓶，进度40%", + "state_description": "当前状态为爪夹夹住黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向上移动，向左侧移动至蒸发工具旁边，向左旋转爪夹，开始倒黑色颗粒", + "time": 5.781566415796522, + "annotations": { + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990228375_ny1m25w6b", + "x": 0.07692433330196613, + "y": 0.017791232621748407, + "width": 0.1947659916323476, + "height": 0.1025648743994918 + } + ] + }, + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990230842_3h7vxohi9", + "x": 0.4533628045241505, + "y": 0.4913354399555722, + "width": 0.09165458429757534, + "height": 0.14620950180353082 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左侧移动，向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向上移动正确，成功夹黑色瓶夹至蒸发工具旁", + "frame": 210, + "progress": 50, + "progress_explanation": "爪夹将黑色瓶夹至蒸发工具旁，进度50%", + "state_description": "当前状态为爪夹将黑色瓶夹至蒸发工具旁\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左侧移动，向左旋转爪夹，开始倒黑色颗粒", + "time": 6.991661926830586, + "annotations": { + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990219416_gqzs4ggnk", + "x": 0.45499949352946434, + "y": 0.48915320858537026, + "width": 0.10474809634008606, + "height": 0.15493842728433874 + } + ] + }, + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990223170_237qmi1rq", + "x": 0.14239189351451992, + "y": 0.25347222060355934, + "width": 0.19640268063766142, + "height": 0.17457850961615623 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动，向左侧旋转", + "correction_plan": "向左旋转爪夹，开始倒黑色颗粒，倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向左侧移动正确，成功准备倒颗粒", + "frame": 259, + "progress": 60, + "progress_explanation": "爪夹准备倒颗粒，进度61%", + "state_description": "当前状态为爪夹准备倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向左旋转爪夹，开始倒黑色颗粒", + "time": 8.638736372404729, + "annotations": { + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990212528_5j8xdb16a", + "x": 0.16530553958891375, + "y": 0.3887705655560804, + "width": 0.18330916859515062, + "height": 0.21604090564999331 + } + ] + }, + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990215113_2c65f7610", + "x": 0.4680930055719751, + "y": 0.4804242831045624, + "width": 0.07856107225506462, + "height": 0.1593028900247426 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧旋转", + "correction_plan": "倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向左旋转正确，成功开始倒颗粒", + "frame": 309, + "progress": 70, + "progress_explanation": "爪夹开始倒颗粒，进度70%", + "state_description": "当前状态为爪夹开始倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 10.285810817978872, + "annotations": { + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990205463_w8ufsd5dn", + "x": 0.458272871540092, + "y": 0.454237506662139, + "width": 0.0982013403188307, + "height": 0.16366735276514652 + } + ] + }, + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990207865_wepfakdjf", + "x": 0.1407552045092061, + "y": 0.27747676567578083, + "width": 0.24222997278644912, + "height": 0.3404280937515047 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动并向右旋转", + "correction_plan": "", + "error_success_analysis": "", + "frame": 379, + "progress": 75, + "progress_explanation": "爪夹倒颗粒，进度75%", + "state_description": "当前粘贴为爪夹倒颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 12.638774311656219, + "annotations": { + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990197808_wsh83eg43", + "x": 0.607211571023652, + "y": 0.33639701267123356, + "width": 0.18494585760046442, + "height": 0.2902367722368598 + } + ] + }, + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990201096_jar2mt5hd", + "x": 0.45499949352946434, + "y": 0.4935176713257742, + "width": 0.09165458429757534, + "height": 0.16803181550555035 + } + ] + } + } + }, + { + "action_description": "爪夹向右旋转", + "correction_plan": "倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向右旋转正确，成功完成分倒颗粒", + "frame": 412, + "progress": 79, + "progress_explanation": "爪夹倒完颗粒，进度79%", + "state_description": "当前状态为爪夹倒完颗粒\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：倒成功后，回正爪夹，向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 13.74802853010411, + "annotations": { + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990191152_po23r3fa1", + "x": 0.4599095605454059, + "y": 0.4935176713257742, + "width": 0.0900178952922615, + "height": 0.15930289002474254 + } + ] + }, + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990193569_we17q9vy8", + "x": 0.5073735416995074, + "y": 0.21419205593992416, + "width": 0.2536867958236459, + "height": 0.3469747878621106 + } + ] + } + } + }, + { + "action_description": "爪夹向左旋转并向右移动", + "correction_plan": "向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "error_success_analysis": "爪夹向左旋转正确，成功回正爪夹", + "frame": 452, + "progress": 80, + "progress_explanation": "爪夹回正，进度80%", + "state_description": "当前状态为爪夹回正\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向右移动至桌子上方，向下移动，松开爪夹，重新将瓶子放回桌子。", + "time": 15.058965333724348, + "annotations": { + "point_1768990117866": { + "type": "point", + "instances": [ + { + "id": "point_1768990117866_1768990179280_yg6g2tdlv", + "x": 0.5581109008642365, + "y": 0.4935176713257742 + } + ] + }, + "point_1768990117698": { + "type": "point", + "instances": [ + { + "id": "point_1768990117698_1768990181096_4r3lf9e8c", + "x": 0.4517261155188367, + "y": 0.4978821340661781 + } + ] + }, + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990184040_rw71w7smj", + "x": 0.41899233541255976, + "y": 0.3822238714454746, + "width": 0.1260250534091661, + "height": 0.13311611358231915 + } + ] + }, + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990186922_c5ymjmt7h", + "x": 0.4697296945772889, + "y": 0.4804242831045624, + "width": 0.07037762722849542, + "height": 0.1571206586545406 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向右然后向下移动", + "correction_plan": "向下移动，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功准备将黑色瓶放下", + "frame": 493, + "progress": 85, + "progress_explanation": "爪夹准备方下黑色瓶，进度85%", + "state_description": "当前状态为爪夹准备方下黑色瓶\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：向下移动，松开爪夹", + "time": 16.437129665735366, + "annotations": { + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990167792_htw9q2ic0", + "x": 0.45499949352946434, + "y": 0.4782420517343605, + "width": 0.0900178952922615, + "height": 0.17239627824595433 + } + ] + }, + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990170424_2upgia9tn", + "x": 0.3355211961415537, + "y": 0.29929907937780037, + "width": 0.14730201047824604, + "height": 0.17457850961615626 + } + ] + }, + "point_1768990117698": { + "type": "point", + "instances": [ + { + "id": "point_1768990117698_1768990172601_v1012mnnl", + "x": 0.4533628045241505, + "y": 0.4935176713257742 + } + ] + }, + "point_1768990117866": { + "type": "point", + "instances": [ + { + "id": "point_1768990117866_1768990175713_6taz90hf0", + "x": 0.5564742118589228, + "y": 0.48697097721516835 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将黑色瓶放在桌子上", + "frame": 530, + "progress": 90, + "progress_explanation": "爪夹将黑色瓶放在桌子上，进度90%", + "state_description": "当前状态为爪夹将黑色瓶放在桌子上\n为了完成将黑色瓶装颗粒放入蒸发工具中的任务应当：松开爪夹", + "time": 17.680838940964826, + "annotations": { + "point_1768990117866": { + "type": "point", + "instances": [ + { + "id": "point_1768990117866_1768990156401_3kk0ouftr", + "x": 0.5597475898695504, + "y": 0.5000643654363801 + } + ] + }, + "point_1768990117698": { + "type": "point", + "instances": [ + { + "id": "point_1768990117698_1768990158105_yjo0g6mu9", + "x": 0.4599095605454059, + "y": 0.49569990269597614 + } + ] + }, + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990161321_sph9njtgc", + "x": 0.008183395078784638, + "y": 0.1945519736081066, + "width": 0.0834711392710061, + "height": 0.36879710156413004 + } + ] + }, + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990164408_ivpbogeba", + "x": 0.46318293855603354, + "y": 0.4738775889939566, + "width": 0.07201431623380916, + "height": 0.17676074098635824 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 580, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹张开，黑色瓶在桌子上", + "time": 19.327913386538967, + "annotations": { + "bbox_1768990116456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116456_1768990145169_y4riteeua", + "x": 0.512283608715449, + "y": 0.33494218065836284, + "width": 0.05401073717535683, + "height": 0.09383594891868399 + } + ] + }, + "bbox_1768990116618": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768990116618_1768990147881_qkre78xne", + "x": 0.08347108932322152, + "y": 0.18800527949750073, + "width": 0.16694227854201218, + "height": 0.17457850961615629 + } + ] + }, + "point_1768990117698": { + "type": "point", + "instances": [ + { + "id": "point_1768990117698_1768990149641_qin70tbwa", + "x": 0.4222657134231874, + "y": 0.5000643654363801 + } + ] + }, + "point_1768990117866": { + "type": "point", + "instances": [ + { + "id": "point_1768990117866_1768990151673_wph64svfh", + "x": 0.5842979249492581, + "y": 0.4978821340661781 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768990116456", + "name": "黑色瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1768990116618", + "name": "蒸发工具", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768990117698", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768990117866", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-134442-put-rubber head dropper-evaporating dish-good/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-134442-put-rubber head dropper-evaporating dish-good/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..de2bd620f41b649f9de5e4a3ad675ee411619148 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-134442-put-rubber head dropper-evaporating dish-good/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,450 @@ +{ + "task_description": "将橡胶头滴管中的溶液放入蒸发皿中\n准备开始移动：0%\n接近胶头滴管：20%\n夹住胶头滴管：50%\n将胶头滴管移动至蒸发皿旁：60%\n准备开始将溶液放入蒸发皿：70%\n将溶液完全放入蒸发皿：90%\n移动爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动移动\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 0.19215942491863974, + "annotations": { + "bbox_1769049966112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049966112_1769050067696_o96rv4x1v", + "x": 0.36825497624783055, + "y": 0.3800416400752726, + "width": 0.10802147435071378, + "height": 0.10038264302928983 + } + ] + }, + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769050070487_rzu4912te", + "x": 0.7234164904009349, + "y": 0.5284333732490054, + "width": 0.03600715811690458, + "height": 0.0872892548080781 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 68, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 2.267493880876228, + "annotations": { + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769050059463_azvn2fbd2", + "x": 0.7234164904009349, + "y": 0.5415267614702172, + "width": 0.04255391413816003, + "height": 0.07419586658686643 + } + ] + }, + "bbox_1769049966112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049966112_1769050061535_hg8yd39mq", + "x": 0.3731650432637721, + "y": 0.42150403610910975, + "width": 0.10802147435071378, + "height": 0.07856032932727033 + } + ] + } + } + }, + { + "action_description": "爪夹向右并向下移动", + "correction_plan": "向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功接近胶头滴管", + "frame": 99, + "progress": 20, + "progress_explanation": "爪夹接近胶头滴管，进度20%", + "state_description": "当前状态为爪夹接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 3.305161108855022, + "annotations": { + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769050055712_0rcpm0bg7", + "x": 0.7299632464221903, + "y": 0.5218866791383996, + "width": 0.03437046911159074, + "height": 0.11565826262070349 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近胶头滴管", + "frame": 136, + "progress": 30, + "progress_explanation": "爪夹更加接近胶头滴管，进度30%", + "state_description": "当前状态为爪夹更加接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 4.534988934607666, + "annotations": { + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769050051672_pt711vc4g", + "x": 0.7152330453743657, + "y": 0.5546201496914289, + "width": 0.04746398115410155, + "height": 0.08510702343787611 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，稍微合拢爪夹", + "correction_plan": "合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下正确，成功准备夹住胶头滴管", + "frame": 171, + "progress": 40, + "progress_explanation": "爪夹准备夹住胶头滴管，进度40%", + "state_description": "当前状态为爪夹准备夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 5.687952521250771, + "annotations": { + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769050047337_jrp3zkzfq", + "x": 0.7299632464221903, + "y": 0.5568023810616308, + "width": 0.03109709110096297, + "height": 0.0676491724762606 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动稍微合拢爪夹", + "correction_plan": "合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功调整爪夹夹取角度", + "frame": 220, + "progress": 45, + "progress_explanation": "爪夹调整爪夹夹取角度，进度45%", + "state_description": "当前状态为爪夹调整爪夹夹取角度\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：合拢爪夹，夹住胶头滴管。", + "time": 7.340533662105887, + "annotations": { + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769050044199_zw33mrrcc", + "x": 0.7168697343796795, + "y": 0.5415267614702172, + "width": 0.040917225132846104, + "height": 0.09165371754848207 + } + ] + } + } + }, + { + "action_description": "爪夹合拢爪夹", + "correction_plan": "向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹合拢正确，成功夹住胶头滴管", + "frame": 277, + "progress": 50, + "progress_explanation": "爪夹夹住胶头滴管，进度50%", + "state_description": "当前状态为爪夹夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 9.223707520289626, + "annotations": { + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769050040280_1t0it3pr1", + "x": 0.7250531794062487, + "y": 0.5437089928404191, + "width": 0.031097091100963058, + "height": 0.07637809795706829 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向上移动正确，成功将胶头滴管稍微夹起", + "frame": 404, + "progress": 55, + "progress_explanation": "爪夹稍微将胶头滴管夹起，进度55%", + "state_description": "当前状态为爪夹稍微将胶头滴管夹起\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 13.45124067131434, + "annotations": { + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769050037191_6w82dprah", + "x": 0.7119596673637381, + "y": 0.4782420517343605, + "width": 0.04746398115410146, + "height": 0.09383594891868394 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动然后稍微向左侧移动", + "correction_plan": "向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向上移动正确，成功将爪夹夹至空中", + "frame": 462, + "progress": 59, + "progress_explanation": "爪夹将胶头滴管夹至空中，进度59%", + "state_description": "当前状态为爪夹将胶头滴管夹至空中\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 15.411278768607621, + "annotations": { + "bbox_1769049966112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049966112_1769050028729_th2d427ds", + "x": 0.37971179928502746, + "y": 0.43023296158991753, + "width": 0.07856107225506456, + "height": 0.07637809795706835 + } + ] + }, + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769050032337_9k7gbnxo2", + "x": 0.6726791312362057, + "y": 0.3189391617096179, + "width": 0.049100670159415306, + "height": 0.11347603125050157 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向左移动正确，成功将胶头滴管移动至蒸发皿旁", + "frame": 496, + "progress": 60, + "progress_explanation": "爪夹将胶头滴管移动至蒸发皿旁，进度60%", + "state_description": "当前状态为爪夹将胶头滴管移动至蒸发皿旁\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 16.525810235695953, + "annotations": { + "bbox_1769049966112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049966112_1769050023552_hi3vq2a2k", + "x": 0.3551614642053198, + "y": 0.39313502829648433, + "width": 0.1063847853453999, + "height": 0.11565826262070349 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向后移动正确，成功准备开始倒溶液", + "frame": 525, + "progress": 70, + "progress_explanation": "爪夹准备开始倒溶液，进度70%", + "state_description": "当前状态为爪夹准备开始倒溶液\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 17.486613224565208, + "annotations": { + "bbox_1769049966112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049966112_1769050011272_vay4wjcb4", + "x": 0.36007153122126134, + "y": 0.3938624276538156, + "width": 0.11784160838259687, + "height": 0.1200227253611074 + } + ] + }, + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769050013728_5zq79chyv", + "x": 0.39771537834347975, + "y": 0.3276680871904257, + "width": 0.05073735916472923, + "height": 0.08292479206767425 + } + ] + } + } + }, + { + "time": 18.44741621343446, + "frame": 553, + "progress": 80, + "action_description": "爪夹稍微向下移动然后稍微夹紧爪夹", + "state_description": "当前状态为爪夹倒溶液\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：将溶液放入蒸发皿中，向上移动。", + "progress_explanation": "爪夹倒溶液，进度80%", + "error_success_analysis": "爪夹夹紧滴管正确，成功倒溶液", + "correction_plan": "将溶液放入蒸发皿中，向上移动。", + "annotations": { + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769050002593_icqylv581", + "x": 0.4206290244178736, + "y": 0.35021780024977656, + "width": 0.04419060314347378, + "height": 0.091653717548482 + } + ] + }, + "bbox_1769049966112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049966112_1769050005785_bkj4yrg6b", + "x": 0.36007153122126134, + "y": 0.39749949103688825, + "width": 0.1063847853453999, + "height": 0.10038264302928983 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动", + "correction_plan": "向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功将溶液倒入蒸发皿", + "frame": 586, + "progress": 90, + "progress_explanation": "爪夹将溶液倒入蒸发皿，进度90%", + "state_description": "当前状态为爪夹将溶液倒入蒸发皿\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动。", + "time": 19.52351556096803, + "annotations": { + "bbox_1769049966112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049966112_1769049996001_0r1it15q1", + "x": 0.363344909231889, + "y": 0.3844061028156765, + "width": 0.11620491937728303, + "height": 0.11784049399090547 + } + ] + }, + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769049998833_o6is8wfh4", + "x": 0.40589882337004896, + "y": 0.3647660204838589, + "width": 0.05401073717535691, + "height": 0.091653717548482 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下然后向上移动", + "correction_plan": "", + "error_success_analysis": "爪夹向上移动正确，成功完成任务", + "frame": 670, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹成功倒入溶液", + "time": 22.333333, + "annotations": { + "bbox_1769049965489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049965489_1769049989658_wk85lrlrj", + "x": 0.3960786893381659, + "y": 0.3676756512113922, + "width": 0.04255391413815994, + "height": 0.10474710576969375 + } + ] + }, + "bbox_1769049966112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769049966112_1769049992406_fx1djor81", + "x": 0.3617082202265752, + "y": 0.39968172240709016, + "width": 0.1063847853453999, + "height": 0.10911156851009765 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769049965489", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769049966112", + "name": "蒸发皿", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769049966889", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769049967072", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142045-put-rubber head dropper-evaporating dish-mix3/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142045-put-rubber head dropper-evaporating dish-mix3/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..98995527a4291519d241599438414b0898555a8f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142045-put-rubber head dropper-evaporating dish-mix3/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,448 @@ +{ + "task_description": "将橡胶头滴管中的溶液放入蒸发皿中\n准备开始移动：0%\n接近胶头滴管：20%\n夹住胶头滴管：50%\n将胶头滴管移动至蒸发皿旁：60%\n准备开始将溶液放入蒸发皿：70%\n将溶液完全放入蒸发皿：90%\n移动爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 0, + "annotations": { + "bbox_1769054393376": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393376_1769054472503_a9iunjxlg", + "x": 0.7005028443265411, + "y": 0.4673308948833508, + "width": 0.03600715811690458, + "height": 0.07856032932727033 + } + ] + }, + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054475375_8smwcpqku", + "x": 0.5139202977207628, + "y": 0.27747676567578083, + "width": 0.10474809634008606, + "height": 0.13093388221211716 + } + ] + }, + "point_1769054394247": { + "type": "point", + "instances": [ + { + "id": "point_1769054394247_1769054477607_f4fxxo97a", + "x": 0.4664563165666612, + "y": 0.5066110595469859 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 60, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹准备接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 2.0140711008691383, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054465590_s729f1zc9", + "x": 0.5270138097632735, + "y": 0.30366354211820423, + "width": 0.09165458429757534, + "height": 0.10692933713989573 + } + ] + }, + "bbox_1769054393376": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393376_1769054468430_mjrpsbl5b", + "x": 0.7037762223371689, + "y": 0.46514866351314876, + "width": 0.03600715811690458, + "height": 0.0720136352166645 + } + ] + } + } + }, + { + "action_description": "爪夹向右并向前移动", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向前移动正确，成功接近胶头滴管", + "frame": 101, + "progress": 20, + "progress_explanation": "爪夹接近胶头滴管，进度20%", + "state_description": "当前状态为爪夹接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 3.3567861437440696, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054462415_5krdky46h", + "x": 0.5302871877739012, + "y": 0.2869330905139199, + "width": 0.09329127330288918, + "height": 0.14402727043332894 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近胶头滴管", + "frame": 138, + "progress": 30, + "progress_explanation": "爪夹更加接近胶头滴管，进度30%", + "state_description": "当前状态为爪夹更加接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 4.60359296927079, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054459024_rfsx57u3c", + "x": 0.5188303647367043, + "y": 0.2971168480075984, + "width": 0.10965816335602759, + "height": 0.14402727043332889 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住胶头滴管", + "frame": 187, + "progress": 40, + "progress_explanation": "爪夹准备夹住胶头滴管，进度40%", + "state_description": "当前状态为爪夹准备夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：合拢爪夹，夹住胶头滴管。", + "time": 6.234032664190349, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054455551_gf15d2hd8", + "x": 0.5253771207579596, + "y": 0.29493461663739645, + "width": 0.0900178952922615, + "height": 0.11347603125050157 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹合拢正确，成功夹住胶头滴管", + "frame": 242, + "progress": 50, + "progress_explanation": "爪夹夹住胶头滴管，进度50%", + "state_description": "当前状态为爪夹夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 8.056288793806326, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054452350_je0bqdajq", + "x": 0.5237404317526458, + "y": 0.2840234597863867, + "width": 0.08510782827631998, + "height": 0.13748057632272304 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将胶头滴管夹起", + "frame": 328, + "progress": 52, + "progress_explanation": "爪夹稍微夹起胶头滴管，进度52%", + "state_description": "当前状态为爪夹稍微夹起胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 10.933535314252605, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054449334_xqtsi4h9z", + "x": 0.5253771207579596, + "y": 0.29057015389699253, + "width": 0.0900178952922615, + "height": 0.12875165084191528 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向后移动", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹松开错误，导致没有夹起胶头滴管", + "frame": 375, + "progress": 35, + "progress_explanation": "爪夹松开胶头滴管，进度35%", + "state_description": "当前状态为爪夹松开胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 12.516020900498061, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054446503_hg5e3dsnn", + "x": 0.5171936757313904, + "y": 0.2927523852671945, + "width": 0.0982013403188307, + "height": 0.13966280769292497 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住胶头滴管", + "frame": 422, + "progress": 45, + "progress_explanation": "爪夹重新准备夹住胶头滴管，进度45%", + "state_description": "当前状态为爪夹重新准备夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：合拢爪夹，夹住胶头滴管。", + "time": 14.05055237806941, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054442947_tz9l8jlsq", + "x": 0.5188303647367043, + "y": 0.2883879225267906, + "width": 0.12111498639322456, + "height": 0.14402727043332889 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动然后稍微合拢", + "correction_plan": "合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹稍微合拢正确，成功调整角度", + "frame": 478, + "progress": 49, + "progress_explanation": "爪夹调整夹取角度，进度49%", + "state_description": "当前状态为爪夹调整夹取角度\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：合拢爪夹，夹住胶头滴管。", + "time": 15.920762616359491, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054439439_wyodecl0i", + "x": 0.531923876779215, + "y": 0.2927523852671945, + "width": 0.07856107225506462, + "height": 0.12875165084191523 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹合拢正确，成功夹住胶头滴管", + "frame": 578, + "progress": 55, + "progress_explanation": "爪夹重新夹住胶头滴管，进度55%", + "state_description": "当前状态为爪夹重新夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 19.27755022354682, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054436247_b08ijnnzw", + "x": 0.5253771207579596, + "y": 0.29493461663739645, + "width": 0.08674451728163382, + "height": 0.1352983449525211 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向上移动正确，成功将胶头滴管移动至蒸发皿旁", + "frame": 649, + "progress": 60, + "progress_explanation": "爪夹将胶头滴管移动至蒸发皿旁，进度60%", + "state_description": "当前状态为爪夹将胶头滴管移动至蒸发皿旁\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向左侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 21.627301548577943, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054433042_g3pazpjea", + "x": 0.5090102307048212, + "y": 0.2883879225267906, + "width": 0.09001789529226141, + "height": 0.10911156851009765 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动然后向左侧移动", + "correction_plan": "向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向左移动正确，成功准备方溶液", + "frame": 701, + "progress": 70, + "progress_explanation": "爪夹准备开始放溶液，进度70%", + "state_description": "当前状态为爪夹准备开始放溶液\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 23.353649460845716, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054430082_dqvr60rqx", + "x": 0.5253771207579596, + "y": 0.26874784019497305, + "width": 0.08183445026569229, + "height": 0.13093388221211716 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动", + "correction_plan": "将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功倒溶液", + "frame": 744, + "progress": 80, + "progress_explanation": "爪夹倒溶液，进度80%", + "state_description": "当前状态为爪夹倒溶液\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：将溶液放入蒸发皿中，向上移动。", + "time": 24.792272721068855, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054427144_l2zgeg87n", + "x": 0.5237404317526458, + "y": 0.2752945343055789, + "width": 0.08183445026569229, + "height": 0.14402727043332894 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向上移动。", + "error_success_analysis": "爪夹向上移动正确，成功将溶液完全放入蒸发皿", + "frame": 784, + "progress": 90, + "progress_explanation": "爪夹将溶液完全放入蒸发皿，进度90%", + "state_description": "当前状态为爪夹将溶液完全放入蒸发皿\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动。", + "time": 26.134987763943787, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054424535_4gyiu2t17", + "x": 0.5204670537420182, + "y": 0.30584577348840625, + "width": 0.08510782827631998, + "height": 0.10911156851009765 + } + ] + } + } + }, + { + "action_description": "爪夹向上并向后移动", + "correction_plan": "", + "error_success_analysis": "爪夹向移动正确，成功完成任务", + "frame": 836, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹将胶头滴管移开", + "time": 27.866667, + "annotations": { + "bbox_1769054393589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054393589_1769054421175_6ew4b662g", + "x": 0.5286504987685874, + "y": 0.31311986695634336, + "width": 0.08347113927100613, + "height": 0.10256487439949176 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769054393376", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769054393589", + "name": "蒸发皿", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769054394247", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769054394416", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142045-put-rubber head dropper-evaporating dish-mix3/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142045-put-rubber head dropper-evaporating dish-mix3/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e0ba508fd18a1efd8c8e94ac182f35b83cb9a2c8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142045-put-rubber head dropper-evaporating dish-mix3/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,522 @@ +{ + "task_description": "将橡胶头滴管中的溶液放入蒸发皿中\n准备开始移动：0%\n接近胶头滴管：20%\n夹住胶头滴管：50%\n将胶头滴管移动至蒸发皿旁：60%\n准备开始将溶液放入蒸发皿：70%\n将溶液完全放入蒸发皿：90%\n移动爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1769064944684": { + "instances": [ + { + "height": 0.09601818028888592, + "id": "bbox_1769064944684_1769065071012_bb0vpm5sn", + "width": 0.03928053612753226, + "x": 0.4451793594975813, + "y": 0.39749949103688825 + } + ], + "type": "bbox" + }, + "bbox_1769064944865": { + "instances": [ + { + "height": 0.13311611358231915, + "id": "bbox_1769064944865_1769065067954_4bpllef8g", + "width": 0.12111498639322456, + "x": 0.49264334065168275, + "y": 0.5000643654363801 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右后侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 1.205046301489141 + }, + { + "action_description": "爪夹向前移动", + "annotations": { + "bbox_1769064944684": { + "instances": [ + { + "height": 0.08292479206767425, + "id": "bbox_1769064944684_1769065059778_7iqskvklq", + "width": 0.031097091100963058, + "x": 0.4435426704922675, + "y": 0.4040461851474941 + } + ], + "type": "bbox" + }, + "bbox_1769064944865": { + "instances": [ + { + "height": 0.13966280769292502, + "id": "bbox_1769064944865_1769065063874_5g29f3pm5", + "width": 0.12766174241447992, + "x": 0.48773327363574126, + "y": 0.502246596806582 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右后侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 74, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹准备接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 2.4564420064804104 + }, + { + "action_description": "爪夹向前并向下移动", + "annotations": { + "bbox_1769064944684": { + "instances": [ + { + "height": 0.10038264302928983, + "id": "bbox_1769064944684_1769065056274_f5mqc40lm", + "width": 0.03928053612753226, + "x": 0.4517261155188367, + "y": 0.39095279692628243 + } + ], + "type": "bbox" + }, + "bbox_1769064944865": { + "instances": [ + { + "height": 0.11129379988029964, + "id": "bbox_1769064944865_1769065053434_c341e37lv", + "width": 0.11784160838259687, + "x": 0.4991900966729381, + "y": 0.5306156046192074 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右后侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功接近胶头滴管", + "frame": 115, + "progress": 20, + "progress_explanation": "爪夹接近胶头滴管，进度20%", + "state_description": "当前状态为爪夹接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 3.846881678692932 + }, + { + "action_description": "爪夹向前移动", + "annotations": { + "bbox_1769064944865": { + "instances": [ + { + "height": 0.11784049399090547, + "id": "bbox_1769064944865_1769065050351_0xsf8sq2e", + "width": 0.1063847853453999, + "x": 0.5090102307048212, + "y": 0.5131577536575918 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右前侧移动至胶头滴管上方，向上移动，合拢爪夹，夹住胶头滴管，向上移动，向右后侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹识别错误，导致爪夹准备夹瓶子", + "frame": 167, + "progress": -5, + "progress_explanation": "爪夹准备夹瓶子，进度-5%", + "state_description": "当前状态为爪夹准备夹瓶子\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，合拢爪夹，夹住胶头滴管。", + "time": 5.5617572744217085 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769064944865": { + "instances": [ + { + "height": 0.13748057632272304, + "id": "bbox_1769064944865_1769065046794_tq8rgkvj8", + "width": 0.10474809634008606, + "x": 0.5073735416995074, + "y": 0.5109755222873898 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，向上移动，合拢爪夹，夹住胶头滴管，向上移动，向右后侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹识别错误，导致爪夹夹错物品", + "frame": 206, + "progress": -10, + "progress_explanation": "爪夹夹住瓶子，进度-10%", + "state_description": "当前状态为爪夹夹住瓶子\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：松开爪夹，向上移动，合拢爪夹，夹住胶头滴管。", + "time": 6.859500968486728 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1769064944865": { + "instances": [ + { + "height": 0.14402727043332889, + "id": "bbox_1769064944865_1769065043450_18y031l0h", + "width": 0.11784160838259687, + "x": 0.4991900966729381, + "y": 0.502246596806582 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，松开爪夹，向上移动，合拢爪夹，夹住胶头滴管，向上移动，向右后侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹识别错误，导致夹起错误物体瓶子", + "frame": 250, + "progress": -15, + "progress_explanation": "爪夹将瓶子夹起，进度-15%", + "state_description": "当前状态为爪夹将瓶子夹起\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，松开爪夹，向上移动，合拢爪夹，夹住胶头滴管。", + "time": 8.342636618846752 + }, + { + "action_description": "爪夹向后移动", + "annotations": { + "bbox_1769064944865": { + "instances": [ + { + "height": 0.14184503906312695, + "id": "bbox_1769064944865_1769065039238_01qblw2uh", + "width": 0.12438836440385223, + "x": 0.48445989562511355, + "y": 0.5066110595469859 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，松开爪夹，向上移动，合拢爪夹，夹住胶头滴管，向上移动，向右后侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹识别错误，导致移动瓶子", + "frame": 299, + "progress": -20, + "progress_explanation": "爪夹移动瓶子，进度-20%", + "state_description": "当前状态为爪夹移动瓶子\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，松开爪夹，向上移动，合拢爪夹，夹住胶头滴管。", + "time": 9.964816236428026 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1769064944865": { + "instances": [ + { + "height": 0.13311611358231915, + "id": "bbox_1769064944865_1769065035810_0za8ht6zp", + "width": 0.12438836440385215, + "x": 0.5041001636888798, + "y": 0.5153399850277938 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，向上移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功放下瓶子", + "frame": 364, + "progress": 5, + "progress_explanation": "爪夹将瓶子放在桌子上，进度5%", + "state_description": "当前状态为爪夹将瓶子放在桌子上\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：松开爪夹，向上移动，合拢爪夹，夹住胶头滴管。", + "time": 12.14317172289431 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1769064944865": { + "instances": [ + { + "height": 0.14184503906312695, + "id": "bbox_1769064944865_1769065032692_n9c0e9e5m", + "width": 0.1309351204251076, + "x": 0.4860965846304274, + "y": 0.5066110595469859 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹松开正确，成功放下瓶子", + "frame": 417, + "progress": 12, + "progress_explanation": "爪夹放下瓶子，进度12%", + "state_description": "当前状态为爪夹放下瓶子\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 13.904395307696836 + }, + { + "action_description": "爪夹向前移动，稍微合拢爪夹", + "annotations": { + "bbox_1769064944865": { + "instances": [ + { + "height": 0.11565826262070349, + "id": "bbox_1769064944865_1769065030098_u6o93bbav", + "width": 0.10802147435071383, + "x": 0.4942800296569966, + "y": 0.5066110595469859 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向前移动正确，成功准备夹住胶头滴管", + "frame": 477, + "progress": 35, + "progress_explanation": "爪夹准备夹取胶头滴管，进度35%", + "state_description": "当前状态为爪夹准备夹取胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：合拢爪夹，夹住胶头滴管。", + "time": 15.897358837868117 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769064944865": { + "instances": [ + { + "height": 0.14620950180353087, + "id": "bbox_1769064944865_1769065026044_efdxm0mea", + "width": 0.14075525445699072, + "x": 0.49264334065168275, + "y": 0.5087932909171878 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹合拢正确，成功夹住胶头滴管", + "frame": 549, + "progress": 50, + "progress_explanation": "爪夹夹住胶头滴管，进度50%", + "state_description": "当前状态为爪夹夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 18.307454269703154 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1769064944865": { + "instances": [ + { + "height": 0.12220495673130939, + "id": "bbox_1769064944865_1769065020909_g0o9ymkp7", + "width": 0.12766174241447992, + "x": 0.48445989562511355, + "y": 0.5087932909171878 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹下你干啥移动正确，成功稍微夹起胶头滴管", + "frame": 605, + "progress": 55, + "progress_explanation": "爪夹稍微将胶头滴管夹起，进度55%", + "state_description": "当前状态为爪夹稍微将胶头滴管夹起\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 20.16137383265318 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1769064944865": { + "instances": [ + { + "height": 0.1047471057696938, + "id": "bbox_1769064944865_1769065017380_3e1k98ahb", + "width": 0.13257180943042143, + "x": 0.49264334065168275, + "y": 0.5218866791383996 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向上移动正确，成功将移动至蒸发皿旁", + "frame": 634, + "progress": 60, + "progress_explanation": "爪夹将移动至蒸发皿旁，进度60%", + "state_description": "当前状态为爪夹将移动至蒸发皿旁\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 21.134681603201948 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1769064944684": { + "instances": [ + { + "height": 0.16366735276514652, + "id": "bbox_1769064944684_1769065010562_8m2eudu4x", + "width": 0.055647426180670756, + "x": 0.5270138097632735, + "y": 0.39095279692628243 + } + ], + "type": "bbox" + }, + "bbox_1769064944865": { + "instances": [ + { + "height": 0.13093388221211716, + "id": "bbox_1769064944865_1769065013555_lwu1lxeyt", + "width": 0.1063847853454, + "x": 0.4942800296569966, + "y": 0.5066110595469859 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向右侧移动正确，成功准备开始将溶液放入蒸发皿", + "frame": 672, + "progress": 70, + "progress_explanation": "爪夹准备开始将溶液放入蒸发皿，进度70%", + "state_description": "当前状态为爪夹准备开始将溶液放入蒸发皿\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 22.38607730819322 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1769064944684": { + "instances": [ + { + "height": 0.18548966646716605, + "id": "bbox_1769064944684_1769065007555_e7acrzi7q", + "width": 0.07365100523912309, + "x": 0.4991900966729381, + "y": 0.408410647887898 + } + ], + "type": "bbox" + }, + "bbox_1769064944865": { + "instances": [ + { + "height": 0.1200227253611074, + "id": "bbox_1769064944865_1769065004852_7egsbm856", + "width": 0.12111498639322456, + "x": 0.500826785678252, + "y": 0.5087932909171878 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将溶液放入蒸发皿中，向上移动", + "error_success_analysis": "爪夹向下移动正确，成功倒溶液", + "frame": 712, + "progress": 80, + "progress_explanation": "爪夹倒溶液，进度80%", + "state_description": "当前状态为爪夹倒溶液\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：将溶液放入蒸发皿中，向上移动", + "time": 23.730168991331993 + }, + { + "action_description": "爪夹稍微向上移动", + "annotations": { + "bbox_1769064944684": { + "instances": [ + { + "height": 0.21385867427979138, + "id": "bbox_1769064944684_1769064999227_bcpk4l6io", + "width": 0.06055749319661228, + "x": 0.512283608715449, + "y": 0.3756771773348687 + } + ], + "type": "bbox" + }, + "bbox_1769064944865": { + "instances": [ + { + "height": 0.1331161135823192, + "id": "bbox_1769064944865_1769065001219_nwz73up3l", + "width": 0.11293154136665526, + "x": 0.4828232066197997, + "y": 0.5109755222873898 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动", + "error_success_analysis": "爪夹向上移动正确，成功将溶液完全放入蒸发皿", + "frame": 755, + "progress": 90, + "progress_explanation": "将溶液完全放入蒸发皿，进度90%", + "state_description": "当前状态为将溶液完全放入蒸发皿\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动", + "time": 25.16695665261826 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1769064944684": { + "instances": [ + { + "height": 0.16148512139494453, + "id": "bbox_1769064944684_1769064995787_k74fpiozq", + "width": 0.04582729214878763, + "x": 0.4811865176144859, + "y": 0.4695131262535527 + } + ], + "type": "bbox" + }, + "bbox_1769064944865": { + "instances": [ + { + "height": 0.11347603125050162, + "id": "bbox_1769064944865_1769064993468_q56a98c5l", + "width": 0.1391185654516768, + "x": 0.4860965846304274, + "y": 0.5226140784957308 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹向上移动正确，成功完成任务", + "frame": 808, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹离开蒸发皿", + "time": 26.933333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769064944684", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769064944865", + "name": "蒸发皿" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769064945754", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769064945908", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142045-put-rubber head dropper-evaporating dish-mix3/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142045-put-rubber head dropper-evaporating dish-mix3/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..021a62da336a88f2fbb6e205dcd4790c2be7a6ac --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142045-put-rubber head dropper-evaporating dish-mix3/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,730 @@ +{ + "task_description": "将橡胶头滴管中的溶液放入蒸发皿准备开始移动：0%\n接近胶头滴管：20%\n夹住胶头滴管：50%\n将胶头滴管移动至蒸发皿旁：60%\n准备开始将溶液放入蒸发皿：70%\n将溶液完全放入蒸发皿：90%\n移动爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.04582685877424104, + "id": "bbox_1769068717130_1769068905045_91rdu9l4y", + "width": 0.03437046911159074, + "x": 0.5401073218057844, + "y": 0.31239246759901207 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.1352983449525211, + "id": "bbox_1769068718840_1769068902430_cruzdiafq", + "width": 0.10802147435071366, + "x": 0.7005028443265411, + "y": 0.2752945343055789 + } + ], + "type": "bbox" + }, + "point_1769068717946": { + "instances": [ + { + "id": "point_1769068717946_1769068899061_b9my0pet2", + "x": 0.3878952443115967, + "y": 0.502246596806582 + } + ], + "type": "point" + }, + "point_1769068719828": { + "instances": [ + { + "id": "point_1769068719828_1769068896886_si08s4xe4", + "x": 0.626851839087418, + "y": 0.502246596806582 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 1.010247421994239 + }, + { + "action_description": "爪夹向前移动稍微向下移动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.045826858774240975, + "id": "bbox_1769068717130_1769068886263_1hg8c3t5f", + "width": 0.044190603143473874, + "x": 0.5335605657845288, + "y": 0.4069558158750273 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.18767189783736798, + "id": "bbox_1769068718840_1769068888814_h2wm0qkmd", + "width": 0.12111498639322446, + "x": 0.7414200694593872, + "y": 0.3800416400752726 + } + ], + "type": "bbox" + }, + "point_1769068717946": { + "instances": [ + { + "id": "point_1769068717946_1769068890517_u09sdysht", + "x": 0.38953193331691055, + "y": 0.5066110595469859 + } + ], + "type": "point" + }, + "point_1769068719828": { + "instances": [ + { + "id": "point_1769068719828_1769068892406_x2d2arrip", + "x": 0.626851839087418, + "y": 0.502246596806582 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 2.3452186846326906 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.091653717548482, + "id": "bbox_1769068717130_1769068882102_o0wegskhl", + "width": 0.09329127330288918, + "x": 0.6612223081990087, + "y": 0.3407614754116375 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.28369007812625385, + "id": "bbox_1769068718840_1769068879250_nqtvq5fnq", + "width": 0.06874093822318147, + "x": 0.9198191710385963, + "y": 0.4105928792581 + } + ], + "type": "bbox" + }, + "point_1769068717946": { + "instances": [ + { + "id": "point_1769068717946_1769068875814_8270qp66n", + "x": 0.38953193331691055, + "y": 0.5000643654363801 + } + ], + "type": "point" + }, + "point_1769068719828": { + "instances": [ + { + "id": "point_1769068719828_1769068874007_ilapnw0s8", + "x": 0.6186683940608488, + "y": 0.5000643654363801 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动错误，导致角度错误", + "frame": 101, + "progress": -5, + "progress_explanation": "爪夹移动方向错误，进度20%", + "state_description": "当前状态为爪夹移动方向错误\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 3.3554672077104377 + }, + { + "action_description": "爪夹向前并向下移动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.10692933713989573, + "id": "bbox_1769068717130_1769068863335_2hodsj209", + "width": 0.11129485236134151, + "x": 0.7135963563690518, + "y": 0.42150403610910975 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.2705966899050422, + "id": "bbox_1769068718840_1769068866094_lugqr8zot", + "width": 0.07201431623380916, + "x": 0.9034522809854579, + "y": 0.5568023810616308 + } + ], + "type": "bbox" + }, + "point_1769068717946": { + "instances": [ + { + "id": "point_1769068717946_1769068867974_99pnua0s8", + "x": 0.384621866300969, + "y": 0.5087932909171878 + } + ], + "type": "point" + }, + "point_1769068719828": { + "instances": [ + { + "id": "point_1769068719828_1769068869918_jwd692hdc", + "x": 0.6219417720714765, + "y": 0.5066110595469859 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹角度错误，跟胶头滴管有距离", + "frame": 133, + "progress": -7, + "progress_explanation": "爪夹在胶头滴管左后侧，进度-7%", + "state_description": "当前状态为爪夹在胶头滴管左后侧\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 4.437876339579453 + }, + { + "action_description": "爪夹合拢然后张开", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.10038264302928983, + "id": "bbox_1769068717130_1769068856422_sl91xiaad", + "width": 0.06710424921786765, + "x": 0.626851839087418, + "y": 0.408410647887898 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.2465921448328207, + "id": "bbox_1769068718840_1769068853306_arndoa77f", + "width": 0.09820134031883061, + "x": 0.839621409778218, + "y": 0.5306156046192074 + } + ], + "type": "bbox" + }, + "point_1769068717946": { + "instances": [ + { + "id": "point_1769068717946_1769068850111_r2090lder", + "x": 0.4386326034763258, + "y": 0.5087932909171878 + } + ], + "type": "point" + }, + "point_1769068719828": { + "instances": [ + { + "id": "point_1769068719828_1769068848022_rvx1ahmd0", + "x": 0.5695677239014335, + "y": 0.49569990269597614 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹角度错误，没有夹到胶头滴管", + "frame": 168, + "progress": -10, + "progress_explanation": "爪夹开合爪夹-10%", + "state_description": "当前状态为爪夹开合爪夹\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 5.5924460802397356 + }, + { + "action_description": "爪夹向上移动并向右侧移动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.09383594891868399, + "id": "bbox_1769068717130_1769068819174_000pltmee", + "width": 0.0327337801062769, + "x": 0.512283608715449, + "y": 0.4433263498111293 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.23131652524140703, + "id": "bbox_1769068718840_1769068822040_56hoqtiow", + "width": 0.12766174241447992, + "x": 0.7266898684115626, + "y": 0.4978821340661781 + } + ], + "type": "bbox" + }, + "point_1769068717946": { + "instances": [ + { + "id": "point_1769068717946_1769068841091_hc5nuvu74", + "x": 0.4042621343647351, + "y": 0.5131577536575918 + } + ], + "type": "point" + }, + "point_1769068719828": { + "instances": [ + { + "id": "point_1769068719828_1769068843663_k8ts069hv", + "x": 0.6235784610767904, + "y": 0.4978821340661781 + } + ], + "type": "point" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向右侧移动正确，成功移动至胶头滴管上方", + "frame": 207, + "progress": 15, + "progress_explanation": "爪夹移动至胶头滴管上方，进度15%", + "state_description": "当前状态为爪夹移动至胶头滴管上方\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 6.891337038482552 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.1091115685100977, + "id": "bbox_1769068717130_1769068815096_4nogr4ewm", + "width": 0.04746398115410155, + "x": 0.500826785678252, + "y": 0.48478874584496634 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.27714338401564803, + "id": "bbox_1769068718840_1769068811798_zgj4j7qx2", + "width": 0.13911856545167672, + "x": 0.7987041846453719, + "y": 0.4324151929601195 + } + ], + "type": "bbox" + }, + "point_1769068717946": { + "instances": [ + { + "id": "point_1769068717946_1769068825912_73j3x8yka", + "x": 0.42553909143381513, + "y": 0.5109755222873898 + } + ], + "type": "point" + }, + "point_1769068719828": { + "instances": [ + { + "id": "point_1769068719828_1769068827927_c0hg3dvrk", + "x": 0.5892079919651996, + "y": 0.502246596806582 + } + ], + "type": "point" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功接近胶头滴管", + "frame": 244, + "progress": 20, + "progress_explanation": "爪夹接近胶头滴管，进度20%", + "state_description": "当前状态为爪夹接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 8.118067387934104 + }, + { + "action_description": "爪夹向下移动稍微合拢爪夹", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.07856032932727033, + "id": "bbox_1769068717130_1769068802848_fkj3nf5u3", + "width": 0.0491006701594154, + "x": 0.500826785678252, + "y": 0.5066110595469859 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.28587230949645587, + "id": "bbox_1769068718840_1769068806521_mqkkmajsi", + "width": 0.13748187644636295, + "x": 0.7872473616081749, + "y": 0.4455085811813312 + } + ], + "type": "bbox" + }, + "point_1769068717946": { + "instances": [ + { + "id": "point_1769068717946_1769068834031_pk6jrsb9s", + "x": 0.4599095605454059, + "y": 0.49569990269597614 + } + ], + "type": "point" + }, + "point_1769068719828": { + "instances": [ + { + "id": "point_1769068719828_1769068831885_pnf83wqil", + "x": 0.553200833848295, + "y": 0.5000643654363801 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住胶头滴管", + "frame": 285, + "progress": 40, + "progress_explanation": "爪夹准备夹住胶头滴管，进度40%", + "state_description": "当前状态为爪夹准备夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：合拢爪夹，夹住胶头滴管。", + "time": 9.48911895496819 + }, + { + "action_description": "合拢爪夹", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.09601818028888592, + "id": "bbox_1769068717130_1769068799072_ibh81s3v4", + "width": 0.0327337801062769, + "x": 0.4910066516463689, + "y": 0.502246596806582 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.2902367722368598, + "id": "bbox_1769068718840_1769068796400_k16hg4hd1", + "width": 0.12929843141979375, + "x": 0.7725171605603502, + "y": 0.4411441184409273 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹合拢正确，成功夹住胶头滴管", + "frame": 346, + "progress": 50, + "progress_explanation": "爪夹夹住胶头滴管，进度50%", + "state_description": "当前状态为爪夹夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 11.545696305519316 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.09601818028888592, + "id": "bbox_1769068717130_1769068788849_g810pvw15", + "width": 0.031097091100963058, + "x": 0.4860965846304274, + "y": 0.48697097721516835 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.2575033016838305, + "id": "bbox_1769068718840_1769068792348_l97cieb5x", + "width": 0.1227516753985383, + "x": 0.7365100024434457, + "y": 0.4411441184409273 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向上移动正确，成功将胶头滴管稍微夹起", + "frame": 399, + "progress": 55, + "progress_explanation": "爪夹稍微将胶头滴管夹起，进度55%", + "state_description": "当前状态为爪夹稍微将胶头滴管夹起\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 13.313631220905375 + }, + { + "action_description": "爪夹向上移动然后稍微向右侧移动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.10256487439949176, + "id": "bbox_1769068717130_1769068784496_zzi419m1n", + "width": 0.03928053612753226, + "x": 0.48445989562511355, + "y": 0.4935176713257742 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.12438718810151136, + "id": "bbox_1769068718840_1769068776920_epc5ngesb", + "width": 0.1063847853454, + "x": 0.6235784610767904, + "y": 0.5808069261338523 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功将胶头滴管移动至蒸发皿旁", + "frame": 439, + "progress": 60, + "progress_explanation": "爪夹将胶头滴管移动至蒸发皿旁，进度60%", + "state_description": "当前状态为爪夹将胶头滴管移动至蒸发皿旁\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 14.648602483543826 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.09601818028888598, + "id": "bbox_1769068717130_1769068769290_adbanrwtu", + "width": 0.04419060314347378, + "x": 0.4828232066197997, + "y": 0.4913354399555722 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.13311611358231906, + "id": "bbox_1769068718840_1769068772353_8078ui2w0", + "width": 0.12929843141979375, + "x": 0.40262544535942124, + "y": 0.4716953576237547 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向右侧移动正确，成功准备开始将溶液放入蒸发皿", + "frame": 464, + "progress": 70, + "progress_explanation": "准备开始将溶液放入蒸发皿，进度70%", + "state_description": "当前状态为爪夹准备开始将溶液放入蒸发皿\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 15.478449484643406 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.06110247836565475, + "id": "bbox_1769068717130_1769068764592_gde0qc7r6", + "width": 0.026187024085021538, + "x": 0.4942800296569966, + "y": 0.4935176713257742 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.14620950180353087, + "id": "bbox_1769068718840_1769068761724_25modztrw", + "width": 0.11947829738791063, + "x": 0.4435426704922675, + "y": 0.46296643214294686 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向移动正确，成功开始倒溶液", + "frame": 497, + "progress": 80, + "progress_explanation": "爪夹倒溶液，进度80%", + "state_description": "当前状态为爪夹倒溶液\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：将溶液放入蒸发皿中，向上移动。", + "time": 16.56085861651242 + }, + { + "action_description": "爪夹左右晃动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.07856032932727028, + "id": "bbox_1769068717130_1769068755035_xi0as8uvn", + "width": 0.021276957069080015, + "x": 0.49591671866231046, + "y": 0.48697097721516835 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.11784049399090547, + "id": "bbox_1769068718840_1769068757587_6tge9zffl", + "width": 0.09492796230820302, + "x": 0.4386326034763258, + "y": 0.45860196940254294 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动。", + "error_success_analysis": "爪夹左右晃动正确，成功将溶液完全放入蒸发皿", + "frame": 537, + "progress": 90, + "progress_explanation": "爪夹将溶液完全放入蒸发皿，进度90%", + "state_description": "当前状态为爪夹将溶液完全放入蒸发皿\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动。", + "time": 17.89582987915087 + }, + { + "action_description": "爪夹向后移动", + "annotations": { + "bbox_1769068717130": { + "instances": [ + { + "height": 0.07419586658686636, + "id": "bbox_1769068717130_1769068746016_zse77t4sg", + "width": 0.0327337801062769, + "x": 0.4860965846304274, + "y": 0.4920628393129035 + } + ], + "type": "bbox" + }, + "bbox_1769068718840": { + "instances": [ + { + "height": 0.12875165084191523, + "id": "bbox_1769068718840_1769068748465_6tuqf8o0e", + "width": 0.11947829738791071, + "x": 0.4304491584497566, + "y": 0.36040155774345506 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹向后移动正确，成功完成任务", + "frame": 608, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹离开蒸发皿", + "time": 20.277129969262703 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769068717130", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769068718840", + "name": "蒸发皿" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769068717946", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769068719828", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142826-put-rubber head dropper-evaporating dish-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142826-put-rubber head dropper-evaporating dish-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..2d84f95fba4e55d932bf1e2f7386b31e457ea97f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-142826-put-rubber head dropper-evaporating dish-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,294 @@ +{ + "task_description": "将橡胶头滴管中的溶液放入蒸发皿中\n接近胶头滴管：20%\n夹住胶头滴管：50%\n将胶头滴管移动至蒸发皿旁：60%\n准备开始将溶液放入蒸发皿：70%\n将溶液完全放入蒸发皿：90%\n移动爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "", + "frame": 109, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%\n", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 3.643765638059485, + "annotations": { + "bbox_1769071243809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243809_1769071308846_y2u5a0ecb", + "x": 0.7872473616081749, + "y": 0.43459742433032145, + "width": 0.10802147435071383, + "height": 0.11565826262070349 + } + ] + }, + "bbox_1769071243631": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243631_1769071311086_0oxevep3j", + "x": 0.626851839087418, + "y": 0.3800416400752726, + "width": 0.027823713090335378, + "height": 0.06983140384646251 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向右侧移动", + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 142, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 4.7185456665495735, + "annotations": { + "bbox_1769071243809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243809_1769071305230_r6ivjizak", + "x": 0.7954308066347442, + "y": 0.42805073021971557, + "width": 0.09492796230820302, + "height": 0.11565826262070354 + } + ] + }, + "bbox_1769071243631": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243631_1769071314791_trqw5j04h", + "x": 0.6252151500821042, + "y": 0.3778594087050707, + "width": 0.0245503350797077, + "height": 0.07637809795706835 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功接近胶头滴管", + "frame": 164, + "progress": 20, + "progress_explanation": "爪夹接近胶头滴管，进度20%", + "state_description": "当前状态为爪夹接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 5.452541783567196, + "annotations": { + "bbox_1769071243809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243809_1769071301750_flrjlf4ld", + "x": 0.7905207396188025, + "y": 0.43023296158991753, + "width": 0.0949279623082031, + "height": 0.12875165084191523 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动，稍微合拢爪夹", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近胶头滴管", + "frame": 189, + "progress": 30, + "progress_explanation": "爪夹更加接近胶头滴管，进度30%", + "state_description": "当前状态为爪夹更加接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 6.291394488730192, + "annotations": { + "bbox_1769071243809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243809_1769071297734_s6ypinpnc", + "x": 0.7872473616081749, + "y": 0.42150403610910975, + "width": 0.09983802932414462, + "height": 0.12438718810151136 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹调整角度正确，成功准备夹住胶头滴管", + "frame": 221, + "progress": 40, + "progress_explanation": "爪夹准备夹取胶头滴管，进度40%", + "state_description": "当前状态为爪夹准备夹取胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：合拢爪夹，夹住胶头滴管。", + "time": 7.366174517220281, + "annotations": { + "bbox_1769071243809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243809_1769071293966_jvrsbfm6n", + "x": 0.785610672602861, + "y": 0.4193218047389078, + "width": 0.10802147435071383, + "height": 0.13311611358231915 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹合拢正确，成功夹住胶头滴管", + "frame": 262, + "progress": 50, + "progress_explanation": "爪夹夹住胶头滴管，进度50%", + "state_description": "当前状态为爪夹夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 8.72931016311015, + "annotations": { + "bbox_1769071243809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243809_1769071289630_c2r2yfkag", + "x": 0.785610672602861, + "y": 0.41495734199850387, + "width": 0.0949279623082031, + "height": 0.13093388221211721 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将胶头滴管夹起", + "frame": 332, + "progress": 55, + "progress_explanation": "爪夹稍微将胶头滴管夹起，进度55%", + "state_description": "当前状态为爪夹稍微将胶头滴管夹起\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向上移动，向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 11.062369249344734, + "annotations": { + "bbox_1769071243809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243809_1769071285807_145g3oiow", + "x": 0.785610672602861, + "y": 0.4127751106283019, + "width": 0.10147471832945847, + "height": 0.13748057632272304 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动然后向右侧移动", + "correction_plan": "向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向右侧移动正确，成功将胶头滴管移动至蒸发皿旁", + "frame": 372, + "progress": 60, + "progress_explanation": "爪夹将胶头滴管移动至蒸发皿旁，进度60%", + "state_description": "当前状态为爪夹将胶头滴管移动至蒸发皿旁\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 12.399290748198258, + "annotations": { + "bbox_1769071243809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243809_1769071280959_8j6nlcxr2", + "x": 0.7921574286241164, + "y": 0.42586849884951367, + "width": 0.0982013403188308, + "height": 0.11784049399090547 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹调整进度正确", + "frame": 413, + "progress": 65, + "progress_explanation": "爪夹调整角度，进度65%", + "state_description": "当前状态为爪夹调整角度\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 13.762426394088127, + "annotations": { + "bbox_1769071243809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243809_1769071277583_n2bte1v3d", + "x": 0.7921574286241164, + "y": 0.4105928792581, + "width": 0.08838120628694775, + "height": 0.13966280769292497 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "error_success_analysis": "爪夹向后移动正确", + "frame": 457, + "progress": 69, + "progress_explanation": "爪夹在蒸发皿左侧，进度69%", + "state_description": "当前状态为爪夹在蒸发皿左侧\n为了完成将橡胶头滴管中的溶液放入蒸发皿中的任务应当：向右侧移动至蒸发皿上方，向下移动，将溶液放入蒸发皿中，向上移动。", + "time": 15.233333, + "annotations": { + "bbox_1769071243809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769071243809_1769071268335_ahpg4jcim", + "x": 0.7872473616081749, + "y": 0.422231435466441, + "width": 0.09329127330288926, + "height": 0.10911156851009765 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769071243631", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769071243809", + "name": "蒸发皿", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769071244760", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769071244927", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-144452-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-144452-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..a8bd154d38b4076b6981d5457e96cf62ee9d01b4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-144452-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,598 @@ +{ + "task_description": "将橡胶头滴管放入玻璃滴管瓶中\n向玻璃瓶移动：20%\n靠近玻璃瓶：50%\n将胶头滴管移动至玻璃瓶上：60%\n准备开始将胶头滴管放入玻璃瓶：70%\n将胶头滴管放入玻璃瓶：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 1.4578960878152594, + "annotations": { + "point_1769073088001": { + "type": "point", + "instances": [ + { + "id": "point_1769073088001_1769073262649_qcw7yggd9", + "x": 0.5204670537420182, + "y": 0.4978821340661781 + } + ] + }, + "point_1769073087826": { + "type": "point", + "instances": [ + { + "id": "point_1769073087826_1769073264405_8gda40sld", + "x": 0.48773327363574126, + "y": 0.4978821340661781 + } + ] + }, + "bbox_1769073086393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086393_1769073266870_8gd31lb1i", + "x": 0.17512567362079684, + "y": 0.5982647770954679, + "width": 0.08838120628694764, + "height": 0.06983140384646257 + } + ] + }, + "bbox_1769073086233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086233_1769073269094_3nvwk7p5c", + "x": 0.4910066516463689, + "y": 0.49569990269597614, + "width": 0.029460402095649218, + "height": 0.06983140384646246 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 71, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 2.369081528910531, + "annotations": { + "bbox_1769073086233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086233_1769073254510_dbwrvj25h", + "x": 0.4860965846304274, + "y": 0.4913354399555722, + "width": 0.04582729214878763, + "height": 0.06546694110605854 + } + ] + }, + "point_1769073087826": { + "type": "point", + "instances": [ + { + "id": "point_1769073087826_1769073256174_4qjnx85zb", + "x": 0.48773327363574126, + "y": 0.5109755222873898 + } + ] + }, + "point_1769073088001": { + "type": "point", + "instances": [ + { + "id": "point_1769073088001_1769073258142_gmvgueu6h", + "x": 0.5237404317526458, + "y": 0.5109755222873898 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左侧移动正确，成功向玻璃瓶移动", + "frame": 94, + "progress": 20, + "progress_explanation": "爪夹向玻璃瓶移动，进度20%", + "state_description": "当前状态为爪夹向玻璃瓶移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 3.1385270125020943, + "annotations": { + "point_1769073088001": { + "type": "point", + "instances": [ + { + "id": "point_1769073088001_1769073245056_q6hoyid5a", + "x": 0.5237404317526458, + "y": 0.4935176713257742 + } + ] + }, + "point_1769073087826": { + "type": "point", + "instances": [ + { + "id": "point_1769073087826_1769073247343_tztflcvcd", + "x": 0.4828232066197997, + "y": 0.5000643654363801 + } + ] + }, + "bbox_1769073086233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086233_1769073250694_ca392jvfe", + "x": 0.47627645059854434, + "y": 0.48915320858537026, + "width": 0.04255391413815994, + "height": 0.061102478365654696 + } + ] + } + } + }, + { + "action_description": "爪夹向左并向下移动", + "correction_plan": "向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功继续向玻璃瓶移动", + "frame": 118, + "progress": 30, + "progress_explanation": "爪夹继续向玻璃瓶移动，进度30%", + "state_description": "当前状态为爪夹继续向玻璃瓶移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 3.9484696268090027, + "annotations": { + "bbox_1769073086233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086233_1769073236950_cs5rbnagw", + "x": 0.4860965846304274, + "y": 0.4978821340661781, + "width": 0.0327337801062769, + "height": 0.06764917247626052 + } + ] + }, + "point_1769073087826": { + "type": "point", + "instances": [ + { + "id": "point_1769073087826_1769073239478_pwz7wcc9l", + "x": 0.4910066516463689, + "y": 0.5087932909171878 + } + ] + }, + "point_1769073088001": { + "type": "point", + "instances": [ + { + "id": "point_1769073088001_1769073241727_x8obj06ew", + "x": 0.5139202977207628, + "y": 0.5000643654363801 + } + ] + } + } + }, + { + "action_description": "爪夹向后左测移动", + "correction_plan": "向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功准备靠近玻璃瓶", + "frame": 141, + "progress": 40, + "progress_explanation": "爪夹准备靠近玻璃瓶，进度40%", + "state_description": "当前状态爪夹准备靠近玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 4.6976665450428925, + "annotations": { + "point_1769073088001": { + "type": "point", + "instances": [ + { + "id": "point_1769073088001_1769073226479_5kcayas2f", + "x": 0.5204670537420182, + "y": 0.49569990269597614 + } + ] + }, + "point_1769073087826": { + "type": "point", + "instances": [ + { + "id": "point_1769073087826_1769073228742_9hj4i24r8", + "x": 0.4942800296569966, + "y": 0.4978821340661781 + } + ] + }, + "bbox_1769073086233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086233_1769073233062_2lkr36l93", + "x": 0.48773327363574126, + "y": 0.4935176713257742, + "width": 0.03600715811690458, + "height": 0.06983140384646246 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功靠近玻璃瓶", + "frame": 161, + "progress": 50, + "progress_explanation": "爪夹将胶头滴管靠近玻璃瓶，进度50%", + "state_description": "当前状态为爪夹将胶头滴管靠近玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 5.365869201846091, + "annotations": { + "bbox_1769073086233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086233_1769073212704_fl55wgjml", + "x": 0.48445989562511355, + "y": 0.4804242831045624, + "width": 0.04255391413815994, + "height": 0.08510702343787617 + } + ] + }, + "bbox_1769073086393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086393_1769073215063_en6ktfd7f", + "x": 0.4533628045241505, + "y": 0.4695131262535527, + "width": 0.04582729214878763, + "height": 0.10692933713989573 + } + ] + }, + "point_1769073087826": { + "type": "point", + "instances": [ + { + "id": "point_1769073087826_1769073217006_iss6yomhp", + "x": 0.48773327363574126, + "y": 0.49569990269597614 + } + ] + }, + "point_1769073088001": { + "type": "point", + "instances": [ + { + "id": "point_1769073088001_1769073219239_n18vfzrn0", + "x": 0.5204670537420182, + "y": 0.48915320858537026 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左侧移动正确，成功将胶头滴管移动至玻璃瓶上方", + "frame": 200, + "progress": 60, + "progress_explanation": "爪夹将胶头滴管移动至玻璃瓶上方，进度60%", + "state_description": "当前状态为爪夹将胶头滴管移动至玻璃瓶上方\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 6.682025950094818, + "annotations": { + "point_1769073088001": { + "type": "point", + "instances": [ + { + "id": "point_1769073088001_1769073199640_qeon2y5ab", + "x": 0.5270138097632735, + "y": 0.49569990269597614 + } + ] + }, + "point_1769073087826": { + "type": "point", + "instances": [ + { + "id": "point_1769073087826_1769073201823_8z12zcy79", + "x": 0.4828232066197997, + "y": 0.4913354399555722 + } + ] + }, + "bbox_1769073086393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086393_1769073204769_kcqfnc6y3", + "x": 0.4680930055719751, + "y": 0.45205527529193706, + "width": 0.07856107225506462, + "height": 0.10038264302928988 + } + ] + }, + "bbox_1769073086233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086233_1769073207407_6p4r3d6so", + "x": 0.4942800296569966, + "y": 0.4804242831045624, + "width": 0.031097091100963058, + "height": 0.05892024699545271 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动", + "correction_plan": "继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功准备将胶头滴管放入玻璃瓶", + "frame": 236, + "progress": 70, + "progress_explanation": "爪夹准备将胶头滴管放入玻璃瓶，进度70%", + "state_description": "当前状态为爪夹准备将胶头滴管放入玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动", + "time": 7.856442740839833, + "annotations": { + "bbox_1769073086393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086393_1769073188311_mnv65ycl3", + "x": 0.46481962756134737, + "y": 0.4716953576237547, + "width": 0.07528769424443693, + "height": 0.10474710576969375 + } + ] + }, + "bbox_1769073086233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086233_1769073190615_hyw0pegb9", + "x": 0.4828232066197997, + "y": 0.4978821340661781, + "width": 0.04582729214878763, + "height": 0.039280164663635195 + } + ] + }, + "point_1769073087826": { + "type": "point", + "instances": [ + { + "id": "point_1769073087826_1769073192593_it9au3166", + "x": 0.4811865176144859, + "y": 0.5066110595469859 + } + ] + }, + "point_1769073088001": { + "type": "point", + "instances": [ + { + "id": "point_1769073088001_1769073194663_hft7ky8ts", + "x": 0.5302871877739012, + "y": 0.502246596806582 + } + ] + } + } + }, + { + "action_description": "爪夹向向下移动", + "correction_plan": "继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功放胶头滴管", + "frame": 259, + "progress": 80, + "progress_explanation": "爪夹放胶头滴管，进度80%", + "state_description": "当前状态为爪夹放胶头滴管\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：继续向下移动，放入玻璃瓶，松开爪夹", + "time": 8.625888224431396, + "annotations": { + "point_1769073088001": { + "type": "point", + "instances": [ + { + "id": "point_1769073088001_1769073167560_50z1kvywr", + "x": 0.5237404317526458, + "y": 0.48915320858537026 + } + ] + }, + "point_1769073087826": { + "type": "point", + "instances": [ + { + "id": "point_1769073087826_1769073169591_wrx061c4b", + "x": 0.4811865176144859, + "y": 0.5109755222873898 + } + ] + }, + "bbox_1769073086233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086233_1769073181943_tkswger99", + "x": 0.48445989562511355, + "y": 0.48697097721516835, + "width": 0.04255391413815994, + "height": 0.04582685877424104 + } + ] + }, + "bbox_1769073086393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086393_1769073184167_gvxak5n32", + "x": 0.4615462495507197, + "y": 0.42586849884951367, + "width": 0.07528769424443693, + "height": 0.12438718810151131 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功=将胶头滴管放入玻璃瓶", + "frame": 274, + "progress": 90, + "progress_explanation": "爪夹将胶头滴管放入玻璃瓶，进度90%", + "state_description": "当前状态为爪夹将胶头滴管放入玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：松开爪夹", + "time": 9.132102358373213, + "annotations": { + "bbox_1769073086393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086393_1769073155616_1sd7qlzwd", + "x": 0.4517261155188367, + "y": 0.4324151929601195, + "width": 0.08838120628694765, + "height": 0.11784049399090547 + } + ] + }, + "bbox_1769073086233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086233_1769073157662_dqctwsqqo", + "x": 0.4828232066197997, + "y": 0.4782420517343605, + "width": 0.03437046911159074, + "height": 0.06546694110605861 + } + ] + }, + "point_1769073087826": { + "type": "point", + "instances": [ + { + "id": "point_1769073087826_1769073160280_inq0sgqc7", + "x": 0.48445989562511355, + "y": 0.5109755222873898 + } + ] + }, + "point_1769073088001": { + "type": "point", + "instances": [ + { + "id": "point_1769073088001_1769073162639_y8ak1h522", + "x": 0.5253771207579596, + "y": 0.5109755222873898 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 289, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹将胶头滴管松开", + "time": 9.638316492315033, + "annotations": { + "bbox_1769073086233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086233_1769073110904_m4v2dt6fe", + "x": 0.4680930055719751, + "y": 0.4767872197214898, + "width": 0.029460402095649218, + "height": 0.05237355288484687 + } + ] + }, + "bbox_1769073086393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073086393_1769073113208_m22b33sli", + "x": 0.44681604850289514, + "y": 0.4498730439217351, + "width": 0.08019776126037836, + "height": 0.11129379988029964 + } + ] + }, + "point_1769073088001": { + "type": "point", + "instances": [ + { + "id": "point_1769073088001_1769073115345_yx9hl1xl4", + "x": 0.5695677239014335, + "y": 0.5131577536575918 + } + ] + }, + "point_1769073087826": { + "type": "point", + "instances": [ + { + "id": "point_1769073087826_1769073117816_s2mb61awh", + "x": 0.4451793594975813, + "y": 0.4913354399555722 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769073086233", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769073086393", + "name": "玻璃瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769073087826", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769073088001", + "name": "爪机右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-144452-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-144452-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..a5eba5c354ad25d40c94578a395b3f7a521512e4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-144452-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,522 @@ +{ + "task_description": "将橡胶头滴管放入玻璃滴管瓶中\n向玻璃瓶移动：20%\n靠近玻璃瓶：50%\n将胶头滴管移动至玻璃瓶上：60%\n准备开始将胶头滴管放入玻璃瓶：70%\n将胶头滴管放入玻璃瓶：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂我移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 1.4512419083538102, + "annotations": { + "point_1769075213089": { + "type": "point", + "instances": [ + { + "id": "point_1769075213089_1769075323132_gcggjxhze", + "x": 0.5188303647367043, + "y": 0.49569990269597614 + } + ] + }, + "point_1769075212217": { + "type": "point", + "instances": [ + { + "id": "point_1769075212217_1769075325035_wv0p8lz9j", + "x": 0.4910066516463689, + "y": 0.4913354399555722 + } + ] + }, + "bbox_1769075211495": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211495_1769075329265_vk006c64w", + "x": 0.17676236262611067, + "y": 0.8012122945242496, + "width": 0.09820134031883072, + "height": 0.056738015625250784 + } + ] + }, + "bbox_1769075211358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211358_1769075332133_74p1meta9", + "x": 0.4910066516463689, + "y": 0.4978821340661781, + "width": 0.037643847122218424, + "height": 0.08510702343787617 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 73, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 2.4275324611377047, + "annotations": { + "bbox_1769075211358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211358_1769075314318_8fzmcu6s0", + "x": 0.4942800296569966, + "y": 0.502246596806582, + "width": 0.031097091100963058, + "height": 0.058920246995452764 + } + ] + }, + "point_1769075212217": { + "type": "point", + "instances": [ + { + "id": "point_1769075212217_1769075316700_49pbrc01x", + "x": 0.49591671866231046, + "y": 0.49569990269597614 + } + ] + }, + "point_1769075213089": { + "type": "point", + "instances": [ + { + "id": "point_1769075213089_1769075319004_hj40mtclg", + "x": 0.5237404317526458, + "y": 0.4978821340661781 + } + ] + } + } + }, + { + "action_description": "爪夹向上然后向左移动", + "correction_plan": "向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左侧移动正确，成功向玻璃瓶移动", + "frame": 96, + "progress": 20, + "progress_explanation": "爪夹向玻璃瓶移动，进度20%", + "state_description": "当前状态为爪夹向玻璃瓶移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 3.1927331646710275, + "annotations": { + "point_1769075213089": { + "type": "point", + "instances": [ + { + "id": "point_1769075213089_1769075305116_08v6l7vkb", + "x": 0.5171936757313904, + "y": 0.48915320858537026 + } + ] + }, + "point_1769075212217": { + "type": "point", + "instances": [ + { + "id": "point_1769075212217_1769075307140_0pyvbgvu1", + "x": 0.48773327363574126, + "y": 0.48915320858537026 + } + ] + }, + "bbox_1769075211358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211358_1769075310764_6mh108kfw", + "x": 0.4942800296569966, + "y": 0.49569990269597614, + "width": 0.026187024085021538, + "height": 0.06764917247626047 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功继续向玻璃瓶移动", + "frame": 116, + "progress": 30, + "progress_explanation": "爪夹继续向玻璃瓶移动，进度30%", + "state_description": "当前状态为爪夹继续向玻璃瓶移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 3.878775174735385, + "annotations": { + "bbox_1769075211358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211358_1769075295773_h44bxivxb", + "x": 0.4828232066197997, + "y": 0.5066110595469859, + "width": 0.037643847122218424, + "height": 0.06983140384646251 + } + ] + }, + "point_1769075212217": { + "type": "point", + "instances": [ + { + "id": "point_1769075212217_1769075299028_6qa82d0ba", + "x": 0.48773327363574126, + "y": 0.4913354399555722 + } + ] + }, + "point_1769075213089": { + "type": "point", + "instances": [ + { + "id": "point_1769075213089_1769075301276_5m41khge7", + "x": 0.5171936757313904, + "y": 0.4978821340661781 + } + ] + } + } + }, + { + "action_description": "爪夹向左并向下移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功靠近玻璃瓶", + "frame": 157, + "progress": 50, + "progress_explanation": "爪夹靠近玻璃瓶，进度50%", + "state_description": "当前状态为爪夹靠近玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 5.22447296370778, + "annotations": { + "point_1769075213089": { + "type": "point", + "instances": [ + { + "id": "point_1769075213089_1769075284422_0bexfg7wc", + "x": 0.5171936757313904, + "y": 0.4978821340661781 + } + ] + }, + "point_1769075212217": { + "type": "point", + "instances": [ + { + "id": "point_1769075212217_1769075286349_oqaqp25nr", + "x": 0.49591671866231046, + "y": 0.4913354399555722 + } + ] + }, + "bbox_1769075211495": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211495_1769075288933_15k4kshk9", + "x": 0.512283608715449, + "y": 0.5066110595469859, + "width": 0.0900178952922615, + "height": 0.1047471057696938 + } + ] + }, + "bbox_1769075211358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211358_1769075291616_q405pcua0", + "x": 0.49264334065168275, + "y": 0.5066110595469859, + "width": 0.026187024085021538, + "height": 0.061102478365654696 + } + ] + } + } + }, + { + "action_description": "爪夹轻微左右晃动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹移动正确，成功将胶头滴管移动至玻璃瓶上方", + "frame": 243, + "progress": 60, + "progress_explanation": "将胶头滴管移动至玻璃瓶上方，进度60%", + "state_description": "当前状态为爪夹将胶头滴管移动至玻璃瓶上方\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 8.10057215974682, + "annotations": { + "bbox_1769075211358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211358_1769075273797_5qxa25w1k", + "x": 0.4910066516463689, + "y": 0.502246596806582, + "width": 0.04255391413815994, + "height": 0.06546694110605861 + } + ] + }, + "bbox_1769075211495": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211495_1769075276758_yoh04e2lf", + "x": 0.4828232066197997, + "y": 0.502246596806582, + "width": 0.07528769424443685, + "height": 0.09820041165908791 + } + ] + }, + "point_1769075212217": { + "type": "point", + "instances": [ + { + "id": "point_1769075212217_1769075278653_y7mdq8d9f", + "x": 0.4942800296569966, + "y": 0.4913354399555722 + } + ] + }, + "point_1769075213089": { + "type": "point", + "instances": [ + { + "id": "point_1769075213089_1769075280397_ohila3n5b", + "x": 0.5171936757313904, + "y": 0.5000643654363801 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动然后稍微向右侧移动", + "correction_plan": "继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹轻微调整正确，成功准备开始将胶头滴管放入玻璃瓶", + "frame": 322, + "progress": 70, + "progress_explanation": "准备开始将胶头滴管放入玻璃瓶，进度70%", + "state_description": "当前状态为准备开始将胶头滴管放入玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动", + "time": 10.739195275378966, + "annotations": { + "bbox_1769075211495": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211495_1769075267486_7c0sojp4k", + "x": 0.4680930055719751, + "y": 0.48697097721516835, + "width": 0.055647426180670756, + "height": 0.10256487439949176 + } + ] + }, + "bbox_1769075211358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211358_1769075269981_akzzyncod", + "x": 0.4910066516463689, + "y": 0.5087932909171878, + "width": 0.03600715811690458, + "height": 0.058920246995452764 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功放胶头滴管", + "frame": 368, + "progress": 80, + "progress_explanation": "爪夹放胶头滴管，进度80%", + "state_description": "当前状态为爪夹放胶头滴管\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：继续向下移动，放入玻璃瓶，松开爪夹", + "time": 12.269596682445613, + "annotations": { + "bbox_1769075211358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211358_1769075258245_f52lu9sh1", + "x": 0.4828232066197997, + "y": 0.5109755222873898, + "width": 0.029460402095649218, + "height": 0.05237355288484681 + } + ] + }, + "point_1769075212217": { + "type": "point", + "instances": [ + { + "id": "point_1769075212217_1769075260061_cn5vf1iqo", + "x": 0.48445989562511355, + "y": 0.5284333732490054 + } + ] + }, + "point_1769075213089": { + "type": "point", + "instances": [ + { + "id": "point_1769075213089_1769075261702_uizdfzyg4", + "x": 0.5188303647367043, + "y": 0.5175222163979957 + } + ] + }, + "bbox_1769075211495": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211495_1769075264097_6t2s831ix", + "x": 0.4779131396038582, + "y": 0.48478874584496634, + "width": 0.05401073717535683, + "height": 0.10256487439949187 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹移动正确，成功将胶头滴管放入玻璃瓶", + "frame": 408, + "progress": 90, + "progress_explanation": "爪夹将胶头滴管放入玻璃瓶，进度90%", + "state_description": "当前状态为爪夹将胶头滴管放入玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：松开爪夹", + "time": 13.588908240261686, + "annotations": { + "point_1769075213089": { + "type": "point", + "instances": [ + { + "id": "point_1769075213089_1769075249589_16z6lhpim", + "x": 0.5253771207579596, + "y": 0.49569990269597614 + } + ] + }, + "point_1769075212217": { + "type": "point", + "instances": [ + { + "id": "point_1769075212217_1769075251422_ufzzr4vga", + "x": 0.4910066516463689, + "y": 0.4978821340661781 + } + ] + }, + "bbox_1769075211358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211358_1769075254590_nqd02ak01", + "x": 0.500826785678252, + "y": 0.5087932909171878, + "width": 0.027823713090335378, + "height": 0.04800909014444296 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 431, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹将胶头滴管松开", + "time": 14.38049517495133, + "annotations": { + "bbox_1769075211495": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211495_1769075237230_4ocznk9h0", + "x": 0.436995914471012, + "y": 0.4440537491684605, + "width": 0.09656465131351685, + "height": 0.11565826262070354 + } + ] + }, + "bbox_1769075211358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075211358_1769075240398_80bp9hoyc", + "x": 0.4517261155188367, + "y": 0.4738775889939566, + "width": 0.049100670159415306, + "height": 0.04800909014444296 + } + ] + }, + "point_1769075212217": { + "type": "point", + "instances": [ + { + "id": "point_1769075212217_1769075244438_wbmfcoiy4", + "x": 0.4533628045241505, + "y": 0.5131577536575918 + } + ] + }, + "point_1769075213089": { + "type": "point", + "instances": [ + { + "id": "point_1769075213089_1769075245862_onvx8ki36", + "x": 0.5450173888217258, + "y": 0.502246596806582 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769075211358", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769075211495", + "name": "玻璃瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769075212217", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769075213089", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-152652-put-rubber head dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-152652-put-rubber head dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..c23f4ee671d1d5f5fa1dfba69a6715459b1bba86 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-152652-put-rubber head dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,390 @@ +{ + "task_description": "将橡胶头滴管放入玻璃滴管瓶中\n向玻璃瓶移动：20%\n靠近玻璃瓶：50%\n将胶头滴管移动至玻璃瓶上：60%\n准备开始将胶头滴管放入玻璃瓶：70%\n将胶头滴管放入玻璃瓶：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "", + "frame": 103, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 3.435486690666138, + "annotations": { + "bbox_1769136695011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136695011_1769136809968_f0wm0fism", + "x": 0.41735564640724593, + "y": 0.362583789113657, + "width": 0.04582729214878763, + "height": 0.13311611358231915 + } + ] + }, + "bbox_1769136694867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136694867_1769136813128_2b1k24ffn", + "x": 0.43535922546569816, + "y": 0.42150403610910975, + "width": 0.07692438324975077, + "height": 0.1527561959141367 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 137, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 4.5557543375344824, + "annotations": { + "bbox_1769136694867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136694867_1769136800696_3a364339c", + "x": 0.4157189574019321, + "y": 0.23819660101214568, + "width": 0.07856107225506452, + "height": 0.17676074098635822 + } + ] + }, + "bbox_1769136695011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136695011_1769136804632_pv2nn20re", + "x": 0.3928053113275382, + "y": 0.36040155774345506, + "width": 0.06055749319661228, + "height": 0.12875165084191523 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹移动方向错误，向烧杯移动", + "frame": 166, + "progress": -5, + "progress_explanation": "爪夹向烧杯移动，进度-5%", + "state_description": "当前状态为爪夹向烧杯移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 5.526652964820382, + "annotations": { + "bbox_1769136695011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136695011_1769136793016_lchmg15o5", + "x": 0.4091722013806767, + "y": 0.36694825185406094, + "width": 0.058920804191298345, + "height": 0.12220495673130932 + } + ] + }, + "bbox_1769136694867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136694867_1769136796424_6s7vr2rlg", + "x": 0.4942800296569966, + "y": 0.09853379331922067, + "width": 0.08510782827631998, + "height": 0.19203636057777185 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹下移动错误，导致爪夹更加接近烧杯", + "frame": 196, + "progress": -10, + "progress_explanation": "爪夹更加接近烧杯-10%", + "state_description": "当前状态为爪夹更加接近烧杯\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 6.54734126530043, + "annotations": { + "bbox_1769136694867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136694867_1769136784977_y1w4lugqv", + "x": 0.5564742118589228, + "y": 0.18800527949750073, + "width": 0.06055749319661228, + "height": 0.17676074098635822 + } + ] + }, + "bbox_1769136695011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136695011_1769136788425_v4g6lsl08", + "x": 0.39935206734879364, + "y": 0.3713127145944648, + "width": 0.055647426180670714, + "height": 0.11784049399090547 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功向玻璃瓶移动", + "frame": 217, + "progress": 20, + "progress_explanation": "爪夹向玻璃瓶移动，进度20%", + "state_description": "当前状态为爪夹向玻璃瓶移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 7.244396690018511, + "annotations": { + "bbox_1769136695011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136695011_1769136777025_qn57uu2mo", + "x": 0.40589882337004896, + "y": 0.3538548636328492, + "width": 0.06383087120723996, + "height": 0.11784049399090547 + } + ] + }, + "bbox_1769136694867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136694867_1769136779825_567vyhpoh", + "x": 0.4157189574019321, + "y": 0.21637428731012612, + "width": 0.08347113927100605, + "height": 0.12002272536110743 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功靠近玻璃瓶", + "frame": 261, + "progress": 50, + "progress_explanation": "爪夹靠近玻璃瓶，进度50%", + "state_description": "当前状态为爪夹靠近玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 8.713192049245897, + "annotations": { + "bbox_1769136694867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136694867_1769136769968_ou9q74kaa", + "x": 0.36498159823720283, + "y": 0.23601436964194372, + "width": 0.06055749319661228, + "height": 0.10256487439949181 + } + ] + }, + "bbox_1769136695011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136695011_1769136772777_bgx2u3jij", + "x": 0.40589882337004896, + "y": 0.362583789113657, + "width": 0.0572841151859846, + "height": 0.12656941947171324 + } + ] + } + } + }, + { + "action_description": "爪夹向左后侧移动", + "correction_plan": "向右前侧移动，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左后侧移动错误，远离玻璃瓶", + "frame": 295, + "progress": 40, + "progress_explanation": "爪夹稍微将胶头滴管远离玻璃瓶，进度40%", + "state_description": "当前状态为爪夹稍微将胶头滴管远离玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向右前侧移动，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 9.833459696114241, + "annotations": { + "bbox_1769136695011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136695011_1769136758619_ekdioqps5", + "x": 0.4091722013806767, + "y": 0.3647660204838589, + "width": 0.05728411518598451, + "height": 0.1265694194717133 + } + ] + }, + "bbox_1769136694867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136694867_1769136761890_kdrpzrxag", + "x": 0.3453413301734367, + "y": 0.2316499069015398, + "width": 0.05073735916472919, + "height": 0.13966280769292497 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向右移动幅度过大，导致远离玻璃瓶", + "frame": 329, + "progress": 30, + "progress_explanation": "爪夹更加远离玻璃瓶，进度30%", + "state_description": "当前状态为爪夹更加远离玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 10.953727342982589, + "annotations": { + "bbox_1769136694867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136694867_1769136749193_avnbuplgf", + "x": 0.39935206734879364, + "y": 0.13563172661265385, + "width": 0.09656465131351681, + "height": 0.15712065865454064 + } + ] + }, + "bbox_1769136695011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136695011_1769136753026_qeud9d3br", + "x": 0.40589882337004896, + "y": 0.35603709500305114, + "width": 0.0491006701594154, + "height": 0.12220495673130939 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹识别错误，导致爪夹将胶头滴管移动至烧杯上方", + "frame": 363, + "progress": -20, + "progress_explanation": "爪夹将胶头滴管移动至烧杯上方，进度-20%", + "state_description": "当前状态为爪夹将胶头滴管移动至烧杯上方\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 12.098889826448007, + "annotations": { + "bbox_1769136695011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136695011_1769136740788_ceihapre0", + "x": 0.39444200033285204, + "y": 0.36040155774345506, + "width": 0.06874093822318147, + "height": 0.13093388221211721 + } + ] + }, + "bbox_1769136694867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136694867_1769136743977_ic9ow00sl", + "x": 0.5597475898695504, + "y": 0.23601436964194372, + "width": 0.06710424921786765, + "height": 0.17021404687575234 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下，松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹识别错误，导致爪夹放错地方", + "frame": 396, + "progress": -50, + "progress_explanation": "爪夹将胶头滴管放入烧杯，进度-50%", + "state_description": "当前状态为爪夹将胶头滴管放入烧杯", + "time": 13.194262, + "annotations": { + "bbox_1769136694867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136694867_1769136730777_73gldgv7j", + "x": 0.607211571023652, + "y": 0.44187151779825856, + "width": 0.07037762722849532, + "height": 0.1265694194717133 + } + ] + }, + "bbox_1769136695011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136695011_1769136734594_mgdr7oejv", + "x": 0.4009887563541074, + "y": 0.36694825185406094, + "width": 0.06383087120723996, + "height": 0.13093388221211716 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769136694867", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769136695011", + "name": "玻璃瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769136695899", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769136696298", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-153742-put-solution in the rubber head dropper-glass beaker-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-153742-put-solution in the rubber head dropper-glass beaker-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..926a141fdb77053a28d6ba17812a1db326eacc1d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-153742-put-solution in the rubber head dropper-glass beaker-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,338 @@ +{ + "task_description": "将橡胶头滴管中的溶液倒入烧杯中\n接近胶头滴管：20%\n夹住胶头滴管：50%\n将胶头滴管移动至烧杯旁：60%\n准备开始将溶液放入烧杯：70%\n将溶液完全放入烧杯：90%\n移动爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 1.625276316261025, + "annotations": { + "bbox_1769139758868": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139758868_1769139824539_pqbhgg4q8", + "x": 0.4910066516463689, + "y": 0.2883879225267906, + "width": 0.09983802932414454, + "height": 0.13529834495252105 + } + ] + }, + "bbox_1769139757326": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139757326_1769139827955_phdhfd7ov", + "x": 0.7463301364753288, + "y": 0.36040155774345506, + "width": 0.04255391413815994, + "height": 0.10256487439949181 + } + ] + }, + "point_1769139758172": { + "type": "point", + "instances": [ + { + "id": "point_1769139758172_1769139829659_6jkmpemh0", + "x": 0.4288124694444428, + "y": 0.5175222163979957 + } + ] + }, + "point_1769139759684": { + "type": "point", + "instances": [ + { + "id": "point_1769139759684_1769139831714_6a8l5h697", + "x": 0.5466540778270397, + "y": 0.5240689105086015 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，然后向右侧移动", + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 83, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 2.7524846388238013, + "annotations": { + "bbox_1769139758868": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139758868_1769139820843_murq2mmu1", + "x": 0.5073735416995074, + "y": 0.29057015389699253, + "width": 0.07528769424443685, + "height": 0.15493842728433868 + } + ] + } + } + }, + { + "action_description": "爪夹向下运动", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功接近胶头滴管", + "frame": 112, + "progress": 20, + "progress_explanation": "爪夹接近胶头滴管，进度20%", + "state_description": "当前状态为爪夹接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 3.722408079168516, + "annotations": { + "bbox_1769139758868": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139758868_1769139816139_ik879emeg", + "x": 0.48773327363574126, + "y": 0.2978442473649297, + "width": 0.10802147435071374, + "height": 0.14184503906312695 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动，合拢爪夹", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹调整正确", + "frame": 150, + "progress": 30, + "progress_explanation": "爪夹调整角度，进度30%", + "state_description": "当前状态为爪夹调整角度\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 5.006901283949353, + "annotations": { + "bbox_1769139758868": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139758868_1769139811796_uivna0kt6", + "x": 0.49591671866231046, + "y": 0.31021023622881017, + "width": 0.0982013403188307, + "height": 0.14620950180353082 + } + ] + } + } + }, + { + "action_description": "爪夹稍微张开", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹张开正确，成功准备夹住胶头滴管", + "frame": 186, + "progress": 40, + "progress_explanation": "爪夹准备夹住胶头滴管，进度40%", + "state_description": "当前状态为爪夹准备夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 6.21275204762116, + "annotations": { + "bbox_1769139758868": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139758868_1769139808460_6bv5w7lmd", + "x": 0.48445989562511355, + "y": 0.3189391617096179, + "width": 0.09983802932414454, + "height": 0.12875165084191528 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹后拉正确，成功夹住胶头滴管", + "frame": 223, + "progress": 50, + "progress_explanation": "爪夹夹住胶头滴管，进度50%", + "state_description": "当前状态为爪夹夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 7.418602811292968, + "annotations": { + "bbox_1769139758868": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139758868_1769139805570_en73s1spm", + "x": 0.4991900966729381, + "y": 0.30584577348840625, + "width": 0.08019776126037845, + "height": 0.13966280769292497 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将胶头滴管夹起", + "frame": 283, + "progress": 55, + "progress_explanation": "爪夹稍微将胶头滴管夹起，进度55%", + "state_description": "当前状态为爪夹稍微将胶头滴管夹起\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 9.437092133091427, + "annotations": { + "bbox_1769139758868": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139758868_1769139802035_57o8f7l51", + "x": 0.48773327363574126, + "y": 0.29929907937780037, + "width": 0.08838120628694765, + "height": 0.13311611358231915 + } + ] + } + } + }, + { + "action_description": "爪夹向上然后向左侧移动", + "correction_plan": "向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向左移动正确，成功将胶头滴管移动至烧杯旁", + "frame": 322, + "progress": 60, + "progress_explanation": "爪夹将胶头滴管移动至烧杯旁，进度60%", + "state_description": "当前状态为爪夹将胶头滴管移动至烧杯旁\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 10.739499, + "annotations": { + "bbox_1769139758868": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139758868_1769139792547_gjntws8t1", + "x": 0.48445989562511355, + "y": 0.30366354211820423, + "width": 0.0900178952922615, + "height": 0.14184503906312695 + } + ] + }, + "bbox_1769139757326": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139757326_1769139797664_01974lb6w", + "x": 0.6284885280927319, + "y": 0.19673420497830857, + "width": 0.08674451728163382, + "height": 0.054555784255048825 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功准备开始将溶液放入烧杯", + "frame": 369, + "progress": 70, + "progress_explanation": "爪夹准备开始将溶液放入烧杯，进度70%", + "state_description": "当前状态为爪夹准备开始将溶液放入烧杯\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：将溶液放入烧杯中，向上移动。", + "time": 12.294434160052882, + "annotations": { + "bbox_1769139758868": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139758868_1769139789724_x2a9p4fh8", + "x": 0.48445989562511355, + "y": 0.27093007156517496, + "width": 0.09983802932414454, + "height": 0.19421859194797383 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动", + "correction_plan": "向上移动", + "error_success_analysis": "爪夹向下移动正确，成功将溶液完全放入烧杯", + "frame": 411, + "progress": 90, + "progress_explanation": "爪夹将溶液完全放入烧杯，进度90%", + "state_description": "当前状态为爪夹将溶液完全放入烧杯\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动。", + "time": 13.694766, + "annotations": { + "bbox_1769139758868": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139758868_1769139786948_5fumgpkka", + "x": 0.4910066516463689, + "y": 0.29493461663739645, + "width": 0.08838120628694765, + "height": 0.17239627824595433 + } + ] + } + } + }, + { + "action_description": "爪夹轻微晃动", + "correction_plan": "", + "error_success_analysis": "爪夹晃动正确，成功完成任务", + "frame": 457, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹离开烧杯", + "time": 15.233333, + "annotations": { + "bbox_1769139758868": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139758868_1769139783964_cr9sv32g4", + "x": 0.4975534076676243, + "y": 0.3196665610669492, + "width": 0.07528769424443693, + "height": 0.15493842728433868 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769139757326", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769139758868", + "name": "烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769139758172", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769139759684", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-153742-put-solution in the rubber head dropper-glass beaker-good/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-153742-put-solution in the rubber head dropper-glass beaker-good/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e6b1e793c047dc1ec8aac4913b5bfa7440473b2b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-153742-put-solution in the rubber head dropper-glass beaker-good/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,310 @@ +{ + "task_description": "将橡胶头滴管中的溶液倒入烧杯中\n接近胶头滴管：20%\n夹住胶头滴管：50%\n将胶头滴管移动至烧杯旁：60%\n准备开始将溶液放入烧杯：70%\n将溶液完全放入烧杯：90%\n移动爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 0.8007066697826104, + "annotations": { + "bbox_1769140917093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917093_1769140987075_j527x7xfl", + "x": 0.4697296945772889, + "y": 0.5153399850277938, + "width": 0.044190603143473874, + "height": 0.10038264302928983 + } + ] + }, + "bbox_1769140917279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917279_1769140989763_yib3bye7s", + "x": 0.37643842127439975, + "y": 0.42586849884951367, + "width": 0.08510782827631994, + "height": 0.14184503906312695 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 57, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 1.8925804110419944, + "annotations": { + "bbox_1769140917279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917279_1769140981348_gduuho9e9", + "x": 0.37152835425845826, + "y": 0.43532482368765274, + "width": 0.0720143162338092, + "height": 0.15275619591413664 + } + ] + }, + "bbox_1769140917093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917093_1769140983765_hustys6dt", + "x": 0.4779131396038582, + "y": 0.5240689105086015, + "width": 0.03600715811690458, + "height": 0.12002272536110746 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功接近胶头滴管", + "frame": 74, + "progress": 20, + "progress_explanation": "爪夹接近胶头滴管，进度20%", + "state_description": "当前状态为爪夹接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 2.474913073046999 + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近胶头滴管", + "frame": 95, + "progress": 30, + "progress_explanation": "爪夹更加接近胶头滴管，进度30%", + "state_description": "当前状态为爪夹更加接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 3.1543011787195048 + }, + { + "action_description": "爪夹稍微合拢", + "correction_plan": "合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹准备夹住胶头滴管，进度40%", + "frame": 121, + "progress": 40, + "progress_explanation": "爪夹准备夹住胶头滴管，进度40%", + "state_description": "当前状态为爪夹准备夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：合拢爪夹，夹住胶头滴管。", + "time": 4.027800171727011 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹合拢正确，成功夹住胶头滴管", + "frame": 170, + "progress": 50, + "progress_explanation": "爪夹夹住胶头滴管，进度50%", + "state_description": "当前状态为爪夹夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 5.65347885315765 + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将胶头滴管夹起", + "frame": 241, + "progress": 55, + "progress_explanation": "爪夹稍微将胶头滴管夹起，进度55%", + "state_description": "当前状态为爪夹稍微将胶头滴管夹起\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动，向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 8.03133722301142, + "annotations": { + "bbox_1769140917279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917279_1769140967923_71kenqb3e", + "x": 0.36825497624783055, + "y": 0.46587606287048006, + "width": 0.08347113927100609, + "height": 0.1374805763227231 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动然后向左移动", + "correction_plan": "向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向左移动正确，成功将胶头滴管移动至烧杯旁", + "frame": 274, + "progress": 60, + "progress_explanation": "将胶头滴管移动至烧杯旁，进度60%", + "state_description": "当前状态为将胶头滴管移动至烧杯旁\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向左侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 9.14747482518768, + "annotations": { + "bbox_1769140917093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917093_1769140960532_6oie915ce", + "x": 0.4386326034763258, + "y": 0.3480355688795746, + "width": 0.0491006701594154, + "height": 0.06764917247626052 + } + ] + }, + "bbox_1769140917279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917279_1769140963975_bmc9gkxxw", + "x": 0.3617082202265752, + "y": 0.4062284165176961, + "width": 0.11293154136665536, + "height": 0.17021404687575234 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向左移动正确，成功准备开始将溶液放入烧杯", + "frame": 307, + "progress": 70, + "progress_explanation": "准备开始将溶液放入烧杯，进度70%", + "state_description": "当前状态为准备开始将溶液放入烧杯\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向下移动，将溶液放入烧杯中，向上移动。", + "time": 10.239348566447063, + "annotations": { + "bbox_1769140917279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917279_1769140954636_68l049mbq", + "x": 0.34697801917875054, + "y": 0.4040461851474941, + "width": 0.13420849843573532, + "height": 0.18985412920756997 + } + ] + }, + "bbox_1769140917093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917093_1769140956661_xzz9mrqrx", + "x": 0.3928053113275382, + "y": 0.316756930339416, + "width": 0.026187024085021538, + "height": 0.0872892548080781 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功将溶液完全放入烧杯", + "frame": 348, + "progress": 90, + "progress_explanation": "将溶液完全放入烧杯，进度90%", + "state_description": "当前状态为将溶液完全放入烧杯\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动。", + "time": 11.5902, + "annotations": { + "bbox_1769140917093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917093_1769140949166_wiq9vk3i5", + "x": 0.39444200033285204, + "y": 0.35603709500305114, + "width": 0.040917225132846104, + "height": 0.11129379988029964 + } + ] + }, + "bbox_1769140917279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917279_1769140951548_rfd5p0nim", + "x": 0.35679815321063363, + "y": 0.39313502829648433, + "width": 0.09492796230820302, + "height": 0.17457850961615626 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向后移动", + "correction_plan": "", + "error_success_analysis": "爪夹离开烧杯，成功完成任务", + "frame": 398, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹完成任务", + "time": 13.2822, + "annotations": { + "bbox_1769140917279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917279_1769140943157_i24umeba1", + "x": 0.35352477520000597, + "y": 0.41132027861543125, + "width": 0.1227516753985384, + "height": 0.15057396454393476 + } + ] + }, + "bbox_1769140917093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769140917093_1769140946076_7u9x15bb0", + "x": 0.39444200033285204, + "y": 0.3647660204838589, + "width": 0.021276957069080015, + "height": 0.11347603125050157 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769140917093", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769140917279", + "name": "烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769140918069", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769140918261", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-154951-put-solution in the rubber head dropper-glass beaker-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-154951-put-solution in the rubber head dropper-glass beaker-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..89412de36acfaa0c0f656add812f6ee267f68cce --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-154951-put-solution in the rubber head dropper-glass beaker-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,402 @@ +{ + "task_description": "将橡胶头滴管中的溶液倒入烧杯中\n接近胶头滴管：20%\n夹住胶头滴管：50%\n将胶头滴管移动至烧杯旁：60%\n准备开始将溶液放入烧杯：70%\n将溶液完全放入烧杯：90%\n移动爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 0, + "annotations": { + "point_1769153853008": { + "type": "point", + "instances": [ + { + "id": "point_1769153853008_1769153944574_7lb7auqyr", + "x": 0.5466540778270397, + "y": 0.5677135379126406 + } + ] + }, + "point_1769153852825": { + "type": "point", + "instances": [ + { + "id": "point_1769153852825_1769153947343_8h0gl2ncd", + "x": 0.4320858474550705, + "y": 0.5524379183212269 + } + ] + }, + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153951303_6dslq8yqg", + "x": 0.7103229783584242, + "y": 0.2622011460843672, + "width": 0.09492796230820293, + "height": 0.18767189783736796 + } + ] + }, + "bbox_1769153851384": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851384_1769153955279_wpu6h06s1", + "x": 0.6301252170980457, + "y": 0.47605982036415856, + "width": 0.03764384712221851, + "height": 0.08947148617828002 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 67, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向右前侧移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 2.24827747698606, + "annotations": { + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153929447_yyo7nv7pm", + "x": 0.7168697343796795, + "y": 0.27093007156517496, + "width": 0.0949279623082031, + "height": 0.16366735276514652 + } + ] + }, + "bbox_1769153851384": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851384_1769153934039_hi8nxdep1", + "x": 0.6333985951086735, + "y": 0.48915320858537026, + "width": 0.02946040209564913, + "height": 0.07637809795706835 + } + ] + }, + "point_1769153853008": { + "type": "point", + "instances": [ + { + "id": "point_1769153853008_1769153937343_o2ivzpyjv", + "x": 0.564657656885492, + "y": 0.6091759339464777 + } + ] + } + } + }, + { + "action_description": "爪夹向右并向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功接近胶头滴管", + "frame": 103, + "progress": 20, + "progress_explanation": "爪夹接近胶头滴管，进度20%", + "state_description": "当前状态为爪夹接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 3.447359611224907, + "annotations": { + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153924719_6ixdyejqw", + "x": 0.721779801395621, + "y": 0.25347222060355934, + "width": 0.0982013403188308, + "height": 0.17676074098635822 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近胶头滴管", + "frame": 153, + "progress": 30, + "progress_explanation": "爪夹更加接近胶头滴管，进度30%", + "state_description": "当前状态为爪夹更加接近胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 5.096097545803323, + "annotations": { + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153921103_c9apajlan", + "x": 0.7135963563690518, + "y": 0.27747676567578083, + "width": 0.08510782827631998, + "height": 0.1745785096161562 + } + ] + } + } + }, + { + "action_description": "爪夹稍微合拢稍微向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住胶头滴管", + "frame": 214, + "progress": 40, + "progress_explanation": "爪夹准备夹住胶头滴管，进度40%", + "state_description": "当前状态为爪夹准备夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 7.1445295251280205, + "annotations": { + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153916799_xmnbr06v5", + "x": 0.7086862893531103, + "y": 0.2752945343055789, + "width": 0.0900178952922615, + "height": 0.1593028900247426 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹合拢正确，成功夹住胶头滴管", + "frame": 271, + "progress": 50, + "progress_explanation": "爪夹夹住胶头滴管，进度50%", + "state_description": "当前状态为爪夹夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 9.043076237672864, + "annotations": { + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153912895_rssl5xge6", + "x": 0.7152330453743657, + "y": 0.2796589970459828, + "width": 0.09165458429757525, + "height": 0.16366735276514652 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向上移动正确，成功将胶头滴管稍微夹起", + "frame": 337, + "progress": 55, + "progress_explanation": "爪夹稍微将胶头滴管夹起，进度55%", + "state_description": "当前在状态为爪夹稍微将胶头滴管夹起\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 11.241393483777417, + "annotations": { + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153909584_s1zmbup1q", + "x": 0.7168697343796795, + "y": 0.2883879225267906, + "width": 0.07037762722849532, + "height": 0.16803181550555035 + } + ] + } + } + }, + { + "action_description": "爪夹松开", + "correction_plan": "合拢爪夹，夹住胶头滴管，向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹松开错误，导致松开胶头滴管", + "frame": 400, + "progress": 45, + "progress_explanation": "爪夹松开，进度45%", + "state_description": "当前状态为爪夹松开\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 13.339787218695399, + "annotations": { + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153906439_k9ndyb7fh", + "x": 0.7135963563690518, + "y": 0.28184122841618475, + "width": 0.07528769424443685, + "height": 0.1505739645439347 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下，合拢爪夹", + "correction_plan": "向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹合拢正确，成功夹住胶头滴管", + "frame": 459, + "progress": 50, + "progress_explanation": "爪夹重新夹住胶头滴管，进度50%", + "state_description": "当前状态为爪夹重新夹住胶头滴管\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动，向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 15.288295686833527, + "annotations": { + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153902527_s1lprtt8t", + "x": 0.7250531794062487, + "y": 0.28475085914371795, + "width": 0.07365100523912309, + "height": 0.14402727043332889 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动然后向右侧移动", + "correction_plan": "向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向右侧移动正确，成功将胶头滴管移动至烧杯旁", + "frame": 556, + "progress": 60, + "progress_explanation": "将胶头滴管移动至烧杯旁，进度60%", + "state_description": "当前状态为将胶头滴管移动至烧杯旁\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向右侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 18.53580980039707 + }, + { + "action_description": "爪夹向右侧移动然后向下移动", + "correction_plan": "向上移动，向前侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹识别错误，导致爪夹将胶头滴管移动至蒸发皿上方", + "frame": 630, + "progress": -40, + "progress_explanation": "爪夹将胶头滴管移动至蒸发皿上方，进度-40%", + "state_description": "当前状态为爪夹将胶头滴管移动至蒸发皿上方\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动，向前侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 20.983935824468055, + "annotations": { + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153894423_6zts9n00k", + "x": 0.6972294663159134, + "y": 0.2600189147141652, + "width": 0.0982013403188307, + "height": 0.17021404687575234 + } + ] + } + } + }, + { + "action_description": "爪夹稍微合拢", + "correction_plan": "向上移动，向前侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹识别错误，导致将溶液带入蒸发皿", + "frame": 691, + "progress": -50, + "progress_explanation": "将溶液带入蒸发皿，进度-50%", + "state_description": "当前状态为将溶液带入蒸发皿\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动，向前侧移动至烧杯上方，向下移动，将溶液放入烧杯中，向上移动。", + "time": 23.032367803792752, + "annotations": { + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153890504_bqk1x2vij", + "x": 0.7119596673637381, + "y": 0.282568627773516, + "width": 0.07528769424443685, + "height": 0.14402727043332894 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向下移动，将溶液放入烧杯中，向上移动。", + "error_success_analysis": "爪夹向前移动正确，成功准备开始将溶液放入烧杯", + "frame": 758, + "progress": 70, + "progress_explanation": "准备开始将溶液放入烧杯，进度70%", + "state_description": "当前状态为准备开始将溶液放入烧杯\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向下移动，将溶液放入烧杯中，向上移动。", + "time": 25.28064680549059 + }, + { + "action_description": "爪夹稍微合拢", + "correction_plan": "向上移动。", + "error_success_analysis": "爪夹合拢正确，成功将溶液完全放入烧杯", + "frame": 799, + "progress": 90, + "progress_explanation": "爪夹将溶液完全放入烧杯，进度90%", + "state_description": "当前状态为爪夹将溶液完全放入烧杯\n为了完成将橡胶头滴管中的溶液放入烧杯中的任务应当：向上移动。", + "time": 26.629614206509295 + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "", + "error_success_analysis": "爪夹向后移动正确，成功完成任务", + "frame": 859, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹完成任务", + "time": 28.62808443024071, + "annotations": { + "bbox_1769153851568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153851568_1769153882083_jzhhx4y95", + "x": 0.7135963563690518, + "y": 0.2760219336629101, + "width": 0.07528769424443685, + "height": 0.14402727043332889 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769153851384", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769153851568", + "name": "烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769153852825", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769153853008", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-161929-put-dropper on a beaker-glass dropping bottle-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-161929-put-dropper on a beaker-glass dropping bottle-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..91c32253aba61ca3f1d1351c590c1977ec1b778e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-161929-put-dropper on a beaker-glass dropping bottle-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,250 @@ +{ + "task_description": "将烧杯上的橡胶头滴管放入玻璃滴瓶中\n向玻璃瓶移动：20%\n靠近玻璃瓶：50%\n将胶头滴管移动至玻璃瓶上：60%\n准备开始将胶头滴管放入玻璃瓶：70%\n将胶头滴管放入玻璃瓶：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 2.062025863914956, + "annotations": { + "bbox_1769155816219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155816219_1769155875393_dna60j8h2", + "x": 0.4828232066197997, + "y": 0.3429437067818394, + "width": 0.05073735916472914, + "height": 0.11129379988029964 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 96, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 3.2015669304999776, + "annotations": { + "bbox_1769155816219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155816219_1769155872106_hsnzs2fds", + "x": 0.4942800296569966, + "y": 0.3647660204838589, + "width": 0.03928053612753226, + "height": 0.0872892548080781 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左侧移动正确，成功向玻璃瓶移动", + "frame": 120, + "progress": 20, + "progress_explanation": "爪夹向玻璃瓶移动，进度20%", + "state_description": "当前状态为爪夹向玻璃瓶移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 3.988392905046778, + "annotations": { + "bbox_1769155816219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155816219_1769155868823_oc8jo6fa7", + "x": 0.4860965846304274, + "y": 0.36913048322426284, + "width": 0.04419060314347378, + "height": 0.08074256069747227 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动", + "correction_plan": "向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左侧移动正确，成功准备靠近玻璃瓶", + "frame": 146, + "progress": 30, + "progress_explanation": "爪夹准备接近玻璃瓶，进度30%", + "state_description": "当前状态为爪夹准备接近玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 4.856614670063938, + "annotations": { + "bbox_1769155816219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155816219_1769155859769_ayc320py4", + "x": 0.4910066516463689, + "y": 0.3713127145944648, + "width": 0.08674451728163382, + "height": 0.15275619591413675 + } + ] + }, + "bbox_1769155816065": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155816065_1769155863505_q3bkd6pt6", + "x": 0.4697296945772889, + "y": 0.2883879225267906, + "width": 0.0572841151859846, + "height": 0.0872892548080781 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功靠近玻璃瓶", + "frame": 179, + "progress": 50, + "progress_explanation": "靠近玻璃瓶，进度50%", + "state_description": "当前状态为靠近玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 5.969023806492173, + "annotations": { + "bbox_1769155816219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155816219_1769155856704_vzptzhiwo", + "x": 0.4991900966729381, + "y": 0.36694825185406094, + "width": 0.04582729214878771, + "height": 0.10692933713989566 + } + ] + } + } + }, + { + "action_description": "爪机轻微晃动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向调整正确", + "frame": 262, + "progress": 55, + "progress_explanation": "爪夹调整角度，进度55%", + "state_description": "当前状态为爪夹调整角度\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 8.73648068248437, + "annotations": { + "bbox_1769155816065": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155816065_1769155850912_1lsln8s05", + "x": 0.5024634746835658, + "y": 0.35021780024977656, + "width": 0.0327337801062769, + "height": 0.050191321514644886 + } + ] + }, + "bbox_1769155816219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155816219_1769155853456_dbks7qoms", + "x": 0.49591671866231046, + "y": 0.3778594087050707, + "width": 0.044190603143473874, + "height": 0.09383594891868399 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向右移动正确，成功将胶头滴管移动至玻璃瓶上", + "frame": 315, + "progress": 60, + "progress_explanation": "将胶头滴管移动至玻璃瓶上，进度60%", + "state_description": "当前状态为将胶头滴管移动至玻璃瓶上\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 10.500056142675477 + }, + { + "action_description": "爪夹稍微向下移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功准备开始将胶头滴管放入玻璃瓶", + "frame": 368, + "progress": 70, + "progress_explanation": "准备开始将胶头滴管放入玻璃瓶，进度70%", + "state_description": "当前状态为准备开始将胶头滴管放入玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 12.263631602866582 + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将胶头滴管放入玻璃瓶", + "frame": 422, + "progress": 90, + "progress_explanation": "将胶头滴管放入玻璃瓶，进度90%", + "state_description": "当前状态为将胶头滴管放入玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：松开爪夹", + "time": 14.08147092337126 + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 473, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为胶头滴管落入玻璃瓶", + "time": 15.766667, + "annotations": { + "point_1769155817026": { + "type": "point", + "instances": [ + { + "id": "point_1769155817026_1769155840624_mm4oaifbg", + "x": 0.574477790917375, + "y": 0.3414888747689687 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769155816065", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769155816219", + "name": "玻璃瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769155816865", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769155817026", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-161929-put-dropper on a beaker-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-161929-put-dropper on a beaker-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..4e359c076badbe70f4f2b391b212e6e49401f269 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-161929-put-dropper on a beaker-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,482 @@ +{ + "task_description": "将烧杯上的橡胶头滴管放入玻璃滴瓶中\n向玻璃瓶移动：20%\n靠近玻璃瓶：50%\n将胶头滴管移动至玻璃瓶上：60%\n准备开始将胶头滴管放入玻璃瓶：70%\n将胶头滴管放入玻璃瓶：90%\n松开爪夹：100%\n", + "progress_points": [ + { + "action_description": "抓紧爱暂未移动", + "correction_plan": "向上移动，向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 1.7423510583267905, + "annotations": { + "bbox_1769158044772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769158044772_1769158122279_mgvxlkacp", + "x": 0.47954982860917206, + "y": 0.48915320858537026, + "width": 0.05073735916472914, + "height": 0.10911156851009765 + } + ] + }, + "point_1769158045967": { + "type": "point", + "instances": [ + { + "id": "point_1769158045967_1769158126290_vkuh477mi", + "x": 0.48773327363574126, + "y": 0.4935176713257742 + } + ] + }, + "point_1769158046148": { + "type": "point", + "instances": [ + { + "id": "point_1769158046148_1769158128219_xrelnk6d6", + "x": 0.5204670537420182, + "y": 0.48697097721516835 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹调整正确，成功向上移动", + "frame": 98, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 3.269597623130106, + "annotations": { + "bbox_1769158044772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769158044772_1769158119658_gofm9db0u", + "x": 0.4860965846304274, + "y": 0.48915320858537026, + "width": 0.03928053612753226, + "height": 0.11129379988029964 + } + ] + }, + "point_1769158046148": { + "type": "point", + "instances": [ + { + "id": "point_1769158046148_1769158133674_y1d0ldnl3", + "x": 0.5155569867260766, + "y": 0.5000643654363801 + } + ] + }, + "point_1769158045967": { + "type": "point", + "instances": [ + { + "id": "point_1769158045967_1769158136058_zfoqq8aze", + "x": 0.49264334065168275, + "y": 0.4935176713257742 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动然后向左移动", + "correction_plan": "向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功向玻璃瓶移动", + "frame": 123, + "progress": 20, + "progress_explanation": "爪夹向玻璃瓶移动，进度20%", + "state_description": "当前状态为爪夹向玻璃瓶移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 4.108507708022067, + "annotations": { + "bbox_1769158044772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769158044772_1769158117219_puchmt7u7", + "x": 0.49591671866231046, + "y": 0.5109755222873898, + "width": 0.0327337801062769, + "height": 0.11347603125050157 + } + ] + }, + "point_1769158045967": { + "type": "point", + "instances": [ + { + "id": "point_1769158045967_1769158138937_z0s94z3zf", + "x": 0.49591671866231046, + "y": 0.4804242831045624 + } + ] + }, + "point_1769158046148": { + "type": "point", + "instances": [ + { + "id": "point_1769158046148_1769158143698_togmtgsgr", + "x": 0.5204670537420182, + "y": 0.4913354399555722 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左侧移动正确，成功准备靠近玻璃瓶", + "frame": 140, + "progress": 30, + "progress_explanation": "爪夹准备靠近玻璃瓶，进度30%", + "state_description": "当前状态为爪夹准备靠近玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向左侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 4.667781097950042, + "annotations": { + "bbox_1769158044772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769158044772_1769158113946_8vr0uhgss", + "x": 0.49264334065168275, + "y": 0.5226140784957308, + "width": 0.0327337801062769, + "height": 0.11347603125050162 + } + ] + }, + "point_1769158046148": { + "type": "point", + "instances": [ + { + "id": "point_1769158046148_1769158151474_08v2z1cuw", + "x": 0.5237404317526458, + "y": 0.4935176713257742 + } + ] + }, + "point_1769158045967": { + "type": "point", + "instances": [ + { + "id": "point_1769158045967_1769158153490_yx0qgtlnm", + "x": 0.49264334065168275, + "y": 0.4738775889939566 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功靠近玻璃瓶", + "frame": 167, + "progress": 50, + "progress_explanation": "爪夹靠近玻璃瓶，进度50%", + "state_description": "当前状态为爪夹靠近玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 5.5712227278336925, + "annotations": { + "bbox_1769158044772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769158044772_1769158109970_dhwmpc1l4", + "x": 0.4860965846304274, + "y": 0.4978821340661781, + "width": 0.04582729214878763, + "height": 0.11129379988029964 + } + ] + }, + "point_1769158045967": { + "type": "point", + "instances": [ + { + "id": "point_1769158045967_1769158159186_2kvls0x03", + "x": 0.4942800296569966, + "y": 0.49569990269597614 + } + ] + }, + "point_1769158046148": { + "type": "point", + "instances": [ + { + "id": "point_1769158046148_1769158162377_6kpv0z6pu", + "x": 0.5155569867260766, + "y": 0.4978821340661781 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左侧移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹调整正确", + "frame": 200, + "progress": 55, + "progress_explanation": "爪夹调整角度，进度55%", + "state_description": "当前状态为爪夹调整角度\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 6.6682589926924125, + "annotations": { + "bbox_1769158044772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769158044772_1769158106307_c51549zxg", + "x": 0.4991900966729381, + "y": 0.49569990269597614, + "width": 0.021276957069080015, + "height": 0.12220495673130939 + } + ] + }, + "point_1769158046148": { + "type": "point", + "instances": [ + { + "id": "point_1769158046148_1769158165402_fx5z2shyr", + "x": 0.5155569867260766, + "y": 0.4935176713257742 + } + ] + }, + "point_1769158045967": { + "type": "point", + "instances": [ + { + "id": "point_1769158045967_1769158168034_uv89y0zty", + "x": 0.4942800296569966, + "y": 0.4913354399555722 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将胶头滴管移动至玻璃瓶上", + "frame": 267, + "progress": 60, + "progress_explanation": "胶头滴管移动至玻璃瓶上，进度60%", + "state_description": "当前状态为胶头滴管移动至玻璃瓶上\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 8.88384203740708, + "annotations": { + "bbox_1769158044628": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769158044628_1769158096588_2j0p874zn", + "x": 0.4533628045241505, + "y": 0.4913354399555722, + "width": 0.08183445026569221, + "height": 0.14184503906312695 + } + ] + }, + "point_1769158045967": { + "type": "point", + "instances": [ + { + "id": "point_1769158045967_1769158170350_t49uyx538", + "x": 0.49264334065168275, + "y": 0.4935176713257742 + } + ] + }, + "point_1769158046148": { + "type": "point", + "instances": [ + { + "id": "point_1769158046148_1769158172404_9gbwflvk5", + "x": 0.5188303647367043, + "y": 0.49569990269597614 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功准备开始将胶头滴管放入玻璃瓶", + "frame": 303, + "progress": 70, + "progress_explanation": "准备开始将胶头滴管放入玻璃瓶，进度70%", + "state_description": "当前状态为准备开始将胶头滴管放入玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动", + "time": 10.109941392249178, + "annotations": { + "bbox_1769158044628": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769158044628_1769158093483_7s913u2c2", + "x": 0.436995914471012, + "y": 0.48915320858537026, + "width": 0.11129485236134151, + "height": 0.1047471057696938 + } + ] + }, + "point_1769158046148": { + "type": "point", + "instances": [ + { + "id": "point_1769158046148_1769158178521_3woklwfpe", + "x": 0.5204670537420182, + "y": 0.4935176713257742 + } + ] + }, + "point_1769158045967": { + "type": "point", + "instances": [ + { + "id": "point_1769158045967_1769158184953_3ffm6d9w2", + "x": 0.4910066516463689, + "y": 0.4978821340661781 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将胶头滴管放入玻璃瓶", + "frame": 333, + "progress": 90, + "progress_explanation": "将胶头滴管放入玻璃瓶，进度90%", + "state_description": "当前状态为将胶头滴管放入玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：松开爪夹", + "time": 11.099425082121748, + "annotations": { + "bbox_1769158044628": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769158044628_1769158089763_1qyzocoj7", + "x": 0.46318293855603354, + "y": 0.47605982036415856, + "width": 0.0654675602125538, + "height": 0.11784049399090547 + } + ] + }, + "point_1769158045967": { + "type": "point", + "instances": [ + { + "id": "point_1769158045967_1769158187601_eqoyokn3b", + "x": 0.4910066516463689, + "y": 0.4935176713257742 + } + ] + }, + "point_1769158046148": { + "type": "point", + "instances": [ + { + "id": "point_1769158046148_1769158189393_e9u9i5la8", + "x": 0.5204670537420182, + "y": 0.4913354399555722 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 356, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为任务完成", + "time": 11.866666666666667, + "annotations": { + "bbox_1769158044772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769158044772_1769158077436_0m59y1rb5", + "x": 0.4828232066197997, + "y": 0.5357074667169426, + "width": 0.04582729214878763, + "height": 0.056738015625250784 + } + ] + }, + "bbox_1769158044628": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769158044628_1769158080076_wv8znajuf", + "x": 0.44845273750820897, + "y": 0.502246596806582, + "width": 0.10147471832945838, + "height": 0.10474710576969375 + } + ] + }, + "point_1769158045967": { + "type": "point", + "instances": [ + { + "id": "point_1769158045967_1769158082307_bv78jc101", + "x": 0.4206290244178736, + "y": 0.502246596806582 + } + ] + }, + "point_1769158046148": { + "type": "point", + "instances": [ + { + "id": "point_1769158046148_1769158084187_67jobgxrw", + "x": 0.5810245469386304, + "y": 0.502246596806582 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769158044628", + "name": "玻璃瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1769158044772", + "name": "胶头滴管", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769158045967", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769158046148", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-163021-put-dropper on a beaker-glass dropping bottle-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-163021-put-dropper on a beaker-glass dropping bottle-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..68996e8056b00631116620f3f6398479dce684d5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-163021-put-dropper on a beaker-glass dropping bottle-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,178 @@ +{ + "task_description": "将烧杯上的橡胶头滴管放入玻璃滴瓶中\n向玻璃瓶移动：20%\n靠近玻璃瓶：50%\n将胶头滴管移动至玻璃瓶上：60%\n准备开始将胶头滴管放入玻璃瓶：70%\n将胶头滴管放入玻璃瓶：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1769160443819": { + "instances": [ + { + "height": 0.12656941947171324, + "id": "bbox_1769160443819_1769160486547_qmedive84", + "width": 0.05073735916472923, + "x": 0.6955927773105995, + "y": 0.4455085811813312 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向右侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "", + "frame": 61, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向右侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 2.047799951754005 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1769160443819": { + "instances": [ + { + "height": 0.1200227253611074, + "id": "bbox_1769160443819_1769160482555_3gqb578yu", + "width": 0.049100670159415306, + "x": 0.7103229783584242, + "y": 0.43968928642805666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 98, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向右侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 3.2764805477456753 + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向右侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向右移动正确，成功向玻璃瓶移动", + "frame": 126, + "progress": 20, + "progress_explanation": "向玻璃瓶移动，进度20%", + "state_description": "当前状态为向玻璃瓶移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向右侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 4.197990994739429 + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向右侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功准备靠近玻璃瓶", + "frame": 161, + "progress": 30, + "progress_explanation": "准备靠近玻璃瓶，进度30%", + "state_description": "当前状态为爪夹准备靠近玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向右侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 5.358411557620451 + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向后移动错误，导致爪夹原来玻璃瓶", + "frame": 196, + "progress": 25, + "progress_explanation": "爪夹稍微远离玻璃瓶，进度25%", + "state_description": "当前状态为爪夹稍微远离玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 6.518832120501473 + }, + { + "action_description": "爪夹稍微向左侧移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功调整角度", + "frame": 245, + "progress": 40, + "progress_explanation": "爪夹调整角度，进度40%", + "state_description": "当前状态为爪夹调整角度\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 8.157072915157036 + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动，成功靠近玻璃瓶", + "frame": 317, + "progress": 50, + "progress_explanation": "爪夹靠近玻璃瓶，进度50%", + "state_description": "当前状态为爪夹靠近玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 10.580304090585054 + }, + { + "action_description": "爪夹稍微向左侧移动", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功将胶头滴管移动至玻璃瓶上", + "frame": 370, + "progress": 60, + "progress_explanation": "爪夹将胶头滴管移动至玻璃瓶上，进度60%", + "state_description": "当前状态为爪夹将胶头滴管移动至玻璃瓶上\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 12.320934934906587 + }, + { + "time": 13.407333, + "frame": 402, + "progress": 65, + "action_description": "爪夹稍微向上移动", + "state_description": "当前状态为爪夹调整角度\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动，准备将胶头滴管放入玻璃瓶。", + "progress_explanation": "爪夹调整角度，进度65%", + "error_success_analysis": "爪夹向移动正确，成功调整角度", + "correction_plan": "向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹" + }, + { + "action_description": "爪夹先向上移动然后向下移动", + "correction_plan": "继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功准备开始将胶头滴管放入玻璃瓶", + "frame": 453, + "progress": 70, + "progress_explanation": "准备开始将胶头滴管放入玻璃瓶，进度70%", + "state_description": "当前状态为准备开始将胶头滴管放入玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向下移动", + "time": 15.085466275887846 + }, + { + "action_description": "爪夹稍微向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将胶头滴管放入玻璃瓶", + "frame": 518, + "progress": 90, + "progress_explanation": "将胶头滴管放入玻璃瓶，进度90%", + "state_description": "当前状态为将胶头滴管放入玻璃瓶\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：松开爪夹", + "time": 17.269787335428596 + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 583, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为任务完成", + "time": 19.41997837841402 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769160443651", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769160443819", + "name": "玻璃瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769160444975", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769160445188", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-165003-put-dropper on a beaker-glass dropping bottle-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-165003-put-dropper on a beaker-glass dropping bottle-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f2764e3a1fa4beef49a54453cd7fa58c223471b1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-165003-put-dropper on a beaker-glass dropping bottle-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,172 @@ +{ + "task_description": "将烧杯上的橡胶头滴管放入玻璃滴瓶中\n向玻璃瓶移动：20%\n靠近玻璃瓶：50%\n将胶头滴管移动至玻璃瓶上：60%\n准备开始将胶头滴管放入玻璃瓶：70%\n将胶头滴管放入玻璃瓶：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向上移动，向右前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "", + "frame": 75, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向右前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 2.4979728820309473, + "annotations": { + "bbox_1769162206211": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769162206211_1769162244759_9ciwy2rc6", + "x": 0.6792258872574611, + "y": 0.2796589970459828, + "width": 0.0572841151859846, + "height": 0.09820041165908791 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向上移动，向右前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向前移动，错误移动至烧杯上方", + "frame": 88, + "progress": -5, + "progress_explanation": "爪夹移动至烧杯上方，进度-5%", + "state_description": "当前状态为爪夹移动至烧杯上方\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向右前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 2.9252577743068553, + "annotations": { + "bbox_1769162206211": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769162206211_1769162241799_q260f5fr8", + "x": 0.6644956862096365, + "y": 0.2869330905139199, + "width": 0.06710424921786773, + "height": 0.11784049399090547 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向上移动，向右前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹识别错误，导致向烧杯移动", + "frame": 98, + "progress": -15, + "progress_explanation": "爪夹将胶头滴管向烧杯里移动，进度-15%", + "state_description": "当前状态为爪夹将胶头滴管向烧杯里移动\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向右前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 3.264894483551808, + "annotations": { + "bbox_1769162206211": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769162206211_1769162238568_rrmiqk5ym", + "x": 0.6775891982521473, + "y": 0.2752945343055789, + "width": 0.04255391413815994, + "height": 0.10692933713989573 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向上移动，向右前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶，继续向下移动，放入玻璃瓶，松开爪夹", + "error_success_analysis": "爪夹向识别错误，导致准备将胶头滴管放入烧杯", + "frame": 106, + "progress": -35, + "progress_explanation": "爪夹准备将胶头滴管放入烧杯，进度-35%", + "state_description": "当前状态为爪夹准备将胶头滴管放入烧杯\n为了完成将橡胶头滴管放入玻璃滴管瓶中的任务应当：向上移动，向右前侧移动至玻璃瓶上方，向下移动，准备将胶头滴管放入玻璃瓶。", + "time": 3.5168830097658055, + "annotations": { + "bbox_1769162206211": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769162206211_1769162235991_f0uhj1ee2", + "x": 0.6759525092468335, + "y": 0.29929907937780037, + "width": 0.04582729214878763, + "height": 0.10911156851009765 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹识别错误，导致将胶头滴管放入烧杯", + "frame": 125, + "progress": -50, + "progress_explanation": "任务失败，进度-50%", + "state_description": "当前状态为爪夹将胶头滴管放入烧杯", + "time": 4.1523323367402325, + "annotations": { + "bbox_1769162205824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769162205824_1769162227940_3yuob0jqy", + "x": 0.6153950160502212, + "y": 0.33930664339876676, + "width": 0.04746398115410146, + "height": 0.08292479206767425 + } + ] + }, + "point_1769162207280": { + "type": "point", + "instances": [ + { + "id": "point_1769162207280_1769162229814_lppg9g4lt", + "x": 0.638308662124615, + "y": 0.33203254993082965 + } + ] + }, + "bbox_1769162206211": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769162206211_1769162232440_v2l7cioy7", + "x": 0.6824992652680888, + "y": 0.29493461663739645, + "width": 0.03928053612753226, + "height": 0.10474710576969375 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769162205824", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769162206211", + "name": "玻璃瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769162207128", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769162207280", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-171352-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-171352-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..5bba1418581d3ae5e753c36e21d426d053323eac --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-171352-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,698 @@ +{ + "task_description": "将橡胶头滴管中的溶液倒入量杯中\n准备开始移动：0%\n接近胶头滴管：20%\n夹住胶头滴管：40%\n将胶头滴管移动至量杯旁：50%\n准备开始倒溶液：70%\n将溶液倒入量杯：90%\n爪夹离开量杯：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前方移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至量杯上方，向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：向右前方移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 0.42579246718879726, + "annotations": { + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769395072097_zim31hms9", + "x": 0.5679310348961196, + "y": 0.49569990269597614 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769395074099_yyxm5atib", + "x": 0.4419059814869536, + "y": 0.5066110595469859 + } + ] + }, + "bbox_1769394895277": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895277_1769395078018_5i6t1u4v4", + "x": 0.44681604850289514, + "y": 0.3451259381520414, + "width": 0.07037762722849532, + "height": 0.2444099134626187 + } + ] + }, + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769395080504_b4q5fdl1b", + "x": 0.6792258872574611, + "y": 0.39968172240709016, + "width": 0.037643847122218424, + "height": 0.09601818028888598 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "向右前方移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至量杯上方，向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 51, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：向右前方移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 1.7031728674133553, + "annotations": { + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769395059766_uf3tx4a4w", + "x": 0.6808625762627749, + "y": 0.3844061028156765, + "width": 0.0327337801062769, + "height": 0.10474710576969375 + } + ] + }, + "bbox_1769394895277": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895277_1769395063505_ah7xqlcw4", + "x": 0.4435426704922675, + "y": 0.3385792440414355, + "width": 0.08838120628694757, + "height": 0.25968553305403236 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769395065649_ko7ceghd2", + "x": 0.39444200033285204, + "y": 0.5066110595469859 + } + ] + }, + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769395067667_a09ily4v9", + "x": 0.617031705055535, + "y": 0.5087932909171878 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动", + "correction_plan": "向右前方移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至量杯上方，向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "error_success_analysis": "爪夹向右前侧移动正确，成功接近胶头滴管", + "frame": 88, + "progress": 20, + "progress_explanation": "爪夹接近胶头滴管，进度20%", + "state_description": "当前状态为爪夹接近胶头滴管\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：向右前方移动至胶头滴管上方，向下移动，合拢爪夹，夹住胶头滴管。", + "time": 2.9477999240424113, + "annotations": { + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769395048415_8job1f76e", + "x": 0.6252151500821042, + "y": 0.5066110595469859 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769395051362_19scpybfj", + "x": 0.38625855530628284, + "y": 0.49569990269597614 + } + ] + }, + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769395054665_9oyol1jiu", + "x": 0.5139202977207628, + "y": 0.5153399850277938, + "width": 0.029460402095649218, + "height": 0.05673801562525072 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，稍微合拢爪夹", + "correction_plan": "向下移动，合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至量杯上方，向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近胶头滴管", + "frame": 125, + "progress": 25, + "progress_explanation": "爪夹更加接近胶头滴管，进度25%", + "state_description": "当前状态为爪夹更加接近胶头滴管\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：向下移动，合拢爪夹，夹住胶头滴管。", + "time": 4.159673637075967, + "annotations": { + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769395040908_48xs1jm7z", + "x": 0.512283608715449, + "y": 0.4695131262535527, + "width": 0.04746398115410146, + "height": 0.10474710576969375 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769395043009_1xyi6e6k7", + "x": 0.4304491584497566, + "y": 0.5000643654363801 + } + ] + }, + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769395044911_s4zgcs88g", + "x": 0.5859346139545719, + "y": 0.4978821340661781 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "合拢爪夹，夹住胶头滴管，向上移动，向左侧移动至量杯上方，向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "error_success_analysis": "爪夹合拢正确，成功准备夹住胶头滴管", + "frame": 153, + "progress": 30, + "progress_explanation": "爪夹准备夹住胶头滴管，进度30%", + "state_description": "当前状态为爪夹准备夹住胶头滴管\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：合拢爪夹，夹住胶头滴管。", + "time": 5.109520601345509, + "annotations": { + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769395031060_syz38mkhw", + "x": 0.5630209678801781, + "y": 0.4978821340661781 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769395033323_urjbtdbc8", + "x": 0.4500894265135228, + "y": 0.4935176713257742 + } + ] + }, + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769395035887_ea6xjzbu8", + "x": 0.4910066516463689, + "y": 0.48478874584496634, + "width": 0.026187024085021538, + "height": 0.07201363521666444 + } + ] + } + } + }, + { + "action_description": "合拢爪夹", + "correction_plan": "向上移动，向左侧移动至量杯上方，向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "error_success_analysis": "爪夹合拢正确，成功准备夹住胶头滴管", + "frame": 193, + "progress": 40, + "progress_explanation": "爪夹夹住胶头滴管，进度40%", + "state_description": "当前状态为爪夹夹住胶头滴管\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：向上移动，向左侧移动至量杯上方，向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "time": 6.41965434516557, + "annotations": { + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769395022185_22548idp4", + "x": 0.49591671866231046, + "y": 0.4738775889939566, + "width": 0.027823713090335378, + "height": 0.14184503906312695 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769395024705_3zma2s3yw", + "x": 0.49264334065168275, + "y": 0.5000643654363801 + } + ] + }, + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769395026627_dtn2ct9q3", + "x": 0.5188303647367043, + "y": 0.5066110595469859 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左侧移动至量杯上方，向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "error_success_analysis": "爪夹向上移动正确，成功将胶头滴管夹至空中", + "frame": 245, + "progress": 45, + "progress_explanation": "爪夹将胶头滴管夹至空中，进度45%", + "state_description": "当前状态为爪夹将胶头滴管夹至空中\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：向左侧移动至量杯上方，向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "time": 8.155581555727148, + "annotations": { + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769395011635_ulhfmqkxc", + "x": 0.5188303647367043, + "y": 0.502246596806582 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769395014090_gsrjuqfdt", + "x": 0.48445989562511355, + "y": 0.4978821340661781 + } + ] + }, + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769395016538_7xq1a0nmw", + "x": 0.49264334065168275, + "y": 0.48478874584496634, + "width": 0.0327337801062769, + "height": 0.10038264302928988 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上，然后向左移动", + "correction_plan": "向左侧移动至量杯上方，向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "error_success_analysis": "爪夹向左侧移动正确，成功将胶头滴管移动至量杯旁", + "frame": 292, + "progress": 50, + "progress_explanation": "爪夹将胶头滴管移动至量杯旁，进度50%", + "state_description": "当前状态为爪夹将胶头滴管移动至量杯旁\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：向左侧移动至量杯上方，向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "time": 9.72774204831122, + "annotations": { + "bbox_1769394895277": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895277_1769395001362_k467an8pc", + "x": 0.48445989562511355, + "y": 0.5655313065424387, + "width": 0.055647426180670756, + "height": 0.12220495673130939 + } + ] + }, + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769395003941_fr8zld78m", + "x": 0.4811865176144859, + "y": 0.4804242831045624, + "width": 0.05073735916472914, + "height": 0.07419586658686649 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769395005899_2sqxaue5m", + "x": 0.4910066516463689, + "y": 0.502246596806582 + } + ] + }, + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769395007827_5115ipnf3", + "x": 0.5253771207579596, + "y": 0.5109755222873898 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "error_success_analysis": "爪夹向左侧移动正确，成功将胶头滴管移动至量杯上方", + "frame": 350, + "progress": 60, + "progress_explanation": "爪夹将胶头滴管移动至量杯上方，进度60%", + "state_description": "当前状态为爪夹将胶头滴管移动至量杯上方\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：向下移动，开始倒溶液，将溶液倒完后，向后移动。", + "time": 11.660189320445806, + "annotations": { + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769394987528_ddg557as9", + "x": 0.5171936757313904, + "y": 0.4978821340661781 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769394989683_bimrqvrh9", + "x": 0.4860965846304274, + "y": 0.4935176713257742 + } + ] + }, + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769394992998_l9hyzy415", + "x": 0.49264334065168275, + "y": 0.48915320858537026, + "width": 0.027823713090335378, + "height": 0.10692933713989566 + } + ] + }, + "bbox_1769394895277": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895277_1769394995841_vzi5xnifs", + "x": 0.4991900966729381, + "y": 0.4716953576237547, + "width": 0.08019776126037845, + "height": 0.11129379988029958 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "开始倒溶液，将溶液倒完后，向后移动。", + "error_success_analysis": "爪夹向下移动正确，成功准备开始倒溶液", + "frame": 408, + "progress": 70, + "progress_explanation": "爪夹准备开始倒溶液，进度70%", + "state_description": "当前状态为爪夹准备开始倒溶液\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：开始倒溶液，将溶液倒完后，向后移动。", + "time": 13.592636592580396, + "annotations": { + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769394976529_c596gw1is", + "x": 0.4910066516463689, + "y": 0.49569990269597614, + "width": 0.03437046911159074, + "height": 0.06983140384646246 + } + ] + }, + "bbox_1769394895277": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895277_1769394979477_izspj0hey", + "x": 0.5041001636888798, + "y": 0.4716953576237547, + "width": 0.08510782827631988, + "height": 0.12875165084191523 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769394981524_ebxf4bdm2", + "x": 0.4860965846304274, + "y": 0.49569990269597614 + } + ] + }, + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769394983835_q5d9lqv71", + "x": 0.5253771207579596, + "y": 0.4978821340661781 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动，然后夹紧爪夹", + "correction_plan": "将溶液倒完后，向后移动。", + "error_success_analysis": "爪夹向下移动正确，成功倒溶液", + "frame": 451, + "progress": 80, + "progress_explanation": "爪夹倒溶液，进度80%", + "state_description": "当前状态为爪夹倒溶液\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：将溶液倒完后，向后移动。", + "time": 15.03378371078246, + "annotations": { + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769394963650_1n51k58s0", + "x": 0.5171936757313904, + "y": 0.49569990269597614 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769394965970_7gi1jd84z", + "x": 0.49264334065168275, + "y": 0.49569990269597614 + } + ] + }, + "bbox_1769394895277": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895277_1769394969396_m6qqu8vhn", + "x": 0.4975534076676243, + "y": 0.4433263498111293, + "width": 0.10802147435071383, + "height": 0.14402727043332894 + } + ] + }, + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769394972587_t82uxdc4h", + "x": 0.4910066516463689, + "y": 0.49569990269597614, + "width": 0.026187024085021538, + "height": 0.06110247836565463 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向后移动。", + "error_success_analysis": "爪夹向上移动正确，成功将溶液倒入量杯", + "frame": 508, + "progress": 90, + "progress_explanation": "爪夹将溶液倒入量杯，进度90%", + "state_description": "当前状态为爪夹将溶液倒入量杯\n为了完成将橡胶头滴管中的溶液倒入量杯中的任务应当：向后移动。", + "time": 16.933477639321545, + "annotations": { + "bbox_1769394895277": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895277_1769394950883_8pbx5uzza", + "x": 0.4942800296569966, + "y": 0.4695131262535527, + "width": 0.0982013403188307, + "height": 0.14839173317373286 + } + ] + }, + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769394953753_rsikm40q5", + "x": 0.49591671866231046, + "y": 0.48915320858537026, + "width": 0.031097091100963058, + "height": 0.08728925480807816 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769394956449_6aumv7xe6", + "x": 0.48773327363574126, + "y": 0.5000643654363801 + } + ] + }, + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769394958766_no3lw7uve", + "x": 0.5171936757313904, + "y": 0.502246596806582 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "", + "error_success_analysis": "爪夹向后移动正确，成功完成任务", + "frame": 571, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹完成任务", + "time": 19.033333, + "annotations": { + "bbox_1769394895092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895092_1769394931425_ygf0i8vql", + "x": 0.4910066516463689, + "y": 0.4920628393129035, + "width": 0.022913646074393855, + "height": 0.05892024699545271 + } + ] + }, + "bbox_1769394895277": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394895277_1769394934719_pwqprrd0z", + "x": 0.49264334065168275, + "y": 0.3385792440414355, + "width": 0.06710424921786765, + "height": 0.16366735276514646 + } + ] + }, + "point_1769394907308": { + "type": "point", + "instances": [ + { + "id": "point_1769394907308_1769394942089_s1giqm7d8", + "x": 0.5171936757313904, + "y": 0.5087932909171878 + } + ] + }, + "point_1769394907199": { + "type": "point", + "instances": [ + { + "id": "point_1769394907199_1769394944618_b5mipsri1", + "x": 0.48773327363574126, + "y": 0.5066110595469859 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769394895092", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769394895277", + "name": "量杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769394907199", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769394907308", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-172551-put-solution in the rubber head dropper-glass measuring cup-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-172551-put-solution in the rubber head dropper-glass measuring cup-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..893562fa2a7334c750be9efe7e0adf11f7723764 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-172551-put-solution in the rubber head dropper-glass measuring cup-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,474 @@ +{ + "task_description": "抓取滴管吸取药液滴入试管。\n准备开始移动：0%\n抓取滴管：25%\n吸取药业：50%\n移动滴灌到试管正上方：75%\n按压滴管：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向右前方移动到滴管的正上方，合拢爪夹夹取滴管，闭合爪夹吸取药液，爪夹向正上方移动，高度高于试管，向右后方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，因此进度为0%。", + "state_description": "爪夹处于初始状态，爪夹张开，远离滴管，爪夹未移动。\n为完成抓取滴管插入相应的试管使药液滴入试管的任务应当：爪夹向右前方移动到滴管的正上方，合拢爪夹夹取滴管，闭合爪夹吸取药液，爪夹向正上方移动，高度高于试管，向右后方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "time": 1.4876976216494844, + "annotations": { + "bbox_1768874204480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874204480_1768874222695_w5ktq5dba", + "x": 0.499, + "y": 0.3066666666666667, + "width": 0.03499999999999996, + "height": 0.1466666666666666 + } + ] + }, + "point_1768874205200": { + "type": "point", + "instances": [ + { + "id": "point_1768874205200_1768874227743_tzu1rfzo4", + "x": 0.31, + "y": 0.448 + } + ] + }, + "bbox_1768874287582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874287582_1768874309580_cm1ig71hx", + "x": 0.611, + "y": 0.2906666666666667, + "width": 0.06499999999999995, + "height": 0.31200000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动。", + "correction_plan": "合拢爪夹夹取滴管，闭合爪夹吸取药液，爪夹向正上方移动，高度高于试管，向右后方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "error_success_analysis": "爪夹向右前方移动，靠近滴管位置。", + "frame": 129, + "progress": 10, + "progress_explanation": "爪夹靠近滴管，方便抓取，因此进度提升到10%。", + "state_description": "爪夹张开，向右前方移动，调整爪夹角度。\n为完成抓取滴管插入相应的试管使药液滴入试管的任务应当：合拢爪夹夹取滴管，闭合爪夹吸取药液，爪夹向正上方移动，高度高于试管，向右后方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "time": 4.292666, + "annotations": { + "point_1768874205200": { + "type": "point", + "instances": [ + { + "id": "point_1768874205200_1768874235126_9lnsjycz8", + "x": 0.515, + "y": 0.33688888549804685 + } + ] + }, + "bbox_1768874287582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874287582_1768874315189_il1dcygb9", + "x": 0.6060000000000001, + "y": 0.2813333333333333, + "width": 0.06599999999999992, + "height": 0.3186666666666667 + } + ] + }, + "point_1768874205057": { + "type": "point", + "instances": [ + { + "id": "point_1768874205057_1768874320540_rpwphnnz8", + "x": 0.499, + "y": 0.32266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "闭合爪夹吸取药液，爪夹向正上方移动，高度高于试管，向右后方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "error_success_analysis": "爪夹接近滴管，成功抓取滴管。", + "frame": 187, + "progress": 25, + "progress_explanation": "爪夹成功抓取到滴管，因此进度提升到25%。", + "state_description": "爪夹合拢抓取滴管，爪夹与地面呈70度角。\n为完成抓取滴管插入相应的试管使药液滴入试管的任务应当：闭合爪夹吸取药液，爪夹向正上方移动，高度高于试管，向右后方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "time": 6.2472, + "annotations": { + "point_1768874205200": { + "type": "point", + "instances": [ + { + "id": "point_1768874205200_1768874255766_zzgrz9ovq", + "x": 0.524, + "y": 0.3413333333333333 + } + ] + }, + "bbox_1768874287582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874287582_1768874329692_c4cf1ad80", + "x": 0.6060000000000001, + "y": 0.28355555216471356, + "width": 0.07799999999999993, + "height": 0.3253333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹闭合。", + "correction_plan": "爪夹向正上方移动，高度高于试管，向右后方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "error_success_analysis": "爪夹完全闭合，挤压滴管头，方便吸取药液。", + "frame": 262, + "progress": 50, + "progress_explanation": "爪夹完全闭合吸取药液，因此进度提升到50%。", + "state_description": "爪夹完全闭合挤压滴管头，爪夹与桌面呈70度。\n为完成抓取滴管插入相应的试管使药液滴入试管的任务应当：爪夹向正上方移动，高度高于试管，向右后方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "time": 8.737869575257733, + "annotations": { + "point_1768874205200": { + "type": "point", + "instances": [ + { + "id": "point_1768874205200_1768874263694_id38qrceu", + "x": 0.518, + "y": 0.3253333333333333 + } + ] + }, + "bbox_1768874287582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874287582_1768874337205_v5w0k4f2w", + "x": 0.6020000000000001, + "y": 0.28088888549804686, + "width": 0.07999999999999999, + "height": 0.32266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向正上方移动。", + "correction_plan": "向右后方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "error_success_analysis": "爪夹合拢抓紧滴管，方便移动接近试管。", + "frame": 288, + "progress": 55, + "progress_explanation": "爪夹向正上方移动，方便靠近试管，因此进度提升到55%。", + "state_description": "爪夹合拢，夹紧滴管，爪夹向正上方移动。\n为完成抓取滴管插入相应的试管使药液滴入试管的任务应当：向右后方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "time": 9.608266, + "annotations": { + "bbox_1768874204480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874204480_1768874269422_rcdatvphr", + "x": 0.492, + "y": 0.13333333333333333, + "width": 0.03799999999999999, + "height": 0.192 + } + ] + }, + "point_1768874205200": { + "type": "point", + "instances": [ + { + "id": "point_1768874205200_1768874272166_331qseou4", + "x": 0.502, + "y": 0.17866666666666667 + } + ] + }, + "bbox_1768874287582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874287582_1768874344956_pu1eb77dl", + "x": 0.596, + "y": 0.2795555521647135, + "width": 0.08200000000000003, + "height": 0.32 + } + ] + } + } + }, + { + "action_description": "爪夹向右后方移动。", + "correction_plan": "向右上移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "error_success_analysis": "爪夹闭合，向右后方移动，方便接近试管正上方。", + "frame": 324, + "progress": 60, + "progress_explanation": "爪夹向右后方移动，为抵达试管正上方，因此进度提升到60%。", + "state_description": "爪夹闭合，垂直于桌面，接近试管。\n为完成抓取滴管插入相应的试管使药液滴入试管的任务应当：向右后方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "time": 10.790515660824743, + "annotations": { + "bbox_1768874204480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874204480_1768874277981_68vyx715e", + "x": 0.5469999999999999, + "y": 0.23288888549804687, + "width": 0.05900000000000007, + "height": 0.216 + } + ] + }, + "point_1768874205200": { + "type": "point", + "instances": [ + { + "id": "point_1768874205200_1768874281886_yb21vjdil", + "x": 0.531, + "y": 0.23155555216471355 + } + ] + }, + "point_1768874205057": { + "type": "point", + "instances": [ + { + "id": "point_1768874205057_1768874283758_dj692clx6", + "x": 0.507, + "y": 0.2102222188313802 + } + ] + }, + "bbox_1768874287582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874287582_1768874303813_ubp0qqyc9", + "x": 0.615, + "y": 0.28488888549804686, + "width": 0.06299999999999999, + "height": 0.31333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向正上方移动。", + "correction_plan": "向右移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "error_success_analysis": "爪夹向上移动，方便移动滴管到试管的正上方。", + "frame": 403, + "progress": 65, + "progress_explanation": "爪夹向正上方移动，高于试管，方便靠近试管上方，因此进度提升到65%。", + "state_description": "爪夹合拢，爪夹向正上方移动，滴管高于试管。\n为完成抓取滴管插入相应的试管使药液滴入试管的任务应当：向右方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "time": 13.417526018041242, + "annotations": { + "point_1768874205200": { + "type": "point", + "instances": [ + { + "id": "point_1768874205200_1768874356012_lp73hhn3c", + "x": 0.536, + "y": 0.07822221883138021 + } + ] + }, + "bbox_1768874204480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874204480_1768874374723_4u4aqlr8x", + "x": 0.515, + "y": 0.09288888549804689, + "width": 0.06799999999999998, + "height": 0.17200000000000001 + } + ] + }, + "bbox_1768874287582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874287582_1768874379268_2s3mgf91z", + "x": 0.603, + "y": 0.2795555521647135, + "width": 0.07599999999999998, + "height": 0.32 + } + ] + } + } + }, + { + "action_description": "爪夹向右方移动。", + "correction_plan": "闭合爪夹挤出药液到试管中。", + "error_success_analysis": "爪夹向上移动到合适的高度，方便移动到试管正上方。", + "frame": 444, + "progress": 75, + "progress_explanation": "爪夹靠近试管正上方，因此进度提升到75%。", + "state_description": "爪夹合拢，爪夹垂直于地面，移动到试管正上方。\n为完成抓取滴管插入相应的试管使药液滴入试管的任务应当：向右方移动到滴管的正上方，闭合爪夹挤出药液到试管中。", + "time": 14.796, + "annotations": { + "bbox_1768874287582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874287582_1768874386251_6gjaiy9wu", + "x": 0.6020000000000001, + "y": 0.2866666666666667, + "width": 0.07799999999999993, + "height": 0.324 + } + ] + }, + "bbox_1768874204480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874204480_1768874390483_akq60dy9b", + "x": 0.6100000000000001, + "y": 0.13333333333333333, + "width": 0.06099999999999994, + "height": 0.16533333333333336 + } + ] + }, + "point_1768874205200": { + "type": "point", + "instances": [ + { + "id": "point_1768874205200_1768874394218_hbef2d3nu", + "x": 0.626, + "y": 0.12666666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "闭合爪夹滴入药剂。", + "error_success_analysis": "爪夹位于试管正上方，方便向下移动把滴管伸入试管内。", + "frame": 460, + "progress": 90, + "progress_explanation": "爪夹向下移动把滴管伸入试管里，因此进度提升到90%。", + "state_description": "爪夹垂直于桌面，使滴管伸入试管里面。\n为完成抓取滴管插入相应的试管使药液滴入试管的任务应当：闭合爪夹挤出药液到试管中。", + "time": 15.344, + "annotations": { + "bbox_1768874204480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874204480_1768874400243_uwkl28esv", + "x": 0.63, + "y": 0.15200000000000002, + "width": 0.06400000000000006, + "height": 0.17733333333333334 + } + ] + }, + "bbox_1768874287582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874287582_1768874405042_uyxx1g1u9", + "x": 0.608, + "y": 0.2813333333333333, + "width": 0.07199999999999998, + "height": 0.32666666666666677 + } + ] + }, + "point_1768874205200": { + "type": "point", + "instances": [ + { + "id": "point_1768874205200_1768874407563_ha1p5tpz9", + "x": 0.632, + "y": 0.16533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹闭合。", + "correction_plan": "", + "error_success_analysis": "爪夹合拢挤出药剂，药剂滴入试管。", + "frame": 547, + "progress": 100, + "progress_explanation": "爪夹合拢，挤压滴管头，药液滴入试管，因此进度提升到100%。", + "state_description": "爪夹闭合，爪夹垂直于地面。\n爪夹按压滴管滴药剂到试管的任务目标达成。", + "time": 18.233333333333334, + "annotations": { + "point_1768874205200": { + "type": "point", + "instances": [ + { + "id": "point_1768874205200_1768874413226_sc2yyy64u", + "x": 0.546, + "y": 0.12088888549804687 + } + ] + }, + "bbox_1768874204480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874204480_1768874419546_ikxnfzsye", + "x": 0.53, + "y": 0.12355555216471355, + "width": 0.041999999999999996, + "height": 0.18133333333333337 + } + ] + }, + "bbox_1768874287582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874287582_1768874423882_mpmujm68a", + "x": 0.611, + "y": 0.28488888549804686, + "width": 0.06699999999999999, + "height": 0.3093333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768874204480", + "name": "滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768874287582", + "name": "试管", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768874205057", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768874205200", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-174841-put-solution in the rubber head dropper-glassmeasuring cup-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-174841-put-solution in the rubber head dropper-glassmeasuring cup-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..75c49ebeaadb26ae9f3618da02de118c640dc279 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-174841-put-solution in the rubber head dropper-glassmeasuring cup-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,466 @@ +{ + "task_description": "把滴管放入试管中。\n准备开始移动：0%\n爪夹靠近滴管：25%\n爪夹合拢：50%\n爪夹靠近试管：75%\n爪夹张开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹未开始移动。", + "annotations": { + "bbox_1768874462000": { + "instances": [ + { + "height": 0.25733333333333336, + "id": "bbox_1768874462000_1768875934458_nyk5ckavq", + "width": 0.14399999999999996, + "x": 0.6980000000000001, + "y": 0.3048888854980469 + } + ], + "type": "bbox" + }, + "point_1768874462624": { + "instances": [ + { + "id": "point_1768874462624_1768875923746_esb4r1o0i", + "x": 0.40800000000000003, + "y": 0.5155555521647136 + } + ], + "type": "point" + }, + "point_1768874462768": { + "instances": [ + { + "id": "point_1768874462768_1768875926370_clscml3zp", + "x": 0.6020000000000001, + "y": 0.5142222188313802 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右下方移动滴管的正上方，合拢爪夹夹取滴管，向上移动爪夹，使滴管高于试管，向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，处于初始状态。\n为完成抓取滴管插入试管使其落入试管的任务应当：爪夹向右下方移动滴管的正上方，合拢爪夹夹取滴管，向上移动爪夹，使滴管高于试管，向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "time": 2.325154639175258 + }, + { + "action_description": "爪夹向右下方移动。", + "annotations": { + "bbox_1768874461857": { + "instances": [ + { + "height": 0.11600000000000008, + "id": "bbox_1768874461857_1768875951945_xnfxl97at", + "width": 0.08599999999999994, + "x": 0.48200000000000004, + "y": 0.464 + } + ], + "type": "bbox" + }, + "bbox_1768874462000": { + "instances": [ + { + "height": 0.2826666666666667, + "id": "bbox_1768874462000_1768875948738_pobfjzsbh", + "width": 0.24099999999999994, + "x": 0.5860000000000001, + "y": 0.005333333333333333 + } + ], + "type": "bbox" + }, + "point_1768874462624": { + "instances": [ + { + "id": "point_1768874462624_1768875954289_ufadpqzyy", + "x": 0.40800000000000003, + "y": 0.5106666666666667 + } + ], + "type": "point" + }, + "point_1768874462768": { + "instances": [ + { + "id": "point_1768874462768_1768875956521_3pou957tq", + "x": 0.603, + "y": 0.5093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向正下方移动滴管的正上方，合拢爪夹夹取滴管，向上移动爪夹，使滴管高于试管，向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "error_success_analysis": "爪夹张开，垂直于地面，方便移动到滴管正上方。", + "frame": 121, + "progress": 10, + "progress_explanation": "爪夹向右下方移动，但未靠近滴管，因此进度提升到10%。", + "state_description": "爪夹张开，爪夹垂直于地面，拉近抓鸡与滴管的距离。\n为完成抓取滴管插入试管使其落入试管的任务应当：爪夹向正下方移动滴管的正上方，合拢爪夹夹取滴管，向上移动爪夹，使滴管高于试管，向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "time": 4.032 + }, + { + "action_description": "爪夹部分合拢。", + "annotations": { + "bbox_1768874461857": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1768874461857_1768875967593_d7hcqxdvb", + "width": 0.08499999999999996, + "x": 0.47800000000000004, + "y": 0.456 + } + ], + "type": "bbox" + }, + "bbox_1768874462000": { + "instances": [ + { + "height": 0.28400000000000003, + "id": "bbox_1768874462000_1768875972066_y19agth2x", + "width": 0.26099999999999995, + "x": 0.5740000000000001, + "y": 0.004 + } + ], + "type": "bbox" + }, + "point_1768874462624": { + "instances": [ + { + "id": "point_1768874462624_1768875962225_y5pthew3m", + "x": 0.466, + "y": 0.52 + } + ], + "type": "point" + }, + "point_1768874462768": { + "instances": [ + { + "id": "point_1768874462768_1768875960357_798bmyohh", + "x": 0.5469999999999999, + "y": 0.516 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向正下方移动滴管的正上方，完全合拢爪夹夹取滴管，向上移动爪夹，使滴管高于试管，向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "error_success_analysis": "爪夹未完全合拢，方便后续调整爪夹位置。", + "frame": 142, + "progress": 15, + "progress_explanation": "爪夹合拢，方便后续调整爪夹，因此进度提升到15%。", + "state_description": "爪夹未完全合拢，爪夹垂直于地面，位于滴管的斜上方。\n为完成抓取滴管插入试管使其落入试管的任务应当：爪夹向正下方移动滴管的正上方，完全合拢爪夹夹取滴管，向上移动爪夹，使滴管高于试管，向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "time": 4.725 + }, + { + "action_description": "爪夹向右下方微调移动。", + "annotations": { + "bbox_1768874461857": { + "instances": [ + { + "height": 0.11866666666666668, + "id": "bbox_1768874461857_1768875978265_d8zo7x85k", + "width": 0.096, + "x": 0.45499999999999996, + "y": 0.4608888854980469 + } + ], + "type": "bbox" + }, + "bbox_1768874462000": { + "instances": [ + { + "height": 0.2826666666666667, + "id": "bbox_1768874462000_1768875982361_yaqhx90rb", + "width": 0.28600000000000003, + "x": 0.546, + "y": -0.0017777811686197917 + } + ], + "type": "bbox" + }, + "point_1768874462624": { + "instances": [ + { + "id": "point_1768874462624_1768875985064_lymnq2xs1", + "x": 0.466, + "y": 0.5195555521647136 + } + ], + "type": "point" + }, + "point_1768874462768": { + "instances": [ + { + "id": "point_1768874462768_1768875987528_npz51btuz", + "x": 0.5429999999999999, + "y": 0.5182222188313802 + } + ], + "type": "point" + } + }, + "correction_plan": "完全合拢爪夹夹取滴管，向上移动爪夹，使滴管高于试管，向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "error_success_analysis": "爪夹与地面垂直，方便抓取滴管。", + "frame": 171, + "progress": 25, + "progress_explanation": "爪夹靠近滴管，因此进度提升到25%。", + "state_description": "爪夹未完全闭合，爪夹位于滴管正上方， 爪夹垂直于地面。\n为完成抓取滴管插入试管使其落入试管的任务应当：完全合拢爪夹夹取滴管，向上移动爪夹，使滴管高于试管，向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "time": 5.707799 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768874461857": { + "instances": [ + { + "height": 0.10800000000000007, + "id": "bbox_1768874461857_1768875994792_x4ais52al", + "width": 0.083, + "x": 0.46399999999999997, + "y": 0.4613333333333333 + } + ], + "type": "bbox" + }, + "bbox_1768874462000": { + "instances": [ + { + "height": 0.2773333333333333, + "id": "bbox_1768874462000_1768876014536_o3l0cffwi", + "width": 0.2819999999999999, + "x": 0.538, + "y": 0 + } + ], + "type": "bbox" + }, + "point_1768874462624": { + "instances": [ + { + "id": "point_1768874462624_1768876004704_m2l6uojhr", + "x": 0.495, + "y": 0.5013333333333334 + } + ], + "type": "point" + }, + "point_1768874462768": { + "instances": [ + { + "id": "point_1768874462768_1768876008056_ww0z5uovt", + "x": 0.518, + "y": 0.504 + } + ], + "type": "point" + } + }, + "correction_plan": "向上移动爪夹，使滴管高于试管，向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "error_success_analysis": "爪夹垂直于地面，方便夹取滴管。", + "frame": 199, + "progress": 50, + "progress_explanation": "爪夹合拢抓取到滴管，因此进度提升到50%。", + "state_description": "爪夹合拢夹取到滴管，垂直于地面。\n为完成抓取滴管插入试管使其落入试管的任务应当：向上移动爪，使滴管高于试管，向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "time": 6.6276 + }, + { + "action_description": "爪夹向上移动。", + "annotations": { + "bbox_1768874461857": { + "instances": [ + { + "height": 0.09600000000000003, + "id": "bbox_1768874461857_1768876024752_pvc0fc8iq", + "width": 0.03599999999999994, + "x": 0.49000000000000005, + "y": 0.4888888854980469 + } + ], + "type": "bbox" + }, + "bbox_1768874462000": { + "instances": [ + { + "height": 0.3333333333333333, + "id": "bbox_1768874462000_1768876020215_9kh9xvwht", + "width": 0.188, + "x": 0.524, + "y": 0.056888885498046875 + } + ], + "type": "bbox" + }, + "point_1768874462624": { + "instances": [ + { + "id": "point_1768874462624_1768876026919_r3bvi9o4l", + "x": 0.49800000000000005, + "y": 0.4995555521647136 + } + ], + "type": "point" + }, + "point_1768874462768": { + "instances": [ + { + "id": "point_1768874462768_1768876030335_5mt44izak", + "x": 0.515, + "y": 0.5022222188313802 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "error_success_analysis": "爪夹合拢抓紧滴管，方便后续靠近试管。", + "frame": 269, + "progress": 60, + "progress_explanation": "爪夹抓取滴管向正上方移动，因此进度提升到60%。", + "state_description": "爪夹合拢，爪夹与桌面呈70度。\n为完成抓取滴管插入试管使其落入试管的任务应当：向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "time": 8.975876288659792 + }, + { + "action_description": "爪夹向右前方移动。", + "annotations": { + "bbox_1768874461857": { + "instances": [ + { + "height": 0.09066666666666669, + "id": "bbox_1768874461857_1768876048503_31i0cjx8q", + "width": 0.04800000000000004, + "x": 0.484, + "y": 0.4835555521647136 + } + ], + "type": "bbox" + }, + "bbox_1768874462000": { + "instances": [ + { + "height": 0.268, + "id": "bbox_1768874462000_1768876044807_9990dpu67", + "width": 0.15599999999999997, + "x": 0.535, + "y": 0.2782222188313802 + } + ], + "type": "bbox" + }, + "point_1768874462624": { + "instances": [ + { + "id": "point_1768874462624_1768876050863_wl1mtb6op", + "x": 0.496, + "y": 0.4982222188313802 + } + ], + "type": "point" + }, + "point_1768874462768": { + "instances": [ + { + "id": "point_1768874462768_1768876052974_03w4vo3ut", + "x": 0.518, + "y": 0.4982222188313802 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "error_success_analysis": "爪夹抓紧滴管，向右前方移动，方便靠近试管。", + "frame": 292, + "progress": 70, + "progress_explanation": "爪夹抓紧滴管向右前方移动，因此进度提升到70%。", + "state_description": "爪夹合拢抓紧滴管，与地面呈70度。\n为完成抓取滴管插入试管使其落入试管的任务应当：向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "time": 9.729278350515465 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1768874461857": { + "instances": [ + { + "height": 0.06266666666666669, + "id": "bbox_1768874461857_1768876060294_bqyf6s7qd", + "width": 0.15799999999999997, + "x": 0.376, + "y": 0.32 + } + ], + "type": "bbox" + }, + "bbox_1768874462000": { + "instances": [ + { + "height": 0.2653333333333333, + "id": "bbox_1768874462000_1768876064471_kygsaxu9y", + "width": 0.22400000000000003, + "x": 0.487, + "y": 0.2506666666666667 + } + ], + "type": "bbox" + }, + "point_1768874462624": { + "instances": [ + { + "id": "point_1768874462624_1768876067759_1ftyg82ih", + "x": 0.43100000000000005, + "y": 0.5146666666666666 + } + ], + "type": "point" + }, + "point_1768874462768": { + "instances": [ + { + "id": "point_1768874462768_1768876070287_ir5tbn3tu", + "x": 0.58, + "y": 0.5146666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度垂直于桌面，爪夹向正前方方移动滴管的正上方，合拢爪夹夹取滴管，向上移动爪夹，使滴管高于试管，向右前方移动到试管的正上方，松开爪夹使滴管落入试管中。", + "error_success_analysis": "爪夹张开，滴管落于桌面，需重新抓取。", + "frame": 378, + "progress": -50, + "progress_explanation": "爪夹松开，滴管落于桌面，需重新抓取，因此进度降低为-50%。", + "state_description": "爪夹松开，滴管落于桌面。爪夹与桌面呈70度。\n为完成抓取滴管插入试管使其落入试管的任务应当：调整爪夹角度与桌面垂直，移动到滴管的正上方。", + "time": 12.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768874461857", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768874462000", + "name": "试管" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768874462624", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768874462768", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-180931-put-dropper on the measuring cup-glass drip bottle-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-180931-put-dropper on the measuring cup-glass drip bottle-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..58a030dd5e0a6b2c7bbfce8fd66c70cfb22ef4f1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-180931-put-dropper on the measuring cup-glass drip bottle-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,266 @@ +{ + "task_description": "把滴管插入药瓶里。\n准备开始移动：0%\n爪夹向上移动：25%\n抓夹向左后方移动到药瓶上方：50%\n抓夹向正下方移动插入滴管：75%\n插入滴管到药瓶中：100%", + "progress_points": [ + { + "action_description": "抓夹合拢抓取滴管，抓夹未移动。", + "correction_plan": "抓夹夹紧滴管，爪夹向上移动使滴管远离试管，向左后方移动抓夹到药瓶的正上方，调整爪夹角度使滴管垂直于桌面，向下移动插入滴管到药瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 83, + "progress": 0, + "progress_explanation": "爪夹未开始移动，处于初始状态，因此进度为0%。", + "state_description": "爪夹合拢夹取滴管，爪夹垂直于地面，未开始移动。\n为了完成插入滴管到药瓶的任务应当：抓夹夹紧滴管，爪夹向上移动使滴管远离试管，向左后方移动抓夹到药瓶的正上方，调整爪夹角度使滴管垂直于桌面，向下移动插入滴管到药瓶中，松开爪夹。", + "time": 2.768659719587629, + "annotations": { + "bbox_1768878815325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768878815325_1768878847212_r87e202x6", + "x": 0.78, + "y": 0.132, + "width": 0.06399999999999997, + "height": 0.14 + } + ] + }, + "bbox_1768878887163": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768878887163_1768878902707_g7fz7cuw2", + "x": 0.675, + "y": 0.5942222188313802, + "width": 0.07700000000000004, + "height": 0.11066666666666668 + } + ] + } + } + }, + { + "action_description": "抓夹向上移动。", + "correction_plan": "向左后方移动抓夹到药瓶的正上方，调整爪夹角度使滴管垂直于桌面，向下移动插入滴管到药瓶中，松开爪夹。", + "error_success_analysis": "抓夹垂直于地面，方便把滴管从试管里移出。", + "frame": 98, + "progress": 25, + "progress_explanation": "抓夹夹紧滴管向上移动，因此进度提示到25%。", + "state_description": "抓夹合拢夹紧滴管，爪夹垂直于桌面，方便移动滴管到药瓶上方。\n为了完成插入滴管到药瓶的任务应当：抓夹夹紧滴管，爪夹向上移动使滴管远离试管，向左后方移动抓夹到药瓶的正上方，调整爪夹角度使滴管垂直于桌面，向下移动插入滴管到药瓶中，松开爪夹。", + "time": 3.268556613402062, + "annotations": { + "bbox_1768878815325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768878815325_1768878870644_rs7t2emba", + "x": 0.779, + "y": 0.07866666666666666, + "width": 0.052000000000000046, + "height": 0.12133333333333333 + } + ] + }, + "point_1768878816044": { + "type": "point", + "instances": [ + { + "id": "point_1768878816044_1768878873427_7fljhn38d", + "x": 0.783, + "y": 0.084 + } + ] + }, + "point_1768878816197": { + "type": "point", + "instances": [ + { + "id": "point_1768878816197_1768878875451_hsdkywjrc", + "x": 0.792, + "y": 0.10533333333333333 + } + ] + }, + "bbox_1768878887163": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768878887163_1768878907442_577g5lf4f", + "x": 0.67, + "y": 0.5955555521647136, + "width": 0.08399999999999999, + "height": 0.10533333333333333 + } + ] + } + } + }, + { + "time": 4.078133, + "frame": 122, + "progress": 30, + "action_description": "抓夹向左后方移动。", + "state_description": "爪夹合拢夹紧滴管，垂直于桌面，略微接近药瓶。\n为了完成插入滴管到药瓶的任务应当：抓夹夹紧滴管，向左后方移动抓夹到药瓶的正上方，调整爪夹角度使滴管垂直于桌面，向下移动插入滴管到药瓶中，松开爪夹。", + "progress_explanation": "抓夹向左后方移动，缩短与药瓶的距离，因此进度提升到30%。", + "error_success_analysis": "抓夹与地面垂直，向左后方移动，缩短与药瓶的距离。", + "correction_plan": "向左后方移动抓夹到药瓶的正上方，调整爪夹角度使滴管垂直于桌面，向下移动插入滴管到药瓶中，松开爪夹。", + "annotations": { + "bbox_1768878887163": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768878887163_1768878896827_uwe04gmhx", + "x": 0.675, + "y": 0.5955555521647136, + "width": 0.07999999999999999, + "height": 0.1013333333333333 + } + ] + } + } + }, + { + "time": 4.973333, + "frame": 149, + "progress": 50, + "action_description": "抓夹向左下方移动。", + "state_description": "抓夹合拢抓紧滴管，抓夹垂直于地面。\n为了完成插入滴管到药瓶的任务应当：抓夹夹紧滴管，调整爪夹角度使滴管垂直于桌面，向正下方移动抓夹，松开爪夹。", + "progress_explanation": "抓夹向左下方移动到药瓶的正上方，因此进度提升到50%", + "error_success_analysis": "抓夹向左下方移动到药瓶的正上方。方便后续插入滴管。", + "correction_plan": "调整爪夹角度使滴管垂直于桌面，向下移动插入滴管到药瓶中，松开爪夹。", + "annotations": { + "bbox_1768878887163": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768878887163_1768878918258_z35fbhyoe", + "x": 0.6799999999999999, + "y": 0.6013333333333333, + "width": 0.07600000000000007, + "height": 0.09600000000000009 + } + ] + } + } + }, + { + "time": 5.985944856701031, + "frame": 180, + "progress": 60, + "action_description": "抓夹调整角度。", + "state_description": "抓夹合拢夹紧滴管，调整爪夹角度使滴管垂直于桌面。\n为了完成插入滴管到药瓶的任务应当：抓夹夹紧滴管，向正下方移动抓夹插入滴管到药瓶里，松开爪夹。", + "progress_explanation": "抓夹调整角度，方便后续插入滴管，因此进度提升到60%。", + "error_success_analysis": "抓夹调整滴管角度，方便后续插入滴管。", + "correction_plan": "向下移动插入滴管到药瓶中，松开爪夹。", + "annotations": { + "bbox_1768878815325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768878815325_1768878931778_k19md0q70", + "x": 0.747, + "y": 0.5368888854980469, + "width": 0.03100000000000005, + "height": 0.05333333333333338 + } + ] + } + } + }, + { + "action_description": "抓夹向下移动。", + "correction_plan": "继续向正下方移动抓夹插入滴管到药瓶里，松开爪夹。", + "error_success_analysis": "抓夹抓紧滴管，向下移动，方便完全插入滴管。", + "frame": 268, + "progress": 70, + "progress_explanation": "抓夹向下移动，还未完全插入滴管，因此进度提升到70%。", + "state_description": "抓夹合拢夹紧滴管，抓夹位于药瓶的正上方。\n为了完成插入滴管到药瓶的任务应当：抓夹夹紧滴管，继续向正下方移动抓夹插入滴管到药瓶里，松开爪夹。", + "time": 8.933333333333334, + "annotations": { + "bbox_1768878815325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768878815325_1768878936225_dbaitsedb", + "x": 0.738, + "y": 0.5533333333333333, + "width": 0.03399999999999999, + "height": 0.04933333333333335 + } + ] + } + } + }, + { + "time": 9.946666, + "frame": 298, + "progress": 75, + "action_description": "爪夹向下移动。", + "state_description": "爪夹合拢抓紧滴管，抓夹位于药瓶正上方，滴管插入药瓶。\n为了完成插入滴管到药瓶的任务应当：松开爪夹。", + "progress_explanation": "滴管插入药瓶，因此进度提升到75%。", + "error_success_analysis": "抓夹夹紧滴管，向下插入滴管到药瓶。", + "correction_plan": "松开爪夹。", + "annotations": { + "bbox_1768878815325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768878815325_1768879014583_de5yb268b", + "x": 0.738, + "y": 0.5475555521647135, + "width": 0.026000000000000068, + "height": 0.05066666666666665 + } + ] + } + } + }, + { + "time": 12.433333, + "frame": 373, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "抓夹张开，滴管落入药瓶中。\n把滴管插入药瓶的任务目标完成。", + "progress_explanation": "爪夹张开，滴管落入药瓶，因此进度提升到100%。", + "error_success_analysis": "抓夹张开，滴管顺利落入药瓶。", + "correction_plan": "", + "annotations": { + "bbox_1768878887163": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768878887163_1768879022088_75rc7pyv1", + "x": 0.7020000000000001, + "y": 0.6333333333333333, + "width": 0.05599999999999996, + "height": 0.07866666666666665 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768878815325", + "name": "滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768878887163", + "name": "药瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768878816044", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768878816197", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-180931-put-dropper on the measuring cup-glass drip bottle-good/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-180931-put-dropper on the measuring cup-glass drip bottle-good/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..77b80801981a9b73238ba42fee7df4c36b015af2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-180931-put-dropper on the measuring cup-glass drip bottle-good/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,352 @@ +{ + "task_description": "把滴管从试管上方插入药瓶里。\n准备开始移动：0%\n把滴管从试管里移出：25%\n把滴管移到药瓶上方：50%\n爪夹向下移动把滴管插入药瓶：75%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹合拢，爪夹未移动。", + "correction_plan": "爪夹夹紧滴管，向上移动把滴管移出试管，向右下方移动到药瓶的正上方，向下移动插入滴管到药瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 95, + "progress": 0, + "progress_explanation": "爪夹未移动，处于初始状态，因此进度为0%。", + "state_description": "抓夹合拢夹紧滴管，爪夹垂直地面，位于试管正上方。\n为了把滴管插入药瓶的任务应当：爪夹夹紧滴管，向上移动把滴管移出试管，向右下方移动到药瓶的正上方，向下移动插入滴管到药瓶中，松开爪夹。", + "time": 3.177869331958763, + "annotations": { + "bbox_1768887364890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887364890_1768887403512_ubmls9w0k", + "x": 0.32, + "y": 0.05422221883138021, + "width": 0.05600000000000001, + "height": 0.12000000000000001 + } + ] + }, + "bbox_1768887366417": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887366417_1768887408681_7y0j0uycl", + "x": 0.54, + "y": 0.3595555521647135, + "width": 0.079, + "height": 0.1506666666666667 + } + ] + }, + "point_1768887365705": { + "type": "point", + "instances": [ + { + "id": "point_1768887365705_1768887468510_tbd6wfk0w", + "x": 0.343, + "y": 0.012888885498046876 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，向正上方移动。", + "correction_plan": "爪夹夹紧滴管，向右下方移动到药瓶的正上方，向下移动插入滴管到药瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧滴管，垂直向上移动，滴管远离试管，方便向药瓶方向移动。", + "frame": 115, + "progress": 25, + "progress_explanation": "爪夹夹紧试管向正上方移动，因此进度提升到25%。", + "state_description": "爪夹合拢夹紧滴管，爪夹垂直于地面，滴管远离试管。\n为了把滴管插入药瓶的任务应当：爪夹夹紧滴管，向右下方移动到药瓶的正上方，向下移动插入滴管到药瓶中，松开爪夹。", + "time": 3.8420961185567006, + "annotations": { + "bbox_1768887364890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887364890_1768887423992_12ylp6m4s", + "x": 0.44699999999999995, + "y": 0.008, + "width": 0.051000000000000066, + "height": 0.07200000000000001 + } + ] + }, + "bbox_1768887366417": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887366417_1768887429273_pk59ue4mn", + "x": 0.544, + "y": 0.36133333333333334, + "width": 0.07399999999999993, + "height": 0.14800000000000005 + } + ] + } + } + }, + { + "time": 5.154399, + "frame": 155, + "progress": 33, + "action_description": "爪夹向右下方移动。", + "state_description": "爪夹合拢夹紧滴管，爪夹垂直于地面，接近药瓶上方。\n为了把滴管插入药瓶的任务应当：爪夹夹紧滴管，向右下方移动到药瓶的正上方，向下移动插入滴管到药瓶中，松开爪夹。", + "progress_explanation": "爪夹夹紧滴管，向右下方移动，因此进度提升到33%。", + "error_success_analysis": "爪夹成功抓出滴管，并移动到接近药瓶的位置，方便后续插入药瓶之中。", + "correction_plan": "爪夹夹紧滴管，向下移动插入滴管到药瓶中，松开爪夹。", + "annotations": { + "bbox_1768887364890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887364890_1768887443792_5cu870w7p", + "x": 0.5660000000000001, + "y": 0.24933333333333335, + "width": 0.03399999999999999, + "height": 0.128 + } + ] + }, + "bbox_1768887366417": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887366417_1768887447360_g9ttaownf", + "x": 0.546, + "y": 0.36666666666666664, + "width": 0.07000000000000002, + "height": 0.1426666666666667 + } + ] + }, + "point_1768887365705": { + "type": "point", + "instances": [ + { + "id": "point_1768887365705_1768887451624_l4wes692z", + "x": 0.596, + "y": 0.196 + } + ] + } + } + }, + { + "time": 6.645133, + "frame": 199, + "progress": 50, + "action_description": "爪夹向正下方移动。", + "state_description": "爪夹合拢夹紧滴管，向正下方移动，滴管对准药瓶口。\n为了把滴管插入药瓶的任务应当：爪夹夹紧滴管，向下移动插入滴管到药瓶中，松开爪夹。", + "progress_explanation": "爪夹把滴管移动到药瓶正上方，并把滴管对准药瓶口，因此进度提升到50%。", + "error_success_analysis": "爪夹夹紧滴管，垂直于桌面，方便滴管对准药瓶口。", + "correction_plan": "爪夹夹紧滴管，向下移动插入滴管到药瓶中，松开爪夹。", + "annotations": { + "bbox_1768887364890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887364890_1768887476503_lg5b8sa0t", + "x": 0.571, + "y": 0.28888888549804687, + "width": 0.039000000000000055, + "height": 0.11999999999999998 + } + ] + }, + "bbox_1768887366417": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887366417_1768887489878_hyr1f15rl", + "x": 0.544, + "y": 0.3688888854980469, + "width": 0.079, + "height": 0.14533333333333331 + } + ] + }, + "point_1768887365705": { + "type": "point", + "instances": [ + { + "id": "point_1768887365705_1768887492470_tc997d8hw", + "x": 0.604, + "y": 0.21955555216471356 + } + ] + } + } + }, + { + "time": 9.222333, + "frame": 277, + "progress": 66, + "action_description": "爪夹向下移动。", + "state_description": "爪夹夹紧滴管，爪夹垂直于桌面，滴灌插入药瓶口。\n为了把滴管插入药瓶的任务应当：爪夹夹紧滴管，继续向下移动插入滴管到药瓶中，松开爪夹。", + "progress_explanation": "爪夹夹紧滴管插入药瓶中，但未完全插入药瓶中，因此进度提升到66%。", + "error_success_analysis": "抓夹夹紧滴管，向下移动插入药瓶口，未完全插入药瓶。", + "correction_plan": "抓夹向下移动，松开爪夹。", + "annotations": { + "bbox_1768887364890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887364890_1768887499063_63ifrqix5", + "x": 0.568, + "y": 0.3186666666666667, + "width": 0.04200000000000008, + "height": 0.08133333333333331 + } + ] + }, + "bbox_1768887366417": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887366417_1768887503686_i2w7izvhw", + "x": 0.554, + "y": 0.3626666666666667, + "width": 0.06200000000000001, + "height": 0.15333333333333332 + } + ] + }, + "point_1768887365705": { + "type": "point", + "instances": [ + { + "id": "point_1768887365705_1768887506622_zbzajwda2", + "x": 0.607, + "y": 0.2546666666666667 + } + ] + } + } + }, + { + "action_description": "抓夹向下移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "抓夹夹紧滴管，向下移动抓夹，成功把滴管插入药瓶。", + "frame": 308, + "progress": 75, + "progress_explanation": "抓夹把滴管插入药瓶，因此进度提升到75%。", + "state_description": "抓夹夹紧滴管，爪夹向下移动，爪夹垂直于桌面。\n为了把滴管插入药瓶的任务应当：松开爪夹。", + "time": 10.27597911030928, + "annotations": { + "point_1768887365705": { + "type": "point", + "instances": [ + { + "id": "point_1768887365705_1768887511070_vahor4khh", + "x": 0.619, + "y": 0.26488888549804684 + } + ] + }, + "bbox_1768887364890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887364890_1768887514542_l6omz6y3b", + "x": 0.583, + "y": 0.3182222188313802, + "width": 0.03300000000000001, + "height": 0.09333333333333335 + } + ] + }, + "bbox_1768887366417": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887366417_1768887518454_k9vw2aiqj", + "x": 0.5509999999999999, + "y": 0.3715555521647136, + "width": 0.07600000000000007, + "height": 0.148 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，滴管落入药瓶。", + "frame": 378, + "progress": 100, + "progress_explanation": "抓夹张开，滴管落入药品，因此进度提升到100%。", + "state_description": "抓夹松开，滴管顺利落入药瓶。\n把滴管插入药瓶的任务目标完成。", + "time": 12.6, + "annotations": { + "point_1768887365521": { + "type": "point", + "instances": [ + { + "id": "point_1768887365521_1768887526830_hlcmolqee", + "x": 0.576, + "y": 0.2813333333333333 + } + ] + }, + "point_1768887365705": { + "type": "point", + "instances": [ + { + "id": "point_1768887365705_1768887530758_i4w0tzgbr", + "x": 0.563, + "y": 0.27599999999999997 + } + ] + }, + "bbox_1768887364890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887364890_1768887536413_y5c4kgr9l", + "x": 0.58, + "y": 0.3413333333333333, + "width": 0.027000000000000045, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1768887366417": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887366417_1768887540636_ns3wywtha", + "x": 0.554, + "y": 0.37733333333333335, + "width": 0.07700000000000004, + "height": 0.13999999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768887364890", + "name": "滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768887366417", + "name": "药瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768887365521", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768887365705", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-181937-put-dropper on the measuring cup-glass drip bottle-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-181937-put-dropper on the measuring cup-glass drip bottle-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..9570f698cc50d1801894d126e40050b77eed3351 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-181937-put-dropper on the measuring cup-glass drip bottle-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,326 @@ +{ + "task_description": "把滴管放入药瓶中。\n准备开始移动：0%\n爪夹将滴管移出试管：25%\n爪夹移动到药瓶上方：50%\n爪夹向下移动：75%\n爪夹张开：100%", + "progress_points": [ + { + "action_description": "爪夹合拢，爪夹未移动。", + "correction_plan": "爪夹向上移动，爪夹向右下方移动到药瓶的正上方，爪夹向下移动插入滴管，松开爪夹。", + "error_success_analysis": "", + "frame": 74, + "progress": 0, + "progress_explanation": "爪夹未移动，处于初始状态，因此进度为0%。", + "state_description": "爪夹合拢抓取滴管，爪夹未移动，垂直于桌面。\n为了完成把滴管插入药瓶的任务应当：爪夹向上移动，爪夹向右下方移动到药瓶的正上方，爪夹向下移动插入滴管，松开爪夹。", + "time": 2.4507216494845365, + "annotations": { + "bbox_1768890321437": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768890321437_1768890360356_g7wiqmt6x", + "x": 0.49750000000000005, + "y": 0.17733333333333334, + "width": 0.08099999999999996, + "height": 0.09066666666666669 + } + ] + }, + "bbox_1768890327605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768890327605_1768890364531_e9mqxtvme", + "x": 0.6655, + "y": 0.5226666666666666, + "width": 0.07599999999999998, + "height": 0.10266666666666673 + } + ] + }, + "point_1768890322077": { + "type": "point", + "instances": [ + { + "id": "point_1768890322077_1768890367828_mtjt82tdc", + "x": 0.4965, + "y": 0.19466666666666665 + } + ] + }, + "point_1768890322269": { + "type": "point", + "instances": [ + { + "id": "point_1768890322269_1768890370547_9f672ybcf", + "x": 0.5095, + "y": 0.19866666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，向正上方移动。", + "correction_plan": "爪夹向右下方移动到药瓶的正上方，爪夹向下移动插入滴管，松开爪夹。", + "error_success_analysis": "爪夹夹紧滴管，远离试管，方便向药瓶移动。", + "frame": 104, + "progress": 25, + "progress_explanation": "爪夹向正上方移动，滴管远离试管，因此进度提升到25%。", + "state_description": "爪夹合拢夹紧滴管，爪夹垂直于地面。\n为了完成把滴管插入药瓶的任务应当：爪夹向右下方移动到药瓶的正上方，爪夹向下移动插入滴管，松开爪夹。", + "time": 3.470412371134021, + "annotations": { + "bbox_1768890321437": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768890321437_1768890411155_m7x0rdxrr", + "x": 0.515375, + "y": 0.14019791666666667, + "width": 0.09499999999999993, + "height": 0.08000000000000002 + } + ] + }, + "bbox_1768890327605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768890327605_1768890416267_vosgko31b", + "x": 0.665375, + "y": 0.5188645833333333, + "width": 0.07399999999999993, + "height": 0.10533333333333333 + } + ] + }, + "point_1768890322077": { + "type": "point", + "instances": [ + { + "id": "point_1768890322077_1768890419354_s8ktays4r", + "x": 0.522375, + "y": 0.15353125 + } + ] + }, + "point_1768890322269": { + "type": "point", + "instances": [ + { + "id": "point_1768890322269_1768890422332_rhmexy5h1", + "x": 0.536375, + "y": 0.16286458333333334 + } + ] + } + } + }, + { + "time": 4.8048, + "frame": 144, + "progress": 50, + "action_description": "爪夹向右下方。", + "state_description": "爪夹合拢抓紧滴管，爪夹位于药瓶的正上方。\n为了完成把滴管插入药瓶的任务应当：爪夹向下移动插入滴管，松开爪夹。", + "progress_explanation": "爪夹夹紧滴管，移动到药瓶的正上方，因此进度提升到50%", + "error_success_analysis": "爪夹夹紧滴管，移动到药瓶的正上方，方便插入。", + "correction_plan": "爪夹向下移动插入滴管，松开爪夹。", + "annotations": { + "bbox_1768890327605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768890327605_1768890430546_nq3re9d2k", + "x": 0.679375, + "y": 0.53353125, + "width": 0.06300000000000008, + "height": 0.0879999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "爪夹向上移动，调整角度对准药瓶口，爪夹向下移动插入滴管，松开爪夹。", + "error_success_analysis": "爪夹未调整角度，未使滴管插入药瓶。", + "frame": 154, + "progress": 25, + "progress_explanation": "爪夹向下移动，滴管未进入药瓶口，因此进度降低到25%。", + "state_description": "爪夹夹紧滴管，向下移动，滴管未对准药瓶，滴管偏移。\n为了完成把滴管插入药瓶的任务应当：爪夹向上移动，调整角度对准药瓶口，爪夹向下移动插入滴管，松开爪夹。", + "time": 5.1265979381443305, + "annotations": { + "bbox_1768890321437": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768890321437_1768890444025_f72726mg7", + "x": 0.726375, + "y": 0.53353125, + "width": 0.020000000000000018, + "height": 0.06799999999999998 + } + ] + }, + "bbox_1768890327605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768890327605_1768890454649_jchoqovvq", + "x": 0.681375, + "y": 0.5508645833333333, + "width": 0.05500000000000007, + "height": 0.07599999999999991 + } + ] + } + } + }, + { + "time": 7.315360824742268, + "frame": 219, + "progress": 30, + "action_description": "爪夹向上移动", + "state_description": "爪夹合拢，爪夹向上移动，位于药瓶上方。\n为了完成把滴管插入药瓶的任务应当：调整角度对准药瓶口，爪夹向下移动插入滴管，松开爪夹。", + "progress_explanation": "爪夹向上移动，因此进度提升到30%", + "error_success_analysis": "爪夹向上移动，位于药瓶上方，方便调整爪夹角度。", + "correction_plan": "调整角度对准药瓶口，爪夹向下移动插入滴管，松开爪夹。", + "annotations": { + "bbox_1768890327605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768890327605_1768890461889_cj7hagpyo", + "x": 0.681375, + "y": 0.5388645833333334, + "width": 0.06600000000000002, + "height": 0.0879999999999999 + } + ] + }, + "point_1768890322269": { + "type": "point", + "instances": [ + { + "id": "point_1768890322269_1768890464929_q9f2ttmws", + "x": 0.764375, + "y": 0.34686458333333337 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "爪夹向上移动，调整角度对准药瓶口，爪夹向下移动插入滴管，松开爪夹。", + "error_success_analysis": "爪夹未进行角度调整，导致滴管偏离药瓶口。", + "frame": 257, + "progress": 25, + "progress_explanation": "爪夹向下移动，滴管未插入药瓶口，因此进度降低到25%。", + "state_description": "爪夹夹紧滴管，向下移动，滴管偏离药瓶口。\n为了完成把滴管插入药瓶的任务应当：爪夹向上移动，调整角度对准药瓶口，爪夹向下移动插入滴管，松开爪夹。", + "time": 8.57319587628866, + "annotations": { + "bbox_1768890327605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768890327605_1768890474033_zncz5bqsj", + "x": 0.680375, + "y": 0.5361979166666667, + "width": 0.06200000000000001, + "height": 0.08399999999999999 + } + ] + } + } + }, + { + "time": 10.0296, + "frame": 301, + "progress": 30, + "action_description": "爪夹向上移动。", + "state_description": "爪夹夹紧滴管，爪夹向上移动到药瓶上方。\n为了完成把滴管插入药瓶的任务应当：调整角度对准药瓶口，爪夹向下移动插入滴管，松开爪夹。", + "progress_explanation": "爪夹向上移动到药瓶上方，方便调整进度，因此进度提升到30%。", + "error_success_analysis": "爪夹向上移动，方便调整爪夹角度。", + "correction_plan": "调整角度对准药瓶口，爪夹向下移动插入滴管，松开爪夹。", + "annotations": { + "bbox_1768890327605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768890327605_1768890479968_zqkjymnac", + "x": 0.677375, + "y": 0.53753125, + "width": 0.06500000000000003, + "height": 0.08800000000000002 + } + ] + } + } + }, + { + "time": 11.6088, + "frame": 348, + "progress": 50, + "action_description": "爪夹向右移动，调整爪夹角度。", + "state_description": "爪夹夹紧滴管，爪夹调整角度，调整滴管对准药瓶口。\n为了完成把滴管插入药瓶的任务应当：爪夹向下移动插入滴管，松开爪夹。", + "progress_explanation": "爪夹调整位置，滴管对准药瓶口，因此进度提升到50%", + "error_success_analysis": "爪夹调整角度，使滴管对准药瓶口，方便后续插入滴管到药瓶中。", + "correction_plan": "爪夹向下移动插入滴管，松开爪夹。" + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹向下移动，插入滴管到药瓶中。", + "frame": 448, + "progress": 75, + "progress_explanation": "爪夹向下移动，滴管插入药瓶口，因此进度提升到75%。", + "state_description": "爪夹合拢夹紧滴管，爪夹向下移动，使滴管插入药瓶中。\n为了完成把滴管插入药瓶的任务应当：松开爪夹。", + "time": 14.94680412371134 + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，滴管顺利插入药瓶中。", + "frame": 503, + "progress": 100, + "progress_explanation": "滴管顺利进入药瓶，因此进度提升到100%。", + "state_description": "爪夹张开，滴管顺利进入药瓶中。\n把滴管放入药瓶中的任务目标完成，", + "time": 16.766666666666666, + "annotations": { + "point_1768890322269": { + "type": "point", + "instances": [ + { + "id": "point_1768890322269_1768890500816_1ilwccrpi", + "x": 0.776375, + "y": 0.5668645833333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768890321437", + "name": "滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768890327605", + "name": "药瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768890322077", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768890322269", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-183213-put-dropper on the measuring cup-glass drip bottle-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-183213-put-dropper on the measuring cup-glass drip bottle-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..7871b084cfdc2066c203fa1996d3db6f959de8ad --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-183213-put-dropper on the measuring cup-glass drip bottle-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,172 @@ +{ + "task_description": "把滴管放入烧杯中。\n准备开始移动：0%\n爪夹移动到烧杯上方：50%\n爪夹张开：100%\n", + "progress_points": [ + { + "action_description": "爪夹合拢，爪夹未开始移动。", + "correction_plan": "向右下方移动到烧杯正上方，松开爪夹放置滴管到烧杯中。", + "error_success_analysis": "", + "frame": 106, + "progress": 0, + "progress_explanation": "爪夹未移动，处于初始状态，因此进度为0%。", + "state_description": "爪夹合拢抓紧滴管，爪夹未开始移动，处于初始状态。\n为了完成放置滴管到烧杯中的任务目标应当：向右下方移动到烧杯正上方，松开爪夹放置滴管到烧杯中。", + "time": 3.525214, + "annotations": { + "bbox_1768892635799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892635799_1768892660982_dap0rnftc", + "x": 0.5743750000000001, + "y": 0.34119791666666666, + "width": 0.10699999999999994, + "height": 0.18666666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，爪夹向正上方移动。", + "correction_plan": "向右下方移动到烧杯正上方，松开爪夹放置滴管到烧杯中。", + "error_success_analysis": "爪夹向正上方移动，未接近烧杯。", + "frame": 126, + "progress": 10, + "progress_explanation": "爪夹向上移动，远离烧杯，因此进度提升到10%", + "state_description": "爪夹合拢抓紧滴管，爪夹垂直于地面，向上移动。\n为了完成放置滴管到烧杯中的任务目标应当：向右下方移动到烧杯正上方，松开爪夹放置滴管到烧杯中。", + "time": 4.1943, + "annotations": { + "bbox_1768892635799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892635799_1768892676110_dancnuy8h", + "x": 0.576375, + "y": 0.33853125, + "width": 0.10600000000000005, + "height": 0.18933333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动。", + "correction_plan": "向右下方移动到烧杯正上方，松开爪夹放置滴管到烧杯中。", + "error_success_analysis": "爪夹夹紧滴管，向右下方移动，接近烧杯。", + "frame": 177, + "progress": 40, + "progress_explanation": "爪夹向右下方移动，接近烧杯，因此进度提升到40%。", + "state_description": "爪夹合拢抓紧滴管，爪夹垂直于桌面，接近烧杯。\n为了完成放置滴管到烧杯中的任务目标应当：向右下方移动到烧杯正上方，松开爪夹放置滴管到烧杯中。", + "time": 5.8869, + "annotations": { + "bbox_1768892635799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892635799_1768892685117_ogy4ucey3", + "x": 0.579375, + "y": 0.34919791666666666, + "width": 0.09799999999999995, + "height": 0.17466666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向右上方移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹移动到烧杯正上方，方便把滴管放到烧杯里。", + "frame": 208, + "progress": 50, + "progress_explanation": "爪夹移动到烧杯正上方，因此进度提示到50%。", + "state_description": "爪夹合拢夹紧滴管，向右下方移动到烧杯正上方。\n为了完成放置滴管到烧杯中的任务目标应当：松开爪夹放置滴管到烧杯中。", + "time": 6.9285, + "annotations": { + "bbox_1768892635799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892635799_1768892694909_s7vx6zusq", + "x": 0.576375, + "y": 0.37186458333333333, + "width": 0.10099999999999998, + "height": 0.14933333333333335 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，滴管落入烧杯中。", + "frame": 279, + "progress": 100, + "progress_explanation": "爪夹松开，滴管落入烧杯，因此进度提升到100%。", + "state_description": "爪夹松开，滴管落入烧杯。\n爪夹松开滴管落入烧杯的任务目标达成。", + "time": 9.3, + "annotations": { + "bbox_1768892634567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892634567_1768892701501_3suvcha7o", + "x": 0.595375, + "y": 0.40386458333333336, + "width": 0.06399999999999997, + "height": 0.07199999999999994 + } + ] + }, + "bbox_1768892635799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768892635799_1768892705485_iawq7jyh6", + "x": 0.577375, + "y": 0.35853125, + "width": 0.09700000000000006, + "height": 0.1706666666666667 + } + ] + }, + "point_1768892639190": { + "type": "point", + "instances": [ + { + "id": "point_1768892639190_1768892708381_srkl6wiu6", + "x": 0.651375, + "y": 0.3478645833333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768892634567", + "name": "滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768892635799", + "name": "烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768892637934", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768892639190", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ec79b41b247ee5770d9d01b14da614672cced5f2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,252 @@ +{ + "task_description": "抓取滴管移动到烧杯中。\n准备开始移动：0%\n爪夹移动到滴管上方：25%\n爪夹夹取滴管：50%\n爪夹移动到烧杯上方：75%\n爪夹爪夹松开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "调整爪夹角度与桌面垂直，向前方移动到滴管正上方，合拢爪夹夹取滴管，爪夹向上移动，爪夹向右移动到烧杯正上方，松开爪夹。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度为0%。", + "state_description": "爪夹张开，与桌面呈45度，未开始移动。\n为了完成抓取滴管放入烧杯中的任务应当：调整爪夹角度与桌面垂直，向前方移动到滴管正上方，合拢爪夹夹取滴管，爪夹向上移动，爪夹向右移动到烧杯正上方，松开爪夹。", + "time": 1.5763358761597936, + "annotations": { + "bbox_1768895226388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768895226388_1768895267114_wzybtzj1h", + "x": 0.521375, + "y": 0.41919791666666667, + "width": 0.04400000000000004, + "height": 0.05333333333333332 + } + ] + }, + "bbox_1768895227275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768895227275_1768895272177_2rxja2ywr", + "x": 0.6523749999999999, + "y": 0.4711979166666667, + "width": 0.11300000000000007, + "height": 0.14800000000000005 + } + ] + }, + "point_1768895228003": { + "type": "point", + "instances": [ + { + "id": "point_1768895228003_1768895274466_xumr472yu", + "x": 0.49037500000000006, + "y": 0.5618645833333333 + } + ] + }, + "point_1768895228146": { + "type": "point", + "instances": [ + { + "id": "point_1768895228146_1768895276937_un8d2lbmd", + "x": 0.5543750000000001, + "y": 0.5791979166666666 + } + ] + } + } + }, + { + "time": 3.8848925266752574, + "frame": 117, + "progress": 25, + "action_description": "爪夹调整角度，向正前方移动。", + "state_description": "爪夹调整角度与桌面垂直，向正前方移动到滴管正上方。\n为了完成抓取滴管放入烧杯中的任务应当：合拢爪夹夹取滴管，爪夹向上移动，爪夹向右移动到烧杯正上方，松开爪夹。", + "progress_explanation": "爪夹调整角度，并移动到滴管正上方，方便抓取，因此进度提升到25%。", + "error_success_analysis": "爪夹调整角度，并移动到滴管正上方，方便抓取滴管。", + "correction_plan": "合拢爪夹夹取滴管，爪夹向上移动，爪夹向右移动到烧杯正上方，松开爪夹。", + "annotations": { + "bbox_1768895227275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768895227275_1768895285089_r1q0askt4", + "x": 0.651375, + "y": 0.45386458333333335, + "width": 0.11400000000000006, + "height": 0.1706666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向上移动，爪夹向右移动到烧杯正上方，松开爪夹。", + "error_success_analysis": "爪夹垂直于地面，方便抓取到滴管。", + "frame": 176, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧滴管，因此进度提升到50%。", + "state_description": "爪夹垂直于桌面，合拢抓夹抓紧滴管。\n为了完成抓取滴管放入烧杯中的任务应当：爪夹向上移动，爪夹向右移动到烧杯正上方，松开爪夹。", + "time": 5.866666666666666, + "annotations": { + "bbox_1768895227275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768895227275_1768895334016_t66k9ghvq", + "x": 0.646375, + "y": 0.46586458333333336, + "width": 0.12000000000000002, + "height": 0.156 + } + ] + } + } + }, + { + "time": 7.214239532860826, + "frame": 216, + "progress": 60, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢抓紧滴管，向正上方移动，爪夹垂直于桌面。\n为了完成抓取滴管放入烧杯中的任务应当：爪夹向右移动到烧杯正上方，松开爪夹。", + "progress_explanation": "爪夹夹紧滴管，并向上移动，方便靠近烧杯，因此进度提升到60%。", + "error_success_analysis": "爪夹夹紧滴管，方便后续移动滴管。", + "correction_plan": "爪夹向右移动到烧杯正上方，松开爪夹。", + "annotations": { + "bbox_1768895227275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768895227275_1768895348216_47nj0gagl", + "x": 0.646375, + "y": 0.46586458333333336, + "width": 0.11600000000000002, + "height": 0.16133333333333333 + } + ] + } + } + }, + { + "time": 10.449359736984537, + "frame": 313, + "progress": 75, + "action_description": "爪夹向右移动。", + "state_description": "爪夹合拢，夹紧滴管，爪夹移动到烧杯的正上方。\n为了完成抓取滴管放入烧杯中的任务应当：调整爪夹角度，松开爪夹。", + "progress_explanation": "爪夹靠近烧杯正上方，因此进度提升到75%。", + "error_success_analysis": "爪夹移动到烧杯正上方，方便后续放置滴管。", + "correction_plan": "调整爪夹角度，松开爪夹。", + "annotations": { + "bbox_1768895227275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768895227275_1768895354823_s0a21pkm2", + "x": 0.650375, + "y": 0.46453125, + "width": 0.11500000000000003, + "height": 0.1600000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹夹紧滴管调整角度，方便后续松开爪夹。", + "frame": 407, + "progress": 85, + "progress_explanation": "爪夹调整角度，方便放置滴管，因此进度提升到85%", + "state_description": "爪夹合拢夹紧滴管，调整爪夹角度，位于烧杯正上方。\n为了完成抓取滴管放入烧杯中的任务应当：松开爪夹。", + "time": 13.574548672036084, + "annotations": { + "bbox_1768895227275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768895227275_1768895366479_p25fs57xn", + "x": 0.650375, + "y": 0.45253125, + "width": 0.11200000000000002, + "height": 0.17333333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，滴管落入烧杯。", + "frame": 456, + "progress": 100, + "progress_explanation": "爪夹松开，滴管落入烧杯，因此进度提升到100%。", + "state_description": "爪夹松开，滴管落于烧杯中。\n爪夹松开滴管落入烧杯的任务目标完成。", + "time": 15.2, + "annotations": { + "bbox_1768895226388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768895226388_1768895372303_ofl8ovj0p", + "x": 0.685375, + "y": 0.50453125, + "width": 0.07600000000000007, + "height": 0.05599999999999999 + } + ] + }, + "bbox_1768895227275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768895227275_1768895377343_881odaoj6", + "x": 0.666375, + "y": 0.45386458333333335, + "width": 0.096, + "height": 0.1573333333333333 + } + ] + }, + "point_1768895228146": { + "type": "point", + "instances": [ + { + "id": "point_1768895228146_1768895380551_lr1kt30oe", + "x": 0.6643749999999999, + "y": 0.5151979166666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768895226388", + "name": "滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768895227275", + "name": "烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768895228003", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768895228146", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..88f0846b3bb84b4072df649d7563184946861e84 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,370 @@ +{ + "task_description": "抓取滴管将溶液滴入坩埚中。\n准备开始移动：0%\n爪夹移动到滴管正上方：20%\n爪夹合拢抓取滴管：40%\n爪夹完全合拢吸取溶液：60%\n爪夹移动到坩埚正上方：80%\n爪夹完全合拢将药液滴入坩埚：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向正前方移动到滴管正上方，合拢爪夹抓取滴管，爪夹完全合拢吸取药剂，爪夹向正上方移动，提升滴管高度，爪夹向正前方移动到坩埚的正上方，完全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "爪夹未开始移动，处于初始状态，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，远离滴管，处于初始状态，\n为了完成从药瓶吸取药液并将药液滴入坩埚中的任务应当：爪夹向正前方移动到滴管正上方，合拢爪夹抓取滴管，爪夹完全合拢吸取药剂，爪夹向正上方移动，提升滴管高度，爪夹向正前方移动到坩埚的正上方，完全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "time": 1.5226675257731959, + "annotations": { + "bbox_1768898571418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571418_1768898608906_99cn07h2m", + "x": 0.409375, + "y": 0.38086458333333334, + "width": 0.088, + "height": 0.10800000000000001 + } + ] + }, + "point_1768898572290": { + "type": "point", + "instances": [ + { + "id": "point_1768898572290_1768898612074_6yhd31heo", + "x": 0.374375, + "y": 0.4541979166666667 + } + ] + } + } + }, + { + "time": 3.3908, + "frame": 102, + "progress": 20, + "action_description": "爪夹向正前方移动。", + "state_description": "爪夹张开，向正前方移动到滴管正上方。\n为了完成从药瓶吸取药液并将药液滴入坩埚中的任务应当：合拢爪夹抓取滴管，爪夹完全合拢吸取药剂，爪夹向正上方移动，提升滴管高度，爪夹向正前方移动到坩埚的正上方，完全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "progress_explanation": "爪夹接近滴管，因此进度提升到20%。", + "error_success_analysis": "爪夹向正前方移动，接近滴管，方便后续抓取。", + "correction_plan": "合拢爪夹抓取滴管，爪夹完全合拢吸取药剂，爪夹向正上方移动，提升滴管高度，爪夹向正前方移动到坩埚的正上方，完全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "annotations": { + "bbox_1768898571019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571019_1768898619218_qf2gd1lou", + "x": 0.385375, + "y": 0.43686458333333333, + "width": 0.039999999999999994, + "height": 0.09200000000000005 + } + ] + }, + "bbox_1768898571418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571418_1768898624001_y0hqz0far", + "x": 0.406375, + "y": 0.38619791666666664, + "width": 0.09400000000000004, + "height": 0.10133333333333336 + } + ] + }, + "point_1768898572107": { + "type": "point", + "instances": [ + { + "id": "point_1768898572107_1768898626833_uvgtkrwhv", + "x": 0.395375, + "y": 0.4301979166666667 + } + ] + }, + "point_1768898572290": { + "type": "point", + "instances": [ + { + "id": "point_1768898572290_1768898629465_z1ohlk87m", + "x": 0.42437500000000006, + "y": 0.44219791666666663 + } + ] + } + } + }, + { + "time": 6.6432, + "frame": 199, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢抓取滴管，爪夹与地面呈70度。\n为了完成从药瓶吸取药液并将药液滴入坩埚中的任务应当：爪夹完全合拢吸取药剂，爪夹向正上方移动，提升滴管高度，爪夹向正前方移动到坩埚的正上方，完全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "progress_explanation": "爪夹合拢抓取到滴管，方便吸取药液，因此进度提升到40%。", + "error_success_analysis": "爪夹与地面呈70度，方便抓取滴管。", + "correction_plan": "爪夹完全合拢吸取药剂，爪夹向正上方移动，提升滴管高度，爪夹向正前方移动到坩埚的正上方，完全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "annotations": { + "bbox_1768898571019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571019_1768898635713_p0ktps8iv", + "x": 0.385375, + "y": 0.4541979166666667, + "width": 0.04499999999999997, + "height": 0.08133333333333331 + } + ] + }, + "bbox_1768898571418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571418_1768898639673_disw06gz1", + "x": 0.41237500000000005, + "y": 0.38086458333333334, + "width": 0.08700000000000001, + "height": 0.10533333333333333 + } + ] + }, + "point_1768898572290": { + "type": "point", + "instances": [ + { + "id": "point_1768898572290_1768898641864_cfmstqecj", + "x": 0.405375, + "y": 0.42753125000000003 + } + ] + }, + "point_1768898572107": { + "type": "point", + "instances": [ + { + "id": "point_1768898572107_1768898646321_7m93al11p", + "x": 0.39437500000000003, + "y": 0.4261979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹完全合拢。", + "correction_plan": "爪夹向正上方移动，提升滴管高度，爪夹向正前方移动到坩埚的正上方，完全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "error_success_analysis": "爪夹完全合拢吸药液，方便后续滴溶液到坩埚中。", + "frame": 263, + "progress": 60, + "progress_explanation": "爪夹完全合拢吸取药液，因此进度提升到60%。", + "state_description": "爪夹完全合拢，吸取溶液，爪夹与地面呈70度。\n为了完成从药瓶吸取药液并将药液滴入坩埚中的任务应当：爪夹向正上方移动，提升滴管高度，爪夹向正前方移动到坩埚的正上方，完全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "time": 8.78153350515464, + "annotations": { + "point_1768898572107": { + "type": "point", + "instances": [ + { + "id": "point_1768898572107_1768898653272_qtlom0myw", + "x": 0.397375, + "y": 0.42353125 + } + ] + }, + "point_1768898572290": { + "type": "point", + "instances": [ + { + "id": "point_1768898572290_1768898655617_zpymf3l60", + "x": 0.409375, + "y": 0.4261979166666667 + } + ] + }, + "bbox_1768898571019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571019_1768898659257_aggxb02l5", + "x": 0.387375, + "y": 0.47419791666666666, + "width": 0.041999999999999996, + "height": 0.06133333333333333 + } + ] + }, + "bbox_1768898571418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571418_1768898663288_wskhcdzga", + "x": 0.406375, + "y": 0.38619791666666664, + "width": 0.09300000000000005, + "height": 0.10133333333333336 + } + ] + } + } + }, + { + "time": 11.3142, + "frame": 339, + "progress": 70, + "action_description": "抓夹向正上方移动。", + "state_description": "爪夹合拢，抓紧滴管，向上移动提升高度。\n为了完成从药瓶吸取药液并将药液滴入坩埚中的任务应当：爪夹向正前方移动到坩埚的正上方，完全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "progress_explanation": "爪夹向正上方移动，方便接近坩埚，因此进度提升到70%。", + "error_success_analysis": "爪夹向正上方移动，方便后续接近坩埚。", + "correction_plan": "爪夹向正前方移动到坩埚的正上方，完全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "annotations": { + "bbox_1768898571418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571418_1768898671568_k57caa94k", + "x": 0.40437500000000004, + "y": 0.38753125000000005, + "width": 0.096, + "height": 0.1013333333333333 + } + ] + }, + "bbox_1768898571019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571019_1768898675200_q7hlp2th5", + "x": 0.39137500000000003, + "y": 0.17686458333333333, + "width": 0.03300000000000001, + "height": 0.08400000000000002 + } + ] + }, + "point_1768898572290": { + "type": "point", + "instances": [ + { + "id": "point_1768898572290_1768898698511_uelso5f55", + "x": 0.39637500000000003, + "y": 0.13419791666666667 + } + ] + } + } + }, + { + "time": 11.8332, + "frame": 355, + "progress": 80, + "action_description": "爪夹向正前方移动。", + "state_description": "爪夹合拢，夹紧滴管向前移动到坩埚的正上方。\n为了完成从药瓶吸取药液并将药液滴入坩埚中的任务应当：完全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "progress_explanation": "爪夹移动到坩埚正上方，因此进度提升到80%。", + "error_success_analysis": "爪夹垂直于桌面，抓紧滴管向正前方移动到坩埚正上方，方便滴入药液。", + "correction_plan": "全合拢爪夹挤压滴管，将药剂滴入坩埚中。", + "annotations": { + "point_1768898572290": { + "type": "point", + "instances": [ + { + "id": "point_1768898572290_1768898711711_jydgoc53b", + "x": 0.41237500000000005, + "y": 0.17419791666666665 + } + ] + }, + "bbox_1768898571019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571019_1768898716863_71tr00zjg", + "x": 0.39637500000000003, + "y": 0.19553125000000002, + "width": 0.038999999999999965, + "height": 0.10400000000000001 + } + ] + }, + "bbox_1768898571418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571418_1768898721671_cntigppdm", + "x": 0.40437500000000004, + "y": 0.38619791666666664, + "width": 0.096, + "height": 0.10400000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹完全合拢。", + "correction_plan": "", + "error_success_analysis": "爪夹挤压滴管，药液滴入坩埚。", + "frame": 515, + "progress": 100, + "progress_explanation": "药液滴入坩埚，因此进度提升到100%。", + "state_description": "爪夹完全合拢挤压滴管，药液滴入坩埚之中。\n爪夹夹取滴管吸取溶液滴入坩埚中的任务目标完成。", + "time": 17.164007731958765, + "annotations": { + "bbox_1768898571019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571019_1768898728367_tjfl71l4x", + "x": 0.421375, + "y": 0.16353125000000002, + "width": 0.041000000000000016, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1768898571418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898571418_1768898732904_pv7j83mf2", + "x": 0.401375, + "y": 0.38753125000000005, + "width": 0.09800000000000005, + "height": 0.1 + } + ] + }, + "point_1768898572290": { + "type": "point", + "instances": [ + { + "id": "point_1768898572290_1768898740078_ipyb249hr", + "x": 0.434375, + "y": 0.15419791666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768898571019", + "name": "滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768898571418", + "name": "坩埚", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768898572107", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768898572290", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..1b6ad78a39b6d6ee650d3a6d85ef6c1ebcc5871e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260107-songjiaqi/20260107-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,366 @@ +{ + "task_description": "把滴管放入烧杯中。\n准备开始移动：0%\n爪夹移动到滴管上方：25%\n爪夹合拢抓取滴管：50%\n爪夹移动到烧杯上方：75%\n爪夹张开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "向前移动爪夹到滴管上方，调整爪夹角度垂直地面，合拢爪夹夹取滴管，向上移动爪夹，向右移动爪夹到烧杯正上方，松开爪夹放置滴管。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，远离滴管，处于初始状态。\n为了完成夹取滴管并放入烧杯的任务应当：向前移动爪夹到滴管上方，调整爪夹角度垂直地面，合拢爪夹夹取滴管，向上移动爪夹，向右移动爪夹到烧杯正上方，松开爪夹放置滴管。", + "time": 1.4507001400773194, + "annotations": { + "bbox_1768901030345": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030345_1768901126846_yqp85n20p", + "x": 0.49537499999999995, + "y": 0.4258645833333333, + "width": 0.016000000000000104, + "height": 0.06266666666666669 + } + ] + }, + "bbox_1768901030761": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030761_1768901131727_ce4my9yqd", + "x": 0.605375, + "y": 0.4391979166666667, + "width": 0.10099999999999998, + "height": 0.14800000000000005 + } + ] + }, + "point_1768901031489": { + "type": "point", + "instances": [ + { + "id": "point_1768901031489_1768901134927_l0hbeyhrd", + "x": 0.44737499999999997, + "y": 0.50853125 + } + ] + }, + "point_1768901031625": { + "type": "point", + "instances": [ + { + "id": "point_1768901031625_1768901136887_fvj0rmi4o", + "x": 0.564375, + "y": 0.5071979166666667 + } + ] + } + } + }, + { + "time": 3.869266, + "frame": 116, + "progress": 25, + "action_description": "爪夹向前移动，爪夹调整角度。", + "state_description": "爪夹张开，爪夹调整角度垂直桌面，位于滴管正上方。\n为了完成夹取滴管并放入烧杯的任务应当：合拢爪夹夹取滴管，向上移动爪夹，向右移动爪夹到烧杯正上方，松开爪夹放置滴管。", + "progress_explanation": "爪甲调整角度，靠近滴管正上方，因此进度提升到25%。", + "error_success_analysis": "爪甲向正前方移动，并调整角度，方便后续抓取滴管。", + "correction_plan": "合拢爪夹夹取滴管，向上移动爪夹，向右移动爪夹到烧杯正上方，松开爪夹放置滴管。", + "annotations": { + "bbox_1768901030345": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030345_1768901143423_u6zzxsleu", + "x": 0.492375, + "y": 0.5031979166666667, + "width": 0.038000000000000075, + "height": 0.06933333333333333 + } + ] + }, + "bbox_1768901030761": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030761_1768901177909_cpe4kw75t", + "x": 0.658375, + "y": 0.43253125000000003, + "width": 0.18800000000000008, + "height": 0.21600000000000003 + } + ] + }, + "point_1768901031489": { + "type": "point", + "instances": [ + { + "id": "point_1768901031489_1768901202398_bjcxbdujw", + "x": 0.44737499999999997, + "y": 0.52053125 + } + ] + }, + "point_1768901031625": { + "type": "point", + "instances": [ + { + "id": "point_1768901031625_1768901204765_oyeus2rby", + "x": 0.5623750000000001, + "y": 0.5151979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "向上移动爪夹，向右移动爪夹到烧杯正上方，松开爪夹放置滴管。", + "error_success_analysis": "爪夹合拢，夹取滴管，方便后续放置滴管到烧杯中。", + "frame": 162, + "progress": 50, + "progress_explanation": "爪夹合拢夹取到滴管，因此进度提升到50%。", + "state_description": "爪夹合拢抓取滴管，爪夹垂直于桌面。\n为了完成夹取滴管并放入烧杯的任务应当：向上移动爪夹，向右移动爪夹到烧杯正上方，松开爪夹放置滴管。", + "time": 5.408225826675258, + "annotations": { + "bbox_1768901030345": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030345_1768901212877_729jfh33d", + "x": 0.499375, + "y": 0.49653125000000004, + "width": 0.016999999999999994, + "height": 0.06266666666666658 + } + ] + }, + "bbox_1768901030761": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030761_1768901228356_w500p9aec", + "x": 0.6643749999999999, + "y": 0.4258645833333333, + "width": 0.188, + "height": 0.22533333333333333 + } + ] + }, + "point_1768901031489": { + "type": "point", + "instances": [ + { + "id": "point_1768901031489_1768901233332_ov4titb9b", + "x": 0.496375, + "y": 0.5191979166666667 + } + ] + }, + "point_1768901031625": { + "type": "point", + "instances": [ + { + "id": "point_1768901031625_1768901240274_25oufl5yx", + "x": 0.521375, + "y": 0.5191979166666667 + } + ] + } + } + }, + { + "time": 8.941730903994845, + "frame": 268, + "progress": 75, + "action_description": "爪夹向上移动，并向右侧移动。", + "state_description": "爪夹合拢夹紧滴管，向上移动并向右移动到烧杯的正上方。\n为了完成夹取滴管并放入烧杯的任务应当：松开爪夹放置滴管。", + "progress_explanation": "爪夹移动到烧杯上方，因此进度提升到75%。", + "error_success_analysis": "爪夹夹取滴管，移动到烧杯上方，方便后续放置。", + "correction_plan": "松开爪夹。", + "annotations": { + "bbox_1768901030345": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030345_1768901251579_xclktc08c", + "x": 0.500375, + "y": 0.48853125000000003, + "width": 0.013999999999999967, + "height": 0.0706666666666667 + } + ] + }, + "bbox_1768901030761": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030761_1768901256436_wd7z1grjh", + "x": 0.414375, + "y": 0.4151979166666667, + "width": 0.14100000000000001, + "height": 0.17733333333333334 + } + ] + }, + "point_1768901031489": { + "type": "point", + "instances": [ + { + "id": "point_1768901031489_1768901258403_8sjkxy91u", + "x": 0.499375, + "y": 0.51253125 + } + ] + }, + "point_1768901031625": { + "type": "point", + "instances": [ + { + "id": "point_1768901031625_1768901260588_u6ayw60wu", + "x": 0.515375, + "y": 0.50853125 + } + ] + } + } + }, + { + "time": 13.653071007087629, + "frame": 410, + "progress": 85, + "action_description": "爪夹调整位置。", + "state_description": "爪夹合拢抓紧滴管，调整位置到烧杯的正上方。\n为了完成夹取滴管并放入烧杯的任务应当：松开爪夹放置滴管。", + "progress_explanation": "爪夹调整到烧杯的正上方，因此进度提升到85%。", + "error_success_analysis": "爪夹调整位置到烧杯正上方，方便松开爪夹放置滴管。", + "correction_plan": "松开爪夹。", + "annotations": { + "bbox_1768901030345": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030345_1768901304058_g06axji0i", + "x": 0.500375, + "y": 0.4858645833333333, + "width": 0.016999999999999994, + "height": 0.08666666666666666 + } + ] + }, + "bbox_1768901030761": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030761_1768901342897_zczun9ie8", + "x": 0.429375, + "y": 0.34586458333333336, + "width": 0.15599999999999997, + "height": 0.20533333333333328 + } + ] + }, + "point_1768901031489": { + "type": "point", + "instances": [ + { + "id": "point_1768901031489_1768901345297_xg2pif935", + "x": 0.502375, + "y": 0.5178645833333334 + } + ] + }, + "point_1768901031625": { + "type": "point", + "instances": [ + { + "id": "point_1768901031625_1768901353601_z5j3g5lkd", + "x": 0.515375, + "y": 0.5151979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，滴管落入烧杯。", + "frame": 456, + "progress": 100, + "progress_explanation": "爪夹松开滴管落入烧杯，因此进度提升到100%", + "state_description": "爪夹松开，滴管落入烧杯。\n爪夹抓取滴管放入烧杯的任务目标达成。", + "time": 15.2, + "annotations": { + "bbox_1768901030345": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030345_1768901362617_k17dxczok", + "x": 0.496375, + "y": 0.3538645833333333, + "width": 0.10099999999999998, + "height": 0.0986666666666667 + } + ] + }, + "bbox_1768901030761": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768901030761_1768901367968_3rltayjph", + "x": 0.476375, + "y": 0.3151979166666667, + "width": 0.14500000000000002, + "height": 0.17200000000000001 + } + ] + }, + "point_1768901031489": { + "type": "point", + "instances": [ + { + "id": "point_1768901031489_1768901371344_kn4rgnkpm", + "x": 0.475375, + "y": 0.51253125 + } + ] + }, + "point_1768901031625": { + "type": "point", + "instances": [ + { + "id": "point_1768901031625_1768901373376_wfzvs3irk", + "x": 0.5353749999999999, + "y": 0.5111979166666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768901030345", + "name": "滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768901030761", + "name": "烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768901031489", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768901031625", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-092544-put-white audio cable-black-protable mixer console-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-092544-put-white audio cable-black-protable mixer console-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e037e4265ed91b8729c18bcd073d287ce764ebd3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-092544-put-white audio cable-black-protable mixer console-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,334 @@ +{ + "task_description": "把白色插头插入声卡插口。\n准备开始移动：0%\n接近白色插头：20%\n夹取白色插头：40%\n接近声卡插口：60%\n插入声卡插口：80%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向右下方移动到白色插头位置，合拢爪夹夹取白色插头，爪夹夹紧白色插头向右前方移动，调整爪夹平行于桌面，调整爪夹对准插头和插口，爪夹向下移动插入插头，松开爪夹。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "爪夹未开始移动，处于初始状态，因此进度为0%。", + "state_description": "爪夹张开，爪夹垂直于地面，处于初始状态，未开始移动。\n为了完成夹取白色插头插入声卡插口的任务目标应当：爪夹向右下方移动到白色插头位置，合拢爪夹夹取白色插头，爪夹夹紧白色插头向右前方移动，调整爪夹平行于桌面，调整爪夹对准插头和插口，爪夹向下移动插入插头，松开爪夹。", + "time": 1.5283118856958762, + "annotations": { + "bbox_1768960398994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960398994_1768960431745_rhtwzpwsx", + "x": 0.705375, + "y": 0.28353125, + "width": 0.03200000000000003, + "height": 0.04400000000000001 + } + ] + }, + "bbox_1768960402505": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960402505_1768960445552_6ucrnk89c", + "x": 0.755375, + "y": 0.32353125000000005, + "width": 0.020000000000000018, + "height": 0.025333333333333326 + } + ] + }, + "point_1768960399785": { + "type": "point", + "instances": [ + { + "id": "point_1768960399785_1768960450528_0us9zp43s", + "x": 0.621375, + "y": 0.38753125000000005 + } + ] + } + } + }, + { + "time": 3.529066, + "frame": 106, + "progress": 20, + "action_description": "爪夹向右前方移动。", + "state_description": "爪夹张开，爪夹垂直于地面，位于白色插头正上方。\n为了完成夹取白色插头插入声卡插口的任务目标应当：合拢爪夹夹取白色插头，爪夹夹紧白色插头向右前方移动，调整爪夹平行于桌面，调整爪夹对准插头和插口，爪夹向下移动插入插头，松开爪夹。", + "progress_explanation": "爪夹接近白色插头，因此进度提升到20%。", + "error_success_analysis": "爪夹垂直于桌面，向右前方移动到白色插头正上方。", + "correction_plan": "合拢爪夹夹取白色插头，爪夹夹紧白色插头向右前方移动，爪夹向上移动，调整爪夹平行于桌面，调整爪夹对准插头和插口，爪夹向下移动插入插头，松开爪夹。", + "annotations": { + "point_1768960399785": { + "type": "point", + "instances": [ + { + "id": "point_1768960399785_1768960464608_v2v92cu3a", + "x": 0.761375, + "y": 0.3621979166666666 + } + ] + }, + "bbox_1768960402505": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960402505_1768960474159_w1qkanhus", + "x": 0.756375, + "y": 0.32086458333333334, + "width": 0.019000000000000038, + "height": 0.025333333333333326 + } + ] + } + } + }, + { + "time": 4.903366, + "frame": 147, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢，夹紧白色插头，爪夹垂直于桌面。\n为了完成夹取白色插头插入声卡插口的任务目标应当：爪夹夹紧白色插头向右前方移动，调整爪夹平行于桌面，调整爪夹对准插头和插口，爪夹向下移动插入插头，松开爪夹。", + "progress_explanation": "爪夹合拢夹紧白色插头，因此进度提升到40%。", + "error_success_analysis": "爪夹垂直于桌面，方便抓取白色插头。", + "correction_plan": "爪夹向上移动，调整爪夹平行于桌面，调整爪夹对准插头和插口，爪夹向下移动插入插头，松开爪夹。", + "annotations": { + "bbox_1768960402505": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960402505_1768960483567_wlx64gf7u", + "x": 0.759375, + "y": 0.32753125, + "width": 0.015625, + "height": 0.021333333333333353 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "调整爪夹平行于桌面，调整爪夹对准插头和插口，爪夹向下移动插入插头，松开爪夹。", + "error_success_analysis": "爪夹合拢夹紧白色插头，爪夹向上移动，方便调整爪夹角度。", + "frame": 202, + "progress": 47, + "progress_explanation": "爪夹向上移动，方便后续调整爪夹角度，因此进度提升到47%。", + "state_description": "爪夹合拢夹紧白色插头，垂直于桌面。向上移动方便调整爪夹角度。\n为了完成夹取白色插头插入声卡插口的任务目标应当：调整爪夹平行于桌面，调整爪夹对准插头和插口，爪夹向下移动插入插头，松开爪夹。", + "time": 6.74075185064433, + "annotations": { + "bbox_1768960402505": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960402505_1768960488119_hierdrjup", + "x": 0.757375, + "y": 0.32353125, + "width": 0.01799999999999997, + "height": 0.02400000000000002 + } + ] + } + } + }, + { + "time": 9.671, + "frame": 290, + "progress": 54, + "action_description": "爪夹调整角度。", + "state_description": "爪夹合拢夹紧白色插头，调整爪夹角度平行于桌面。\n为了完成夹取白色插头插入声卡插口的任务目标应当：调整爪夹对准插头和插口，爪夹向下移动插入插头，松开爪夹。", + "progress_explanation": "爪夹调整角度平行于桌面，因此进度提升到54%。", + "error_success_analysis": "爪夹夹紧白色插头，调整爪夹平行于地面，方便后续插入白色插头。", + "correction_plan": "调整爪夹对准插头和插口，爪夹向下移动插入插头，松开爪夹。", + "annotations": { + "point_1768960399634": { + "type": "point", + "instances": [ + { + "id": "point_1768960399634_1768960513671_60tg9nc1b", + "x": 0.770375, + "y": 0.2968645833333333 + } + ] + }, + "point_1768960399785": { + "type": "point", + "instances": [ + { + "id": "point_1768960399785_1768960516302_wz6kaa692", + "x": 0.7853749999999999, + "y": 0.2968645833333333 + } + ] + }, + "bbox_1768960398994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960398994_1768960520902_oo69r84hp", + "x": 0.767375, + "y": 0.28353125, + "width": 0.019000000000000038, + "height": 0.040000000000000036 + } + ] + } + } + }, + { + "time": 11.9106, + "frame": 357, + "progress": 60, + "action_description": "爪夹向右前方移动。", + "state_description": "爪夹合拢夹紧白色插头，向右前方移动到声卡插口的正上方。\n为了完成夹取白色插头插入声卡插口的任务目标应当：爪夹向下移动插入插头，松开爪夹。", + "progress_explanation": "爪夹调整位置，接近声卡插口位置，因此进度提升到60%。", + "error_success_analysis": "爪夹合拢夹紧白色插头，调整角度爪夹垂直于桌面，方便调整位置对准插口。", + "correction_plan": "爪夹向下移动插入插头，松开爪夹。", + "annotations": { + "point_1768960399634": { + "type": "point", + "instances": [ + { + "id": "point_1768960399634_1768960527118_d1cxp1ihi", + "x": 0.765375, + "y": 0.2888645833333333 + } + ] + }, + "point_1768960399785": { + "type": "point", + "instances": [ + { + "id": "point_1768960399785_1768960529886_yo2o5dx6v", + "x": 0.777375, + "y": 0.2901979166666667 + } + ] + }, + "bbox_1768960398994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960398994_1768960534621_owb76na6a", + "x": 0.766375, + "y": 0.2741979166666667, + "width": 0.013999999999999967, + "height": 0.04799999999999998 + } + ] + }, + "bbox_1768960402505": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960402505_1768960540374_sc1zjzren", + "x": 0.756375, + "y": 0.31953125, + "width": 0.01800000000000006, + "height": 0.02933333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹调整位置，白色插头对准声卡插口，方便插入插头。", + "frame": 440, + "progress": 80, + "progress_explanation": "爪夹向下移动，白色插头插入声卡插口，因此进度提升到80%。", + "state_description": "爪夹合拢，爪夹向下移动，插入白色插头到声卡插口里面。\n为了完成夹取白色插头插入声卡插口的任务目标应当：松开爪夹。", + "time": 14.681851663015463, + "annotations": { + "point_1768960399634": { + "type": "point", + "instances": [ + { + "id": "point_1768960399634_1768960546453_uwpbsqkn6", + "x": 0.772375, + "y": 0.32353125000000005 + } + ] + }, + "point_1768960399785": { + "type": "point", + "instances": [ + { + "id": "point_1768960399785_1768960559382_c4u16q927", + "x": 0.790375, + "y": 0.32353125000000005 + } + ] + }, + "bbox_1768960398994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960398994_1768960563573_22tdnvqad", + "x": 0.777375, + "y": 0.3061979166666667, + "width": 0.011999999999999922, + "height": 0.05333333333333338 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，白色插头插入声卡插口。", + "frame": 505, + "progress": 100, + "progress_explanation": "爪夹张开，白色插头插入声卡插口，因此进度提升到100%。", + "state_description": "爪夹松开，白色插头顺利插入声卡插口。\n爪夹夹取白色插头插入声卡插口的任务目标完成。", + "time": 16.83329500425258, + "annotations": { + "point_1768960399785": { + "type": "point", + "instances": [ + { + "id": "point_1768960399785_1768960607164_oivrbrn2t", + "x": 0.8553750000000001, + "y": 0.2928645833333334 + } + ] + }, + "point_1768960399634": { + "type": "point", + "instances": [ + { + "id": "point_1768960399634_1768960609588_7h4e3lpjy", + "x": 0.825375, + "y": 0.26886458333333335 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768960398994", + "name": "白色插头", + "color": "#4CAF50" + }, + { + "id": "bbox_1768960402505", + "name": "声卡插口", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768960399634", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768960399785", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-092544-put-white audio cable-black-protable mixer console-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-092544-put-white audio cable-black-protable mixer console-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..8758fd597a95952e03e01c127befcbdc2cdda5bd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-092544-put-white audio cable-black-protable mixer console-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,474 @@ +{ + "task_description": "夹取白色插头插入声卡插口。\n准备开始移动：0%\n接近白色插头：20%\n夹取白色插头：40%\n接近声卡插口：60%\n插入声卡插口：80%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向右前下方移动到白色插头附近，合拢爪夹夹取白色插头，爪夹向右下方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹未开始移动，处于初始状态，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，远离白色插头，处于初始状态。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹向右前下方移动到白色插头附近，合拢爪夹夹取白色插头，爪夹向右下方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "time": 1.2897121771907216, + "annotations": { + "bbox_1768962670886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962670886_1768962696759_qp312o3rh", + "x": 0.6603749999999999, + "y": 0.36353125000000003, + "width": 0.03200000000000003, + "height": 0.031999999999999966 + } + ] + }, + "bbox_1768962671103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962671103_1768962700365_cq45szcwe", + "x": 0.6893750000000001, + "y": 0.4261979166666667, + "width": 0.015625, + "height": 0.020833333333333332 + } + ] + }, + "point_1768962671927": { + "type": "point", + "instances": [ + { + "id": "point_1768962671927_1768962710669_qgl1hor34", + "x": 0.409375, + "y": 0.5101979166666667 + } + ] + }, + "point_1768962672114": { + "type": "point", + "instances": [ + { + "id": "point_1768962672114_1768962713389_3t8xm86hd", + "x": 0.604375, + "y": 0.5088645833333333 + } + ] + } + } + }, + { + "time": 3.753938939046392, + "frame": 113, + "progress": 10, + "action_description": "爪夹向右前下方移动。", + "state_description": "爪夹张开，爪夹与桌面呈45度，爪夹接近白色插头。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：合拢爪夹夹取白色插头，爪夹向右下方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "progress_explanation": "爪夹向右前下方移动，缩短与白色插头的距离，因此进度提升到10%。", + "error_success_analysis": "爪夹张开，向右前下方移动，爪夹与桌面呈45度角，方便抓取白色插头。", + "correction_plan": "调整爪夹位置，合拢爪夹夹取白色插头，爪夹向右下方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "annotations": { + "bbox_1768962670886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962670886_1768962719605_vosfzafvu", + "x": 0.48637500000000006, + "y": 0.44353125000000004, + "width": 0.05499999999999998, + "height": 0.08933333333333332 + } + ] + }, + "point_1768962671927": { + "type": "point", + "instances": [ + { + "id": "point_1768962671927_1768962722829_npyf476ok", + "x": 0.430375, + "y": 0.5128645833333334 + } + ] + }, + "point_1768962672114": { + "type": "point", + "instances": [ + { + "id": "point_1768962672114_1768962725365_shxr57mdy", + "x": 0.5823750000000001, + "y": 0.5101979166666667 + } + ] + } + } + }, + { + "time": 6.607333, + "frame": 198, + "progress": 20, + "action_description": "爪夹向前方移动。", + "state_description": "爪夹张开，靠近白色插头，爪夹与地面呈45度角。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：合拢爪夹夹取白色插头，爪夹向右下方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "progress_explanation": "爪夹接近白色插头，因此进度提升到20%。", + "error_success_analysis": "爪夹调整位置，方便后续夹取白色插头。", + "correction_plan": "合拢爪夹夹取白色插头，爪夹向右下方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "annotations": { + "bbox_1768962670886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962670886_1768962733949_6qyo08scu", + "x": 0.467375, + "y": 0.4888645833333333, + "width": 0.04800000000000004, + "height": 0.07466666666666667 + } + ] + }, + "point_1768962671927": { + "type": "point", + "instances": [ + { + "id": "point_1768962671927_1768962736805_rd57g0n96", + "x": 0.426375, + "y": 0.5128645833333334 + } + ] + }, + "point_1768962672114": { + "type": "point", + "instances": [ + { + "id": "point_1768962672114_1768962738909_nr43sr9tc", + "x": 0.585375, + "y": 0.5101979166666667 + } + ] + } + } + }, + { + "time": 8.103699, + "frame": 243, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢，夹紧白色插头，爪夹与桌面呈45度角。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹向右下方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "progress_explanation": "爪夹合拢，成功夹取白色插头，因此进度提升到40%。", + "error_success_analysis": "爪夹与桌面呈45度角，方便夹取白色插头。", + "correction_plan": "爪夹向右下方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "annotations": { + "point_1768962671927": { + "type": "point", + "instances": [ + { + "id": "point_1768962671927_1768962744212_pg2smp75i", + "x": 0.49037500000000006, + "y": 0.5061979166666667 + } + ] + }, + "point_1768962672114": { + "type": "point", + "instances": [ + { + "id": "point_1768962672114_1768962746437_j4c3vrt46", + "x": 0.524375, + "y": 0.50353125 + } + ] + }, + "bbox_1768962670886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962670886_1768962753004_az5lwoy8g", + "x": 0.491375, + "y": 0.49953125000000004, + "width": 0.03399999999999999, + "height": 0.06800000000000003 + } + ] + }, + "bbox_1768962671103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962671103_1768962756349_uiokzm0y1", + "x": 0.617375, + "y": 0.6101979166666667, + "width": 0.02300000000000004, + "height": 0.030666666666666724 + } + ] + } + } + }, + { + "time": 10.824366, + "frame": 325, + "progress": 45, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢，夹紧白色插头，向正上方移动，但未高于声卡插口。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹向右下方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "progress_explanation": "爪夹合拢成功抓取白色插头，未接近声卡插口，因此进度提升到45%。", + "error_success_analysis": "爪夹夹紧白色插头，向上移动，但是并未靠近声卡插口。", + "correction_plan": "爪夹向右下方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "annotations": { + "bbox_1768962670886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962670886_1768962764548_3pauczbvx", + "x": 0.495375, + "y": 0.5061979166666667, + "width": 0.025, + "height": 0.061333333333333385 + } + ] + }, + "bbox_1768962671103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962671103_1768962767773_khjzdbfy1", + "x": 0.609375, + "y": 0.6088645833333334, + "width": 0.022999999999999955, + "height": 0.02400000000000008 + } + ] + }, + "point_1768962671927": { + "type": "point", + "instances": [ + { + "id": "point_1768962671927_1768962776252_3b0uywe6q", + "x": 0.496375, + "y": 0.5088645833333333 + } + ] + }, + "point_1768962672114": { + "type": "point", + "instances": [ + { + "id": "point_1768962672114_1768962778619_e10psz4xg", + "x": 0.521375, + "y": 0.50753125 + } + ] + } + } + }, + { + "time": 12.340166, + "frame": 370, + "progress": 50, + "action_description": "爪夹向正上方移动。", + "state_description": "爪夹合拢，夹紧白色插头，爪夹与地面呈45度角。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹向右后方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "progress_explanation": "爪夹向上移动，方便向右下方移动，因此进度提升到50%。", + "error_success_analysis": "爪夹夹紧白色插头，向正上方移动，方便接近声卡插口。", + "correction_plan": "爪夹向右下方移动到插口的正上方，爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "annotations": { + "bbox_1768962670886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962670886_1768962786547_8a7rddm7v", + "x": 0.49437500000000006, + "y": 0.49953125000000004, + "width": 0.027999999999999935, + "height": 0.10266666666666667 + } + ] + }, + "point_1768962671927": { + "type": "point", + "instances": [ + { + "id": "point_1768962671927_1768962788827_syc9c2690", + "x": 0.495375, + "y": 0.5061979166666667 + } + ] + }, + "point_1768962672114": { + "type": "point", + "instances": [ + { + "id": "point_1768962672114_1768962790971_fcnkr2bjp", + "x": 0.520375, + "y": 0.5061979166666667 + } + ] + } + } + }, + { + "time": 14.069733, + "frame": 422, + "progress": 60, + "action_description": "爪夹向右下方移动。", + "state_description": "爪夹合拢，爪夹与桌面呈45度，爪夹位于声卡插口正上方。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "progress_explanation": "爪夹向右下方移动到声卡插口正上方，因此进度提升到60%。", + "error_success_analysis": "爪夹提升高度，方便后续移动到声卡插口正上方。", + "correction_plan": "爪夹向下移动，插入白色插头到声卡插口中，松开爪夹。", + "annotations": { + "bbox_1768962670886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962670886_1768962799523_8nd2g8jna", + "x": 0.49737500000000007, + "y": 0.49953125000000004, + "width": 0.02499999999999991, + "height": 0.11733333333333337 + } + ] + }, + "point_1768962671927": { + "type": "point", + "instances": [ + { + "id": "point_1768962671927_1768962816235_as89b2yex", + "x": 0.496375, + "y": 0.5021979166666667 + } + ] + }, + "point_1768962672114": { + "type": "point", + "instances": [ + { + "id": "point_1768962672114_1768962818939_t3em683xa", + "x": 0.520375, + "y": 0.50353125 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹移动到声卡插口正上方，方便插入白色插头。", + "frame": 503, + "progress": 80, + "progress_explanation": "爪夹向下移动，成功插入白色插头，因此进度提升到80%。", + "state_description": "爪夹合拢，爪夹与地面呈45度角，爪夹向下移动插入白色插头到声卡里。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：松开爪夹。", + "time": 16.776275485438145, + "annotations": { + "bbox_1768962670886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962670886_1768962841018_s3mxdjqbv", + "x": 0.49437500000000006, + "y": 0.5021979166666667, + "width": 0.025999999999999978, + "height": 0.06799999999999998 + } + ] + }, + "point_1768962671927": { + "type": "point", + "instances": [ + { + "id": "point_1768962671927_1768962843297_sx3qngkos", + "x": 0.49437500000000006, + "y": 0.50753125 + } + ] + }, + "point_1768962672114": { + "type": "point", + "instances": [ + { + "id": "point_1768962672114_1768962845010_sj1n0fqvi", + "x": 0.516375, + "y": 0.5061979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，白色插头插入声卡接口。", + "frame": 582, + "progress": 100, + "progress_explanation": "爪夹张开，白色插头插入声卡插口，任务完成，因此进度提升到100%。", + "state_description": "爪夹张开，白色插头插入声卡插口。\n爪夹夹取白色插头插入声卡插口的任务目标完成。", + "time": 19.4, + "annotations": { + "bbox_1768962670886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962670886_1768962851810_ruwuqj1kf", + "x": 0.48637500000000006, + "y": 0.41953125, + "width": 0.022999999999999955, + "height": 0.040000000000000036 + } + ] + }, + "bbox_1768962671103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768962671103_1768962856377_ecpvl3hv2", + "x": 0.481375, + "y": 0.45286458333333335, + "width": 0.019000000000000038, + "height": 0.021333333333333353 + } + ] + }, + "point_1768962671927": { + "type": "point", + "instances": [ + { + "id": "point_1768962671927_1768962858985_w13hyue10", + "x": 0.40737500000000004, + "y": 0.50753125 + } + ] + }, + "point_1768962672114": { + "type": "point", + "instances": [ + { + "id": "point_1768962672114_1768962861249_7zt4uhcez", + "x": 0.604375, + "y": 0.5128645833333334 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768962670886", + "name": "白色插头", + "color": "#4CAF50" + }, + { + "id": "bbox_1768962671103", + "name": "声卡插口", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768962671927", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768962672114", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-092544-put-white audio cable-black-protable mixer console-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-092544-put-white audio cable-black-protable mixer console-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..19b676efb60a349f98e619db4c0f0b797f004484 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-092544-put-white audio cable-black-protable mixer console-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,478 @@ +{ + "task_description": "插入白色插头到声卡插口里。\n准备开始移动：0%\n爪夹接近白色插头：20%\n爪夹夹取白色插头：40%\n爪夹接近声卡插口：60%\n爪夹插入白色插头：80%\n爪夹张开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向右下方移动到白色插头附近，合拢爪夹夹取白色插头，爪夹向上移动，调整爪夹角度与地面平行，爪夹向右移动到声卡插口的正上方，向下移动爪夹插入白色插口，松开爪夹。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹未开始移动，因此进度为0%。", + "state_description": "爪夹张开，爪夹与桌面呈45度角，远离白色插头，未开始移动。\n为了完成插入白色插头插入声卡插口的任务目标应当：爪夹向右下方移动到白色插头附近，合拢爪夹夹取白色插头，爪夹向上移动，调整爪夹角度与地面平行，爪夹向右移动到声卡插口的正上方，向下移动爪夹插入白色插口，松开爪夹。", + "time": 1.3367053039948453, + "annotations": { + "bbox_1768965932377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932377_1768965962359_uzp51xqc1", + "x": 0.552375, + "y": 0.4888645833333333, + "width": 0.06400000000000006, + "height": 0.0786666666666667 + } + ] + }, + "bbox_1768965932528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932528_1768965965599_08r7dl1xe", + "x": 0.644375, + "y": 0.4861979166666667, + "width": 0.015999999999999924, + "height": 0.021333333333333353 + } + ] + }, + "point_1768965933227": { + "type": "point", + "instances": [ + { + "id": "point_1768965933227_1768965968135_34fzq011w", + "x": 0.410375, + "y": 0.5101979166666667 + } + ] + }, + "point_1768965933360": { + "type": "point", + "instances": [ + { + "id": "point_1768965933360_1768965970207_78yb9qwou", + "x": 0.602375, + "y": 0.51553125 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动，调整爪夹角度。", + "correction_plan": "合拢爪夹夹取白色插头，爪夹向上移动，调整爪夹角度与地面平行，爪夹向右移动到声卡插口的正上方，向下移动爪夹插入白色插口，松开爪夹。", + "error_success_analysis": "爪夹向右下方移动，调整爪夹角度，靠近白色插头，方便抓取白色插头。", + "frame": 126, + "progress": 20, + "progress_explanation": "爪夹调整角度，向右下移动到白色插头的上方，方便抓取，因此进度提升到20%。", + "state_description": "爪夹向右下方移动到白色插头上方，调整爪夹角度与地面垂直。\n为了完成插入白色插头插入声卡插口的任务目标应当：合拢爪夹夹取白色插头，爪夹向上移动，调整爪夹角度与地面平行，爪夹向右移动到声卡插口的正上方，向下移动爪夹插入白色插口，松开爪夹。", + "time": 4.19924821121134, + "annotations": { + "bbox_1768965932377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932377_1768965980350_1931xqm7d", + "x": 0.485375, + "y": 0.44086458333333334, + "width": 0.05900000000000007, + "height": 0.24800000000000005 + } + ] + }, + "bbox_1768965932528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932528_1768965983822_zj3cn50hz", + "x": 0.632375, + "y": 0.3741979166666667, + "width": 0.04799999999999995, + "height": 0.06933333333333333 + } + ] + }, + "point_1768965933227": { + "type": "point", + "instances": [ + { + "id": "point_1768965933227_1768965986110_v4eorijh3", + "x": 0.422375, + "y": 0.5128645833333334 + } + ] + }, + "point_1768965933360": { + "type": "point", + "instances": [ + { + "id": "point_1768965933360_1768965987879_bqy74l1sh", + "x": 0.585375, + "y": 0.5128645833333334 + } + ] + } + } + }, + { + "time": 5.434333, + "frame": 163, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢，夹取白色插头，爪夹与地面呈70度。\n为了完成插入白色插头插入声卡插口的任务目标应当：爪夹向上移动，调整爪夹角度与地面平行，爪夹向右移动到声卡插口的正上方，向下移动爪夹插入白色插口，松开爪夹。", + "progress_explanation": "爪夹合拢，成功夹取白色插头，因此进度提升到40%。", + "error_success_analysis": "爪夹位于白色插头正上方，爪夹垂直于桌面，方便夹取白色插头。", + "correction_plan": "爪夹向上移动，调整爪夹角度与地面平行，爪夹向右移动到声卡插口的正上方，向下移动爪夹插入白色插口，松开爪夹。", + "annotations": { + "bbox_1768965932377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932377_1768966034894_myrlxztr8", + "x": 0.487375, + "y": 0.46753125, + "width": 0.038999999999999965, + "height": 0.2333333333333334 + } + ] + }, + "bbox_1768965932528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932528_1768966040740_zsc6t94ny", + "x": 0.659375, + "y": 0.3901979166666667, + "width": 0.041999999999999996, + "height": 0.064 + } + ] + }, + "point_1768965933227": { + "type": "point", + "instances": [ + { + "id": "point_1768965933227_1768966042484_uy8nf16ye", + "x": 0.492375, + "y": 0.5168645833333333 + } + ] + }, + "point_1768965933360": { + "type": "point", + "instances": [ + { + "id": "point_1768965933360_1768966044301_cqf86mx2y", + "x": 0.524375, + "y": 0.51953125 + } + ] + } + } + }, + { + "time": 8.488666, + "frame": 255, + "progress": 45, + "action_description": "爪夹向上移动，调整爪夹角度。", + "state_description": "爪夹向正上方移动，并调整爪夹角度与地面呈70度。\n为了完成插入白色插头插入声卡插口的任务目标应当：调整爪夹角度与地面平行，爪夹向右移动到声卡插口的正上方，向下移动爪夹插入白色插口，松开爪夹。", + "progress_explanation": "爪夹向上移动，并调整爪夹角度，方便移动到声卡插口上方，因此进度提升到45%。", + "error_success_analysis": "爪夹合拢抓紧白色插头，并向上移动，方便后续调整爪夹角度。", + "correction_plan": "调整爪夹角度与地面平行，爪夹向右移动到声卡插口的正上方，向下移动爪夹插入白色插口，松开爪夹。", + "annotations": { + "bbox_1768965932377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932377_1768966049949_344fxpbg3", + "x": 0.487375, + "y": 0.46619791666666666, + "width": 0.03700000000000001, + "height": 0.24000000000000005 + } + ] + }, + "bbox_1768965932528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932528_1768966054564_4u02qozql", + "x": 0.575375, + "y": 0.5368645833333333, + "width": 0.021999999999999974, + "height": 0.03333333333333333 + } + ] + }, + "point_1768965933227": { + "type": "point", + "instances": [ + { + "id": "point_1768965933227_1768966057701_d0z80188o", + "x": 0.491375, + "y": 0.5088645833333333 + } + ] + }, + "point_1768965933360": { + "type": "point", + "instances": [ + { + "id": "point_1768965933360_1768966060061_0sl42ybi0", + "x": 0.522375, + "y": 0.51553125 + } + ] + } + } + }, + { + "time": 12.018999, + "frame": 361, + "progress": 50, + "action_description": "爪夹调整角度。", + "state_description": "爪夹调整角度与桌面平行，接近声卡插口。\n为了完成插入白色插头插入声卡插口的任务目标应当：爪夹向正前方移动到声卡插口的正上方，向下移动爪夹插入白色插口，松开爪夹。", + "progress_explanation": "爪夹调整角度，与桌面平行，并接近声卡插口，因此进度提升到50%。", + "error_success_analysis": "爪夹调整角度，与地面垂直，爪夹靠近声卡插口，方便后续插入白色插头。", + "correction_plan": "爪夹向正前方移动到声卡插口的正上方，向下移动爪夹插入白色插口，松开爪夹。", + "annotations": { + "bbox_1768965932377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932377_1768966067261_n6m068kgt", + "x": 0.491375, + "y": 0.46086458333333336, + "width": 0.02999999999999998, + "height": 0.24666666666666667 + } + ] + }, + "bbox_1768965932528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932528_1768966070677_2wody9ttq", + "x": 0.475375, + "y": 0.63953125, + "width": 0.026999999999999958, + "height": 0.03599999999999994 + } + ] + }, + "point_1768965933227": { + "type": "point", + "instances": [ + { + "id": "point_1768965933227_1768966072661_ldm7swgdm", + "x": 0.48637500000000006, + "y": 0.5021979166666667 + } + ] + }, + "point_1768965933360": { + "type": "point", + "instances": [ + { + "id": "point_1768965933360_1768966074829_sx9ni2l9q", + "x": 0.522375, + "y": 0.49953125000000004 + } + ] + } + } + }, + { + "time": 14.716333, + "frame": 441, + "progress": 60, + "action_description": "爪夹向前移动。", + "state_description": "爪夹向前移动到声卡插头正上方，爪夹与桌面平行。\n为了完成插入白色插头插入声卡插口的任务目标应当：向下移动爪夹插入白色插口，松开爪夹。", + "progress_explanation": "爪夹移动到声卡插口的正上方，因此进度提升到60%。", + "error_success_analysis": "爪夹位于声卡插口正上方，方便插入白色插头到声卡插口中。", + "correction_plan": "向下移动爪夹插入白色插口，松开爪夹。", + "annotations": { + "bbox_1768965932377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932377_1768966082292_qajz6ydlj", + "x": 0.491375, + "y": 0.46886458333333336, + "width": 0.02999999999999998, + "height": 0.23866666666666667 + } + ] + }, + "bbox_1768965932528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932528_1768966086532_j7wwzo473", + "x": 0.484375, + "y": 0.68353125, + "width": 0.03700000000000001, + "height": 0.045333333333333316 + } + ] + }, + "point_1768965933227": { + "type": "point", + "instances": [ + { + "id": "point_1768965933227_1768966088835_k591v9dwy", + "x": 0.489375, + "y": 0.5088645833333333 + } + ] + }, + "point_1768965933360": { + "type": "point", + "instances": [ + { + "id": "point_1768965933360_1768966091356_6ikgphir2", + "x": 0.522375, + "y": 0.5088645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹向下移动，成功插入白色插头到声卡插口中。", + "frame": 472, + "progress": 80, + "progress_explanation": "爪夹向下移动，插入白色插头到声卡插口，因此进度提升到80%。", + "state_description": "爪夹向下移动，白色插头插入声卡，爪夹与地面平行。\n为了完成插入白色插头插入声卡插口的任务目标应当：松开爪夹。", + "time": 15.731206780283504, + "annotations": { + "bbox_1768965932377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932377_1768966131522_umpiyechx", + "x": 0.492375, + "y": 0.4808645833333333, + "width": 0.029000000000000005, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1768965932528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932528_1768966135067_a56ljqvnl", + "x": 0.48237500000000005, + "y": 0.6088645833333334, + "width": 0.03499999999999996, + "height": 0.037333333333333364 + } + ] + }, + "point_1768965933227": { + "type": "point", + "instances": [ + { + "id": "point_1768965933227_1768966137651_w03dc568m", + "x": 0.49437500000000006, + "y": 0.50753125 + } + ] + }, + "point_1768965933360": { + "type": "point", + "instances": [ + { + "id": "point_1768965933360_1768966139706_e1sh32uja", + "x": 0.519375, + "y": 0.5061979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，白色插头插入声卡。", + "frame": 594, + "progress": 100, + "progress_explanation": "爪夹松开，白色插头成功插入声卡插口中，因此进度提升到100%。", + "state_description": "爪夹松开，爪夹平行于桌面，白色插头插入声卡插口中。\n爪夹夹取白色插头插入声卡插口中的任务目标完成。", + "time": 19.8, + "annotations": { + "bbox_1768965932377": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932377_1768966151082_p2zsyzp4t", + "x": 0.614375, + "y": 0.44753125, + "width": 0.040000000000000036, + "height": 0.04266666666666671 + } + ] + }, + "bbox_1768965932528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768965932528_1768966154194_yltga15se", + "x": 0.604375, + "y": 0.47953125, + "width": 0.015000000000000036, + "height": 0.027999999999999994 + } + ] + }, + "point_1768965933227": { + "type": "point", + "instances": [ + { + "id": "point_1768965933227_1768966158666_pz36n5bw5", + "x": 0.421375, + "y": 0.5101979166666667 + } + ] + }, + "point_1768965933360": { + "type": "point", + "instances": [ + { + "id": "point_1768965933360_1768966162002_3a4hjb7jh", + "x": 0.5903750000000001, + "y": 0.5141979166666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768965932377", + "name": "白色插头", + "color": "#4CAF50" + }, + { + "id": "bbox_1768965932528", + "name": "声卡插口", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768965933227", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768965933360", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-093959-put-white audio cable-black-protable mixer console-mix/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-093959-put-white audio cable-black-protable mixer console-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..f48456ad32f22714edff5d1c77ca559130737bcb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-093959-put-white audio cable-black-protable mixer console-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,332 @@ +{ + "task_description": "夹取白色插头插入声卡插口。\n准备开始移动：0%\n爪夹接近白色插头：20%\n爪夹夹取白色插头：40%\n爪夹接近声卡插口：60%\n爪夹插入白色插头：80%\n爪夹松开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向右前下方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹未开始移动，处于初始状态，因此进度为0%。", + "state_description": "爪夹张开，爪夹与桌面垂直，未开始移动，处于初始状态。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹向右前下方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 1.3007602844072166, + "annotations": { + "bbox_1768974506445": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768974506445_1768974659441_hezbnpzql", + "x": 0.6943750000000001, + "y": 0.3991979166666667, + "width": 0.022999999999999955, + "height": 0.06266666666666663 + } + ] + }, + "bbox_1768974506701": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768974506701_1768974664105_e03t80696", + "x": 0.6753750000000001, + "y": 0.41119791666666666, + "width": 0.016999999999999994, + "height": 0.02400000000000002 + } + ] + }, + "point_1768974507525": { + "type": "point", + "instances": [ + { + "id": "point_1768974507525_1768974668105_2o11kreg5", + "x": 0.5393749999999999, + "y": 0.42853125 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动。", + "correction_plan": "爪夹向正前方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "爪夹向右下方移动，拉近与白色插头的距离。", + "frame": 105, + "progress": 5, + "progress_explanation": "爪夹向右下方移动，拉近与白色插头的距离，因此进度提升到5%。", + "state_description": "爪夹张开，爪夹向右下方移动，爪夹缩短与白色插头的距离。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹向右前方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 3.504099, + "annotations": { + "point_1768974507525": { + "type": "point", + "instances": [ + { + "id": "point_1768974507525_1768974678839_8vuisi7cu", + "x": 0.731375, + "y": 0.58453125 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹松开，爪夹向右前方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "抓夹合拢抓取到错误的目标，未抓取白色插头。", + "frame": 116, + "progress": -10, + "progress_explanation": "爪夹合拢夹取黄色玩偶，未抓取白色插头，因此进度降低为-10%。", + "state_description": "爪夹合拢夹取黄色玩偶，未抓取白色插头。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹松开，爪夹向正前方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 3.852766, + "annotations": { + "bbox_1768974506445": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768974506445_1768974689456_5w9xoybji", + "x": 0.6823750000000001, + "y": 0.3911979166666667, + "width": 0.016999999999999994, + "height": 0.02400000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向左上方移动。", + "correction_plan": "爪夹松开，爪夹向右前方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "爪夹夹取错误目标向左上方移动，远离白色插头。", + "frame": 159, + "progress": -20, + "progress_explanation": "爪甲合拢抓取错误目标向左上方移动，因此进度降低到-20%。", + "state_description": "爪甲合拢，向左上方移动，爪夹垂直于桌面。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹松开，爪夹向右前方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 5.3, + "annotations": { + "bbox_1768974506445": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768974506445_1768974699671_h6huramev", + "x": 0.692375, + "y": 0.3978645833333333, + "width": 0.021999999999999974, + "height": 0.05333333333333338 + } + ] + }, + "bbox_1768974506701": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768974506701_1768974703423_1n6akebw0", + "x": 0.6753750000000001, + "y": 0.40853125, + "width": 0.020000000000000018, + "height": 0.02933333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "爪夹向右前方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹", + "error_success_analysis": "爪夹张开，放开错误目标，方便抓取正确目标。", + "frame": 179, + "progress": 10, + "progress_explanation": "爪夹张开，放下错误目标，因此进度提升到10%。", + "state_description": "爪夹松开，爪夹垂直于桌面，爪夹远离白色插头。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹向右前方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 5.962199, + "annotations": { + "point_1768974507525": { + "type": "point", + "instances": [ + { + "id": "point_1768974507525_1768974716775_xy8rp6b8h", + "x": 0.662375, + "y": 0.46453125 + } + ] + }, + "bbox_1768974506445": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768974506445_1768974729550_awqy78imv", + "x": 0.6943750000000001, + "y": 0.39253125, + "width": 0.021999999999999974, + "height": 0.07466666666666667 + } + ] + }, + "bbox_1768974506701": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768974506701_1768974734327_96ktewbp3", + "x": 0.677375, + "y": 0.41119791666666666, + "width": 0.015625, + "height": 0.022666666666666658 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动。", + "correction_plan": "爪夹向正前方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "爪夹垂直于桌面，爪夹向右前方移动，缩短与白色插头的位置。", + "frame": 221, + "progress": 15, + "progress_explanation": "爪夹向右前方移动，缩短与白色插头的距离，因此进度提升到15%。", + "state_description": "爪夹张开，爪夹向右下方移动，缩短与白色插头的距离。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹向正前方移动到白色插头的正上方，合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 7.356866, + "annotations": { + "point_1768974507525": { + "type": "point", + "instances": [ + { + "id": "point_1768974507525_1768974753407_7cl4zyhk2", + "x": 0.734375, + "y": 0.46586458333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向前下方移动。", + "correction_plan": "合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "爪夹垂直于桌面，向前下方移动，接近白色插头，方便抓取。", + "frame": 249, + "progress": 25, + "progress_explanation": "爪夹接近白色插头，因此进度提升到25%。", + "state_description": "爪夹向前下方移动，接近白色插头，爪夹垂直于桌面。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：合拢爪夹抓取白色插头，调整爪夹角度，爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 8.298266, + "annotations": { + "point_1768974507525": { + "type": "point", + "instances": [ + { + "id": "point_1768974507525_1768974759606_pgb8y93eq", + "x": 0.736375, + "y": 0.45253125 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "调整爪夹角度，爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "爪夹移动到白色插头的附近，爪夹垂直于桌面，方便抓取白色插头。", + "frame": 280, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到白色插头，因此进度提升到40%。", + "state_description": "爪夹合拢，爪夹夹紧白色插头，爪夹垂直于桌面。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：调整爪夹角度，爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 9.344266 + }, + { + "action_description": "爪夹向上移动，调整角度。", + "correction_plan": "爪夹向正前方移动，移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "爪夹合拢夹紧白色插头，向左上方移动，方便调整角度，远离声卡插口。", + "frame": 319, + "progress": 47, + "progress_explanation": "爪夹合拢夹紧白色插头，调整角度，因此进度提升到47%。", + "state_description": "爪夹合拢夹紧白色插头，爪夹向上移动并调整爪夹角度。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 10.633333333333333 + }, + { + "action_description": "爪夹向正上方移动。", + "correction_plan": "爪夹向正前方移动，移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "爪夹夹紧白色插头，水平上接近声卡插口，方便接近声卡插口。", + "frame": 360, + "progress": 54, + "progress_explanation": "爪夹向上移动，水平上接近声卡插口，因此进度提升到54%。", + "state_description": "爪夹合拢夹紧白色插头，夹角垂直于地面，爪夹向上移动，水平上接近声卡插口。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹移动到声卡插口的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 11.994133 + }, + { + "action_description": "爪夹向前下方移动。", + "correction_plan": "爪夹向下移动，插入白色插头，松开爪夹。", + "error_success_analysis": "爪夹向下移动，爪夹位于声卡插口的正上方，方便插入白色插头。", + "frame": 411, + "progress": 60, + "progress_explanation": "爪夹位于声卡插口的正上方，因此进度提升到60%。", + "state_description": "爪夹合拢，夹紧白色插头向前下方移动，位于声卡插口的正上方。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：爪夹向下移动，插入白色插头，松开爪夹。", + "time": 13.702599 + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹向下移动，插入白色插头到声卡插口。", + "frame": 453, + "progress": 80, + "progress_explanation": "爪夹向下移动，插入白色插头到声卡插口，因此进度提升到80%。", + "state_description": "爪夹合拢夹紧白色插头，向下移动插入白色插头。\n为了完成爪夹夹取白色插头插入声卡插口的任务应当：松开爪夹。", + "time": 15.103646618427836 + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，白色插头成功插入声卡插口。", + "frame": 522, + "progress": 100, + "progress_explanation": "爪夹张开，白色插头插入声卡插口，因此进度提升到100%。", + "state_description": "爪夹松开，白色插头插入声卡插口。\n爪夹夹紧白色插头插入声卡插口的任务目标完成。", + "time": 17.4, + "annotations": { + "point_1768974507525": { + "type": "point", + "instances": [ + { + "id": "point_1768974507525_1768974781685_plxg1w3tm", + "x": 0.667375, + "y": 0.45253125 + } + ] + }, + "bbox_1768974506445": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768974506445_1768974789821_y0s2vvqba", + "x": 0.6943750000000001, + "y": 0.38853125, + "width": 0.010999999999999944, + "height": 0.02933333333333336 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768974506445", + "name": "白色插头", + "color": "#4CAF50" + }, + { + "id": "bbox_1768974506701", + "name": "声卡插口", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768974507440", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768974507525", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-093959-put-white audio cable-black-protable mixer console-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-093959-put-white audio cable-black-protable mixer console-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..9148b5ac3c8ccfb37a4019c64d529013b0477c3b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-093959-put-white audio cable-black-protable mixer console-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,578 @@ +{ + "task_description": "夹取白色插头插入声卡插口里。\n准备开始移动：0%\n爪夹靠近白色插头：20%\n爪夹夹取白色插头：40%\n爪夹接近声卡插口：60%\n插头插入声卡插口：80%\n爪夹张开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动，处于初始状态。", + "correction_plan": "爪夹向前移动到白色插头的正上方，合拢爪夹夹取白色插头，向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，爪夹未移动，因此进度为0%。", + "state_description": "爪夹张开，爪夹与地面呈45度，爪夹未开始移动，处于初始状态。\n为了完成爪夹夹取白色插头插入声卡插口的任务目标应当：爪夹向前移动到白色插头的正上方，合拢爪夹夹取白色插头，向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 1.2004853771907216, + "annotations": { + "bbox_1768977128696": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128696_1768977158178_673mea8nd", + "x": 0.520375, + "y": 0.45686458333333335, + "width": 0.05899999999999998, + "height": 0.08399999999999999 + } + ] + }, + "bbox_1768977128832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128832_1768977171087_unsvv5o1h", + "x": 0.572375, + "y": 0.47553125000000007, + "width": 0.016999999999999994, + "height": 0.025333333333333267 + } + ] + }, + "point_1768977129624": { + "type": "point", + "instances": [ + { + "id": "point_1768977129624_1768977178174_eplwgttm7", + "x": 0.39237500000000003, + "y": 0.5141979166666667 + } + ] + }, + "point_1768977129841": { + "type": "point", + "instances": [ + { + "id": "point_1768977129841_1768977180319_q7yp0x4xn", + "x": 0.620375, + "y": 0.5088645833333333 + } + ] + } + } + }, + { + "time": 3.6530282957474225, + "frame": 110, + "progress": 20, + "action_description": "爪夹向前方移动。", + "state_description": "爪夹张开，爪夹向前移动接近白色插头，爪夹与地面呈45度。\n为了完成爪夹夹取白色插头插入声卡插口的任务目标应当：合拢爪夹夹取白色插头，向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "progress_explanation": "爪夹接近白色插头的正上方，因此进度提升到20%。", + "error_success_analysis": "爪夹向前移动，接近白色插头的正上方，方便抓取。", + "correction_plan": "合拢爪夹夹取白色插头，向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "annotations": { + "bbox_1768977128696": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128696_1768977189718_0kb620hm4", + "x": 0.48137500000000005, + "y": 0.4621979166666667, + "width": 0.06499999999999995, + "height": 0.11199999999999997 + } + ] + }, + "bbox_1768977128832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128832_1768977199974_dk10xsg2j", + "x": 0.541375, + "y": 0.43553125000000004, + "width": 0.03300000000000001, + "height": 0.045333333333333316 + } + ] + }, + "point_1768977129624": { + "type": "point", + "instances": [ + { + "id": "point_1768977129624_1768977206982_c17cv6jy5", + "x": 0.395375, + "y": 0.5128645833333334 + } + ] + }, + "point_1768977129841": { + "type": "point", + "instances": [ + { + "id": "point_1768977129841_1768977210805_ro25yhddw", + "x": 0.619375, + "y": 0.5101979166666667 + } + ] + } + } + }, + { + "time": 5.625033, + "frame": 169, + "progress": 5, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢，未抓取到白色插头，爪夹与地面呈45度。\n为了完成爪夹夹取白色插头插入声卡插口的任务目标应当：爪夹张开，调整爪夹位置，合拢爪夹夹取白色插头，向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "progress_explanation": "爪夹未成功抓取到白色插头，因此进度降低到5%。", + "error_success_analysis": "爪夹未完全接近白色插头，需调整位置，重新抓取。", + "correction_plan": "爪夹张开，调整爪夹位置，合拢爪夹夹取白色插头，向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "annotations": { + "bbox_1768977128696": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128696_1768977221127_v67ctg87x", + "x": 0.45437500000000003, + "y": 0.43286458333333333, + "width": 0.07199999999999998, + "height": 0.11466666666666665 + } + ] + }, + "bbox_1768977128832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128832_1768977231845_5sfoppjfg", + "x": 0.522375, + "y": 0.40353125, + "width": 0.03200000000000003, + "height": 0.05200000000000002 + } + ] + }, + "point_1768977129624": { + "type": "point", + "instances": [ + { + "id": "point_1768977129624_1768977234109_8nxoq0ac0", + "x": 0.502375, + "y": 0.50753125 + } + ] + }, + "point_1768977129841": { + "type": "point", + "instances": [ + { + "id": "point_1768977129841_1768977236325_ru5yuvjpn", + "x": 0.511375, + "y": 0.5061979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹向下移动到白色插头正上方，调整爪夹位置，合拢爪夹夹取白色插头，向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "爪夹张开，位于白色插头的正上方，方便抓取。", + "frame": 221, + "progress": 10, + "progress_explanation": "爪夹张开，位于白色插头的正上方，因此进度提升到10%。", + "state_description": "爪夹张开，位于白色插头正上方，远离白色插头。\n为了完成爪夹夹取白色插头插入声卡插口的任务目标应当：爪夹向下移动到白色插头正上方，调整爪夹位置，合拢爪夹夹取白色插头，向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 7.36622411636598, + "annotations": { + "bbox_1768977128696": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128696_1768977245126_hojgr5ey4", + "x": 0.487375, + "y": 0.48353125, + "width": 0.06699999999999999, + "height": 0.10000000000000006 + } + ] + }, + "bbox_1768977128832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128832_1768977248837_b7f4on97p", + "x": 0.551375, + "y": 0.47553125, + "width": 0.02300000000000004, + "height": 0.03200000000000003 + } + ] + }, + "point_1768977129624": { + "type": "point", + "instances": [ + { + "id": "point_1768977129624_1768977255597_1m4mev1c7", + "x": 0.39637500000000003, + "y": 0.5101979166666667 + } + ] + }, + "point_1768977129841": { + "type": "point", + "instances": [ + { + "id": "point_1768977129841_1768977257620_faff7i41b", + "x": 0.617375, + "y": 0.50753125 + } + ] + } + } + }, + { + "time": 10.294033, + "frame": 309, + "progress": 20, + "action_description": "爪夹向下移动。", + "state_description": "爪夹向下移动，位于白色插头的正上方，爪夹与地面呈45度。\n为了完成爪夹夹取白色插头插入声卡插口的任务目标应当：合拢爪夹夹取白色插头，向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "progress_explanation": "爪夹向下移动，位于白色插头正上方，方便抓取，因此进度提升到25%。", + "error_success_analysis": "爪夹向下移动，位于白色插头正上方，方便抓取。", + "correction_plan": "合拢爪夹夹取白色插头，向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "annotations": { + "bbox_1768977128696": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128696_1768977263221_jl0vc6vj2", + "x": 0.441375, + "y": 0.45953125000000006, + "width": 0.07000000000000002, + "height": 0.14000000000000004 + } + ] + }, + "bbox_1768977128832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128832_1768977273413_ly5ba09wo", + "x": 0.506375, + "y": 0.4301979166666667, + "width": 0.04400000000000004, + "height": 0.064 + } + ] + }, + "point_1768977129624": { + "type": "point", + "instances": [ + { + "id": "point_1768977129624_1768977275606_z7qe2ejkt", + "x": 0.399375, + "y": 0.5088645833333333 + } + ] + }, + "point_1768977129841": { + "type": "point", + "instances": [ + { + "id": "point_1768977129841_1768977277956_jxgt4j930", + "x": 0.616375, + "y": 0.51553125 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "error_success_analysis": "爪夹与地面呈45度角，位于白色插头的正上方，方便抓取。", + "frame": 343, + "progress": 40, + "progress_explanation": "爪夹合拢夹取白色插头，因此进度提升到40%。", + "state_description": "爪夹合拢夹取白色插头，爪夹与地面呈45度。\n为了完成爪夹夹取白色插头插入声卡插口的任务目标应当：合拢向上移动，调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "time": 11.446155326675255, + "annotations": { + "bbox_1768977128696": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128696_1768977309755_m3y41jbi2", + "x": 0.49037500000000006, + "y": 0.47019791666666666, + "width": 0.03499999999999996, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1768977128832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128832_1768977314667_76al6ly6i", + "x": 0.522375, + "y": 0.44753125, + "width": 0.040000000000000036, + "height": 0.04800000000000004 + } + ] + }, + "point_1768977129624": { + "type": "point", + "instances": [ + { + "id": "point_1768977129624_1768977316308_pez92l2m1", + "x": 0.489375, + "y": 0.5288645833333334 + } + ] + }, + "point_1768977129841": { + "type": "point", + "instances": [ + { + "id": "point_1768977129841_1768977318316_6x5l5192v", + "x": 0.5273749999999999, + "y": 0.5261979166666667 + } + ] + } + } + }, + { + "time": 14.051466, + "frame": 422, + "progress": 50, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢夹取白色插头，爪夹与地面呈45度，爪夹位于声卡插头上方。\n为了完成爪夹夹取白色插头插入声卡插口的任务目标应当：爪夹调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "progress_explanation": "爪夹夹紧白色插头向上移动，翻遍后续插入声卡插头，因此进度提升到50%。", + "error_success_analysis": "爪夹夹取白色插头向上移动，方便后续插入白色插头。", + "correction_plan": "调整爪夹角度，向前移动插头到声卡插头的正上方，向下移动爪夹插入白色插头，松开爪夹。", + "annotations": { + "bbox_1768977128696": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128696_1768977326227_9qc7ng6hz", + "x": 0.489375, + "y": 0.47019791666666666, + "width": 0.03200000000000003, + "height": 0.1426666666666667 + } + ] + }, + "point_1768977129624": { + "type": "point", + "instances": [ + { + "id": "point_1768977129624_1768977330027_4px78w6a9", + "x": 0.49037500000000006, + "y": 0.5128645833333334 + } + ] + }, + "point_1768977129841": { + "type": "point", + "instances": [ + { + "id": "point_1768977129841_1768977332115_9vqfewg8w", + "x": 0.522375, + "y": 0.5101979166666667 + } + ] + } + } + }, + { + "time": 17.097433, + "frame": 513, + "progress": 60, + "action_description": "爪夹向下移动。", + "state_description": "爪夹向下移动，调整爪夹角度，位于声卡插口正上方。\n为了完成爪夹夹取白色插头插入声卡插口的任务目标应当：向下移动爪夹插入白色插头，松开爪夹。", + "progress_explanation": "爪夹夹紧白色插头，位于声卡插头的正上方，因此进度提升到60%。", + "error_success_analysis": "爪夹向下移动，调整爪夹位置，位于插头正上方，方便后续插入插头。", + "correction_plan": "向下移动爪夹插入白色插头，松开爪夹。", + "annotations": { + "bbox_1768977128696": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128696_1768977338851_cc1tiorej", + "x": 0.485375, + "y": 0.4728645833333333, + "width": 0.039000000000000055, + "height": 0.14266666666666664 + } + ] + }, + "bbox_1768977128832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128832_1768977342691_6j812y2ks", + "x": 0.492375, + "y": 0.5995312500000001, + "width": 0.02999999999999998, + "height": 0.03466666666666664 + } + ] + }, + "point_1768977129624": { + "type": "point", + "instances": [ + { + "id": "point_1768977129624_1768977344818_oalu7c3al", + "x": 0.492375, + "y": 0.5021979166666667 + } + ] + }, + "point_1768977129841": { + "type": "point", + "instances": [ + { + "id": "point_1768977129841_1768977346875_we1tj0bpb", + "x": 0.524375, + "y": 0.5021979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹位于声卡插口正上方，方便插入白色插头。", + "frame": 582, + "progress": 80, + "progress_explanation": "爪夹向下移动，白色插头插入声卡插口，因此进度提升到80%。", + "state_description": "爪夹夹取白色插头向下移动，插头插入声卡插口。\n为了完成爪夹夹取白色插头插入声卡插口的任务目标应当：松开爪夹。", + "time": 19.399729090592782, + "annotations": { + "bbox_1768977128696": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128696_1768977358514_9p87hk4im", + "x": 0.491375, + "y": 0.48219791666666667, + "width": 0.03499999999999996, + "height": 0.0933333333333333 + } + ] + }, + "bbox_1768977128832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128832_1768977361794_jk7cl5sa6", + "x": 0.48337499999999994, + "y": 0.5408645833333332, + "width": 0.0330000000000001, + "height": 0.03866666666666679 + } + ] + }, + "point_1768977129624": { + "type": "point", + "instances": [ + { + "id": "point_1768977129624_1768977368627_brciqpb78", + "x": 0.49037500000000006, + "y": 0.5101979166666667 + } + ] + }, + "point_1768977129841": { + "type": "point", + "instances": [ + { + "id": "point_1768977129841_1768977370762_ow7dw2ou1", + "x": 0.532375, + "y": 0.5088645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹松开白色插头，白色插头插入声卡插口。", + "frame": 666, + "progress": 100, + "progress_explanation": "爪夹松开白色插头，白色插头插入声卡插口，因此进度提升到100%。", + "state_description": "爪夹松开白色插头，白色插头插入声卡插口。\n爪夹夹取白色插头插入声卡入口的任务完成。", + "time": 22.2, + "annotations": { + "bbox_1768977128696": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128696_1768977379706_29sbxu98q", + "x": 0.45237499999999997, + "y": 0.19953125000000002, + "width": 0.028000000000000025, + "height": 0.06933333333333333 + } + ] + }, + "bbox_1768977128832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768977128832_1768977382594_sj6zd25g0", + "x": 0.449375, + "y": 0.2501979166666667, + "width": 0.021999999999999974, + "height": 0.02666666666666669 + } + ] + }, + "point_1768977129624": { + "type": "point", + "instances": [ + { + "id": "point_1768977129624_1768977384482_ae38j6iqq", + "x": 0.429375, + "y": 0.5141979166666667 + } + ] + }, + "point_1768977129841": { + "type": "point", + "instances": [ + { + "id": "point_1768977129841_1768977386219_ykkibd4u5", + "x": 0.581375, + "y": 0.51553125 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768977128696", + "name": "白色插头", + "color": "#4CAF50" + }, + { + "id": "bbox_1768977128832", + "name": "声卡插口", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768977129624", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768977129841", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-101616-put-usb-black-protable mixer console-good1/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-101616-put-usb-black-protable mixer console-good1/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..0e1f41f0cb9bbf9022762b46ab3c491e37b1a4e0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-101616-put-usb-black-protable mixer console-good1/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,280 @@ +{ + "task_description": "把USB插入声卡USB接口。\n准备开始移动：0%\n爪夹接近USB：20%\n爪夹夹取USB：40%\n爪夹移动到声卡USB插口上方：60%\n爪夹向下移动插入USB：80%\n爪夹张开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "向前下方移动到USB正上方，调整爪夹角度与地面呈30度夹角，爪夹向下移动，合拢爪夹夹取USB，爪夹向上移动，向前移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹未开始移动,为初始状态,因此进度为0%.", + "state_description": "爪夹张开，未开始移动，爪夹与桌面垂直，为初始状态。\n为完成抓取USB插入声卡USB插口的任务应当：向前下方移动到USB正上方，调整爪夹角度与地面呈30度夹角，爪夹向下移动，合拢爪夹夹取USB，爪夹向上移动，向前移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。", + "time": 1.3083461957474227, + "annotations": { + "bbox_1768980989019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768980989019_1768981026955_6ew10f9oc", + "x": 0.33937500000000004, + "y": 0.5901979166666667, + "width": 0.03099999999999996, + "height": 0.05333333333333326 + } + ] + }, + "bbox_1768980989420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768980989420_1768981034009_rcs1i0ca6", + "x": 0.40737500000000004, + "y": 0.42753125000000003, + "width": 0.03600000000000003, + "height": 0.036000000000000004 + } + ] + }, + "point_1768980990195": { + "type": "point", + "instances": [ + { + "id": "point_1768980990195_1768981051330_e3c5wczv6", + "x": 0.310375, + "y": 0.5058645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向前下方移动,爪夹调整角度.", + "correction_plan": "爪夹向下方移动，调整爪夹角度与地面呈30度夹角，合拢爪夹夹取USB，爪夹向上移动，向前移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。", + "error_success_analysis": "爪夹向前下方移动,调整爪夹角度,方便后续抓取.", + "frame": 96, + "progress": 10, + "progress_explanation": "爪夹向前下方移动,调整角度,缩短与USB的距离,因此进度提升到10%.", + "state_description": "爪夹向前下方移动,爪夹调整角度与地面呈45度,缩短与USB的距离.\n为完成抓取USB插入声卡USB插口的任务应当：爪夹向下方移动，调整爪夹角度与地面呈30度夹角，合拢爪夹夹取USB，爪夹向上移动，向前移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。", + "time": 3.1860437555412373, + "annotations": { + "point_1768980990195": { + "type": "point", + "instances": [ + { + "id": "point_1768980990195_1768981075057_v46wwvqyj", + "x": 0.354375, + "y": 0.5995312500000001 + } + ] + }, + "bbox_1768980989420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768980989420_1768981079609_90mm42k28", + "x": 0.417375, + "y": 0.42353125, + "width": 0.03300000000000001, + "height": 0.04399999999999995 + } + ] + } + } + }, + { + "time": 6.2721605369845355, + "frame": 188, + "progress": 20, + "action_description": "爪夹向下移动,调整爪夹角度.", + "state_description": "爪夹张开,与地面呈30度角,位于USB正上方．\n为完成抓取USB插入声卡USB插口的任务应当：合拢爪夹夹取USB，爪夹向上移动，向前移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。", + "progress_explanation": "爪夹向下移动,调整角度,接近USB,因此进度提升到20%.", + "error_success_analysis": "爪夹调整角度,向下移动靠近USB，方便抓取．", + "correction_plan": "合拢爪夹夹取USB，爪夹向上移动，向前移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。", + "annotations": { + "bbox_1768980989019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768980989019_1768981088521_gxrfhh21o", + "x": 0.346375, + "y": 0.58753125, + "width": 0.020999999999999998, + "height": 0.06666666666666667 + } + ] + }, + "point_1768980990195": { + "type": "point", + "instances": [ + { + "id": "point_1768980990195_1768981090391_bl05fh292", + "x": 0.367375, + "y": 0.61953125 + } + ] + }, + "bbox_1768980989420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768980989420_1768981094560_keyh1ymf7", + "x": 0.409375, + "y": 0.4168645833333333, + "width": 0.04299999999999997, + "height": 0.05599999999999999 + } + ] + } + } + }, + { + "time": 7.164531654510308, + "frame": 215, + "progress": 40, + "action_description": "爪夹合拢.", + "state_description": "爪夹合拢夹紧USB,爪夹与地面呈30度.\n为完成抓取USB插入声卡USB插口的任务应当：爪夹向上移动，向前移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。", + "progress_explanation": "爪夹合拢夹取USB,因此进度提升到40%.", + "error_success_analysis": "爪夹移动到USB附近，爪夹与地面呈30度，方便抓取.", + "correction_plan": "爪夹向上移动，向前移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。", + "annotations": { + "bbox_1768980989420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768980989420_1768981101888_ut8w1bqrt", + "x": 0.414375, + "y": 0.4168645833333333, + "width": 0.03700000000000001, + "height": 0.05066666666666665 + } + ] + } + } + }, + { + "time": 9.414050513273196, + "frame": 282, + "progress": 45, + "action_description": "爪夹向上移动,", + "state_description": "爪夹合拢夹紧USB,向上移动,爪夹与地面呈45度.\n为完成抓取USB插入声卡USB插口的任务应当：向前移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。", + "progress_explanation": "爪夹夹紧USB向上移动,方便后续移动到声卡USB插口上方,因此进度提升到45%.", + "error_success_analysis": "爪夹夹紧USB向上移动,方便后续移动到声卡USB插口上方.", + "correction_plan": "向前移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。", + "annotations": { + "bbox_1768980989420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768980989420_1768981111768_hzzodips4", + "x": 0.399375, + "y": 0.4288645833333334, + "width": 0.03599999999999999, + "height": 0.04799999999999998 + } + ] + } + } + }, + { + "time": 11.342966, + "frame": 340, + "progress": 55, + "action_description": "爪夹向前下方移动.", + "state_description": "爪夹夹紧USB，向前下方移动，爪夹与桌面呈45度.\n为完成抓取USB插入声卡USB插口的任务应当：向下移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。", + "progress_explanation": "爪夹夹取USB,移动到声卡USB插口附近,缩短与声卡USB插口的距离,因此进度提升到45%.", + "error_success_analysis": "爪夹向前下方移动,缩短与声卡USB插口的距离，方便后续插入USB到声卡USB插口.", + "correction_plan": "向下移动到声卡USB插口正上方，爪夹向下移动插入USB，松开爪夹。" + }, + { + "action_description": "爪夹向下移动.", + "correction_plan": "爪夹向下移动,插入USB到声卡USB插口．", + "error_success_analysis": "爪夹向下方移动到声卡USB插口正上方,方便后续插入USB.", + "frame": 383, + "progress": 60, + "progress_explanation": "爪夹移动到声卡USB插口正上方,因此进度提升到60%.", + "state_description": "爪夹合拢抓紧UBS向下移动,爪夹与桌面呈45度,位于声卡USB插口正上方．\n为完成抓取USB插入声卡USB插口的任务应当：爪夹向下移动插入USB，松开爪夹。", + "time": 12.779033268943301 + }, + { + "time": 15.328333, + "frame": 460, + "progress": 80, + "action_description": "爪夹向下移动．", + "state_description": "爪夹合拢抓紧USB向下移动,插入USB到声卡USB插口,爪夹与桌面呈45度.\n为完成抓取USB插入声卡USB插口的任务应当：松开爪夹。", + "progress_explanation": "爪夹向下移动,USB插入声卡USB插口,因此进度提升到80%.", + "error_success_analysis": "爪夹移动到声卡USB插口的正上方，方便插入USB到声卡USB插口.", + "correction_plan": "松开爪夹." + }, + { + "action_description": "爪夹松开.", + "correction_plan": "", + "error_success_analysis": "爪夹松开,USB插入声卡USB插口．", + "frame": 540, + "progress": 100, + "progress_explanation": "抓鸡松开,USB插入声卡USB插口,因此进度提升到100%.", + "state_description": "爪夹松开,USB插入声卡USB插口．\n爪夹夹取USB插入声卡USB插口的任务目标完成.", + "time": 18, + "annotations": { + "point_1768980990195": { + "type": "point", + "instances": [ + { + "id": "point_1768980990195_1768981139577_us9nq95w5", + "x": 0.357375, + "y": 0.29953125 + } + ] + }, + "bbox_1768980989420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768980989420_1768981146440_2kn95zr4f", + "x": 0.43137499999999995, + "y": 0.43953125, + "width": 0.041000000000000016, + "height": 0.04133333333333334 + } + ] + }, + "bbox_1768980989019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768980989019_1768981149319_uadf94ynu", + "x": 0.434375, + "y": 0.40753125, + "width": 0.03200000000000003, + "height": 0.05200000000000002 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768980989019", + "name": "USB", + "color": "#4CAF50" + }, + { + "id": "bbox_1768980989420", + "name": "声卡USB插口", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768980990020", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768980990195", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-103947-put-usb-black-protable mixer console-mix1/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-103947-put-usb-black-protable mixer console-mix1/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..fa2ac4fd74717a91105ed2295b8a4e0358371c86 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-103947-put-usb-black-protable mixer console-mix1/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,764 @@ +{ + "task_description": "把USB插入声卡USB插口.\n准备开始移动:0%\n爪夹接近USB：20%\n爪夹夹取USB：40%\n爪夹接近声卡USB插口：60%\n爪夹向下插入USB:80%\n爪夹松开:100%", + "progress_points": [ + { + "action_description": "爪夹张开,未开始移动.", + "correction_plan": "向右下方移动，调整爪夹角度与地面平行，合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%.", + "state_description": "爪夹张开,爪夹垂直于桌面,处于初始状态,未开始移动.\n为了完成夹取USB插入声卡USB插口的任务目标应当：向右下方移动，调整爪夹角度与地面平行，合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "time": 1.6719587826030926, + "annotations": { + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984460224_1v3b0yiox", + "x": 0.576375, + "y": 0.6488645833333333, + "width": 0.02400000000000002, + "height": 0.04800000000000004 + } + ] + }, + "bbox_1768984410465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410465_1768984463968_1f7i7rf5t", + "x": 0.445375, + "y": 0.46886458333333336, + "width": 0.03700000000000001, + "height": 0.030666666666666665 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984467759_zeelmrklv", + "x": 0.32637499999999997, + "y": 0.26753125 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动,调整爪夹角度.", + "correction_plan": "合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "error_success_analysis": "爪夹向右下方移动,调整爪夹角度,位于USB正上方，方便抓取USB．", + "frame": 136, + "progress": 20, + "progress_explanation": "爪夹移动到USB正上方,方便抓取,因此进度提升到20%.", + "state_description": "爪夹张开,向右下方移动,调整爪夹与桌面平行,位于USB正上方．\n为了完成夹取USB插入声卡USB插口的任务目标应当：合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "time": 4.527766376417526, + "annotations": { + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984473119_uy24vyn34", + "x": 0.512375, + "y": 0.6621979166666667 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984475296_j4jrt4rg3", + "x": 0.631375, + "y": 0.6368645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢.", + "correction_plan": "松开爪夹,爪夹向下移动,合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "error_success_analysis": "爪夹位于USB上方,合拢爪夹未抓取到USB,需调整位置.", + "frame": 166, + "progress": 10, + "progress_explanation": "爪夹合拢,未成功抓取到USB,因此进度降低到10%.", + "state_description": "爪夹合拢,未抓取到USB,爪夹与桌面平行.\n为了完成夹取USB插入声卡USB插口的任务目标应当：松开爪夹,爪夹向下移动,合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "time": 5.54769765992268, + "annotations": { + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984481992_yoxx53c3j", + "x": 0.532375, + "y": 0.71553125 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984483959_uphd1kmk6", + "x": 0.5573750000000001, + "y": 0.7168645833333334 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动.", + "correction_plan": "爪夹张开,爪夹向下移动,合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "error_success_analysis": "爪夹未抓取到USB,并向上移动,远离USB.", + "frame": 205, + "progress": 5, + "progress_explanation": "爪夹向上移动,远离USB,因此进度降低到5%.", + "state_description": "爪夹向上移动,爪夹与桌面垂直,爪夹合拢未抓取USB．\n为了完成夹取USB插入声卡USB插口的任务目标应当：松开爪夹,爪夹向下移动,合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "time": 6.829896987757731, + "annotations": { + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984491455_a995mlku9", + "x": 0.576375, + "y": 0.6488645833333333, + "width": 0.02400000000000002, + "height": 0.04800000000000004 + } + ] + }, + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984495391_mwrh0mk1f", + "x": 0.529375, + "y": 0.6061979166666667 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984497871_74iabba18", + "x": 0.556375, + "y": 0.60353125 + } + ] + } + } + }, + { + "time": 7.5472, + "frame": 226, + "progress": 10, + "action_description": "爪夹张开.", + "state_description": "爪夹张开,位于USB正上方,爪夹与桌面平行.\n为了完成夹取USB插入声卡USB插口的任务目标应当：爪夹向下移动,合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "progress_explanation": "爪夹张开,位于USB正上方,方便后续抓取,因此进度提升到10%.", + "error_success_analysis": "爪夹张开,位于USB正上方,方便后续抓取.", + "correction_plan": "爪夹向下移动,合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "annotations": { + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984506927_jrr8f0pr2", + "x": 0.576375, + "y": 0.64753125, + "width": 0.02300000000000004, + "height": 0.05333333333333338 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984509919_tjwrmrc1t", + "x": 0.591375, + "y": 0.5341979166666667 + } + ] + }, + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984512158_cokme06xm", + "x": 0.477375, + "y": 0.5528645833333333 + } + ] + } + } + }, + { + "time": 9.525866, + "frame": 286, + "progress": 20, + "action_description": "爪夹向下移动.", + "state_description": "爪夹张开,爪夹向下移动,爪夹与桌面平行.\n为了完成夹取USB插入声卡USB插口的任务目标应当：合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "progress_explanation": "爪夹向下移动,靠近USB,因此进度提升到20%.", + "error_success_analysis": "爪夹向正下方移动,靠近USB正上方，方便后续抓取．", + "correction_plan": "合拢爪夹夹取USB，爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "annotations": { + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984525918_jpojd51l0", + "x": 0.576375, + "y": 0.6501979166666667, + "width": 0.02400000000000002, + "height": 0.04666666666666662 + } + ] + }, + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984528198_eg18oqnkb", + "x": 0.517375, + "y": 0.62353125 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984530351_2f2n2o5xc", + "x": 0.631375, + "y": 0.6061979166666667 + } + ] + } + } + }, + { + "time": 11.137066, + "frame": 334, + "progress": 40, + "action_description": "爪夹合拢.", + "state_description": "爪夹合拢夹紧UBS,爪夹与桌面平行.\n为了完成夹取USB插入声卡USB插口的任务目标应当：爪夹夹紧USB向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "progress_explanation": "爪夹合拢,夹紧USB，因此进度提升到40%.", + "error_success_analysis": "爪夹向下移动,接近USB,方便合拢夹取USB．", + "correction_plan": "爪夹向上移动，向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "annotations": { + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984537542_5p1m6zoyv", + "x": 0.564375, + "y": 0.65553125, + "width": 0.025, + "height": 0.047999999999999925 + } + ] + }, + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984539918_q1es51nff", + "x": 0.552375, + "y": 0.6728645833333334 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984542038_7pyxg472r", + "x": 0.600375, + "y": 0.66753125 + } + ] + } + } + }, + { + "time": 12.599793963015465, + "frame": 378, + "progress": 45, + "action_description": "爪夹向上移动.", + "state_description": "爪夹合拢抓紧USB,爪夹向上移动,爪夹与桌面平行.\n为了完成夹取USB插入声卡USB插口的任务目标应当：向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "progress_explanation": "爪夹向上移动,方便移动到声卡USB插口上方,因此进度提升到45%.", + "error_success_analysis": "爪夹垂直于桌面,爪夹合拢夹取USB,方便移动.", + "correction_plan": "爪夹向左下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "annotations": { + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984564397_jp7y3a2gg", + "x": 0.5703750000000001, + "y": 0.46619791666666666, + "width": 0.025, + "height": 0.03733333333333331 + } + ] + }, + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984566885_8uafr8ms9", + "x": 0.5503750000000001, + "y": 0.4861979166666667 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984569732_aewwteyqp", + "x": 0.599375, + "y": 0.48219791666666667 + } + ] + }, + "bbox_1768984410465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410465_1768984574461_z34bg5i75", + "x": 0.453375, + "y": 0.47019791666666666, + "width": 0.027000000000000045, + "height": 0.02666666666666669 + } + ] + } + } + }, + { + "time": 13.7376, + "frame": 412, + "progress": 50, + "action_description": "爪夹向左移动.", + "state_description": "爪夹合拢夹紧USB,向左移动到声卡USB插口上方,远离声卡USB插口.\n为了完成夹取USB插入声卡USB插口的任务目标应当：爪夹向下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "progress_explanation": "爪夹向左移动到声卡USB插口上方，未接近声卡USB插口，因此进度提升到50%.", + "error_success_analysis": "爪夹向左方移动到声卡USB插口的正上方,方便插入USB.", + "correction_plan": "爪夹向下方移动到声卡USB接口的正上方,向下移动爪夹插入USB，松开爪夹．", + "annotations": { + "bbox_1768984410465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410465_1768984588085_d6y210o3i", + "x": 0.449375, + "y": 0.4728645833333333, + "width": 0.03300000000000001, + "height": 0.017333333333333378 + } + ] + }, + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984643139_3yjhrhjkd", + "x": 0.42037500000000005, + "y": 0.32753125, + "width": 0.025999999999999978, + "height": 0.03200000000000003 + } + ] + }, + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984645403_29ipfzvp4", + "x": 0.397375, + "y": 0.33419791666666665 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984647315_8w3x5h78n", + "x": 0.446375, + "y": 0.3288645833333333 + } + ] + } + } + }, + { + "time": 15.461866, + "frame": 464, + "progress": 55, + "action_description": "爪夹向下移动.", + "state_description": "爪夹夹紧USB,与桌面平行,爪夹向下移动,缩短爪夹与声卡USB插口的距离.\n为了完成夹取USB插入声卡USB插口的任务目标应当：爪夹微调位置,爪夹向下移动插入USB，松开爪夹．", + "progress_explanation": "爪夹向下移动,缩短爪夹与声卡USB插口的距离,因此进度提升到55%.", + "error_success_analysis": "爪夹向下移动,缩短爪夹与声卡USB插口的距离,方便后续插入USB.", + "correction_plan": "爪夹微调位置,爪夹向下移动,插入USB，松开爪夹．", + "annotations": { + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984602572_ku0zd1mlu", + "x": 0.43137499999999995, + "y": 0.4221979166666667 + } + ] + }, + "bbox_1768984410465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410465_1768984609956_gfyxweh1r", + "x": 0.45137499999999997, + "y": 0.46353125, + "width": 0.03300000000000001, + "height": 0.03200000000000003 + } + ] + }, + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984660028_emgxm39wo", + "x": 0.455375, + "y": 0.4221979166666667, + "width": 0.021999999999999974, + "height": 0.03733333333333331 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984674130_0qqnk650f", + "x": 0.472375, + "y": 0.4088645833333333 + } + ] + } + } + }, + { + "time": 19.24391775270619, + "frame": 577, + "progress": 60, + "action_description": "爪夹向左微调.", + "state_description": "爪夹夹紧USB,向左侧略微移动,使USB对准声卡USB插口,位于声卡USB插口的正上方.\n为了完成夹取USB插入声卡USB插口的任务目标应当：爪夹向下移动插入USB，松开爪夹．", + "progress_explanation": "爪夹微调使USB对准声卡USB插口,方便插入USB,因此进度提升到60%.", + "error_success_analysis": "爪夹向下移动,插入USB，松开爪夹．", + "correction_plan": "爪夹向下移动,插入USB到声卡USB插口,松开爪夹.", + "annotations": { + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984681826_9p2y3c7un", + "x": 0.442375, + "y": 0.42753125000000003, + "width": 0.02400000000000002, + "height": 0.06800000000000003 + } + ] + }, + "bbox_1768984410465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410465_1768984685251_oa9i4dpfu", + "x": 0.449375, + "y": 0.47419791666666666, + "width": 0.03199999999999994, + "height": 0.02666666666666663 + } + ] + }, + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984687602_q7vkr827e", + "x": 0.422375, + "y": 0.43419791666666663 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984693498_aogz4apxa", + "x": 0.467375, + "y": 0.41953125 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动.", + "correction_plan": "爪夹向下移动,插入USB到声卡USB插口,松开爪夹.", + "error_success_analysis": "爪夹向相反的方向移动,爪夹远离声卡USB插口.", + "frame": 594, + "progress": 50, + "progress_explanation": "爪夹向上移动,远离声卡USB插口,因此进度降低到50%.", + "state_description": "爪夹夹紧USB,爪夹向上移动,爪夹远离声卡USB插口.\n为了完成夹取USB插入声卡USB插口的任务目标应当：爪夹向下移动插入USB，松开爪夹．", + "time": 19.79759473518041, + "annotations": { + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984699322_qx5pz4r15", + "x": 0.449375, + "y": 0.40219791666666665, + "width": 0.02999999999999998, + "height": 0.05333333333333332 + } + ] + }, + "bbox_1768984410465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410465_1768984702817_ml6v4o0jy", + "x": 0.446375, + "y": 0.45686458333333335, + "width": 0.041000000000000016, + "height": 0.036000000000000004 + } + ] + }, + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984705249_eq7rivwdk", + "x": 0.446375, + "y": 0.40619791666666666 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984707289_l1y3dw5gt", + "x": 0.471375, + "y": 0.39953125 + } + ] + } + } + }, + { + "time": 21.737066, + "frame": 652, + "progress": 60, + "action_description": "爪夹向下移动.", + "state_description": "爪夹合拢夹紧USB,爪夹向下移动,位于声卡USB插口的正上方.\n为了完成夹取USB插入声卡USB插口的任务目标应当：爪夹向下移动插入USB，松开爪夹．", + "progress_explanation": "爪夹向下移动到声卡USB插口的正上方,因此进度提升到60%.", + "error_success_analysis": "爪夹向下移动到声卡USB插口的正上方,方便后续插入USB.", + "correction_plan": "爪夹向下移动,插入USB到声卡USB插口,松开爪夹.", + "annotations": { + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984713945_wcir18hy7", + "x": 0.450375, + "y": 0.43953125, + "width": 0.02999999999999998, + "height": 0.05466666666666668 + } + ] + }, + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984716289_9gf9g13nu", + "x": 0.45437500000000003, + "y": 0.45019791666666664 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984719009_66ji094mi", + "x": 0.475375, + "y": 0.44086458333333334 + } + ] + }, + "bbox_1768984410465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410465_1768984722601_iuzwp2l5d", + "x": 0.449375, + "y": 0.47419791666666666, + "width": 0.03700000000000001, + "height": 0.0293333333333333 + } + ] + } + } + }, + { + "time": 25.421787241365983, + "frame": 763, + "progress": 80, + "action_description": "爪夹向下移动.", + "state_description": "爪夹合拢夹紧USB,爪夹向下移动,插入USB到声卡USB插口.\n为了完成夹取USB插入声卡USB插口的任务目标应当：松开爪夹．", + "progress_explanation": "爪夹向下移动,插入USB到声卡USB插口,因此进度提升到80%.", + "error_success_analysis": "爪夹向下移动,位于声卡USB插口的正上方，方便插入．", + "correction_plan": "松开爪夹.", + "annotations": { + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984727481_6d4mmh0z6", + "x": 0.49037500000000006, + "y": 0.45686458333333335, + "width": 0.025, + "height": 0.04933333333333329 + } + ] + }, + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984729769_0pnq8qqwe", + "x": 0.489375, + "y": 0.48353125 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984732553_depah0zqk", + "x": 0.514375, + "y": 0.47686458333333337 + } + ] + }, + "bbox_1768984410465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410465_1768984736680_fkj9zpmul", + "x": 0.48637500000000006, + "y": 0.48753125, + "width": 0.03499999999999996, + "height": 0.027999999999999994 + } + ] + } + } + }, + { + "action_description": "爪夹松开.", + "correction_plan": "", + "error_success_analysis": "爪夹松开,USB插入声卡USB插口.", + "frame": 847, + "progress": 100, + "progress_explanation": "爪夹松开,USB插入声卡USB插口,因此进度提升到100%.", + "state_description": "爪夹松开,USB插入声卡USB插口.\n爪夹夹取USB插入声卡USB插口的任务目标完成.", + "time": 28.233333333333334, + "annotations": { + "bbox_1768984410041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410041_1768984746080_3btd61nuh", + "x": 0.484375, + "y": 0.45553125, + "width": 0.028000000000000025, + "height": 0.05200000000000002 + } + ] + }, + "bbox_1768984410465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768984410465_1768984750184_4rfontp7i", + "x": 0.485375, + "y": 0.4888645833333333, + "width": 0.03200000000000003, + "height": 0.03200000000000003 + } + ] + }, + "point_1768984411041": { + "type": "point", + "instances": [ + { + "id": "point_1768984411041_1768984752391_caf3z1fk6", + "x": 0.434375, + "y": 0.33553125 + } + ] + }, + "point_1768984411201": { + "type": "point", + "instances": [ + { + "id": "point_1768984411201_1768984754248_y98uz3gh5", + "x": 0.49437500000000006, + "y": 0.3221979166666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768984410041", + "name": "USB", + "color": "#4CAF50" + }, + { + "id": "bbox_1768984410465", + "name": "声卡USB插口", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768984411041", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768984411201", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-112130-put-tower-black-solution stain-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-112130-put-tower-black-solution stain-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..ef8d1bac1ff2aa054372626703b2d0a3b20dcc5c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-112130-put-tower-black-solution stain-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,492 @@ +{ + "task_description": "抓取抹布擦拭桌面上洒落的药液.\n准备开始移动:0%\n夹取抹布:20%\n移动抹布到桌面上:40%\n抹布完成擦拭桌面:60%\n移动抹布到初始位置:80%\n松开爪夹:100", + "progress_points": [ + { + "action_description": "爪夹张开,未开始移动.", + "correction_plan": "爪夹向左下移动到抹布的正上方,合拢爪夹夹取抹布,向右前方移动爪夹到杯污染桌面的左前方,向下移动爪夹使抹布接触桌面,向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹未开始移动,处于初始状态,因此进度为0%.", + "state_description": "爪夹张开,未开始移动,爪夹与桌面呈45度,处于初始状态.\n为了完成夹取抹布擦拭桌面的任务目标应当:爪夹向左下移动到抹布的正上方,合拢爪夹夹取抹布,向右前方移动爪夹到杯污染桌面的左前方,向下移动爪夹使抹布接触桌面,向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 1.3380669854381444, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046606038_pcqck9s8a", + "x": 0.354375, + "y": 0.49786458333333333, + "width": 0.14299999999999996, + "height": 0.2866666666666667 + } + ] + }, + "point_1769046574713": { + "type": "point", + "instances": [ + { + "id": "point_1769046574713_1769046608606_lctbc9edt", + "x": 0.597375, + "y": 0.7058645833333334 + } + ] + }, + "bbox_1769046573727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573727_1769046612143_nnllilw0x", + "x": 0.636375, + "y": 0.3711979166666667, + "width": 0.13899999999999996, + "height": 0.30400000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹向左下方移动.", + "correction_plan": "爪合拢爪夹夹取抹布,向右前方移动爪夹到杯污染桌面的左前方,向下移动爪夹使抹布接触桌面,向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "爪夹向左下方当移动,接近抹布,方便抓取.", + "frame": 86, + "progress": 15, + "progress_explanation": "爪夹接近抹布的正上方,方便抓取,因此进度提升到15%.", + "state_description": "爪夹张开,向左下方移动到抹布的正上方,爪夹与桌面垂直.\n为了完成夹取抹布擦拭桌面的任务目标应当:爪合拢爪夹夹取抹布,向右前方移动爪夹到杯污染桌面的左前方,向下移动爪夹使抹布接触桌面,向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 2.8725686751288664, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046621134_m0bsw8xle", + "x": 0.356375, + "y": 0.4791979166666667, + "width": 0.14499999999999996, + "height": 0.32933333333333337 + } + ] + }, + "bbox_1769046573727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573727_1769046630142_csgb55vop", + "x": 0.631375, + "y": 0.3751979166666667, + "width": 0.14400000000000004, + "height": 0.30000000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹合拢.", + "correction_plan": "向上移动爪夹,向右前方移动爪夹到杯污染桌面的左前方,向下移动爪夹使抹布接触桌面,向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "爪夹向左下方移动,接近抹布,方便抓取.", + "frame": 114, + "progress": 20, + "progress_explanation": "爪夹合拢夹紧抹布,因此进度提升到20%.", + "state_description": "爪夹合拢夹紧抹布,爪夹与地面垂直.\n为了完成夹取抹布擦拭桌面的任务目标应当:向上移动爪夹,向右前方移动爪夹到杯污染桌面的左前方,向下移动爪夹使抹布接触桌面,向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 3.7969672833762886, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046636797_5a09ptuir", + "x": 0.377375, + "y": 0.47253125, + "width": 0.123, + "height": 0.30533333333333335 + } + ] + }, + "bbox_1769046573727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573727_1769046640749_2opp95fd2", + "x": 0.636375, + "y": 0.3751979166666667, + "width": 0.13799999999999998, + "height": 0.29866666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹向上方移动.", + "correction_plan": "向右前方移动爪夹到杯污染桌面的左前方,向下移动爪夹使抹布接触桌面,向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "爪夹合拢抓取抹布,向上移动爪夹,方便后续移动抹布到桌面被污染处.", + "frame": 158, + "progress": 25, + "progress_explanation": "爪夹夹取抹布,并向上移动,方便移动至桌面被污染处,因此进度提升到25%.", + "state_description": "爪夹合拢夹紧抹布,向上移动,爪夹垂直于桌面.\n为了完成夹取抹布擦拭桌面的任务目标应当:向右前方移动爪夹到杯污染桌面的左前方,向下移动爪夹使抹布接触桌面,向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 5.257517084407217, + "annotations": { + "bbox_1769046573727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573727_1769046650085_4wxkn5qty", + "x": 0.636375, + "y": 0.38053125, + "width": 0.13799999999999998, + "height": 0.2933333333333333 + } + ] + }, + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046655501_hpkkm611g", + "x": 0.384375, + "y": 0.36453125, + "width": 0.12700000000000006, + "height": 0.29999999999999993 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动.", + "correction_plan": "向下移动爪夹使抹布接触桌面,向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "爪夹向右前方移动,爪夹位于被污染桌面上方,方便后续擦桌子.", + "frame": 192, + "progress": 30, + "progress_explanation": "爪夹向右前方移动,抹布靠近被污染桌面,因此进度提升到30%.", + "state_description": "爪夹合拢夹紧抹布,向右前方移动,爪夹垂直于桌面.\n为了完成夹取抹布擦拭桌面的任务目标应当:向下移动爪夹使抹布接触桌面,向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 6.385283386469073, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046671845_4956b00b2", + "x": 0.551375, + "y": 0.15386458333333333, + "width": 0.125, + "height": 0.23466666666666666 + } + ] + }, + "bbox_1769046573727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573727_1769046675717_86uo2a48j", + "x": 0.616375, + "y": 0.34853125, + "width": 0.15899999999999997, + "height": 0.3266666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动.", + "correction_plan": "向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "爪夹向下移动,使抹布贴近桌面,方便后续擦拭.", + "frame": 216, + "progress": 40, + "progress_explanation": "爪夹向下移动,抹布位于被污染桌面之上,因此进度提升到40%.", + "state_description": "爪夹合拢夹取抹布,向下移动,抹布接触桌子污染处.\n为了完成夹取抹布擦拭桌面的任务目标应当:向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 7.191266, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046684380_w0iv8ee2a", + "x": 0.5743750000000001, + "y": 0.17119791666666667, + "width": 0.11299999999999999, + "height": 0.26266666666666666 + } + ] + }, + "bbox_1769046573727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573727_1769046688292_8iz8p5rmw", + "x": 0.650375, + "y": 0.41919791666666667, + "width": 0.121, + "height": 0.252 + } + ] + } + } + }, + { + "action_description": "爪夹向右后方移动。", + "correction_plan": "爪夹向上移动，向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "爪夹垂直于桌面，向右后方移动，成功接触药液。", + "frame": 286, + "progress": 45, + "progress_explanation": "爪夹向右后方移动，因此进度提升到45%.", + "state_description": "爪夹合拢夹紧毛巾，向右后方移动，爪夹垂直于桌面。\n为了完成夹取抹布擦拭桌面的任务目标应当:爪夹向上移动，向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 9.522599, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046696932_e9wxy7770", + "x": 0.711375, + "y": 0.52053125, + "width": 0.13600000000000012, + "height": 0.2986666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "爪夹向上移动，方便后续放置抹布。", + "frame": 313, + "progress": 47, + "progress_explanation": "爪夹向上移动，方便回到初始位置，因此进度提示47%。", + "state_description": "爪夹合拢，向正上方移动，爪夹垂直于桌面。\n为了完成夹取抹布擦拭桌面的任务目标应当:向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 10.419266, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046724436_ef7k6z5ls", + "x": 0.736375, + "y": 0.3368645833333333, + "width": 0.1749999999999999, + "height": 0.3266666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向前方移动。", + "correction_plan": "爪夹向下移动，向右后方移动爪夹,擦掉桌面药液,爪夹向正上方移动，向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "爪夹夹紧毛巾向正前方移动，方便第二次擦拭桌面。", + "frame": 331, + "progress": 50, + "progress_explanation": "爪夹向正前方移动，重复擦拭的动作，因此进度提升到50%。", + "state_description": "爪夹合拢夹紧抹布，向正前方移动。\n为了完成夹取抹布擦拭桌面的任务目标应当:向下移动爪夹，向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 11.046933, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046736187_9vo9cp68f", + "x": 0.645375, + "y": 0.25786458333333334, + "width": 0.10599999999999996, + "height": 0.27066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向正下方移动。", + "correction_plan": "向右后方移动爪夹,擦掉桌面药液,爪夹向正上方移动，向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "爪甲向下移动到桌面，方便后续第二次擦拭。", + "frame": 345, + "progress": 55, + "progress_explanation": "爪夹向下移动，抹布贴于桌面，因此进度提升到55%。", + "state_description": "爪夹合拢夹紧毛巾，向下移动，爪夹垂直于桌面。\n为了完成夹取抹布擦拭桌面的任务目标应当:向右后方移动爪夹,擦掉桌面药液,向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 11.513199, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046748347_rwpakz1g7", + "x": 0.659375, + "y": 0.26853125, + "width": 0.12199999999999997, + "height": 0.2826666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向右后方移动。", + "correction_plan": "爪夹向正上方移动，向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "爪夹向右后方移动，抹布成功擦拭掉药液。", + "frame": 369, + "progress": 60, + "progress_explanation": "爪夹向右后方移动，擦拭桌面药液，因此进度提升到60%。", + "state_description": "爪夹合拢夹紧抹布，爪夹垂直于桌面，向右后方移动。\n为了完成夹取抹布擦拭桌面的任务目标应当:爪夹向上移动，向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 12.301434479252578, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046755362_5um36xcts", + "x": 0.714375, + "y": 0.3418645833333333, + "width": 0.12600000000000006, + "height": 0.28 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "error_success_analysis": "爪夹合拢向上移动，方便后续回到初始位置。", + "frame": 394, + "progress": 65, + "progress_explanation": "爪夹向上移动，方便回到初始位置，因此进度提升到65%。", + "state_description": "爪夹合拢夹紧抹布，爪夹向正上方移动，爪夹垂直于桌面。\n为了完成夹取抹布擦拭桌面的任务目标应当:向左侧移动爪夹回到初始位置,向下移动爪夹,松开爪夹放置抹布.", + "time": 13.127199, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046760898_0elzxxmbt", + "x": 0.522375, + "y": 0.24053125, + "width": 0.154, + "height": 0.36000000000000004 + } + ] + } + } + }, + { + "time": 14.848799, + "frame": 445, + "progress": 70, + "action_description": "爪夹向左侧移动。", + "state_description": "爪夹合拢夹紧抹布，爪夹垂直于桌面，爪夹向做测移动到初始位置上方。\n为了完成夹取抹布擦拭桌面的任务目标应当:向向下移动爪夹,松开爪夹放置抹布.", + "progress_explanation": "爪夹移动到初始位置上方，因此进度提升到70%。", + "error_success_analysis": "爪夹向左侧移动，位于初始位置上方，方便后续放置。", + "correction_plan": "向下移动爪夹，松开爪夹。", + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046769594_uhtyq131o", + "x": 0.387375, + "y": 0.4941979166666667, + "width": 0.13899999999999996, + "height": 0.3186666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹向下移动到初始位置，方便放置。", + "frame": 491, + "progress": 80, + "progress_explanation": "爪夹向下移动到初始位置，因此进度提升到80%。", + "state_description": "爪夹合拢夹紧抹布，向下移动到初始位置。\n为了完成夹取抹布擦拭桌面的任务目标应当:松开爪夹放置抹布.", + "time": 16.368788355541238, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046775572_od0onmy3h", + "x": 0.379375, + "y": 0.4711979166666667, + "width": 0.12599999999999997, + "height": 0.29066666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，抹布落于桌面初始位置。", + "frame": 538, + "progress": 100, + "progress_explanation": "爪夹张开放置抹布，因此进度提升到100%。", + "state_description": "爪夹张开，放置抹布到桌面上。\n爪夹夹取抹布擦拭桌面的任务目标完成，", + "time": 17.933333, + "annotations": { + "bbox_1769046573103": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046573103_1769046782491_0nqbz6u76", + "x": 0.385375, + "y": 0.4808645833333333, + "width": 0.11099999999999999, + "height": 0.2853333333333334 + } + ] + }, + "point_1769046574511": { + "type": "point", + "instances": [ + { + "id": "point_1769046574511_1769046784217_0ixllwfn3", + "x": 0.399375, + "y": 0.5768645833333333 + } + ] + }, + "point_1769046574713": { + "type": "point", + "instances": [ + { + "id": "point_1769046574713_1769046786250_xigopcqx0", + "x": 0.515375, + "y": 0.5821979166666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769046573103", + "name": "抹布", + "color": "#4CAF50" + }, + { + "id": "bbox_1769046573727", + "name": "药液", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769046574511", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769046574713", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-113053-put-tower-black-solution stain-mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-113053-put-tower-black-solution stain-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c05eef231849845647d2f7d3de8bef934dc9e7c4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-113053-put-tower-black-solution stain-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,1067 @@ +{ + "task_description": "抓取抹布擦拭桌面药液。\n准备开始移动：0%\n爪夹抓取抹布：20%\n爪夹移动到药液附近：40%\n爪夹擦拭药液完成：60%\n爪夹回到初始位置：80%\n爪夹松开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向下移动到抹布正上方，爪夹合拢夹取抹布，爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度未0%。", + "state_description": "爪夹张开，爪夹垂直于桌面，未开始移动，处于初始状态。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹向下移动到抹布正上方，调整爪夹角度，爪夹合拢夹取抹布，爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "time": 1.3498711340206186, + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052075908_pol1yodxc", + "x": 0.15437499999999998, + "y": 0.5901979166666667, + "width": 0.12100000000000002, + "height": 0.2973333333333333 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052095900_mnomd0qns", + "x": 0.5073749999999999, + "y": 0.5008645833333334, + "width": 0.25200000000000006, + "height": 0.24933333333333335 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052106907_o0gpr93yk", + "x": 0.159375, + "y": 0.6101979166666667, + "width": 0.11499999999999999, + "height": 0.2773333333333333 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052109307_idib1wxqp", + "x": 0.295375, + "y": 0.57953125 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，爪夹调整角度。", + "correction_plan": "", + "error_success_analysis": "爪夹向下移动，并调整爪夹角度，方便后续抓取抹布。", + "frame": 91, + "progress": 10, + "progress_explanation": "爪夹调整角度并向下移动到抹布正上方，因此进度提升到10%。", + "state_description": "爪夹向下移动，调整角度与桌面平行，位于抹布正上方。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹合拢夹取抹布，爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "time": 3.0251288659793816, + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052117043_rtqcn8y25", + "x": 0.163375, + "y": 0.5768645833333333, + "width": 0.13599999999999998, + "height": 0.30799999999999994 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052128611_936y9uk9e", + "x": 0.164375, + "y": 0.5808645833333334, + "width": 0.13299999999999998, + "height": 0.30266666666666675 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052133890_oslwzr54p", + "x": 0.510375, + "y": 0.5021979166666667, + "width": 0.24899999999999994, + "height": 0.23466666666666663 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052143746_ckk28xtwp", + "x": 0.270375, + "y": 0.6888645833333334 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹松开，向下移动到抹布正上方，爪夹合拢夹取抹布，爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢，未成功抓取到抹布。", + "frame": 114, + "progress": 5, + "progress_explanation": "爪夹合拢未成功夹取抹布，因此进度降低为5%。", + "state_description": "爪夹合拢，未抓取到抹布，爪夹与桌面平行。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹松开，向下移动到抹布正上方，爪夹合拢夹取抹布，爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "time": 3.798324742268041, + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052150114_9s2zl1qtc", + "x": 0.157375, + "y": 0.5688645833333333, + "width": 0.13000000000000003, + "height": 0.32533333333333336 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052154316_kknb4xexf", + "x": 0.160375, + "y": 0.5808645833333334, + "width": 0.12500000000000003, + "height": 0.3133333333333334 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052160546_2xfinwj4d", + "x": 0.5133749999999999, + "y": 0.5021979166666667, + "width": 0.24800000000000014, + "height": 0.23999999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "爪夹松开，向下移动到抹布正上方，爪夹合拢夹取抹布，爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢未抓取抹布，向上移动远离抹布。", + "frame": 148, + "progress": -5, + "progress_explanation": "爪夹合拢向上移动，远离抹布，因此进度降低为-5%。", + "state_description": "爪夹合拢，向正上方移动，远离抹布。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹松开，向下移动到抹布正上方，爪夹合拢夹取抹布，爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "time": 4.932345360824742, + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052186977_864ww7uox", + "x": 0.15237499999999998, + "y": 0.58753125, + "width": 0.15000000000000002, + "height": 0.2946666666666667 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052191225_zeuuglcng", + "x": 0.15537499999999999, + "y": 0.5901979166666667, + "width": 0.14900000000000002, + "height": 0.29066666666666663 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052216168_ux9ewmosj", + "x": 0.510375, + "y": 0.49553125000000003, + "width": 0.24900000000000003, + "height": 0.25199999999999995 + } + ] + }, + "point_1769052048381": { + "type": "point", + "instances": [ + { + "id": "point_1769052048381_1769052221936_fz4ujynl6", + "x": 0.171375, + "y": 0.5741979166666666 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052224272_w2xp9ievk", + "x": 0.20437500000000003, + "y": 0.5688645833333333 + } + ] + } + } + }, + { + "time": 5.7, + "frame": 171, + "progress": 5, + "action_description": "爪夹张开。", + "state_description": "爪夹张开，爪夹与桌面呈45度，位于抹布正上方。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：向下移动到抹布正上方，调整角度，爪夹合拢夹取抹布，爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹松开，位于抹布正上方，因此进度提升到5%。", + "error_success_analysis": "爪夹张开，方便后续抓取。", + "correction_plan": "向下移动到抹布正上方，调整角度，爪夹合拢夹取抹布，爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052229232_jfdab8rmc", + "x": 0.250375, + "y": 0.53553125 + } + ] + }, + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052234033_3itigvyvq", + "x": 0.159375, + "y": 0.54753125, + "width": 0.13599999999999998, + "height": 0.3453333333333333 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052419683_qew0z2u1e", + "x": 0.161375, + "y": 0.5528645833333333, + "width": 0.12999999999999998, + "height": 0.33999999999999997 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052425106_7uz9k0g49", + "x": 0.502375, + "y": 0.4941979166666667, + "width": 0.262, + "height": 0.252 + } + ] + } + } + }, + { + "time": 6.6, + "frame": 198, + "progress": 10, + "action_description": "爪夹向下移动，调整角度。", + "state_description": "爪夹张开，爪夹平行于桌面，位于抹布正上方。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹合拢夹取抹布，爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向下移动到抹布正上方，方便抓取，因此进度提升到10%。", + "error_success_analysis": "爪夹位于抹布正上方，方便后续抓取。", + "correction_plan": "爪夹合拢夹取抹布，爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052433058_zlclo9q9y", + "x": 0.27937500000000004, + "y": 0.6821979166666666 + } + ] + }, + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052437754_t05nvm0ls", + "x": 0.164375, + "y": 0.5928645833333334, + "width": 0.14, + "height": 0.29333333333333333 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052452705_4uhdejsx7", + "x": 0.166375, + "y": 0.5968645833333334, + "width": 0.138, + "height": 0.29066666666666663 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052457106_rauf098ps", + "x": 0.506375, + "y": 0.4861979166666667, + "width": 0.253, + "height": 0.26 + } + ] + } + } + }, + { + "time": 7.7, + "frame": 231, + "progress": 20, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢，平行于桌面，合拢抓取抹布。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹合拢夹紧到抹布，因此进度提升到20%。", + "error_success_analysis": "爪夹合拢，成功抓取到抹布。", + "correction_plan": "爪夹向上移动，向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052471497_feywix2j9", + "x": 0.165375, + "y": 0.5768645833333333, + "width": 0.127, + "height": 0.32000000000000006 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052478761_wrusheako", + "x": 0.166375, + "y": 0.5808645833333334, + "width": 0.124, + "height": 0.312 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052483145_h55u4ddua", + "x": 0.505375, + "y": 0.4901979166666667, + "width": 0.254, + "height": 0.26399999999999996 + } + ] + } + } + }, + { + "time": 8.65, + "frame": 260, + "progress": 27, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢，夹紧抹布向上移动。爪夹与桌面呈45度。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹夹紧抹布向上移动，因此进度提升到27%。", + "error_success_analysis": "爪夹合拢夹紧抹布，方便后续移动到药液附近。", + "correction_plan": "爪夹向右前方移动到药液上方，爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052491265_v930mmml3", + "x": 0.11737500000000001, + "y": 0.17286458333333335, + "width": 0.16, + "height": 0.3893333333333333 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052495081_gzqss0uee", + "x": 0.167375, + "y": 0.61553125, + "width": 0.148, + "height": 0.2746666666666667 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052498857_tybvikoh7", + "x": 0.502375, + "y": 0.4928645833333334, + "width": 0.25900000000000006, + "height": 0.25599999999999995 + } + ] + } + } + }, + { + "time": 9.674613402061857, + "frame": 290, + "progress": 33, + "action_description": "爪夹向右前方移动。", + "state_description": "爪夹合拢，爪夹向右前方移动到药液正上方。爪夹与桌面呈30度。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向右前方移动到药液正上方，因此进度提升到33%。", + "error_success_analysis": "爪夹向右前方移动到药液上方，方便后续擦拭。", + "correction_plan": "爪夹向下移动使抹布接触桌面，爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052507112_9yajidjim", + "x": 0.597375, + "y": 0.026197916666666668, + "width": 0.14300000000000007, + "height": 0.34400000000000003 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052509696_7974xcbvz", + "x": 0.651375, + "y": 0.23419791666666667 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052515128_uxrxyxy11", + "x": 0.500375, + "y": 0.49686458333333333, + "width": 0.25999999999999995, + "height": 0.25199999999999995 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052518673_feg55kfdp", + "x": 0.177375, + "y": 0.6301979166666667, + "width": 0.163, + "height": 0.3 + } + ] + } + } + }, + { + "time": 11.075, + "frame": 332, + "progress": 40, + "action_description": "爪夹向下移动。", + "state_description": "爪夹合拢，爪夹向下移动使抹布接触桌面，爪夹与桌面呈45度角。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向下移动，抹布接触桌面，位于药液附近，因此进度提升到40%。", + "error_success_analysis": "爪夹向下移动，抹布接触桌面，方便擦拭。", + "correction_plan": "爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052535071_hfqoy1nmm", + "x": 0.23537500000000003, + "y": 0.63953125, + "width": 0.15499999999999997, + "height": 0.26799999999999996 + } + ] + }, + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052537976_9yr1uys5h", + "x": 0.529375, + "y": 0.24219791666666665, + "width": 0.15099999999999997, + "height": 0.2986666666666667 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052540119_n70fa3ogf", + "x": 0.611375, + "y": 0.44086458333333334 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052545456_rylnmb44n", + "x": 0.501375, + "y": 0.5021979166666667, + "width": 0.261, + "height": 0.23999999999999996 + } + ] + } + } + }, + { + "time": 13.05, + "frame": 392, + "progress": 44, + "action_description": "爪夹向右后方移动。", + "state_description": "爪夹合拢夹紧抹布，爪夹与桌面呈45度，爪夹向右后方移动。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹夹紧抹布向右后方移动，擦拭掉部分药液，因此进度提升到44%。", + "error_success_analysis": "爪夹向右后方移动，成功擦拭掉部分药液。", + "correction_plan": "爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052550495_r7up419sy", + "x": 0.20437500000000003, + "y": 0.6728645833333334, + "width": 0.14499999999999996, + "height": 0.24666666666666662 + } + ] + }, + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052553383_gm1va0ftx", + "x": 0.676375, + "y": 0.39419791666666665, + "width": 0.19399999999999995, + "height": 0.27866666666666673 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052556695_668jdeqh3", + "x": 0.48637500000000006, + "y": 0.5341979166666667, + "width": 0.20599999999999996, + "height": 0.20533333333333334 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052558847_0xd5n4sxe", + "x": 0.7813749999999999, + "y": 0.5528645833333333 + } + ] + } + } + }, + { + "time": 14.625, + "frame": 439, + "progress": 48, + "action_description": "爪夹向左前方移动。", + "state_description": "爪夹夹紧抹布，向左前方移动，爪夹与桌面呈45度。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向左前方移动，擦拭掉部分药液，因此进度提升到48%。", + "error_success_analysis": "爪夹向左前方移动，擦拭掉部分药液。", + "correction_plan": "爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052565925_8ib0jt0fy", + "x": 0.545375, + "y": 0.3701979166666666, + "width": 0.11099999999999995, + "height": 0.26666666666666666 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052569238_kl95fzcs9", + "x": 0.614375, + "y": 0.49553125000000003 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052574271_qezdalvl0", + "x": 0.5073749999999999, + "y": 0.4541979166666667, + "width": 0.18900000000000006, + "height": 0.2893333333333333 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052582590_6a2mgln6k", + "x": 0.176375, + "y": 0.65553125, + "width": 0.15900000000000003, + "height": 0.24799999999999991 + } + ] + } + } + }, + { + "time": 16.11791237113402, + "frame": 484, + "progress": 52, + "action_description": "爪夹向右后方移动。", + "state_description": "爪夹合拢夹紧抹布，爪夹与桌面呈45度。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向右后方移动，擦拭掉部分药液，因此进度提升到52%。", + "error_success_analysis": "爪夹向右后方移动，擦拭掉部分药液。", + "correction_plan": "爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052588750_drctgvhe4", + "x": 0.599375, + "y": 0.5021979166666667, + "width": 0.14699999999999996, + "height": 0.3 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052592366_8pb59ewws", + "x": 0.500375, + "y": 0.5808645833333334, + "width": 0.217, + "height": 0.17600000000000005 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052595633_ggbm8wb4k", + "x": 0.176375, + "y": 0.67953125, + "width": 0.16899999999999998, + "height": 0.24666666666666662 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052598590_ww87cfk4x", + "x": 0.684375, + "y": 0.6741979166666667 + } + ] + } + } + }, + { + "time": 17.8, + "frame": 534, + "progress": 56, + "action_description": "爪夹向左后方移动。", + "state_description": "爪夹合拢夹紧抹布，爪夹与桌面呈45度。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向左后方移动，擦拭掉部分药液，因此进度提升到56%。", + "error_success_analysis": "爪夹向左后方移动，擦拭掉部分药液。", + "correction_plan": "爪夹移动擦拭桌面药液，爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052605014_48isg4evj", + "x": 0.441375, + "y": 0.5528645833333333, + "width": 0.154, + "height": 0.3 + } + ] + }, + "bbox_1769052047293": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047293_1769052614782_0q9q6twfw", + "x": 0.542375, + "y": 0.5301979166666667, + "width": 0.06799999999999998, + "height": 0.08266666666666668 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052618429_btpgbvfyy", + "x": 0.22137500000000002, + "y": 0.6688645833333333, + "width": 0.13799999999999998, + "height": 0.22399999999999995 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052622598_3dd11xdst", + "x": 0.532375, + "y": 0.7168645833333334 + } + ] + }, + "point_1769052048381": { + "type": "point", + "instances": [ + { + "id": "point_1769052048381_1769052625694_klkxjyhco", + "x": 0.46937500000000004, + "y": 0.7035312499999999 + } + ] + } + } + }, + { + "time": 19.475, + "frame": 584, + "progress": 60, + "action_description": "爪夹向右前方移动。", + "state_description": "爪夹合拢夹紧抹布，爪夹与桌面呈45度。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向右前方移动，擦拭所有药液，因此进度提升到60%。", + "error_success_analysis": "爪夹向右前方移动，擦拭掉所有药液。", + "correction_plan": "爪夹向上移动，爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052635485_kzunv2jhx", + "x": 0.522375, + "y": 0.2621979166666667, + "width": 0.16800000000000007, + "height": 0.2946666666666667 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052639661_ayfnm58dy", + "x": 0.19237500000000002, + "y": 0.6328645833333334, + "width": 0.133, + "height": 0.24666666666666662 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052641757_98gb9xet0", + "x": 0.616375, + "y": 0.46886458333333336 + } + ] + } + } + }, + { + "time": 20.625, + "frame": 619, + "progress": 70, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢，爪夹向上移动。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向上移动，方便回到初始位置，因此进度提升到70%。", + "error_success_analysis": "爪夹向正上方移动，方便后续移动到初始位置。", + "correction_plan": "爪夹向左后方移动到初始位置，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052647836_yo541gjd1", + "x": 0.514375, + "y": 0.048864583333333336, + "width": 0.20700000000000002, + "height": 0.4066666666666666 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052651540_5ha7ae5aa", + "x": 0.215375, + "y": 0.6328645833333334, + "width": 0.15499999999999997, + "height": 0.25333333333333324 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052653981_6b05eyx1d", + "x": 0.635375, + "y": 0.3461979166666667 + } + ] + } + } + }, + { + "time": 22.5, + "frame": 675, + "progress": 80, + "action_description": "爪夹向左后方移动。", + "state_description": "爪夹合拢，夹紧抹布向左后方移动到初始位置正上方。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向左后方移动到初始位置正上方，因此进度提升到80%。", + "error_success_analysis": "爪夹夹紧抹布向左后方移动到初始位置正上方，方便放置抹布。", + "correction_plan": "爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052661164_gp4byzptm", + "x": 0.08637500000000001, + "y": 0.12886458333333334, + "width": 0.181, + "height": 0.444 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052664212_1rdqiiv80", + "x": 0.150375, + "y": 0.6461979166666667, + "width": 0.14499999999999996, + "height": 0.2573333333333333 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052665620_ccwfk5vp1", + "x": 0.22537500000000002, + "y": 0.39286458333333335 + } + ] + } + } + }, + { + "time": 23.65, + "frame": 710, + "progress": 90, + "action_description": "爪夹向下移动。", + "state_description": "爪夹夹紧抹布向下移动，爪夹与桌面平行。\n为了完成抓取抹布擦拭桌面药液的任务目标应当：松开爪夹。", + "progress_explanation": "爪夹向下移动，方便放置抹布，因此进度提升到90%。", + "error_success_analysis": "爪夹向下移动，移动到初始位置，方便放置", + "correction_plan": "爪夹张开。", + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052671820_9xgyqz3cz", + "x": 0.149375, + "y": 0.5408645833333333, + "width": 0.19599999999999998, + "height": 0.34133333333333327 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052674732_ivkv2u7ye", + "x": 0.174375, + "y": 0.5835312500000001, + "width": 0.167, + "height": 0.28933333333333333 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052681140_yusi0t7oe", + "x": 0.294375, + "y": 0.7128645833333334 + } + ] + } + } + }, + { + "time": 25, + "frame": 750, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "爪夹张开，抹布落到桌面之上。\n夹取抹布擦拭桌面药液的任务目标完成。", + "progress_explanation": "爪夹张开，抹布落于初始位置，因此进度提升到100%。", + "error_success_analysis": "爪夹张开，抹布落于初始位置。", + "correction_plan": "", + "annotations": { + "bbox_1769052047102": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047102_1769052686220_bxuf8i1d8", + "x": 0.171375, + "y": 0.5701979166666666, + "width": 0.156, + "height": 0.31866666666666676 + } + ] + }, + "bbox_1769052047439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769052047439_1769052689796_ctayamtmo", + "x": 0.177375, + "y": 0.5768645833333333, + "width": 0.147, + "height": 0.3133333333333334 + } + ] + }, + "point_1769052048533": { + "type": "point", + "instances": [ + { + "id": "point_1769052048533_1769052691883_515un7wi1", + "x": 0.292375, + "y": 0.53553125 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769052047102", + "name": "抹布", + "color": "#4CAF50" + }, + { + "id": "bbox_1769052047293", + "name": "药液", + "color": "#FF9800" + }, + { + "id": "bbox_1769052047439", + "name": "初始位置", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1769052048381", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769052048533", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-114324-put-tower-black-solution stain-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-114324-put-tower-black-solution stain-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..cb3962ecca36ab25eb085c9ba880e858666309ed --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-114324-put-tower-black-solution stain-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,546 @@ +{ + "task_description": "抓取毛巾擦拭桌子上的药液。\n准备开始移动：0%\n爪夹接近抹布：20%\n爪夹夹取抹布：40%\n爪夹靠近药液：60%\n爪夹擦拭药液：80%\n爪夹放置抹布：100%", + "progress_points": [ + { + "action_description": "爪夹未开始移动。", + "correction_plan": "爪夹向下移动，爪甲调整角度与桌面平行，合拢爪夹夹取抹布，爪夹向上移动，爪夹向右前方移动到药液正上方，爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹未开始移动，处于初始状态，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，垂直于桌面，处于初始状态。\n为了完成抓取毛巾擦拭桌面药液的任务应当：爪夹向下移动，爪甲调整角度与桌面平行，合拢爪夹夹取抹布，爪夹向上移动，爪夹向右前方移动到药液正上方，爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "time": 1.3394201030927835, + "annotations": { + "bbox_1769061614200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614200_1769061641592_l1ykx1qbl", + "x": 0.179375, + "y": 0.5755312499999999, + "width": 0.12, + "height": 0.3333333333333333 + } + ] + }, + "bbox_1769061614504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614504_1769061645040_8ml7i7c5b", + "x": 0.438375, + "y": 0.5731979166666666, + "width": 0.18899999999999997, + "height": 0.23066666666666671 + } + ] + }, + "point_1769061627320": { + "type": "point", + "instances": [ + { + "id": "point_1769061627320_1769061664967_0thfq93bu", + "x": 0.226375, + "y": 0.5158645833333334 + } + ] + }, + "point_1769061627551": { + "type": "point", + "instances": [ + { + "id": "point_1769061627551_1769061667159_n7a7hpp4x", + "x": 0.314375, + "y": 0.5291979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度。", + "correction_plan": "爪夹向下移动，合拢爪夹夹取抹布，爪夹向上移动，爪夹向右前方移动到药液正上方，爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "error_success_analysis": "爪夹调整角度，方便后续抓取。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪甲调整角度方便后续抓取，因此进度提升到10%。", + "state_description": "爪夹调整角度与桌面平行，爪夹张开。\n为了完成抓取毛巾擦拭桌面药液的任务应当：爪夹向下移动，合拢爪夹夹取抹布，爪夹向上移动，爪夹向右前方移动到药液正上方，爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "time": 2.299935567010309, + "annotations": { + "bbox_1769061614200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614200_1769061676391_e1bizr8d4", + "x": 0.144375, + "y": 0.5928645833333334, + "width": 0.15299999999999997, + "height": 0.3173333333333333 + } + ] + }, + "bbox_1769061614504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614504_1769061683302_66usqkdrj", + "x": 0.441375, + "y": 0.5741979166666666, + "width": 0.18599999999999994, + "height": 0.22266666666666665 + } + ] + }, + "point_1769061627551": { + "type": "point", + "instances": [ + { + "id": "point_1769061627551_1769061690311_tkfkmu99i", + "x": 0.240375, + "y": 0.6208645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "合拢爪夹夹取抹布，爪夹向上移动，爪夹向右前方移动到药液正上方，爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "error_success_analysis": "爪夹平行于桌面，位于抹布正上方，方便抓取。", + "frame": 92, + "progress": 20, + "progress_explanation": "爪夹向下移动到毛巾正上方，因此进度提升到20%.", + "state_description": "爪夹向下移动到抹布正上方，爪夹与桌面平行。\n为了完成抓取毛巾擦拭桌面药液的任务应当：合拢爪夹夹取抹布，爪夹向上移动，爪夹向右前方移动到药液正上方，爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "time": 3.0733376288659793, + "annotations": { + "bbox_1769061614200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614200_1769061698878_qyu8yevwh", + "x": 0.160375, + "y": 0.5955312500000001, + "width": 0.14200000000000002, + "height": 0.3146666666666666 + } + ] + }, + "bbox_1769061614504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614504_1769061706630_3xpq1grvz", + "x": 0.44037500000000007, + "y": 0.5688645833333333, + "width": 0.18599999999999994, + "height": 0.23066666666666671 + } + ] + }, + "point_1769061627551": { + "type": "point", + "instances": [ + { + "id": "point_1769061627551_1769061709759_4vm0lnler", + "x": 0.259375, + "y": 0.71953125 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向上移动，爪夹向右前方移动到药液正上方，爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "error_success_analysis": "爪夹与桌面平行，方便合拢夹取抹布。", + "frame": 106, + "progress": 40, + "progress_explanation": "爪夹合拢夹取到毛巾，因此进度提升到40%。", + "state_description": "爪夹合拢夹紧抹布，爪夹与桌面平行。\n为了完成抓取毛巾擦拭桌面药液的任务应当：爪夹向上移动，爪夹向右前方移动到药液正上方，爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "time": 3.5473582474226806, + "annotations": { + "bbox_1769061614200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614200_1769061717557_r6nxxpjhd", + "x": 0.162375, + "y": 0.5928645833333334, + "width": 0.132, + "height": 0.316 + } + ] + }, + "point_1769061627551": { + "type": "point", + "instances": [ + { + "id": "point_1769061627551_1769061720598_ql4h4og51", + "x": 0.23937500000000003, + "y": 0.7061979166666668 + } + ] + }, + "bbox_1769061614504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614504_1769061724070_pislzh7mi", + "x": 0.43937499999999996, + "y": 0.5741979166666666, + "width": 0.18600000000000003, + "height": 0.22000000000000006 + } + ] + } + } + }, + { + "time": 4.4891, + "frame": 135, + "progress": 50, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢，夹取抹布向上移动，爪夹与桌面平行。\n为了完成抓取毛巾擦拭桌面药液的任务应当：爪夹向右前方移动到药液正上方，爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "progress_explanation": "爪夹向上移动，夹取抹布，方便接近药液，因此进度提升到50%。", + "error_success_analysis": "爪夹夹紧抹布向上移动，方便后续接近药液。", + "correction_plan": "爪夹向右前方移动到药液正上方，爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "annotations": { + "bbox_1769061614504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614504_1769061766540_4gaex1s6o", + "x": 0.442375, + "y": 0.5728645833333333, + "width": 0.184, + "height": 0.22399999999999995 + } + ] + }, + "bbox_1769061614200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614200_1769061770844_sqjxx0fxk", + "x": 0.131375, + "y": 0.36753125, + "width": 0.143, + "height": 0.36800000000000005 + } + ] + }, + "point_1769061627551": { + "type": "point", + "instances": [ + { + "id": "point_1769061627551_1769061782059_ualheoab7", + "x": 0.250375, + "y": 0.5941979166666668 + } + ] + } + } + }, + { + "time": 5.2756, + "frame": 158, + "progress": 60, + "action_description": "爪夹向右前方移动。", + "state_description": "爪夹合拢，夹紧抹布向右前方移动到药液的正上方。\n为了完成抓取毛巾擦拭桌面药液的任务应当：爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "progress_explanation": "爪夹向右前方移动到药液正上方，因此进度提升到60%。", + "error_success_analysis": "爪夹与桌面平行，向右前方移动，接近药液正上方，方便后续擦去药液。", + "correction_plan": "爪夹向下移动，靠近药液，爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "annotations": { + "bbox_1769061614200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614200_1769061790124_2hfu247s6", + "x": 0.35337500000000005, + "y": 0.3261979166666667, + "width": 0.176, + "height": 0.36 + } + ] + }, + "bbox_1769061614504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614504_1769061804308_l0fzdprpn", + "x": 0.471375, + "y": 0.5755312500000002, + "width": 0.154, + "height": 0.22666666666666657 + } + ] + }, + "point_1769061627551": { + "type": "point", + "instances": [ + { + "id": "point_1769061627551_1769061811907_ojk05g9r0", + "x": 0.46137500000000004, + "y": 0.5661979166666666 + } + ] + } + } + }, + { + "time": 6.5945, + "frame": 198, + "progress": 65, + "action_description": "爪夹向下移动。", + "state_description": "爪夹合拢加紧抹布，向下移动到药液上方。\n为了完成抓取毛巾擦拭桌面药液的任务应当：爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "progress_explanation": "爪夹向下移动到药液上，开始擦拭药液，因此进度提升到65%。", + "error_success_analysis": "爪夹与桌面平行，向下移动到药液上方，方便后续擦拭。", + "correction_plan": "爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "annotations": { + "bbox_1769061614200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614200_1769061819858_gvorbsf7j", + "x": 0.370375, + "y": 0.46753125, + "width": 0.16499999999999998, + "height": 0.2866666666666667 + } + ] + }, + "bbox_1769061614504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614504_1769061823091_nrw66m5vc", + "x": 0.502375, + "y": 0.5901979166666667, + "width": 0.12300000000000004, + "height": 0.20400000000000004 + } + ] + }, + "point_1769061627551": { + "type": "point", + "instances": [ + { + "id": "point_1769061627551_1769061825547_y7iak27uv", + "x": 0.471375, + "y": 0.6421979166666667 + } + ] + } + } + }, + { + "time": 7.3894201030927835, + "frame": 222, + "progress": 70, + "action_description": "爪夹向右方移动。", + "state_description": "爪夹合拢抓取抹布，想右侧移动擦拭药液。\n为了完成抓取毛巾擦拭桌面药液的任务应当：爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "progress_explanation": "爪夹向右方移动，擦拭桌面，因此进度提升到70%。", + "error_success_analysis": "爪夹与桌面平行，方便擦拭桌面药液。", + "correction_plan": "爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "annotations": { + "bbox_1769061614200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614200_1769061831874_6rwc72d7i", + "x": 0.43537499999999996, + "y": 0.47553125, + "width": 0.16000000000000006, + "height": 0.2813333333333334 + } + ] + }, + "bbox_1769061614504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614504_1769061836758_4horbdfzw", + "x": 0.479375, + "y": 0.5835312500000001, + "width": 0.14799999999999996, + "height": 0.212 + } + ] + }, + "point_1769061627551": { + "type": "point", + "instances": [ + { + "id": "point_1769061627551_1769061839351_bfnif9di0", + "x": 0.536375, + "y": 0.6501979166666667 + } + ] + } + } + }, + { + "time": 9.050799, + "frame": 272, + "progress": 75, + "action_description": "爪夹向右侧移动。", + "state_description": "爪夹合拢夹紧抹布，爪夹与桌面平行。\n为了完成抓取毛巾擦拭桌面药液的任务应当：爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "progress_explanation": "爪夹夹紧抹布擦拭桌面药液，因此进度提升到75%。", + "error_success_analysis": "爪夹合拢夹紧抹布，在桌面上移动擦拭药液。", + "correction_plan": "爪夹移动位置擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "annotations": { + "bbox_1769061614200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614200_1769061845338_v3q9nm3au", + "x": 0.374375, + "y": 0.55553125, + "width": 0.20000000000000004, + "height": 0.2973333333333333 + } + ] + }, + "bbox_1769061614504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614504_1769061849578_l0lorlu28", + "x": 0.497375, + "y": 0.5728645833333333, + "width": 0.13900000000000007, + "height": 0.228 + } + ] + }, + "point_1769061627551": { + "type": "point", + "instances": [ + { + "id": "point_1769061627551_1769061852294_dcf80909u", + "x": 0.512375, + "y": 0.7395312500000001 + } + ] + } + } + }, + { + "time": 9.9704, + "frame": 299, + "progress": 70, + "action_description": "爪夹向左上方移动。", + "state_description": "爪夹合拢夹紧抹布，向左上方移动，远离药液。\n为了完成抓取毛巾擦拭桌面药液的任务应当：爪夹向右下方移动到桌面上方，向左前方移动擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "progress_explanation": "爪夹向左上方移动，远离药液，因此进度降低到70%。", + "error_success_analysis": "爪夹向上移动，远离桌面，", + "correction_plan": "爪夹向右下方移动到桌面上方，向左前方移动擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "annotations": { + "bbox_1769061614200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614200_1769061858090_7ypdzq1mc", + "x": 0.274375, + "y": 0.51953125, + "width": 0.186, + "height": 0.30933333333333335 + } + ] + }, + "bbox_1769061614504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614504_1769061867826_cb32b4f7j", + "x": 0.43537499999999996, + "y": 0.5728645833333332, + "width": 0.19000000000000003, + "height": 0.22933333333333342 + } + ] + }, + "point_1769061627551": { + "type": "point", + "instances": [ + { + "id": "point_1769061627551_1769061874609_3wcdu3dc5", + "x": 0.43637500000000007, + "y": 0.6875312499999999 + } + ] + } + } + }, + { + "time": 12.1, + "frame": 363, + "progress": -50, + "action_description": "爪夹张开。", + "state_description": "爪夹张开，抹布落于桌面，需重新抓取抹布。\n为了完成抓取毛巾擦拭桌面药液的任务应当：爪夹向下移动到抹布正上方，调整角度，合拢爪夹夹取抹布，爪夹向右前方移动到药液上方，向左前方移动擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "progress_explanation": "爪夹张开，抹布落到桌面上方，需要重新夹取抹布，因此进度降低到-50%。", + "error_success_analysis": "爪夹张开，抹布落到桌面上，需重新抓取抹布。", + "correction_plan": "爪夹向下移动到抹布正上方，调整角度，合拢爪夹夹取抹布，爪夹向右前方移动到药液上方，向左前方移动擦拭药液，爪夹向上移动，爪夹向左后方移动到初始位置，松开爪夹。", + "annotations": { + "bbox_1769061614200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614200_1769061885513_umk25mmws", + "x": 0.127375, + "y": 0.7101979166666667, + "width": 0.262, + "height": 0.2586666666666667 + } + ] + }, + "bbox_1769061614504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769061614504_1769061889753_umswtizid", + "x": 0.43937499999999996, + "y": 0.5688645833333333, + "width": 0.188, + "height": 0.23466666666666663 + } + ] + }, + "point_1769061627551": { + "type": "point", + "instances": [ + { + "id": "point_1769061627551_1769061903888_skxdl3u35", + "x": 0.284375, + "y": 0.6168645833333334 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769061614200", + "name": "抹布", + "color": "#4CAF50" + }, + { + "id": "bbox_1769061614504", + "name": "药液", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769061627320", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769061627551", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-133121-put-evaporating dish-black-tripod-good/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-133121-put-evaporating dish-black-tripod-good/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..13a4fbdbecf4a14c020e347083a5719a46b8b96f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-133121-put-evaporating dish-black-tripod-good/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,504 @@ +{ + "task_description": "夹取坩埚放置到三脚架之上。\n准备开始移动：0%\n爪夹接近坩埚：25\n爪夹夹取坩埚：50%\n爪夹移动坩埚：75%\n爪夹放置坩埚：100%", + "progress_points": [ + { + "action_description": "爪夹未开始移动。", + "correction_plan": "向右下方移动到坩埚正上方，调整爪夹角度与桌面平行，合拢爪夹夹取坩埚，向上移动爪夹高于三脚架，向右前方移动到三脚架正上方，向下移动爪夹，松开爪夹放置坩埚到三脚架上。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度为0%。", + "state_description": "爪夹张开，爪夹未开始移动，与桌面垂直，未开始移动。\n为了完成放置坩埚到三脚架上方的任务目标应当：向右下方移动到坩埚正上方，调整爪夹角度与桌面平行，合拢爪夹夹取坩埚，向上移动爪夹高于三脚架，向右前方移动到三脚架正上方，向下移动爪夹，松开爪夹放置坩埚到三脚架上。", + "time": 1.270395218685567, + "annotations": { + "bbox_1769065052655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052655_1769065094870_jzsrzmu0b", + "x": 0.607375, + "y": 0.3258645833333334, + "width": 0.13899999999999996, + "height": 0.23466666666666663 + } + ] + }, + "bbox_1769065052408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052408_1769065103406_w0q4sj2l5", + "x": 0.406375, + "y": 0.5685312499999999, + "width": 0.12400000000000003, + "height": 0.14533333333333343 + } + ] + }, + "point_1769065053424": { + "type": "point", + "instances": [ + { + "id": "point_1769065053424_1769065112526_pvzeh1iog", + "x": 0.234375, + "y": 0.3258645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向前下方移动，爪夹调整角度。", + "correction_plan": "合拢爪夹夹取坩埚，向上移动爪夹高于三脚架，向右前方移动到三脚架正上方，向下移动爪夹，松开爪夹放置坩埚到三脚架上。", + "error_success_analysis": "爪夹调整位置角度，位于坩埚上方，方便抓取坩埚。", + "frame": 114, + "progress": 25, + "progress_explanation": "爪夹移动到坩埚正上方，靠近坩埚，因此进度提升到25%。", + "state_description": "爪夹向右下方移动到坩埚上方，调整角度与桌面平行。\n为了完成放置坩埚到三脚架上方的任务目标应当：合拢爪夹夹取坩埚，向上移动爪夹高于三脚架，向右前方移动到三脚架正上方，向下移动爪夹，松开爪夹放置坩埚到三脚架上。", + "time": 3.8148626320876287, + "annotations": { + "bbox_1769065052408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052408_1769065120822_6ntb18l8s", + "x": 0.409375, + "y": 0.57253125, + "width": 0.12199999999999997, + "height": 0.1426666666666667 + } + ] + }, + "bbox_1769065052655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052655_1769065128797_55slbkec4", + "x": 0.607375, + "y": 0.32053125, + "width": 0.137, + "height": 0.23866666666666672 + } + ] + }, + "point_1769065053288": { + "type": "point", + "instances": [ + { + "id": "point_1769065053288_1769065136181_pfgw2u0lv", + "x": 0.330375, + "y": 0.5911979166666668 + } + ] + }, + "point_1769065053424": { + "type": "point", + "instances": [ + { + "id": "point_1769065053424_1769065138678_kcju8ijew", + "x": 0.43237500000000006, + "y": 0.6738645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "向上移动爪夹高于三脚架，向右前方移动到三脚架正上方，向下移动爪夹，松开爪夹放置坩埚到三脚架上。", + "error_success_analysis": "爪夹与桌面平行，方便合拢抓取到坩埚。", + "frame": 139, + "progress": 50, + "progress_explanation": "爪夹合拢夹取到坩埚，因此进度提升到50%。", + "state_description": "爪夹合拢夹取坩埚，爪夹与桌面平行。\n为了完成放置坩埚到三脚架上方的任务目标应当：向上移动爪夹高于三脚架，向右前方移动到三脚架正上方，向下移动爪夹，松开爪夹放置坩埚到三脚架上。", + "time": 4.623797358891753, + "annotations": { + "bbox_1769065052408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052408_1769065147701_tewe0jyo7", + "x": 0.41937499999999994, + "y": 0.58053125, + "width": 0.12300000000000004, + "height": 0.1573333333333333 + } + ] + }, + "bbox_1769065052655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052655_1769065155397_81spp6r16", + "x": 0.6043749999999999, + "y": 0.32053125000000005, + "width": 0.14000000000000012, + "height": 0.23733333333333326 + } + ] + }, + "point_1769065053288": { + "type": "point", + "instances": [ + { + "id": "point_1769065053288_1769065163396_df677jykq", + "x": 0.369375, + "y": 0.6351979166666666 + } + ] + }, + "point_1769065053424": { + "type": "point", + "instances": [ + { + "id": "point_1769065053424_1769065165740_64jnfsxiy", + "x": 0.406375, + "y": 0.6551979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "为了完成放置坩埚到三脚架上方的任务目标应当：向右前方移动到三脚架正上方，向下移动爪夹，松开爪夹放置坩埚到三脚架上。", + "error_success_analysis": "爪夹夹紧坩埚，向正上方移动，高度高于三脚架，方便后续放置坩埚。", + "frame": 206, + "progress": 60, + "progress_explanation": "爪夹夹取坩埚向正上方移动，因此进度提升到60%。", + "state_description": "爪夹合拢夹紧坩埚，向正上方移动并高于三脚架，爪夹与桌面呈45度。\n为了完成放置坩埚到三脚架上方的任务目标应当：向右前方移动到三脚架正上方，向下移动爪夹，松开爪夹放置坩埚到三脚架上。", + "time": 6.859398785695876, + "annotations": { + "bbox_1769065052408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052408_1769065173715_tfukqosgm", + "x": 0.510375, + "y": 0.33919791666666665, + "width": 0.13000000000000006, + "height": 0.18800000000000003 + } + ] + }, + "bbox_1769065052655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052655_1769065178667_b7kauc1xb", + "x": 0.609375, + "y": 0.3258645833333333, + "width": 0.13799999999999998, + "height": 0.23600000000000002 + } + ] + }, + "point_1769065053424": { + "type": "point", + "instances": [ + { + "id": "point_1769065053424_1769065187732_5gh6c8ohc", + "x": 0.467375, + "y": 0.4311979166666667 + } + ] + } + } + }, + { + "time": 7.860933, + "frame": 236, + "progress": 75, + "action_description": "爪夹向右前方移动。", + "state_description": "爪夹合拢抓紧坩埚，向右前方移动到三脚架正上方，爪夹与桌面呈45度。\n为了完成放置坩埚到三脚架上方的任务目标应当：向下移动爪夹，调整爪夹角度，松开爪夹放置坩埚到三脚架上。", + "progress_explanation": "爪夹夹取坩埚并移动到三脚架正上方，因此进度提升到75%。", + "error_success_analysis": "爪夹夹取坩埚，移动到三脚架正上方，爪夹与桌面呈45度，需要调整爪夹与桌面平行。", + "correction_plan": "为了完成放置坩埚到三脚架上方的任务目标应当：向下移动爪夹，调整爪夹角度，松开爪夹放置坩埚到三脚架上。", + "annotations": { + "bbox_1769065052408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052408_1769065199019_rkdqxf43l", + "x": 0.639375, + "y": 0.24853125, + "width": 0.137, + "height": 0.16400000000000003 + } + ] + }, + "bbox_1769065052655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052655_1769065204147_w368ye7n7", + "x": 0.6063750000000001, + "y": 0.33786458333333336, + "width": 0.14099999999999993, + "height": 0.22133333333333335 + } + ] + }, + "point_1769065053288": { + "type": "point", + "instances": [ + { + "id": "point_1769065053288_1769065213499_ulznlsx7u", + "x": 0.589375, + "y": 0.2978645833333333 + } + ] + }, + "point_1769065053424": { + "type": "point", + "instances": [ + { + "id": "point_1769065053424_1769065215916_2j15hyhjm", + "x": 0.620375, + "y": 0.31253125000000004 + } + ] + } + } + }, + { + "time": 9.658533, + "frame": 290, + "progress": 80, + "action_description": "爪夹向下方移动。", + "state_description": "爪夹夹紧坩埚向下移动，坩埚接触三脚架。\n为了完成放置坩埚到三脚架上方的任务目标应当：调整爪夹角度，松开爪夹放置坩埚到三脚架上。", + "progress_explanation": "爪夹向下移动，坩埚接触三脚架上方，因此进度提升到80%。", + "error_success_analysis": "爪夹向下移动，坩埚成功接触三脚架，坩埚倾斜，需要调整角度。", + "correction_plan": "爪夹调整角度与桌面平行，松开爪夹，放置坩埚。", + "annotations": { + "bbox_1769065052408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052408_1769065230562_pe8891r2f", + "x": 0.637375, + "y": 0.25253125, + "width": 0.12800000000000003, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1769065052655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052655_1769065242786_2pszi91ca", + "x": 0.610375, + "y": 0.33253125, + "width": 0.13400000000000006, + "height": 0.22399999999999995 + } + ] + }, + "point_1769065053424": { + "type": "point", + "instances": [ + { + "id": "point_1769065053424_1769065249610_1543fn5fx", + "x": 0.614375, + "y": 0.3071979166666667 + } + ] + }, + "point_1769065053288": { + "type": "point", + "instances": [ + { + "id": "point_1769065053288_1769065251681_odvhr8vdx", + "x": 0.584375, + "y": 0.27519791666666665 + } + ] + } + } + }, + { + "time": 11.095275173324744, + "frame": 333, + "progress": 85, + "action_description": "爪夹张开。", + "state_description": "爪夹张开，坩埚落于三脚架上方， 坩埚倾斜。\n为了完成放置坩埚到三脚架上方的任务目标应当：使用爪夹调整坩埚角度，移开爪夹。", + "progress_explanation": "爪夹张开，坩埚成功放置到三脚架，坩埚倾斜，因此进度提升的85%。", + "error_success_analysis": "爪夹张开，未调整角度放置坩埚，坩埚倾斜。", + "correction_plan": "使用爪夹调整坩埚角度，移开爪夹。", + "annotations": { + "bbox_1769065052408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052408_1769065259641_x74ot9v8g", + "x": 0.643375, + "y": 0.26719791666666665, + "width": 0.11199999999999992, + "height": 0.13733333333333334 + } + ] + }, + "bbox_1769065052655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052655_1769065268898_7f77nzkin", + "x": 0.610375, + "y": 0.34453125, + "width": 0.13900000000000007, + "height": 0.20933333333333337 + } + ] + }, + "point_1769065053424": { + "type": "point", + "instances": [ + { + "id": "point_1769065053424_1769065276896_xwb0sed85", + "x": 0.612375, + "y": 0.3338645833333333 + } + ] + }, + "point_1769065053288": { + "type": "point", + "instances": [ + { + "id": "point_1769065053288_1769065279441_2ec6yx365", + "x": 0.577375, + "y": 0.29519791666666667 + } + ] + } + } + }, + { + "time": 11.955466, + "frame": 359, + "progress": 90, + "action_description": "爪夹向下移动。", + "state_description": "爪夹张开，向下移动按压坩埚，坩埚回正。\n为了完成放置坩埚到三脚架上方的任务目标应当：移开爪夹。", + "progress_explanation": "爪夹向下移动，按压坩埚调整坩埚与桌面平行，因此进度提升到90%。", + "error_success_analysis": "爪夹向下移动，按压坩埚调整坩埚与桌面平行。", + "correction_plan": "移开爪夹。", + "annotations": { + "bbox_1769065052408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052408_1769065292671_gj6px1uoz", + "x": 0.6523749999999999, + "y": 0.28586458333333337, + "width": 0.11700000000000008, + "height": 0.12533333333333332 + } + ] + }, + "bbox_1769065052655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052655_1769065304688_r1iuk0ccw", + "x": 0.612375, + "y": 0.34453125, + "width": 0.13799999999999998, + "height": 0.21600000000000003 + } + ] + }, + "point_1769065053424": { + "type": "point", + "instances": [ + { + "id": "point_1769065053424_1769065307089_f48tifns3", + "x": 0.629375, + "y": 0.33919791666666665 + } + ] + }, + "point_1769065053288": { + "type": "point", + "instances": [ + { + "id": "point_1769065053288_1769065309320_ehumyq1iy", + "x": 0.595375, + "y": 0.30853125 + } + ] + } + } + }, + { + "time": 14.266667, + "frame": 428, + "progress": 100, + "action_description": "爪夹向上后方移动。", + "state_description": "爪夹向上后方移动远离坩埚。\n夹取坩埚放置到三脚架上的任务目标完成。", + "progress_explanation": "爪夹成功放置坩埚到三脚架上，因此进度提升到100%。", + "error_success_analysis": "爪夹移开，坩埚平稳放置到三脚架上发。", + "correction_plan": "", + "annotations": { + "bbox_1769065052408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052408_1769065316153_n3e5ehsg7", + "x": 0.6453750000000001, + "y": 0.2818645833333333, + "width": 0.12199999999999989, + "height": 0.12800000000000006 + } + ] + }, + "bbox_1769065052655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065052655_1769065326904_mb5agep1q", + "x": 0.614375, + "y": 0.3498645833333334, + "width": 0.137, + "height": 0.2106666666666666 + } + ] + }, + "point_1769065053424": { + "type": "point", + "instances": [ + { + "id": "point_1769065053424_1769065335560_76dga2e1s", + "x": 0.510375, + "y": 0.27253125 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769065052408", + "name": "坩埚", + "color": "#4CAF50" + }, + { + "id": "bbox_1769065052655", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769065053288", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769065053424", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-134633-put-evaporating dish-black-tripod-mix1/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-134633-put-evaporating dish-black-tripod-mix1/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..98dbf1e5a1fe1440d7f25b4327a81c51d8dd9cbd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-134633-put-evaporating dish-black-tripod-mix1/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,619 @@ +{ + "task_description": "放置坩埚到三脚架上。\n准备开始移动：0%\n爪夹靠近坩埚：20%\n爪夹夹取坩埚：40%\n爪夹移动坩埚：60%\n爪夹接近三脚架：80%\n爪夹松开爪夹放置坩埚：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向下移动到坩埚上方，调整爪夹角度与桌面平行，合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "爪夹未开始，处于初始状态，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，处于初始状态。\n为了完成夹取坩埚放置到三脚架上方的任务应当：爪夹向下移动到坩埚上方，调整爪夹角度与桌面平行，合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "time": 1.7175386597938147, + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068532500_r0qjd2l3e", + "x": 0.627375, + "y": 0.43286458333333333, + "width": 0.10600000000000014, + "height": 0.12800000000000006 + } + ] + }, + "bbox_1769068508100": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068508100_1769068543966_ynqi1zzrb", + "x": 0.402375, + "y": 0.3701979166666666, + "width": 0.11800000000000002, + "height": 0.2 + } + ] + }, + "point_1769068516716": { + "type": "point", + "instances": [ + { + "id": "point_1769068516716_1769068553611_yn0b4yol7", + "x": 0.514375, + "y": 0.5128645833333334 + } + ] + }, + "point_1769068517020": { + "type": "point", + "instances": [ + { + "id": "point_1769068517020_1769068555546_98c4my5yu", + "x": 0.667375, + "y": 0.5701979166666666 + } + ] + } + } + }, + { + "action_description": "爪夹向右前下方移动，调整爪夹角度。", + "correction_plan": "合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "error_success_analysis": "爪夹向前右下方移动，接近坩埚，方便抓取。", + "frame": 172, + "progress": 20, + "progress_explanation": "爪夹靠近坩埚正上方，因此进度提升到20%。", + "state_description": "爪夹张开，爪夹调整角度与桌面垂直，向前右下方移动。\n为了完成夹取坩埚放置到三脚架上方的任务应当：合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "time": 5.728363402061856, + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068563074_4sboepl59", + "x": 0.639375, + "y": 0.4488645833333333, + "width": 0.09700000000000006, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1769068508100": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068508100_1769068572218_jponr4yah", + "x": 0.40037500000000004, + "y": 0.3701979166666666, + "width": 0.11500000000000003, + "height": 0.20266666666666672 + } + ] + }, + "point_1769068517020": { + "type": "point", + "instances": [ + { + "id": "point_1769068517020_1769068578130_o1a3epo5z", + "x": 0.702375, + "y": 0.41286458333333337 + } + ] + }, + "point_1769068516716": { + "type": "point", + "instances": [ + { + "id": "point_1769068516716_1769068580346_8i0tccc7t", + "x": 0.605375, + "y": 0.3661979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹张开，爪夹向下移动到坩埚正上方，合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚", + "error_success_analysis": "爪夹未完全靠近坩埚，爪夹合拢，未成功夹取到坩埚。", + "frame": 223, + "progress": 5, + "progress_explanation": "爪夹合拢，未成功夹取坩埚，因此进度降低到5%。", + "state_description": "爪夹合拢，未抓取到坩埚，爪夹与桌面平行。\n为了完成夹取坩埚放置到三脚架上方的任务应当：张开爪夹，向下移动爪夹，合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "time": 7.436198453608248, + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068587122_q0f1tpd0v", + "x": 0.640375, + "y": 0.43686458333333333, + "width": 0.092, + "height": 0.13200000000000003 + } + ] + }, + "bbox_1769068508100": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068508100_1769068596457_7ts689i6g", + "x": 0.40037500000000004, + "y": 0.37286458333333333, + "width": 0.11500000000000003, + "height": 0.1946666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹向下移动，合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "error_success_analysis": "爪夹张开，方便后续抓取坩埚，", + "frame": 249, + "progress": 10, + "progress_explanation": "爪夹张开，位于坩埚上方，方便抓取，因此进度提升到10%。", + "state_description": "爪夹张开，爪夹与桌面呈45度。\n为了完成夹取坩埚放置到三脚架上方的任务应当：爪夹向下移动，合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "time": 8.290115979381445, + "annotations": { + "bbox_1769068508100": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068508100_1769068605842_ea5nca8do", + "x": 0.40337499999999993, + "y": 0.37019791666666674, + "width": 0.11100000000000003, + "height": 0.19866666666666663 + } + ] + }, + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068613074_z833j1heo", + "x": 0.642375, + "y": 0.43686458333333333, + "width": 0.092, + "height": 0.1293333333333333 + } + ] + }, + "point_1769068516716": { + "type": "point", + "instances": [ + { + "id": "point_1769068516716_1769068615185_l46ksdp6s", + "x": 0.609375, + "y": 0.3701979166666666 + } + ] + }, + "point_1769068517020": { + "type": "point", + "instances": [ + { + "id": "point_1769068517020_1769068617281_27gv1evgn", + "x": 0.704375, + "y": 0.4088645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向后下方移动。", + "correction_plan": "爪夹调整位置，合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "error_success_analysis": "爪夹垂直于桌面，方便抓取坩埚。", + "frame": 260, + "progress": 13, + "progress_explanation": "爪夹向后下方移动，方便夹取坩埚，因此进度提升到13%。", + "state_description": "爪夹张开，向后下方移动，爪夹与桌面平行。\n为了完成夹取坩埚放置到三脚架上方的任务应当：爪夹调整位置，合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "time": 8.67826030927835, + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068626241_eff38yoom", + "x": 0.643375, + "y": 0.45286458333333335, + "width": 0.09099999999999993, + "height": 0.11066666666666679 + } + ] + }, + "bbox_1769068508100": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068508100_1769068637001_rg44hkea2", + "x": 0.399375, + "y": 0.37286458333333333, + "width": 0.11600000000000006, + "height": 0.19600000000000004 + } + ] + }, + "point_1769068516716": { + "type": "point", + "instances": [ + { + "id": "point_1769068516716_1769068638841_8yw6i51oa", + "x": 0.604375, + "y": 0.4088645833333333 + } + ] + }, + "point_1769068517020": { + "type": "point", + "instances": [ + { + "id": "point_1769068517020_1769068646176_n0wjpgh3g", + "x": 0.700375, + "y": 0.44753125 + } + ] + } + } + }, + { + "time": 9.2368, + "frame": 277, + "progress": 16, + "action_description": "爪夹向右移动。", + "state_description": "爪夹与桌面平行，向右移动到坩埚正上方。\n为了完成夹取坩埚放置到三脚架上方的任务应当：合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "progress_explanation": "爪夹向右移动，调整位置，因此进度提升到16%。", + "error_success_analysis": "爪夹与桌面平行，方便后续抓取。", + "correction_plan": "合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068712062_v915qrbxz", + "x": 0.646375, + "y": 0.43953125, + "width": 0.09100000000000001, + "height": 0.12933333333333336 + } + ] + }, + "bbox_1769068508100": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068508100_1769068717798_6f9tpy8dc", + "x": 0.401375, + "y": 0.36886458333333333, + "width": 0.11000000000000006, + "height": 0.19866666666666669 + } + ] + }, + "point_1769068516716": { + "type": "point", + "instances": [ + { + "id": "point_1769068516716_1769068725886_w7mlyz244", + "x": 0.611375, + "y": 0.42353125 + } + ] + }, + "point_1769068517020": { + "type": "point", + "instances": [ + { + "id": "point_1769068517020_1769068728637_3o5bc0mk5", + "x": 0.702375, + "y": 0.47019791666666666 + } + ] + } + } + }, + { + "time": 10.0651, + "frame": 302, + "progress": 19, + "action_description": "爪夹向左移动。", + "state_description": "爪夹垂直于桌面，爪夹张开，向左移动到坩埚上方。\n为了完成夹取坩埚放置到三脚架上方的任务应当：合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "progress_explanation": "爪夹调整位置，位于坩埚正上方，因此进度提升到19%。", + "error_success_analysis": "爪夹调整位置，平行于桌面，方便抓取。", + "correction_plan": "合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068751725_zuuggual2", + "x": 0.644375, + "y": 0.43953125, + "width": 0.092, + "height": 0.12400000000000003 + } + ] + }, + "bbox_1769068508100": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068508100_1769068758180_0rsj794ar", + "x": 0.40437500000000004, + "y": 0.37286458333333333, + "width": 0.10999999999999996, + "height": 0.19600000000000004 + } + ] + }, + "point_1769068516716": { + "type": "point", + "instances": [ + { + "id": "point_1769068516716_1769068760189_qeptqo4wb", + "x": 0.599375, + "y": 0.4168645833333333 + } + ] + }, + "point_1769068517020": { + "type": "point", + "instances": [ + { + "id": "point_1769068517020_1769068762093_pv5gapzw9", + "x": 0.6873750000000001, + "y": 0.4621979166666667 + } + ] + } + } + }, + { + "time": 11.044, + "frame": 331, + "progress": 20, + "action_description": "爪夹向下移动。", + "state_description": "爪夹张开，平行于桌面，向下移动。\n为了完成夹取坩埚放置到三脚架上方的任务应当：合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "progress_explanation": "爪夹向下移动，接近坩埚，因此进度提升到20%。", + "error_success_analysis": "爪夹平行于桌面，向下移动，接近坩埚，方便抓取", + "correction_plan": "合拢爪夹夹取坩埚，爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068770076_nn40f6znd", + "x": 0.649375, + "y": 0.44086458333333334, + "width": 0.08599999999999994, + "height": 0.12533333333333327 + } + ] + }, + "bbox_1769068508100": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068508100_1769068774316_4fmnqguz7", + "x": 0.40037500000000004, + "y": 0.37153125000000004, + "width": 0.11500000000000007, + "height": 0.19600000000000004 + } + ] + }, + "point_1769068516716": { + "type": "point", + "instances": [ + { + "id": "point_1769068516716_1769068780596_ry62flv6m", + "x": 0.602375, + "y": 0.4221979166666667 + } + ] + }, + "point_1769068517020": { + "type": "point", + "instances": [ + { + "id": "point_1769068517020_1769068782349_v03emq68o", + "x": 0.684375, + "y": 0.46886458333333336 + } + ] + } + } + }, + { + "time": 11.8974, + "frame": 357, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢，爪夹平行于桌面，爪夹夹取坩埚。\n为了完成夹取坩埚放置到三脚架上方的任务应当：爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "progress_explanation": "爪夹合拢成功抓到坩埚，因此进度提升到40%。", + "error_success_analysis": "爪夹平行于桌面，位于坩埚正上方，方便抓取。", + "correction_plan": "爪夹向上移动高于三脚架上方，向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068791379_q0e02mou2", + "x": 0.645375, + "y": 0.4275312500000001, + "width": 0.09799999999999995, + "height": 0.12533333333333327 + } + ] + }, + "bbox_1769068508100": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068508100_1769068799363_8ypxsu5dt", + "x": 0.401375, + "y": 0.3701979166666666, + "width": 0.11299999999999999, + "height": 0.1973333333333334 + } + ] + } + } + }, + { + "time": 14.7086, + "frame": 441, + "progress": 50, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢夹紧坩埚，向上移动高于三脚架。\n为了完成夹取坩埚放置到三脚架上方的任务应当：向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "progress_explanation": "爪夹向上移动提起坩埚并高于三脚架，因此进度提升到50%。", + "error_success_analysis": "爪夹夹紧坩埚向上移动，并高于三脚架，方便后续放置。", + "correction_plan": "向左移动爪夹到三脚架上方，爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068868098_x0qpi4f5g", + "x": 0.6873750000000001, + "y": 0.2995312500000001, + "width": 0.11499999999999995, + "height": 0.16266666666666663 + }, + { + "id": "bbox_1769068507972_1769068896777_stwyyxcj1", + "x": 0.40037500000000004, + "y": 0.37186458333333333, + "width": 0.11399999999999996, + "height": 0.1973333333333334 + } + ] + } + } + }, + { + "time": 17.191559278350518, + "frame": 516, + "progress": 60, + "action_description": "爪夹向左移动。", + "state_description": "爪夹合拢夹取坩埚向左移动到三脚架正上方。\n为了完成夹取坩埚放置到三脚架上方的任务应当：爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "progress_explanation": "爪夹向左移动到三脚架正上方，因此进度提升到60%。", + "error_success_analysis": "爪夹向左移动接近坩埚正上方，方便放置。", + "correction_plan": "爪夹向下移动，放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068905617_frw8dl850", + "x": 0.42737499999999995, + "y": 0.19419791666666666, + "width": 0.12700000000000006, + "height": 0.16000000000000003 + } + ] + } + } + }, + { + "time": 20.0047, + "frame": 600, + "progress": 80, + "action_description": "爪夹向下移动。", + "state_description": "爪夹夹紧坩埚向下移动，接近三脚架。\n为了完成夹取坩埚放置到三脚架上方的任务应当：放置坩埚到三脚架上方，松开爪夹放置坩埚。", + "progress_explanation": "爪夹夹取坩埚向下移动，接近三脚架，因此进度提升到80%。", + "error_success_analysis": "爪夹夹紧坩埚向下移动，接近三脚架，方便放置。", + "correction_plan": "松开爪夹放置坩埚。", + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068916937_m3g75n8yp", + "x": 0.401375, + "y": 0.33686458333333336, + "width": 0.12400000000000003, + "height": 0.16399999999999995 + } + ] + } + } + }, + { + "time": 25.1, + "frame": 753, + "progress": 100, + "action_description": "爪夹松开。", + "state_description": "爪夹松开，放置坩埚到三脚架上方。\n爪夹夹取坩埚放置到三脚架的任务目标完成。", + "progress_explanation": "爪夹松开，坩埚被放置到三脚架上，因此进度提升到100%。", + "error_success_analysis": "爪夹张开，坩埚落到三脚架上。", + "correction_plan": "", + "annotations": { + "bbox_1769068507972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068507972_1769068929136_6kgwt2h9h", + "x": 0.39637500000000003, + "y": 0.35153124999999996, + "width": 0.12400000000000003, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1769068508100": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769068508100_1769068943808_rmgf49j4y", + "x": 0.41537500000000005, + "y": 0.44353125000000004, + "width": 0.08899999999999997, + "height": 0.13066666666666665 + } + ] + }, + "point_1769068516716": { + "type": "point", + "instances": [ + { + "id": "point_1769068516716_1769068946680_4900fpduv", + "x": 0.399375, + "y": 0.5728645833333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769068507972", + "name": "坩埚", + "color": "#4CAF50" + }, + { + "id": "bbox_1769068508100", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769068516716", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769068517020", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-141433-put-evaporating dish-black-tripod-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-141433-put-evaporating dish-black-tripod-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..59af3e62910b22a3593b4844fd891c6e8f1c9e58 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-141433-put-evaporating dish-black-tripod-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,578 @@ +{ + "task_description": "放置坩埚到三脚架上。\n准备开始移动：0%\n爪夹接近坩埚：20%\n爪夹夹取坩埚：40%\n爪夹移动坩埚：60%\n爪夹接近三脚架：80%\n爪夹张开放置坩埚：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向右前方移动，调整爪夹与桌面垂直，向下移动靠近坩埚，合拢爪夹夹取坩埚，向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度为0%。", + "state_description": "爪夹张开，与桌面呈70度角，未开始移动，处于初始状态。\n为了完成夹取坩埚放置到三脚架上的任务目标应当：爪夹向右前方移动，调整爪夹与桌面垂直，向下移动靠近坩埚，合拢爪夹夹取坩埚，向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "time": 1.1683376288659792, + "annotations": { + "bbox_1769070943900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070943900_1769071011411_f7xn2nrlo", + "x": 0.6873750000000001, + "y": 0.5328645833333333, + "width": 0.07400000000000002, + "height": 0.08133333333333331 + } + ] + }, + "bbox_1769070944117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070944117_1769071031962_c9f29gpc5", + "x": 0.567375, + "y": 0.5368645833333333, + "width": 0.133, + "height": 0.21600000000000003 + } + ] + }, + "point_1769070944812": { + "type": "point", + "instances": [ + { + "id": "point_1769070944812_1769071036090_9qib8w893", + "x": 0.39237500000000003, + "y": 0.5128645833333334 + } + ] + }, + "point_1769070944972": { + "type": "point", + "instances": [ + { + "id": "point_1769070944972_1769071038538_yf643ymej", + "x": 0.617375, + "y": 0.5101979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度。", + "correction_plan": "爪夹向右前方移动，调整爪夹与桌面垂直，向下移动靠近坩埚，合拢爪夹夹取坩埚，向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "error_success_analysis": "爪夹调整位置，方便后续抓取。", + "frame": 68, + "progress": 10, + "progress_explanation": "爪夹调整角度，方便后续抓取，因此进度提升到10%。", + "state_description": "爪夹张开，调整角度与桌面呈45度，远离坩埚。\n为了完成夹取坩埚放置到三脚架上的任务目标应当：爪夹向右前方移动，调整爪夹与桌面垂直，向下移动靠近坩埚，合拢爪夹夹取坩埚，向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "time": 2.25854381443299, + "annotations": { + "bbox_1769070943900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070943900_1769071047595_4bisv98xe", + "x": 0.648375, + "y": 0.40753125, + "width": 0.06899999999999995, + "height": 0.1 + } + ] + }, + "bbox_1769070944117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070944117_1769071056298_vahf96j33", + "x": 0.513375, + "y": 0.4608645833333334, + "width": 0.12500000000000008, + "height": 0.15199999999999997 + } + ] + }, + "point_1769070944812": { + "type": "point", + "instances": [ + { + "id": "point_1769070944812_1769071063617_qcg7o8hzu", + "x": 0.39637500000000003, + "y": 0.50353125 + } + ] + }, + "point_1769070944972": { + "type": "point", + "instances": [ + { + "id": "point_1769070944972_1769071069337_idjcd9uvw", + "x": 0.617375, + "y": 0.51553125 + } + ] + } + } + }, + { + "action_description": "爪夹向前方右下侧移动，调整爪夹角度。", + "correction_plan": "向下移动靠近坩埚，合拢爪夹夹取坩埚，向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "error_success_analysis": "爪夹调整爪夹与桌面垂直，方便后续抓取。", + "frame": 121, + "progress": 15, + "progress_explanation": "爪夹向右前方移动到坩埚正上方，因此进度提升到15%。", + "state_description": "爪夹张开，移动到坩埚正上方，爪夹调整角度与桌面垂直。\n为了完成夹取坩埚放置到三脚架上的任务目标应当：向下移动靠近坩埚，合拢爪夹夹取坩埚，向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "time": 4.03194587628866, + "annotations": { + "bbox_1769070943900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070943900_1769071086288_e1s7seg7x", + "x": 0.42937499999999995, + "y": 0.41553124999999996, + "width": 0.16100000000000003, + "height": 0.21866666666666673 + } + ] + }, + "point_1769070944812": { + "type": "point", + "instances": [ + { + "id": "point_1769070944812_1769071093952_n50uib92s", + "x": 0.395375, + "y": 0.5061979166666667 + } + ] + }, + "point_1769070944972": { + "type": "point", + "instances": [ + { + "id": "point_1769070944972_1769071095784_ixghk38sn", + "x": 0.619375, + "y": 0.51553125 + } + ] + } + } + }, + { + "time": 4.438956, + "frame": 133, + "progress": 17, + "action_description": "爪夹向右侧移动。", + "state_description": "爪夹垂直于桌面，向右侧移动。\n为了完成夹取坩埚放置到三脚架上的任务目标应当：向下移动靠近坩埚，合拢爪夹夹取坩埚，向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "progress_explanation": "爪夹向右侧移动，方便抓取，因此进度提升到17%。", + "error_success_analysis": "爪夹向右侧移动到坩埚正上方，方便抓取。", + "correction_plan": "向下移动靠近坩埚，合拢爪夹夹取坩埚，向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "annotations": { + "bbox_1769070943900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070943900_1769071104600_oly3bo2k7", + "x": 0.362375, + "y": 0.43286458333333333, + "width": 0.20400000000000001, + "height": 0.2733333333333334 + } + ] + }, + "point_1769070944812": { + "type": "point", + "instances": [ + { + "id": "point_1769070944812_1769071116112_bnqd8bpnb", + "x": 0.395375, + "y": 0.5088645833333333 + } + ] + }, + "point_1769070944972": { + "type": "point", + "instances": [ + { + "id": "point_1769070944972_1769071117928_xgv1ldwul", + "x": 0.620375, + "y": 0.5168645833333333 + } + ] + }, + "bbox_1769070944117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070944117_1769071121801_c0umw6gez", + "x": 0.197375, + "y": 0.7968645833333333, + "width": 0.09000000000000004, + "height": 0.1693333333333334 + } + ] + } + } + }, + { + "time": 5.3157, + "frame": 159, + "progress": 20, + "action_description": "爪夹向左下方移动。", + "state_description": "爪夹张开，向左下方移动，爪夹接近坩埚。\n为了完成夹取坩埚放置到三脚架上的任务目标应当：合拢爪夹夹取坩埚，向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "progress_explanation": "爪夹向左下方移动，接近坩埚，因此进度提升到20%。", + "error_success_analysis": "爪夹向左下方移动，靠近坩埚上方，方便抓取。", + "correction_plan": "合拢爪夹夹取坩埚，向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "annotations": { + "bbox_1769070944117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070944117_1769071132880_qjddwbna6", + "x": 0.112375, + "y": 0.7635312500000001, + "width": 0.11399999999999999, + "height": 0.19866666666666657 + } + ] + }, + "bbox_1769070943900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070943900_1769071142000_jwddmarnl", + "x": 0.487375, + "y": 0.2821979166666667, + "width": 0.242, + "height": 0.38666666666666666 + } + ] + }, + "point_1769070944812": { + "type": "point", + "instances": [ + { + "id": "point_1769070944812_1769071148199_o9cliulv9", + "x": 0.39637500000000003, + "y": 0.50753125 + } + ] + }, + "point_1769070944972": { + "type": "point", + "instances": [ + { + "id": "point_1769070944972_1769071153455_f2ifgo3mc", + "x": 0.617375, + "y": 0.5128645833333334 + } + ] + } + } + }, + { + "time": 6.4296, + "frame": 193, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢夹取坩埚，爪甲与桌面垂直。\n为了完成夹取坩埚放置到三脚架上的任务目标应当：向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "progress_explanation": "爪夹合拢夹紧坩埚，因此进度提升到40%。", + "error_success_analysis": "爪夹垂直于桌面，合拢爪夹成功抓取坩埚。", + "correction_plan": "向上移动并高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "annotations": { + "bbox_1769070943900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070943900_1769071160567_ocjb53710", + "x": 0.500375, + "y": 0.33153125000000006, + "width": 0.267, + "height": 0.336 + } + ] + }, + "bbox_1769070944117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070944117_1769071170150_yhgpx9ayf", + "x": 0.11737500000000001, + "y": 0.6248645833333334, + "width": 0.12000000000000002, + "height": 0.3373333333333334 + } + ] + }, + "point_1769070944812": { + "type": "point", + "instances": [ + { + "id": "point_1769070944812_1769071177606_wui98qvak", + "x": 0.492375, + "y": 0.50753125 + } + ] + }, + "point_1769070944972": { + "type": "point", + "instances": [ + { + "id": "point_1769070944972_1769071183173_mtmkkruc8", + "x": 0.517375, + "y": 0.5088645833333333 + } + ] + } + } + }, + { + "time": 9.0945, + "frame": 273, + "progress": -10, + "action_description": "爪夹向左侧移动。", + "state_description": "爪夹合拢夹紧坩埚，想左侧移动碰倒三脚架。\n为了完成夹取坩埚放置到三脚架上的任务目标应当：向上移动，高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "progress_explanation": "爪夹碰倒三脚架，因此进度降低到-10%。", + "error_success_analysis": "爪夹未提升高度就向左侧移动，碰倒三脚架。", + "correction_plan": "向上移动，高于三脚架，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "annotations": { + "bbox_1769070943900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070943900_1769071199501_0j7yp4at3", + "x": 0.5043749999999999, + "y": 0.35153124999999996, + "width": 0.22700000000000004, + "height": 0.3040000000000001 + } + ] + }, + "bbox_1769070944117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070944117_1769071209053_9i15xns80", + "x": 0.272375, + "y": 0.45953125000000006, + "width": 0.274, + "height": 0.3106666666666666 + } + ] + }, + "point_1769070944812": { + "type": "point", + "instances": [ + { + "id": "point_1769070944812_1769071220653_054q5ges3", + "x": 0.496375, + "y": 0.49553125000000003 + } + ] + }, + "point_1769070944972": { + "type": "point", + "instances": [ + { + "id": "point_1769070944972_1769071223077_5qlsa7llm", + "x": 0.519375, + "y": 0.49686458333333333 + } + ] + } + } + }, + { + "time": 10.1943, + "frame": 306, + "progress": -20, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢夹紧坩埚，向上方移动。\n为了完成夹取坩埚放置到三脚架上的任务目标应当：向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "progress_explanation": "爪夹向上移动，远离三脚架，因此进度降低到-20%", + "error_success_analysis": "爪夹碰倒三脚架，无法放置坩埚。", + "correction_plan": "向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "annotations": { + "bbox_1769070943900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070943900_1769071230324_ihl9uh3oi", + "x": 0.5003750000000001, + "y": 0.35153125, + "width": 0.23199999999999993, + "height": 0.32266666666666666 + } + ] + }, + "bbox_1769070944117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070944117_1769071239413_v0d5psbvm", + "x": 0.217375, + "y": 0.3448645833333333, + "width": 0.188, + "height": 0.17600000000000005 + } + ] + }, + "point_1769070944812": { + "type": "point", + "instances": [ + { + "id": "point_1769070944812_1769071250316_oiskzrxxl", + "x": 0.49437500000000006, + "y": 0.49953125000000004 + } + ] + }, + "point_1769070944972": { + "type": "point", + "instances": [ + { + "id": "point_1769070944972_1769071252420_snb4mznv5", + "x": 0.519375, + "y": 0.49953125000000004 + } + ] + } + } + }, + { + "time": 11.0262, + "frame": 331, + "progress": -30, + "action_description": "爪夹向下移动。", + "state_description": "爪夹夹紧坩埚向下移动到桌面位置。\n为了完成夹取坩埚放置到三脚架上的任务目标应当：爪夹向上移动，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "progress_explanation": "爪夹向下移动到桌面位置，低于三脚架，因此进度降低到-30%。", + "error_success_analysis": "爪夹未提升高度碰倒三脚架。", + "correction_plan": "爪夹向上移动，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "annotations": { + "bbox_1769070943900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070943900_1769071258923_4w7k85wme", + "x": 0.504375, + "y": 0.3541979166666666, + "width": 0.22800000000000004, + "height": 0.3146666666666667 + } + ] + }, + "bbox_1769070944117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070944117_1769071271795_jujbjbwlc", + "x": -0.000625, + "y": 0.11953125, + "width": 0.24300000000000002, + "height": 0.364 + } + ] + }, + "point_1769070944812": { + "type": "point", + "instances": [ + { + "id": "point_1769070944812_1769071274204_7kv5rxazu", + "x": 0.49437500000000006, + "y": 0.49553125000000003 + } + ] + }, + "point_1769070944972": { + "type": "point", + "instances": [ + { + "id": "point_1769070944972_1769071279555_57o5naz5z", + "x": 0.517375, + "y": 0.49686458333333333 + } + ] + } + } + }, + { + "time": 14.1, + "frame": 423, + "progress": -50, + "action_description": "爪夹张开。", + "state_description": "爪夹张开，坩埚落于桌面。\n为了完成夹取坩埚放置到三脚架上的任务目标应当：爪夹调整角度，向下移动夹取坩埚。", + "progress_explanation": "爪夹松开放置坩埚到桌面，因此进度降低到-50%。", + "error_success_analysis": "爪夹松开，放置坩埚到桌面上。须重新抓取坩埚。", + "correction_plan": "爪夹调整角度，向下移动夹取坩埚，爪夹向上移动，向左后方移动到坩埚上方，向下移动爪夹接近三脚架，松开爪夹。", + "annotations": { + "bbox_1769070943900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070943900_1769071286227_n3a690rod", + "x": 0.661375, + "y": 0.5421979166666666, + "width": 0.08599999999999994, + "height": 0.11466666666666665 + } + ] + }, + "bbox_1769070944117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070944117_1769071296762_d026jtb3d", + "x": 0.399375, + "y": 0.39686458333333335, + "width": 0.19, + "height": 0.16400000000000006 + } + ] + }, + "point_1769070944812": { + "type": "point", + "instances": [ + { + "id": "point_1769070944812_1769071307138_d2prsckc3", + "x": 0.42737499999999995, + "y": 0.5088645833333333 + } + ] + }, + "point_1769070944972": { + "type": "point", + "instances": [ + { + "id": "point_1769070944972_1769071308906_lv7ceerqa", + "x": 0.581375, + "y": 0.5101979166666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769070943900", + "name": "坩埚", + "color": "#4CAF50" + }, + { + "id": "bbox_1769070944117", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769070944812", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769070944972", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-142435-put-black bottledparticles-evaporating dish-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-142435-put-black bottledparticles-evaporating dish-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5e6d5b60e61851b35125230847324b20dce387be --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-142435-put-black bottledparticles-evaporating dish-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,634 @@ +{ + "task_description": "爪夹夹取药粉瓶向坩埚中导入黑色粉末。\n准备开始移动：0%\n爪夹接近药粉瓶：20%\n爪夹夹取药粉瓶：40%\n爪夹接近坩埚：60%\n爪夹倾倒药粉瓶：80%\n爪夹放置药粉瓶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹未移动。", + "correction_plan": "爪夹向右下方移动到药粉瓶的正上方，调整爪夹角度与桌面呈45度角，爪夹向下移动接近药粉瓶，合拢爪夹夹取药粉瓶，爪夹向上移动，爪夹向左移动到坩埚正上方，倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动，因此进度为0%。", + "state_description": "爪夹处于初始状态，爪夹张开，未开始移动，与桌面呈30度.\n为了完成夹取药粉瓶并向坩埚中倒入黑色粉末的任务目标应当：爪夹向右下方移动到药粉瓶的正上方，调整爪夹角度与桌面呈45度角，爪夹向下移动接近药粉瓶，合拢爪夹夹取药粉瓶，爪夹向上移动，爪夹向左移动到坩埚正上方，倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "time": 1.7758290609536083, + "annotations": { + "bbox_1769393432228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393432228_1769393468171_hkmr5bj8e", + "x": 0.589375, + "y": 0.63953125, + "width": 0.06600000000000002, + "height": 0.09333333333333324 + } + ] + }, + "point_1769393432877": { + "type": "point", + "instances": [ + { + "id": "point_1769393432877_1769393479155_xf7nctzve", + "x": 0.42037500000000005, + "y": 0.50753125 + } + ] + }, + "point_1769393433036": { + "type": "point", + "instances": [ + { + "id": "point_1769393433036_1769393483115_x8a34u8af", + "x": 0.5903750000000001, + "y": 0.5061979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动。调整爪夹角度。", + "correction_plan": "爪夹向下移动接近药粉瓶，合拢爪夹夹取药粉瓶，爪夹向上移动，爪夹向左移动到坩埚正上方，倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "error_success_analysis": "爪夹向右下方移动，调整爪夹角度，方便后续接近药粉瓶。", + "frame": 124, + "progress": 10, + "progress_explanation": "爪甲向右下方移动，位于药粉瓶正上方，因此进度提升到10%。", + "state_description": "爪夹张开，向右下方移动，调整爪夹位置与桌面45度。\n为了完成夹取药粉瓶并向坩埚中倒入黑色粉末的任务目标应当：爪夹向下移动接近药粉瓶，合拢爪夹夹取药粉瓶，爪夹向上移动，爪夹向左移动到坩埚正上方，倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "time": 4.1479940403350515, + "annotations": { + "bbox_1769393431475": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393431475_1769393492050_dz54j8or9", + "x": 0.529375, + "y": 0.48619791666666673, + "width": 0.05599999999999996, + "height": 0.07999999999999989 + } + ] + }, + "bbox_1769393432228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393432228_1769393502651_pw8bif4w0", + "x": 0.27737500000000004, + "y": 0.56353125, + "width": 0.14199999999999996, + "height": 0.20400000000000004 + } + ] + }, + "point_1769393432877": { + "type": "point", + "instances": [ + { + "id": "point_1769393432877_1769393510339_g5nk5iq7k", + "x": 0.422375, + "y": 0.5088645833333333 + } + ] + }, + "point_1769393433036": { + "type": "point", + "instances": [ + { + "id": "point_1769393433036_1769393513443_ojprmpi4j", + "x": 0.592375, + "y": 0.5101979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向正下方移动。", + "correction_plan": "合拢爪夹夹取药粉瓶，爪夹向上移动，爪夹向左移动到坩埚正上方，倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "error_success_analysis": "爪夹位于药粉瓶正上方，向下移动接近药粉瓶，方便后续夹取。", + "frame": 210, + "progress": 20, + "progress_explanation": "爪夹向下移动，接近药粉瓶，因此进度提升到20%。", + "state_description": "爪夹张开，爪夹与桌面呈45度，爪夹接近药粉瓶。\n为了完成夹取药粉瓶并向坩埚中倒入黑色粉末的任务目标应当：合拢爪夹夹取药粉瓶，爪夹向上移动，爪夹向左移动到坩埚正上方，倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "time": 6.994592015592784, + "annotations": { + "point_1769393433036": { + "type": "point", + "instances": [ + { + "id": "point_1769393433036_1769393525209_ombdfym4g", + "x": 0.581375, + "y": 0.50753125 + } + ] + }, + "point_1769393432877": { + "type": "point", + "instances": [ + { + "id": "point_1769393432877_1769393527298_rad1weh43", + "x": 0.429375, + "y": 0.5061979166666667 + } + ] + }, + "bbox_1769393431475": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393431475_1769393606624_bmj7iqti0", + "x": 0.471375, + "y": 0.43286458333333333, + "width": 0.09000000000000004, + "height": 0.15733333333333335 + } + ] + }, + "bbox_1769393432228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393432228_1769393639839_shsmnqoxe", + "x": 0.12337500000000001, + "y": 0.5421979166666666, + "width": 0.16499999999999998, + "height": 0.3306666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向上移动，爪夹向左移动到坩埚正上方，倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "error_success_analysis": "爪夹张开接近药粉瓶，合拢爪夹成功夹取药粉瓶。", + "frame": 234, + "progress": 40, + "progress_explanation": "爪夹合拢夹紧药粉瓶，因此进度提升到40%。", + "state_description": "爪夹合拢夹取药粉瓶，爪夹与桌面呈45度。\n为了完成夹取药粉瓶并向坩埚中倒入黑色粉末的任务目标应当：爪夹向上移动，爪夹向左移动到坩埚正上方，倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "time": 7.785313675386597, + "annotations": { + "point_1769393432877": { + "type": "point", + "instances": [ + { + "id": "point_1769393432877_1769393571281_k4u4gdyqy", + "x": 0.46137500000000004, + "y": 0.5101979166666667 + } + ] + }, + "point_1769393433036": { + "type": "point", + "instances": [ + { + "id": "point_1769393433036_1769393574921_crvm91ujz", + "x": 0.552375, + "y": 0.5168645833333333 + } + ] + }, + "bbox_1769393431475": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393431475_1769393662787_kjif68fh3", + "x": 0.46137500000000004, + "y": 0.4301979166666667, + "width": 0.09399999999999994, + "height": 0.16533333333333336 + } + ] + }, + "bbox_1769393432228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393432228_1769393667948_csdm5dyi1", + "x": 0.11937500000000001, + "y": 0.55153125, + "width": 0.172, + "height": 0.32533333333333325 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "爪夹向左移动到坩埚正上方，倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "error_success_analysis": "爪夹合拢夹紧药粉瓶，向上移动，方便后续接近药粉瓶。", + "frame": 324, + "progress": 50, + "progress_explanation": "爪甲合拢夹紧药粉瓶，爪夹向上移动，方便后续接近坩埚，因此进度提升到50%。", + "state_description": "爪夹合拢夹紧药粉瓶，向上移动，爪夹与桌面呈45度。\n为了完成夹取药粉瓶并向坩埚中倒入黑色粉末的任务目标应当：爪夹向左移动到坩埚正上方，倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "time": 10.790055982603093, + "annotations": { + "bbox_1769393431475": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393431475_1769393684239_dcvm8azav", + "x": 0.46137500000000004, + "y": 0.4301979166666667, + "width": 0.09499999999999993, + "height": 0.16400000000000006 + } + ] + }, + "bbox_1769393432228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393432228_1769393692174_0oo1npe05", + "x": 0.222375, + "y": 0.5781979166666666, + "width": 0.127, + "height": 0.20133333333333342 + } + ] + }, + "point_1769393432877": { + "type": "point", + "instances": [ + { + "id": "point_1769393432877_1769393707549_9n45m1rvi", + "x": 0.46237500000000004, + "y": 0.49686458333333333 + } + ] + }, + "point_1769393433036": { + "type": "point", + "instances": [ + { + "id": "point_1769393433036_1769393710413_zj9gvs16f", + "x": 0.552375, + "y": 0.49686458333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动。", + "correction_plan": "倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "error_success_analysis": "爪夹夹紧药粉瓶向左侧移动，接近坩埚，方便后续倒入药粉。", + "frame": 362, + "progress": 60, + "progress_explanation": "爪夹夹紧药粉瓶向左侧移动到坩埚正上方，因此进度提升到60%。", + "state_description": "爪夹夹紧药粉瓶向左侧移动，接近坩埚正上方，爪夹与桌面呈45度。\n为了完成夹取药粉瓶并向坩埚中倒入黑色粉末的任务目标应当：倾斜爪夹将药粉倒入坩埚中，爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "time": 12.055210638273197, + "annotations": { + "bbox_1769393431475": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393431475_1769393720133_ioplro34g", + "x": 0.460375, + "y": 0.42753125000000003, + "width": 0.096, + "height": 0.1666666666666667 + } + ] + }, + "bbox_1769393432228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393432228_1769393736797_dze48s3po", + "x": 0.567375, + "y": 0.32353125000000005, + "width": 0.16699999999999998, + "height": 0.20933333333333332 + } + ] + }, + "point_1769393432877": { + "type": "point", + "instances": [ + { + "id": "point_1769393432877_1769393742964_yux3rinw9", + "x": 0.46237500000000004, + "y": 0.49953125000000004 + } + ] + }, + "point_1769393433036": { + "type": "point", + "instances": [ + { + "id": "point_1769393433036_1769393745211_7huh62qg5", + "x": 0.551375, + "y": 0.49953125000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向右倾斜。", + "correction_plan": "爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "error_success_analysis": "爪夹夹紧药粉瓶，位于坩埚正上方，爪夹倾斜，药粉顺利落入坩埚中。", + "frame": 427, + "progress": 80, + "progress_explanation": "爪夹夹紧药粉瓶向右侧倾斜，药粉落入坩埚中，因此进度提升到80%。", + "state_description": "爪夹合拢加紧药粉瓶，向右侧倾斜，药粉落入坩埚中。\n为了完成夹取药粉瓶并向坩埚中倒入黑色粉末的任务目标应当：爪夹复位，爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "time": 14.242873897036082, + "annotations": { + "bbox_1769393431475": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393431475_1769393752868_kf3p6oxo7", + "x": 0.45837500000000003, + "y": 0.42753125000000003, + "width": 0.09699999999999998, + "height": 0.16800000000000004 + } + ] + }, + "bbox_1769393432228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393432228_1769393761628_muujsbf0f", + "x": 0.630375, + "y": 0.29686458333333327, + "width": 0.196, + "height": 0.3053333333333334 + } + ] + }, + "point_1769393432877": { + "type": "point", + "instances": [ + { + "id": "point_1769393432877_1769393771308_3bdmbrqm0", + "x": 0.464375, + "y": 0.5008645833333333 + } + ] + }, + "point_1769393433036": { + "type": "point", + "instances": [ + { + "id": "point_1769393433036_1769393773380_3xhajj3wn", + "x": 0.551375, + "y": 0.49953125000000004 + } + ] + } + } + }, + { + "action_description": "爪夹复位。", + "correction_plan": "爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "error_success_analysis": "爪夹夹紧药粉瓶，向左侧倾斜复位，方便后续放置药粉瓶。", + "frame": 488, + "progress": 85, + "progress_explanation": "爪夹向左侧倾斜复位，方便后续放置药粉瓶，因此进度提升到85%。", + "state_description": "爪夹夹紧药粉瓶，向左侧倾斜复位爪夹角度，爪夹与桌面呈45度。\n为了完成夹取药粉瓶并向坩埚中倒入黑色粉末的任务目标应当：爪夹向右方移动到桌面正上方，爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "time": 16.272392823840203, + "annotations": { + "bbox_1769393431475": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393431475_1769393781819_1hl84zzzm", + "x": 0.460375, + "y": 0.42753125000000003, + "width": 0.09500000000000001, + "height": 0.16800000000000004 + } + ] + }, + "bbox_1769393432228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393432228_1769393787484_7m89h9tp1", + "x": 0.362375, + "y": 0.43686458333333333, + "width": 0.162, + "height": 0.21733333333333332 + } + ] + }, + "point_1769393432877": { + "type": "point", + "instances": [ + { + "id": "point_1769393432877_1769393789627_4xqa0mv37", + "x": 0.46537500000000004, + "y": 0.4901979166666667 + } + ] + }, + "point_1769393433036": { + "type": "point", + "instances": [ + { + "id": "point_1769393433036_1769393791755_dp1jdvjj0", + "x": 0.552375, + "y": 0.4888645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动。", + "correction_plan": "爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "error_success_analysis": "爪夹夹紧药粉瓶向右侧移动，接近桌面上方，方便后续放置药粉瓶。", + "frame": 586, + "progress": 90, + "progress_explanation": "爪夹向右方移动到桌面正上方，因此进度提升到90%。", + "state_description": "爪夹合拢夹紧药粉瓶，向右侧移动到桌面上方，爪夹与桌面呈45度。\n为了完成夹取药粉瓶并向坩埚中倒入黑色粉末的任务目标应当：爪夹向下移动接近桌面，松开爪夹放置药粉瓶。", + "time": 19.54070901765464, + "annotations": { + "bbox_1769393431475": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393431475_1769393801019_iysn0jr0r", + "x": 0.45837500000000003, + "y": 0.4261979166666667, + "width": 0.09799999999999995, + "height": 0.1653333333333333 + } + ] + }, + "bbox_1769393432228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393432228_1769393810685_qyxt49g1b", + "x": 0.24937499999999999, + "y": 0.5915312500000002, + "width": 0.121, + "height": 0.15066666666666653 + } + ] + }, + "point_1769393432877": { + "type": "point", + "instances": [ + { + "id": "point_1769393432877_1769393822274_vlq7mawb5", + "x": 0.46137500000000004, + "y": 0.49553125000000003 + } + ] + }, + "point_1769393433036": { + "type": "point", + "instances": [ + { + "id": "point_1769393433036_1769393824842_cm4y8bd9j", + "x": 0.555375, + "y": 0.4941979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹合拢夹紧药粉瓶，向下移动到桌面正上方，方便后续放置药粉瓶。", + "frame": 648, + "progress": 95, + "progress_explanation": "爪夹向下移动到桌面上方，接近桌面，方便放置药粉瓶。因此进度提升到95%。", + "state_description": "爪夹合拢夹紧药粉瓶，向下移动到桌面上方，爪夹与桌面呈45度。\n为了完成夹取药粉瓶并向坩埚中倒入黑色粉末的任务目标应当：松开爪夹放置药粉瓶。", + "time": 21.596585333118554, + "annotations": { + "bbox_1769393431475": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393431475_1769393831970_eppguoh2o", + "x": 0.465375, + "y": 0.4288645833333334, + "width": 0.09000000000000004, + "height": 0.16533333333333336 + } + ] + }, + "bbox_1769393432228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393432228_1769393841921_9nfr5g7l8", + "x": 0.151375, + "y": 0.7781979166666667, + "width": 0.19, + "height": 0.18933333333333333 + } + ] + }, + "point_1769393432877": { + "type": "point", + "instances": [ + { + "id": "point_1769393432877_1769393850082_6teqjl5ac", + "x": 0.45737500000000003, + "y": 0.49686458333333333 + } + ] + }, + "point_1769393433036": { + "type": "point", + "instances": [ + { + "id": "point_1769393433036_1769393852289_euui0vodx", + "x": 0.5543750000000001, + "y": 0.49686458333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开，爪夹向上移动。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，药粉瓶落于桌面。", + "frame": 767, + "progress": 100, + "progress_explanation": "爪夹张开，药粉瓶放置于桌面，因此进度提升到100%。", + "state_description": "爪夹张开，药粉瓶落于桌面。\n爪夹夹取药粉瓶倒药粉到坩埚中并放置药粉瓶的任务目标完成。", + "time": 25.566667, + "annotations": { + "bbox_1769393431475": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393431475_1769393861450_j0m6hw2bc", + "x": 0.456375, + "y": 0.19686458333333334, + "width": 0.053000000000000026, + "height": 0.09866666666666664 + } + ] + }, + "bbox_1769393432228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393432228_1769393865402_vmc3ckf06", + "x": 0.23137499999999997, + "y": 0.3701979166666666, + "width": 0.133, + "height": 0.20799999999999993 + } + ] + }, + "point_1769393432877": { + "type": "point", + "instances": [ + { + "id": "point_1769393432877_1769393877161_juq245tas", + "x": 0.45237499999999997, + "y": 0.5021979166666667 + } + ] + }, + "point_1769393433036": { + "type": "point", + "instances": [ + { + "id": "point_1769393433036_1769393879440_088zqrpie", + "x": 0.559375, + "y": 0.5061979166666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769393431475", + "name": "药粉瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1769393432228", + "name": "坩埚", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769393432877", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769393433036", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-142435-put-black bottledparticles-evaporating dish-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-142435-put-black bottledparticles-evaporating dish-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..d7b1945ebcaeffaeea76b7d8ce9d33a71f7e715d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-142435-put-black bottledparticles-evaporating dish-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,710 @@ +{ + "task_description": "夹取药粉瓶并把药粉倒入三脚架上的坩埚中。\n准备开始移动：0%\n爪夹接近药粉瓶：20%\n爪夹夹紧药粉瓶：40%\n爪夹接近坩埚：60%\n爪夹倾倒药粉：80%\n爪夹放置药粉瓶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向右侧移动到药粉瓶正上方，爪夹调整角度与桌面呈45度角，爪夹向下移动接近药粉瓶，合拢爪夹夹紧药粉瓶，爪夹向上移动并高于坩埚位置，爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动，处于初始状态因此进度为0%。", + "state_description": "爪夹张开，未开始移动，爪夹与桌面呈30度角，处于初始状态。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：爪夹向右侧移动到药粉瓶正上方，爪夹调整角度与桌面呈45度角，爪夹向下移动接近药粉瓶，合拢爪夹夹紧药粉瓶，爪夹向上移动并高于坩埚位置，爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "time": 1.5957474413659796, + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397499120_ibkzcbv7b", + "x": 0.771375, + "y": 0.7021979166666666, + "width": 0.03600000000000003, + "height": 0.060000000000000026 + } + ] + }, + "bbox_1769397457610": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457610_1769397533215_zur410kk9", + "x": 0.5883750000000001, + "y": 0.5101979166666667, + "width": 0.10299999999999994, + "height": 0.10133333333333336 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397542255_d635taa5b", + "x": 0.395375, + "y": 0.50353125 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397544780_f1dm3sk3g", + "x": 0.616375, + "y": 0.5128645833333334 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，并向右侧移动。", + "correction_plan": "爪夹向下移动接近药粉瓶，合拢爪夹夹紧药粉瓶，爪夹向上移动并高于坩埚位置，爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整角度，并向右移动接近药粉瓶，方便后续抓取。", + "frame": 85, + "progress": 10, + "progress_explanation": "爪夹调整角度并接近药粉瓶，因此进度提升到10%。", + "state_description": "爪夹张开，爪夹调整角度与桌面呈45度，爪夹向右侧移动。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：爪夹向下移动接近药粉瓶，合拢爪夹夹紧药粉瓶，爪夹向上移动并高于坩埚位置，爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "time": 2.828324775386598, + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397558495_owam1loyv", + "x": 0.507375, + "y": 0.45686458333333335, + "width": 0.03399999999999999, + "height": 0.05599999999999999 + } + ] + }, + "bbox_1769397457610": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457610_1769397564000_qxvm6de8p", + "x": 0.220375, + "y": 0.4848645833333333, + "width": 0.071, + "height": 0.13733333333333342 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397569718_wawou7xcy", + "x": 0.395375, + "y": 0.50753125 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397571871_t2wn0cbm2", + "x": 0.619375, + "y": 0.50753125 + } + ] + } + } + }, + { + "action_description": "爪夹向前下方移动。", + "correction_plan": "爪夹向前移动接近药粉瓶，合拢爪夹夹紧药粉瓶，爪夹向上移动并高于坩埚位置，爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前下方移动，水平上接近了药粉瓶，方便后续抓取。", + "frame": 133, + "progress": 15, + "progress_explanation": "爪夹向前下方移动，水平上接近药粉瓶，因此进度提升到15%。", + "state_description": "爪夹张开，向前下方移动，水平上接近药粉瓶，爪夹与桌面呈45度。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：爪夹向前移动接近药粉瓶，合拢爪夹夹紧药粉瓶，爪夹向上移动并高于坩埚位置，爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "time": 4.44241414136598, + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397578136_70m52pmuc", + "x": 0.46637500000000004, + "y": 0.38619791666666675, + "width": 0.08099999999999996, + "height": 0.14399999999999996 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397585142_859pu3tbb", + "x": 0.39437500000000003, + "y": 0.50753125 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397587550_2zwnr5595", + "x": 0.617375, + "y": 0.5141979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "爪夹合拢爪夹夹紧药粉瓶，爪夹向上移动并高于坩埚位置，爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动接近药粉瓶，方便后续抓取。", + "frame": 186, + "progress": 20, + "progress_explanation": "爪夹向前移动接近药粉瓶，方便抓取，因此进度提升到20%。", + "state_description": "爪夹张开，向前移动，爪夹与桌面呈45度，爪夹接近药粉瓶。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：爪夹合拢爪夹夹紧药粉瓶，爪夹向上移动并高于坩埚位置，爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "time": 6.2032389042525775, + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397595605_hxnvndmpd", + "x": 0.480375, + "y": 0.43286458333333333, + "width": 0.10099999999999998, + "height": 0.1493333333333333 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397597501_e81k2wkd2", + "x": 0.399375, + "y": 0.5021979166666667 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397599405_7dtrswnbe", + "x": 0.611375, + "y": 0.5061979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向上移动并高于坩埚位置，爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "error_success_analysis": "爪夹与桌面呈45度，爪夹接近药粉瓶，方便夹取药粉瓶。", + "frame": 240, + "progress": 40, + "progress_explanation": "爪夹合拢成功夹紧药粉瓶，因此进度提升到40%。", + "state_description": "爪夹合拢夹紧药粉瓶，爪夹与桌面呈45度。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：爪夹向上移动并高于坩埚位置，爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "time": 7.993410746520619, + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397606398_k83wvcr0g", + "x": 0.459375, + "y": 0.4301979166666667, + "width": 0.09800000000000005, + "height": 0.1573333333333333 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397612422_gpghq8uz3", + "x": 0.460375, + "y": 0.5021979166666667 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397614453_fkicdxk2v", + "x": 0.551375, + "y": 0.49953125000000004 + } + ] + } + } + }, + { + "time": 9.314029318685568, + "frame": 279, + "progress": 50, + "action_description": "爪夹向上移动。", + "state_description": "爪夹夹紧药粉瓶，向上移动并高于坩埚，爪夹与桌面呈45度。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹夹紧药粉瓶向上移动，方便后续向坩埚左侧移动，因此进度提升到50%。", + "error_success_analysis": "爪夹合拢夹紧药粉瓶，向上移动高于坩埚，方便后续移动到坩埚左侧。", + "correction_plan": "爪夹向左方移动到坩埚左上方，向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397628573_sarq6wa34", + "x": 0.460375, + "y": 0.4301979166666667, + "width": 0.096, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1769397457610": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457610_1769397637909_gawza04nx", + "x": 0.129375, + "y": 0.51953125, + "width": 0.082, + "height": 0.17733333333333334 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397645309_hfn56zvle", + "x": 0.46237500000000004, + "y": 0.5061979166666667 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397647740_9ml6oekm6", + "x": 0.552375, + "y": 0.50753125 + } + ] + } + } + }, + { + "time": 10.546606652706187, + "frame": 316, + "progress": 60, + "action_description": "爪夹向左移动。", + "state_description": "爪夹合拢夹紧药粉瓶，向左侧移动到坩埚的左侧。爪夹与桌面呈45度。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向左移动接近坩埚，因此进度提升到：60%。", + "error_success_analysis": "爪夹高于坩埚，向左移动到坩埚左侧，方便后续倾倒粉末。", + "correction_plan": "向右倾斜爪夹，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397656046_6rx35lrz2", + "x": 0.460375, + "y": 0.4288645833333334, + "width": 0.096, + "height": 0.1586666666666666 + } + ] + }, + "bbox_1769397457610": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457610_1769397660020_aumou8yje", + "x": 0.709375, + "y": 0.5088645833333333, + "width": 0.12599999999999997, + "height": 0.16666666666666666 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397663236_1kh51mcvm", + "x": 0.46237500000000004, + "y": 0.50353125 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397665684_iiprb7or0", + "x": 0.5543750000000001, + "y": 0.5021979166666667 + } + ] + } + } + }, + { + "time": 14.097603257860825, + "frame": 423, + "progress": 70, + "action_description": "爪夹向右倾斜。", + "state_description": "爪夹合拢夹紧药粉瓶，向右倾斜90度，粉末未被倒出药粉瓶。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：左右移动爪夹，晃动药粉瓶，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹合拢夹紧药粉瓶，向右倾斜，因此进度提升到70%。", + "error_success_analysis": "爪夹向右侧倾斜，粉末未被倾倒出药粉瓶，后续需要晃动爪夹倒出粉末。", + "correction_plan": "左右移动爪夹，晃动药粉瓶，倾倒药粉到坩埚中，爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397687435_tc9og3fdh", + "x": 0.459375, + "y": 0.43686458333333333, + "width": 0.1, + "height": 0.1426666666666667 + } + ] + }, + "bbox_1769397457610": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457610_1769397692028_lrsp988he", + "x": 0.743375, + "y": 0.21419791666666665, + "width": 0.24700000000000005, + "height": 0.4626666666666667 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397701699_f60g5c3nq", + "x": 0.46237500000000004, + "y": 0.5021979166666667 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397711795_z1lhwgdyb", + "x": 0.5543750000000001, + "y": 0.50353125 + } + ] + } + } + }, + { + "time": 17.736641101159794, + "frame": 532, + "progress": 80, + "action_description": "爪夹左右移动。", + "state_description": "爪夹合拢夹紧药粉瓶，向左右移动，晃动药粉瓶，药粉落入坩埚中。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向左右移动，晃动药粉瓶，药粉落入坩埚中，因此进度提升到80%。", + "error_success_analysis": "爪夹向左右移动，晃动药粉瓶，药粉因此落入坩埚在。", + "correction_plan": "爪夹复位，向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397723762_ond4q8s59", + "x": 0.461375, + "y": 0.43553125, + "width": 0.09600000000000009, + "height": 0.15333333333333332 + } + ] + }, + "bbox_1769397457610": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457610_1769397736691_z9t693mos", + "x": 0.6833750000000001, + "y": 0.18219791666666665, + "width": 0.2789999999999999, + "height": 0.5999999999999999 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397749258_v9842zrp2", + "x": 0.46137500000000004, + "y": 0.4941979166666667 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397751242_gutcv4dqc", + "x": 0.555375, + "y": 0.4928645833333334 + } + ] + } + } + }, + { + "time": 22.57890919909794, + "frame": 677, + "progress": 85, + "action_description": "爪夹向上移动，爪夹向左倾斜。", + "state_description": "爪夹合拢夹紧药粉瓶，向左侧倾斜爪夹复位爪夹倾斜角度，爪夹向上移动。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向左侧倾斜复位爪夹角度，并向上移动，因此进度提升到85%。", + "error_success_analysis": "爪夹向左倾斜，复位爪夹倾斜角度，并向上移动，方便后续放置药粉瓶。", + "correction_plan": "向右侧移动到桌面上方，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397758290_47tcuqonk", + "x": 0.459375, + "y": 0.43286458333333333, + "width": 0.09699999999999998, + "height": 0.15600000000000006 + } + ] + }, + "bbox_1769397457610": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457610_1769397767513_mklvkis49", + "x": 0.42737499999999995, + "y": 0.5435312499999999, + "width": 0.11500000000000003, + "height": 0.1400000000000001 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397770201_owwsulrqr", + "x": 0.46237500000000004, + "y": 0.5061979166666667 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397772353_75mptb5m0", + "x": 0.552375, + "y": 0.5021979166666667 + } + ] + } + } + }, + { + "time": 23.459321580541236, + "frame": 704, + "progress": 90, + "action_description": "爪夹向右侧移动。", + "state_description": "爪夹合拢夹紧药粉瓶，向右侧移动到桌面上方，爪夹与桌面呈45度。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向右侧移动到桌面上方，因此进度提升到90%。", + "error_success_analysis": "爪夹夹紧药粉瓶，复位爪夹角度，向右侧移动，方便后续放置药粉瓶。", + "correction_plan": "爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397779929_zdgu5om4h", + "x": 0.460375, + "y": 0.43686458333333333, + "width": 0.1, + "height": 0.15333333333333338 + } + ] + }, + "bbox_1769397457610": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457610_1769397800465_fhdyvpfks", + "x": 0.15537499999999999, + "y": 0.5301979166666667, + "width": 0.12000000000000002, + "height": 0.21866666666666662 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397810472_ri0clbzoi", + "x": 0.46237500000000004, + "y": 0.49686458333333333 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397813136_56kkf9bg0", + "x": 0.555375, + "y": 0.49553125000000003 + } + ] + } + } + }, + { + "time": 25.89512916920103, + "frame": 777, + "progress": 95, + "action_description": "爪夹向下移动。", + "state_description": "爪夹向下移动，接近桌面，爪夹与桌面呈45度。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中，最后放置药粉瓶的任务目标应当：松开爪夹。", + "progress_explanation": "爪夹向下移动到桌面上方，因此进度提升到95%。", + "error_success_analysis": "爪夹与桌面呈45度，向下移动接近桌面，方便后续放置。", + "correction_plan": "松开爪夹。", + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397832343_x5jn1rv1w", + "x": 0.460375, + "y": 0.43553125000000004, + "width": 0.09700000000000006, + "height": 0.15199999999999997 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397844944_mkp5tyn6a", + "x": 0.46237500000000004, + "y": 0.5008645833333333 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397846879_09zvo5axu", + "x": 0.555375, + "y": 0.49953125000000004 + } + ] + } + } + }, + { + "time": 28.466667, + "frame": 854, + "progress": 100, + "action_description": "爪夹张开，爪夹向上移动。", + "state_description": "爪夹张开，放置药粉瓶到桌面上。\n爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标完成。", + "progress_explanation": "爪夹松开放置药粉瓶到桌面上，因此进度提升到100%。", + "error_success_analysis": "爪夹张开，放置药粉瓶到桌面上。", + "correction_plan": "", + "annotations": { + "bbox_1769397457416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457416_1769397853463_g62xergux", + "x": 0.43637500000000007, + "y": 0.37286458333333333, + "width": 0.06099999999999994, + "height": 0.09600000000000003 + } + ] + }, + "bbox_1769397457610": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397457610_1769397859199_kpwsw7ohx", + "x": 0.022375, + "y": 0.5208645833333334, + "width": 0.07499999999999998, + "height": 0.2626666666666667 + } + ] + }, + "point_1769397458409": { + "type": "point", + "instances": [ + { + "id": "point_1769397458409_1769397867990_lgkj6kta2", + "x": 0.43237500000000006, + "y": 0.50753125 + } + ] + }, + "point_1769397458577": { + "type": "point", + "instances": [ + { + "id": "point_1769397458577_1769397870290_ifss796ey", + "x": 0.581375, + "y": 0.5088645833333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769397457416", + "name": "药粉瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1769397457610", + "name": "坩埚", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769397458409", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769397458577", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-144531-put-black bottledparticles-evaporating dish-mix1/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-144531-put-black bottledparticles-evaporating dish-mix1/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a1595ebb68bfcf6dba19134c5b09ec2aedf089e7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-144531-put-black bottledparticles-evaporating dish-mix1/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,646 @@ +{ + "task_description": "爪夹夹取药粉瓶并倒药粉到坩埚中。\n准备开始移动：0%\n爪夹接近药粉瓶：20%\n爪夹夹取药粉瓶：40%\n爪夹接近坩埚：60%\n爪夹倾倒药粉：80%\n爪夹放置药粉瓶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向右前方移动到到药粉瓶上方，调整爪夹角度与桌面呈45度角，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，爪夹垂直于桌面，处于初始状态。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：爪夹向右前方移动到到药粉瓶上方，调整爪夹角度与桌面呈45度角，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "time": 1.2893814432989692, + "annotations": { + "bbox_1769407419985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407419985_1769407447680_tjdlbrbh8", + "x": 0.540375, + "y": 0.42353124999999997, + "width": 0.03299999999999992, + "height": 0.07733333333333334 + } + ] + }, + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769407460000_s51iwuf07", + "x": 0.41637500000000005, + "y": 0.5408645833333333, + "width": 0.12299999999999996, + "height": 0.1293333333333333 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769407500831_lp4j44ak8", + "x": 0.150375, + "y": 0.25953125 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "爪夹向右前方移动到到药粉瓶上方，调整爪夹角度与桌面呈45度角，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "error_success_analysis": "爪夹向上移动，远离药粉瓶。", + "frame": 62, + "progress": -5, + "progress_explanation": "爪夹向正上方移动，远离药粉瓶，因此进度降低到-5%。", + "state_description": "爪夹张开，与桌面垂直，爪夹向上移动，远离药粉瓶。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：爪夹向右前方移动到到药粉瓶上方，调整爪夹角度与桌面呈45度角，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "time": 2.078659793814433, + "annotations": { + "bbox_1769407419985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407419985_1769407475463_e6zlivnzh", + "x": 0.5403749999999999, + "y": 0.42353124999999997, + "width": 0.030000000000000072, + "height": 0.08000000000000002 + } + ] + }, + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769407483791_ylabtlk5v", + "x": 0.41937499999999994, + "y": 0.5408645833333333, + "width": 0.11700000000000008, + "height": 0.13200000000000003 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769407493087_qm0lr3604", + "x": 0.139375, + "y": 0.2808645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向右前下方移动，爪夹调整角度。", + "correction_plan": "爪夹向正前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "error_success_analysis": "爪夹向右前下方移动，爪夹接近药粉瓶。", + "frame": 139, + "progress": 10, + "progress_explanation": "爪夹向右前下方移动，接近药粉瓶。因此进度提升到10%。", + "state_description": "爪夹张开，向右前下方移动，爪夹调整角度与桌面呈45度。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：爪夹向正前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "time": 4.637010309278349, + "annotations": { + "bbox_1769407419985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407419985_1769407513014_xut6xt01o", + "x": 0.5353749999999999, + "y": 0.42353125, + "width": 0.039000000000000055, + "height": 0.07866666666666665 + } + ] + }, + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769407518326_oaiyviv5z", + "x": 0.42237500000000006, + "y": 0.5328645833333334, + "width": 0.1129999999999999, + "height": 0.14399999999999988 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769407525214_8ocw24jvs", + "x": 0.559375, + "y": 0.51953125 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动。", + "correction_plan": "爪夹向左前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "error_success_analysis": "爪夹向右侧移动，远离药粉瓶。", + "frame": 173, + "progress": 5, + "progress_explanation": "爪夹向右移动，远离药粉瓶，因此进度降低至5%。", + "state_description": "爪夹张开，与桌面呈45度，爪夹向右侧移动，远离药粉瓶。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：爪夹向左前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "time": 5.780103092783505, + "annotations": { + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769407545885_ddfyi0f3a", + "x": 0.41937499999999994, + "y": 0.5501979166666667, + "width": 0.11600000000000002, + "height": 0.11999999999999993 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769407548878_muzzjvkxn", + "x": 0.606375, + "y": 0.5901979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动。", + "correction_plan": "爪夹向正前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "error_success_analysis": "爪夹向左移动，进一步靠近药粉瓶。", + "frame": 204, + "progress": 10, + "progress_explanation": "爪夹向左侧移动到药粉瓶附近，因此进度提升到10%。", + "state_description": "爪夹张开，爪夹向左移动，爪夹与地面呈45度。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：爪夹向正前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "time": 6.814329896907217, + "annotations": { + "bbox_1769407419985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407419985_1769408378552_nxmzcle1i", + "x": 0.545375, + "y": 0.41953125, + "width": 0.025999999999999978, + "height": 0.08266666666666668 + } + ] + }, + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408382280_8tjiehi4h", + "x": 0.41937499999999994, + "y": 0.5368645833333333, + "width": 0.11700000000000008, + "height": 0.13733333333333336 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769408384568_q28ghapkp", + "x": 0.575375, + "y": 0.4621979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向前下方移动。", + "correction_plan": "爪夹向正前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "error_success_analysis": "爪夹与桌面呈45度，向正前方移动，接近药粉瓶，方便后续抓取。", + "frame": 249, + "progress": 15, + "progress_explanation": "爪夹进一步接近药粉瓶，因此进度提升到15%。", + "state_description": "爪夹张开，向前下方移动，接近药粉瓶，爪夹与桌面呈45度。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：爪夹向正前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "time": 8.311237113402061, + "annotations": { + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408402249_92oj2piuh", + "x": 0.41937500000000005, + "y": 0.5461979166666667, + "width": 0.11799999999999997, + "height": 0.128 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769408408512_t952mzpxr", + "x": 0.606375, + "y": 0.4901979166666667 + } + ] + } + } + }, + { + "time": 9.318247422680413, + "frame": 280, + "progress": 5, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢，未抓取到药粉瓶，爪夹与桌面呈45度。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：爪夹张开，爪夹向正前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "progress_explanation": "爪夹合拢，未抓取到药粉瓶，因此进度降低到5%。", + "error_success_analysis": "爪夹合拢，未成功抓取到药粉瓶。", + "correction_plan": "爪夹张开，爪夹向正前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "annotations": { + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408424968_8jv7mbtwn", + "x": 0.421375, + "y": 0.54753125, + "width": 0.11500000000000003, + "height": 0.12666666666666668 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769408427871_jpvyxr4p2", + "x": 0.564375, + "y": 0.4861979166666667 + } + ] + } + } + }, + { + "time": 10.515773195876287, + "frame": 315, + "progress": 10, + "action_description": "爪夹张开。", + "state_description": "爪夹张开，爪夹与桌面呈45度，爪夹暂未接近药粉瓶。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：爪夹向正前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "progress_explanation": "爪夹张开，方便抓取药粉瓶，因此进度提升到10%。", + "error_success_analysis": "爪夹张开，方便移动到药粉瓶附近并抓取。", + "correction_plan": "爪夹向正前方移动到到药粉瓶上方，合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "annotations": { + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408442647_n448qvg72", + "x": 0.41637500000000005, + "y": 0.53553125, + "width": 0.121, + "height": 0.13466666666666663 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769408454175_ocysb518z", + "x": 0.604375, + "y": 0.47419791666666666 + } + ] + } + } + }, + { + "time": 11.495567010309278, + "frame": 345, + "progress": 20, + "action_description": "爪夹向前方移动。", + "state_description": "爪夹张开，爪夹向前方移动，爪夹与桌面呈45度，位于药粉瓶附近。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "progress_explanation": "爪夹向前移动到药粉瓶附近，方便抓取，因此进度提升到20%。", + "error_success_analysis": "爪夹与桌面呈45度，位于药粉瓶附近，方便抓取。", + "correction_plan": "合拢夹紧药粉瓶，向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "annotations": { + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408476686_lpif6odh4", + "x": 0.41937499999999994, + "y": 0.5435312499999999, + "width": 0.11800000000000006, + "height": 0.1293333333333334 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769408479118_8ts0wvpc6", + "x": 0.579375, + "y": 0.48219791666666667 + } + ] + } + } + }, + { + "time": 12.52979381443299, + "frame": 376, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢夹紧药粉瓶，爪夹与桌面呈45度。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "progress_explanation": "爪夹合拢，夹取到药粉瓶，因此进度提升到40%。", + "error_success_analysis": "爪夹接近药粉瓶，方便夹紧合拢药粉瓶。", + "correction_plan": "向上移动爪夹，向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "annotations": { + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408486709_nnvvmvcor", + "x": 0.41637500000000005, + "y": 0.5368645833333333, + "width": 0.12400000000000003, + "height": 0.13600000000000007 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769408493926_y9ffezuzc", + "x": 0.5543750000000001, + "y": 0.47553125 + } + ] + } + } + }, + { + "time": 14.598247422680412, + "frame": 438, + "progress": 50, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢夹紧药粉瓶，向上移动爪夹。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "progress_explanation": "爪夹夹紧药粉瓶向上移动，方便后续接近坩埚，因此进度提升到50%。", + "error_success_analysis": "爪夹向上移动，夹取药粉瓶，方便向坩埚移动。", + "correction_plan": "向后移动爪夹到坩埚的右侧，爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "annotations": { + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408503845_yfvkasli9", + "x": 0.41937499999999994, + "y": 0.5421979166666666, + "width": 0.11700000000000008, + "height": 0.13066666666666674 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769408505989_1wg0206ib", + "x": 0.5493750000000001, + "y": 0.45686458333333335 + } + ] + } + } + }, + { + "time": 15.578041237113402, + "frame": 467, + "progress": 60, + "action_description": "爪夹向后移动。", + "state_description": "爪夹合拢夹紧药粉瓶，向后移动到坩埚右上方位置。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "progress_explanation": "爪夹合拢夹紧药粉瓶向后方移动，位于坩埚右上方，因此进度提升到60%。", + "error_success_analysis": "爪夹向后移动，接近坩埚右上方，方便后续倒入药粉。", + "correction_plan": "爪夹向左倾斜九十度，倾倒药粉到坩埚中，复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "annotations": { + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769408517477_lzcnij710", + "x": 0.545375, + "y": 0.5221979166666667 + } + ] + }, + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408600538_wgwsplhu5", + "x": 0.42037500000000005, + "y": 0.54753125, + "width": 0.11899999999999995, + "height": 0.12533333333333338 + } + ] + } + } + }, + { + "time": 19.606082474226803, + "frame": 588, + "progress": 80, + "action_description": "爪夹向左侧倾斜。", + "state_description": "爪夹合拢夹紧药粉瓶，向左倾斜爪夹至90度，药粉落于坩埚中。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "progress_explanation": "爪夹向左倾斜90度，药粉落于坩埚，因此进度提升到80%。", + "error_success_analysis": "爪夹位于坩埚右上方，方便倾斜爪夹倒入药粉。", + "correction_plan": "复位爪夹，向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "annotations": { + "bbox_1769407419985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407419985_1769408525380_gdxav1045", + "x": 0.501375, + "y": 0.39553125, + "width": 0.08900000000000005, + "height": 0.06800000000000003 + } + ] + }, + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408529781_agyf4uceh", + "x": 0.42037500000000005, + "y": 0.5368645833333333, + "width": 0.11600000000000002, + "height": 0.13333333333333333 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769408533572_ljfpep8op", + "x": 0.579375, + "y": 0.4088645833333333 + } + ] + }, + "point_1769407420761": { + "type": "point", + "instances": [ + { + "id": "point_1769407420761_1769408537013_3zut8n77o", + "x": 0.5823750000000001, + "y": 0.4621979166666667 + } + ] + } + } + }, + { + "time": 21.347938144329895, + "frame": 640, + "progress": 85, + "action_description": "爪夹向右倾斜。", + "state_description": "爪夹合拢夹紧药粉瓶，爪夹向右倾斜，爪夹复位。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：爪夹向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "progress_explanation": "爪夹复位，方便后续放置药粉瓶，因此进度提升到85%。", + "error_success_analysis": "爪夹复位，方便后续放置药粉瓶。", + "correction_plan": "爪夹向左后方移动到桌面上，向下移动爪夹，松开爪夹。", + "annotations": { + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408546573_mx075xuyy", + "x": 0.42037500000000005, + "y": 0.5568645833333333, + "width": 0.11899999999999995, + "height": 0.11333333333333329 + } + ] + } + } + }, + { + "time": 24.205670103092782, + "frame": 726, + "progress": 90, + "action_description": "爪夹向左后方移动，爪夹向下移动。", + "state_description": "爪夹合拢加紧药粉瓶，向左后方移动，向下移动到桌面上。\n为了完成爪夹夹取药粉瓶并倾倒药粉到坩埚中的任务目标应当：松开爪夹。", + "progress_explanation": "爪夹向左后方移动，并向下移动到桌面，因此进度提升到90%。", + "error_success_analysis": "爪夹向左后方移动，并向下移动，方便放置药粉瓶。", + "correction_plan": "松开爪夹。", + "annotations": { + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408560100_sg1nro2yr", + "x": 0.41937499999999994, + "y": 0.5368645833333333, + "width": 0.11600000000000002, + "height": 0.13600000000000007 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769408562067_epo38dbs1", + "x": 0.351375, + "y": 0.6888645833333334 + } + ] + } + } + }, + { + "time": 26.4, + "frame": 792, + "progress": 100, + "action_description": "爪夹张开，爪夹向上移动。", + "state_description": "爪夹张开，药粉瓶落于桌面上。\n爪夹夹取药粉瓶倒药粉倒坩埚中的任务目标完成。", + "progress_explanation": "爪夹松开，放置药粉瓶倒桌面上，因此进度提升到100%。", + "error_success_analysis": "爪夹张开，药粉瓶落于桌面。", + "correction_plan": "", + "annotations": { + "bbox_1769407420128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407420128_1769408570363_04gi1kdqy", + "x": 0.414375, + "y": 0.5421979166666666, + "width": 0.125, + "height": 0.12666666666666668 + } + ] + }, + "bbox_1769407419985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407419985_1769408573643_gyzl41sk7", + "x": 0.310375, + "y": 0.6035312500000001, + "width": 0.041999999999999996, + "height": 0.09999999999999988 + } + ] + }, + "point_1769407420920": { + "type": "point", + "instances": [ + { + "id": "point_1769407420920_1769408579859_z2w7icuh4", + "x": 0.32937500000000003, + "y": 0.65953125 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769407419985", + "name": "药粉瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1769407420128", + "name": "坩埚", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769407420761", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769407420920", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-144531-put-black bottledparticles-evaporating dish-mix1/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-144531-put-black bottledparticles-evaporating dish-mix1/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..c7e90f6b1e8c910c5a8160521e843c1df0633f34 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-144531-put-black bottledparticles-evaporating dish-mix1/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,479 @@ +{ + "task_description": "将黑色瓶子里的颗粒倒入蒸发皿中。\n准备开始移动：0%\n爪夹靠近黑色瓶子：20%\n爪夹合拢：40%\n爪夹夹紧黑色瓶子靠近蒸发皿：60%\n爪夹倾斜将颗粒倒入蒸发皿：80%\n爪夹松开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的黑色瓶子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色瓶子的正上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左边的蒸发皿接近，水平到达蒸发皿的正上方后，爪夹倾斜将黑色瓶子里的颗粒倒入蒸发皿，完成后爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未移动，进度为 0%。", + "state_description": "当前为初始状态，爪夹张开，远离黑色瓶子，未开始移动。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：爪夹向爪夹右下方的黑色瓶子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色瓶子的正上方。", + "time": 1.521866, + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877419899_ejssogna5", + "x": 0.7855000000000001, + "y": 0.744, + "width": 0.03499999999999996, + "height": 0.05333333333333338 + } + ] + }, + "point_1768812845611": { + "type": "point", + "instances": [ + { + "id": "point_1768812845611_1768877427885_ymkpg7q87", + "x": 0.3965, + "y": 0.512 + } + ] + }, + "point_1768812866664": { + "type": "point", + "instances": [ + { + "id": "point_1768812866664_1768877430975_ohfmo0786", + "x": 0.6195, + "y": 0.52 + } + ] + } + } + }, + { + "time": 2.428831642783505, + "frame": 73, + "progress": 10, + "action_description": "爪夹向爪夹右后方移动。\n", + "state_description": "爪夹张开，开始移动，还未接近黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：爪夹向爪夹右下方的黑色瓶子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色瓶子的正上方。", + "progress_explanation": "爪夹开始移动，向黑色瓶子接近，因此进度提升为10%。", + "error_success_analysis": "爪夹开始移动，向黑色瓶子接近，方便抓取黑色瓶子。", + "correction_plan": "爪夹向爪夹右前方的黑色瓶子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色瓶子的正上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左边的蒸发皿接近，水平到达蒸发皿的正上方后，爪夹倾斜将黑色瓶子里的颗粒倒入蒸发皿，完成后爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "annotations": { + "point_1768812845611": { + "type": "point", + "instances": [ + { + "id": "point_1768812845611_1768877438692_k1my075cw", + "x": 0.3965, + "y": 0.5093333333333334 + } + ] + }, + "point_1768812866664": { + "type": "point", + "instances": [ + { + "id": "point_1768812866664_1768877441596_u1pyrvhfz", + "x": 0.6185, + "y": 0.5173333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动，并调整爪夹角度向接近于桌面垂直角度调整。", + "correction_plan": "爪夹接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左边的蒸发皿接近，水平到达蒸发皿的正上方后，爪夹倾斜将黑色瓶子里的颗粒倒入蒸发皿，完成后爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "error_success_analysis": "爪夹张开，爪夹角度接近垂直于桌面，靠近了黑色瓶子正上方，方便抓取黑色瓶子。", + "frame": 132, + "progress": 20, + "progress_explanation": "爪夹张开，爪夹角度接近垂直于桌面，靠近了黑色瓶子正上方，方便抓取黑色瓶子。因此进度提升为 20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，爪夹靠近了黑色瓶子正上方。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左边的蒸发皿接近。", + "time": 4.4, + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877450876_s3f0jff0e", + "x": 0.5595000000000001, + "y": 0.5053333333333333, + "width": 0.06099999999999994, + "height": 0.0866666666666666 + } + ] + }, + "point_1768812845611": { + "type": "point", + "instances": [ + { + "id": "point_1768812845611_1768877463843_fw22gwowk", + "x": 0.3965, + "y": 0.5133333333333333 + } + ] + }, + "point_1768812866664": { + "type": "point", + "instances": [ + { + "id": "point_1768812866664_1768877485834_yr2d6297d", + "x": 0.6195, + "y": 0.5213333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹水平向下接近了黑色瓶子，合拢爪夹。", + "correction_plan": "爪夹向爪夹下方的黑色瓶子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色瓶子的正上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左边的蒸发皿接近，水平到达蒸发皿的正上方后，爪夹倾斜将黑色瓶子里的颗粒倒入蒸发皿，完成后爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "error_success_analysis": "爪夹高度上还未完全靠近黑色瓶子就开始抓取，导致抓取失败，需重新抓取黑色瓶子。", + "frame": 172, + "progress": 40, + "progress_explanation": "爪夹合拢未抓取到黑色瓶子，需重新抓取黑色瓶子，因此进度降低为 15%。", + "state_description": "爪夹合拢，未抓取到黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：爪夹向爪夹下方的黑色瓶子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色瓶子的正上方。", + "time": 5.717560202577321 + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹向爪夹下方的黑色瓶子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色瓶子的正上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左边的蒸发皿接近，水平到达蒸发皿的正上方后，爪夹倾斜将黑色瓶子里的颗粒倒入蒸发皿，完成后爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "error_success_analysis": "爪夹张开，位于黑色瓶子上方，方便抓取黑色瓶子。", + "frame": 217, + "progress": 15, + "progress_explanation": "爪夹张开，位于黑色瓶子的正上方，方便抓取。因此进度提升为15%。", + "state_description": "爪夹张开，此时爪夹处于黑色瓶子正上方。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。", + "time": 7.2261512850515475, + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877500666_x2s0vo3wy", + "x": 0.5195000000000001, + "y": 0.5626666666666666, + "width": 0.05099999999999989, + "height": 0.06666666666666667 + } + ] + }, + "point_1768812845611": { + "type": "point", + "instances": [ + { + "id": "point_1768812845611_1768877507818_ps2jpyw63", + "x": 0.3955, + "y": 0.5093333333333334 + } + ] + }, + "point_1768812866664": { + "type": "point", + "instances": [ + { + "id": "point_1768812866664_1768877511062_tgvitmhxi", + "x": 0.6185, + "y": 0.5213333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，同时调整爪夹角度。", + "correction_plan": "爪夹接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左边的蒸发皿接近，水平到达蒸发皿的正上方后，爪夹倾斜将黑色瓶子里的颗粒倒入蒸发皿，完成后爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "error_success_analysis": "爪夹张开，爪夹角度接近垂直于桌面，靠近了黑色瓶子，方便抓取黑色瓶子。", + "frame": 282, + "progress": 20, + "progress_explanation": "爪夹向下移动，高度上靠近了黑色瓶子，方便抓取，因此进度提升为20%。", + "state_description": "爪夹向下移动，高度上靠近了黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左边的蒸发皿接近。", + "time": 9.3946, + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877520633_t73oyir87", + "x": 0.4485, + "y": 0.46266666666666667, + "width": 0.10199999999999995, + "height": 0.14000000000000004 + } + ] + }, + "point_1768812845611": { + "type": "point", + "instances": [ + { + "id": "point_1768812845611_1768877524673_nd5waonp7", + "x": 0.3955, + "y": 0.5146666666666666 + } + ] + }, + "point_1768812866664": { + "type": "point", + "instances": [ + { + "id": "point_1768812866664_1768877528145_102flv8fy", + "x": 0.6185, + "y": 0.516 + } + ] + } + } + }, + { + "time": 11.531066, + "frame": 346, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢，抓取到黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：抓紧黑色瓶子垂直升高爪夹并向爪夹左边的蒸发皿接近。", + "progress_explanation": "爪夹合拢抓取到黑色瓶子。因此进度提升为 40%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黑色瓶子。", + "correction_plan": "抓紧黑色瓶子垂直升高爪夹并向爪夹左边的蒸发皿接近，水平到达蒸发皿的正上方后，爪夹倾斜将黑色瓶子里的颗粒倒入蒸发皿，完成后爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877536946_x0i14hryk", + "x": 0.4575, + "y": 0.44933333333333336, + "width": 0.096, + "height": 0.13466666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高，并向爪夹左边移动。", + "correction_plan": "爪夹倾斜将黑色瓶子里的颗粒倒入蒸发皿，完成后爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "error_success_analysis": "爪夹移动到了蒸发皿正上方，方便将颗粒倒入蒸发皿。", + "frame": 443, + "progress": 60, + "progress_explanation": "爪夹夹紧黑色瓶子，靠近了蒸发皿，因此进度提升为60%。", + "state_description": "爪夹夹紧黑色瓶子垂直升高向爪夹左边移动，靠近了蒸发皿。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：爪夹倾斜将黑色瓶子里的颗粒倒入蒸发皿。", + "time": 14.76910669742268, + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877550121_cku72gqpx", + "x": 0.4575, + "y": 0.4466666666666667, + "width": 0.09799999999999995, + "height": 0.13599999999999995 + } + ] + } + } + }, + { + "time": 16.9454, + "frame": 508, + "progress": 65, + "action_description": "爪夹调整角度。", + "state_description": "爪夹调整角度，开始倾斜。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：爪夹倾斜将黑色瓶子里的颗粒倒入蒸发皿。", + "progress_explanation": "爪夹调整角度，开始倾斜，方便将颗粒倒入蒸发皿。因此进度提升为65%。", + "error_success_analysis": "爪夹调整角度，开始倾斜，方便颗粒倒入蒸发皿中。", + "correction_plan": "爪夹倾斜将黑色瓶子里的颗粒倒入蒸发皿，完成后爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877562649_4iapr0nox", + "x": 0.4565, + "y": 0.44666666666666666, + "width": 0.09899999999999994, + "height": 0.136 + } + ] + } + } + }, + { + "time": 18.842302620103094, + "frame": 565, + "progress": 70, + "action_description": "爪夹继续调整角度。", + "state_description": "爪夹继续调整角度，准备开始向蒸发皿中倒入颗粒。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：将黑色瓶子里的颗粒倒入蒸发皿，完成后爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方。", + "progress_explanation": "爪夹夹紧黑色瓶子，缓慢调整角度，方便倒取颗粒。因此进度提升为70%。", + "error_success_analysis": "爪夹夹紧黑色瓶子，缓慢调整角度，方便倒取颗粒。", + "correction_plan": "将黑色瓶子里的颗粒倒入蒸发皿，完成后爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877572384_mpzafn2sy", + "x": 0.4585, + "y": 0.448, + "width": 0.09699999999999998, + "height": 0.13466666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹缓慢升高。", + "correction_plan": "爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "error_success_analysis": "爪夹夹紧黑色瓶子，缓慢升高，方便将颗粒倒入蒸发皿。", + "frame": 636, + "progress": 80, + "progress_explanation": "爪夹夹紧黑色瓶子，缓慢升高，成功将颗粒倒入蒸发皿，因此进度提升为80%。", + "state_description": "爪夹夹紧黑色瓶子，缓慢升高，将颗粒倒入蒸发皿中。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：将黑色瓶子里的颗粒倒入蒸发皿后，爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方。", + "time": 21.2, + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877586360_81l2u87m6", + "x": 0.4574999999999999, + "y": 0.448, + "width": 0.09600000000000009, + "height": 0.13866666666666674 + } + ] + } + } + }, + { + "time": 23.5304, + "frame": 706, + "progress": 85, + "action_description": "爪夹缓慢向下移动，同时调整角度。", + "state_description": "爪夹缓慢向下移动，调整倾斜角度，停止向蒸发皿中倒入颗粒。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方。", + "progress_explanation": "将黑色瓶子里的颗粒倒入蒸发皿这一步完成，因此进度提升为85%。", + "error_success_analysis": "爪夹夹紧黑色瓶子，缓慢向下移动，同时调整倾斜角度，方便结束向蒸发皿中倒入颗粒。", + "correction_plan": "爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877598248_lqxvncun2", + "x": 0.4575, + "y": 0.448, + "width": 0.09699999999999998, + "height": 0.1320000000000001 + } + ] + } + } + }, + { + "time": 25.087869701546392, + "frame": 753, + "progress": 90, + "action_description": "爪夹向爪夹左上方移动，同时调整爪夹角度。", + "state_description": "爪夹夹紧黑色瓶子向爪夹左上方移动，向桌面靠近。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "progress_explanation": "爪夹夹紧黑色瓶子向左上方的桌面靠近，方便放置黑色瓶子。因此进度提升为90%。", + "error_success_analysis": "爪夹夹紧黑色瓶子向左上方的桌面靠近，方便放置黑色瓶子。", + "correction_plan": "爪夹夹紧黑色瓶子向爪夹左边移动到桌面正上方，松开爪夹，使黑色瓶子落在桌面上。", + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877604231_3dljouyi5", + "x": 0.45550000000000007, + "y": 0.44666666666666666, + "width": 0.09999999999999991, + "height": 0.13466666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向左上方移动。", + "correction_plan": "松开爪夹，使黑色瓶子落在桌面上。", + "error_success_analysis": "爪夹夹紧黑色瓶子，向爪夹左上方移动，位于桌面正上方，方便放置黑色瓶子。", + "frame": 818, + "progress": 95, + "progress_explanation": "爪夹夹紧黑色瓶子，向爪夹左上方移动，位于桌面正上方，方便放置黑色瓶子。因此进度提升为95%。", + "state_description": "爪夹夹紧黑色瓶子，向爪夹左上方移动，位于桌面正上方。\n为完成将黑色瓶子里的颗粒倒入蒸发皿的任务应当：松开爪夹，使黑色瓶子落在桌面上。", + "time": 27.266666666666666, + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877619487_18wjcflzy", + "x": 0.4575, + "y": 0.44666666666666666, + "width": 0.09799999999999995, + "height": 0.136 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，黑色瓶子成功放置在桌面上。", + "frame": 877, + "progress": 100, + "progress_explanation": "爪夹张开，黑色瓶子成功放置在桌面上，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，黑色瓶子成功放置在桌面上。\n将黑色瓶子里的颗粒倒入蒸发皿的任务完成。", + "time": 29.233333333333334, + "annotations": { + "bbox_1768812828721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812828721_1768877634239_xx2f1md9k", + "x": 0.4365, + "y": 0.36000000000000004, + "width": 0.06699999999999999, + "height": 0.08533333333333329 + } + ] + }, + "point_1768812845611": { + "type": "point", + "instances": [ + { + "id": "point_1768812845611_1768877645231_yw40amhrm", + "x": 0.4175, + "y": 0.516 + } + ] + }, + "point_1768812866664": { + "type": "point", + "instances": [ + { + "id": "point_1768812866664_1768877648525_xz05hsnuj", + "x": 0.5975, + "y": 0.5146666666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768812828721", + "name": "黑色瓶子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768812845611", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768812866664", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-150625-put-black bottledparticles-evaporating dish-mix3/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-150625-put-black bottledparticles-evaporating dish-mix3/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..1eb721420667e733b251b99454e7b15f88c655b6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-150625-put-black bottledparticles-evaporating dish-mix3/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,461 @@ +{ + "task_description": "将黑色瓶子里的颗粒倒入蒸发皿中。\n准备开始移动：0%\n爪夹靠近黑色瓶子：20%\n爪夹合拢：40%\n爪夹抓紧黑色瓶子接近蒸发皿：60%\n爪夹黑色瓶子里的颗粒倒入蒸发皿中：80%\n爪夹松开：100%", + "progress_points": [ + { + "time": 1.5170103092783505, + "frame": 46, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色瓶子，未开始移动。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹向爪夹右前方的黑色瓶子移动，同时调整爪夹的角度，与桌面呈70度。", + "progress_explanation": "当前为初始状态，远离黑色瓶子，未开始移动。进度 0%。\n\n", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后，调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887522037_o8e2xfb83", + "x": 0.8375, + "y": 0.6533333333333334, + "width": 0.039000000000000055, + "height": 0.05466666666666668 + } + ] + }, + "point_1768887503270": { + "type": "point", + "instances": [ + { + "id": "point_1768887503270_1768887525877_j0bvoblmo", + "x": 0.4385, + "y": 0.512 + } + ] + }, + "point_1768887508564": { + "type": "point", + "instances": [ + { + "id": "point_1768887508564_1768887529787_ai3hy9jkx", + "x": 0.5755, + "y": 0.5226666666666666 + } + ] + } + } + }, + { + "time": 3.0479381443298967, + "frame": 91, + "progress": 10, + "action_description": "爪夹向右前方移动，同时调整爪夹角度。", + "state_description": "爪夹张开，爪夹与桌面呈70度，还未接近黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹向爪夹右前方的黑色瓶子移动，同时调整爪夹的角度，与桌面接近垂直。", + "progress_explanation": "爪夹向爪夹右前方移动，方便抓取黑色瓶子，因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右前方移动，方便抓取黑色瓶子。", + "correction_plan": "爪夹向爪夹右前方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后，调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887537564_ub94jbemu", + "x": 0.5995, + "y": 0.36000000000000004, + "width": 0.029000000000000005, + "height": 0.05866666666666666 + } + ] + }, + "point_1768887503270": { + "type": "point", + "instances": [ + { + "id": "point_1768887503270_1768887547940_mank2cypb", + "x": 0.43950000000000006, + "y": 0.5106666666666667 + } + ] + }, + "point_1768887508564": { + "type": "point", + "instances": [ + { + "id": "point_1768887508564_1768887550829_kfznscfxt", + "x": 0.5755, + "y": 0.5186666666666667 + } + ] + } + } + }, + { + "time": 5.497422680412371, + "frame": 165, + "progress": 20, + "action_description": "爪夹继续向右前方移动，并向下移动。", + "state_description": "爪夹张开，向爪夹右前方移动并向下移动，靠近了黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹向爪夹右前方的黑色瓶子移动，同时调整爪夹的角度，与桌面接近垂直。", + "progress_explanation": "爪夹张开，向爪夹右前方移动并向下移动，靠近了黑色瓶子。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右前方移动并向下移动，靠近了黑色瓶子，方便抓取黑色瓶子。", + "correction_plan": "爪夹向爪夹右前方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后，调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887559836_umxey5njp", + "x": 0.48149999999999993, + "y": 0.39200000000000007, + "width": 0.08200000000000003, + "height": 0.13199999999999998 + } + ] + }, + "point_1768887503270": { + "type": "point", + "instances": [ + { + "id": "point_1768887503270_1768887567139_qoi9zqp4m", + "x": 0.4325, + "y": 0.512 + } + ] + }, + "point_1768887508564": { + "type": "point", + "instances": [ + { + "id": "point_1768887508564_1768887571748_mairv4cul", + "x": 0.5825, + "y": 0.5173333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向爪夹左前方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后，调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "error_success_analysis": "爪夹晃动，远离黑色瓶子，导致抓取失败。", + "frame": 221, + "progress": 40, + "progress_explanation": "爪夹合拢，未抓取到黑色瓶子，因此进度降低为10%。", + "state_description": "爪夹合拢，未抓取到黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹向爪夹左前方的黑色瓶子移动，同时调整爪夹的角度，与桌面接近垂直。", + "time": 7.366666666666666, + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887579955_66cd0g86w", + "x": 0.3265, + "y": 0.272, + "width": 0.11599999999999996, + "height": 0.16133333333333333 + } + ] + } + } + }, + { + "time": 9.28298969072165, + "frame": 278, + "progress": 10, + "action_description": "爪夹垂直升高后向左前方移动。", + "state_description": "爪夹垂直升高后向左前方移动，重新向黑色瓶子接近。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹向爪夹左前方的黑色瓶子移动，同时调整爪夹的角度，与桌面接近垂直。", + "progress_explanation": "爪夹重新向黑色瓶子靠近，因此进度提升为10%。", + "error_success_analysis": "爪夹重新向黑色瓶子靠近，方便抓取黑色瓶子。", + "correction_plan": "爪夹向爪夹左前方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后，调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887594651_5tjuffw4b", + "x": 0.37750000000000006, + "y": 0.376, + "width": 0.08399999999999999, + "height": 0.11066666666666668 + } + ] + }, + "point_1768887503270": { + "type": "point", + "instances": [ + { + "id": "point_1768887503270_1768887601850_ah4hwsxbh", + "x": 0.48550000000000004, + "y": 0.5346666666666666 + } + ] + }, + "point_1768887508564": { + "type": "point", + "instances": [ + { + "id": "point_1768887508564_1768887604690_cr373waec", + "x": 0.5305, + "y": 0.5399999999999999 + } + ] + } + } + }, + { + "time": 11.147938144329895, + "frame": 334, + "progress": 20, + "action_description": "爪夹向爪夹左前方移动，并垂直向下移动。", + "state_description": "爪夹垂直向下移动，靠近了黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左后方的蒸发皿接近。", + "progress_explanation": "爪夹靠近了黑色瓶子，方便抓取，因此进度提升为20%。", + "error_success_analysis": "爪夹靠近了黑色瓶子，方便抓取。", + "correction_plan": "爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后，调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887612570_2ete3q91f", + "x": 0.4755, + "y": 0.40800000000000003, + "width": 0.09900000000000002, + "height": 0.15999999999999998 + } + ] + }, + "point_1768887503270": { + "type": "point", + "instances": [ + { + "id": "point_1768887503270_1768887618073_ykjgj1iwx", + "x": 0.3975, + "y": 0.5173333333333333 + } + ] + }, + "point_1768887508564": { + "type": "point", + "instances": [ + { + "id": "point_1768887508564_1768887620863_z96qmpbh7", + "x": 0.6195, + "y": 0.5293333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抓紧黑色瓶子垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后，调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "error_success_analysis": "爪夹合拢，抓取到了黑色瓶子。", + "frame": 380, + "progress": 40, + "progress_explanation": "爪夹合拢，抓取到了黑色瓶子，因此进度提升为40%。", + "state_description": "爪夹合拢，抓取到了黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹抓紧黑色瓶子垂直升高爪夹并向爪夹左后方的蒸发皿接近。", + "time": 12.651030927835052, + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887628257_e0g1nbakn", + "x": 0.4595000000000001, + "y": 0.404, + "width": 0.0959999999999999, + "height": 0.16000000000000003 + } + ] + } + } + }, + { + "time": 13.662, + "frame": 410, + "progress": 50, + "action_description": "爪夹垂直升高。", + "state_description": "爪夹夹紧黑色瓶子，垂直升高，离开桌面准备向蒸发皿靠近。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹抓紧黑色瓶子向爪夹左后方的蒸发皿接近。", + "progress_explanation": "爪夹夹紧黑色瓶子，垂直升高，离开桌面准备向蒸发皿靠近。因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧黑色瓶子，垂直升高，离开桌面准备向蒸发皿靠近。", + "correction_plan": "爪夹抓紧黑色瓶子向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后，调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887640513_oxost47gm", + "x": 0.45649999999999996, + "y": 0.4026666666666667, + "width": 0.09900000000000002, + "height": 0.16133333333333338 + } + ] + } + } + }, + { + "time": 14.599484536082473, + "frame": 438, + "progress": 60, + "action_description": "爪夹向爪夹左后方移动。", + "state_description": "爪夹夹紧黑色瓶子，靠近了左后方的蒸发皿。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。\n", + "progress_explanation": "爪夹夹紧黑色瓶子，靠近了蒸发皿。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧黑色瓶子，靠近了蒸发皿，方便将颗粒倒入蒸发皿。", + "correction_plan": "调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887651818_0iujbbmjp", + "x": 0.4574999999999999, + "y": 0.404, + "width": 0.10000000000000009, + "height": 0.16000000000000003 + } + ] + } + } + }, + { + "time": 16.380927835051544, + "frame": 491, + "progress": 65, + "action_description": "爪夹向左旋转。", + "state_description": "爪夹夹紧黑色瓶子，向左旋转，开始调整倾斜角度。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。", + "progress_explanation": "爪夹夹紧黑色瓶子，开始调整倾斜角度，因此进度提升为65%。", + "error_success_analysis": "爪夹夹紧黑色瓶子，调整倾斜角度，方便倒取颗粒。", + "correction_plan": "调整爪夹倾斜角度将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887664304_xjw5vu4cb", + "x": 0.45949999999999996, + "y": 0.4026666666666667, + "width": 0.09700000000000006, + "height": 0.16133333333333338 + } + ] + } + } + }, + { + "time": 18.468, + "frame": 554, + "progress": 70, + "action_description": "爪夹向下移动。", + "state_description": "爪夹夹紧黑色瓶子，向下移动，准备向蒸发皿中倒入颗粒。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：将黑色瓶子里的颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向右前方桌面靠近。", + "progress_explanation": "爪夹夹紧黑色瓶子，向下移动，准备向蒸发皿中倒入颗粒。因此进度提升为70%。", + "error_success_analysis": "爪夹夹紧黑色瓶子，向下移动，方便向蒸发皿中倒入颗粒。", + "correction_plan": "将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887675696_3i3siuth4", + "x": 0.4575, + "y": 0.4053333333333333, + "width": 0.09900000000000002, + "height": 0.16000000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹调整倾斜角度。", + "correction_plan": "将黑色瓶子里的颗粒倒入蒸发皿中。完成后爪夹夹紧黑色瓶子向右前方桌面靠近，松开爪夹，使黑色瓶子放置在桌面上。", + "error_success_analysis": "爪夹夹紧黑色瓶子，将颗粒倒入蒸发皿中。", + "frame": 673, + "progress": 80, + "progress_explanation": "爪夹夹紧黑色瓶子，将颗粒倒入蒸发皿中。因此进度提升为80%。", + "state_description": "爪夹夹紧黑色瓶子晃动，将黑色瓶子里的颗粒倒入蒸发皿中。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：将黑色瓶子里的颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向右前方桌面靠近。", + "time": 22.44896907216495, + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887685904_9xi7bbfnh", + "x": 0.4585000000000001, + "y": 0.404, + "width": 0.09799999999999995, + "height": 0.16133333333333333 + } + ] + } + } + }, + { + "time": 24.898453608247426, + "frame": 747, + "progress": 90, + "action_description": "爪夹旋转回正，并向右前方移动。", + "state_description": "爪夹旋转回正，并向右前移动，移动到桌面正上方。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：松开爪夹。", + "progress_explanation": "爪夹夹紧黑色瓶子，靠近了桌面。因此进度提升为90%。", + "error_success_analysis": "爪夹夹紧黑色瓶子，靠近了桌面，方便放置黑色瓶子。", + "correction_plan": "松开爪夹，使黑色瓶子放置在桌面上。", + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887697824_rurk38gse", + "x": 0.4565, + "y": 0.4026666666666667, + "width": 0.10099999999999998, + "height": 0.15999999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，黑色瓶子成功放置在桌面上。", + "frame": 806, + "progress": 100, + "progress_explanation": "爪夹张开，黑色瓶子放置在桌面上。任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，黑色瓶子放置在桌面上。\n爪夹张开，将黑色瓶子里的颗粒倒入蒸发皿中的任务完成。", + "time": 26.87474226804124, + "annotations": { + "bbox_1768887494557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768887494557_1768887710265_eklblb64z", + "x": 0.48450000000000004, + "y": 0.32000000000000006, + "width": 0.07799999999999993, + "height": 0.12266666666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768887494557", + "name": "黑色瓶子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768887503270", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768887508564", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-151003-put-black bottledparticles-evaporating dish-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-151003-put-black bottledparticles-evaporating dish-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..7b69e0bb814ed83d381dc4dc06ce107fd926588b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-151003-put-black bottledparticles-evaporating dish-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,233 @@ +{ + "task_description": "将黑色瓶子里的颗粒倒入蒸发皿中。\n开始准备移动：0%\n爪夹靠近黑色瓶子：20%\n爪夹合拢：40%\n爪夹抓紧黑色瓶子接近蒸发皿：60%\n爪夹将颗粒倒入蒸发皿：80%\n爪夹松开：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右下方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子的上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左前方的蒸发皿接近，水平到达蒸发皿的正上方后将黑色瓶子里的颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向爪夹右边桌面移动，将黑色瓶子放置在桌面上，松开爪夹。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑色瓶子，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离黑色瓶子，未开始移动。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹向爪夹右下方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子的上方。 ", + "time": 1.343762886597938, + "annotations": { + "bbox_1769059215274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769059215274_1769131587624_dkfznlqh0", + "x": 0.611375, + "y": 0.5388645833333334, + "width": 0.04299999999999997, + "height": 0.07866666666666665 + } + ] + }, + "point_1769059226305": { + "type": "point", + "instances": [ + { + "id": "point_1769059226305_1769131611767_mvoo0556u", + "x": 0.061375, + "y": 0.36853125000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右边移动，并调整爪夹角度。", + "correction_plan": "爪夹向爪夹右下方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子的上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左前方的蒸发皿接近，水平到达蒸发皿的正上方后将黑色瓶子里的颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向爪夹右边桌面移动，将黑色瓶子放置在桌面上，松开爪夹。", + "error_success_analysis": "爪夹向爪夹右方移动，水平上还未接近黑色瓶子。", + "frame": 65, + "progress": 5, + "progress_explanation": "爪夹向爪夹右方移动，开始向黑色瓶子接近。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，开始移动。还未接近蓝色方块。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹向爪夹右下方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子的上方。 ", + "time": 2.1675773195876284, + "annotations": { + "bbox_1769059215274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769059215274_1769131619902_d8fkjcjhg", + "x": 0.6143750000000001, + "y": 0.5341979166666667, + "width": 0.03699999999999992, + "height": 0.0866666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右后方移动。", + "correction_plan": "爪夹向爪夹右下方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子的上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左前方的蒸发皿接近，水平到达蒸发皿的正上方后将黑色瓶子里的颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向爪夹右边桌面移动，将黑色瓶子放置在桌面上，松开爪夹。", + "error_success_analysis": "爪夹角度与桌面接近垂直，水平上接近了黑色瓶子。更加方便抓取。", + "frame": 95, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了黑色瓶子。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹向爪夹右下方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子的上方。 ", + "time": 3.1833, + "annotations": { + "bbox_1769059215274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769059215274_1769131631534_n3ay0cuu0", + "x": 0.611375, + "y": 0.53553125, + "width": 0.039999999999999945, + "height": 0.0866666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动并向下移动。", + "correction_plan": "爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左前方的蒸发皿接近，水平到达蒸发皿的正上方后将黑色瓶子里的颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向爪夹右边桌面移动，将黑色瓶子放置在桌面上，松开爪夹。", + "error_success_analysis": "爪夹向下移动，靠近了黑色瓶子，方便抓取。", + "frame": 147, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑色瓶子。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑色瓶子。准备抓取黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹合拢抓取黑色瓶子，抓紧黑色瓶子垂直升高爪夹并向爪夹左前方的蒸发皿接近。", + "time": 4.8994, + "annotations": { + "bbox_1769059215274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769059215274_1769131646486_hmry6cjd5", + "x": 0.621375, + "y": 0.53953125, + "width": 0.03099999999999996, + "height": 0.07999999999999995 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧黑色瓶子垂直升高爪夹并向爪夹左前方的蒸发皿接近，水平到达蒸发皿的正上方后将黑色瓶子里的颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向爪夹右边桌面移动，将黑色瓶子放置在桌面上，松开爪夹。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黑色瓶子。", + "frame": 191, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黑色瓶子。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到黑色瓶子，爪夹角度与桌面接近垂直。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹抓紧黑色瓶子垂直升高爪夹并向爪夹左前方的蒸发皿接近。", + "time": 6.354175257731958 + }, + { + "action_description": "爪夹垂直升高。", + "correction_plan": "抓紧黑色瓶子向爪夹左前方的蒸发皿接近，水平到达蒸发皿的正上方后将黑色瓶子里的颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向爪夹右边桌面移动，将黑色瓶子放置在桌面上，松开爪夹。", + "error_success_analysis": "爪夹合拢继续夹紧黑色瓶子，水平上接近了蒸发皿，更加方便接近蒸发皿。", + "frame": 227, + "progress": 50, + "progress_explanation": "爪夹合拢继续夹紧黑色瓶子，水平上接近了蒸发皿。因此进度提升为 50%。", + "state_description": "爪夹夹紧黑色瓶子，垂直升高远离桌面，准备向左前方的蒸发皿靠近。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹抓紧黑色瓶子向爪夹左前方的蒸发皿接近。", + "time": 7.5718 + }, + { + "action_description": "爪夹向爪夹左前方移动。", + "correction_plan": "将黑色瓶子里的颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向爪夹右边桌面移动，将黑色瓶子放置在桌面上，松开爪夹。", + "error_success_analysis": "爪夹移动到了蒸发皿正上方，方便将颗粒倒入蒸发皿中。", + "frame": 257, + "progress": 60, + "progress_explanation": "爪夹夹紧黑色瓶子，靠近了蒸发皿，因此进度提升为60%。", + "state_description": "爪夹夹紧黑色瓶子，向爪夹左前方移动，靠近了蒸发皿。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹调整倾斜角度，准备将颗粒倒入蒸发皿。", + "time": 8.569020618556701 + }, + { + "action_description": "爪夹调整倾斜角度。", + "correction_plan": "将颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向爪夹右边桌面移动，将黑色瓶子放置在桌面上。", + "error_success_analysis": "爪夹夹紧黑色瓶子，爪夹调整倾斜角度，方便倒入颗粒。", + "frame": 297, + "progress": 70, + "progress_explanation": "爪夹调整倾斜角度，方便倒入颗粒。因此进度为70%。", + "state_description": "爪夹夹紧黑色瓶子，爪夹调整倾斜角度。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：将颗粒倒入蒸发皿。", + "time": 9.89083762886598, + "annotations": { + "bbox_1769059215274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769059215274_1769131672198_2sf559361", + "x": 0.41137500000000005, + "y": 0.24353125, + "width": 0.038999999999999965, + "height": 0.051999999999999984 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向后移动。", + "correction_plan": "爪夹向爪夹右下方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子的上方。接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。抓紧黑色瓶子垂直升高爪夹并向爪夹左前方的蒸发皿接近，水平到达蒸发皿的正上方后将黑色瓶子里的颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向爪夹右边桌面移动，将黑色瓶子放置在桌面上，松开爪夹。", + "error_success_analysis": "爪夹张开，黑色瓶子掉落，需要重新抓取黑色瓶子。", + "frame": 320, + "progress": 10, + "progress_explanation": "爪夹张开，黑色瓶子掉落，因此进度降低为10%。", + "state_description": "爪夹张开，黑色瓶子掉落。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹向爪夹右下方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子的上方。 ", + "time": 10.6503, + "annotations": { + "bbox_1769059215274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769059215274_1769131678392_d2fu3ep4q", + "x": 0.390375, + "y": 0.32486458333333335, + "width": 0.06400000000000002, + "height": 0.05066666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹后方移动，同时调整爪夹角度。", + "correction_plan": "爪夹向爪夹右下方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子的上方，接着落下爪夹靠近黑色瓶子，接近黑色瓶子后爪夹合拢抓取黑色瓶子。爪夹夹紧黑色瓶子，调整爪夹倾斜角度，将颗粒倒入蒸发皿中，完成后爪夹夹紧黑色瓶子向爪夹右边桌面移动，将黑色瓶子放置在桌面上。", + "error_success_analysis": "爪夹调整角度，向爪夹后方移动，离黑色瓶子更远了。", + "frame": 392, + "progress": 0, + "progress_explanation": "爪夹调整角度，远离黑色瓶子。因此进度降低为0%。", + "state_description": "爪夹张开，向爪夹后方移动并同时调整角度，远离黑色瓶子。\n为完成将黑色瓶子里的颗粒倒入蒸发皿中的任务应当：爪夹向爪夹右前方的黑色瓶子移动，同时调整爪夹的角度使其与桌面接近垂直，并移动到黑色瓶子的上方。 ", + "time": 13.066666666666666, + "annotations": { + "bbox_1769059215274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769059215274_1769131691205_1fwyqo8lq", + "x": 0.39637500000000003, + "y": 0.32486458333333335, + "width": 0.06299999999999999, + "height": 0.05466666666666668 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769059215274", + "name": "黑色瓶子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769059226305", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769059236418", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-155440-put-rubber head dropper-evaporating dish-mix1/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-155440-put-rubber head dropper-evaporating dish-mix1/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..191960991be59c293d104615e1a2907acf8f6baf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-155440-put-rubber head dropper-evaporating dish-mix1/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,313 @@ +{ + "task_description": "将橡胶滴管中的溶液滴入蒸发皿中\n准备开始移动：0%\n爪夹靠近橡胶滴管：20%\n爪夹合拢并抓取到橡胶滴管：40%\n爪夹抓紧橡胶滴管接近蒸发皿：60%\n爪夹将溶液滴入蒸发皿：80%\n爪夹夹紧橡胶滴管离开蒸发皿：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。接着落下爪夹靠近橡胶滴管，接近橡胶滴管后爪夹合拢抓取橡胶滴管。抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管远离蒸发皿。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，远离橡胶滴管，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离橡胶滴管，未开始移动。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹向爪夹右前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。", + "time": 1.509, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139825217_7k7kkphgr", + "x": 0.606375, + "y": 0.3601979166666667, + "width": 0.07300000000000004, + "height": 0.19733333333333322 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动，并调整爪夹角度。", + "correction_plan": "爪夹向爪夹右前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。接着落下爪夹靠近橡胶滴管，接近橡胶滴管后爪夹合拢抓取橡胶滴管。抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管远离蒸发皿。", + "error_success_analysis": "爪夹向爪夹正前方移动，未接近橡胶滴管。", + "frame": 60, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，同时调整爪夹角度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开向爪夹正前方移动，还未接近橡胶滴管。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹向爪夹右前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。", + "time": 1.995233, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139845648_z72q2p8dm", + "x": 0.6043749999999999, + "y": 0.36553125000000003, + "width": 0.0750000000000001, + "height": 0.19066666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动，并调整爪夹角度。", + "correction_plan": "爪夹合拢抓取橡胶滴管。抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管远离蒸发皿。", + "error_success_analysis": "爪夹向爪夹右前方移动，靠近了橡胶滴管，方便抓取。", + "frame": 101, + "progress": 20, + "progress_explanation": "爪夹向爪夹右前方移动，靠近了橡胶滴管。方便抓取，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹靠近了橡胶滴管。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹合拢抓取橡胶滴管，抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近。\n", + "time": 3.3701, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139860976_6jih15jmr", + "x": 0.607375, + "y": 0.3668645833333333, + "width": 0.06999999999999992, + "height": 0.1946666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向爪夹前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。接着落下爪夹靠近橡胶滴管，接近橡胶滴管后爪夹合拢抓取橡胶滴管。抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管远离蒸发皿。", + "error_success_analysis": "爪夹垂直上还未完全靠近橡胶滴管，爪夹合拢，未抓取到橡胶滴管。", + "frame": 127, + "progress": 30, + "progress_explanation": "爪夹合拢，未抓取到橡胶滴管，因此进度为30%。", + "state_description": "爪夹合拢，未抓取到橡胶滴管。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹向爪夹前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。", + "time": 4.241361768170103, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139873829_iq4dg2nsx", + "x": 0.607375, + "y": 0.3601979166666666, + "width": 0.07199999999999998, + "height": 0.20000000000000012 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动，并向上调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。接着落下爪夹靠近橡胶滴管，接近橡胶滴管后爪夹合拢抓取橡胶滴管。抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管远离蒸发皿。", + "error_success_analysis": "爪夹向爪夹左后方移动，为重新靠近橡胶滴管做调整。", + "frame": 153, + "progress": 10, + "progress_explanation": "爪夹向爪夹左后方移动，为重新靠近橡胶滴管做调整，因此进度提升为10%。", + "state_description": "爪夹合拢，向爪夹左后方移动，准备重新向橡胶滴管靠近。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹向爪夹前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。\n", + "time": 5.088337730025773, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139890447_d3w4rrrw4", + "x": 0.605375, + "y": 0.36153124999999997, + "width": 0.075, + "height": 0.19866666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动。", + "correction_plan": "爪夹合拢抓取橡胶滴管。抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管远离蒸发皿。", + "error_success_analysis": "爪夹张开，向爪夹前方移动靠近了橡胶滴管，方便抓取。", + "frame": 200, + "progress": 20, + "progress_explanation": "爪夹张开，向爪夹前方移动靠近了橡胶滴管，方便抓取。因此进度提升为20%。", + "state_description": "爪夹向爪夹前方移动，同时爪夹张开，靠近了橡胶滴管。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹合拢抓取橡胶滴管，抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近。\n", + "time": 6.678578311469073, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139900383_ikid1vi65", + "x": 0.607375, + "y": 0.36419791666666673, + "width": 0.07300000000000004, + "height": 0.1946666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方移动，并开始合拢。", + "correction_plan": "爪夹合拢抓取橡胶滴管。抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管远离蒸发皿。", + "error_success_analysis": "爪夹向爪夹上方移动并开始合拢，方便抓取橡胶滴管。", + "frame": 263, + "progress": 30, + "progress_explanation": "爪夹向爪夹上方移动并开始合拢，方便抓取橡胶滴管。因此进度提升为30%。", + "state_description": "爪夹向爪夹上方移动，并开始合拢，准备抓取橡胶滴管。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹合拢抓取橡胶滴管，抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近。\n", + "time": 8.768966, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139911878_79gj5yq12", + "x": 0.605375, + "y": 0.39886458333333336, + "width": 0.07400000000000002, + "height": 0.15999999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管远离蒸发皿。", + "error_success_analysis": "爪夹合拢，抓取到了橡胶滴管。", + "frame": 304, + "progress": 40, + "progress_explanation": "爪夹合拢并成功抓取到橡胶滴管，因此进度提升为400%。\n", + "state_description": "爪夹合拢，抓取到橡胶滴管。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近。\n", + "time": 10.133333333333333, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139931845_nkshbbqk8", + "x": 0.6083749999999999, + "y": 0.39353125, + "width": 0.06900000000000003, + "height": 0.1653333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高。", + "correction_plan": "爪夹抓紧橡胶滴管向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管远离蒸发皿。", + "error_success_analysis": "爪夹夹紧橡胶滴管，垂直升高，准备向爪夹左后方的蒸发皿靠近。", + "frame": 361, + "progress": 50, + "progress_explanation": "爪夹夹紧橡胶滴管，垂直升高，准备向爪夹左后方的蒸发皿靠近。因此进度提升为50%。", + "state_description": "爪夹夹紧橡胶滴管，垂直升高。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹抓紧橡胶滴管向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿。", + "time": 12.0217, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139946007_4fol4e9zm", + "x": 0.626375, + "y": 0.29219791666666667, + "width": 0.039000000000000055, + "height": 0.164 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动。", + "correction_plan": "将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管远离蒸发皿。", + "error_success_analysis": "爪夹向爪夹左后方移动，移动到蒸发皿的正上方，方便将溶液滴入蒸发皿。", + "frame": 411, + "progress": 60, + "progress_explanation": "爪夹向爪夹左后方移动，移动到蒸发皿的正上方，方便将溶液滴入蒸发皿。因此进度提升为60%。", + "state_description": "爪夹向爪夹左后方移动接近了蒸发皿，位于蒸发皿的正上方。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管远离蒸发皿。", + "time": 13.715133, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139951447_h34xiiq7e", + "x": 0.41937499999999994, + "y": 0.34953125, + "width": 0.025000000000000088, + "height": 0.16933333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹收紧挤压橡胶滴管。", + "correction_plan": "爪夹夹紧橡胶滴管远离蒸发皿。", + "error_success_analysis": "爪夹收紧挤压橡胶滴管，将溶液滴入蒸发皿中。", + "frame": 447, + "progress": 80, + "progress_explanation": "爪夹收紧挤压橡胶滴管，将溶液滴入蒸发皿中。因此进度提升为80%。", + "state_description": "爪夹收紧挤压橡胶滴管，将溶液滴入蒸发皿。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹夹紧橡胶滴管远离蒸发皿。", + "time": 14.90634479806701, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139959864_nke42ip2l", + "x": 0.426375, + "y": 0.3508645833333333, + "width": 0.029000000000000005, + "height": 0.17333333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹升高，并向爪夹后方移动。", + "correction_plan": "", + "error_success_analysis": "溶液成功滴入蒸发皿中，爪夹夹紧橡胶滴管向爪夹后方移动，远离蒸发皿。", + "frame": 503, + "progress": 100, + "progress_explanation": "将橡胶滴管中的溶液滴入蒸发皿中的任务完成，因此进度提升为100%。", + "state_description": "爪夹夹紧橡胶滴管，向爪夹后方移动，远离蒸发皿。\n将橡胶滴管中的溶液滴入蒸发皿的任务完成。", + "time": 16.766667, + "annotations": { + "bbox_1769139793831": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139793831_1769139970110_4pdszpuej", + "x": 0.33937500000000004, + "y": 0.34553124999999996, + "width": 0.052000000000000005, + "height": 0.18533333333333335 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769139793831", + "name": "橡胶滴管", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1769139802009", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769139808865", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-155440-put-rubber head dropper-evaporating dish-mix1/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-155440-put-rubber head dropper-evaporating dish-mix1/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..b09ba41ccb96ce89888c1fced1bd023094f11827 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-155440-put-rubber head dropper-evaporating dish-mix1/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,305 @@ +{ + "task_description": "将橡胶滴管中的溶液滴入蒸发皿中\n准备开始移动：0%\n爪夹靠近橡胶滴管：20%\n爪夹合拢并抓取到橡胶滴管：40%\n爪夹抓紧橡胶滴管接近蒸发皿：60%\n爪夹将溶液滴入蒸发皿：80%\n爪夹夹紧橡胶滴管离开蒸发皿：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。接着落下爪夹靠近橡胶滴管，接近橡胶滴管后爪夹合拢抓取橡胶滴管。爪夹收紧，挤压橡胶头吸取溶液。然后爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "当前为初始状态，远离橡胶滴管，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离橡胶滴管，未开始移动。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹向爪夹右前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。", + "time": 1.572099 + }, + { + "action_description": "爪夹先向爪夹正前面移动，后向爪夹右边移动，同时调整角度。", + "correction_plan": "爪夹向爪夹右前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。接着落下爪夹靠近橡胶滴管，接近橡胶滴管后爪夹合拢抓取橡胶滴管。爪夹收紧，挤压橡胶头吸取溶液。然后爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "爪夹张开，开始向橡胶滴管靠近。方便抓取橡胶滴管。", + "frame": 75, + "progress": 10, + "progress_explanation": "爪夹先向爪夹正前面移动，后向爪夹右边移动，开始向橡胶滴管靠近。因此进度提升为10%。", + "state_description": "爪夹张开，开始向橡胶滴管靠近。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹向爪夹右前方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。", + "time": 2.4900644329896906, + "annotations": { + "bbox_1769155062676": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155062676_1769155119843_8zdv21zt3", + "x": 0.5653750000000001, + "y": 0.41086458333333337, + "width": 0.071, + "height": 0.20266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右边移动，并向下移。", + "correction_plan": "爪夹向爪夹左下方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。接着落下爪夹靠近橡胶滴管，接近橡胶滴管后爪夹合拢抓取橡胶滴管。爪夹收紧，挤压橡胶头吸取溶液。然后爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "爪夹向爪夹右边移动，开始靠近黑色瓶子，偏离了橡胶滴管。", + "frame": 105, + "progress": -10, + "progress_explanation": "爪夹向爪夹右边移动，开始靠近黑色瓶子，偏离了橡胶滴管。因此进度降低为-10%。", + "state_description": "爪夹张开，向爪夹右边移动，偏离橡胶滴管。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹向爪夹左下方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。", + "time": 3.515837628865979 + }, + { + "action_description": "爪夹向正前方移动，并向下移动。", + "correction_plan": "爪夹向爪夹左下方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。接着落下爪夹靠近橡胶滴管，接近橡胶滴管后爪夹合拢抓取橡胶滴管。爪夹收紧，挤压橡胶头吸取溶液。然后爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "爪夹张开，靠进了黑色瓶子，离橡胶滴管更远了。", + "frame": 145, + "progress": -20, + "progress_explanation": "爪夹张开，靠进了黑色瓶子，离橡胶滴管更远了，因此进度下降为-20%。", + "state_description": "爪夹向正前方移动，并向下移动，靠近了黑色瓶子。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹向爪夹左下方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。", + "time": 4.828827319587628 + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向爪夹左下方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。接着落下爪夹靠近橡胶滴管，接近橡胶滴管后爪夹合拢抓取橡胶滴管。爪夹收紧，挤压橡胶头吸取溶液。然后爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "爪夹合拢抓取黑色瓶子失败，还未开始重新接近橡胶滴管。", + "frame": 178, + "progress": -30, + "progress_explanation": "爪夹合拢，未抓取到黑色瓶子，还未开始重新接近橡胶滴管。因此进度降低为-30%。", + "state_description": "爪夹合拢，未抓取到黑色瓶子，还未开始重新接近橡胶滴管。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹向爪夹左下方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。", + "time": 5.930199 + }, + { + "action_description": "爪夹升高并向爪夹左边移动。", + "correction_plan": "爪夹向爪夹下方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。接着落下爪夹靠近橡胶滴管，接近橡胶滴管后爪夹合拢抓取橡胶滴管。爪夹收紧，挤压橡胶头吸取溶液。然后爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "爪夹升高并向爪夹左边移动，开始接近橡胶滴。方便抓取。", + "frame": 222, + "progress": 10, + "progress_explanation": "爪夹升高并向爪夹左边移动，开始接近橡胶滴。因此进度提升为10%。", + "state_description": "爪夹张开，开始向橡胶滴管接近。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹向爪夹左下方的橡胶滴管移动，同时调整爪夹的角度，并移动到橡胶滴管的正上方。", + "time": 7.4028, + "annotations": { + "bbox_1769155062676": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155062676_1769155155556_1dev2d1at", + "x": 0.5663750000000001, + "y": 0.40919791666666666, + "width": 0.06899999999999995, + "height": 0.19600000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动，并逐渐下移。", + "correction_plan": "爪夹合拢抓取橡胶滴管。爪夹收紧，挤压橡胶头吸取溶液。然后爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "爪夹靠近了橡胶滴管，更加方便抓取。", + "frame": 270, + "progress": 20, + "progress_explanation": "爪夹靠近了橡胶滴管，更加方便抓取，因此进度提升为20%。", + "state_description": "爪夹张开，并逐渐下移靠近了橡胶滴管。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹合拢抓取橡胶滴管。抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近。", + "time": 9.014699, + "annotations": { + "bbox_1769155062676": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155062676_1769155167327_rkwrcqj5o", + "x": 0.5653750000000001, + "y": 0.41053125, + "width": 0.06899999999999995, + "height": 0.1960000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹收紧，挤压橡胶头吸取溶液。然后爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "爪夹合拢抓取到橡胶滴管。", + "frame": 320, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到橡胶滴管，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到橡胶滴管。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹收紧，挤压橡胶头吸取溶液。然后爪抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近。", + "time": 10.675734536082473, + "annotations": { + "bbox_1769155062676": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155062676_1769155179552_ordx2abwd", + "x": 0.5623750000000001, + "y": 0.4651979166666667, + "width": 0.07299999999999995, + "height": 0.14400000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹收紧吸取溶液。", + "correction_plan": "爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "爪夹收紧，挤压橡胶头吸取溶液。", + "frame": 379, + "progress": 45, + "progress_explanation": "爪夹收紧，挤压橡胶头吸取溶液。因此进度提升为45%.", + "state_description": "爪夹收紧，挤压橡胶头吸取溶液。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹抓紧橡胶滴管垂直升高爪夹并向爪夹左后方的蒸发皿接近。", + "time": 12.645219072164947, + "annotations": { + "bbox_1769155062676": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155062676_1769155187776_6pckgi4vj", + "x": 0.5613750000000001, + "y": 0.46253125, + "width": 0.07299999999999995, + "height": 0.1493333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高。", + "correction_plan": "爪夹抓紧橡胶滴管向爪夹左后方的蒸发皿接近，水平到达蒸发皿的正上方后将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "爪夹夹紧橡胶滴管，垂直升高，方便向蒸发皿接近。", + "frame": 422, + "progress": 50, + "progress_explanation": "爪夹夹紧橡胶滴管，垂直升高，准备向蒸发皿接近。因此进度提升为50%。", + "state_description": "爪夹夹紧橡胶滴管，垂直升高。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹抓紧橡胶滴管向爪夹左后方的蒸发皿接近。", + "time": 14.0693, + "annotations": { + "bbox_1769155062676": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155062676_1769155194577_0nn6a5baa", + "x": 0.5863750000000001, + "y": 0.35053125, + "width": 0.04299999999999997, + "height": 0.14666666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动。", + "correction_plan": "将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "爪夹夹紧橡胶滴管移动到蒸发皿的正上方，方便滴入溶液。", + "frame": 466, + "progress": 60, + "progress_explanation": "爪夹夹紧橡胶滴管向爪夹左后方移动，接近了蒸发皿。因此进度提升为60%。", + "state_description": "爪夹夹紧橡胶滴管向爪夹左后方移动，接近了蒸发皿。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：将溶液滴入蒸发皿，完成后爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "time": 15.537899484536082, + "annotations": { + "bbox_1769155062676": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155062676_1769155206656_38ifyfaj5", + "x": 0.342375, + "y": 0.22253124999999999, + "width": 0.03300000000000001, + "height": 0.08666666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹收紧。", + "correction_plan": "爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "error_success_analysis": "爪夹收紧，挤压橡胶头，使溶液滴入蒸发皿中。", + "frame": 510, + "progress": 80, + "progress_explanation": "爪夹收紧，挤压橡胶头，使溶液滴入蒸发皿中。因此进度提升为80%。", + "state_description": "爪夹收紧，挤压橡胶头，使溶液滴入蒸发皿中。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹夹紧橡胶滴管垂直升高并向爪夹后方移动，远离蒸发皿。", + "time": 16.9946, + "annotations": { + "bbox_1769155062676": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155062676_1769155211736_a7j6i5nsu", + "x": 0.316375, + "y": 0.3038645833333333, + "width": 0.02799999999999998, + "height": 0.09200000000000005 + } + ] + } + } + }, + { + "time": 17.692023195876285, + "frame": 531, + "progress": 90, + "action_description": "爪夹垂直升高。", + "state_description": "爪夹夹紧橡胶滴管，垂直升高，移动到蒸发皿的正上方。\n为完成将橡胶滴管中的溶液滴入蒸发皿中的任务应当：爪夹夹紧橡胶滴管向爪夹后方移动，远离蒸发皿。", + "progress_explanation": "爪夹夹紧橡胶滴管，垂直升高，移动到蒸发皿的正上方。因此进度提升为90%。", + "error_success_analysis": "爪夹夹紧橡胶滴管，垂直升高，移动到蒸发皿的正上方。", + "correction_plan": "爪夹夹紧橡胶滴管向爪夹后方移动，远离蒸发皿。", + "annotations": { + "bbox_1769155062676": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155062676_1769155218231_3anj3gupd", + "x": 0.300375, + "y": 0.20386458333333335, + "width": 0.06000000000000001, + "height": 0.15466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹后方移动。", + "correction_plan": "", + "error_success_analysis": "爪夹夹紧橡胶滴管远离蒸发皿，将橡胶滴管中的溶液滴入蒸发皿中的任务完成。", + "frame": 597, + "progress": 100, + "progress_explanation": "爪夹将橡胶滴管中的溶液滴入蒸发皿中的任务完成，因此进度提升为100%。", + "state_description": "爪夹夹紧橡胶滴管向爪夹后方移动，远离蒸发皿。\n爪夹将橡胶滴管中的溶液滴入蒸发皿中的任务完成。", + "time": 19.9, + "annotations": { + "bbox_1769155062676": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155062676_1769155225510_p3jvxm8xj", + "x": 0.28737500000000005, + "y": 0.33453125000000006, + "width": 0.079, + "height": 0.164 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769155062676", + "name": "橡胶滴管", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1769155069596", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769155079198", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-162648-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-162648-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..f211ca6c252e7d00988a3b7a20e68c4ef28543c0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-162648-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,194 @@ +{ + "task_description": "将橡胶滴管放入玻璃滴瓶中。\n准备开始移动：0%\n爪夹抓紧橡胶滴管远离蒸发皿：25%\n爪夹抓紧橡胶滴管接近玻璃滴瓶：50%\n爪夹开始将橡胶滴管放入玻璃滴瓶中：75%\n爪夹松开并旋转回正：100%", + "progress_points": [ + { + "time": 2.071533, + "frame": 62, + "progress": 0, + "action_description": "爪夹合拢，未开始移动。", + "state_description": "爪夹合拢，夹紧橡胶滴管，未开始移动。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹夹紧橡胶滴管垂直向上并向爪夹后方移动，远离蒸发皿。爪夹继续向爪夹后下方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。", + "progress_explanation": "当前为初始状态，远离玻璃滴瓶，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹夹紧橡胶滴管垂直向上并向爪夹后方移动，远离蒸发皿。爪夹继续向爪夹后下方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶，接着爪夹旋转回正。", + "annotations": { + "bbox_1769160735560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769160735560_1769160772968_1yskta3km", + "x": 0.5425, + "y": 0.5693333333333332, + "width": 0.05599999999999996, + "height": 0.08399999999999999 + } + ] + } + } + }, + { + "time": 3.1221564382731954, + "frame": 94, + "progress": 10, + "action_description": "爪夹垂直升高。", + "state_description": "爪夹夹紧橡胶滴管垂直升高，垂直上远离蒸发皿。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹夹紧橡胶滴管向爪夹后方移动，远离蒸发皿。爪夹继续向爪夹后下方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。", + "progress_explanation": "爪夹夹紧橡胶滴管垂直升高，垂直上远离蒸发皿。因此进度提升为10%。", + "error_success_analysis": "爪夹夹紧橡胶滴管垂直升高，垂直上远离蒸发皿。", + "correction_plan": "爪夹夹紧橡胶滴管向爪夹后方移动，远离蒸发皿。爪夹继续向爪夹后下方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶，接着爪夹旋转回正。", + "annotations": { + "bbox_1769160621876": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769160621876_1769160790839_7p5ynbx15", + "x": 0.6824999999999999, + "y": 0.27866666666666673, + "width": 0.03300000000000018, + "height": 0.10399999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹后方移动。", + "correction_plan": "爪夹继续向爪夹后下方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶，接着爪夹旋转回正。", + "error_success_analysis": "爪夹夹紧橡胶滴管，向爪夹后方移动，水平上也远离了蒸发皿。", + "frame": 132, + "progress": 25, + "progress_explanation": "爪夹夹紧橡胶滴管，向爪夹后方移动，水平上也远离了蒸发皿。因此进度提升为25%。", + "state_description": "爪夹夹紧橡胶滴管，向爪夹后方移动，水平上也远离了蒸发皿。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹继续向爪夹后下方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。", + "time": 4.395558533118557 + }, + { + "time": 5.377139314561855, + "frame": 161, + "progress": 35, + "action_description": "爪夹继续向爪夹后方移动。", + "state_description": "爪夹夹紧橡胶滴管，继续向爪夹后方移动，水平上接近了玻璃滴瓶。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹继续向爪夹后下方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。", + "progress_explanation": "爪夹夹紧橡胶滴管，继续向爪夹后方移动，水平上接近了玻璃滴瓶。因此进度提升为35%。", + "error_success_analysis": "爪夹夹紧橡胶滴管，继续向爪夹后方移动，水平上接近了玻璃滴瓶。", + "correction_plan": "爪夹调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶，接着爪夹旋转回正。" + }, + { + "time": 7.334, + "frame": 220, + "progress": 50, + "action_description": "爪夹调整角度并向下移动。", + "state_description": "爪夹调整爪夹的角度使其垂直与桌面，并向下移动靠近了玻璃滴瓶。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。", + "progress_explanation": "爪夹夹紧橡胶滴管向下移动，靠近了玻璃滴瓶。方便将橡胶滴管放入玻璃瓶中。因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧橡胶滴管向下移动，靠近了玻璃滴瓶。方便将橡胶滴管放入玻璃瓶中。", + "correction_plan": "爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶，接着爪夹旋转回正。" + }, + { + "time": 8.3376, + "frame": 250, + "progress": 60, + "action_description": "爪夹缓慢下移。", + "state_description": "爪夹夹紧橡胶滴管，缓慢下移，将橡胶滴管头对准玻璃滴瓶口。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。", + "progress_explanation": "爪夹夹紧橡胶滴管缓慢下移，将橡胶滴管头对准玻璃滴瓶口，方便将滴管放入玻璃滴瓶中。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧橡胶滴管缓慢下移，将橡胶滴管头对准玻璃滴瓶口，方便将滴管放入玻璃滴瓶中。", + "correction_plan": "爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶，接着爪夹旋转回正。" + }, + { + "time": 9.63507756920103, + "frame": 289, + "progress": 75, + "action_description": "爪夹垂直向下移动。", + "state_description": "爪夹夹紧橡胶滴管，垂直向下移动，开始将滴管放入玻璃瓶中。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹继续垂直向下移动，将橡胶滴管完全放入玻璃滴瓶中。", + "progress_explanation": "爪夹夹紧橡胶滴管，垂直向下移动，开始将滴管放入玻璃瓶中。因此进度提升为75%。", + "error_success_analysis": "爪夹夹紧橡胶滴管，垂直向下移动，开始将滴管放入玻璃瓶中。", + "correction_plan": "爪夹继续垂直向下移动，将橡胶滴管完全放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶，接着爪夹旋转回正。" + }, + { + "time": 10.736039797036083, + "frame": 322, + "progress": 80, + "action_description": "爪夹继续垂直下移。", + "state_description": "爪夹夹紧橡胶滴管继续垂直下移，将滴管完全放入玻璃滴瓶中。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：松开抓夹，爪夹垂直升高远离玻璃滴瓶，接着爪夹旋转回正。", + "progress_explanation": "爪夹夹紧橡胶滴管继续垂直下移，将滴管完全放入玻璃滴瓶中。因此进度提升为80%。", + "error_success_analysis": "爪夹夹紧橡胶滴管继续垂直下移，将滴管完全放入玻璃滴瓶中。", + "correction_plan": "松开抓夹，爪夹垂直升高远离玻璃滴瓶，接着爪夹旋转回正。" + }, + { + "time": 11.631466, + "frame": 349, + "progress": 90, + "action_description": "爪夹松开，并垂直升高。", + "state_description": "爪夹张开，并垂直升高，远离玻璃滴瓶。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹旋转回正。", + "progress_explanation": "爪夹张开，并垂直升高，远离玻璃滴瓶。因此进度提升为90%。", + "error_success_analysis": "爪夹张开，并垂直升高，远离玻璃滴瓶。", + "correction_plan": "爪夹旋转回正。", + "annotations": { + "point_1769160633203": { + "type": "point", + "instances": [ + { + "id": "point_1769160633203_1769160838509_so0s4fxto", + "x": 0.5315000000000001, + "y": 0.5333333333333333 + } + ] + } + } + }, + { + "time": 12.866667, + "frame": 386, + "progress": 100, + "action_description": "爪夹旋转回正。", + "state_description": "爪夹张开，旋转回正。\n爪夹张开旋转回正，将橡胶滴管放入玻璃滴瓶中的任务完成。", + "progress_explanation": "爪夹张开旋转回正，将橡胶滴管放入玻璃滴瓶中的任务完成。因此进度提升为100%。", + "error_success_analysis": "爪夹张开旋转回正，将橡胶滴管放入玻璃滴瓶中的任务完成。", + "correction_plan": "", + "annotations": { + "point_1769160641203": { + "type": "point", + "instances": [ + { + "id": "point_1769160641203_1769160848259_5ptu8dwpw", + "x": 0.6565000000000001, + "y": 0.6333333333333333 + } + ] + }, + "bbox_1769160735560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769160735560_1769160857957_k2lgbowsh", + "x": 0.5915, + "y": 0.5946666666666667, + "width": 0.021999999999999974, + "height": 0.0733333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769160621876", + "name": "橡胶滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769160735560", + "name": "玻璃滴瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769160633203", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769160641203", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-165023-put-rubber head dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-165023-put-rubber head dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..cda84510f1fa1b8e9beacdea658ea9c617012ffc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-165023-put-rubber head dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,362 @@ +{ + "task_description": "将橡胶滴管放入玻璃滴瓶中\n准备开始移动：0%\n爪夹远离蒸发皿：25%\n爪夹夹紧橡胶滴管靠近玻璃滴瓶：50%\n爪夹将橡胶滴管放入玻璃滴瓶中：75%\n爪夹松开：100%", + "progress_points": [ + { + "action_description": "爪夹夹紧橡胶滴管，未开始移动。", + "correction_plan": "爪夹夹紧橡胶滴管垂直向上并向爪右前方移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶。", + "error_success_analysis": "", + "frame": 61, + "progress": 0, + "progress_explanation": "当前为初始状态，远离玻璃滴瓶，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹夹紧橡胶滴管，远离玻璃滴瓶，未开始移动。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹夹紧橡胶滴管垂直向上并向爪夹右前移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，并移动到玻璃滴瓶的正上方。", + "time": 2.023499, + "annotations": { + "bbox_1769390863805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390863805_1769390914627_lf1yrtee8", + "x": 0.781375, + "y": 0.10953125000000002, + "width": 0.09299999999999997, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1769390900404": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390900404_1769390925611_8ein3gwfr", + "x": 0.493375, + "y": 0.51253125, + "width": 0.03799999999999999, + "height": 0.16133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹位置不变，打开爪夹。", + "correction_plan": "爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪右前方移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶。", + "error_success_analysis": "爪夹张开，橡胶滴管掉落，需重新抓取橡胶滴管。", + "frame": 78, + "progress": -5, + "progress_explanation": "爪夹张开，橡胶滴管掉落，需重新抓取橡胶滴管。因此进度降低为-5%。", + "state_description": "爪夹张开，橡胶滴管掉落。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪夹右前移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，并移动到玻璃滴瓶的正上方。", + "time": 2.6085180412371134, + "annotations": { + "bbox_1769390863805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390863805_1769390942602_eqez2zf5f", + "x": 0.753375, + "y": 0.02053125, + "width": 0.11200000000000002, + "height": 0.16666666666666666 + } + ] + }, + "bbox_1769390900404": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390900404_1769390953979_94o0myfnk", + "x": 0.540375, + "y": 0.3978645833333333, + "width": 0.06599999999999992, + "height": 0.11333333333333334 + } + ] + }, + "point_1769390874013": { + "type": "point", + "instances": [ + { + "id": "point_1769390874013_1769390957875_w9behn3my", + "x": 0.441375, + "y": 0.5191979166666667 + } + ] + }, + "point_1769390879972": { + "type": "point", + "instances": [ + { + "id": "point_1769390879972_1769390961300_xwd1axz4h", + "x": 0.5743750000000001, + "y": 0.5218645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹垂直向下移动。", + "correction_plan": "爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪右前方移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶。", + "error_success_analysis": "爪夹张开向蒸发皿接近，远离橡胶滴管。", + "frame": 108, + "progress": -15, + "progress_explanation": "爪夹张开，向蒸发皿接近了，远离橡胶滴管，因此进度降低为-15%。", + "state_description": "爪夹张开，垂直下移，向蒸发皿靠近。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪夹右前移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，并移动到玻璃滴瓶的正上方。", + "time": 3.59666237113402, + "annotations": { + "bbox_1769390863805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390863805_1769390971474_d4601bhc3", + "x": 0.8153750000000001, + "y": 0.00053125, + "width": 0.12099999999999991, + "height": 0.14800000000000002 + } + ] + }, + "bbox_1769390900404": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390900404_1769390977083_2hju1pp7y", + "x": 0.717375, + "y": 0.2511979166666667, + "width": 0.04400000000000004, + "height": 0.32000000000000006 + } + ] + }, + "point_1769390874013": { + "type": "point", + "instances": [ + { + "id": "point_1769390874013_1769390980817_efo61umow", + "x": 0.442375, + "y": 0.5138645833333333 + } + ] + }, + "point_1769390879972": { + "type": "point", + "instances": [ + { + "id": "point_1769390879972_1769390984025_rsdqmizt2", + "x": 0.572375, + "y": 0.5258645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹继续垂直向下移动。", + "correction_plan": "爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪右前方移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶。", + "error_success_analysis": "爪夹张开，靠近了错误目标蒸发皿。", + "frame": 134, + "progress": -20, + "progress_explanation": "爪夹张开，靠近了错误目标蒸发皿，因此进度降低为-20%。", + "state_description": "爪夹张开，靠近了蒸发皿。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪夹右前移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，并移动到玻璃滴瓶的正上方。", + "time": 4.482332474226804, + "annotations": { + "bbox_1769390900404": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390900404_1769390994674_2hbwx0l74", + "x": 0.45237499999999997, + "y": 0.08719791666666668, + "width": 0.129, + "height": 0.32533333333333336 + } + ] + }, + "point_1769390874013": { + "type": "point", + "instances": [ + { + "id": "point_1769390874013_1769390999113_ubh6uh33j", + "x": 0.441375, + "y": 0.5178645833333334 + } + ] + }, + "point_1769390879972": { + "type": "point", + "instances": [ + { + "id": "point_1769390879972_1769391001721_jnmg7py41", + "x": 0.571375, + "y": 0.52453125 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动。", + "correction_plan": "爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪右前方移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶。", + "error_success_analysis": "爪夹远离蒸发皿。", + "frame": 162, + "progress": 25, + "progress_explanation": "爪夹远离蒸发皿，因此进度提升为25%。", + "state_description": "爪夹向爪夹左前方移动，同时爪夹合拢。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪夹右前移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，并移动到玻璃滴瓶的正上方。", + "time": 5.3899613402061854, + "annotations": { + "bbox_1769390863805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390863805_1769391012849_z92hrjft1", + "x": 0.8413749999999999, + "y": 0.13253125000000002, + "width": 0.14300000000000015, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1769390900404": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390900404_1769391021465_f12fwysh6", + "x": 0.694375, + "y": 0.3751979166666667, + "width": 0.07000000000000002, + "height": 0.25600000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下方移动。", + "correction_plan": "爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪右前方移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶。", + "error_success_analysis": "爪夹合拢再次靠近了蒸发皿。", + "frame": 176, + "progress": -15, + "progress_explanation": "爪夹合拢再次靠近了蒸发皿，因此进度降低为-15%。", + "state_description": "爪夹合拢，向爪夹左下方移动，再次靠近蒸发皿。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪夹右前移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，并移动到玻璃滴瓶的正上方。", + "time": 5.8504, + "annotations": { + "bbox_1769390900404": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390900404_1769391040990_6jxp81teq", + "x": 0.30237499999999995, + "y": 0.19653125000000002, + "width": 0.325, + "height": 0.11066666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左边移动。", + "correction_plan": "爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪右前方移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶。", + "error_success_analysis": "爪夹向爪夹左边移动，再次远离了蒸发皿。", + "frame": 191, + "progress": 25, + "progress_explanation": "爪夹向爪夹左边移动，再次远离了蒸发皿，因此进度提升为25%。", + "state_description": "爪夹合拢，向爪夹左边移动，再次远离了蒸发皿。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪夹右前移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，并移动到玻璃滴瓶的正上方。", + "time": 6.361599, + "annotations": { + "bbox_1769390900404": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390900404_1769391054384_dwl05arqu", + "x": 0.491375, + "y": 0.16719791666666667, + "width": 0.293, + "height": 0.16666666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹位置不变。", + "correction_plan": "爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪右前方移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，将橡胶滴管移动到玻璃滴瓶的正上方。爪夹垂直向下移动，将橡胶滴管放入玻璃滴瓶中。松开抓夹，爪夹垂直升高远离玻璃滴瓶。", + "error_success_analysis": "爪夹张开爪夹，回到初始状态。", + "frame": 213, + "progress": 0, + "progress_explanation": "爪夹张开爪夹，回到初始状态。因此进度降低为0%。", + "state_description": "爪夹位置不变，打开爪夹。\n为完成将橡胶滴管放入玻璃滴瓶中的任务应当：爪夹需重新抓取橡胶滴管，爪夹夹紧橡胶滴管垂直向上并向爪夹右前移动，远离蒸发皿。爪夹继续向爪夹右前方移动，接近玻璃滴瓶，同时调整爪夹的角度使其垂直与桌面，并移动到玻璃滴瓶的正上方。", + "time": 7.1, + "annotations": { + "bbox_1769390863805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390863805_1769391063656_q9nxhx2t0", + "x": 0.724375, + "y": 0.00053125, + "width": 0.16799999999999998, + "height": 0.09866666666666667 + } + ] + }, + "bbox_1769390900404": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390900404_1769391068888_iy5q06h4r", + "x": 0.5273749999999999, + "y": 0.3111979166666667, + "width": 0.25900000000000006, + "height": 0.10133333333333336 + } + ] + }, + "point_1769390874013": { + "type": "point", + "instances": [ + { + "id": "point_1769390874013_1769391071327_y0zlymseo", + "x": 0.399375, + "y": 0.5178645833333334 + } + ] + }, + "point_1769390879972": { + "type": "point", + "instances": [ + { + "id": "point_1769390879972_1769391074615_w5h68dfl7", + "x": 0.617375, + "y": 0.5151979166666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769390863805", + "name": "玻璃滴瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1769390900404", + "name": "橡胶滴管", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769390874013", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769390879972", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..ed56cdd9ab83740ab14a42f7509d8fdb936c060a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,280 @@ +{ + "task_description": "将橡胶头滴管中的溶液滴入玻璃烧杯中\n准备开始移动：0%\n爪夹靠近橡胶头滴管：20%\n爪夹合拢，抓取到橡胶头滴管：40%\n爪夹抓紧橡胶头滴管接近玻璃烧杯：60%\n爪夹将溶液滴入玻璃烧杯：80%\n爪夹远离玻璃烧杯：100%", + "progress_points": [ + { + "time": 1.4961340206185565, + "frame": 45, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离橡胶头滴管，未开始移动。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹正前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。", + "progress_explanation": "当前为初始状态，远离橡胶头滴管，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹正前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769391445215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769391445215_1769394841061_akxcong4n", + "x": 0.605375, + "y": 0.17419791666666665, + "width": 0.05899999999999998, + "height": 0.12666666666666665 + } + ] + }, + "bbox_1769391460494": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769391460494_1769394846461_iz2zppti7", + "x": 0.765375, + "y": 0.4728645833333333, + "width": 0.1549999999999999, + "height": 0.18000000000000002 + } + ] + }, + "point_1769391469034": { + "type": "point", + "instances": [ + { + "id": "point_1769391469034_1769394859244_52o3snks1", + "x": 0.530375, + "y": 0.32353125000000005 + } + ] + }, + "point_1769391479533": { + "type": "point", + "instances": [ + { + "id": "point_1769391479533_1769394862651_xqzgu6rq9", + "x": 0.650375, + "y": 0.37286458333333333 + } + ] + } + } + }, + { + "time": 2.579999, + "frame": 77, + "progress": 10, + "action_description": "爪夹向爪夹正前方移动，并调整爪夹角度。", + "state_description": "爪夹张开，向爪夹正前方移动并调整爪夹角度。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹正前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。", + "progress_explanation": "爪夹张开，向爪夹正前方移动并调整爪夹角度，方便抓取橡胶头滴管。因此进度提升为10%。", + "error_success_analysis": "爪夹张开，向爪夹正前方移动并调整爪夹角度，方便抓取橡胶头滴管。", + "correction_plan": "爪夹向爪夹正前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769391460494": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769391460494_1769394870788_muntzo2z2", + "x": 0.764375, + "y": 0.4728645833333333, + "width": 0.15299999999999994, + "height": 0.1773333333333334 + } + ] + }, + "point_1769391479533": { + "type": "point", + "instances": [ + { + "id": "point_1769391479533_1769394884571_fq13er4up", + "x": 0.665375, + "y": 0.22086458333333334 + } + ] + } + } + }, + { + "time": 4.042, + "frame": 121, + "progress": 20, + "action_description": "爪夹向爪夹前方移动，并向下移动。", + "state_description": "爪夹张开，向爪夹前方移动并向下移动，靠近了橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹张开，靠近了橡胶头滴管，更加方便抓取。因此进度提升为20%。\n", + "error_success_analysis": "爪夹张开，靠近了橡胶头滴管，更加方便抓取。", + "correction_plan": "爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769391460494": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769391460494_1769394896946_dbxu21tpr", + "x": 0.767375, + "y": 0.47419791666666666, + "width": 0.15400000000000008, + "height": 0.18133333333333337 + } + ] + } + } + }, + { + "time": 5.787268041237113, + "frame": 174, + "progress": 30, + "action_description": "爪夹合拢。", + "state_description": "爪夹缓慢合拢，开始抓取橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹缓慢合拢开始抓取橡胶头滴管。因此进度提升为30%。\n", + "error_success_analysis": "爪夹缓慢合拢开始抓取橡胶头滴管。", + "correction_plan": "爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769391460494": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769391460494_1769394913867_d7y46y2p7", + "x": 0.764375, + "y": 0.47553125, + "width": 0.15599999999999997, + "height": 0.1733333333333333 + } + ] + } + } + }, + { + "time": 7.47180412371134, + "frame": 224, + "progress": 40, + "action_description": "爪夹继续合拢。", + "state_description": "爪夹继续合拢，成功抓取到橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹成功抓取到橡胶头滴管。因此进度提升为40%。", + "error_success_analysis": "爪夹成功抓取到橡胶头滴管。", + "correction_plan": "爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769391460494": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769391460494_1769394925955_5n6v8p8iw", + "x": 0.768375, + "y": 0.4728645833333333, + "width": 0.15099999999999997, + "height": 0.1773333333333334 + } + ] + } + } + }, + { + "time": 9.315927835051545, + "frame": 279, + "progress": 45, + "action_description": "爪夹收紧吸取溶液。", + "state_description": "爪夹收紧橡胶头，吸取溶液。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹收紧橡胶头，吸取溶液。因此进度提升为45%。", + "error_success_analysis": "爪夹收紧橡胶头，吸取溶液。", + "correction_plan": "爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769391460494": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769391460494_1769394937026_ju51h3loj", + "x": 0.7653749999999999, + "y": 0.4728645833333333, + "width": 0.1570000000000001, + "height": 0.18133333333333332 + } + ] + } + } + }, + { + "time": 11.47922680412371, + "frame": 344, + "progress": 55, + "action_description": "爪夹垂直升高。", + "state_description": "爪夹夹紧橡胶头滴管垂直升高。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹夹紧橡胶头滴管垂直升高，准备向玻璃烧杯移动，因此进度提升为55%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管垂直升高，准备向玻璃烧杯移动。", + "correction_plan": "爪夹抓紧橡胶头滴管并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769391460494": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769391460494_1769394947585_plb3457r4", + "x": 0.7673750000000001, + "y": 0.47553125000000007, + "width": 0.15299999999999986, + "height": 0.1773333333333333 + } + ] + } + } + }, + { + "time": 12.809123711340206, + "frame": 384, + "progress": 60, + "action_description": "爪夹向爪夹右后方移动。", + "state_description": "爪夹夹紧橡胶头滴管，向爪夹右后方移动，靠近了玻璃烧杯。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹垂直下移将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "progress_explanation": "爪夹夹紧橡胶头滴管，向爪夹右后方移动，靠近了玻璃烧杯。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管，向爪夹右后方移动，靠近了玻璃烧杯。", + "correction_plan": "爪夹垂直下移将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。" + }, + { + "time": 14.014896907216494, + "frame": 420, + "progress": 70, + "action_description": "爪夹垂直下移。", + "state_description": "爪夹夹紧橡胶头滴管垂直下移，准备将溶液滴入玻璃烧杯。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "progress_explanation": "爪夹夹紧橡胶头滴管垂直下移，准备将溶液滴入玻璃烧杯。因此进度提升为70%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管垂直下移，准备将溶液滴入玻璃烧杯。", + "correction_plan": "爪夹将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。" + }, + { + "time": 14.901494845360824, + "frame": 447, + "progress": 80, + "action_description": "爪夹收紧。", + "state_description": "爪夹收紧挤压橡胶头，将溶液滴入玻璃烧杯中。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "progress_explanation": "爪夹收紧挤压橡胶头，将溶液滴入玻璃烧杯中。因此进度提升为80%。", + "error_success_analysis": "爪夹收紧挤压橡胶头，将溶液滴入玻璃烧杯中。", + "correction_plan": "爪夹夹紧橡胶头滴管远离玻璃烧杯。" + }, + { + "time": 17.135721649484534, + "frame": 514, + "progress": 100, + "action_description": "爪夹向爪夹后方移动。", + "state_description": "爪夹夹紧橡胶头滴管向爪夹后方移动。\n爪夹将橡胶头滴管中的溶液滴入玻璃烧杯中的任务完成。", + "progress_explanation": "爪夹将橡胶头滴管中的溶液滴入玻璃烧杯中的任务完成。因此进度提升为100%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管向爪夹后方移动，远离玻璃烧杯。", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769391445215", + "name": "橡胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769391460494", + "name": "玻璃烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769391469034", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769391479533", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..5f1e9d74512f303c2b1d8145b0c17f9ee46b82ad --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,416 @@ +{ + "task_description": "将橡胶滴头滴管中的溶液滴入玻璃烧杯中\n准备开始移动：0%\n爪夹靠近橡胶头滴管：20%\n爪夹合拢，抓取到橡胶头滴管：40%\n爪夹抓紧橡胶头滴管接近玻璃烧杯：60%\n爪夹开始将溶液滴入玻璃烧杯：80%\n爪夹将溶液完全滴入玻璃烧杯；100%\n", + "progress_points": [ + { + "time": 1.844266, + "frame": 55, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离橡胶头滴管，未开始移动。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。", + "progress_explanation": "当前为初始状态，远离橡胶头滴管，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398965865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398965865_1769399017207_0j3tdgph8", + "x": 0.693375, + "y": 0.2281979166666667, + "width": 0.08100000000000004, + "height": 0.14800000000000002 + } + ] + }, + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399029583_d8qs921hn", + "x": 0.437375, + "y": 0.50453125, + "width": 0.06799999999999998, + "height": 0.13999999999999999 + } + ] + }, + "point_1769398993176": { + "type": "point", + "instances": [ + { + "id": "point_1769398993176_1769399035254_p79i5rl6z", + "x": 0.649375, + "y": 0.40853125 + } + ] + } + } + }, + { + "time": 2.494158116623712, + "frame": 75, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动。", + "state_description": "爪夹张开，向爪夹正前方移动。还未接近橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。", + "progress_explanation": "爪夹张开，向爪夹正前方移动。还未接近橡胶头滴管。因此进度提升为5%。", + "error_success_analysis": "爪夹张开，向爪夹正前方移动。还未接近橡胶头滴管。", + "correction_plan": "爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398965865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398965865_1769399045086_p5ofxjej9", + "x": 0.6943750000000001, + "y": 0.23219791666666667, + "width": 0.07599999999999998, + "height": 0.14266666666666666 + } + ] + }, + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399053654_r75ht09sx", + "x": 0.43537499999999996, + "y": 0.47219791666666666, + "width": 0.08400000000000007, + "height": 0.17066666666666663 + } + ] + }, + "point_1769398993176": { + "type": "point", + "instances": [ + { + "id": "point_1769398993176_1769399060710_770sgxgzv", + "x": 0.665375, + "y": 0.34553124999999996 + } + ] + } + } + }, + { + "time": 3.344, + "frame": 100, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动。", + "state_description": "爪夹张开，向爪夹右前方移动，开始接近橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。", + "progress_explanation": "爪夹张开，向爪夹右前方移动，开始接近橡胶头滴管。因此进度提升为15%。", + "error_success_analysis": "爪夹张开，向爪夹右前方移动，开始接近橡胶头滴管。", + "correction_plan": "爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "point_1769398993176": { + "type": "point", + "instances": [ + { + "id": "point_1769398993176_1769399070565_crobgac8h", + "x": 0.759375, + "y": 0.27619791666666665 + } + ] + }, + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399075790_xecmevvuj", + "x": 0.43637500000000007, + "y": 0.4681979166666667, + "width": 0.11399999999999996, + "height": 0.17600000000000005 + } + ] + } + } + }, + { + "time": 4.56, + "frame": 137, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动，并向下移动。", + "state_description": "爪夹张开向下移动靠近了橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近。", + "progress_explanation": "爪夹张开向下移动靠近了橡胶头滴管，方便抓取。因此进度提升为20%。", + "error_success_analysis": "爪夹张开向下移动靠近了橡胶头滴管，方便抓取。", + "correction_plan": "爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399098533_zs4p5jtgy", + "x": 0.43537500000000007, + "y": 0.4668645833333334, + "width": 0.11699999999999991, + "height": 0.17733333333333334 + } + ] + }, + "point_1769398993176": { + "type": "point", + "instances": [ + { + "id": "point_1769398993176_1769399107269_vogp1d3co", + "x": 0.792375, + "y": 0.27619791666666665 + } + ] + } + } + }, + { + "time": 5.565498373324743, + "frame": 167, + "progress": 30, + "action_description": "爪夹缓慢合拢。", + "state_description": "爪夹开始合拢，准备抓取橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近。", + "progress_explanation": "爪夹开始合拢，准备抓取橡胶头滴管。因此进度提升为30%。", + "error_success_analysis": "爪夹开始合拢，准备抓取橡胶头滴管。", + "correction_plan": "爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399117365_3j57975n1", + "x": 0.437375, + "y": 0.4681979166666667, + "width": 0.11399999999999996, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "time": 7.216082592912372, + "frame": 216, + "progress": 40, + "action_description": "爪夹继续合拢。", + "state_description": "爪夹继续合拢成功抓取到橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近。", + "progress_explanation": "爪夹继续合拢成功抓取到橡胶头滴管，因此进度提升为40%。", + "error_success_analysis": "爪夹继续合拢成功抓取到橡胶头滴管。", + "correction_plan": "爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399132268_3s353la7c", + "x": 0.43537499999999996, + "y": 0.4681979166666667, + "width": 0.11600000000000002, + "height": 0.17600000000000005 + } + ] + } + } + }, + { + "time": 8.365223505283504, + "frame": 251, + "progress": 45, + "action_description": "爪夹收紧吸取溶液。", + "state_description": "爪夹收紧开始吸取溶液。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近。", + "progress_explanation": "爪夹收紧开始吸取溶液。因此进度提升为45%。", + "error_success_analysis": "爪夹收紧开始吸取溶液。", + "correction_plan": "爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399143339_39tiu4ym1", + "x": 0.43537499999999996, + "y": 0.4681979166666667, + "width": 0.11600000000000002, + "height": 0.17600000000000005 + } + ] + } + } + }, + { + "time": 10.287422849613403, + "frame": 309, + "progress": 50, + "action_description": "爪夹收紧，位置不变。", + "state_description": "爪夹收紧，吸取溶液完毕，准备开始向玻璃烧杯移动。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近。", + "progress_explanation": "爪夹收紧，吸取溶液完毕，准备开始向玻璃烧杯移动。因此进度提升为50%。", + "error_success_analysis": "爪夹收紧，吸取溶液完毕，准备开始向玻璃烧杯移动。", + "correction_plan": "爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹左后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399154915_9fnt5jt90", + "x": 0.43637500000000007, + "y": 0.46553124999999995, + "width": 0.11399999999999996, + "height": 0.17866666666666678 + } + ] + } + } + }, + { + "time": 12.126048309407217, + "frame": 364, + "progress": 55, + "action_description": "爪夹垂直升高。", + "state_description": "爪夹夹紧橡胶头滴管垂直升高。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管向爪夹左后方的玻璃烧杯接近。", + "progress_explanation": "爪夹夹紧橡胶头滴管垂直升高，方便向玻璃烧杯靠近。因此进度提升为55%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管垂直升高，方便向玻璃烧杯靠近。", + "correction_plan": "爪夹抓紧橡胶头滴管向爪夹左后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399164483_43fn5ztbo", + "x": 0.43537499999999996, + "y": 0.46553125, + "width": 0.11600000000000002, + "height": 0.18000000000000002 + } + ] + } + } + }, + { + "time": 14.592, + "frame": 438, + "progress": 60, + "action_description": "爪夹向爪夹左后方移动。", + "state_description": "爪夹夹紧橡胶头滴管向爪夹左后方移动，接进了玻璃烧杯。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "progress_explanation": "爪夹夹紧橡胶头滴管向爪夹左后方移动，接进了玻璃烧杯。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管向爪夹左后方移动，接进了玻璃烧杯。", + "correction_plan": "将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399175083_t9o73d8ns", + "x": 0.4433750000000001, + "y": 0.47353125, + "width": 0.08899999999999997, + "height": 0.17200000000000001 + } + ] + } + } + }, + { + "time": 16.137594767139177, + "frame": 484, + "progress": 70, + "action_description": "爪夹调整角度。", + "state_description": "爪夹夹紧橡胶头滴管调整角度，准备将溶液滴入玻璃烧杯中。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹挤压橡胶头，将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "progress_explanation": "爪夹夹紧橡胶头滴管调整角度，方便将溶液滴入玻璃烧杯。因此进度提升为70%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管调整角度，方便将溶液滴入玻璃烧杯。", + "correction_plan": "爪夹挤压橡胶头，将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399185546_8vuvxn8i4", + "x": 0.442375, + "y": 0.47753125, + "width": 0.08200000000000003, + "height": 0.16800000000000004 + } + ] + } + } + }, + { + "time": 17.55835080425258, + "frame": 527, + "progress": 80, + "action_description": "爪夹收紧，挤压橡胶头。", + "state_description": "爪夹收紧挤压橡胶头，开始将溶液滴入玻璃烧杯。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹继续挤压橡胶头，将溶液全部滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "progress_explanation": "爪夹收紧挤压橡胶头，开始将溶液滴入玻璃烧杯。因此进度提升为80%。", + "error_success_analysis": "爪夹收紧挤压橡胶头，开始将溶液滴入玻璃烧杯。", + "correction_plan": "爪夹继续挤压橡胶头，将溶液全部滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399191498_iz14w0l2h", + "x": 0.44037500000000007, + "y": 0.47886458333333337, + "width": 0.08499999999999996, + "height": 0.16666666666666666 + } + ] + } + } + }, + { + "time": 19.125361139304125, + "frame": 574, + "progress": 90, + "action_description": "爪夹继续收紧，挤压橡胶头。", + "state_description": "爪夹继续收紧挤压橡胶头，将溶液全部滴入玻璃烧杯。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "progress_explanation": "爪夹继续收紧挤压橡胶头，将溶液全部滴入玻璃烧杯。因此进度提升为90%。", + "error_success_analysis": "爪夹继续收紧挤压橡胶头，将溶液全部滴入玻璃烧杯。", + "correction_plan": "爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。", + "annotations": { + "bbox_1769398976320": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398976320_1769399198010_xmsgbborx", + "x": 0.43937499999999996, + "y": 0.4748645833333333, + "width": 0.09000000000000004, + "height": 0.17200000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹位置不变。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将橡胶滴头滴管中的溶液全部滴入玻璃烧杯中。", + "frame": 614, + "progress": 100, + "progress_explanation": "爪夹将橡胶滴头滴管中的溶液全部滴入玻璃烧杯中，任务完成。因此进度提升为100%。", + "state_description": "爪夹夹紧橡胶头滴管停留在玻璃烧杯正上方。\n爪夹将橡胶滴头滴管中的溶液滴入玻璃烧杯中的任务完成。", + "time": 20.466666666666665 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769398965865", + "name": "橡胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769398976320", + "name": "玻璃烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769398987759", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769398993176", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..ee73069c4393fb5a23a2c40f7fa2051beb1ea1bb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,462 @@ +{ + "task_description": "将橡胶头滴管中的溶液滴入玻璃烧杯中\n准备开始移动：0%\n爪夹靠近橡胶头滴管：20%\n爪夹合拢，抓取到橡胶头滴管：40%\n爪夹抓紧橡胶头滴管靠近玻璃烧杯：60%\n爪夹将溶液滴入玻璃烧杯：80%\n爪夹远离玻璃烧杯：100%", + "progress_points": [ + { + "time": 1.4961340206185565, + "frame": 45, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离橡胶头滴管，未开始移动。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹正前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。", + "progress_explanation": "当前为初始状态，远离橡胶头滴管，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹正前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405320842_tzxuqlj2l", + "x": 0.43137500000000006, + "y": 0.22619791666666667, + "width": 0.06099999999999994, + "height": 0.18533333333333332 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405334083_f03ebz0zt", + "x": 0.614375, + "y": 0.43286458333333333, + "width": 0.13600000000000004, + "height": 0.2373333333333333 + } + ] + } + } + }, + { + "time": 2.524587628865979, + "frame": 76, + "progress": 10, + "action_description": "爪夹向爪夹正前方移动。", + "state_description": "爪夹张开，开始向橡胶头滴管接近。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹正前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。", + "progress_explanation": "爪夹张开向爪夹正前方移动，开始向橡胶头滴管接近。因此进度为10%。", + "error_success_analysis": "爪夹向爪夹正前方移动，开始向橡胶头滴管接近。", + "correction_plan": "爪夹向爪夹正前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405346483_mkfo6n046", + "x": 0.433375, + "y": 0.25286458333333334, + "width": 0.05899999999999998, + "height": 0.156 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405358731_8g7fgk00k", + "x": 0.614375, + "y": 0.43553125000000004, + "width": 0.12700000000000006, + "height": 0.23733333333333337 + } + ] + } + } + }, + { + "time": 3.8184, + "frame": 115, + "progress": 20, + "action_description": "爪夹向爪夹正前方移动，并垂直向下移动。", + "state_description": "爪夹张开垂直下移靠近了橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹张开垂直下移靠近了橡胶头滴管，因此进度提升为20%。", + "error_success_analysis": "爪夹张开垂直下移靠近了橡胶头滴管。", + "correction_plan": "爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405372138_b4db73dhb", + "x": 0.429375, + "y": 0.22353125000000001, + "width": 0.06299999999999999, + "height": 0.18666666666666668 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405379121_8g4ilzcd7", + "x": 0.615375, + "y": 0.43553125000000004, + "width": 0.12699999999999995, + "height": 0.23733333333333337 + } + ] + } + } + }, + { + "time": 5.3085051546391755, + "frame": 159, + "progress": 30, + "action_description": "爪夹缓慢合拢。", + "state_description": "爪夹开始缓慢合拢，准备抓取橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹开始缓慢合拢，准备抓取橡胶头滴管。因此进度提升为30%。", + "error_success_analysis": "爪夹开始缓慢合拢，准备抓取橡胶头滴管。", + "correction_plan": "爪夹继续合拢，抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405392545_xjlqwubq7", + "x": 0.430375, + "y": 0.27553125, + "width": 0.06200000000000001, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405397737_l4wa2t4rq", + "x": 0.614375, + "y": 0.43553125000000004, + "width": 0.133, + "height": 0.23866666666666667 + } + ] + } + } + }, + { + "time": 6.780257731958763, + "frame": 203, + "progress": 40, + "action_description": "爪夹继续合拢。", + "state_description": "爪夹继续合拢，抓取到橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹继续合拢，成功抓取到橡胶头滴管。因此进度提升为40%。", + "error_success_analysis": "爪夹继续合拢，成功抓取到橡胶头滴管。", + "correction_plan": "爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405410554_s7rvq2kce", + "x": 0.42737500000000006, + "y": 0.26353125, + "width": 0.06499999999999995, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405419696_rmslu8w22", + "x": 0.614375, + "y": 0.43686458333333333, + "width": 0.13200000000000003, + "height": 0.23600000000000007 + } + ] + } + } + }, + { + "time": 8.624381443298969, + "frame": 259, + "progress": 45, + "action_description": "爪夹收紧吸取溶液。", + "state_description": "爪夹收紧，开始吸取溶液。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹继续收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹收紧，开始吸取溶液。因此进度提升为45%。", + "error_success_analysis": "爪夹收紧，开始吸取溶液。", + "correction_plan": "爪夹继续收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405428704_l46jarx9f", + "x": 0.42637500000000006, + "y": 0.2621979166666667, + "width": 0.0629999999999999, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405437031_83dy7o6tb", + "x": 0.6143750000000001, + "y": 0.4368645833333334, + "width": 0.13199999999999995, + "height": 0.2373333333333333 + } + ] + } + } + }, + { + "time": 10.55716494845361, + "frame": 317, + "progress": 50, + "action_description": "爪夹继续收紧吸取溶液。", + "state_description": "爪夹继续收紧，直至吸取溶液完成。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹继续收紧，直至吸取溶液完成。因此进度提升为50%。", + "error_success_analysis": "爪夹继续收紧，直至吸取溶液完成。", + "correction_plan": "爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405451055_zoxmrk2sx", + "x": 0.43137500000000006, + "y": 0.25953125, + "width": 0.05799999999999992, + "height": 0.15600000000000003 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405458431_emr1dey9u", + "x": 0.6163749999999999, + "y": 0.43553125000000004, + "width": 0.1280000000000001, + "height": 0.23866666666666667 + } + ] + } + } + }, + { + "time": 11.9024, + "frame": 357, + "progress": 55, + "action_description": "爪夹垂直升高。", + "state_description": "爪夹夹紧橡胶头滴管垂直升高，准备向玻璃烧杯移动。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹夹紧橡胶头滴管垂直升高，准备向玻璃烧杯移动。因此进度提升为55%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管垂直升高，准备向玻璃烧杯移动。", + "correction_plan": "爪夹抓紧橡胶头滴管向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405474655_ep6pivyt3", + "x": 0.45237499999999997, + "y": 0.02753125, + "width": 0.028000000000000025, + "height": 0.14 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405481270_2zue97y8p", + "x": 0.616375, + "y": 0.43286458333333333, + "width": 0.12800000000000003, + "height": 0.24000000000000005 + } + ] + } + } + }, + { + "time": 12.968711340206184, + "frame": 389, + "progress": 60, + "action_description": "爪夹向爪夹右后方移动。", + "state_description": "爪夹夹紧橡胶头滴管，向爪夹右后方移动靠近了玻璃烧杯。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "progress_explanation": "爪夹夹紧橡胶头滴管，向爪夹右后方移动靠近了玻璃烧杯。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管，向爪夹右后方移动靠近了玻璃烧杯。", + "correction_plan": "将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405494431_c8hniduzn", + "x": 0.663375, + "y": 0.25953125, + "width": 0.030000000000000072, + "height": 0.1786666666666667 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405505398_uad2bwxyb", + "x": 0.6183750000000001, + "y": 0.43553125000000004, + "width": 0.12599999999999997, + "height": 0.23999999999999996 + } + ] + } + } + }, + { + "time": 14.209948453608247, + "frame": 426, + "progress": 70, + "action_description": "爪夹调整角度。", + "state_description": "爪夹调整角度，准备向玻璃烧杯滴入溶液。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "progress_explanation": "爪夹调整角度，方便向玻璃烧杯滴入溶液。因此进度提升为70%。", + "error_success_analysis": "爪夹调整角度，方便向玻璃烧杯滴入溶液。", + "correction_plan": "将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405520935_3dg9nbyyx", + "x": 0.677375, + "y": 0.32886458333333335, + "width": 0.04200000000000008, + "height": 0.16399999999999995 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405534239_7hnvd6ohu", + "x": 0.6173750000000001, + "y": 0.44219791666666663, + "width": 0.12899999999999992, + "height": 0.23200000000000004 + } + ] + } + } + }, + { + "time": 15.362525773195877, + "frame": 461, + "progress": 80, + "action_description": "爪夹收紧挤压橡胶头。", + "state_description": "爪夹收紧挤压橡胶头，将溶液滴入玻璃烧杯中。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "progress_explanation": "爪夹收紧挤压橡胶头，成功将溶液滴入玻璃烧杯中。因此进度提升为80%。", + "error_success_analysis": "爪夹收紧挤压橡胶头，成功将溶液滴入玻璃烧杯中。", + "correction_plan": "爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405545133_1bsfhmsqj", + "x": 0.658375, + "y": 0.31553125, + "width": 0.038999999999999965, + "height": 0.1773333333333334 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405555037_ce0p8jxb1", + "x": 0.616375, + "y": 0.43419791666666663, + "width": 0.133, + "height": 0.24000000000000005 + } + ] + } + } + }, + { + "time": 17.135721649484534, + "frame": 514, + "progress": 100, + "action_description": "爪夹向爪夹后方移动。", + "state_description": "爪夹夹紧橡胶头滴管，向爪夹后方移动，远离玻璃烧杯。\n爪夹将橡胶头滴管中的溶液滴入玻璃烧杯中的任务完成。", + "progress_explanation": "爪夹成功将橡胶头滴管中的溶液滴入玻璃烧杯中，任务完成。因此进度提升为100%。", + "error_success_analysis": "爪夹成功将橡胶头滴管中的溶液滴入玻璃烧杯中，任务完成。", + "correction_plan": "", + "annotations": { + "bbox_1769405264053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405264053_1769405565877_r5tj0qclm", + "x": 0.5983750000000001, + "y": 0.26886458333333335, + "width": 0.039999999999999945, + "height": 0.19866666666666669 + } + ] + }, + "bbox_1769405271502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405271502_1769405582116_rms2rr3pb", + "x": 0.615375, + "y": 0.43553125, + "width": 0.13400000000000006, + "height": 0.23733333333333342 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769405264053", + "name": "橡胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769405271502", + "name": "玻璃烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769405276541", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769405281827", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..af77ffadaacbf5752d6d9a11c81066310588c4ce --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-172853-put-solution in the rubber head dropper-glass beaker-good2/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,584 @@ +{ + "task_description": "将橡胶头滴管中的溶液滴入玻璃烧杯中\n准备开始移动：0%\n爪夹靠近橡胶头滴管：20%\n爪夹合拢，抓取到橡胶头滴管：40%\n爪夹抓紧橡胶头滴管接近玻璃烧杯：60%\n爪夹将溶液滴入玻璃烧杯：80%\n爪夹远离玻璃烧杯：100%", + "progress_points": [ + { + "time": 1.6011082474226803, + "frame": 48, + "progress": 0, + "action_description": "爪夹抓开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离橡胶头滴管，未开始移动。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹右下方的橡胶头滴管移动，移动到橡胶头滴管的正上方。", + "progress_explanation": "当前为初始状态，远离橡胶头滴管，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右下方的橡胶头滴管移动，移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408374748_wh75fflo9", + "x": 0.5683750000000001, + "y": 0.3608645833333333, + "width": 0.04899999999999993, + "height": 0.13866666666666666 + } + ] + }, + "bbox_1769408349292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408349292_1769408384811_auykd4tx7", + "x": 0.6913750000000001, + "y": 0.4981979166666667, + "width": 0.08600000000000003, + "height": 0.13466666666666668 + } + ] + }, + "point_1769408354636": { + "type": "point", + "instances": [ + { + "id": "point_1769408354636_1769408392707_nz8ufjktt", + "x": 0.40037500000000004, + "y": 0.5101979166666667 + } + ] + }, + "point_1769408360660": { + "type": "point", + "instances": [ + { + "id": "point_1769408360660_1769408395579_2225fqtxe", + "x": 0.610375, + "y": 0.51553125 + } + ] + } + } + }, + { + "time": 2.2784278350515463, + "frame": 68, + "progress": 5, + "action_description": "爪夹向爪夹右前方移动。", + "state_description": "爪夹张开，开始向爪夹右前方移动，还未接近橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹右下方的橡胶头滴管移动，移动到橡胶头滴管的正上方。", + "progress_explanation": "爪夹张开，开始向爪夹右前方移动，还未接近橡胶头滴管。因此进度提升为5%。", + "error_success_analysis": "爪夹张开，开始向爪夹右前方移动，还未接近橡胶头滴管。", + "correction_plan": "爪夹向爪夹右下方的橡胶头滴管移动，移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408402699_szjwo9c5h", + "x": 0.537375, + "y": 0.3461979166666667, + "width": 0.05700000000000003, + "height": 0.13200000000000003 + } + ] + }, + "point_1769408354636": { + "type": "point", + "instances": [ + { + "id": "point_1769408354636_1769408413379_ips7xyonr", + "x": 0.402375, + "y": 0.5141979166666667 + } + ] + }, + "point_1769408360660": { + "type": "point", + "instances": [ + { + "id": "point_1769408360660_1769408416354_78j6q07pd", + "x": 0.612375, + "y": 0.51553125 + } + ] + } + } + }, + { + "time": 3.046056701030928, + "frame": 91, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动，并向下移动。", + "state_description": "爪夹张开向爪夹右前方移动并向下移动，来到橡胶头正上方。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹右下方的橡胶头滴管移动，移动到橡胶头滴管的正上方。", + "progress_explanation": "爪夹张开移到橡胶头正上方，水平上接近了橡胶头滴管，方便抓取。因此进度提升为15%。", + "error_success_analysis": "爪夹张开移到橡胶头正上方，水平上接近了橡胶头滴管，方便抓取。", + "correction_plan": "接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408424426_6s6w8vpok", + "x": 0.492375, + "y": 0.47686458333333337, + "width": 0.07000000000000002, + "height": 0.13333333333333328 + } + ] + }, + "point_1769408354636": { + "type": "point", + "instances": [ + { + "id": "point_1769408354636_1769408431698_8m9j660gi", + "x": 0.402375, + "y": 0.5101979166666667 + } + ] + }, + "point_1769408360660": { + "type": "point", + "instances": [ + { + "id": "point_1769408360660_1769408434282_gt6l3xiy3", + "x": 0.611375, + "y": 0.51553125 + } + ] + } + } + }, + { + "time": 4.044199, + "frame": 121, + "progress": 20, + "action_description": "爪夹垂直下移。", + "state_description": "爪夹张开垂直下移，靠近了橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹张开垂直下移，靠近了橡胶头滴管，更加方便抓取。因此进度提升为20%。", + "error_success_analysis": "爪夹张开垂直下移，靠近了橡胶头滴管，更加方便抓取。", + "correction_plan": "爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408443482_s8db5otoq", + "x": 0.487375, + "y": 0.4861979166666667, + "width": 0.10400000000000001, + "height": 0.1573333333333333 + } + ] + }, + "bbox_1769408349292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408349292_1769408451706_gtqtzpuzv", + "x": 0.713375, + "y": 0.7248645833333335, + "width": 0.16800000000000007, + "height": 0.20666666666666664 + } + ] + }, + "point_1769408354636": { + "type": "point", + "instances": [ + { + "id": "point_1769408354636_1769408465721_pgtaxvuza", + "x": 0.401375, + "y": 0.5141979166666667 + } + ] + }, + "point_1769408360660": { + "type": "point", + "instances": [ + { + "id": "point_1769408360660_1769408468488_zzq51pmc4", + "x": 0.611375, + "y": 0.5208645833333334 + } + ] + } + } + }, + { + "time": 4.912448453608247, + "frame": 147, + "progress": 25, + "action_description": "爪夹缓慢合拢。", + "state_description": "爪夹缓慢合拢，准备抓取橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹缓慢合拢，准备抓取橡胶头滴管。因此进度提升为25%。", + "error_success_analysis": "爪夹缓慢合拢，准备抓取橡胶头滴管。", + "correction_plan": "爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408480697_wrhv12gd4", + "x": 0.47737500000000005, + "y": 0.4861979166666667, + "width": 0.10399999999999991, + "height": 0.1573333333333333 + } + ] + }, + "bbox_1769408349292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408349292_1769408494864_1xobgu198", + "x": 0.6933750000000001, + "y": 0.7248645833333334, + "width": 0.18899999999999997, + "height": 0.21733333333333332 + } + ] + }, + "point_1769408354636": { + "type": "point", + "instances": [ + { + "id": "point_1769408354636_1769408501816_cw425lsmo", + "x": 0.45137499999999997, + "y": 0.5128645833333334 + } + ] + } + } + }, + { + "time": 6.102799, + "frame": 183, + "progress": 30, + "action_description": "爪夹调整位置，继续合拢。", + "state_description": "爪夹调整位置，继续合拢，方便准确抓取橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹调整位置，继续合拢，方便准确抓取橡胶头滴管。因此进度提升为30%。", + "error_success_analysis": "爪夹调整位置，继续合拢，方便准确抓取橡胶头滴管。", + "correction_plan": "爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408511400_194mu8df8", + "x": 0.44737499999999997, + "y": 0.4888645833333333, + "width": 0.10499999999999998, + "height": 0.15466666666666662 + } + ] + }, + "bbox_1769408349292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408349292_1769408519920_gxdfrsdrh", + "x": 0.685375, + "y": 0.7221979166666668, + "width": 0.17699999999999996, + "height": 0.2146666666666666 + } + ] + }, + "point_1769408354636": { + "type": "point", + "instances": [ + { + "id": "point_1769408354636_1769408526023_4dt45sbfc", + "x": 0.460375, + "y": 0.5168645833333333 + } + ] + }, + "point_1769408360660": { + "type": "point", + "instances": [ + { + "id": "point_1769408360660_1769408528487_rjqrdyum9", + "x": 0.552375, + "y": 0.5261979166666667 + } + ] + } + } + }, + { + "time": 7.365850515463917, + "frame": 221, + "progress": 40, + "action_description": "爪夹继续合拢。", + "state_description": "爪夹合拢成功抓取到橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹合拢成功抓取到橡胶头滴管，因此进度提升为40%。\n", + "error_success_analysis": "爪夹合拢成功抓取到橡胶头滴管。", + "correction_plan": "爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408537079_bnll92gr9", + "x": 0.4443750000000001, + "y": 0.4861979166666667, + "width": 0.10299999999999994, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1769408349292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408349292_1769408546343_onxsz2ugi", + "x": 0.6693749999999999, + "y": 0.7221979166666668, + "width": 0.19299999999999998, + "height": 0.2133333333333333 + } + ] + } + } + }, + { + "time": 8.585025773195877, + "frame": 258, + "progress": 45, + "action_description": "爪夹收紧吸取溶液。", + "state_description": "爪夹收紧吸取溶液。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹收紧吸取溶液。因此进度提升为45%。", + "error_success_analysis": "爪夹收紧，成功吸取溶液。", + "correction_plan": "爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408559527_gvd945mys", + "x": 0.445375, + "y": 0.4835312500000001, + "width": 0.10099999999999998, + "height": 0.15333333333333327 + } + ] + }, + "bbox_1769408349292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408349292_1769408568766_hmb4476dr", + "x": 0.666375, + "y": 0.7208645833333333, + "width": 0.19800000000000004, + "height": 0.21866666666666673 + } + ] + } + } + }, + { + "time": 10.045025773195876, + "frame": 301, + "progress": 50, + "action_description": "爪夹垂直升高。", + "state_description": "爪夹夹紧橡胶头滴管，垂直升高。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹夹紧橡胶头滴管，垂直升高，方便向玻璃烧杯移动，因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管，垂直升高，方便向玻璃烧杯移动。", + "correction_plan": "爪夹抓紧橡胶头滴管向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408577520_aki9ne4sj", + "x": 0.480375, + "y": 0.49553125000000003, + "width": 0.04900000000000002, + "height": 0.2 + } + ] + }, + "bbox_1769408349292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408349292_1769408581366_pzrr5k6mt", + "x": 0.6703749999999999, + "y": 0.7435312500000001, + "width": 0.1370000000000001, + "height": 0.1759999999999999 + } + ] + } + } + }, + { + "time": 10.902963917525772, + "frame": 327, + "progress": 60, + "action_description": "爪夹向爪夹右后方移动。", + "state_description": "爪夹夹紧橡胶头滴管，向爪夹右后方移动接近玻璃烧杯。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中。", + "progress_explanation": "爪夹夹紧橡胶头滴管，向爪夹右后方移动接近玻璃烧杯。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管，向爪夹右后方移动接近玻璃烧杯。", + "correction_plan": "爪夹抓紧橡胶头滴管水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408591998_kigl3sykl", + "x": 0.492375, + "y": 0.4981979166666667, + "width": 0.02999999999999998, + "height": 0.08266666666666662 + } + ] + }, + "bbox_1769408349292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408349292_1769408603453_kx9hm530o", + "x": 0.512375, + "y": 0.67953125, + "width": 0.041999999999999996, + "height": 0.09200000000000005 + } + ] + } + } + }, + { + "time": 11.730798969072165, + "frame": 352, + "progress": 70, + "action_description": "爪夹向爪夹右后方移动，并垂直下移。", + "state_description": "爪夹夹紧橡胶头滴管，移动到玻璃烧杯正上方。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹收紧，将溶液滴入玻璃烧杯中。", + "progress_explanation": "爪夹夹紧橡胶头滴管，移动到玻璃烧杯正上方，准备将溶液滴入玻璃烧杯。因此进度提升为70%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管，移动到玻璃烧杯正上方，方便将溶液滴入玻璃烧杯中。", + "correction_plan": "爪夹收紧，将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408620525_j9r4segrg", + "x": 0.495375, + "y": 0.49686458333333333, + "width": 0.025999999999999978, + "height": 0.08399999999999999 + } + ] + }, + "bbox_1769408349292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408349292_1769408624733_yayvrwrzo", + "x": 0.456375, + "y": 0.5168645833333333, + "width": 0.10100000000000006, + "height": 0.1666666666666667 + } + ] + } + } + }, + { + "time": 12.754304123711337, + "frame": 383, + "progress": 80, + "action_description": "爪夹收紧，挤压橡胶头。", + "state_description": "爪夹收紧，挤压橡胶头，将滴管中的溶液滴入玻璃烧杯中。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "progress_explanation": "爪夹收紧，挤压橡胶头，将滴管中的溶液滴入玻璃烧杯中。因此进度提升为80%。", + "error_success_analysis": "爪夹收紧，挤压橡胶头，将滴管中的溶液滴入玻璃烧杯中。", + "correction_plan": "爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408631901_22ltcehe3", + "x": 0.501375, + "y": 0.4888645833333333, + "width": 0.016000000000000014, + "height": 0.13066666666666665 + } + ] + }, + "bbox_1769408349292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408349292_1769408636156_nzrp2byfi", + "x": 0.487375, + "y": 0.4821979166666666, + "width": 0.10700000000000003, + "height": 0.17466666666666672 + } + ] + } + } + }, + { + "time": 14.530386597938145, + "frame": 436, + "progress": 100, + "action_description": "爪夹向爪夹左边移动。", + "state_description": "爪夹夹紧橡胶头滴管，向爪夹左边移动，远离玻璃烧杯。\n爪夹将橡胶头滴管中的溶液滴入玻璃烧杯中的任务完成。", + "progress_explanation": "爪夹成功将橡胶头滴管中的溶液滴入玻璃烧杯中，任务完成。因此进度提升为100%。", + "error_success_analysis": "爪夹成功将橡胶头滴管中的溶液滴入玻璃烧杯中，任务完成。", + "correction_plan": "", + "annotations": { + "bbox_1769408342748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408342748_1769408646533_7qs5thd5q", + "x": 0.49837499999999996, + "y": 0.49286458333333333, + "width": 0.018625000000000023, + "height": 0.1413333333333334 + } + ] + }, + "bbox_1769408349292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408349292_1769408652572_mccmqts3h", + "x": 0.590375, + "y": 0.4208645833333333, + "width": 0.12700000000000006, + "height": 0.17200000000000001 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769408342748", + "name": "橡胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769408349292", + "name": "玻璃烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769408354636", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769408360660", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-180752-put-solution in the rubber head dropper-glass beaker-mix2/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-180752-put-solution in the rubber head dropper-glass beaker-mix2/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..6d56748c11fd256bdbf5d8f3d968ba1303bcb595 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-180752-put-solution in the rubber head dropper-glass beaker-mix2/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,714 @@ +{ + "task_description": "将橡胶头滴管中的溶液滴入玻璃烧杯中\n准备开始移动：0%\n爪夹靠近橡胶头滴管：20%\n爪夹合拢，抓取到橡胶头滴管：40%\n爪夹抓紧橡胶头滴管接近玻璃烧杯：60%\n爪夹将溶液滴入玻璃烧杯：80%\n爪夹远离玻璃烧杯：100%", + "progress_points": [ + { + "time": 1.5776, + "frame": 47, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离橡胶头滴管，未开始移动。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。", + "progress_explanation": "当前为初始状态，远离橡胶头滴管，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414568088_xnsak20mi", + "x": 0.44037500000000007, + "y": 0.3021979166666667, + "width": 0.06399999999999997, + "height": 0.19333333333333336 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414574200_6jg88mfgr", + "x": 0.635375, + "y": 0.44219791666666663, + "width": 0.142, + "height": 0.2413333333333334 + } + ] + } + } + }, + { + "time": 2.4220618556701026, + "frame": 73, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动。", + "state_description": "爪夹张开，向爪夹正前方移动，还未接近橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。", + "progress_explanation": "爪夹张开，向爪夹正前方移动，开始向橡胶头滴管接近。因此进度提升为5%。", + "error_success_analysis": "爪夹张开，向爪夹正前方移动，开始向橡胶头滴管接近。", + "correction_plan": "爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414588952_l278y7ed2", + "x": 0.4423750000000001, + "y": 0.3008645833333333, + "width": 0.06199999999999992, + "height": 0.1946666666666667 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414598624_9d86xhomk", + "x": 0.640375, + "y": 0.4381979166666667, + "width": 0.142, + "height": 0.24799999999999997 + } + ] + } + } + }, + { + "time": 3.2072164948453605, + "frame": 96, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动，同时调整爪夹角度。", + "state_description": "爪夹张开，向爪夹右前方移动，水平上接近了橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。", + "progress_explanation": "爪夹张开，向爪夹右前方移动，水平上接近了橡胶头滴管，方便抓取。因此进度提升为15%。", + "error_success_analysis": "爪夹张开，向爪夹右前方移动，水平上接近了橡胶头滴管，方便抓取。", + "correction_plan": "爪夹向爪夹右前方的橡胶头滴管移动，同时调整爪夹的角度，并移动到橡胶头滴管的正上方。接着落下爪夹靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414612392_gb7voldie", + "x": 0.441375, + "y": 0.31553125000000004, + "width": 0.06399999999999997, + "height": 0.1853333333333333 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414617599_vneq2hvet", + "x": 0.639375, + "y": 0.44086458333333334, + "width": 0.142, + "height": 0.2426666666666667 + } + ] + } + } + }, + { + "time": 3.9362886597938145, + "frame": 118, + "progress": 20, + "action_description": "爪夹垂直下移。", + "state_description": "爪夹张开垂直下移，靠近了橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取到橡胶头滴管。", + "progress_explanation": "爪夹张开垂直下移，靠近了橡胶头滴管。因此进度提升为20%。", + "error_success_analysis": "爪夹张开垂直下移，靠近了橡胶头滴管，更加方便抓取。", + "correction_plan": "爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414630511_td8gn4cue", + "x": 0.442375, + "y": 0.31553125000000004, + "width": 0.06299999999999999, + "height": 0.18000000000000002 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414637503_e9z2ctq9l", + "x": 0.637375, + "y": 0.4381979166666667, + "width": 0.14399999999999996, + "height": 0.24799999999999997 + } + ] + } + } + }, + { + "time": 5.366391752577319, + "frame": 161, + "progress": 5, + "action_description": "爪夹继续垂直下移。", + "state_description": "爪夹继续垂直下移，远离了橡胶头。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹重新靠近橡胶头滴管。", + "progress_explanation": "爪夹继续垂直下移，远离了橡胶头。影响抓取橡胶头滴管，因此进度降低为10%。", + "error_success_analysis": "爪夹继续垂直下移，远离了橡胶头。影响抓取橡胶头滴管。", + "correction_plan": "爪夹重新靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414650310_2hbpaq1e0", + "x": 0.638375, + "y": 0.43953125, + "width": 0.14699999999999996, + "height": 0.24666666666666667 + } + ] + } + } + }, + { + "time": 6.46, + "frame": 194, + "progress": -10, + "action_description": "爪夹合拢，并向爪夹后方移动。", + "state_description": "爪夹合拢，抓取到错误目标黑色滴瓶。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹重新靠近橡胶头滴管。", + "progress_explanation": "爪夹合拢，抓取到错误目标黑色滴瓶。因此进度降低为-10%。", + "error_success_analysis": "爪夹合拢，抓取到错误目标黑色滴瓶。", + "correction_plan": "爪夹重新靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414659462_yww1caf1h", + "x": 0.6373749999999999, + "y": 0.44353125, + "width": 0.14400000000000004, + "height": 0.2426666666666667 + } + ] + } + } + }, + { + "time": 8.310721649484536, + "frame": 249, + "progress": -5, + "action_description": "爪夹向爪夹正前方移动。", + "state_description": "爪夹夹紧黑色滴瓶，向正前方移动，回到黑色滴瓶原来位置。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹重新靠近橡胶头滴管。", + "progress_explanation": "爪夹夹紧黑色滴瓶，向正前方移动，回到黑色滴瓶原来位置。因此进度为-5%。", + "error_success_analysis": "爪夹夹紧黑色滴瓶，向正前方移动，回到黑色滴瓶原来位置。", + "correction_plan": "爪夹重新靠近橡胶头滴管，接近橡胶头滴管后爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414669741_dp5nd94au", + "x": 0.639375, + "y": 0.44219791666666663, + "width": 0.14000000000000004, + "height": 0.24400000000000002 + } + ] + } + } + }, + { + "time": 10.497938144329897, + "frame": 315, + "progress": 20, + "action_description": "爪夹张开，并垂直升高。", + "state_description": "爪夹张开垂直升高，重新靠近了橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取到橡胶头滴管。", + "progress_explanation": "爪夹张开垂直升高，重新靠近了橡胶头滴管。因此进度提升为20%", + "error_success_analysis": "爪夹张开垂直升高，重新靠近了橡胶头滴管，方便抓取橡胶头滴管。", + "correction_plan": "爪夹合拢抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414682758_7ee0q38ev", + "x": 0.41637500000000005, + "y": 0.33286458333333335, + "width": 0.06499999999999995, + "height": 0.1733333333333333 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414687542_odp7r520g", + "x": 0.640375, + "y": 0.43953125, + "width": 0.13999999999999996, + "height": 0.24400000000000008 + } + ] + } + } + }, + { + "time": 12.32061855670103, + "frame": 370, + "progress": 30, + "action_description": "爪夹缓慢合拢。", + "state_description": "爪夹缓慢合拢，准备抓取橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹继续合拢，直至抓取到橡胶头滴管。", + "progress_explanation": "爪夹缓慢合拢，准备抓取橡胶头滴管。因此进度提升为30%。", + "error_success_analysis": "爪夹缓慢合拢，准备抓取橡胶头滴管。", + "correction_plan": "爪夹继续合拢，成功抓取到橡胶头滴管后爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414701118_odlk1vn5n", + "x": 0.4163750000000001, + "y": 0.3555312500000001, + "width": 0.06399999999999988, + "height": 0.15333333333333327 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414712109_18lzeyjch", + "x": 0.639375, + "y": 0.44353125000000004, + "width": 0.14000000000000004, + "height": 0.24266666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹继续合拢。", + "correction_plan": "爪夹收紧吸取溶液，接着爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "error_success_analysis": "爪夹继续合拢，成功抓取到橡胶头滴管。", + "frame": 429, + "progress": 40, + "progress_explanation": "爪夹继续合拢，成功抓取到橡胶头滴管。因此进度提升为40%。", + "state_description": "爪夹继续合拢，成功抓取到橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹收紧吸取溶液。", + "time": 14.311546391752577, + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414719557_s1aqzwwzk", + "x": 0.414375, + "y": 0.3621979166666666, + "width": 0.06600000000000002, + "height": 0.14533333333333337 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414729116_vedlinswj", + "x": 0.642375, + "y": 0.44219791666666663, + "width": 0.13500000000000006, + "height": 0.23999999999999996 + } + ] + } + } + }, + { + "time": 15.489278350515463, + "frame": 465, + "progress": 45, + "action_description": "爪夹收紧，吸取溶液。", + "state_description": "爪夹收紧吸取溶液。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹收紧成功吸取到溶液，因此进度提升为45%。", + "error_success_analysis": "爪夹收紧成功吸取到溶液。", + "correction_plan": "爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414740660_0r8i150qy", + "x": 0.41237500000000005, + "y": 0.3608645833333333, + "width": 0.06799999999999998, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414744747_gpe7uq2la", + "x": 0.640375, + "y": 0.44219791666666663, + "width": 0.13899999999999996, + "height": 0.23866666666666667 + } + ] + } + } + }, + { + "time": 16.238399, + "frame": 487, + "progress": 25, + "action_description": "爪夹松开。", + "state_description": "爪夹张开，需重新合拢抓取橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹重新合拢抓取橡胶头滴管。", + "progress_explanation": "爪夹张开，需重新合拢抓取橡胶头滴管。因此进度下降为25%。", + "error_success_analysis": "爪夹张开，需重新合拢抓取橡胶头滴管。", + "correction_plan": "爪夹重新合拢抓取橡胶头滴管。爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414754258_vsff5nr7m", + "x": 0.41637500000000005, + "y": 0.3648645833333334, + "width": 0.06499999999999995, + "height": 0.14266666666666664 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414762907_xad6zan9e", + "x": 0.6363749999999999, + "y": 0.44219791666666663, + "width": 0.14400000000000004, + "height": 0.23866666666666667 + } + ] + } + } + }, + { + "time": 17.115670103092782, + "frame": 513, + "progress": 30, + "action_description": "爪夹合拢并下移。", + "state_description": "爪夹合拢并下移，重新抓取橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹合拢并下移，准备重新抓取橡胶头滴管。因此进度提升为30%。", + "error_success_analysis": "爪夹合拢并下移，重新抓取橡胶头滴管。", + "correction_plan": "爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414772684_h0jlgrr50", + "x": 0.41637500000000005, + "y": 0.3608645833333333, + "width": 0.06399999999999997, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414780340_2patqe0sl", + "x": 0.6403749999999999, + "y": 0.44086458333333334, + "width": 0.1370000000000001, + "height": 0.2413333333333333 + } + ] + } + } + }, + { + "time": 18.798144329896907, + "frame": 564, + "progress": 10, + "action_description": "爪夹垂直上移。", + "state_description": "爪夹合拢并垂直上移，未成功抓取到橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹重新靠近并抓取橡胶头滴管。", + "progress_explanation": "爪夹合拢并垂直上移，未成功抓取到橡胶头滴管。需重新靠近橡胶头滴管，因此进度下降为10%。", + "error_success_analysis": "爪夹合拢并垂直上移，未成功抓取到橡胶头滴管。需重新靠近橡胶头滴管。", + "correction_plan": "爪夹重新靠近并抓取橡胶头滴管。爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414791539_rgotiz5eg", + "x": 0.414375, + "y": 0.34219791666666666, + "width": 0.06500000000000003, + "height": 0.164 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414795913_5ngezou3f", + "x": 0.639375, + "y": 0.4381979166666667, + "width": 0.142, + "height": 0.24266666666666664 + } + ] + } + } + }, + { + "time": 20.36845360824742, + "frame": 611, + "progress": 20, + "action_description": "爪夹垂直下移。", + "state_description": "爪夹张开，并垂直下移，重新靠近了橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹合拢抓取橡胶头滴管。", + "progress_explanation": "爪夹张开，并垂直下移，重新靠近了橡胶头滴管，方便抓取橡胶头滴管，因此进度提升为20%。", + "error_success_analysis": "爪夹张开，并垂直下移，重新靠近了橡胶头滴管，方便抓取橡胶头滴管。", + "correction_plan": "爪夹合拢抓取橡胶头滴管。爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414805915_nsta2vvi3", + "x": 0.41537500000000005, + "y": 0.35953125, + "width": 0.06699999999999999, + "height": 0.1466666666666666 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414815146_9dhyvuv2r", + "x": 0.6383750000000001, + "y": 0.44086458333333334, + "width": 0.1419999999999999, + "height": 0.24533333333333332 + } + ] + } + } + }, + { + "time": 21.841599, + "frame": 655, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢成功抓取到橡胶头滴管。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹合拢成功抓取到橡胶头滴管，因此进度提升为40%。", + "error_success_analysis": "爪夹合拢成功抓取到橡胶头滴管。", + "correction_plan": "爪夹抓紧橡胶头滴管垂直升高爪夹并向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414826049_okjmf2mo4", + "x": 0.41637500000000005, + "y": 0.3608645833333333, + "width": 0.06399999999999997, + "height": 0.14933333333333335 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414835763_ykk9u0418", + "x": 0.644375, + "y": 0.44219791666666663, + "width": 0.13599999999999995, + "height": 0.24400000000000002 + } + ] + } + } + }, + { + "time": 23.901649484536083, + "frame": 717, + "progress": 50, + "action_description": "爪夹垂直升高。", + "state_description": "爪夹夹紧橡胶头滴管垂直升高。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹抓紧橡胶头滴管向爪夹右后方的玻璃烧杯接近。", + "progress_explanation": "爪夹夹紧橡胶头滴管垂直升高，方便向玻璃烧杯靠近。因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管垂直升高，方便向玻璃烧杯靠近。", + "correction_plan": "爪夹抓紧橡胶头滴管向爪夹右后方的玻璃烧杯接近，水平到达玻璃烧杯的正上方后将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414845834_5d63giu17", + "x": 0.464375, + "y": 0.2501979166666667, + "width": 0.025, + "height": 0.11199999999999997 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414852521_gaf5pon8p", + "x": 0.643375, + "y": 0.44219791666666663, + "width": 0.133, + "height": 0.2413333333333334 + } + ] + } + } + }, + { + "time": 24.939175257731957, + "frame": 748, + "progress": 60, + "action_description": "爪夹向爪夹右后方移动。", + "state_description": "爪夹夹紧橡胶头滴管，向爪夹右后方移动，水平到达玻璃烧杯正上方。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "progress_explanation": "爪夹夹紧橡胶头滴管，向爪夹右后方移动，水平到达玻璃烧杯正上方，方便滴入溶液。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管，向爪夹右后方移动，水平到达玻璃烧杯正上方，方便滴入溶液。", + "correction_plan": "将溶液滴入玻璃烧杯中，完成后爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414865073_bljwjz0rn", + "x": 0.667375, + "y": 0.27686458333333336, + "width": 0.027000000000000045, + "height": 0.16933333333333334 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414869689_nktj1rztx", + "x": 0.639375, + "y": 0.43953125, + "width": 0.14100000000000001, + "height": 0.24266666666666664 + } + ] + } + } + }, + { + "time": 25.731199, + "frame": 772, + "progress": 80, + "action_description": "爪夹收紧，挤压橡胶头。", + "state_description": "爪夹收紧，挤压橡胶头，将溶液滴入玻璃烧杯中。\n为完成将橡胶头滴管中的溶液滴入玻璃烧杯中的任务应当：爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "progress_explanation": "爪夹收紧，挤压橡胶头，将溶液滴入玻璃烧杯中。因此进度提升为80%。", + "error_success_analysis": "爪夹收紧，挤压橡胶头，成功将溶液滴入玻璃烧杯中。", + "correction_plan": "爪夹夹紧橡胶头滴管远离玻璃烧杯。", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414881257_abmzs5vj2", + "x": 0.661375, + "y": 0.3141979166666667, + "width": 0.025, + "height": 0.17200000000000001 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414892192_hf8wzczxl", + "x": 0.639375, + "y": 0.44486458333333334, + "width": 0.137, + "height": 0.23866666666666672 + } + ] + } + } + }, + { + "time": 27.2, + "frame": 816, + "progress": 100, + "action_description": "爪夹向爪夹后方移动并升高。", + "state_description": "爪夹夹紧橡胶头滴管，向爪夹后方移动并升高。\n爪夹将橡胶头滴管中的溶液滴入玻璃烧杯中的任务完成。", + "progress_explanation": "爪夹夹紧橡胶头滴管远离玻璃烧杯，至此爪夹将橡胶头滴管中的溶液滴入玻璃烧杯中的任务完成，因此进度提升为100%。", + "error_success_analysis": "爪夹成功将橡胶头滴管中的溶液滴入玻璃烧杯，任务完成。", + "correction_plan": "", + "annotations": { + "bbox_1769414525658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414525658_1769414901992_6xomdfk3i", + "x": 0.641375, + "y": 0.28753125, + "width": 0.02400000000000002, + "height": 0.16133333333333333 + } + ] + }, + "bbox_1769414532092": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414532092_1769414907063_a0haj99ex", + "x": 0.637375, + "y": 0.44353125, + "width": 0.142, + "height": 0.23600000000000007 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769414525658", + "name": "橡胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769414532092", + "name": "玻璃烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769414538346", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769414544508", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-181401-put-solution in the rubber head dropper-glass beaker-mix3/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-181401-put-solution in the rubber head dropper-glass beaker-mix3/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..984425112ad9975b70196ebda05f6d6fa614f14b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-181401-put-solution in the rubber head dropper-glass beaker-mix3/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,942 @@ +{ + "task_description": "将溶液从橡胶头滴管滴入玻璃烧杯中\n爪夹准备移动：0\n爪夹接近滴管：10%\n爪夹抓取滴管：20%\n爪夹夹住滴管接近玻璃烧杯：30%\n爪夹第一次挤压滴管，溶液滴入玻璃烧杯：40%\n爪夹将滴管放入滴瓶中：60%\n爪夹接近滴管：70%\n爪夹抓取滴管：80%\n爪夹夹住滴管接近玻璃烧杯：90%\n爪夹第二次挤压滴管，溶液滴入玻璃烧杯：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹调整角度，向右前方移动，随后下降，接近滴管，爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第一次挤压滴管，溶液滴入玻璃烧杯；爪夹向左后方移动至滴瓶正上方，随后下降，使滴管放入滴瓶中；爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，没有接近滴管，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹调整角度，向右前方移动，随后下降，接近滴管。", + "time": 1.5100909138667353, + "annotations": { + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405439756_77wq8o9zr", + "x": 0.6244159245759439, + "y": 0.506284119723153 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405442044_7kef7xudm", + "x": 0.38986373169471394, + "y": 0.5020579927844505 + } + ] + }, + "bbox_1769395525073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395525073_1769405446076_2pvrfumgw", + "x": 0.5911348701806342, + "y": 0.5760152142117447, + "width": 0.030111430167184938, + "height": 0.06761803101924038 + } + ] + }, + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405452620_dcn0v6qsr", + "x": 0.7939908207806167, + "y": 0.506284119723153, + "width": 0.12044572066873967, + "height": 0.15425363326264213 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧调整角度，随后下降", + "correction_plan": "爪夹继续下降，接近滴管，爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第一次挤压滴管，溶液滴入玻璃烧杯；爪夹向左后方移动至滴瓶正上方，随后下降，使滴管放入滴瓶中；爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹向右侧调整角度并下降，缩短了与滴管的距离。", + "frame": 92, + "progress": 5, + "progress_explanation": "爪夹向右侧调整角度并下降，高度上接近滴管，因此任务进度提升为5%。", + "state_description": "爪夹当前为张开动作，爪夹在滴瓶上方，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹继续下降，接近滴管。", + "time": 3.067373653932359, + "annotations": { + "bbox_1769395525073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395525073_1769405422732_t640mrrli", + "x": 0.5008005796790794, + "y": 0.46613591380547903, + "width": 0.05388361187812043, + "height": 0.06550496754988912 + } + ] + }, + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405430884_gjak2p2r4", + "x": 0.7939908207806167, + "y": 0.2759602015638656, + "width": 0.13312421758123855, + "height": 0.16693201407874964 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405433260_gtie5666v", + "x": 0.3851092953525269, + "y": 0.5105102466618556 + } + ] + }, + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405435372_9v7n65h4c", + "x": 0.6260007366900061, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹继续下降，随后爪夹轻微合拢", + "correction_plan": "爪夹继续下降，爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第一次挤压滴管，溶液滴入玻璃烧杯；爪夹向左后方移动至滴瓶正上方，随后下降，使滴管放入滴瓶中；爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹下降，接近了滴管，方便抓取滴管。", + "frame": 130, + "progress": 10, + "progress_explanation": "爪夹下降，接近了滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，接近滴管，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹继续下降，随后爪夹合拢抓取滴管。", + "time": 4.341514077622414, + "annotations": { + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405406117_fujml4qu9", + "x": 0.5895500580665718, + "y": 0.506284119723153 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405408069_65e2hfds8", + "x": 0.4183903497478365, + "y": 0.506284119723153 + } + ] + }, + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405414405_45rdzeg3i", + "x": 0.773388263297806, + "y": 0.3330129152363496, + "width": 0.14104827815155038, + "height": 0.18383652183355975 + } + ] + }, + "bbox_1769395525073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395525073_1769405418361_remtpsm4z", + "x": 0.49129170699470526, + "y": 0.5908066584972035, + "width": 0.06656210879061923, + "height": 0.059165777141835345 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，随后轻微抬升并张开爪夹", + "correction_plan": "爪夹继续下降，爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第一次挤压滴管，溶液滴入玻璃烧杯；爪夹向左后方移动至滴瓶正上方，随后下降，使滴管放入滴瓶中；爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹合拢并轻微抬升，高度上稍微远离滴管", + "frame": 180, + "progress": 5, + "progress_explanation": "爪夹合拢并轻微抬升，高度上稍微远离滴管，因此任务进度倒退为5%。", + "state_description": "爪夹当前为张开动作，爪夹在滴瓶上方，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹继续下降，接近滴管。", + "time": 6.013733, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405395021_vg5sjrssz", + "x": 0.7305983362181222, + "y": 0.32033453442024207, + "width": 0.12678496912498902, + "height": 0.17961039489485717 + } + ] + }, + "bbox_1769395525073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395525073_1769405398189_e337n9m5g", + "x": 0.44850177991502144, + "y": 0.5210755640086119, + "width": 0.04754436342187089, + "height": 0.059165777141835345 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405400045_mocgp48kj", + "x": 0.3866941074665892, + "y": 0.5083971831925044 + } + ] + }, + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405402453_1n3mfea25", + "x": 0.6228311124618815, + "y": 0.5083971831925044 + } + ] + } + } + }, + { + "action_description": "爪夹继续下降", + "correction_plan": "爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第一次挤压滴管，溶液滴入玻璃烧杯；爪夹向左后方移动至滴瓶正上方，随后下降，使滴管放入滴瓶中；爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹下降，接近了滴管，方便抓取滴管。", + "frame": 210, + "progress": 10, + "progress_explanation": "爪夹下降，接近了滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，接近滴管，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹继续下降，随后爪夹合拢抓取滴管。", + "time": 6.984175697127715, + "annotations": { + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405372174_e0ct4wbm0", + "x": 0.5958893065228212, + "y": 0.5020579927844505 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405373768_fhg2d2eh4", + "x": 0.4136359134056494, + "y": 0.5020579927844505 + } + ] + }, + "bbox_1769395525073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395525073_1769405377237_kydhzi885", + "x": 0.5229879492759525, + "y": 0.506284119723153, + "width": 0.04754436342187089, + "height": 0.08240947530469925 + } + ] + }, + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405382629_n5sqaba34", + "x": 0.798745257122804, + "y": 0.29286470931867564, + "width": 0.13629384180936316, + "height": 0.185949585302911 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第一次挤压滴管，溶液滴入玻璃烧杯；爪夹向左后方移动至滴瓶正上方，随后下降，使滴管放入滴瓶中；爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹成功抓住滴管，方便接近烧杯。", + "frame": 285, + "progress": 20, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方。", + "time": 9.5, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405353974_ohk3uey4j", + "x": 0.7702186390696812, + "y": 0.2759602015638656, + "width": 0.1394634660374882, + "height": 0.1838365218335597 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405364430_aohy0w1pb", + "x": 0.49129170699470526, + "y": 0.506284119723153 + } + ] + }, + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405366672_aawnxsqi5", + "x": 0.5198183250478279, + "y": 0.5105102466618556 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹向右前方移动至烧杯正上方，随后爪夹第一次挤压滴管，溶液滴入玻璃烧杯；爪夹向左后方移动至滴瓶正上方，随后下降，使滴管放入滴瓶中；爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹向上抬升，使滴管脱离滴瓶，方便滴管接近滴瓶。", + "frame": 314, + "progress": 25, + "progress_explanation": "爪夹向上抬升，使滴管脱离滴瓶，因此任务进度提升为25%。", + "state_description": "爪夹当前为合拢状态，滴管脱离滴瓶，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹向右前方移动，接近烧杯。", + "time": 10.476264265759719, + "annotations": { + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405329391_0fkxgup7m", + "x": 0.5245727613900149, + "y": 0.506284119723153 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405331591_j1crs0do0", + "x": 0.49129170699470526, + "y": 0.5041710562538018 + } + ] + }, + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405347502_b8pef9io8", + "x": 0.686223597024376, + "y": 0.3816133750314286, + "width": 0.1172760964406149, + "height": 0.1669320140787497 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动", + "correction_plan": "爪夹向右前方移动至烧杯正上方，随后爪夹第一次挤压滴管，溶液滴入玻璃烧杯；爪夹向左后方移动至滴瓶正上方，随后下降，使滴管放入滴瓶中；爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹向右前方移动，接近烧杯，方便溶液第一次滴入烧杯。", + "frame": 350, + "progress": 30, + "progress_explanation": "爪夹向右前方移动，接近烧杯，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹接近烧杯，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹向右前方移动至玻璃烧杯正上方，随后爪夹第一次挤压滴管，溶液滴入玻璃烧杯。", + "time": 11.656023917324585, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405318882_0xra35ebz", + "x": 0.5229879492759525, + "y": 0.49360573890704545, + "width": 0.1156912843265526, + "height": 0.18172345836420842 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405321311_1ezj35nrf", + "x": 0.49129170699470526, + "y": 0.5020579927844505 + } + ] + }, + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405324392_m2c4eeqlo", + "x": 0.516648700819703, + "y": 0.5020579927844505 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右前方移动，随后爪夹挤压滴管", + "correction_plan": "爪夹向左后方移动至滴瓶正上方，随后下降，使滴管放入滴瓶中；爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹成功移动至烧杯正上方，因此使溶液滴入玻璃烧杯。", + "frame": 370, + "progress": 40, + "progress_explanation": "爪夹向右前方移动并第一次挤压滴管，溶液第一次滴入玻璃烧杯，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，溶液第一次滴入玻璃烧杯，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹向左后方移动，随后下降，使滴管放入滴瓶中。", + "time": 12.3395, + "annotations": { + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405269145_3mt4nkk4q", + "x": 0.5198183250478279, + "y": 0.5041710562538018 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405271192_1xb0qb64a", + "x": 0.5008005796790794, + "y": 0.5083971831925044 + } + ] + }, + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405277207_9icciw3m7", + "x": 0.46118027682752033, + "y": 0.46190978686677653, + "width": 0.13153940546717618, + "height": 0.20708021999642365 + } + ] + } + } + }, + { + "action_description": "爪夹轻微抬升，随后向左侧移动", + "correction_plan": "爪夹向左后方移动至滴瓶正上方，随后下降，使滴管放入滴瓶中；爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹向左侧移动，容易接近滴瓶。", + "frame": 419, + "progress": 45, + "progress_explanation": "爪夹向左侧移动，远离了烧杯，因此任务进度提升为45%。", + "state_description": "爪夹当前为合拢状态，爪夹远离烧杯，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹继续向左后方移动，随后下降，使滴管放入滴瓶中。", + "time": 13.968352834391723, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405260528_3zwv63o86", + "x": 0.5768715611540729, + "y": 0.41190060734453343, + "width": 0.11410647221249012, + "height": 0.1838365218335597 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405263024_sqndknn38", + "x": 0.49604614333689234, + "y": 0.5020579927844505 + } + ] + }, + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405265488_oandan9hq", + "x": 0.516648700819703, + "y": 0.5083971831925044 + } + ] + } + } + }, + { + "action_description": "爪夹向左后方移动", + "correction_plan": "爪夹下降，使滴管放入滴瓶中；爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹向左后方移动，在滴瓶正上方，方便将滴管放入滴瓶。", + "frame": 467, + "progress": 50, + "progress_explanation": "爪夹向左后方移动，在滴瓶正上方，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，在滴瓶正上方，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹下降，使滴管放入滴瓶中。", + "time": 15.57282596051994, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405071380_fx89luv38", + "x": 0.7924060086665544, + "y": 0.35836967686856475, + "width": 0.1299545933531138, + "height": 0.15425363326264208 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405187882_yjy3zrzo3", + "x": 0.49446133122283, + "y": 0.506284119723153 + } + ] + }, + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405190393_apv1gg2tu", + "x": 0.5229879492759525, + "y": 0.506284119723153 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹张开，向上抬升，远离滴管，爪夹下降并合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹下降，滴管成功放进了滴瓶。", + "frame": 526, + "progress": 60, + "progress_explanation": "爪夹下降，滴管放进了滴瓶，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管放入滴瓶中，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹张开，向上抬升，远离滴管。", + "time": 17.5306, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405051740_br6mj6fto", + "x": 0.8288566872899887, + "y": 0.2759602015638656, + "width": 0.13787865392342571, + "height": 0.1732712044868034 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405058804_tdmtr31ij", + "x": 0.49604614333689234, + "y": 0.506284119723153 + } + ] + }, + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405061284_030nhlzhd", + "x": 0.516648700819703, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹下降，随后合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹张开，爪夹在滴瓶上方，方便抓取滴管。", + "frame": 574, + "progress": 65, + "progress_explanation": "爪夹张开，爪夹在滴瓶上方，因此任务进度提升为65%。", + "state_description": "爪夹当前为张开动作，爪夹在滴瓶上方，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹继续下降，接近滴管。", + "time": 19.1475, + "annotations": { + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405024645_ywa6bal4x", + "x": 0.5958893065228212, + "y": 0.5041710562538018 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405026436_6nxry3jji", + "x": 0.4136359134056494, + "y": 0.5083971831925044 + } + ] + }, + "bbox_1769395525073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395525073_1769405030956_76mh1jpy4", + "x": 0.49129170699470526, + "y": 0.46190978686677653, + "width": 0.03962030285155906, + "height": 0.0612788406111866 + } + ] + }, + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405035892_iudni7q1x", + "x": 0.8494592447727994, + "y": 0.28863858237997314, + "width": 0.13787865392342552, + "height": 0.17961039489485722 + } + ] + } + } + }, + { + "action_description": "爪夹合拢又张开，轻微下降", + "correction_plan": "合拢爪夹，抓取滴管，随后爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹下降，接近了滴管，方便抓取滴管。", + "frame": 631, + "progress": 70, + "progress_explanation": "爪夹下降，接近了滴管，因此任务进度提升为70%。", + "state_description": "爪夹当前为张开动作，爪夹接近滴瓶，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹合拢抓取滴管。", + "time": 21.048066, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405012430_s48g2wkhq", + "x": 0.8415351842024876, + "y": 0.35414354992986224, + "width": 0.13312421758123866, + "height": 0.1584797602013446 + } + ] + }, + "bbox_1769395525073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395525073_1769405016077_i4tcvjqsc", + "x": 0.4976309554509547, + "y": 0.47036204074418164, + "width": 0.050713987649995663, + "height": 0.06761803101924031 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769405018221_kd0ep0hcs", + "x": 0.41522072551971184, + "y": 0.5041710562538018 + } + ] + }, + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769405020492_lwck0kxjn", + "x": 0.5943044944087589, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹成功抓住滴管，方便接近烧杯。", + "frame": 694, + "progress": 80, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹夹住滴管向上抬升，向右前方移动至烧杯正上方。", + "time": 23.123287730535086, + "annotations": { + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769404995213_1kwuc2qwz", + "x": 0.5277423856181397, + "y": 0.5083971831925044 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769404997565_mfs8dzu64", + "x": 0.4817828343103311, + "y": 0.506284119723153 + } + ] + }, + "bbox_1769395525073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395525073_1769405000885_a94mblcu0", + "x": 0.49446133122283, + "y": 0.5020579927844505, + "width": 0.033281054395309706, + "height": 0.06127884061118654 + } + ] + }, + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769405006293_gr4fm2l7t", + "x": 0.8573833053431112, + "y": 0.35836967686856475, + "width": 0.13312421758123866, + "height": 0.19017571224161353 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右前方移动", + "correction_plan": "爪夹向右前方移动至烧杯正上方，随后爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹向上抬升，滴管接近烧杯，方便滴管接近烧杯。", + "frame": 766, + "progress": 90, + "progress_explanation": "爪夹向上抬升，滴管接近烧杯，因此任务进度提升为90%。", + "state_description": "爪夹当前为合拢状态，滴管接近烧杯，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹继续向右前方移动至烧杯正上方。", + "time": 25.52999741972741, + "annotations": { + "bbox_1769395525073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395525073_1769404983862_ggq9nb208", + "x": 0.49446133122283, + "y": 0.5083971831925044, + "width": 0.030111430167184938, + "height": 0.06339190408053787 + } + ] + }, + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769404987973_pflq7zbbr", + "x": 0.5261575735040773, + "y": 0.47036204074418164, + "width": 0.11093684798436546, + "height": 0.1605928236706958 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769404989829_abcj0aj33", + "x": 0.4849524585384558, + "y": 0.5020579927844505 + } + ] + }, + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769404991566_k3cnxtldc", + "x": 0.5245727613900149, + "y": 0.5020579927844505 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右前方移动", + "correction_plan": "爪夹第二次挤压滴管，溶液滴入玻璃烧杯", + "error_success_analysis": "爪夹向右前方移动，滴管在烧杯正上方，确保溶液滴入玻璃烧杯中。", + "frame": 781, + "progress": 95, + "progress_explanation": "爪夹向右前方移动，滴管在烧杯正上方，因此任务进度提升为95%。", + "state_description": "爪夹当前为合拢状态，滴管在烧杯正上方，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "time": 26.049091666415954, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769404969870_7f3hnzofb", + "x": 0.3977877922650258, + "y": 0.4386660887039127, + "width": 0.14738752660779983, + "height": 0.19228877571096473 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769404971822_ilxtco6n2", + "x": 0.4865372706525181, + "y": 0.5083971831925044 + } + ] + }, + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769404973774_kfysc96j2", + "x": 0.5198183250478279, + "y": 0.5020579927844505 + } + ] + }, + "bbox_1769395525073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395525073_1769404977685_35h1oaijj", + "x": 0.48812208276658053, + "y": 0.5105102466618556, + "width": 0.034865866509372, + "height": 0.0633919040805378 + } + ] + } + } + }, + { + "action_description": "爪夹挤压滴管，随后向左侧移动", + "correction_plan": "", + "error_success_analysis": "爪夹第二次挤压滴管，溶液滴入玻璃烧杯。", + "frame": 821, + "progress": 100, + "progress_explanation": "爪夹第二次挤压滴管，溶液滴入玻璃烧杯，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，远离烧杯，爪夹已完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务。", + "time": 27.370422476168603, + "annotations": { + "point_1769395542609": { + "type": "point", + "instances": [ + { + "id": "point_1769395542609_1769404949423_zvm2zjwc7", + "x": 0.516648700819703, + "y": 0.5091015269346915 + } + ] + }, + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769404951503_blwoixnqv", + "x": 0.4928765191087677, + "y": 0.5041710562538018 + } + ] + }, + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769404958846_blpw6ywgj", + "x": 0.5182335129337654, + "y": 0.360482740337916, + "width": 0.12361534489686435, + "height": 0.19440183918031598 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769395525073", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769395529785", + "name": "玻璃烧杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769395536361", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769395542609", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-181751-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-181751-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d8fa3635705bcb1eac0332da688935ee15747a06 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260108-songjiaqi/20260108-181751-put-solution in the rubber head dropper-glass beaker-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,204 @@ +{ + "task_description": "将溶液从橡胶头滴管滴入玻璃烧杯中\n爪夹准备移动：0\n爪夹接近滴管：20%\n爪夹抓取滴管：40%\n爪夹夹住滴管接近玻璃烧杯：60%\n爪夹将滴管放在玻璃烧杯正上方：80%\n爪夹挤压滴管，溶液滴入玻璃烧杯：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近滴管，随后爪夹合拢抓取滴管，爪夹抓住滴管向上抬升，随后向左前方移动至玻璃烧杯正上方，爪夹下降，随后爪夹爪夹挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，没有接近滴管，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹向右前方移动，随后下降，接近滴管。", + "time": 1.2756370876890688, + "annotations": { + "bbox_1769395525073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395525073_1769395614767_el8xmbmab", + "x": 0.6418488578306298, + "y": 0.4365530252345614, + "width": 0.034865866509372, + "height": 0.06973109448859158 + } + ] + }, + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769395620896_k8fjob0iq", + "x": 0.546760130986888, + "y": 0.17664621850435627, + "width": 0.11252166009842783, + "height": 0.20285409305772106 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动，随后轻微下降。", + "correction_plan": "爪夹继续向右前方移动，随后下降，接近滴管，随后爪夹合拢抓取滴管，爪夹抓住滴管向上抬升，随后向左前方移动至玻璃烧杯正上方，爪夹下降，随后爪夹爪夹挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹向右前方移动并下降，缩短了与滴管的距离。", + "frame": 77, + "progress": 10, + "progress_explanation": "爪夹向右前方移动并下降，高度上接近滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，爪夹在滴管上方，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹下降，接近滴管。", + "time": 2.5512747236791404, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769395598329_b9okr8asu", + "x": 0.5435905067587632, + "y": 0.17875928197370752, + "width": 0.11252166009842783, + "height": 0.2007410295883698 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右前方移动，随后下降", + "correction_plan": "爪夹合拢抓取滴管，爪夹抓住滴管向上抬升，随后向左前方移动至玻璃烧杯正上方，爪夹下降，随后爪夹爪夹挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了滴管，容易抓取滴管。", + "frame": 114, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，爪夹接近滴管，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹合拢抓取滴管。", + "time": 3.8089456324017466, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769395590554_nnxcu0pd7", + "x": 0.546760130986888, + "y": 0.17664621850435627, + "width": 0.11252166009842783, + "height": 0.2070802199964236 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹抓住滴管向上抬升，随后向左前方移动至玻璃烧杯正上方，爪夹下降，随后爪夹爪夹挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹成功抓住滴管，方便接近烧杯。", + "frame": 169, + "progress": 40, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹抓住滴管向上抬升，随后向左前方移动至玻璃烧杯正上方。", + "time": 5.623585086415792, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769395583328_4vygn35fe", + "x": 0.5451753188728257, + "y": 0.17664621850435627, + "width": 0.11410647221249022, + "height": 0.2070802199964236 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹向左前方移动至玻璃烧杯正上方，爪夹下降，随后爪夹爪夹挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹向上抬升，使滴管脱离滴瓶，方便滴管接近滴瓶。", + "frame": 209, + "progress": 50, + "progress_explanation": "爪夹向上抬升，使滴管脱离滴瓶，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，滴管脱离滴瓶，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹向左前方移动，接近烧杯。", + "time": 6.971089631475728, + "annotations": { + "bbox_1769395529785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395529785_1769395576096_p9xpbh5rp", + "x": 0.5483449431009504, + "y": 0.17735056224654341, + "width": 0.10776722375624068, + "height": 0.20708021999642362 + } + ] + } + } + }, + { + "action_description": "爪夹继续向上抬升，随后向左前方移动", + "correction_plan": "爪夹向正前方移动至玻璃烧杯正上方并下降，随后爪夹爪夹挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹向左前方移动，接近烧杯，方便溶液滴入烧杯。", + "frame": 227, + "progress": 60, + "progress_explanation": "爪夹向左前方移动，接近烧杯，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，爪夹接近烧杯，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹向正前方移动至玻璃烧杯正上方并下降。", + "time": 7.5819583585695645 + }, + { + "action_description": "爪夹向正前方移动并下降", + "correction_plan": "爪夹挤压滴管，溶液滴入玻璃烧杯", + "error_success_analysis": "爪夹向正前方移动并下降，爪夹在烧杯正上方，确保溶液滴入烧杯中。", + "frame": 255, + "progress": 80, + "progress_explanation": "爪夹向正前方移动并下降，爪夹在烧杯正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，爪夹在烧杯正上方，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹挤压滴管，溶液滴入玻璃烧杯。", + "time": 8.49826144921032 + }, + { + "action_description": "爪夹张开，随后向左后方移动", + "correction_plan": "爪夹向正前方移动至玻璃烧杯正上方，随后下降，接近滴管，爪夹合拢抓住滴管，随后爪夹向上抬升，滴管在烧杯正上方，爪夹挤压滴管，溶液滴入玻璃烧杯。", + "error_success_analysis": "爪夹张开，使滴管落入玻璃烧杯，爪夹没有完成任务。", + "frame": 289, + "progress": -50, + "progress_explanation": "爪夹张开，使滴管落入玻璃烧杯，因此任务进度倒退为-50%。", + "state_description": "爪夹当前为张开状态，滴管落入玻璃烧杯，为完成将溶液从橡胶头滴管滴入玻璃烧杯中的任务，应当：爪夹向正前方移动至玻璃烧杯正上方，随后下降，接近滴管。", + "time": 9.630165267060665, + "annotations": { + "point_1769395536361": { + "type": "point", + "instances": [ + { + "id": "point_1769395536361_1769395558609_8p6nefy1g", + "x": 0.5499297552150126, + "y": 0.2449685932657838 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769395525073", + "name": "滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769395529785", + "name": "玻璃烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769395536361", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769395542609", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-094443-put-rubber protective cover-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-094443-put-rubber protective cover-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f65f364b6eb11955f95f899543492b555da8fe --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-094443-put-rubber protective cover-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,278 @@ +{ + "task_description": "将橡胶保护套放入蓝色储物盒\n准备开始移动：0%\n爪夹接近橡胶保护套：20%\n爪夹抓取橡胶保护套：40%\n爪夹抓紧橡胶保护套接近蓝色储物盒：60%\n爪夹将橡胶保护套移动至蓝色储物盒的正上方：80%\n爪夹松开，橡胶保护套落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套；随后爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触橡胶保护套，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 1.710498441149787, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769393213644_3q1k9g1nw", + "x": 0.6782995364540642, + "y": 0.5154407173427452, + "width": 0.18225339311717184, + "height": 0.2239847277512337 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769393217735_cth0zc7kb", + "x": 0.6592817910853158, + "y": 0.4323268982958589, + "width": 0.042789927079683834, + "height": 0.040148205917673964 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769393220789_sgmmt7sq7", + "x": 0.477028397968144, + "y": 0.5443192621714757 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769393223108_utmh1pitr", + "x": 0.5863804338384471, + "y": 0.5781282776810959 + } + ] + } + } + }, + { + "action_description": "爪夹向正前方移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套；随后爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 86, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了橡胶保护套，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，水平上接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 2.874343107475627, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769393200974_to9ryuwqn", + "x": 0.6672058516556276, + "y": 0.4386660887039127, + "width": 0.034865866509372, + "height": 0.04648739632572774 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769393207012_jhwzrafs4", + "x": 0.6767147243400018, + "y": 0.5231886274779631, + "width": 0.18383820523123423, + "height": 0.22398472775123365 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动，随后下降", + "correction_plan": "爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了橡胶保护套，方便抓取。", + "frame": 118, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了橡胶保护套，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹合拢抓取橡胶保护套。", + "time": 3.921999, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769393188344_68whd8lua", + "x": 0.6767147243400018, + "y": 0.5253016909473144, + "width": 0.1854230173452965, + "height": 0.20919328346577484 + } + ] + } + } + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢", + "correction_plan": "爪夹抓住橡胶保护套向上抬升，随后向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹调整了角度，与桌面形成夹角，更容易抓取。", + "frame": 167, + "progress": 40, + "progress_explanation": "爪夹成功抓住橡胶保护套，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹抓住橡胶保护套向上抬升，随后向右后方移动至蓝色储物盒上方。", + "time": 5.565, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769393183582_0vrvz0m2s", + "x": 0.681469160682189, + "y": 0.5210755640086119, + "width": 0.18383820523123412, + "height": 0.21553247387382868 + } + ] + } + } + }, + { + "action_description": "爪夹抓住橡胶保护套向上抬升", + "correction_plan": "爪夹向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向上抬升，使橡胶保护套脱离桌面，方便接近蓝色储物盒。", + "frame": 220, + "progress": 50, + "progress_explanation": "爪夹向上抬升，使橡胶保护套脱离桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，橡胶保护套脱离桌面，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右后方移动至蓝色储物盒上方。", + "time": 7.33574766172468, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769393151342_iak5cck8g", + "x": 0.6751299122259395, + "y": 0.5168494370699094, + "width": 0.19176226580154604, + "height": 0.2218716642818824 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右后方移动", + "correction_plan": "爪夹继续向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右后方移动，接近蓝色储物盒，方便橡胶保护套落入蓝色储物盒。", + "frame": 241, + "progress": 60, + "progress_explanation": "爪夹右后方移动，接近蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，爪夹接近蓝色储物盒，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹继续向右后方移动至蓝色储物盒上方。", + "time": 8.041108065558522, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769393145920_k8rz2p6vl", + "x": 0.6830539727962512, + "y": 0.5231886274779631, + "width": 0.17908376888904706, + "height": 0.2091932834657749 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右后方移动", + "correction_plan": "爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹继续向右后方移动，爪夹在蓝色储物盒的正上方，确保落入蓝色储物盒。", + "frame": 253, + "progress": 80, + "progress_explanation": "爪夹继续向右后方移动，爪夹在蓝色储物盒的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢的状态，爪夹在蓝色储物盒的正上方，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹松开，橡胶保护套落入蓝色储物盒。", + "time": 8.446690297762983, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769393139854_n31ait5kj", + "x": 0.681469160682189, + "y": 0.5295278178860169, + "width": 0.18066858100310937, + "height": 0.20285409305772112 + } + ] + } + } + }, + { + "action_description": "爪夹松开，随后向左前方移动", + "correction_plan": "", + "error_success_analysis": "爪夹松开，橡胶保护套落入蓝色储物盒", + "frame": 284, + "progress": 100, + "progress_explanation": "爪夹松开，橡胶保护套落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开的状态，橡胶保护套落入蓝色储物盒，爪夹已完成将橡胶保护套放入蓝色储物盒的任务。", + "time": 9.469462883322054, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769393132670_300zbwuct", + "x": 0.6767147243400018, + "y": 0.5154407173427452, + "width": 0.1854230173452965, + "height": 0.2239847277512337 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769393171332_xewzxnb7h", + "x": 0.7036565302790619, + "y": 0.6309548644148774, + "width": 0.02694180593906026, + "height": 0.040148205917673964 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "橡胶保护套" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-094443-put-rubber protective cover-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-094443-put-rubber protective cover-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..7fc8861d32c106d92cf576493a8f4ed771399c8b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-094443-put-rubber protective cover-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,258 @@ +{ + "task_description": "将橡胶保护套放入蓝色储物盒\n准备开始移动：0%\n爪夹接近橡胶保护套：20%\n爪夹抓取橡胶保护套：40%\n爪夹抓紧橡胶保护套接近蓝色储物盒：60%\n爪夹将橡胶保护套移动至蓝色储物盒的正上方：80%\n爪夹松开，橡胶保护套落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.040148205917673964, + "id": "bbox_1768875812706_1769391619688_hnmnxgw7f", + "width": 0.03803549073749677, + "x": 0.5229879492759525, + "y": 0.5443192621714757 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.23666310856734127, + "id": "bbox_1768875817811_1769391615432_a1m2d274q", + "width": 0.21711925962654383, + "x": 0.5356664461884514, + "y": 0.5886935950278522 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套；随后爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触橡胶保护套，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 1.7457664613414796 + }, + { + "action_description": "爪夹向正前方移动", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.04226126938702516, + "id": "bbox_1768875812706_1769391604454_f0rzq565j", + "width": 0.04595955130780851, + "x": 0.5198183250478279, + "y": 0.5443192621714757 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.21764553734317987, + "id": "bbox_1768875817811_1769391609611_ulp8qgf3g", + "width": 0.22028888385466852, + "x": 0.5324968219603268, + "y": 0.5929197219665547 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套；随后爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与橡胶保护套的距离。", + "frame": 84, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了橡胶保护套，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，水平上接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 2.7984 + }, + { + "action_description": "爪夹向右前方移动，随后下降", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.040148205917673964, + "id": "bbox_1768875812706_1769391597454_awmjnursq", + "width": 0.03169624228124723, + "x": 0.5245727613900149, + "y": 0.5485453891101782 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.23877617203669246, + "id": "bbox_1768875817811_1769391592566_89qr6dtr1", + "width": 0.21553444751248155, + "x": 0.5420056946447008, + "y": 0.5929197219665547 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了橡胶保护套，方便抓取。", + "frame": 123, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了橡胶保护套，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹合拢抓取橡胶保护套。", + "time": 4.108723814184851 + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.23243698162863874, + "id": "bbox_1768875817811_1769391586351_o5rgthv4a", + "width": 0.2218736959687309, + "x": 0.5388360704165762, + "y": 0.5886935950278522 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住橡胶保护套向上抬升，随后向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹调整了角度，与桌面形成夹角，更容易抓取。", + "frame": 176, + "progress": 40, + "progress_explanation": "爪夹成功抓住橡胶保护套，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹抓住橡胶保护套向上抬升，随后向右后方移动至蓝色储物盒上方。", + "time": 5.854490813673611 + }, + { + "action_description": "爪夹抓住橡胶保护套向上抬升", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.22821085468993624, + "id": "bbox_1768875817811_1769391580415_dc03yeyuo", + "width": 0.21394963539841907, + "x": 0.5404208825306386, + "y": 0.5908066584972035 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向上抬升，使橡胶保护套脱离桌面，方便接近蓝色储物盒。", + "frame": 213, + "progress": 50, + "progress_explanation": "爪夹向上抬升，使橡胶保护套脱离桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，橡胶保护套脱离桌面，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右后方移动至蓝色储物盒上方。", + "time": 7.106505530478683 + }, + { + "action_description": "爪夹向上抬升，随后向右后方移动", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.24088923550604377, + "id": "bbox_1768875817811_1769391574424_4ztmqlrye", + "width": 0.22345850808279327, + "x": 0.5324968219603268, + "y": 0.586580531558501 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向右后方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右后方移动，接近蓝色储物盒，方便橡胶保护套落入蓝色储物盒。", + "frame": 242, + "progress": 60, + "progress_explanation": "爪夹右后方移动，接近蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，爪夹接近蓝色储物盒，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹继续向右后方移动至蓝色储物盒上方。", + "time": 8.076376085750216 + }, + { + "action_description": "爪夹继续向右后方移动", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.23666310856734127, + "id": "bbox_1768875817811_1769391556911_dlfr9tddk", + "width": 0.22979775653904272, + "x": 0.5309120098462643, + "y": 0.5802413411504472 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹继续向右后方移动，爪夹在蓝色储物盒的正上方，确保落入蓝色储物盒。", + "frame": 258, + "progress": 80, + "progress_explanation": "爪夹继续向右后方移动，爪夹在蓝色储物盒的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢的状态，爪夹在蓝色储物盒的正上方，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹松开，橡胶保护套落入蓝色储物盒。", + "time": 8.6072 + }, + { + "action_description": "爪夹松开，随后向左前方移动", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.2218716642818824, + "id": "bbox_1768875817811_1769391550073_t70wswdah", + "width": 0.22028888385466852, + "x": 0.5340816340743891, + "y": 0.5851718118313369 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，橡胶保护套落入蓝色储物盒", + "frame": 284, + "progress": 100, + "progress_explanation": "爪夹松开，橡胶保护套落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开的状态，橡胶保护套落入蓝色储物盒，爪夹已完成将橡胶保护套放入蓝色储物盒的任务。", + "time": 9.469462883322054 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "橡胶保护套" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-095327-put-rubber protective cover-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-095327-put-rubber protective cover-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..273a4ce476b1ecc310a929843d86572df1ad28e3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-095327-put-rubber protective cover-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,386 @@ +{ + "task_description": "将橡胶保护套放入蓝色储物盒\n准备开始移动：0%\n爪夹接近橡胶保护套：20%\n爪夹抓取橡胶保护套：40%\n爪夹抓紧橡胶保护套接近蓝色储物盒：60%\n爪夹将橡胶保护套移动至蓝色储物盒的正上方：80%\n爪夹松开，橡胶保护套落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套；随后爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触橡胶保护套，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 1.335304156696862, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769157078648_cjs29swzf", + "x": 0.721089463533748, + "y": 0.5253016909473144, + "width": 0.03962030285155906, + "height": 0.050713523264430314 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769157084344_wfwcgtlvs", + "x": 0.5562690036712621, + "y": 0.22524667829943526, + "width": 0.1632356477484235, + "height": 0.23243698162863874 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769157087632_tujr592cg", + "x": 0.44533215568689666, + "y": 0.6182764835987699 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769157089688_o7rr1kn43", + "x": 0.5594386278993869, + "y": 0.6478593721696876 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹向正前方移动，随后下降", + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套；随后爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，缩短了与橡胶保护套的距离。", + "frame": 68, + "progress": 10, + "progress_explanation": "爪夹向右前方移动并下降，水平上接近了橡胶保护套，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，高度上接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 2.278999, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769157069465_6a9k2satg", + "x": 0.5499297552150126, + "y": 0.2189074878913815, + "width": 0.16640527197654825, + "height": 0.23455004509799 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769157073305_1vyxkvha6", + "x": 0.7226742756478104, + "y": 0.5231886274779631, + "width": 0.033281054395309616, + "height": 0.05282658673378157 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动，随后下降", + "correction_plan": "爪夹向右前方轻微移动，爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近橡胶保护套，方便抓取。", + "frame": 90, + "progress": 15, + "progress_explanation": "爪夹向右前方移动并下降，接近橡胶保护套，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方轻微移动，随后爪夹合拢抓取橡胶保护套。", + "time": 3.009999, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769157060737_ix27o5e5j", + "x": 0.5657778763556364, + "y": 0.22524667829943526, + "width": 0.15372677506404928, + "height": 0.2239847277512337 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向右前方移动", + "correction_plan": "爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹轻微向右前方移动，更加接近了橡胶保护套。", + "frame": 116, + "progress": 20, + "progress_explanation": "爪夹轻微向右前方移动，更加接近了橡胶保护套，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，更加接近了橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹合拢抓取橡胶保护套。", + "time": 3.8628455449880974, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769157052825_odnr8d7gf", + "x": 0.5610234400134493, + "y": 0.21961183163356868, + "width": 0.15848121140623633, + "height": 0.23877617203669252 + } + ] + } + } + }, + { + "action_description": "爪夹轻微下降", + "correction_plan": "爪夹向右后方轻微移动，接近橡胶保护套，爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹轻微下降，碰到橡胶保护套使其落在桌子上，稍微远离了橡胶保护套。", + "frame": 152, + "progress": 15, + "progress_explanation": "爪夹轻微下降，碰到橡胶保护套使其落在桌子上，因此任务倒退为15%。", + "state_description": "爪夹当前为张开的状态，碰到橡胶保护套落在桌子上，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右后方轻微移动，接近橡胶保护套。", + "time": 5.055082048899058, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769157039921_jg6ydm22o", + "x": 0.721089463533748, + "y": 0.6119372931907161, + "width": 0.03962030285155906, + "height": 0.050713523264430196 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769157045521_db3gvkvr3", + "x": 0.5657778763556364, + "y": 0.22102055136073276, + "width": 0.15689639929217405, + "height": 0.2303239181592875 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹向右后方轻微移动，接近橡胶保护套，爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹合拢，使其接近了一点橡胶保护套。", + "frame": 180, + "progress": 18, + "progress_explanation": "爪夹合拢，使其接近了一点橡胶保护套，因此任务进度提升为18%。", + "state_description": "爪夹当前为合拢的状态，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹张开，爪夹向右后方轻微移动，接近橡胶保护套。", + "time": 6.008871252027825, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769157032826_gfp186y0z", + "x": 0.5594386278993869, + "y": 0.22102055136073276, + "width": 0.1632356477484235, + "height": 0.24300229897539502 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769157035962_bojtrk4mv", + "x": 0.7226742756478104, + "y": 0.6140503566600674, + "width": 0.03011143016718485, + "height": 0.04437433285637648 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向右后方轻微移动", + "correction_plan": "爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹轻微向右后方移动，更加接近了橡胶保护套。", + "frame": 211, + "progress": 20, + "progress_explanation": "爪夹轻微向右后方移动，更加接近了橡胶保护套，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，更加接近了橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹合拢抓取橡胶保护套。", + "time": 7.023333, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769157026457_awrwy0gs7", + "x": 0.5578538157853246, + "y": 0.21679442442203023, + "width": 0.16006602352029872, + "height": 0.24300229897539502 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动", + "correction_plan": "爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，紧挨着橡胶保护套，会更加方便抓取。", + "frame": 246, + "progress": 30, + "progress_explanation": "爪夹向右前方移动，紧挨着橡胶保护套，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开的状态，紧挨着橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹合拢抓取橡胶保护套。", + "time": 8.198665, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769157019626_t222sa1zr", + "x": 0.5673626884696987, + "y": 0.2189074878913815, + "width": 0.1521419629499869, + "height": 0.2451153624447463 + } + ] + } + } + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢", + "correction_plan": "爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹调整了角度，更容易抓取。", + "frame": 302, + "progress": 40, + "progress_explanation": "爪夹成功抓住橡胶保护套，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方。", + "time": 10.062475365325088, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769157014211_s3vf0gd5k", + "x": 0.5610234400134493, + "y": 0.21961183163356868, + "width": 0.15531158717811167, + "height": 0.24088923550604377 + } + ] + } + } + }, + { + "action_description": "爪夹抓住橡胶保护套向上抬升，随后向左前方移动", + "correction_plan": "爪夹继续向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向左前方移动，接近蓝色储物盒，方便橡胶保护套落入蓝色储物盒。", + "frame": 352, + "progress": 60, + "progress_explanation": "爪夹向左前方移动，接近蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，爪夹接近蓝色储物盒，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹继续向左前方至蓝色储物盒上方。", + "time": 11.731606470800433, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769157007677_zhp274ngc", + "x": 0.564193064241574, + "y": 0.2189074878913815, + "width": 0.15531158717811167, + "height": 0.24934148938344886 + } + ] + } + } + }, + { + "action_description": "爪夹继续向左前方移动", + "correction_plan": "爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹继续向左前方移动，爪夹在蓝色储物盒的正上方，确保落入蓝色储物盒。", + "frame": 378, + "progress": 80, + "progress_explanation": "爪夹继续向左前方移动，爪夹在蓝色储物盒的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢的状态，爪夹在蓝色储物盒的正上方，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹松开，橡胶保护套落入蓝色储物盒。", + "time": 12.613861483694542, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769157000705_k0w3lc3ok", + "x": 0.564193064241574, + "y": 0.21256829748332773, + "width": 0.15531158717811167, + "height": 0.2451153624447463 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向正后方移动", + "correction_plan": "", + "error_success_analysis": "爪夹松开，橡胶保护套落入蓝色储物盒", + "frame": 409, + "progress": 100, + "progress_explanation": "爪夹松开，橡胶保护套落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，橡胶保护套落入蓝色储物盒，爪夹已完成将橡胶保护套放入蓝色储物盒的任务。", + "time": 13.639184877057968, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769156993697_rvkt8hyq7", + "x": 0.5768715611540729, + "y": 0.21538570469486612, + "width": 0.14580271449373744, + "height": 0.24511536244474633 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "橡胶保护套" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-100326-put-rubber protective cover-blue-storage box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-100326-put-rubber protective cover-blue-storage box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..849a1d5c661e681a98cf05e96316611f3e194756 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-100326-put-rubber protective cover-blue-storage box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,494 @@ +{ + "task_description": "将橡胶保护套放入蓝色储物盒\n准备开始移动：0%\n爪夹接近橡胶保护套：20%\n爪夹抓取橡胶保护套：40%\n爪夹抓紧橡胶保护套接近蓝色储物盒：60%\n爪夹将橡胶保护套移动至蓝色储物盒的正上方：80%\n爪夹松开，橡胶保护套落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套；随后爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向正前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触橡胶保护套，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 1.38, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769161591033_l50aheowe", + "x": 0.7512008937009329, + "y": 0.5422061987021245, + "width": 0.033281054395309616, + "height": 0.050713523264430314 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161603449_aoiqnowsb", + "x": 0.786066760210305, + "y": 0.1703070280963025, + "width": 0.16006602352029872, + "height": 0.21764553734317987 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769161605969_6lbb7w2zy", + "x": 0.4469169678009591, + "y": 0.5485453891101782 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769161608179_996spilam", + "x": 0.5610234400134493, + "y": 0.5781282776810959 + } + ] + } + } + }, + { + "action_description": "爪夹向正前方移动，随后下降", + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套；随后爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向正前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，缩短了与橡胶保护套的距离。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹向右前方移动并下降，水平上接近了橡胶保护套，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，高度上接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 2.3, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161581410_6s8ixx8rw", + "x": 0.7924060086665544, + "y": 0.15762864728019493, + "width": 0.14897233872186222, + "height": 0.22609779122058493 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769161584857_99kudnyhx", + "x": 0.7416920210165587, + "y": 0.5316408813553681, + "width": 0.04595955130780851, + "height": 0.05705271367248409 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动，随后下降", + "correction_plan": "爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向正前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了橡胶保护套，方便抓取。", + "frame": 104, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了橡胶保护套，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹合拢抓取橡胶保护套。", + "time": 3.4818840333224856, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161573273_jgja4zmi0", + "x": 0.7797275117540555, + "y": 0.1703070280963025, + "width": 0.16323564774842342, + "height": 0.21553247387382862 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹抓住橡胶保护套向上抬升，随后向正前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹合拢夹住了带着橡胶保护套的银色物品，方便接近蓝色储物盒。", + "frame": 161, + "progress": 40, + "progress_explanation": "爪夹合拢夹住了带着橡胶保护套的银色物品，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住带着橡胶保护套的银色物品，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹抓住橡胶保护套向上抬升，随后向正前方移动，接近蓝色储物盒。", + "time": 5.359, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161558010_ylyakz0ac", + "x": 0.7749730754118683, + "y": 0.15762864728019493, + "width": 0.16482045986248578, + "height": 0.22609779122058493 + } + ] + } + } + }, + { + "action_description": "爪夹夹住橡胶保护套向上抬升", + "correction_plan": "爪夹向正前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住橡胶保护套向上抬升，脱离桌面，方便接近蓝色储物盒。", + "frame": 220, + "progress": 50, + "progress_explanation": "爪夹夹住橡胶保护套向上抬升，脱离桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，橡胶保护套脱离桌面，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向正前方移动，接近蓝色储物盒。", + "time": 7.346393981685731, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161551458_qrwdhl70n", + "x": 0.7844819480962426, + "y": 0.15762864728019493, + "width": 0.15689639929217405, + "height": 0.22187166428188243 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后张开", + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套，爪夹合拢抓取橡胶保护套，爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹张开，橡胶保护套落在桌面上，需重新抓取带着橡胶保护套的银色物品。", + "frame": 252, + "progress": 10, + "progress_explanation": "爪夹张开，橡胶保护套落在桌面上，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开状态，水平上接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 8.395, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769161540097_z8apjvfk6", + "x": 0.8764010507118597, + "y": 0.44500527911196647, + "width": 0.034865866509371915, + "height": 0.06127884061118654 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161545482_2oimizu49", + "x": 0.7939908207806167, + "y": 0.1703070280963025, + "width": 0.1473875266077999, + "height": 0.19228877571096478 + } + ] + } + } + }, + { + "action_description": "爪夹向正后方移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套，爪夹合拢抓取橡胶保护套，爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向正后方移动，稍微远离了橡胶保护套。", + "frame": 310, + "progress": 5, + "progress_explanation": "爪夹向正后方移动，稍微远离了橡胶保护套，因此任务进度倒退为5%。", + "state_description": "爪夹当前为张开状态，在橡胶保护套的左后方，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 10.327, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161529050_dnxgxky8g", + "x": 0.7828971359821801, + "y": 0.16608090115759996, + "width": 0.15689639929217397, + "height": 0.20919328346577487 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769161532250_mqeckvpo6", + "x": 0.8748162385977972, + "y": 0.4513444695200202, + "width": 0.022187369596873195, + "height": 0.031695952040268933 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动，随后下降", + "correction_plan": "爪夹合拢抓取橡胶保护套，爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了橡胶保护套，方便抓取。", + "frame": 367, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了橡胶保护套，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹合拢抓取橡胶保护套。", + "time": 12.24399074792826, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161518819_9f4btt0m4", + "x": 0.7939908207806167, + "y": 0.15551558381084366, + "width": 0.14580271449373744, + "height": 0.22398472775123368 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹合拢夹住了带着橡胶保护套的银色物品，方便接近蓝色储物盒。", + "frame": 412, + "progress": 40, + "progress_explanation": "爪夹合拢夹住了带着橡胶保护套的银色物品，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住带着橡胶保护套的银色物品，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹抓住橡胶保护套向上抬升，随后向左前方移动，接近蓝色储物盒。", + "time": 13.731, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161512099_gd9vakckj", + "x": 0.7781426996399932, + "y": 0.16819396462695121, + "width": 0.16640527197654809, + "height": 0.21553247387382865 + } + ] + } + } + }, + { + "action_description": "爪夹夹住橡胶保护套向上抬升", + "correction_plan": "爪夹向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住橡胶保护套向上抬升，脱离桌面，方便接近蓝色储物盒。", + "frame": 435, + "progress": 50, + "progress_explanation": "爪夹夹住橡胶保护套向上抬升，脱离桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，橡胶保护套脱离桌面，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向左前方移动，接近蓝色储物盒。", + "time": 14.49, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161505924_g6c0o0qh6", + "x": 0.786066760210305, + "y": 0.15762864728019493, + "width": 0.15689639929217397, + "height": 0.2176455373431799 + } + ] + } + } + }, + { + "action_description": "爪夹轻微张开", + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套，爪夹合拢抓取橡胶保护套，爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹张开，橡胶保护套落在桌面上，需重新抓取带着橡胶保护套的银色物品。", + "frame": 467, + "progress": 10, + "progress_explanation": "爪夹张开，橡胶保护套落在桌面上，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开状态，水平上接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 15.571, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161493808_1g6sxkgr9", + "x": 0.7844819480962426, + "y": 0.15551558381084366, + "width": 0.16799008409061048, + "height": 0.2324369816286387 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769161497594_af6jtgpzd", + "x": 0.877985862825922, + "y": 0.44923140605066897, + "width": 0.050713987649995754, + "height": 0.06339190408053787 + } + ] + } + } + }, + { + "action_description": "爪夹张开，爪夹向右前方移动，随后下降", + "correction_plan": "爪夹合拢抓取橡胶保护套，爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了橡胶保护套，方便抓取。", + "frame": 511, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了橡胶保护套，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹合拢抓取橡胶保护套。", + "time": 17.02680008996198, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161487198_pk9a0p7vv", + "x": 0.7876515723243672, + "y": 0.15762864728019493, + "width": 0.15531158717811167, + "height": 0.2408892355060438 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹合拢夹住了带着橡胶保护套的银色物品，方便接近蓝色储物盒。", + "frame": 542, + "progress": 40, + "progress_explanation": "爪夹合拢夹住了带着橡胶保护套的银色物品，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住带着橡胶保护套的银色物品，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹抓住橡胶保护套向上抬升，随后向左前方移动，接近蓝色储物盒。", + "time": 18.05988690784126, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161481267_03f52ziar", + "x": 0.7828971359821801, + "y": 0.16396783768824869, + "width": 0.15848121140623644, + "height": 0.2176455373431799 + } + ] + } + } + }, + { + "action_description": "爪夹抓住橡胶保护套向上抬升，随后向左前方移动", + "correction_plan": "爪夹继续向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住橡胶保护套向上抬升，向左前方移动，接近了蓝色储物盒。", + "frame": 575, + "progress": 60, + "progress_explanation": "爪夹夹住橡胶保护套向上抬升并向左前方移动，接近蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，银色物品带着橡胶保护套脱离桌面，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "time": 19.169498675193086, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161474571_12gyga9zf", + "x": 0.7876515723243672, + "y": 0.15551558381084366, + "width": 0.15689639929217397, + "height": 0.2176455373431799 + } + ] + } + } + }, + { + "action_description": "爪夹向左前方移动并下降", + "correction_plan": "爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住带着橡胶保护套的银色物品在蓝色储物盒的正上方，确保橡胶保护套落入蓝色储物盒。", + "frame": 600, + "progress": 80, + "progress_explanation": "爪夹夹住带着橡胶保护套的银色物品在蓝色储物盒的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为张开状态，在蓝色储物盒的正上方，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹松开，橡胶保护套落入蓝色储物盒。", + "time": 20.01127311939102, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161467635_ketmpfbe5", + "x": 0.7876515723243672, + "y": 0.16396783768824869, + "width": 0.15531158717811167, + "height": 0.21553247387382865 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向左后方移动", + "correction_plan": "", + "error_success_analysis": "爪夹松开，橡胶保护套落入蓝色储物盒", + "frame": 662, + "progress": 100, + "progress_explanation": "爪夹松开，橡胶保护套落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，带着橡胶保护套的银色物品落入蓝色储物盒，爪夹完成将橡胶保护套放入蓝色储物盒的任务。", + "time": 22.057, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769161459615_72rc296jo", + "x": 0.8114237540353028, + "y": 0.16044605449173335, + "width": 0.1267849691249891, + "height": 0.20919328346577487 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "橡胶保护套" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-100326-put-rubber protective cover-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-100326-put-rubber protective cover-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f5df10d95606fcc109aa7de3b90e3661c0e69780 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-100326-put-rubber protective cover-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,520 @@ +{ + "task_description": "将橡胶保护套放入蓝色储物盒\n准备开始移动：0%\n爪夹接近橡胶保护套：20%\n爪夹抓取橡胶保护套：40%\n爪夹抓紧橡胶保护套接近蓝色储物盒：60%\n爪夹将橡胶保护套移动至蓝色储物盒的正上方：80%\n爪夹松开，橡胶保护套落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.05705271367248414, + "id": "bbox_1768875812706_1769152727101_fnw6vh3e2", + "width": 0.03962030285155915, + "x": 0.6196614882337567, + "y": 0.6267287374761749 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.20285409305772112, + "id": "bbox_1768875817811_1769152719277_a45olxug9", + "width": 0.15372677506404936, + "x": 0.638679233602505, + "y": 0.3055430901347832 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套；随后爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向正前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触橡胶保护套，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 1.472 + }, + { + "action_description": "爪夹向右前方移动，随后下降", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.05282658673378151, + "id": "bbox_1768875812706_1769152706701_1gqley1tw", + "width": 0.03011143016718485, + "x": 0.6244159245759439, + "y": 0.6267287374761749 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.19651490264966728, + "id": "bbox_1768875817811_1769152712437_rvbuadjdx", + "width": 0.17274452043279762, + "x": 0.6244159245759439, + "y": 0.3055430901347832 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向右前方移动，随后下降，接近橡胶保护套；随后爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向正前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，缩短了与橡胶保护套的距离。", + "frame": 83, + "progress": 10, + "progress_explanation": "爪夹向右前方移动并下降，水平上接近了橡胶保护套，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，高度上接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 2.75489701333336 + }, + { + "action_description": "爪夹继续向右前方移动，随后下降", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.20496715652707234, + "id": "bbox_1768875817811_1769152693821_uwzrs87xb", + "width": 0.152141962949987, + "x": 0.6339247972603179, + "y": 0.2956821165302141 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向正前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了橡胶保护套，方便抓取。", + "frame": 121, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了橡胶保护套，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹合拢抓取橡胶保护套。", + "time": 4.0175586796302625 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.185949585302911, + "id": "bbox_1768875817811_1769152686118_6u4vrlu06", + "width": 0.14421790237967508, + "x": 0.6434336699446922, + "y": 0.29709083625737814 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住橡胶保护套向上抬升，随后向正前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹与桌面形成一定的角度，橡胶保护套在银色物品的空隙里，容易抓取。", + "frame": 159, + "progress": 40, + "progress_explanation": "爪夹合拢夹住了银色物品，橡胶保护套在银色物品的空隙里，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住银色物品，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹抓住橡胶保护套向上抬升，随后向正前方移动，接近蓝色储物盒。", + "time": 5.313 + }, + { + "action_description": "爪夹夹住橡胶保护套向上抬升", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.2070802199964236, + "id": "bbox_1768875817811_1769152678309_rwtqhfq8x", + "width": 0.15055715083592452, + "x": 0.6386792336025051, + "y": 0.28934292612216034 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向正前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住橡胶保护套向上抬升，脱离桌面，方便接近蓝色储物盒。", + "frame": 210, + "progress": 50, + "progress_explanation": "爪夹夹住橡胶保护套向上抬升，脱离桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，橡胶保护套脱离桌面，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向正前方移动，接近蓝色储物盒。", + "time": 7.002031709059303 + }, + { + "action_description": "爪夹向上抬升，随后爪夹张开", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.05493965020313283, + "id": "bbox_1768875812706_1769152662710_8gcu2b18h", + "width": 0.03962030285155915, + "x": 0.7527857058149953, + "y": 0.5422061987021245 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.20285409305772106, + "id": "bbox_1768875817811_1769152659198_y7g8pc78u", + "width": 0.14580271449373744, + "x": 0.6418488578306298, + "y": 0.3013169631960807 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套，爪夹合拢抓取橡胶保护套，爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹张开，橡胶保护套落在桌面上，需重新抓取橡胶保护套。", + "frame": 258, + "progress": 10, + "progress_explanation": "爪夹张开，橡胶保护套落在桌面上，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开状态，水平上接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 8.602 + }, + { + "action_description": "爪夹向右前方轻微移动并下降", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.046487396325727674, + "id": "bbox_1768875812706_1769152647166_4fsi7mqw1", + "width": 0.04912917553593328, + "x": 0.7480312694728082, + "y": 0.5485453891101782 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.185949585302911, + "id": "bbox_1768875817811_1769152652529_upw4bvu37", + "width": 0.13470902969530094, + "x": 0.6545273547431287, + "y": 0.3097692170734857 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套，爪夹合拢抓取橡胶保护套，爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方轻微移动并下降，缩短了与橡胶保护套的距离。", + "frame": 337, + "progress": 15, + "progress_explanation": "爪夹向右前方轻微移动并下降，水平上接近了橡胶保护套，因此任务进度为15%。", + "state_description": "爪夹当前为张开状态，高度上接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 11.247 + }, + { + "action_description": "爪夹向右前方移动并下降", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.03803514244832276, + "id": "bbox_1768875812706_1769152640702_6x36yvbmw", + "width": 0.04437473919374622, + "x": 0.7527857058149953, + "y": 0.5506584525795295 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.18806264877226225, + "id": "bbox_1768875817811_1769152637526_hjnw8q9g7", + "width": 0.14738752660779983, + "x": 0.6418488578306298, + "y": 0.2992038997267294 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取橡胶保护套，爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了橡胶保护套，方便抓取。", + "frame": 380, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了橡胶保护套，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹合拢抓取橡胶保护套。", + "time": 12.65 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.04226126938702516, + "id": "bbox_1768875812706_1769152627478_2k66g4k6g", + "width": 0.028526618053122555, + "x": 0.7527857058149953, + "y": 0.5407974789749604 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.1817234583642085, + "id": "bbox_1768875817811_1769152632039_y7m1l9jsf", + "width": 0.139463466037488, + "x": 0.6497729184009416, + "y": 0.3013169631960807 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹合拢夹住了银色物品，橡胶保护套在银色物品的空隙里会使爪夹更容易抓住。", + "frame": 412, + "progress": 40, + "progress_explanation": "爪夹合拢夹住了银色物品，橡胶保护套在银色物品的空隙里，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住银色物品，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向上抬升，随后爪夹向左前方移动，接近蓝色储物盒。", + "time": 13.731 + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向上抬升，橡胶保护套脱离桌面，容易接近蓝色储物盒。", + "frame": 433, + "progress": 50, + "progress_explanation": "爪夹向上抬升，橡胶保护套脱离桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，橡胶保护套脱离桌面，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向左前方移动，接近蓝色储物盒。", + "time": 14.444 + }, + { + "action_description": "爪夹张开，随后轻微下降", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.05282658673378151, + "id": "bbox_1768875812706_1769152616343_nsc8gny3d", + "width": 0.03169624228124723, + "x": 0.7765578875259307, + "y": 0.5485453891101782 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.16481895060939836, + "id": "bbox_1768875817811_1769152613511_8z15vl35r", + "width": 0.1283697812390514, + "x": 0.6608666031993782, + "y": 0.31610840748153957 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右前方移动，随后下降，接近橡胶保护套，爪夹合拢抓取橡胶保护套，爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹张开，橡胶保护套落在桌面上，需重新抓取橡胶保护套。", + "frame": 487, + "progress": 10, + "progress_explanation": "爪夹张开，橡胶保护套落在桌面上，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开状态，水平上接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向右前方移动，随后下降，接近橡胶保护套。", + "time": 16.238 + }, + { + "action_description": "爪夹向右前方移动，随后下降", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.040148205917673964, + "id": "bbox_1768875812706_1769152602990_c4l69n7or", + "width": 0.03962030285155906, + "x": 0.7718034511837437, + "y": 0.554884579518232 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.17749733142550597, + "id": "bbox_1768875817811_1769152607344_yeofhdsjp", + "width": 0.14897233872186222, + "x": 0.6402640457165674, + "y": 0.31188228054283695 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取橡胶保护套；爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方轻微移动，接近了橡胶保护套，方便抓取。", + "frame": 524, + "progress": 20, + "progress_explanation": "爪夹向右前方轻微移动，接近了橡胶保护套，因此任务进度为20%。", + "state_description": "爪夹当前为张开状态，接近橡胶保护套，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹合拢抓取橡胶保护套。", + "time": 17.457 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.0464873963257278, + "id": "bbox_1768875812706_1769152591192_9wsyrv88v", + "width": 0.034865866509372, + "x": 0.7924060086665544, + "y": 0.563336833395637 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.1817234583642085, + "id": "bbox_1768875817811_1769152587799_fxhrtxwn9", + "width": 0.139463466037488, + "x": 0.6434336699446922, + "y": 0.3097692170734857 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住橡胶保护套向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹合拢夹住了银色物品，橡胶保护套在银色物品的空隙里会使爪夹更容易抓住。", + "frame": 544, + "progress": 40, + "progress_explanation": "爪夹合拢夹住了银色物品，橡胶保护套在银色物品的空隙里，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住银色物品，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹抓住橡胶保护套向上抬升，随后向左前方移动，接近蓝色储物盒。", + "time": 18.124 + }, + { + "action_description": "爪夹向上抬升，轻微向左移动", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.17749733142550597, + "id": "bbox_1768875817811_1769152579608_adk5rg8bz", + "width": 0.13470902969530094, + "x": 0.6545273547431287, + "y": 0.31188228054283695 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住银色物品向上抬升，轻微向左移动，接近了蓝色储物盒。", + "frame": 564, + "progress": 60, + "progress_explanation": "爪夹夹住银色物品向上抬升，接近蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，银色物品带着橡胶保护套脱离桌面，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹向左前方移动至蓝色储物盒上方，随后爪夹松开，橡胶保护套落入蓝色储物盒。", + "time": 18.814 + }, + { + "action_description": "爪夹向左前方移动并下降", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.19228877571096478, + "id": "bbox_1768875817811_1769152564200_odfs5uk2h", + "width": 0.14738752660779983, + "x": 0.6386792336025051, + "y": 0.3013169631960807 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，橡胶保护套落入蓝色储物盒", + "error_success_analysis": "爪夹夹住带着橡胶保护套的银色物品在蓝色储物盒的正上方，确保橡胶保护套落入蓝色储物盒。", + "frame": 603, + "progress": 80, + "progress_explanation": "爪夹夹住带着橡胶保护套的银色物品在蓝色储物盒的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为张开状态，在蓝色储物盒的正上方，为完成将橡胶保护套放入蓝色储物盒的任务，应当：爪夹松开，橡胶保护套落入蓝色储物盒。", + "time": 20.08779806886356 + }, + { + "action_description": "爪夹张开，随后向正后方移动", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.031695952040268933, + "id": "bbox_1768875812706_1769152547808_d3zm45cu1", + "width": 0.02218736959687311, + "x": 0.6973172818228125, + "y": 0.3717524014268595 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.19862796611901856, + "id": "bbox_1768875817811_1769152553000_3efz6b6v7", + "width": 0.15372677506404936, + "x": 0.6323399851462556, + "y": 0.2949777727880269 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，橡胶保护套落入蓝色储物盒。", + "frame": 642, + "progress": 100, + "progress_explanation": "爪夹松开，橡胶保护套落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，带着橡胶保护套的银色物品落入蓝色储物盒，爪夹完成将橡胶保护套放入蓝色储物盒的任务。", + "time": 21.388722209896734 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "橡胶保护套" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-101418-put-black screws-blue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-101418-put-black screws-blue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..afdd0918432f8a1166da96231e6aefb8122faaa3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-101418-put-black screws-blue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,534 @@ +{ + "task_description": "把黑色螺丝钉放进蓝色储物盒里\n准备开始移动：0%\n爪夹接近黑色螺丝钉：20%\n爪夹抓取黑色螺丝钉：40%\n爪夹抓紧黑色螺丝钉接近蓝色储物盒：60%\n爪夹将黑色螺丝钉移动至蓝色储物盒的正上方：80%\n爪夹松开，黑色螺丝钉落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹调整角度，随后爪夹向右前方移动，随后下降，接近黑色螺丝钉；随后爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向右前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触黑色螺丝钉，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹调整角度，随后爪夹向右前方移动并下降，接近黑色螺丝钉。", + "time": 1.2932711833453063, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769148347447_6kzhcz8qv", + "x": 0.6291703609181309, + "y": 0.5083971831925044 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769148349271_ethrvw729", + "x": 0.3851092953525269, + "y": 0.5147363736005581 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769148354145_z3wdq9vfw", + "x": 0.6767147243400018, + "y": 0.28229939197191933, + "width": 0.02377218171093549, + "height": 0.07395722142729415 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769148360367_bbpv0urfi", + "x": 0.7099957787353114, + "y": 0.09212367973030582, + "width": 0.13787865392342571, + "height": 0.18383652183355975 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动，随后下降", + "correction_plan": "爪夹继续向右前方移动，随后下降，接近黑色螺丝钉；随后爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向右前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，缩短了与黑色螺丝钉的距离。", + "frame": 64, + "progress": 10, + "progress_explanation": "爪夹向右前方移动并下降，水平上接近了黑色螺丝钉，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，水平上接近黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹继续下降并向右前方轻微移动，接近黑色螺丝钉。", + "time": 2.138871903297827, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769148333344_uip9lucpl", + "x": 0.5435905067587632, + "y": -0.0008511129211496772, + "width": 0.2076103869421697, + "height": 0.2007410295883698 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769148338927_xfea5xu4k", + "x": 0.546760130986888, + "y": 0.2696210111558118, + "width": 0.028526618053122555, + "height": 0.10565317346756307 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769148341361_ny9l2d02i", + "x": 0.3866941074665892, + "y": 0.5126233101312069 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769148343544_36p1rvngs", + "x": 0.6260007366900061, + "y": 0.506284119723153 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右前方移动，随后下降", + "correction_plan": "爪夹下降，爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向右前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了黑色螺丝钉，方便抓取。", + "frame": 86, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了黑色螺丝钉，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，接近了黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹继续下降，随后爪夹合拢抓取黑色螺丝钉。", + "time": 2.8518293730617175, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769148314187_nldmsw6de", + "x": 0.6275855488040685, + "y": 0.506284119723153 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769148316760_1smdjcbqf", + "x": 0.38986373169471394, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769148321440_poucu08zd", + "x": 0.44850177991502144, + "y": 0.360482740337916, + "width": 0.05546842399218273, + "height": 0.14157525244653446 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769148326496_jqasg6d6e", + "x": 0.41680553763377415, + "y": 0.0076011409562553684, + "width": 0.3359801681812211, + "height": 0.15636669673199333 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向右前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹下降，更加接近黑色螺丝钉，更容易抓取。", + "frame": 111, + "progress": 30, + "progress_explanation": "爪夹下降，更加接近黑色螺丝钉，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，紧挨着黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹合拢抓取黑色螺丝钉。", + "time": 3.6974300930142388, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769148293873_86dyx3q4l", + "x": 0.49446133122283, + "y": 0.001261950548201584, + "width": 0.3977878406296534, + "height": 0.18172345836420847 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769148304480_g3ozk6nmw", + "x": 0.4532562162572085, + "y": 0.4386660887039127, + "width": 0.07290135724686878, + "height": 0.17961039489485717 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769148306833_5227hucqn", + "x": 0.40254222860721284, + "y": 0.5105102466618556 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769148309625_0zic1ll7m", + "x": 0.6038133670931332, + "y": 0.506284119723153 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹抓住黑色螺丝钉向上抬升，随后向右前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹调整了角度接近垂直桌面，方便抓取黑色螺丝钉。", + "frame": 153, + "progress": 40, + "progress_explanation": "爪夹成功抓住黑色螺丝钉，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹抓住黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹向上抬升，随后向右前方移动，接近蓝色储物盒。", + "time": 5.106764626268441, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769148268081_llgnbk0id", + "x": 0.5261575735040773, + "y": 0.5105102466618556 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769148269921_irqclhba6", + "x": 0.4928765191087677, + "y": 0.5126233101312069 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769148279852_or4e0oakt", + "x": 0.48812208276658053, + "y": 0.457683659928074, + "width": 0.042789927079683834, + "height": 0.19228877571096478 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769148285457_sra4mg52l", + "x": 0.5911348701806342, + "y": 0.0054880774869041065, + "width": 0.35499791354996957, + "height": 0.185949585302911 + } + ] + } + } + }, + { + "action_description": "爪夹抓住黑色螺丝钉向上抬升", + "correction_plan": "爪夹向右前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹向上抬升，黑色螺丝钉脱离桌面，方便接近蓝色储物盒。", + "frame": 199, + "progress": 50, + "progress_explanation": "爪夹向上抬升，黑色螺丝钉脱离桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，黑色螺丝钉脱离桌面，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹向右前方移动，接近蓝色储物盒。", + "time": 6.648742409711273, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769148254993_f50ihullr", + "x": 0.4564258404853333, + "y": 0.03718402952717303, + "width": 0.3280561076109093, + "height": 0.3930298052993347 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769148258772_mdzd3gma8", + "x": 0.4865372706525181, + "y": 0.4640228503361278, + "width": 0.042789927079683834, + "height": 0.185949585302911 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769148260803_cfljanep8", + "x": 0.4928765191087677, + "y": 0.5041710562538018 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769148262730_j97mizjdg", + "x": 0.5245727613900149, + "y": 0.4999449293150992 + } + ] + } + } + }, + { + "action_description": "爪夹继续抬升，向右前方移动", + "correction_plan": "爪夹继续向右前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，接近蓝色储物盒，方便黑色螺丝钉落入蓝色储物盒。", + "frame": 212, + "progress": 60, + "progress_explanation": "爪夹向右前方移动，接近蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，接近蓝色储物盒，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹继续向右前方移动至蓝色储物盒的上方。", + "time": 7.079832972824324, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769148234706_x9oxlb0ci", + "x": 0.5261575735040773, + "y": 0.4999449293150992 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769148236970_o5ad1pkxo", + "x": 0.49129170699470526, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769148241274_j0wztx03u", + "x": 0.49129170699470526, + "y": 0.4597967233974253, + "width": 0.03645067862343439, + "height": 0.19862796611901856 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769148247562_n5qrkaryk", + "x": 0.34231936827284304, + "y": 0.2696210111558118, + "width": 0.3026991137859115, + "height": 0.38669061489128087 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右前方移动", + "correction_plan": "爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动至蓝色储物盒上方，使黑色螺丝钉更容易落入蓝色储物盒。", + "frame": 238, + "progress": 80, + "progress_explanation": "爪夹向右前方移动至蓝色储物盒上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，爪夹在蓝色储物盒的正上方，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "time": 7.942014099050423, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769148222668_qenjx82d9", + "x": 0.2789268837103485, + "y": 0.3351259787057009, + "width": 0.33281054395309645, + "height": 0.3993689957073884 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769148226698_5sp2mykwu", + "x": 0.4817828343103311, + "y": 0.46190978686677653, + "width": 0.05388361187812034, + "height": 0.1944018391803161 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769148228757_6un8rwrb9", + "x": 0.49446133122283, + "y": 0.5041710562538018 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769148230618_6y37lvmfq", + "x": 0.5245727613900149, + "y": 0.5020579927844505 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向左后方移动", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 100, + "progress_explanation": "爪夹松开，黑色螺丝钉落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开的状态，黑色螺丝钉落入蓝色储物盒，爪夹已完成把黑色螺丝钉放进蓝色储物盒里的任务。", + "time": 9.052901319380206, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769148183685_ukkuf8ace", + "x": 0.6260007366900061, + "y": 0.5091015269346915 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769148185707_qjedp5xsc", + "x": 0.39144854380877636, + "y": 0.5168494370699094 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769148205939_i5v1q6ixf", + "x": 0.5087246402493912, + "y": 0.33723904217505213, + "width": 0.06497729667655694, + "height": 0.059165777141835345 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769148212698_lulnttq0i", + "x": 0.3866941074665892, + "y": 0.15128945687214115, + "width": 0.2947750532155997, + "height": 0.38246448795257826 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "黑色螺丝钉" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-102145-put-black screws-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-102145-put-black screws-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..72e34e64a18e18f9e798551ebf8e503f2a2ab545 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-102145-put-black screws-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,364 @@ +{ + "task_description": "把黑色螺丝钉放进蓝色储物盒里\n准备开始移动：0%\n爪夹接近黑色螺丝钉：20%\n爪夹抓取黑色螺丝钉：40%\n爪夹抓紧黑色螺丝钉接近蓝色储物盒：60%\n爪夹将黑色螺丝钉移动至蓝色储物盒的正上方：80%\n爪夹松开，黑色螺丝钉落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹调整角度，随后爪夹向右前方移动，随后下降，接近黑色螺丝钉；随后爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左后方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触黑色螺丝钉，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹调整角度，随后爪夹向右前方移动并下降，接近黑色螺丝钉。", + "time": 1.5424760359462075, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769146030737_5wruzb8q9", + "x": 0.5879652459525094, + "y": 0.5675629603343396, + "width": 0.06814692090468162, + "height": 0.04226126938702516 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769146035192_n27lphlrv", + "x": 0.4389929072306472, + "y": 0.6013719758439598, + "width": 0.22662813231091805, + "height": 0.23666310856734127 + } + ] + } + } + }, + { + "action_description": "爪夹轻微抬升并调整角度，向正前方移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近黑色螺丝钉；随后爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左后方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹轻微抬升并向正前方移动，稍微缩短了与螺丝钉的距离。", + "frame": 78, + "progress": 5, + "progress_explanation": "爪夹轻微抬升并向正前方移动，稍微缩短了与螺丝钉的距离，因此任务进度提升为5%", + "state_description": "爪夹当前为张开状态，稍微接近黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹向右前方移动并下降，接近黑色螺丝钉。", + "time": 2.584, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769146010545_teks6kncf", + "x": 0.4389929072306472, + "y": 0.6055981027826624, + "width": 0.22662813231091805, + "height": 0.2197586008125312 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769146014617_518x6g7g7", + "x": 0.5958893065228212, + "y": 0.5696760238036909, + "width": 0.06656210879061923, + "height": 0.0464873963257278 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动，随后下降", + "correction_plan": "爪夹继续下降并向左前方轻微移动，接近黑色螺丝钉，随后爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左后方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，缩短了与黑色螺丝钉的距离。", + "frame": 104, + "progress": 10, + "progress_explanation": "爪夹向右前方移动并下降，水平上接近了黑色螺丝钉，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，高度上接近黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹继续下降并向左前方轻微移动，接近黑色螺丝钉。", + "time": 3.464250419221808, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769146004977_gr7plbsr1", + "x": 0.4469169678009591, + "y": 0.586580531558501, + "width": 0.2218736959687309, + "height": 0.2430022989753951 + } + ] + } + } + }, + { + "action_description": "爪夹轻微抬升，随后下降", + "correction_plan": "爪夹向左前方轻微移动，接近黑色螺丝钉，；", + "error_success_analysis": "爪夹下降，缩短了与黑色螺丝钉的距离。", + "frame": 131, + "progress": 15, + "progress_explanation": "爪夹下降，水平上接近了黑色螺丝钉，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，接近了黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹轻微向左侧移动，随后下降，爪夹合拢抓取黑色螺丝钉。", + "time": 4.374564600773408, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769145999497_awi5o94q1", + "x": 0.43740809511658485, + "y": 0.6119372931907161, + "width": 0.2202888838546686, + "height": 0.21975860081253107 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，随后爪夹向上抬升", + "correction_plan": "爪夹张开，随后向左前方移动并下降，接近黑色螺丝钉；随后爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左后方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹有抓取动作，但没有抓到，导致稍微远离黑色螺丝钉。", + "frame": 172, + "progress": 10, + "progress_explanation": "爪夹向上抬升，稍微远离黑色螺丝钉，因此任务进度倒退为10%。", + "state_description": "爪夹当前为合拢状态，稍微远离黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹张开，随后向左前方移动并下降，接近黑色螺丝钉。", + "time": 5.745599, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769145994145_6mx29uz7n", + "x": 0.4294840345462731, + "y": 0.6055981027826624, + "width": 0.2218736959687309, + "height": 0.22821085468993624 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后下降", + "correction_plan": "爪夹向左侧移动并下降，接近黑色螺丝钉；随后爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左后方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹下降，爪夹在黑色螺丝钉的上方，方便抓取。", + "frame": 218, + "progress": 15, + "progress_explanation": "爪夹下降，爪夹在黑色螺丝钉的上方，因此任务进度提升为15%。", + "state_description": "爪夹当前为合拢状态，爪夹在黑色螺丝钉的上方，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹轻微向左侧移动并下降，接近黑色螺丝钉。", + "time": 7.25722617568681, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769145989344_k87u4fv3x", + "x": 0.42472959820408596, + "y": 0.6041893830554982, + "width": 0.22504332019685566, + "height": 0.23243698162863874 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向左侧移动，随后抬升又下降", + "correction_plan": "爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左后方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹轻微向左侧移动，接近了黑色螺丝钉，更加方便抓取。", + "frame": 254, + "progress": 20, + "progress_explanation": "爪夹轻微向左侧移动，接近了黑色螺丝钉，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，接近了黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹合拢抓取黑色螺丝钉。", + "time": 8.4664, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769145984593_jt5ghdtk1", + "x": 0.4183903497478365, + "y": 0.5992589123746085, + "width": 0.21870407174060622, + "height": 0.23877617203669257 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹抓住黑色螺丝钉向上抬升，随后向左后方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹调整了角度，方便抓取黑色螺丝钉。", + "frame": 293, + "progress": 40, + "progress_explanation": "爪夹成功抓住黑色螺丝钉，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹抓住黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹向上抬升，随后向左后方移动，接近蓝色储物盒。", + "time": 9.76059017495371, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769145978482_b60vkeovy", + "x": 0.41522072551971184, + "y": 0.5999632561167957, + "width": 0.22345850808279327, + "height": 0.23243698162863874 + } + ] + } + } + }, + { + "action_description": "爪夹抓住黑色螺丝钉向上抬升", + "correction_plan": "爪夹向左后方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹向上抬升，黑色螺丝钉脱离桌面，方便接近蓝色储物盒。", + "frame": 347, + "progress": 50, + "progress_explanation": "爪夹向上抬升，黑色螺丝钉脱离桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，黑色螺丝钉脱离桌面，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹向左后方移动，接近蓝色储物盒。", + "time": 11.566666666666666, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769145973650_er1242hrs", + "x": 0.41522072551971184, + "y": 0.5992589123746085, + "width": 0.22504332019685558, + "height": 0.22821085468993624 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向左后方移动", + "correction_plan": "爪夹继续向左后方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹向左后方移动，接近蓝色储物盒，方便黑色螺丝钉落入蓝色储物盒。", + "frame": 371, + "progress": 60, + "progress_explanation": "爪夹向左后方移动，接近蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，接近蓝色储物盒，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹继续向左后方移动至蓝色储物盒的上方。", + "time": 12.365100194393015, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769145961603_ee18aw8fs", + "x": 0.41522072551971184, + "y": 0.5971458489052572, + "width": 0.22504332019685558, + "height": 0.2239847277512337 + } + ] + } + } + }, + { + "action_description": "爪夹继续向左后方移动", + "correction_plan": "爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹向左后方移动至蓝色储物盒上方，使黑色螺丝钉更容易落入蓝色储物盒。", + "frame": 386, + "progress": 80, + "progress_explanation": "爪夹向左后方移动至蓝色储物盒上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，爪夹在蓝色储物盒的正上方，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "time": 12.8744, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769145952817_g8yim2786", + "x": 0.4183903497478365, + "y": 0.6013719758439598, + "width": 0.2218736959687309, + "height": 0.2260977912205849 + } + ] + } + } + }, + { + "action_description": "爪夹张开并向左后方移动", + "correction_plan": "", + "error_success_analysis": "爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "frame": 435, + "progress": 100, + "progress_explanation": "爪夹松开，黑色螺丝钉落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开的状态，黑色螺丝钉落入蓝色储物盒，爪夹已完成把黑色螺丝钉放进蓝色储物盒里的任务。", + "time": 14.489166618013414, + "annotations": { + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769145929716_nh29z3hia", + "x": 0.40254222860721284, + "y": 0.5154407173427452 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769145941115_b3c8z6p49", + "x": 0.5023853917931418, + "y": 0.6837814511486591, + "width": 0.061807672448432174, + "height": 0.04437433285637648 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769145946697_kk1mqf73g", + "x": 0.4183903497478365, + "y": 0.5971458489052572, + "width": 0.21711925962654383, + "height": 0.2239847277512337 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "黑色螺丝钉" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-103601-put-black screws-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-103601-put-black screws-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..dfd5acf4d4112213b9494380473005e600cdd28b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-103601-put-black screws-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,342 @@ +{ + "task_description": "把黑色螺丝钉放进蓝色储物盒里\n准备开始移动：0%\n爪夹接近黑色螺丝钉：20%\n爪夹抓取黑色螺丝钉：40%\n爪夹抓紧黑色螺丝钉接近蓝色储物盒：60%\n爪夹将黑色螺丝钉移动至蓝色储物盒的正上方：80%\n爪夹松开，黑色螺丝钉落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹调整角度，随后爪夹向右前方移动，随后下降，接近黑色螺丝钉；随后爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触黑色螺丝钉，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹调整角度，随后爪夹向右前方移动并下降，接近黑色螺丝钉。", + "time": 1.4348424218455305, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769138455373_u5vzqcusv", + "x": 0.5705323126978235, + "y": 0.6140503566600674, + "width": 0.034865866509372, + "height": 0.0718441579579429 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769138460117_3l9e5vq5x", + "x": 0.4992157675650171, + "y": 0.3097692170734857, + "width": 0.16323564774842342, + "height": 0.2451153624447464 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升并调整角度，随后向正前方移动。", + "correction_plan": "爪夹向右前方移动，随后下降，接近黑色螺丝钉；随后爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹轻微抬升并向正前方移动，稍微缩短了与螺丝钉的距离。", + "frame": 66, + "progress": 10, + "progress_explanation": "爪夹轻微抬升并向正前方移动，稍微缩短了与螺丝钉的距离，因此任务进度提升为10%", + "state_description": "爪夹当前为张开状态，稍微接近黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹向右前方移动并下降，接近黑色螺丝钉。", + "time": 2.205, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769138435750_sac4noye4", + "x": 0.564193064241574, + "y": 0.6119372931907161, + "width": 0.03962030285155915, + "height": 0.08663560224340164 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769138442053_5amy1u6sm", + "x": 0.49287651910876756, + "y": 0.31399534401218826, + "width": 0.1648204598624859, + "height": 0.23877617203669252 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹下降，接近黑色螺丝钉；随后爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，缩短了与黑色螺丝钉的距离。", + "frame": 81, + "progress": 15, + "progress_explanation": "爪夹向右前方移动并下降，在黑色螺丝钉的上方，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，爪夹在黑色螺丝钉的上方，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹下降，接近黑色螺丝钉。", + "time": 2.707485603291025, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769138422869_h70wnu2rx", + "x": 0.5023853917931418, + "y": 0.31399534401218826, + "width": 0.15531158717811167, + "height": 0.23877617203669252 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769138426534_mmw5fi74m", + "x": 0.5705323126978235, + "y": 0.6182764835987699, + "width": 0.03962030285155915, + "height": 0.0739572214272942 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹下降，接近黑色螺丝钉，方便抓取。", + "frame": 92, + "progress": 20, + "progress_explanation": "爪夹下降，接近黑色螺丝钉，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，爪夹接近黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹合拢抓取黑色螺丝钉。", + "time": 3.0675, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769138415358_gjklus2fh", + "x": 0.5134790765915784, + "y": 0.30343002666543195, + "width": 0.14580271449373744, + "height": 0.25356761632215136 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，向右前方轻微移动，随后爪夹合拢，抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹合拢，抓取了错误的物品，需重新抓取。", + "frame": 113, + "progress": -10, + "progress_explanation": "爪夹合拢，抓取错误的物品，因此任务进度倒退为-10%。", + "state_description": "爪夹当前为合拢状态，爪夹抓住手电筒，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹张开，向右前方轻微移动，随后爪夹合拢，抓取黑色螺丝钉。", + "time": 3.78, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769138402005_5de9ddo5i", + "x": 0.5087246402493912, + "y": 0.31188228054283695, + "width": 0.152141962949987, + "height": 0.24511536244474635 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769138405510_xll6x80i0", + "x": 0.5752867490400105, + "y": 0.6330679278842287, + "width": 0.03011143016718485, + "height": 0.057052713672484025 + } + ] + } + } + }, + { + "action_description": "爪夹轻微抬升", + "correction_plan": "爪夹张开，向右前方轻微移动并下降，随后爪夹合拢，抓取黑色螺丝钉，爪夹抓住黑色螺丝钉向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹抓住错误的物品，导致做出了错误动作，稍微远离黑色螺丝钉。", + "frame": 135, + "progress": -20, + "progress_explanation": "爪夹抓住手电筒轻微抬升，稍微远离黑色螺丝钉，因此任务进度倒退为-20%。", + "state_description": "爪夹当前为合拢状态，爪夹稍微远离黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹张开，向右前方轻微移动并下降，随后爪夹合拢，抓取黑色螺丝钉。", + "time": 4.4925, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769138388487_7r09c99w0", + "x": 0.5752867490400105, + "y": 0.6225026105374724, + "width": 0.03169624228124723, + "height": 0.06761803101924038 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769138395439_q32huhlnr", + "x": 0.5087246402493912, + "y": 0.31188228054283695, + "width": 0.152141962949987, + "height": 0.24088923550604383 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹张开，随后下降，接近黑色螺丝钉，随后爪夹合拢，抓取黑色螺丝钉，爪夹抓住黑色螺丝钉向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹抓取错误的物品，做出了远离黑色螺丝钉的动作。", + "frame": 167, + "progress": -30, + "progress_explanation": "爪夹夹住手电筒向上抬升，远离黑色螺丝钉，因此任务进度倒退为-30%。", + "state_description": "爪夹当前为合拢状态，爪夹远离黑色螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹张开，随后下降，接近黑色螺丝钉。", + "time": 5.577171208511256, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769138370303_vvgwtxyot", + "x": 0.5673626884696987, + "y": 0.6119372931907161, + "width": 0.041205114965621445, + "height": 0.08240947530469912 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769138375790_n0issnk7b", + "x": 0.4992157675650171, + "y": 0.3182214709508908, + "width": 0.1616508356343611, + "height": 0.2303239181592875 + } + ] + } + } + }, + { + "action_description": "爪夹向正前方移动，随后向左偏移并下降", + "correction_plan": "爪夹张开，随后向右后方移动，接近黑色螺丝钉，随后爪夹合拢，抓取黑色螺丝钉，爪夹抓住黑色螺丝钉向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住手电筒在蓝色储物盒的正上方，更加远离了黑色螺丝钉。", + "frame": 182, + "progress": -40, + "progress_explanation": "爪夹夹住手电筒向正前方移动并下降，在蓝色储物盒的正上方，因此任务进度倒退为-40%。", + "state_description": "爪夹当前为合拢状态，爪夹在蓝色储物盒的正上方，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹张开，随后向右后方移动，接近黑色螺丝钉。", + "time": 6.051293178069381, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769138362121_r3k1gm3je", + "x": 0.5229879492759525, + "y": 0.3013169631960807, + "width": 0.13470902969530094, + "height": 0.25568067979150266 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769138365743_wqhujtlta", + "x": 0.5768715611540729, + "y": 0.6140503566600674, + "width": 0.03169624228124723, + "height": 0.0718441579579429 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向正后方移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近黑色螺丝钉；随后爪夹合拢抓取黑色螺丝钉；爪夹抓住黑色螺丝钉向上抬升，随后向左前方移动至蓝色储物盒上方，随后爪夹松开，黑色螺丝钉落入蓝色储物盒。", + "error_success_analysis": "爪夹松开，致使手电筒落在蓝色储物盒里，任务失败，因此任务需重新开始。", + "frame": 204, + "progress": -50, + "progress_explanation": "爪夹松开，手电筒落在蓝色储物盒里，因此任务进度倒退为-50%。", + "state_description": "爪夹当前为张开状态，没有接近螺丝钉，为完成把黑色螺丝钉放进蓝色储物盒里的任务，应当：爪夹向右前方移动，随后下降，接近黑色螺丝钉。", + "time": 6.79990681421379, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769138350047_qi6quhmy8", + "x": 0.5673626884696987, + "y": 0.6126416369329033, + "width": 0.03962030285155906, + "height": 0.07184415795794277 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769138355375_sssvyfkbt", + "x": 0.5071398281353289, + "y": 0.3097692170734857, + "width": 0.152141962949987, + "height": 0.2451153624447463 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "黑色螺丝钉" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-104356-put-hexagon socket combination screw-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-104356-put-hexagon socket combination screw-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..53c49303825bc7a56901c0c9da629001d60cf632 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-104356-put-hexagon socket combination screw-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,278 @@ +{ + "task_description": "将六角套筒组合螺丝放入蓝色储物盒中\n准备开始移动：0%\n爪夹接近螺丝：20%\n爪夹抓取螺丝：40%\n爪夹抓紧螺丝接近蓝色储物盒：60%\n爪夹将螺丝移动至蓝色储物盒的正上方：80%\n爪夹松开，螺丝落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹调整角度，随后爪夹向右前方移动，随后下降，接近螺丝；随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向左侧移动至蓝色储物盒上方，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触螺丝，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹调整角度，随后爪夹向右前方移动并下降，接近螺丝。", + "time": 1.1345651313490082, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769134244038_ee1h0gdv3", + "x": 0.5420056946447008, + "y": 0.29286470931867564, + "width": 0.221873695968731, + "height": 0.26201987019955636 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769134252141_2vm0nog3u", + "x": 0.7622945784993694, + "y": 0.5506584525795295, + "width": 0.02218736959687311, + "height": 0.03803514244832276 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1769134254366_ifu17skm8", + "x": 0.38827891958065164, + "y": 0.5992589123746085 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769134257465_l2g1midfo", + "x": 0.5039702039072042, + "y": 0.6309548644148774 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，随后爪夹向右前方移动并下降", + "correction_plan": "爪夹向右前方移动，随后下降，接近螺丝；随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向左侧移动至蓝色储物盒上方，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，缩短了与螺丝的距离。", + "frame": 60, + "progress": 15, + "progress_explanation": "爪夹向右前方移动并下降，水平上接近了螺丝，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，爪夹在螺丝上方，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向右前方移动并下降，接近螺丝。", + "time": 1.987333, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769134236414_b4uvjrzy5", + "x": 0.5499297552150126, + "y": 0.28863858237997314, + "width": 0.20127113848592026, + "height": 0.25568067979150266 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动，随后下降", + "correction_plan": "爪夹下降，爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向左侧移动至蓝色储物盒上方，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近螺丝，方便抓取。", + "frame": 75, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了螺丝，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，接近了螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹合拢抓取螺丝。", + "time": 2.507999, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769134228727_151o75pxr", + "x": 0.546760130986888, + "y": 0.2949777727880269, + "width": 0.22028888385466852, + "height": 0.2620198701995564 + } + ] + } + } + }, + { + "action_description": "爪夹继续下降", + "correction_plan": "爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向左侧移动至蓝色储物盒上方，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹下降，更加接近螺丝，方便一次抓取成功。", + "frame": 90, + "progress": 30, + "progress_explanation": "爪夹下降，更加接近了螺丝，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开的状态，更加接近了螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹合拢抓取螺丝。", + "time": 3.001108379292854, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769134221711_rm0bbk46a", + "x": 0.546760130986888, + "y": 0.29779517999956534, + "width": 0.21870407174060622, + "height": 0.2514545528528001 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹抓住螺丝向上抬升，随后向左侧移动至蓝色储物盒上方，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹调整了角度，更容易抓住螺丝。", + "frame": 117, + "progress": 40, + "progress_explanation": "爪夹成功夹住螺丝，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹夹住螺丝向上抬升，随后向左侧移动，接近蓝色储物盒。", + "time": 3.901333, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769134208104_qf1tywsfw", + "x": 0.5372512583025139, + "y": 0.3013169631960807, + "width": 0.22662813231091797, + "height": 0.25356761632215147 + } + ] + } + } + }, + { + "action_description": "爪夹夹住螺丝向上抬升", + "correction_plan": "爪夹向左侧移动至蓝色储物盒上方，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住螺丝向上抬升，稍微接近了蓝色储物盒。", + "frame": 137, + "progress": 50, + "progress_explanation": "爪夹夹住螺丝向上抬升，稍微接近了蓝色储物盒，因此任务进度提升为50%。", + "state_description": "爪夹当前为张开状态，爪夹夹住螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向左侧移动，接近蓝色储物盒。", + "time": 4.550461271376961, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769134199944_pq4wr267j", + "x": 0.546760130986888, + "y": 0.29286470931867564, + "width": 0.22028888385466852, + "height": 0.26624599713825886 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "爪夹向左侧移动至蓝色储物盒上方，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向左侧移动，接近了蓝色储物盒。", + "frame": 158, + "progress": 60, + "progress_explanation": "爪夹左侧移动，接近了蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，螺丝接近蓝色储物盒，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向左侧移动至蓝色储物盒正上方。", + "time": 5.257999, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769134192896_z4kj8zdly", + "x": 0.546760130986888, + "y": 0.2949777727880269, + "width": 0.20285595059998257, + "height": 0.24934148938344886 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹继续向左侧移动，爪夹使螺丝在蓝色储物盒上方。", + "frame": 179, + "progress": 80, + "progress_explanation": "爪夹继续向左侧移动，爪夹在蓝色储物盒上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，螺丝在蓝色储物盒正上方，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹松开，螺丝落入蓝色储物盒。", + "time": 5.977817872745785, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769134179161_8hk3woixm", + "x": 0.5388360704165762, + "y": 0.29286470931867564, + "width": 0.2218736959687309, + "height": 0.25779374326085397 + } + ] + } + } + }, + { + "action_description": "爪夹松开，随后向正后方移动", + "correction_plan": "", + "error_success_analysis": "爪夹松开，螺丝落入蓝色储物盒。", + "frame": 203, + "progress": 100, + "progress_explanation": "爪夹松开，螺丝落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，爪夹远离蓝色储物盒，爪夹已完成将六角套筒组合螺丝放入蓝色储物盒中的任务。", + "time": 6.77079376239513, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769134166770_7lo5e0ayp", + "x": 0.5578538157853246, + "y": 0.2956821165302141, + "width": 0.20285595059998257, + "height": 0.24934148938344886 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "螺丝" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-105040-put-hexagon socket combination screw-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-105040-put-hexagon socket combination screw-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..90b3340be5f9d9c5b54b8c6c5e0f9434f90c3764 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-105040-put-hexagon socket combination screw-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,340 @@ +{ + "task_description": "将六角套筒组合螺丝放入蓝色储物盒中\n准备开始移动：0%\n爪夹接近螺丝：20%\n爪夹抓取螺丝：40%\n爪夹抓紧螺丝接近蓝色储物盒：60%\n爪夹将螺丝移动至蓝色储物盒的正上方：80%\n爪夹松开，螺丝落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近螺丝；随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触螺丝，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向右前方移动并下降，接近螺丝。", + "time": 1.2543431480905163, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769132327863_7k285psw3", + "x": 0.6973172818228125, + "y": 0.4914926754376942, + "width": 0.017432933254686044, + "height": 0.031695952040268933 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769132334663_6d9soq90y", + "x": 0.75595533004312, + "y": 0.33723904217505213, + "width": 0.1759141446609223, + "height": 0.23877617203669257 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1769132380398_jnrwttw8l", + "x": 0.611737427663445, + "y": 0.6203895470681212 + } + ] + } + } + }, + { + "action_description": "爪夹向正前方移动并调整角度", + "correction_plan": "爪夹向右前方移动，随后下降，接近螺丝；随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向正前方移动，缩短了与螺丝的距离。", + "frame": 62, + "progress": 10, + "progress_explanation": "爪夹向正前方移动并下降，水平上接近了螺丝，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，开始接近螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向右前方移动并下降，接近螺丝。", + "time": 2.0648, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769132313944_aegmtgnrf", + "x": 0.7654642027274943, + "y": 0.34569129605245713, + "width": 0.1759141446609224, + "height": 0.23032391815928754 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769132318072_1mzrxzlxh", + "x": 0.6989020939368749, + "y": 0.4914926754376942, + "width": 0.02218736959687311, + "height": 0.040148205917673964 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，接近螺丝，方便抓取。", + "frame": 84, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了螺丝，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，接近了螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹合拢抓取螺丝。", + "time": 2.7956, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769132305912_sols9x2wl", + "x": 0.7781426996399932, + "y": 0.3351259787057009, + "width": 0.15848121140623644, + "height": 0.24088923550604383 + } + ] + } + } + }, + { + "action_description": "爪夹继续下降", + "correction_plan": "爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹更加接近了螺丝，更容易抓取成功。", + "frame": 109, + "progress": 30, + "progress_explanation": "爪夹下降，更加接近了螺丝，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开的状态，更加接近了螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹合拢抓取螺丝。", + "time": 3.6308, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769132300863_q2tx4qszd", + "x": 0.7781426996399932, + "y": 0.34569129605245713, + "width": 0.15689639929217397, + "height": 0.23243698162863874 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹合拢，距离螺丝非常近，会更容易一次抓取成功。", + "frame": 135, + "progress": 37, + "progress_explanation": "爪夹合拢，还没有抓住螺丝，因此任务进度提升为37%。", + "state_description": "爪夹当前为合拢状态，爪夹紧挨着螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹张开，随后爪夹合拢抓取螺丝。", + "time": 4.500799, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769132295063_ho6b5vjwu", + "x": 0.7702186390696812, + "y": 0.34146516911375463, + "width": 0.16640527197654825, + "height": 0.23455004509799007 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后张开", + "correction_plan": "爪夹下降，接近螺丝；随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹抓取失败，爪夹做出抬升的动作，需重新抓取。", + "frame": 173, + "progress": 15, + "progress_explanation": "爪夹向上抬升，稍微远离了螺丝，因此任务进度倒退为15%。", + "state_description": "爪夹当前为张开的状态，爪夹在螺丝上方，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹下降，接近螺丝。", + "time": 5.769980601313587, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769132290240_lduphybac", + "x": 0.773388263297806, + "y": 0.34146516911375463, + "width": 0.1616508356343611, + "height": 0.23455004509799007 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向正前方移动并下降，爪夹轻微合拢", + "correction_plan": "爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向正前方移动，接近螺丝，方便抓取。", + "frame": 201, + "progress": 20, + "progress_explanation": "爪夹向正前方移动并下降，接近了螺丝，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，接近了螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹合拢抓取螺丝。", + "time": 6.7048, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769132283689_v5ibzhh49", + "x": 0.7718034511837437, + "y": 0.34146516911375463, + "width": 0.16323564774842342, + "height": 0.23666310856734127 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹调整了角度，更容易抓住螺丝。", + "frame": 240, + "progress": 40, + "progress_explanation": "爪夹成功夹住螺丝，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹夹住螺丝向上抬升，随后向右侧移动，接近蓝色储物盒。", + "time": 8.008501731971178, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769132272976_4fsd8cvlo", + "x": 0.7718034511837437, + "y": 0.3435782325831059, + "width": 0.1648204598624859, + "height": 0.23666310856734132 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后轻微向右侧移动", + "correction_plan": "爪夹向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹抬升并向右侧移动，接近了蓝色储物盒。", + "frame": 278, + "progress": 60, + "progress_explanation": "爪夹抬升并向右侧移动，接近了蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，螺丝接近蓝色储物盒，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向右侧移动至蓝色储物盒正上方。", + "time": 9.262845468977586, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769132199506_5wiwjydg7", + "x": 0.7765578875259307, + "y": 0.3393521056444034, + "width": 0.1600660235202988, + "height": 0.24088923550604383 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动至蓝色储物盒上方，随后下降", + "correction_plan": "爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向右侧移动并下降，爪夹使螺丝在蓝色储物盒上方。", + "frame": 299, + "progress": 80, + "progress_explanation": "爪夹向右侧移动并下降，爪夹在蓝色储物盒上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，螺丝在蓝色储物盒正上方，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹松开，螺丝落入蓝色储物盒。", + "time": 9.976856519273541, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769132192177_ckjy7zz6n", + "x": 0.7702186390696812, + "y": 0.3351259787057009, + "width": 0.16165083563436103, + "height": 0.24300229897539502 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后轻微向上抬升并向左侧移动", + "correction_plan": "", + "error_success_analysis": "爪夹松开，螺丝落入蓝色储物盒。", + "frame": 328, + "progress": 100, + "progress_explanation": "爪夹松开，螺丝落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，爪夹远离蓝色储物盒，爪夹已完成将六角套筒组合螺丝放入蓝色储物盒中的任务。", + "time": 10.941736316970779, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769132177162_oncut4rdt", + "x": 0.7813123238681178, + "y": 0.3421695128559418, + "width": 0.15372677506404928, + "height": 0.23877617203669257 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769132228233_822jmf1lt", + "x": 0.8304414994040512, + "y": 0.4872665484989917, + "width": 0.020602557482810722, + "height": 0.04648739632572774 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "螺丝" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-105040-put-hexagon socket combination screw-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-105040-put-hexagon socket combination screw-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..aedd1d9128aea66e3816155176bb4bc4f21dd37c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-105040-put-hexagon socket combination screw-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,402 @@ +{ + "task_description": "将六角套筒组合螺丝放入蓝色储物盒中\n准备开始移动：0%\n爪夹接近螺丝：20%\n爪夹抓取螺丝：40%\n爪夹抓紧螺丝接近蓝色储物盒：60%\n爪夹将螺丝放入蓝色储物盒：80%\n爪夹松开，螺丝落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近螺丝；随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触螺丝，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向右前方移动并下降，接近螺丝。", + "time": 1.350830980631267, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769074991789_w30airhbk", + "x": 0.5483449431009504, + "y": 0.5802413411504472, + "width": 0.02694180593906017, + "height": 0.03592207897897145 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074996246_tqfmencki", + "x": 0.611737427663445, + "y": 0.5717890872730422, + "width": 0.22028888385466852, + "height": 0.23877617203669246 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹向右前方移动，随后下降，接近螺丝；随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，缩短了与螺丝的距离。", + "frame": 67, + "progress": 10, + "progress_explanation": "爪夹向右前方移动并下降，水平上接近了螺丝，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，开始接近螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹继续向右前方移动并下降，接近螺丝。", + "time": 2.2433447935012114, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074983146_d5354bxq7", + "x": 0.6180766761196944, + "y": 0.5696760238036909, + "width": 0.2218736959687309, + "height": 0.23877617203669257 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769074986669_73c1tllr2", + "x": 0.5515145673290751, + "y": 0.5739021507423934, + "width": 0.02694180593906017, + "height": 0.04437433285637648 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，接近螺丝，方便抓取。", + "frame": 99, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了螺丝，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，接近了螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹合拢抓取螺丝。", + "time": 3.3047125709681726, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074976703_954njrguj", + "x": 0.6180766761196944, + "y": 0.5675629603343396, + "width": 0.21711925962654383, + "height": 0.23877617203669246 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取螺丝", + "correction_plan": "爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹角度正确，更容易抓住螺丝。", + "frame": 139, + "progress": 40, + "progress_explanation": "爪夹成功夹住螺丝，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹夹住螺丝向上抬升，随后向右侧移动，接近蓝色储物盒。", + "time": 4.6255, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074969559_xfimavmcn", + "x": 0.6149070518915696, + "y": 0.5760152142117447, + "width": 0.21394963539841907, + "height": 0.2239847277512337 + } + ] + } + } + }, + { + "action_description": "爪夹夹住螺丝向上抬升。", + "correction_plan": "爪夹向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向上抬升，螺丝脱离了桌面，开始接近蓝色储物盒。", + "frame": 179, + "progress": 50, + "progress_explanation": "爪夹向上抬升，螺丝脱离了桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向右侧移动，接近蓝色储物盒。", + "time": 5.966666666666667, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074963823_xo71e6lu8", + "x": 0.6149070518915696, + "y": 0.5781282776810959, + "width": 0.21553444751248155, + "height": 0.22821085468993624 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹向前方移动并下降，接近螺丝，随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹张开，爪夹远离了螺丝，需重新抓取。", + "frame": 209, + "progress": 15, + "progress_explanation": "爪夹张开，爪夹远离了螺丝，因此任务进度倒退为15%。", + "state_description": "爪夹当前为张开状态，螺丝落在桌面上，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向前方移动并下降，接近螺丝。", + "time": 6.9745, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074958198_ftkudowmf", + "x": 0.6196614882337567, + "y": 0.5739021507423934, + "width": 0.21394963539841907, + "height": 0.22821085468993624 + } + ] + } + } + }, + { + "action_description": "爪夹向后方移动", + "correction_plan": "爪夹向右前方移动并下降，接近螺丝，随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向后方移动，远离了螺丝，需重新接近螺丝。", + "frame": 225, + "progress": 10, + "progress_explanation": "爪夹向后方移动，远离了螺丝，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开状态，爪夹远离螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向右前方移动并下降，接近螺丝。", + "time": 7.5, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074946134_jc211wda3", + "x": 0.6180766761196944, + "y": 0.5781282776810959, + "width": 0.21711925962654383, + "height": 0.22821085468993624 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1769074949903_wzkjfraf9", + "x": 0.5879652459525094, + "y": 0.5717890872730422, + "width": 0.02694180593906017, + "height": 0.038035142448322644 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹继续向右前方移动并下降，接近螺丝，随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，缩短了与螺丝的距离。", + "frame": 252, + "progress": 15, + "progress_explanation": "爪夹向右前方移动并下降，水平上接近了螺丝，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，开始接近螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹继续向右前方移动并下降，接近螺丝。", + "time": 8.41, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074939234_0j4hobnqp", + "x": 0.6180766761196944, + "y": 0.5717890872730422, + "width": 0.21711925962654383, + "height": 0.23455004509798993 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右前方移动并下降", + "correction_plan": "爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，接近螺丝，方便抓取。", + "frame": 282, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了螺丝，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，接近了螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹合拢抓取螺丝。", + "time": 9.383455296460768, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074933543_i3vm5ajeb", + "x": 0.6307551730321933, + "y": 0.5767195579539319, + "width": 0.21711925962654383, + "height": 0.2260977912205849 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取螺丝", + "correction_plan": "爪夹抓住螺丝向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹角度正确，更容易抓住螺丝。", + "frame": 324, + "progress": 40, + "progress_explanation": "爪夹成功夹住螺丝，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹夹住螺丝向上抬升，随后向右侧移动，接近蓝色储物盒。", + "time": 10.806652998064193, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074926260_u6us8s8mu", + "x": 0.6307551730321933, + "y": 0.5675629603343396, + "width": 0.23138256865310503, + "height": 0.23243698162863874 + } + ] + } + } + }, + { + "action_description": "爪夹抓住螺丝向上抬升", + "correction_plan": "爪夹抓住螺丝继续向上抬升，随后向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向上抬升，螺丝脱离了桌面，开始接近蓝色储物盒。", + "frame": 347, + "progress": 50, + "progress_explanation": "爪夹向上抬升，螺丝脱离了桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，螺丝脱离桌面，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹继续向上抬升向右侧移动，接近蓝色储物盒。", + "time": 11.5565, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074913564_70kxri0wf", + "x": 0.6370944214884428, + "y": 0.5739021507423934, + "width": 0.22662813231091805, + "height": 0.2218716642818824 + } + ] + } + } + }, + { + "action_description": "爪夹抓住螺丝继续向上抬升，随后向右侧移动", + "correction_plan": "爪夹向右侧移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹抬升并向右侧移动，接近了蓝色储物盒。", + "frame": 366, + "progress": 60, + "progress_explanation": "爪夹抬升并向右侧移动，接近了蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，螺丝接近蓝色储物盒，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向右侧移动至蓝色储物盒正上方。", + "time": 12.205728704725189, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074904160_2k1cjmlhj", + "x": 0.6402640457165674, + "y": 0.5739021507423934, + "width": 0.2202888838546686, + "height": 0.2239847277512337 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动至蓝色储物盒上方，随后下降", + "correction_plan": "爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向右侧移动并下降，爪夹使螺丝在蓝色储物盒上方。", + "frame": 381, + "progress": 80, + "progress_explanation": "爪夹向右侧移动并下降，爪夹在蓝色储物盒上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，螺丝在蓝色储物盒正上方，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹松开，螺丝落入蓝色储物盒。", + "time": 12.688168603573805, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074877481_3mj5j02rz", + "x": 0.6291703609181309, + "y": 0.5527715160488808, + "width": 0.2345521928812299, + "height": 0.24300229897539496 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向左后方移动", + "correction_plan": "", + "error_success_analysis": "爪夹松开，螺丝落入蓝色储物盒。", + "frame": 421, + "progress": 100, + "progress_explanation": "爪夹松开，螺丝落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，爪夹远离蓝色储物盒，爪夹已完成将六角套筒组合螺丝放入蓝色储物盒中的任务。", + "time": 14.033333333333333, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1769074870948_yy1uxz6pl", + "x": 0.6402640457165674, + "y": 0.5640411771378242, + "width": 0.2187040717406063, + "height": 0.23877617203669257 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "螺丝" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-105940-put-hexagon socket combination screw-blue-storage box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-105940-put-hexagon socket combination screw-blue-storage box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..bd4e791c4f3bd7ad20f6c8e48c6d48da9bdb6051 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-105940-put-hexagon socket combination screw-blue-storage box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,814 @@ +{ + "task_description": "将六角套筒组合螺丝放入蓝色储物盒中\n准备开始移动：0%\n爪夹接近螺丝：20%\n爪夹抓取螺丝：40%\n爪夹抓紧螺丝接近蓝色储物盒：60%\n爪夹将螺丝放入蓝色储物盒：80%\n爪夹松开，螺丝落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近螺丝；爪夹继续向右前方移动，随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触螺丝，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，平行于桌面，暂未移动，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹轻微向右偏移，随后向正前方移动并下降，接近螺丝。", + "time": 1.5092041309403716, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768876063564_8bo6kmsig", + "x": 0.6260007366900061, + "y": 0.506284119723153 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768876065668_8elpijme4", + "x": 0.3866941074665892, + "y": 0.5147363736005581 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768876070479_21z7xvd4b", + "x": 0.6196614882337567, + "y": 0.22947280523813782, + "width": 0.13629384180936333, + "height": 0.14791444285458827 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768876073868_g4xr8xfez", + "x": 0.6545273547431287, + "y": 0.47036204074418164, + "width": 0.01901774536874843, + "height": 0.035922078978971386 + } + ] + } + } + }, + { + "time": 2.683799, + "frame": 81, + "progress": 10, + "action_description": "爪夹轻微向右侧偏移，随后向正前方移动并下降", + "state_description": "爪夹当前为张开的状态，接近螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹继续向右前方移动并下降，接近螺丝。", + "progress_explanation": "爪夹向正前方移动并下降，水平上接近了螺丝，因此任务进度提升为10%。", + "error_success_analysis": "爪夹向正前方移动并下降，缩短了与螺丝的距离。", + "correction_plan": "爪夹继续向右前方移动并下降，接近螺丝；爪夹继续向右前方移动，随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768876051110_e3qe4urcj", + "x": 0.4976309554509547, + "y": 0.3308998517669984, + "width": 0.03803549073749668, + "height": 0.06339190408053787 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768876054877_sxiedxt33", + "x": 0.42472959820408596, + "y": 0.0033750140175528454, + "width": 0.244061065565604, + "height": 0.08663560224340171 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768876056845_y42k748u2", + "x": 0.38827891958065164, + "y": 0.5105102466618556 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768876059181_zqhyd7f54", + "x": 0.6291703609181309, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "time": 3.8673370847952575, + "frame": 116, + "progress": 20, + "action_description": "爪夹向右前方移动并下降", + "state_description": "爪夹当前为张开的状态，接近了螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹合拢抓取螺丝。", + "progress_explanation": "爪夹向右前方移动，接近了螺丝，因此任务进度提升为20%。", + "error_success_analysis": "爪夹向右前方移动，接近螺丝，方便抓取。", + "correction_plan": "爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768876035045_w6sdpycxu", + "x": 0.6307551730321933, + "y": 0.506284119723153 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768876037173_cdb73bw4b", + "x": 0.3930333559228387, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768876041926_n8y7lrpdl", + "x": 0.40254222860721284, + "y": 0.0033750140175528454, + "width": 0.31062317435622333, + "height": 0.12044461775302188 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768876044886_md6eijs7n", + "x": 0.47227396162595686, + "y": 0.4724751042135329, + "width": 0.05388361187812043, + "height": 0.0950878561208068 + } + ] + } + } + }, + { + "time": 5.250775084390124, + "frame": 158, + "progress": 40, + "action_description": "爪夹合拢抓住螺丝", + "state_description": "爪夹当前为合拢状态，爪夹夹住螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹夹住螺丝向上抬升，随后向正前方移动，接近蓝色储物盒。", + "progress_explanation": "爪夹成功夹住螺丝，因此任务进度提升为40%。", + "error_success_analysis": "爪夹角度正确，更容易抓住螺丝。", + "correction_plan": "爪夹抓住螺丝向上抬升，随后向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768876024326_dsc539e6r", + "x": 0.41997516186189887, + "y": 0.001261950548201584, + "width": 0.313792798584348, + "height": 0.12044461775302188 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768876027647_c5pb38gzt", + "x": 0.46276508894158275, + "y": 0.46613591380547903, + "width": 0.08874947838749234, + "height": 0.10354010999821182 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768876029597_0ch08puvd", + "x": 0.4817828343103311, + "y": 0.4999449293150992 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768876031685_gfqfzzqdg", + "x": 0.5340816340743891, + "y": 0.4999449293150992 + } + ] + } + } + }, + { + "action_description": "爪夹夹住螺丝向上抬升。", + "correction_plan": "爪夹向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向上抬升，螺丝脱离了桌面，开始接近蓝色储物盒。", + "frame": 199, + "progress": 50, + "progress_explanation": "爪夹向上抬升，螺丝脱离了桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向正前方移动，接近蓝色储物盒。", + "time": 6.6342130839849895, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768876009590_06bq3dcz0", + "x": 0.48336764642439345, + "y": 0.47036204074418164, + "width": 0.061807672448432174, + "height": 0.10142704652886056 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768876012349_qo01adjzj", + "x": 0.477028397968144, + "y": 0.5020579927844505 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768876014350_vxdx4hqb1", + "x": 0.5404208825306386, + "y": 0.5020579927844505 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768876018854_cx8ak25ta", + "x": 0.40254222860721284, + "y": 0.0054880774869041065, + "width": 0.291605428987475, + "height": 0.17749733142550594 + } + ] + } + } + }, + { + "time": 8.426394128914703, + "frame": 253, + "progress": 60, + "action_description": "爪夹向上轻微抬升，随后向正前方移动。", + "state_description": "爪夹当前为合拢状态，爪夹夹住螺丝接近蓝色储物盒，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹继续向正前方移动至储物盒正上方，随后下降，将螺丝放入蓝色储物盒。", + "progress_explanation": "爪夹向正前方移动，接近了蓝色储物盒，因此任务进度提升为60%。", + "error_success_analysis": "爪夹向正前方移动，接近了蓝色储物盒。", + "correction_plan": "爪夹向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768875997070_bg2zs4mrl", + "x": 0.36926117421190324, + "y": 0.352030486460511, + "width": 0.30903836224216097, + "height": 0.30216807611723034 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768875998983_mtlhb79ws", + "x": 0.477028397968144, + "y": 0.5020579927844505 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768876000526_4dwt0cgi6", + "x": 0.5420056946447008, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768876004534_4wn3kht90", + "x": 0.477028397968144, + "y": 0.46613591380547903, + "width": 0.07131654513280639, + "height": 0.09297479265145547 + } + ] + } + } + }, + { + "action_description": "爪夹松开", + "correction_plan": "爪夹下降，向正前方移动，接近螺丝，随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹松开，螺丝落在桌面，需重新接近螺丝并抓取。", + "frame": 271, + "progress": 0, + "progress_explanation": "爪夹松开，螺丝落在桌面，因此任务进度倒退为0.", + "state_description": "爪夹当前为张开状态，远离螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹下降，向正前方移动，接近螺丝。", + "time": 9.023787810557941, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768875980647_s1bkjmka6", + "x": 0.6053981792071954, + "y": 0.5083971831925044 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768875982287_mzjpr91vi", + "x": 0.41205110129158706, + "y": 0.5147363736005581 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768875985590_md1boxv5g", + "x": 0.48019802219626867, + "y": 0.6837814511486591, + "width": 0.03645067862343439, + "height": 0.06550496754988906 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768875990509_1t2cgy0v9", + "x": 0.3581674894134667, + "y": 0.3351259787057009, + "width": 0.3011143016718491, + "height": 0.31907258387204046 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动，随后下降，爪夹合拢", + "correction_plan": "爪夹张开，随后下降并向左前方移动，接近螺丝；随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，随后下降，缩短了与螺丝的距离。", + "frame": 317, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，随后下降，水平上接近了螺丝，因此任务进度提升为10%。", + "state_description": "爪夹当前为合拢状态，爪夹在螺丝上方，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹张开，随后下降并向左前方移动，接近螺丝。", + "time": 10.564434673743134, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768875961383_o6p1rd6kn", + "x": 0.43740809511658485, + "y": 0.46824897727483034, + "width": 0.041205114965621535, + "height": 0.0802964118353478 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768875971575_l9ut9hx9h", + "x": 0.25040026565722595, + "y": 0.07310610850614446, + "width": 0.4025422769718404, + "height": 0.36978610713647075 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768875974364_wohaa9v2g", + "x": 0.5008005796790794, + "y": 0.5041710562538018 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768875976735_q8ngi4dwy", + "x": 0.5182335129337654, + "y": 0.506284119723153 + } + ] + } + } + }, + { + "time": 12.32517394595478, + "frame": 370, + "progress": -20, + "action_description": "爪夹张开，随后下降，爪夹抓取杯子时带倒了杯子", + "state_description": "爪夹当前为合拢状态，爪夹远离螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹张开，爪夹张开，随后下降并向左前方移动，接近螺丝", + "progress_explanation": "爪夹抓取失败并抓错了物品，因此任务进度倒退为-20%。", + "error_success_analysis": "爪夹抓取失败并抓错了物品，需重新接近螺丝。", + "correction_plan": "爪夹张开，随后下降并向左前方移动，接近螺丝；随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768875936623_aresdp01x", + "x": 0.516648700819703, + "y": 0.5041710562538018 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768875939743_jc49dgjf4", + "x": 0.4976309554509547, + "y": 0.5105102466618556 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768875944799_lpw7g3742", + "x": 0.14263304190098527, + "y": 0.11748044136252096, + "width": 0.3534131014359071, + "height": 0.3317509646881481 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768875955079_190hzpbkz", + "x": 0.2947750048509722, + "y": 0.47458816768288414, + "width": 0.03962030285155906, + "height": 0.07184415795794283 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向爪夹左前方移动，随后下降。", + "correction_plan": "爪夹向正前方移动，接近螺丝，随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向左前方移动，缩短了与螺丝的距离。", + "frame": 406, + "progress": 15, + "progress_explanation": "爪夹向左前方移动，水平上接近了螺丝，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向正前方移动，接近螺丝。", + "time": 13.519961309241257, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768875917722_ow9wn88xa", + "x": 0.40095741649315053, + "y": 0.3266737248282958, + "width": 0.0586380482203074, + "height": 0.10565317346756307 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768875922184_zro6dugnq", + "x": 0.18542296898066907, + "y": 0.009714204425606622, + "width": 0.46910438576245966, + "height": 0.3106203299946354 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768875930369_ul43tj6uc", + "x": 0.3977877922650258, + "y": 0.5126233101312069 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768875932048_p8mzez1y2", + "x": 0.6196614882337567, + "y": 0.5105102466618556 + } + ] + } + } + }, + { + "action_description": "爪夹向左轻微偏移，随后向正前方移动，随后下降。", + "correction_plan": "爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹向正前方移动并下降，接近了螺丝。", + "frame": 422, + "progress": 20, + "progress_explanation": "爪夹向正前方移动并下降，接近了螺丝，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，爪夹接近螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹合拢抓取螺丝。", + "time": 14.054471445448364, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768875895849_5hvgu16ao", + "x": 0.6228311124618815, + "y": 0.5041710562538018 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768875897849_3vl1jambl", + "x": 0.39144854380877636, + "y": 0.5083971831925044 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768875901953_vlqu5qo34", + "x": 0.48812208276658053, + "y": 0.44923140605066897, + "width": 0.05705323610624511, + "height": 0.09720091959015799 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768875907689_wbc6pkye8", + "x": 0.2805116958244109, + "y": 0.020279521772362936, + "width": 0.4675195736483973, + "height": 0.3972559322380371 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取螺丝", + "correction_plan": "爪夹抓住螺丝向上抬升，随后向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "error_success_analysis": "爪夹角度正确，更容易抓住螺丝。", + "frame": 455, + "progress": 40, + "progress_explanation": "爪夹成功夹住螺丝，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹夹住螺丝向上抬升，随后向正前方移动，接近蓝色储物盒。", + "time": 15.154933490580644, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768875872275_tnhg0faah", + "x": 0.2599091383416002, + "y": 0.007601140956255367, + "width": 0.48653731901714564, + "height": 0.39091674182998337 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768875888064_c2iqhodi2", + "x": 0.47861321008220636, + "y": 0.44923140605066897, + "width": 0.05705323610624502, + "height": 0.10354010999821182 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768875890129_gbja99vvb", + "x": 0.4849524585384558, + "y": 0.4999449293150992 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768875892217_l4dwuy9l3", + "x": 0.5324968219603268, + "y": 0.506284119723153 + } + ] + } + } + }, + { + "time": 16.318279081149054, + "frame": 490, + "progress": 50, + "action_description": "爪夹夹住螺丝向上抬升。", + "state_description": "爪夹当前为合拢状态，爪夹夹住螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹向正前方移动，接近蓝色储物盒。", + "progress_explanation": "爪夹向上抬升，螺丝脱离了桌面，因此任务进度提升为50%。", + "error_success_analysis": "爪夹向上抬升，螺丝脱离了桌面，开始接近蓝色储物盒。", + "correction_plan": "爪夹向正前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768875851852_ggqka5dee", + "x": 0.5309120098462643, + "y": 0.4999449293150992 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768875853929_ur7x642tc", + "x": 0.4865372706525181, + "y": 0.4999449293150992 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768875858634_c7509jua4", + "x": 0.49129170699470526, + "y": 0.44923140605066897, + "width": 0.03962030285155906, + "height": 0.1014270465288605 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768875865273_y83fam5a0", + "x": 0.35658267729940435, + "y": 0.28229939197191933, + "width": 0.29952948955778674, + "height": 0.3063942030559329 + } + ] + } + } + }, + { + "time": 17.355857580845203, + "frame": 521, + "progress": 0, + "action_description": "爪夹松开", + "state_description": "爪夹当前为张开状态，远离螺丝，为完成将六角套筒组合螺丝放入蓝色储物盒中的任务，应当：爪夹下降，随后向右前方移动，接近螺丝。", + "progress_explanation": "爪夹松开，螺丝落在桌面，因此任务进度倒退为0.", + "error_success_analysis": "爪夹松开，螺丝落在桌面，需重新接近螺丝并抓取。", + "correction_plan": "爪夹下降，向右前方移动，接近螺丝，随后爪夹合拢抓取螺丝；爪夹抓住螺丝向上抬升，随后向左前方移动至蓝色储物盒上方，随后下降，将螺丝放入蓝色储物盒中，随后爪夹松开，螺丝落入蓝色储物盒。", + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768875837258_9zi1e383p", + "x": 0.5879652459525094, + "y": 0.5027623365266377 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768875838961_lg4e8p1q1", + "x": 0.42472959820408596, + "y": 0.5126233101312069 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768875842680_bflqup2xp", + "x": 0.5594386278993869, + "y": 0.6753291972712538, + "width": 0.03645067862343439, + "height": 0.061278840611186665 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768875847849_2fyiavp90", + "x": 0.3866941074665892, + "y": 0.3308998517669984, + "width": 0.27100287150466423, + "height": 0.3338640281574993 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768875812706", + "name": "螺丝", + "color": "#4CAF50" + }, + { + "id": "bbox_1768875817811", + "name": "蓝色储物盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768875824378", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768875829060", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-110733-put-conveyor belt right fitting-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-110733-put-conveyor belt right fitting-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..12f1f551bc8a81441b46846bd82199c0cbf7d2bf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-110733-put-conveyor belt right fitting-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,330 @@ +{ + "task_description": "将传送带直角配件放入蓝色储物盒中\n准备开始移动：0%\n爪夹接近传送带直角配件：20%\n爪夹抓取传送带直角配件：40%\n爪夹抓紧传送带直角配件接近蓝色储物盒：60%\n爪夹将传送带直角配件放在蓝色储物盒的正上方：80%\n爪夹松开，传送带直角配件落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.1014270465288605, + "id": "bbox_1768875812706_1768877896123_5lt8m4hh5", + "width": 0.06339248456249455, + "x": 0.5578538157853246, + "y": 0.5886935950278522 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.2514545528528001, + "id": "bbox_1768875817811_1768877891821_worjqk7fm", + "width": 0.20761038694216963, + "x": 0.30111425330722164, + "y": 0.4259877078878051 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右前方移动并下降，接近传送带直角配件；爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触传送带直角配件，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹向右前方移动并下降，接近传送带直角配件。", + "time": 1.4858591050597014 + }, + { + "action_description": "爪夹向右前方移动", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.1014270465288605, + "id": "bbox_1768875812706_1768877881751_289sjb1sv", + "width": 0.060222860334369785, + "x": 0.5610234400134493, + "y": 0.5844674680891497 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.24300229897539502, + "id": "bbox_1768875817811_1768877885766_ed9apfo5w", + "width": 0.1981015142577954, + "x": 0.30903831387753344, + "y": 0.43021383482650766 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右前方移动并下降，接近传送带直角配件；爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与直角配件的距离。", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了直角配件，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，开始接近直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹继续向右前方移动并下降，接近直角配件。", + "time": 2.3386132525199765 + }, + { + "action_description": "爪夹继续向右前方移动并下降", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.10565317346756314, + "id": "bbox_1768875812706_1768877874894_uar4l892p", + "width": 0.03962030285155915, + "x": 0.5705323126978235, + "y": 0.586580531558501 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.21764553734317987, + "id": "bbox_1768875817811_1768877871335_s0f1ypadh", + "width": 0.20285595059998257, + "x": 0.32013199867597, + "y": 0.44077915217326397 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了直角配件，方便抓取。", + "frame": 97, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了直角配件，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹轻微下降，随后爪夹合拢抓取直角配件。", + "time": 3.246466 + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢抓取直角配件", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.10776623693691434, + "id": "bbox_1768875812706_1768877861351_s4t0ljyqr", + "width": 0.04437473919374613, + "x": 0.5752867490400105, + "y": 0.586580531558501 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.2049671565270724, + "id": "bbox_1768875817811_1768877865022_x80gq4k6r", + "width": 0.22662813231091805, + "x": 0.3074535017634711, + "y": 0.4386660887039127 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住直角配件向上抬升，爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹接近直角配件，更容易抓取直角配件。", + "frame": 124, + "progress": 40, + "progress_explanation": "爪夹成功抓住直角配件，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹夹住直角配件向上抬升，随后向左侧移动，接近蓝色储物盒。", + "time": 4.134565169140858 + }, + { + "action_description": "爪夹抓住直角配件向上抬升", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.10565317346756302, + "id": "bbox_1768875812706_1768877856494_7si6ai2sn", + "width": 0.05705323610624511, + "x": 0.564193064241574, + "y": 0.5485453891101782 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.2091932834657749, + "id": "bbox_1768875817811_1768877853047_uxgn9u5h7", + "width": 0.191762265801546, + "x": 0.32488643501815706, + "y": 0.4386660887039127 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住直角配件向上抬升，爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹抓住直角配件向上抬升，方便接近蓝色储物盒", + "frame": 147, + "progress": 45, + "progress_explanation": "爪夹抓住直角配件向上抬升，开始接近蓝色储物盒，因此任务进度提升为45%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹夹住直角配件继续向上抬升，随后向左侧移动，接近蓝色储物盒", + "time": 4.909796212286563 + }, + { + "action_description": "爪夹抓住直角配件向上抬升", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.10987930040626553, + "id": "bbox_1768875812706_1768877842104_ca38ijkbv", + "width": 0.050713987649995663, + "x": 0.5673626884696987, + "y": 0.5210755640086119 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.24300229897539502, + "id": "bbox_1768875817811_1768877846505_skiiwgdp3", + "width": 0.22504332019685566, + "x": 0.2947750048509722, + "y": 0.43021383482650766 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹抓住直角配件向上抬升，直角配件脱离了桌面。", + "frame": 174, + "progress": 50, + "progress_explanation": "爪夹抓住直角配件向上抬升，直角配件脱离了桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹夹住直角配件向左侧移动，接近蓝色储物盒", + "time": 5.814232429289884 + }, + { + "action_description": "爪夹夹住直角配件向左侧移动", + "annotations": { + "bbox_1768875812706": { + "instances": [ + { + "height": 0.10565317346756307, + "id": "bbox_1768875812706_1768877835503_w5gbsjank", + "width": 0.05546842399218273, + "x": 0.4294840345462731, + "y": 0.40908320013299504 + } + ], + "type": "bbox" + }, + "bbox_1768875817811": { + "instances": [ + { + "height": 0.22187166428188246, + "id": "bbox_1768875817811_1768877831407_1r36er2my", + "width": 0.20761038694216966, + "x": 0.2963598169650345, + "y": 0.4513444695200202 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住直角配件向左侧移动，接近了蓝色储物盒。", + "frame": 188, + "progress": 60, + "progress_explanation": "爪夹夹住直角配件向左侧移动，接近了蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，直角配件接近蓝色储物盒，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹继续向左侧移动至蓝色储物盒的正上方", + "time": 6.266450537791545 + }, + { + "action_description": "爪夹向左侧移动至蓝色储物盒的正上方", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.22821085468993624, + "id": "bbox_1768875817811_1768877824401_ktnwbd3s0", + "width": 0.19334707791560835, + "x": 0.3074535017634711, + "y": 0.4309181785686948 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹使直角配件在蓝色储物盒的正上方，方便传送带直角配件落入蓝色储物盒", + "frame": 196, + "progress": 80, + "progress_explanation": "爪夹使直角配件在蓝色储物盒的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢的状态，直角配件在蓝色储物盒的正上方，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹松开，传送带直角配件落入蓝色储物盒。", + "time": 6.531766 + }, + { + "action_description": "爪夹张开，随后向后方移动。", + "annotations": { + "bbox_1768875817811": { + "instances": [ + { + "height": 0.22187166428188246, + "id": "bbox_1768875817811_1768877811528_h1g3wraz9", + "width": 0.20285595059998252, + "x": 0.2979446290790969, + "y": 0.43937043244609986 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，传送带直角配件落入蓝色储物盒。", + "frame": 215, + "progress": 100, + "progress_explanation": "爪夹松开，传送带直角配件落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，远离蓝色储物盒，爪夹已完成将传送带直角配件放入蓝色储物盒中的任务。", + "time": 7.1531 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "传送带直角配件" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-110733-put-conveyor belt right fitting-blue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-110733-put-conveyor belt right fitting-blue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..751f7a6bd047365dbd73a8f926927fa87ef43f23 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-110733-put-conveyor belt right fitting-blue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,478 @@ +{ + "task_description": "将传送带直角配件放入蓝色储物盒中\n准备开始移动：0%\n爪夹接近传送带直角配件：20%\n爪夹抓取传送带直角配件：40%\n爪夹抓紧传送带直角配件接近蓝色储物盒：60%\n爪夹将传送带直角配件放在蓝色储物盒的正上方：80%\n爪夹松开，传送带直角配件落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向正前方移动，随后向右前方移动并下降，接近传送带直角配件；爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向右侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触传送带直角配件，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹向正前方移动并下降，接近传送带直角配件。", + "time": 1.4140474997502184, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768879398814_ilo4n99s9", + "x": 0.6149070518915696, + "y": 0.20482038734810984, + "width": 0.14897233872186222, + "height": 0.1796103948948572 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768879403990_rrxlt5prz", + "x": 0.5610234400134493, + "y": 0.34780435952180844, + "width": 0.04437473919374613, + "height": 0.0718441579579429 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768879405649_eurv857sf", + "x": 0.38986373169471394, + "y": 0.5126233101312069 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768879407663_jwmy40krc", + "x": 0.6291703609181309, + "y": 0.5020579927844505 + } + ] + } + } + }, + { + "action_description": "爪夹向正前方移动", + "correction_plan": "爪夹向右前方移动并下降，接近传送带直角配件；爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向右侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与直角配件的距离。", + "frame": 64, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了直角配件，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，开始接近直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹继续向右前方移动并下降，接近直角配件。", + "time": 2.1487978910204544, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768879373343_j3udxl1sl", + "x": 0.6275855488040685, + "y": 0.5069884634653402 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768879375314_ij768b2aj", + "x": 0.38827891958065164, + "y": 0.5105102466618556 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768879379174_pyf1pmmvt", + "x": 0.5435905067587632, + "y": 0.39851788278623873, + "width": 0.05388361187812043, + "height": 0.06973109448859163 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768879384943_mzmwaj43i", + "x": 0.6085678034353201, + "y": 0.18932459932046386, + "width": 0.1885926415734213, + "height": 0.2324369816286387 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向右侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了直角配件，方便抓取。", + "frame": 85, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了直角配件，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹轻微下降，随后爪夹合拢抓取直角配件。", + "time": 2.833333, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768879360031_81emtd5dg", + "x": 0.5626082521275116, + "y": 0.01464467510649632, + "width": 0.3011143016718491, + "height": 0.37612529754452445 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768879364994_dsujqthun", + "x": 0.41522072551971184, + "y": 0.37950031156207736, + "width": 0.10142797529999123, + "height": 0.12044461775302188 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768879367039_3vedr527x", + "x": 0.3851092953525269, + "y": 0.5126233101312069 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768879369407_493d1n9lv", + "x": 0.6370944214884428, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹轻微下降", + "correction_plan": "爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向右侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹下降，更加接近了直角配件。", + "frame": 104, + "progress": 30, + "progress_explanation": "爪夹下降，更加接近了直角配件，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开状态，更加接近了直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹合拢抓取直角配件。", + "time": 3.4519400944054004, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768879279689_2m467m2zs", + "x": 0.6260007366900061, + "y": 0.5069884634653402 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768879282170_j6vbe5ew9", + "x": 0.39620298015096345, + "y": 0.4999449293150992 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768879286616_36dmgq4zr", + "x": 0.3676763620978409, + "y": 0.4111962636023463, + "width": 0.1315394054671762, + "height": 0.1648189506093984 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768879294937_eg6tlhnlq", + "x": 0.564193064241574, + "y": 0.0033750140175528454, + "width": 0.35024347720778237, + "height": 0.43529107468635986 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取直角配件", + "correction_plan": "爪夹抓住直角配件向上抬升，爪夹向右侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹接近直角配件，更容易抓取直角配件。", + "frame": 138, + "progress": 40, + "progress_explanation": "爪夹成功抓住直角配件，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹夹住直角配件向上抬升，随后向右侧移动，接近蓝色储物盒。", + "time": 4.6025869335644485, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768879263777_532rdsblt", + "x": 0.3977877922650258, + "y": 0.40344835346712843, + "width": 0.13312421758123855, + "height": 0.1817234583642085 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768879270113_siuirn3os", + "x": 0.5404208825306386, + "y": 0.001261950548201584, + "width": 0.38035490737496735, + "height": 0.46910009019598004 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768879273177_sbdozk1gh", + "x": 0.48812208276658053, + "y": 0.506284119723153 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768879275225_omiea0ctv", + "x": 0.5182335129337654, + "y": 0.5020579927844505 + } + ] + } + } + }, + { + "action_description": "爪夹夹住直角配件向上抬升，随后向右侧移动。", + "correction_plan": "爪夹向右侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住直角配件向右侧移动，接近了蓝色储物盒。", + "frame": 173, + "progress": 60, + "progress_explanation": "爪夹夹住直角配件向右侧移动，接近了蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，直角配件接近蓝色储物盒，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹继续向右侧移动至蓝色储物盒的正上方。", + "time": 5.7532337727234975, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768879233785_27nu6ndhr", + "x": 0.5198183250478279, + "y": 0.5091015269346915 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768879236009_tc7g033sf", + "x": 0.49129170699470526, + "y": 0.5041710562538018 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768879240145_uquje3cky", + "x": 0.3930333559228387, + "y": 0.39851788278623873, + "width": 0.13153940546717618, + "height": 0.19228877571096473 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768879246346_4e12zju7d", + "x": 0.47227396162595686, + "y": 0.3900656289088336, + "width": 0.2630788109343524, + "height": 0.3444293455042556 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动至蓝色储物盒的正上方。", + "correction_plan": "爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹使直角配件在蓝色储物盒的正上方，方便传送带直角配件落入蓝色储物盒。", + "frame": 184, + "progress": 80, + "progress_explanation": "爪夹使直角配件在蓝色储物盒的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢的状态，直角配件在蓝色储物盒的正上方，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹松开，传送带直角配件落入蓝色储物盒。", + "time": 6.133333, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768879208818_ui6wgtyi2", + "x": 0.38827891958065164, + "y": 0.39288303612037206, + "width": 0.1347090296953009, + "height": 0.19228877571096484 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768879213698_mucdfc7a1", + "x": 0.37560042266815274, + "y": 0.3816133750314286, + "width": 0.3074535501280985, + "height": 0.4014820591767396 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768879224346_os8zamql5", + "x": 0.49129170699470526, + "y": 0.5041710562538018 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768879227026_sr6jekxpr", + "x": 0.5245727613900149, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后爪夹左右轻微晃动。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，传送带直角配件落入蓝色储物盒。", + "frame": 216, + "progress": 100, + "progress_explanation": "爪夹松开，传送带直角配件落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，远离蓝色储物盒，爪夹已完成将传送带直角配件放入蓝色储物盒中的任务。", + "time": 7.208871340334341, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768879179859_7jywi4mk6", + "x": 0.6291703609181309, + "y": 0.5027623365266377 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768879182164_dxmkhxv5j", + "x": 0.38986373169471394, + "y": 0.5126233101312069 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768879197794_8htctck56", + "x": 0.29319019273690977, + "y": 0.32456066135894457, + "width": 0.32171685915465986, + "height": 0.420499630400901 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768879202434_4t004tt9l", + "x": 0.39937260437908817, + "y": 0.48515348502964045, + "width": 0.09508872684374178, + "height": 0.1014270465288605 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "传送带直角配件" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-112713-put-conveyor belt right fitting-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-112713-put-conveyor belt right fitting-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d91da27c5eb90d61e6ad0849bdd7b64e657c9ec8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-112713-put-conveyor belt right fitting-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,479 @@ +{ + "task_description": "将传送带直角配件放入蓝色储物盒中\n准备开始移动：0%\n爪夹接近传送带直角配件：20%\n爪夹抓取传送带直角配件：40%\n爪夹抓紧传送带直角配件接近蓝色储物盒：60%\n爪夹将传送带直角配件放在蓝色储物盒的正上方：80%\n爪夹松开，传送带直角配件落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹调整角度，随后向右前方移动并下降，接近传送带直角配件，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触传送带直角配件，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹调整角度，随后向右前方移动并下降，接近传送带直角配件。", + "time": 1.366912359678401, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886445906_p7mqmtk88", + "x": 0.3581674894134667, + "y": 0.30765615360413445, + "width": 0.17115970831873523, + "height": 0.24300229897539502 + }, + { + "id": "bbox_1768875817811_1768886458169_1v8ouj1sh", + "x": 0.6180766761196944, + "y": 0.6077111662520136, + "width": 0.05388361187812034, + "height": 0.07395722142729409 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，向右前方移动并下降", + "correction_plan": "爪夹向右前方移动并下降，接近传送带直角配件，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与直角配件的距离。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了直角配件，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，开始接近直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹继续向右前方移动并下降，接近直角配件。", + "time": 2.3096110347821344, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768886432858_u476536g2", + "x": 0.6180766761196944, + "y": 0.6041893830554982, + "width": 0.04912917553593328, + "height": 0.08029641183534793 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886439226_xihut84xt", + "x": 0.37718523478221505, + "y": 0.3013169631960807, + "width": 0.15531158717811167, + "height": 0.2493414893834488 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右前方移动并下降", + "correction_plan": "爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了直角配件，方便抓取。", + "frame": 100, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了直角配件，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹轻微下降，随后爪夹合拢抓取直角配件。", + "time": 3.3465795773962403, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886421180_3hmfnop9k", + "x": 0.38827891958065164, + "y": 0.3013169631960807, + "width": 0.12995459335311382, + "height": 0.23666310856734127 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768886425466_48athjk4p", + "x": 0.6196614882337567, + "y": 0.6055981027826624, + "width": 0.04754436342187098, + "height": 0.07607028489664541 + } + ] + } + } + }, + { + "action_description": "爪夹下降并轻微向左偏移，随后爪夹合拢。", + "correction_plan": "爪夹张开，向右前方移动，接近直角配件，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹合拢抓取失败，需重新抓取传送带直角配件。", + "frame": 132, + "progress": 15, + "progress_explanation": "爪夹合拢抓取失败，因此任务进度倒退为15%。", + "state_description": "爪夹当前为合拢状态，接近直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹张开，向右前方移动，接近直角配件。", + "time": 4.40711558688794, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768886409404_ymddbn9bo", + "x": 0.611737427663445, + "y": 0.6041893830554982, + "width": 0.0586380482203074, + "height": 0.0718441579579429 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886414810_egvrtvvat", + "x": 0.37243079844002797, + "y": 0.29286470931867564, + "width": 0.16165083563436117, + "height": 0.2514545528528001 + } + ] + } + } + }, + { + "action_description": "爪夹张开，爪夹向上抬升", + "correction_plan": "爪夹向右前方移动，随后下降，接近直角配件，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向上抬升，远离直角配件，需重新接近直角配件。", + "frame": 168, + "progress": 10, + "progress_explanation": "爪夹向上抬升，远离直角配件，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开状态，远离直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹向右前方移动，随后下降，接近直角配件。", + "time": 5.595833, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886397827_nbqce5y56", + "x": 0.37243079844002797, + "y": 0.3097692170734857, + "width": 0.1315394054671762, + "height": 0.2197586008125312 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768886401418_9uvqx1ums", + "x": 0.6133222397775072, + "y": 0.6055981027826624, + "width": 0.05546842399218273, + "height": 0.08029641183534793 + } + ] + } + } + }, + { + "action_description": "爪夹下降，随后向左偏移，爪夹合拢抓取银色物品。", + "correction_plan": "爪夹松开，随后向右侧移动，接近直角配件；爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹合拢抓取错误物品，需重新抓取直角配件。", + "frame": 199, + "progress": -20, + "progress_explanation": "爪夹合拢抓取银色物品，因此任务进度倒退为-20%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住银色物品，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹松开，随后向右侧移动，接近直角配件。", + "time": 6.622457473381712, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768886382611_syxyhni99", + "x": 0.6149070518915696, + "y": 0.6063024465248495, + "width": 0.05705323610624511, + "height": 0.07818334836599661 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886386947_a9id16qit", + "x": 0.37560042266815274, + "y": 0.2907516458493244, + "width": 0.1553115871781116, + "height": 0.2577937432608539 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动，随后向上抬升。", + "correction_plan": "爪夹松开，随后向右侧移动并下降，接近直角配件；爪夹下降，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹抓取错误物品，导致做出错误的动作。", + "frame": 232, + "progress": -30, + "progress_explanation": "爪夹向上抬升并向左移动，因此任务进度倒退为-30%。", + "state_description": "爪夹当前为合拢状态，爪夹远离直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹松开，随后向右侧移动并下降，接近直角配件。", + "time": 7.735, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886371754_rsg2tye6c", + "x": 0.3708459863259656, + "y": 0.29709083625737814, + "width": 0.16006602352029872, + "height": 0.2451153624447463 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768886376947_lhsm6jt4n", + "x": 0.6133222397775072, + "y": 0.6013719758439598, + "width": 0.05863804822030749, + "height": 0.08874866571275296 + } + ] + } + } + }, + { + "action_description": "爪夹松开，向右移动", + "correction_plan": "爪夹继续向右侧移动并下降，接近直角配件；爪夹下降，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与直角配件的距离。", + "frame": 263, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了直角配件，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，开始接近直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹继续向右方移动并下降，接近直角配件。", + "time": 8.755, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768886358067_n9nwzvgns", + "x": 0.6196614882337567, + "y": 0.5992589123746085, + "width": 0.050713987649995663, + "height": 0.08663560224340176 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886362827_n1l9d0b27", + "x": 0.37560042266815274, + "y": 0.26328182074775797, + "width": 0.15372677506404925, + "height": 0.2810374414237178 + } + ] + } + } + }, + { + "action_description": "爪夹向右方移动并下降", + "correction_plan": "爪夹下降，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右方移动并下降，接近了直角配件，方便抓取。", + "frame": 293, + "progress": 20, + "progress_explanation": "爪夹向右方移动并下降，接近了直角配件，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹轻微下降，随后爪夹合拢抓取直角配件。", + "time": 9.760833, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886347227_7a0acx2zi", + "x": 0.3676763620978409, + "y": 0.3055430901347832, + "width": 0.16006602352029878, + "height": 0.23877617203669257 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768886350667_mrj6fe98e", + "x": 0.6053981792071954, + "y": 0.6077111662520136, + "width": 0.0681469209046817, + "height": 0.07395722142729409 + } + ] + } + } + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢抓取直角配件。", + "correction_plan": "爪夹抓住直角配件向上抬升，爪夹向左前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹接近直角配件，更容易抓取直角配件。", + "frame": 322, + "progress": 40, + "progress_explanation": "爪夹成功抓住直角配件，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹夹住直角配件向上抬升，随后向左前方移动，接近蓝色储物盒。", + "time": 10.746764176960545, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768886333148_sbn8kffsh", + "x": 0.6101526155493826, + "y": 0.6098242297213649, + "width": 0.06339248456249455, + "height": 0.07607028489664541 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886337411_adqv01ld7", + "x": 0.37718523478221505, + "y": 0.30343002666543195, + "width": 0.14738752660779983, + "height": 0.21341941040447743 + } + ] + } + } + }, + { + "action_description": "爪夹夹住直角配件向上抬升，随后向左前方移动。", + "correction_plan": "爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住直角配件向左前方移动，接近了蓝色储物盒。", + "frame": 363, + "progress": 60, + "progress_explanation": "爪夹夹住直角配件向左前方移动，接近了蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，直角配件接近蓝色储物盒，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹继续向左侧移动至蓝色储物盒的正上方。", + "time": 12.090109788983364, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886318876_mpnmq3vq3", + "x": 0.35658267729940435, + "y": 0.2992038997267294, + "width": 0.16957489620467295, + "height": 0.24088923550604383 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动至蓝色储物盒的正上方", + "correction_plan": "爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹使直角配件在蓝色储物盒的正上方，方便传送带直角配件落入蓝色储物盒。", + "frame": 376, + "progress": 80, + "progress_explanation": "爪夹使直角配件在蓝色储物盒的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢的状态，直角配件在蓝色储物盒的正上方，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹松开，传送带直角配件落入蓝色储物盒。", + "time": 12.537891659657637, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886312844_l8uvf6hip", + "x": 0.3740156105540903, + "y": 0.2956821165302141, + "width": 0.156896399292174, + "height": 0.24088923550604383 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向后移动", + "correction_plan": "", + "error_success_analysis": "爪夹松开，传送带直角配件落入蓝色储物盒。", + "frame": 404, + "progress": 100, + "progress_explanation": "爪夹松开，传送带直角配件落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，远离蓝色储物盒，爪夹已完成将传送带直角配件放入蓝色储物盒中的任务。", + "time": 13.457022867883776, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768886274309_kg5x5ou7h", + "x": 0.37560042266815274, + "y": 0.2999082434689166, + "width": 0.1347090296953009, + "height": 0.24511536244474635 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768886278685_rqnt0tcuv", + "x": 0.4294840345462731, + "y": 0.43021383482650766 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768886295812_cqlqqc64u", + "x": 0.45008659202908385, + "y": 0.38372643850077987, + "width": 0.041205114965621445, + "height": 0.06339190408053787 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "传送带直角配件" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-112713-put-conveyor belt right fitting-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-112713-put-conveyor belt right fitting-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..0a1085c38cfe849f5da71548fe285918c27f842b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-112713-put-conveyor belt right fitting-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,412 @@ +{ + "task_description": "将传送带直角配件放入蓝色储物盒中\n准备开始移动：0%\n爪夹接近传送带直角配件：20%\n爪夹抓取传送带直角配件：40%\n爪夹抓紧传送带直角配件接近蓝色储物盒：60%\n爪夹将传送带直角配件放在蓝色储物盒的正上方：80%\n爪夹松开，传送带直角配件落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹调整角度，随后向右前方移动并下降，接近传送带直角配件，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向右前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触传送带直角配件，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹调整角度，随后向右前方移动并下降，接近传送带直角配件。", + "time": 1.407392920114067, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889460108_6rbycak60", + "x": 0.6608666031993782, + "y": 0.3308998517669984, + "width": 0.18542301734529643, + "height": 0.19440183918031603 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768889464624_vo9q2hn26", + "x": 0.5705323126978235, + "y": 0.5569976429875834, + "width": 0.060222860334369875, + "height": 0.07818334836599661 + } + ] + } + } + }, + { + "action_description": "爪夹向左前方移动", + "correction_plan": "爪夹向右前方移动并下降，接近传送带直角配件，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向右前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向左前方移动，距离直角配件近了一步。", + "frame": 73, + "progress": 10, + "progress_explanation": "爪夹向左前方移动，开始接近直角配件，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，开始接近直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹继续向右前方移动并下降，接近直角配件。", + "time": 2.4252, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768889442889_cpb6fbprk", + "x": 0.5768715611540729, + "y": 0.563336833395637, + "width": 0.05705323610624502, + "height": 0.06761803101924038 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889447610_w2dzcw3jl", + "x": 0.6656210395415653, + "y": 0.3224475978895933, + "width": 0.1870078294593589, + "height": 0.2007410295883698 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768889451046_tsqbjfn95", + "x": 0.25040026565722595, + "y": 0.42387464441845385 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹轻微下降，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向右前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了直角配件，方便抓取。", + "frame": 104, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了直角配件，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹轻微下降，随后爪夹合拢抓取直角配件。", + "time": 3.4545, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889432099_2rftkj9dx", + "x": 0.6767147243400018, + "y": 0.31610840748153957, + "width": 0.1743293325468601, + "height": 0.2113063469351261 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768889436313_98vmgk9s1", + "x": 0.5737019369259482, + "y": 0.5675629603343396, + "width": 0.06814692090468162, + "height": 0.06339190408053774 + } + ] + } + } + }, + { + "action_description": "爪夹继续下降", + "correction_plan": "爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向右前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹下降紧挨着直角配件，更加容易抓取成功。", + "frame": 135, + "progress": 30, + "progress_explanation": "爪夹下降紧挨着直角配件，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开状态，紧挨着直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹合拢抓取直角配件。", + "time": 4.503658919207339, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889423947_7w4shb56h", + "x": 0.6624514153134405, + "y": 0.3104735608156729, + "width": 0.19017745368748368, + "height": 0.2091932834657749 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，随后爪夹轻微抬升", + "correction_plan": "爪夹张开，向右前方轻微移动，随后逆时针旋转，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向右前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹合拢抓取失败，爪夹需张开，重新抓取。", + "frame": 158, + "progress": 20, + "progress_explanation": "爪夹合拢抓取失败，爪夹稍微远离了直角配件，因此任务进度倒退为20%。", + "state_description": "爪夹当前为合拢状态，接近直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹张开，向右前方轻微移动，更加接近直角配件。", + "time": 5.2734, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889412033_nqh4qaj7y", + "x": 0.6561121668571911, + "y": 0.31399534401218826, + "width": 0.19334707791560835, + "height": 0.2070802199964236 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768889415337_1f4m3yks7", + "x": 0.58162599749626, + "y": 0.5654498968649884, + "width": 0.06497729667655694, + "height": 0.06973109448859158 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向上抬升。", + "correction_plan": "爪夹逆时针旋转，随后下降，接近直角配件，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向右前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹因抓取失败，远离了直角配件，需重新抓取。", + "frame": 187, + "progress": 15, + "progress_explanation": "爪夹张开，向上抬升，远离直角配件，因此任务进度倒退为15%。", + "state_description": "爪夹当前为张开状态，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹逆时针旋转，随后下降，接近直角配件。", + "time": 6.239444403547508, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889404577_hl5gi0s4f", + "x": 0.6592817910853158, + "y": 0.3182214709508908, + "width": 0.19176226580154604, + "height": 0.19440183918031603 + } + ] + } + } + }, + { + "action_description": "爪夹逆时针旋转，随后下降", + "correction_plan": "爪夹下降，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向右前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹旋转角度并下降，接近了直角配件。", + "frame": 219, + "progress": 20, + "progress_explanation": "爪夹旋转角度并下降，接近了直角配件，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹下降，随后爪夹合拢抓取直角配件。", + "time": 7.2897, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889361122_h2lyyhu9l", + "x": 0.6592817910853158, + "y": 0.3097692170734857, + "width": 0.1885926415734213, + "height": 0.20285409305772112 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768889394498_x7wosk6gv", + "x": 0.5657778763556364, + "y": 0.5506584525795295, + "width": 0.07924060570311822, + "height": 0.08452253877405044 + } + ] + } + } + }, + { + "action_description": "爪夹下降，随后爪夹合拢抓取直角配件", + "correction_plan": "爪夹抓住直角配件向上抬升，爪夹向右前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹接近直角配件，更容易抓取直角配件。", + "frame": 262, + "progress": 40, + "progress_explanation": "爪夹成功抓住直角配件，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹夹住直角配件向上抬升，随后向右前方移动，接近蓝色储物盒。", + "time": 8.742, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768889347290_dudxhhnym", + "x": 0.5863804338384471, + "y": 0.5886935950278522, + "width": 0.060222860334369875, + "height": 0.048600459795078994 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889354034_1t5hkrwir", + "x": 0.6608666031993782, + "y": 0.3182214709508908, + "width": 0.1870078294593589, + "height": 0.20496715652707234 + } + ] + } + } + }, + { + "action_description": "爪夹抓住直角配件向上抬升", + "correction_plan": "爪夹向右前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹抓住直角配件向上抬升，直角配件脱离了桌面。", + "frame": 310, + "progress": 50, + "progress_explanation": "爪夹抓住直角配件向上抬升，直角配件脱离了桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹向右前方移动，随后轻微下降，接近蓝色储物盒。", + "time": 10.333333333333334, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889334475_zem2ee8on", + "x": 0.66879066376969, + "y": 0.31610840748153957, + "width": 0.17908376888904715, + "height": 0.21553247387382862 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768889340410_jokn8q94v", + "x": 0.5768715611540729, + "y": 0.4048570731942925, + "width": 0.04912917553593319, + "height": 0.08029641183534793 + } + ] + } + } + }, + { + "action_description": "夹向右前方移动，随后轻微下降", + "correction_plan": "爪夹向右前方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹夹住直角配件向右前方移动，接近了蓝色储物盒。", + "frame": 340, + "progress": 60, + "progress_explanation": "爪夹夹住直角配件向右前方移动，接近了蓝色储物盒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，直角配件接近蓝色储物盒，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹继续向右前方移动并下降至蓝色储物盒的正上方。", + "time": 11.322299, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889316651_xrxz69vjd", + "x": 0.664036227427503, + "y": 0.31188228054283695, + "width": 0.18383820523123412, + "height": 0.21764553734317987 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动至蓝色储物盒的正上方", + "correction_plan": "爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹使直角配件在蓝色储物盒的正上方，方便传送带直角配件落入蓝色储物盒。", + "frame": 357, + "progress": 80, + "progress_explanation": "爪夹使直角配件在蓝色储物盒的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢的状态，直角配件在蓝色储物盒的正上方，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹松开，传送带直角配件落入蓝色储物盒。", + "time": 11.915932068551841, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889310620_9sn68hszm", + "x": 0.6846387849103136, + "y": 0.32456066135894457, + "width": 0.16640527197654825, + "height": 0.20496715652707234 + } + ] + } + } + }, + { + "action_description": "爪夹松开，随后向左后方移动。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，传送带直角配件落入蓝色储物盒。", + "frame": 386, + "progress": 100, + "progress_explanation": "爪夹松开，传送带直角配件落入蓝色储物盒，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，远离蓝色储物盒，爪夹已完成将传送带直角配件放入蓝色储物盒中的任务。", + "time": 12.87765105311869, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768889266957_jqi49da3r", + "x": 0.6735451001118771, + "y": 0.31681275122372665, + "width": 0.1759141446609223, + "height": 0.2049671565270724 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "传送带直角配件" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-113635-put-conveyor belt right fitting-blue-storage box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-113635-put-conveyor belt right fitting-blue-storage box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..95ffe1aebb83d4faed5f14f75f2f37bba8155359 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-113635-put-conveyor belt right fitting-blue-storage box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,458 @@ +{ + "task_description": "将传送带直角配件放入蓝色储物盒中\n准备开始移动：0%\n爪夹接近传送带直角配件：20%\n爪夹抓取传送带直角配件：40%\n爪夹抓紧传送带直角配件接近蓝色储物盒：60%\n爪夹将传送带直角配件放在蓝色储物盒的正上方：80%\n爪夹松开，传送带直角配件落入蓝色储物盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹调整角度，随后向右前方移动并下降，接近传送带直角配件，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触传送带直角配件，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹调整角度，随后向右前方移动并下降，接近传送带直角配件。", + "time": 1.3253230512815268, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768893243617_78gvtiawx", + "x": 0.477028397968144, + "y": 0.2999082434689166, + "width": 0.13787865392342563, + "height": 0.2556806797915027 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768893252232_mexza3ta7", + "x": 0.6497729184009416, + "y": 0.47458816768288414, + "width": 0.031696242281247324, + "height": 0.0612788406111866 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768893254400_aeutrj6in", + "x": 0.3851092953525269, + "y": 0.5147363736005581 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768893256697_rjv67b93d", + "x": 0.6244159245759439, + "y": 0.5083971831925044 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动", + "correction_plan": "爪夹向右前方移动并下降，接近传送带直角配件，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动，距离直角配件近了一步。", + "frame": 63, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，开始接近直角配件，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，开始接近直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹继续向右前方移动并下降，接近直角配件。", + "time": 2.1032, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768893223897_scvy87g8j", + "x": 0.6260007366900061, + "y": 0.5069884634653402 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768893225825_vj5wu8rir", + "x": 0.3866941074665892, + "y": 0.5147363736005581 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768893230393_b2titm5wu", + "x": 0.5198183250478279, + "y": 0.3393521056444034, + "width": 0.041205114965621445, + "height": 0.07818334836599666 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768893235097_t2h0a7amk", + "x": 0.26941801102597435, + "y": 0.1850984723817613, + "width": 0.19493189002967076, + "height": 0.35076853591230944 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右前方移动并下降。", + "correction_plan": "爪夹向右前方移动并下降，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，在直角配件的斜上方。", + "frame": 82, + "progress": 15, + "progress_explanation": "爪夹向右前方移动并下降，在直角配件的斜上方，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，在直角配件的斜上方，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹向右前方移动并下降，更加接近直角配件。", + "time": 2.7246, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768893126171_8hu9pitl8", + "x": 0.3676763620978409, + "y": 0.41401367081388474, + "width": 0.08716466627343, + "height": 0.10354010999821182 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768893130795_zq0fqhvb4", + "x": 0.0348658181447445, + "y": 0.4048570731942925, + "width": 0.25515475036404056, + "height": 0.4564217093798725 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768893133195_0w2pfracy", + "x": 0.3866941074665892, + "y": 0.5126233101312069 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768893135043_nfm6mfcub", + "x": 0.6260007366900061, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹轻微下降，爪夹合拢抓取直角配件，随后爪夹抓住直角配件向上抬升，爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了直角配件。", + "frame": 101, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了直角配件，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹轻微下降，随后爪夹合拢抓取直角配件。", + "time": 3.3795744076756553, + "annotations": { + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768893099123_8s2mtcv3r", + "x": 0.3866941074665892, + "y": 0.5168494370699094 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768893101252_anc7o6too", + "x": 0.6275855488040685, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768893108595_k8yxuxe0z", + "x": 0.0015847637494348595, + "y": 0.3182214709508908, + "width": 0.3058687380140362, + "height": 0.5620748828474355 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768893116282_k8fi8f08z", + "x": 0.4516714041431461, + "y": 0.40908320013299504, + "width": 0.09984316318592894, + "height": 0.15847976020134466 + } + ] + } + } + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢抓取直角配件", + "correction_plan": "爪夹抓住直角配件向上抬升，爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹接近直角配件，更容易抓取直角配件。", + "frame": 133, + "progress": 40, + "progress_explanation": "爪夹成功抓住直角配件，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹夹住直角配件向上抬升，随后向左侧移动，接近蓝色储物盒。", + "time": 4.439833172266174, + "annotations": { + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768893082892_8fzjdub21", + "x": 0.0031695758634972234, + "y": 0.22735974176878657, + "width": 0.2884358047593502, + "height": 0.6613888659069448 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768893089116_yh2dafny6", + "x": 0.48812208276658053, + "y": 0.39851788278623873, + "width": 0.14263309026561277, + "height": 0.1880626487722622 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768893091755_9yr0b0nrs", + "x": 0.49129170699470526, + "y": 0.506284119723153 + } + ] + } + } + }, + { + "action_description": "爪夹抓住直角配件向上抬升", + "correction_plan": "爪夹向左侧移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹抓住直角配件向上抬升，直角配件脱离了桌面。", + "frame": 156, + "progress": 50, + "progress_explanation": "爪夹抓住直角配件向上抬升，直角配件脱离了桌面，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住直角配件，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹向左侧移动，接近蓝色储物盒。", + "time": 5.2, + "annotations": { + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768893042381_1ut9euvuy", + "x": 0.49129170699470526, + "y": 0.5027623365266377 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768893048451_ntujkxhth", + "x": 0.4976309554509547, + "y": 0.4111962636023463, + "width": 0.13312421758123855, + "height": 0.19017571224161353 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768893063444_tzsmmf8fj", + "x": -4.83646275043446e-08, + "y": 0.2358119956461916, + "width": 0.29477505321559966, + "height": 0.5937708348877044 + } + ] + } + } + }, + { + "action_description": "爪夹继续抬升，随后向正前方移动", + "correction_plan": "爪夹向左后方移动，接近蓝色储物盒；爪夹向左后方移动至蓝色储物盒的正上方，随后爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹向正前方移动，没有接近蓝色储物盒。", + "frame": 179, + "progress": -20, + "progress_explanation": "爪夹向正前方移动，爪夹在杯子正上方，因此任务进度倒退为-20%。", + "state_description": "爪夹当前为合拢状态，爪夹在杯子正上方，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹向左后方移动，接近蓝色储物盒。", + "time": 5.977208380922425, + "annotations": { + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768893027237_52tw30rs2", + "x": 0.5071398281353289, + "y": 0.40767448040583093, + "width": 0.12203053278280204, + "height": 0.185949585302911 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768893031573_0n4dczhb0", + "x": 0.19334702955098088, + "y": 0.6330679278842287, + "width": 0.22662813231091805, + "height": 0.2937158222398253 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768893033815_8f0pnjlli", + "x": 0.4928765191087677, + "y": 0.5041710562538018 + } + ] + }, + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768893036845_0txgvq1nt", + "x": 0.5324968219603268, + "y": 0.5231886274779631 + } + ] + } + } + }, + { + "action_description": "爪夹松开，随后爪夹向后方移动", + "correction_plan": "爪夹向右前方移动至杯子正上方，随后下降，接近直角配件，爪夹继续下降，随后爪夹合拢抓取直角配件，爪夹夹住直角配件向上抬升脱离杯子，随后向左后方移动至蓝色储物盒正上方，爪夹松开，传送带直角配件落入蓝色储物盒。", + "error_success_analysis": "爪夹没有接近蓝色储物盒，而是接近了杯子，导致直角配件落在杯子里。", + "frame": 214, + "progress": -50, + "progress_explanation": "爪夹松开，直角配件落在杯子里，因此任务进度倒退为-50%。", + "state_description": "爪夹当前为张开状态，直角配件落在杯子里，为完成将传送带直角配件放入蓝色储物盒中的任务，应当：爪夹向右前方移动至杯子正上方，随后下降，接近直角配件。", + "time": 7.143493021971995, + "annotations": { + "point_1768875829060": { + "type": "point", + "instances": [ + { + "id": "point_1768875829060_1768893007853_7udgaqa1c", + "x": 0.5895500580665718, + "y": 0.5006492730572865 + } + ] + }, + "point_1768875824378": { + "type": "point", + "instances": [ + { + "id": "point_1768875824378_1768893009846_fe48nwrem", + "x": 0.42789922243221074, + "y": 0.5126233101312069 + } + ] + }, + "bbox_1768875817811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875817811_1768893016646_mjt1sbo6g", + "x": 0.2646635746837872, + "y": 0.2907516458493244, + "width": 0.21553444751248146, + "height": 0.380351424483227 + } + ] + }, + "bbox_1768875812706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875812706_1768893020384_22yykcpgx", + "x": 0.5071398281353289, + "y": 0.21256829748332773, + "width": 0.06339248456249455, + "height": 0.08452253877405044 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875812706", + "name": "传送带直角配件" + }, + { + "color": "#FF9800", + "id": "bbox_1768875817811", + "name": "蓝色储物盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875824378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875829060", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-133416-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-133416-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d2a3d3d47b2a1d7322ef714a3bee3e5804a768e5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-133416-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,242 @@ +{ + "task_description": "将橡胶头滴管放入滴瓶内\n爪夹开始移动：0\n爪夹抓紧橡胶头滴管接近滴瓶：25%\n爪夹将橡胶头滴管放在滴瓶的正上方：50%\n爪夹将橡胶头滴管放进滴瓶内：75%\n爪夹松开，橡胶头滴管放入滴瓶内：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向上抬升，随后向右前方移动，接近滴瓶；爪夹继续向右前方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "", + "frame": 57, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴瓶，因此任务进度为0.", + "state_description": "爪夹当前为合拢的状态，暂未移动，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向上抬升，随后向右前方移动，接近滴瓶。", + "time": 1.9089640978630475, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768897157701_a9aaeniq0", + "x": 0.6180766761196944, + "y": 0.2358119956461916, + "width": 0.07924060570311812, + "height": 0.1415752524465345 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右移动", + "correction_plan": "爪夹向右前方移动，接近滴瓶；爪夹继续向右前方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向右移动，远离透明杯子，开始接近滴瓶。", + "frame": 90, + "progress": 10, + "progress_explanation": "爪夹向右移动，远离透明杯子，因此任务进度提升为10%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向右前方移动，接近滴瓶。", + "time": 2.9930675742323403, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768897129950_6sr77j9o6", + "x": 0.6228311124618815, + "y": 0.2358119956461916, + "width": 0.07607098147499344, + "height": 0.14368831591588577 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768897139254_jhl9hn4t0", + "x": 0.6576969789712535, + "y": 0.352030486460511, + "width": 0.08241022993124289, + "height": 0.04226126938702522 + } + ] + } + } + }, + { + "time": 3.980833, + "frame": 119, + "progress": 20, + "action_description": "爪夹轻微抬升，随后爪夹向右前方移动。", + "state_description": "爪夹当前为合拢状态，在滴瓶的右上方，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向左前方移动，接近滴瓶。", + "progress_explanation": "爪夹向右前方移动，水平上接近了滴瓶，因此任务进度提升为20%。", + "error_success_analysis": "爪夹向右前方移动，缩短了与滴瓶的距离。", + "correction_plan": "爪夹向左前方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768897119902_hh0gfzsmb", + "x": 0.6180766761196944, + "y": 0.23369893217684032, + "width": 0.08082541781718051, + "height": 0.13523606203848074 + } + ] + } + } + }, + { + "time": 4.845, + "frame": 145, + "progress": 25, + "action_description": "爪夹向右前方轻微移动，随后爪夹向左侧移动。", + "state_description": "爪夹当前为合拢状态，接近滴瓶，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹轻微向左偏移至滴瓶的正上方。", + "progress_explanation": "爪夹向左侧移动，接近滴瓶，因此任务进度提升为25%。", + "error_success_analysis": "爪夹向左侧移动，接近滴瓶，方便滴管放入滴瓶。", + "correction_plan": "爪夹向左前方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768897113678_2p2ls13w4", + "x": 0.6260007366900061, + "y": 0.22524667829943526, + "width": 0.06497729667655694, + "height": 0.1479144428545883 + } + ] + } + } + }, + { + "time": 6.740294807769679, + "frame": 202, + "progress": 50, + "action_description": "爪夹轻微向左偏移至滴瓶的正上方", + "state_description": "爪夹当前为合拢状态，爪夹在滴瓶正上方，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹下降，将橡胶头滴管放进滴瓶内。", + "progress_explanation": "爪夹向左偏移至滴瓶的正上方，因此任务进度提升至50%。", + "error_success_analysis": "爪夹向左偏移至滴瓶的正上方，方便将橡胶头滴管放进滴瓶内。", + "correction_plan": "爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768897104694_kcb6f8zvh", + "x": 0.621246300347819, + "y": 0.23369893217684032, + "width": 0.069731733018744, + "height": 0.13946218897718324 + } + ] + } + } + }, + { + "time": 8.16, + "frame": 245, + "progress": 60, + "action_description": "爪夹轻微下降", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹轻微向左调整角度并下降，将橡胶头滴管放进滴瓶内。", + "progress_explanation": "爪夹轻微下降，滴管紧挨着滴瓶，因此任务进度提升为60%。", + "error_success_analysis": "爪夹轻微下降，滴管紧挨着滴瓶，方便滴管放进滴瓶内。", + "correction_plan": "爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768897098286_xuec6ercp", + "x": 0.6291703609181309, + "y": 0.23651633938837877, + "width": 0.05863804822030749, + "height": 0.14368831591588577 + } + ] + } + } + }, + { + "time": 10.251847372531085, + "frame": 308, + "progress": 75, + "action_description": "爪夹轻微向左调整角度并下降", + "state_description": "爪夹当前为合拢状态，滴管放进滴瓶内，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹继续下降，随后爪夹松开，橡胶头滴管放入滴瓶内。", + "progress_explanation": "爪夹下降，滴管放进滴瓶内，因此任务进度提升为75%。", + "error_success_analysis": "爪夹下降，成功使滴管放进滴瓶内。", + "correction_plan": "爪夹继续下降，随后爪夹松开，橡胶头滴管放入滴瓶内。" + }, + { + "time": 11.053141246369258, + "frame": 332, + "progress": 80, + "action_description": "爪夹下降", + "state_description": "爪夹当前为合拢状态，滴管放进滴瓶内，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹松开，橡胶头滴管放入滴瓶内。", + "progress_explanation": "爪夹下降，滴管放入滴瓶里，因此任务进度提升为80%。", + "error_success_analysis": "爪夹下降，成功使滴管放入滴瓶内。", + "correction_plan": "爪夹松开，橡胶头滴管放入滴瓶内。" + }, + { + "action_description": "爪夹张开，随后爪夹向后移动", + "correction_plan": "", + "error_success_analysis": "爪夹松开，橡胶头滴管放入滴瓶内。", + "frame": 386, + "progress": 100, + "progress_explanation": "爪夹松开，橡胶头滴管放入滴瓶内，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，滴管放入滴瓶内，爪夹已完成将橡胶头滴管放入滴瓶内的任务。", + "time": 12.867836195943946, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768897022592_fg8j2jgim", + "x": 0.6275855488040685, + "y": 0.21538570469486612, + "width": 0.07131654513280639, + "height": 0.1500275063239396 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768897027232_bxnbaq2ky", + "x": 0.6703754758837523, + "y": 0.22102055136073276, + "width": 0.02377218171093549, + "height": 0.0718441579579429 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768896988321", + "name": "滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768896994625", + "name": "滴瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768896999906", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768897006435", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-133416-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-133416-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..fea91234cd79f54d3f160be63036eeb31e4dec9a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-133416-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,388 @@ +{ + "task_description": "将橡胶头滴管放入滴瓶内\n爪夹开始移动：0\n爪夹抓紧橡胶头滴管接近滴瓶：25%\n爪夹将橡胶头滴管放在滴瓶的正上方：50%\n爪夹将橡胶头滴管放进滴瓶内：75%\n爪夹松开，橡胶头滴管放入滴瓶内：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向上抬升，随后向右后方移动，接近滴瓶；爪夹继续向右后方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴瓶，因此任务进度为0.", + "state_description": "爪夹当前为合拢的状态，暂未移动，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向上抬升，随后向右后方移动，接近滴瓶。", + "time": 1.4293523235135837, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768899147595_xoj0dg11x", + "x": 0.58162599749626, + "y": 0.46190978686677653, + "width": 0.07290135724686868, + "height": 0.1732712044868034 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768899153666_1o8ks29rf", + "x": 0.36926117421190324, + "y": 0.21679442442203023, + "width": 0.031696242281247324, + "height": 0.13523606203848076 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右移动", + "correction_plan": "爪夹向右后方移动，接近滴瓶；爪夹继续向右后方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向右移动，远离透明杯子，开始接近滴瓶。", + "frame": 68, + "progress": 10, + "progress_explanation": "爪夹向右移动，远离透明杯子，因此任务进度提升为10%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向右后方移动，接近滴瓶。", + "time": 2.279266, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768899132523_vcl8ahad0", + "x": 0.4865372706525181, + "y": 0.12381963177057473, + "width": 0.033281054395309706, + "height": 0.17327120448680342 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768899138355_8wx3zpjvh", + "x": 0.5737019369259482, + "y": 0.46824897727483034, + "width": 0.08716466627343004, + "height": 0.17115814101745208 + } + ] + } + } + }, + { + "action_description": "爪夹向右后方移动", + "correction_plan": "爪夹继续向右后方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向右后方移动，接近了滴瓶，方便插入滴瓶内。", + "frame": 85, + "progress": 25, + "progress_explanation": "爪夹向右后方移动，接近了滴瓶，因此任务进度提升为25%。", + "state_description": "爪夹当前为合拢状态，爪夹接近滴瓶，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹继续向右后方移动至滴瓶正上方。", + "time": 2.8190010048283485, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768899108427_s5dqxpjka", + "x": 0.5515145673290751, + "y": 0.17664621850435627 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768899113483_au7h5qff6", + "x": 0.5404208825306386, + "y": 0.17242009156565377, + "width": 0.03962030285155906, + "height": 0.19228877571096478 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768899118364_5qkm4pybo", + "x": 0.5737019369259482, + "y": 0.45345753298937147, + "width": 0.08716466627343004, + "height": 0.18172345836420842 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右后方移动至滴瓶上方，随后爪夹下降", + "correction_plan": "爪夹轻微向右偏移，随后下降，将橡胶头滴管放进滴瓶内，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向右后方移动至滴瓶上方，确保橡胶头滴管放入滴瓶内。", + "frame": 133, + "progress": 50, + "progress_explanation": "爪夹向右后方移动至滴瓶上方，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，滴管放在滴瓶上，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹轻微向右偏移，随后下降，将橡胶头滴管放进滴瓶内。", + "time": 4.427023050349719, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768899095035_fr7eoyjhb", + "x": 0.6038133670931332, + "y": 0.31188228054283695, + "width": 0.03011143016718485, + "height": 0.17538426795615472 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768899099974_j97f1cp2h", + "x": 0.5768715611540729, + "y": 0.47036204074418164, + "width": 0.08241022993124289, + "height": 0.16693201407874964 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768899103740_km2kg3zdq", + "x": 0.621246300347819, + "y": 0.32033453442024207 + } + ] + } + } + }, + { + "action_description": "爪夹轻微抬升，随后下降。", + "correction_plan": "爪夹下降，将橡胶头滴管放进滴瓶内，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹下降，滴管的尾部进入滴瓶。", + "frame": 182, + "progress": 60, + "progress_explanation": "爪夹下降，滴管开始进入滴瓶里，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管进入滴瓶，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹继续下降，橡胶头滴管放进滴瓶内。", + "time": 6.074749343908655, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768899072543_edd18w34d", + "x": 0.6275855488040685, + "y": 0.31399534401218826 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768899083197_qp2ios5jn", + "x": 0.5705323126978235, + "y": 0.46613591380547903, + "width": 0.09033429050155481, + "height": 0.1711581410174522 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768899087517_8g9u6fbcg", + "x": 0.611737427663445, + "y": 0.3055430901347832, + "width": 0.02694180593906017, + "height": 0.19017571224161353 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹继续下降，橡胶头滴管放进滴瓶内，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹下降，滴管的一半进入滴瓶里。", + "frame": 248, + "progress": 75, + "progress_explanation": "爪夹下降，滴管的一半进入滴瓶里，因此任务进度提升为75%。", + "state_description": "爪夹当前为合拢状态，滴管进入滴瓶，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹继续下降，橡胶头滴管放进滴瓶内。", + "time": 8.258482985974714, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768899058557_26hsj3c5j", + "x": 0.6053981792071954, + "y": 0.34146516911375463, + "width": 0.034865866509372, + "height": 0.17538426795615472 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768899064846_0cll7ykod", + "x": 0.5800411853821976, + "y": 0.46613591380547903, + "width": 0.07765579358905583, + "height": 0.17538426795615472 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768899067757_g88y42o3d", + "x": 0.6180766761196944, + "y": 0.352030486460511 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹下降，滴管的三分之二进入滴瓶里，距离任务成功又进了一步。", + "frame": 292, + "progress": 85, + "progress_explanation": "爪夹下降，滴管的三分之二进入滴瓶里，因此任务进度提升为75%。", + "state_description": "爪夹当前为合拢状态，滴管放入滴瓶里，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹松开，橡胶头滴管放入滴瓶内。", + "time": 9.747392287383391, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768899041869_vanxwkebx", + "x": 0.6260007366900061, + "y": 0.40274400972494123 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768899047021_2q5jerdqd", + "x": 0.5657778763556364, + "y": 0.4724751042135329, + "width": 0.09667353895780417, + "height": 0.16693201407874955 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768899052045_5xkortk4m", + "x": 0.611737427663445, + "y": 0.40063094625559, + "width": 0.028526618053122465, + "height": 0.13523606203848076 + } + ] + } + } + }, + { + "action_description": "爪夹松开，随后向上抬升", + "correction_plan": "", + "error_success_analysis": "爪夹松开，橡胶头滴管放入滴瓶内。", + "frame": 339, + "progress": 100, + "progress_explanation": "爪夹松开，橡胶头滴管放入滴瓶内，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，滴管放入滴瓶内，爪夹已完成将橡胶头滴管放入滴瓶内的任务。", + "time": 11.315710084867195, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768898990958_wvo6a8zxz", + "x": 0.6624514153134405, + "y": 0.3548478936720494 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768899019830_xr5dluatg", + "x": 0.5911348701806342, + "y": 0.3266737248282958 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768899030341_gkwq21bfk", + "x": 0.58162599749626, + "y": 0.4323268982958589, + "width": 0.07765579358905583, + "height": 0.20919328346577484 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768899035621_5trmv3qal", + "x": 0.6085678034353201, + "y": 0.4323268982958589, + "width": 0.033281054395309616, + "height": 0.16693201407874955 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768896988321", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768896994625", + "name": "滴瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768896999906", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768897006435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-134444-put-rubber head dropper-glass dropping bottle-mix1/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-134444-put-rubber head dropper-glass dropping bottle-mix1/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..0980af7e67cf157815d97569317ba9b311e8e124 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-134444-put-rubber head dropper-glass dropping bottle-mix1/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,566 @@ +{ + "task_description": "将橡胶头滴管放入滴瓶内\n爪夹开始移动：0\n爪夹抓紧橡胶头滴管接近滴瓶：25%\n爪夹将橡胶头滴管放在滴瓶的正上方：50%\n爪夹将橡胶头滴管放进滴瓶内：75%\n爪夹松开，橡胶头滴管放入滴瓶内：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向上抬升，随后向左后方移动，接近滴瓶；爪夹继续向左后方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "", + "frame": 124, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴瓶，因此任务进度为0.", + "state_description": "爪夹当前为合拢的状态，暂未移动，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向上抬升，随后向左后方移动，接近滴瓶。", + "time": 4.124859810094932, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903735184_vtpeivbc4", + "x": 0.5229879492759525, + "y": 0.506284119723153 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903737672_7xyyjavsd", + "x": 0.4976309554509547, + "y": 0.5020579927844505 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹向左后方移动，接近滴瓶；爪夹继续向左后方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向上抬升至透明杯子上方，开始接近滴瓶。", + "frame": 156, + "progress": 10, + "progress_explanation": "爪夹向上抬升至透明杯子上方，因此任务进度提升为10%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向左后方移动，接近滴瓶。", + "time": 5.210349582504324, + "annotations": { + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903727935_d6pb8b2nv", + "x": 0.49604614333689234, + "y": 0.5041710562538018 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903730030_b1v657v35", + "x": 0.516648700819703, + "y": 0.506284119723153 + } + ] + } + } + }, + { + "action_description": "爪夹向左后方移动", + "correction_plan": "爪夹向左后方移动，接近滴瓶；爪夹继续向左后方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向左后方移动，缩短了与滴瓶的距离。", + "frame": 182, + "progress": 15, + "progress_explanation": "爪夹向左后方移动，水平上接近了滴瓶，因此任务进度提升为15%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹继续向左后方移动，接近滴瓶。", + "time": 6.078741400431838, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903721384_5ns64161j", + "x": 0.5198183250478279, + "y": 0.5069884634653402 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903723527_fh4j7ilal", + "x": 0.4976309554509547, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹向左后方移动", + "correction_plan": "爪夹轻微向右偏移至滴瓶的正上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向左后方移动，爪夹接近了滴瓶。", + "frame": 236, + "progress": 25, + "progress_explanation": "爪夹向左后方移动，爪夹接近了滴瓶，因此任务进度提升为25%。", + "state_description": "爪夹当前为合拢状态，爪夹接近滴瓶，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹轻微向右偏移至滴瓶的正上方。", + "time": 7.8589446271832415, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903707688_g3gcnezdh", + "x": 0.5182335129337654, + "y": 0.506284119723153 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903710643_cxttnkh6d", + "x": 0.4992157675650171, + "y": 0.5041710562538018 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768903714064_tt1fpbqt5", + "x": 0.5277423856181397, + "y": 0.5168494370699094, + "width": 0.06814692090468162, + "height": 0.10565317346756302 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动", + "correction_plan": "爪夹向左移动至滴瓶正上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向右移动，爪夹稍微远离了滴瓶。", + "frame": 304, + "progress": 20, + "progress_explanation": "爪夹向右移动，爪夹稍微远离了滴瓶，因此任务进度倒退为20%。", + "state_description": "爪夹当前为合拢状态，爪夹在滴瓶右侧，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向左移动至滴瓶正上方。", + "time": 10.116763353794777, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768903699064_sms1w89wt", + "x": 0.44533215568689666, + "y": 0.4872665484989917, + "width": 0.06339248456249455, + "height": 0.10142704652886056 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903701314_p83ao39ly", + "x": 0.49604614333689234, + "y": 0.5020579927844505 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903703432_esi3mmp78", + "x": 0.516648700819703, + "y": 0.5083971831925044 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动", + "correction_plan": "爪夹向右移动至滴瓶正上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向左移动，接近了滴瓶。", + "frame": 363, + "progress": 25, + "progress_explanation": "爪夹向左移动，接近了滴瓶，因此任务进度提升至25%。", + "state_description": "爪夹当前为合拢状态，爪夹接近滴瓶，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向右移动至滴瓶正上方。", + "time": 12.1104, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903686187_qmavocxuq", + "x": 0.5150638887056407, + "y": 0.5020579927844505 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903688768_3n24ohj9e", + "x": 0.49604614333689234, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768903692953_ibhhqvtbu", + "x": 0.5245727613900149, + "y": 0.5083971831925044, + "width": 0.052298799764058046, + "height": 0.09086172918210415 + } + ] + } + } + }, + { + "action_description": "爪夹下降，随后轻微抬升", + "correction_plan": "爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹在滴瓶正上方，方便滴管放进滴瓶里。", + "frame": 427, + "progress": 50, + "progress_explanation": "爪夹在滴瓶正上方，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，爪夹在滴瓶正上方，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹下降，滴管放进滴瓶里。", + "time": 14.241624488950468, + "annotations": { + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903678276_sy6zsgs2d", + "x": 0.49604614333689234, + "y": 0.5041710562538018 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903681229_1eq9gl1ob", + "x": 0.5182335129337654, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹左右轻微晃动并下降", + "correction_plan": "爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹下降，滴管放在滴瓶上，更加方便橡胶头滴管放进滴瓶内。", + "frame": 512, + "progress": 60, + "progress_explanation": "爪夹下降，滴管放在滴瓶上，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管放在滴瓶上，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹下降，滴管放进滴瓶里。", + "time": 17.063897897214886, + "annotations": { + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903659905_4xsaexkpj", + "x": 0.49604614333689234, + "y": 0.5083971831925044 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903662009_v931lcd98", + "x": 0.5229879492759525, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768903667929_yn9m7wzz9", + "x": 0.5023853917931418, + "y": 0.47458816768288414, + "width": 0.08399504204530528, + "height": 0.1098793004062656 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768903672378_u3cymkg5p", + "x": 0.44533215568689666, + "y": 0.48304042156028915, + "width": 0.11252166009842783, + "height": 0.06550496754988912 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向上抬升，轻微远离了滴瓶。", + "frame": 558, + "progress": 55, + "progress_explanation": "爪夹向上抬升，轻微远离滴瓶，因此任务进度倒退为55%。", + "state_description": "爪夹当前为合拢状态，滴管在滴瓶正上方，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹下降，滴管放进滴瓶里。", + "time": 18.6093, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903651761_2zj36bb5b", + "x": 0.5182335129337654, + "y": 0.5105102466618556 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903654074_e6ibrsi0w", + "x": 0.49604614333689234, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹下降，滴管放在滴瓶上，更加方便橡胶头滴管放进滴瓶内。", + "frame": 595, + "progress": 60, + "progress_explanation": "爪夹下降，滴管放在滴瓶上，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管放在滴瓶上，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹下降，滴管放进滴瓶里。", + "time": 19.842751714582928, + "annotations": { + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903637202_qkfpjwzus", + "x": 0.49446133122283, + "y": 0.5069884634653402 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903639402_w5f40bprj", + "x": 0.5182335129337654, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768903643074_zeera57d0", + "x": 0.516648700819703, + "y": 0.48937961196834295, + "width": 0.061807672448432174, + "height": 0.10776623693691434 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后下降", + "correction_plan": "爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹下降，滴管进入滴瓶里。", + "frame": 659, + "progress": 75, + "progress_explanation": "爪夹下降，滴管开始进入滴瓶里，因此任务进度提升为75%。", + "state_description": "爪夹当前为合拢状态，滴管放进滴瓶内，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹下降，滴管放进滴瓶里。", + "time": 21.970311668505342, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768903626499_jvxlf0xxj", + "x": 0.5198183250478279, + "y": 0.4914926754376942, + "width": 0.06814692090468162, + "height": 0.10776623693691428 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903629107_55ta1066t", + "x": 0.5229879492759525, + "y": 0.5041710562538018 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903631530_givsoj19r", + "x": 0.5008005796790794, + "y": 0.5083971831925044 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹下降，滴管的三分之二进入滴瓶里，距离任务成功又进了一步。", + "frame": 723, + "progress": 90, + "progress_explanation": "爪夹下降，滴管的三分之二进入滴瓶里，因此任务进度提升为90%。", + "state_description": "爪夹当前为合拢状态，滴管放入滴瓶里，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹松开，橡胶头滴管放入滴瓶内。", + "time": 24.097871622427746, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903615042_12081j09u", + "x": 0.5182335129337654, + "y": 0.5126233101312069 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903617610_o7o07h2hf", + "x": 0.4992157675650171, + "y": 0.5020579927844505 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768903621427_xqstinfzr", + "x": 0.4928765191087677, + "y": 0.4640228503361278, + "width": 0.08399504204530528, + "height": 0.11199236387561691 + } + ] + } + } + }, + { + "action_description": "爪夹下降，随后松开，向上抬升。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，使橡胶头滴管放入滴瓶内。", + "frame": 758, + "progress": 100, + "progress_explanation": "爪夹松开，橡胶头滴管放入滴瓶内，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，爪夹已完成将橡胶头滴管放入滴瓶内的任务。", + "time": 25.270200576629886, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768903600874_6jbslkkda", + "x": 0.5911348701806342, + "y": 0.5069884634653402 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768903602922_bqmnlufpw", + "x": 0.41997516186189887, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768903607378_8t82prdeo", + "x": 0.49446133122283, + "y": 0.42387464441845385, + "width": 0.09825835107186656, + "height": 0.14368831591588585 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768903610540_pl0yfc54y", + "x": 0.5087246402493912, + "y": 0.4640228503361278, + "width": 0.03645067862343439, + "height": 0.0612788406111866 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768896988321", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768896994625", + "name": "滴瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768896999906", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768897006435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-140516-put-rubber head dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-140516-put-rubber head dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..7874d935a02b593f2e30ad67f69a77efa88ff094 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-140516-put-rubber head dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,386 @@ +{ + "task_description": "将橡胶头滴管放入滴瓶内\n爪夹开始移动：0\n爪夹抓紧橡胶头滴管接近滴瓶：25%\n爪夹将橡胶头滴管放在滴瓶的正上方：50%\n爪夹将橡胶头滴管放进滴瓶内：75%\n爪夹松开，橡胶头滴管放入滴瓶内：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向上抬升，随后向右前方移动，接近滴瓶；爪夹继续向右前方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴瓶，因此任务进度为0.", + "state_description": "爪夹当前为合拢的状态，暂未移动，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向上抬升，随后向右前方移动，接近滴瓶。", + "time": 2.069888499586439, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768960025039_1zph8rmey", + "x": 0.66879066376969, + "y": 0.26328182074775797, + "width": 0.08716466627343004, + "height": 0.15214056979329083 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768960032231_8rj8c85u4", + "x": 0.49129170699470526, + "y": 0.47881429462158664, + "width": 0.03962030285155906, + "height": 0.11410542734496812 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768960034639_d0bqtxsqo", + "x": 0.4976309554509547, + "y": 0.5041710562538018 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768960037247_rdjbbcko3", + "x": 0.516648700819703, + "y": 0.5020579927844505 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹向右前方移动，接近滴瓶；爪夹继续向右前方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向上抬升至透明杯子上方，脱离透明杯子。", + "frame": 78, + "progress": 10, + "progress_explanation": "爪夹向上抬升至透明杯子上方，因此任务进度提升为10%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向右前方移动，接近滴瓶。", + "time": 2.6032341024026757, + "annotations": { + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768960004680_34yyx0sfg", + "x": 0.5008005796790794, + "y": 0.506284119723153 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768960007127_j0furdatp", + "x": 0.516648700819703, + "y": 0.5041710562538018 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768960011183_6uu1us75y", + "x": 0.49604614333689234, + "y": 0.47881429462158664, + "width": 0.02377218171093549, + "height": 0.12044461775302183 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768960017423_4qjj0n7ez", + "x": 0.6703754758837523, + "y": 0.6795553242099565, + "width": 0.04912917553593328, + "height": 0.11833155428367069 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动。", + "correction_plan": "爪夹继续向右前方移动，接近滴瓶；爪夹继续向右前方移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向右前方移动，缩短了与滴瓶的距离。", + "frame": 91, + "progress": 20, + "progress_explanation": "爪夹向右前方移动，水平上接近了滴瓶，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，爪夹远离透明杯子，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹继续向右前方移动，接近滴瓶。", + "time": 3.030433, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768959994672_myrnvoqv1", + "x": 0.49604614333689234, + "y": 0.48304042156028915, + "width": 0.028526618053122555, + "height": 0.11621849081431931 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768959996865_32jof035k", + "x": 0.5182335129337654, + "y": 0.506284119723153 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768960000159_140wmfp25", + "x": 0.5039702039072042, + "y": 0.5020579927844505 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧轻微移动", + "correction_plan": "爪夹向右前方移动，接近滴瓶；爪夹继续向右侧移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向左侧移动，远离了滴瓶。", + "frame": 107, + "progress": 10, + "progress_explanation": "爪夹向左侧移动，远离了滴瓶，因此任务进度倒退为10%", + "state_description": "爪夹当前为合拢状态，爪夹接近量筒，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向右前方移动，接近滴瓶。", + "time": 3.572399, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768959978856_fnz5fuklq", + "x": 0.4976309554509547, + "y": 0.47881429462158664, + "width": 0.033281054395309616, + "height": 0.14368831591588574 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768959981762_whqzbjbc9", + "x": 0.4992157675650171, + "y": 0.506284119723153 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768959984648_p6wsesevf", + "x": 0.516648700819703, + "y": 0.5020579927844505 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动，随后轻微下降", + "correction_plan": "爪夹向右侧移动，接近滴瓶；爪夹继续向右侧移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹向左侧移动，接近了错误的物品，需重新接近。", + "frame": 126, + "progress": -15, + "progress_explanation": "爪夹向左侧移动，接近了量筒，因此任务进度倒退为-15%。", + "state_description": "爪夹当前为合拢状态，爪夹接近量筒，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向右侧移动，接近滴瓶。", + "time": 4.205966, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768959910409_n2y3cg5p2", + "x": 0.516648700819703, + "y": 0.506284119723153 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768959913114_8c3g9702w", + "x": 0.4928765191087677, + "y": 0.5041710562538018 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768959919265_588c1ubpr", + "x": 0.6608666031993782, + "y": 0.6436332452309851, + "width": 0.0586380482203074, + "height": 0.09297479265145547 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768959970960_c7fniah4g", + "x": 0.4865372706525181, + "y": 0.47881429462158664, + "width": 0.03962030285155915, + "height": 0.11410542734496812 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹向右侧移动，接近滴瓶；爪夹继续向右侧移动至滴瓶上方，随后爪夹下降，滴管放进滴瓶里，爪夹松开，橡胶头滴管放入滴瓶内。", + "error_success_analysis": "爪夹下降在量筒正上方，并没有接近滴瓶。", + "frame": 149, + "progress": -30, + "progress_explanation": "爪夹下降在量筒正上方，因此任务进度倒退为-30%。", + "state_description": "爪夹当前为合拢状态，爪夹在量筒正上方，为完成将橡胶头滴管放入滴瓶内的任务，应当：爪夹向右侧移动，接近滴瓶。", + "time": 4.9524944957599075, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768959900786_eyhg9suf1", + "x": 0.6529425426290664, + "y": 0.5971458489052572, + "width": 0.06814692090468162, + "height": 0.10565317346756302 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768959902730_6itsu76vr", + "x": 0.4992157675650171, + "y": 0.5041710562538018 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768959904817_ggbsrcyaa", + "x": 0.5182335129337654, + "y": 0.5020579927844505 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768959965881_3qko4imfo", + "x": 0.4865372706525181, + "y": 0.48304042156028915, + "width": 0.04754436342187098, + "height": 0.12678380816107565 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后轻微抬升", + "correction_plan": "", + "error_success_analysis": "爪夹并没有将橡胶头滴管放入滴瓶内，需重新接近滴管并抓取。", + "frame": 211, + "progress": -50, + "progress_explanation": "爪夹松开，使橡胶头滴管放入滴瓶内，因此任务进度倒退为-50%。", + "state_description": "爪夹当前为张开状态，滴管落在量筒内，爪夹并没有完成将橡胶头滴管放入滴瓶内的任务", + "time": 7.047780792537979, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768959881650_zvvbt7hxd", + "x": 0.5911348701806342, + "y": 0.5069884634653402 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768959884417_jf46amdi6", + "x": 0.4231447860900236, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768959889570_7ubhjetua", + "x": 0.516648700819703, + "y": 0.6584246895164438, + "width": 0.04754436342187089, + "height": 0.0950878561208068 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768896988321", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768896994625", + "name": "滴瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768896999906", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768897006435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..f715fbdbbf7950229ded9e2fbe5829918723cd42 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,468 @@ +{ + "task_description": "将溶液从橡胶头滴管放入玻璃量筒中\n爪夹准备移动：0\n爪夹接近滴管：20%\n爪夹抓取滴管：40%\n爪夹夹住滴管接近量筒：60%\n爪夹将滴管放在量筒正上方：80%\n爪夹挤压滴管，溶液落入量筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.05282658673378163, + "id": "bbox_1768896988321_1768963574722_4ej9v2w4b", + "width": 0.028526618053122555, + "x": 0.6561121668571911, + "y": 0.563336833395637 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.28103744142371767, + "id": "bbox_1768896994625_1768963580171_i10nqtgvs", + "width": 0.15689639929217405, + "x": 0.6798843485681265, + "y": 0.06676691809809071 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768963593570_vit0vnm2i", + "x": 0.4469169678009591, + "y": 0.5316408813553681 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768963596178_cgn5g8d6d", + "x": 0.5752867490400105, + "y": 0.5654498968649884 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整角度，向右前方移动并下降，接近滴管；爪夹下降，随后爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，暂未移动，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹调整角度，向右前方移动并下降，接近滴管。", + "time": 1.3672448823518153 + }, + { + "action_description": "爪夹向上抬升，随后向右前方移动。", + "annotations": { + "bbox_1768896994625": { + "instances": [ + { + "height": 0.2768113144850152, + "id": "bbox_1768896994625_1768963561762_ca7zgbgdm", + "width": 0.1648204598624859, + "x": 0.6751299122259394, + "y": 0.06887998156744193 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768963551050_sdtl32jth", + "x": 0.5768715611540729, + "y": 0.5020579927844505 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768963555140_vzf2jmorv", + "x": 0.6878084091384384, + "y": 0.5696760238036909 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动并下降，接近滴管；爪夹下降，随后爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与滴管的距离。", + "frame": 64, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，在滴管上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续向右前方移动并下降，接近滴管。", + "time": 2.140035980718335 + }, + { + "action_description": "爪夹继续向右前方移动并下降", + "annotations": { + "bbox_1768896994625": { + "instances": [ + { + "height": 0.2768113144850152, + "id": "bbox_1768896994625_1768963537182_ipy3qvbgq", + "width": 0.15689639929217405, + "x": 0.6782995364540642, + "y": 0.07099304503679321 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768963544843_ha7ra0idy", + "x": 0.611737427663445, + "y": 0.5210755640086119 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，接近了滴管，方便抓取。", + "frame": 95, + "progress": 20, + "progress_explanation": "爪夹向右前方移动，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，爪夹接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹合拢抓取滴管。", + "time": 3.1803316900578813 + }, + { + "action_description": "爪夹合拢抓取滴管", + "annotations": { + "bbox_1768896994625": { + "instances": [ + { + "height": 0.2725851875463127, + "id": "bbox_1768896994625_1768963528636_7dyc21niv", + "width": 0.16323564774842342, + "x": 0.6703754758837523, + "y": 0.07310610850614446 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续合拢，爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹合拢抓取滴管，没有完全抓住滴管，需继续合拢。", + "frame": 152, + "progress": 30, + "progress_explanation": "爪夹合拢抓取滴管，没有完全抓住滴管，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒。", + "time": 5.056266 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768896994625": { + "instances": [ + { + "height": 0.2704721240769615, + "id": "bbox_1768896994625_1768963521020_lrh9c1k2v", + "width": 0.15531158717811167, + "x": 0.6767147243400018, + "y": 0.07381045224833163 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹的角度更容易抓取滴管。", + "frame": 219, + "progress": 40, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒。", + "time": 7.311791792863507 + }, + { + "action_description": "爪夹夹住滴管向上抬升", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.05282658673378157, + "id": "bbox_1768896988321_1768963496212_v0tje9evg", + "width": 0.052298799764058046, + "x": 0.66879066376969, + "y": 0.48304042156028915 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.26835906060761017, + "id": "bbox_1768896994625_1768963503068_h61uwer8i", + "width": 0.16799008409061048, + "x": 0.6735451001118771, + "y": 0.07733223544484699 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768963505863_udhkc09pk", + "x": 0.7020717181649997, + "y": 0.5041710562538018 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768963508765_x7waey8r1", + "x": 0.716335027191561, + "y": 0.5253016909473144 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹夹住滴管向上抬升，远离了滴瓶。", + "frame": 284, + "progress": 50, + "progress_explanation": "爪夹夹住滴管向上抬升，远离滴瓶，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，滴管在滴瓶上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向右前方移动，接近量筒。", + "time": 9.451828680647717 + }, + { + "action_description": "爪夹向右前方移动", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.03380901550962019, + "id": "bbox_1768896988321_1768963470524_rpw28omph", + "width": 0.05705323610624502, + "x": 0.7305983362181222, + "y": 0.21256829748332773 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.19862796611901856, + "id": "bbox_1768896994625_1768963483164_a7v3k2hjh", + "width": 0.0950887268437417, + "x": 0.738522396788434, + "y": 0.06887998156744195 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768963473493_pmiko1bv7", + "x": 0.7638793906134318, + "y": 0.2189074878913815 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768963476084_tjua69son", + "x": 0.7844819480962426, + "y": 0.23369893217684032 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与量筒的距离。", + "frame": 305, + "progress": 55, + "progress_explanation": "爪夹向右前方移动，水平上接近了量筒，因此任务进度提升为55%。", + "state_description": "爪夹当前为合拢状态，滴管远离滴瓶，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续向右前方移动，接近量筒。", + "time": 10.166133 + }, + { + "action_description": "爪夹向右前方移动", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.044374332856376486, + "id": "bbox_1768896988321_1768963461852_23kztfmaw", + "width": 0.0459595513078086, + "x": 0.773388263297806, + "y": 0.018166458303011675 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768963457409_fbdtwx628", + "x": 0.795575632894679, + "y": 0.024505648711065458 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768963454172_y3f1wekbh", + "x": 0.813008566149365, + "y": 0.03718402952717303 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整角度，使滴管在量筒的正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，滴管接近了量筒，方便溶液落入量筒。", + "frame": 328, + "progress": 60, + "progress_explanation": "爪夹向右前方移动，滴管接近了量筒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管接近量筒，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹调整角度，使滴管在量筒的正上方。", + "time": 10.9344 + }, + { + "action_description": "爪夹向右调整角度", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.10565317346756306, + "id": "bbox_1768896988321_1768963442205_7h1h5ydqt", + "width": 0.03803549073749677, + "x": 0.7813123238681178, + "y": -0.0008511129211496772 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768963445343_n5y3bampw", + "x": 0.7797275117540555, + "y": 0.016053394833660414 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768963448517_uki1r1d52", + "x": 0.8019148813509286, + "y": 0.018166458303011675 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹调整角度，使滴管在量筒上方。", + "frame": 375, + "progress": 70, + "progress_explanation": "爪夹调整角度，滴管在量筒上方，因此任务进度提升为70%。", + "state_description": "爪夹当前为合拢状态，滴管在量筒上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹挤压滴管，溶液落入量筒。", + "time": 12.506666 + }, + { + "action_description": "爪夹轻微向右移动，随后轻微向左调整角度。", + "annotations": { + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768963425703_cixpt14yv", + "x": 0.8098389419212404, + "y": 0.02873177564976798 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768963428829_1t8bovk69", + "x": 0.8272718751759264, + "y": 0.03507096605782176 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右移动并调整角度，滴管在量筒正上方，更加方便溶液落入量筒。", + "frame": 416, + "progress": 80, + "progress_explanation": "爪夹向右移动并调整角度，滴管在量筒正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，滴管在量筒正上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹挤压滴管，溶液落入量筒。", + "time": 13.880516128978927 + }, + { + "action_description": "爪夹挤压滴管，随后向右后方移动", + "annotations": { + "bbox_1768896994625": { + "instances": [ + { + "height": 0.29371582223982534, + "id": "bbox_1768896994625_1768963403430_j4pzzxney", + "width": 0.15848121140623644, + "x": 0.6798843485681265, + "y": 0.06535819837092659 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹挤压滴管，溶液落入量筒。", + "frame": 468, + "progress": 100, + "progress_explanation": "爪夹挤压滴管，溶液落入量筒，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，溶液落入量筒，爪夹已完成将溶液从橡胶头滴管放入玻璃量筒中的任务。", + "time": 15.604434733027317 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768896988321", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768896994625", + "name": "量筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768896999906", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768897006435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..060f29003326b008e8160cc1ad3769dc5404639d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,280 @@ +{ + "task_description": "将溶液从橡胶头滴管放入玻璃量筒中\n爪夹准备移动：0\n爪夹接近滴管：20%\n爪夹抓取滴管：40%\n爪夹夹住滴管接近量筒：60%\n爪夹将滴管放在量筒正上方：80%\n爪夹挤压滴管，溶液落入量筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动并下降，接近滴管；随后爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "", + "frame": 59, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，暂未移动，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向右前方移动并下降，接近滴管。", + "time": 1.953866, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768965763004_oghpeu1q0", + "x": 0.1394634176728605, + "y": 0.11325431442381843, + "width": 0.12044572066873967, + "height": 0.3866906148912808 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768965767740_xcg0qib3a", + "x": 0.4437473435728344, + "y": 0.46824897727483034, + "width": 0.04754436342187089, + "height": 0.1500275063239395 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右前方移动。", + "correction_plan": "爪夹继续向右前方移动并下降，接近滴管；随后爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与滴管的距离。", + "frame": 97, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，没有完全接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续向右前方移动并下降，接近滴管。", + "time": 3.2265241172680295, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768965753901_fuf1oymi5", + "x": 0.14421785401504758, + "y": 0.11325431442381843, + "width": 0.09825835107186658, + "height": 0.3761252975445245 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，接近了滴管，方便抓取。", + "frame": 137, + "progress": 20, + "progress_explanation": "爪夹向右前方移动，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，爪夹接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹合拢抓取滴管。", + "time": 4.564934424023961, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768965728156_qd55kdaup", + "x": 0.14738747824317233, + "y": 0.10691512401576465, + "width": 0.11093684798436546, + "height": 0.36555998019776825 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768965735845_nkkvudajz", + "x": 0.44850177991502144, + "y": 0.4724751042135329, + "width": 0.04912917553593328, + "height": 0.16904507754810089 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取滴管", + "correction_plan": "爪夹夹住滴管向上抬升，随后向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹的角度更容易抓取滴管。", + "frame": 212, + "progress": 40, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹夹住滴管向上抬升，随后向左前方移动，接近量筒。", + "time": 7.050553565142119, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768965719196_bt7u2877c", + "x": 0.1394634176728605, + "y": 0.11325431442381843, + "width": 0.11093684798436546, + "height": 0.3359770916268506 + } + ] + } + } + }, + { + "action_description": "爪夹夹住滴管向上抬升", + "correction_plan": "爪夹向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹夹住滴管向上抬升，远离了滴瓶。", + "frame": 257, + "progress": 50, + "progress_explanation": "爪夹夹住滴管向上抬升，远离滴瓶，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，滴管在滴瓶正上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向左前方移动，接近量筒。", + "time": 8.580165344291755, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768965708629_hudut1138", + "x": 0.44057771934470963, + "y": 0.30343002666543195, + "width": 0.03645067862343439, + "height": 0.1584797602013446 + } + ] + } + } + }, + { + "action_description": "爪夹向左前方移动", + "correction_plan": "爪夹继续向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向左前方移动，缩短了与量筒的距离。", + "frame": 280, + "progress": 55, + "progress_explanation": "爪夹向左前方移动，水平上接近了量筒，因此任务进度提升为55%。", + "state_description": "爪夹当前为合拢状态，滴管远离滴瓶，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续向左前方移动，接近量筒。", + "time": 9.32107104981736, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768965695493_pomu29wah", + "x": 0.16006597515567123, + "y": 0.16889830836913838, + "width": 0.122030532782802, + "height": 0.33386402815749927 + } + ] + } + } + }, + { + "action_description": "爪夹向前方移动，随后轻微下降。", + "correction_plan": "爪夹轻微移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向前方移动，滴管接近了量筒，方便溶液落入量筒。", + "frame": 311, + "progress": 60, + "progress_explanation": "爪夹向前方移动，滴管接近了量筒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管接近量筒，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹轻微移动，使滴管放在量筒正上方。", + "time": 10.358366, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768965684773_ad383h80z", + "x": 0.15055710247129706, + "y": 0.1322718856479798, + "width": 0.12836978123905146, + "height": 0.36133385325906564 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向前移动，随后下降。", + "correction_plan": "爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹轻微移动，滴管在量筒正上方，更加方便溶液落入量筒。", + "frame": 348, + "progress": 80, + "progress_explanation": "爪夹轻微移动，滴管在量筒正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，滴管在量筒正上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹挤压滴管，溶液落入量筒。", + "time": 11.615488718541814, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768965667798_3i5p1ao0r", + "x": 0.17432928418223254, + "y": 0.1703070280963025, + "width": 0.10459759952811598, + "height": 0.32329871081074296 + } + ] + } + } + }, + { + "action_description": "爪夹挤压滴管，随后向后方移动", + "correction_plan": "", + "error_success_analysis": "爪夹挤压滴管，溶液落入量筒。", + "frame": 398, + "progress": 100, + "progress_explanation": "爪夹挤压滴管，溶液落入量筒，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，溶液落入量筒，爪夹已完成将溶液从橡胶头滴管放入玻璃量筒中的任务。", + "time": 13.264601417937515, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768965640630_uetcnba8q", + "x": 0.2313825202884776, + "y": 0.2344032759190275 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768965651174_1i1cw4ibt", + "x": 0.18542296898066907, + "y": 0.21256829748332773, + "width": 0.09508872684374184, + "height": 0.28526356836242023 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768896988321", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768896994625", + "name": "量筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768896999906", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768897006435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..a98245f17222175d75136ea92c818ba3013d6358 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,649 @@ +{ + "task_description": "将溶液从橡胶头滴管放入玻璃量筒中\n爪夹准备移动：0\n爪夹接近滴管：20%\n爪夹抓取滴管：40%\n爪夹夹住滴管接近量筒：60%\n爪夹将滴管放在量筒正上方：80%\n爪夹挤压滴管，溶液落入量筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动并下降，接近滴管；随后爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向左侧移动并下降，接近量筒，爪夹向左侧移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，暂未移动，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向右前方移动并下降，接近滴管。", + "time": 0.9715331694698387, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768974152888_s4rufqjue", + "x": 0.6275855488040685, + "y": 0.3393521056444034, + "width": 0.03803549073749677, + "height": 0.12044461775302188 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768974159120_i82unz6j9", + "x": 0.3233016229040947, + "y": 0.22735974176878657, + "width": 0.13629384180936324, + "height": 0.42683882080895474 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768974161032_70pk41oxo", + "x": 0.39144854380877636, + "y": 0.5105102466618556 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768974163400_dq820dtc1", + "x": 0.6260007366900061, + "y": 0.5020579927844505 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右前方偏移", + "correction_plan": "爪夹向右前方移动并下降，接近滴管；随后爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向左侧移动并下降，接近量筒，爪夹向左侧移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方偏移，方便接近滴管。", + "frame": 62, + "progress": 5, + "progress_explanation": "爪夹向右前方偏移，方便接近滴管，因此任务进度提升为5%。", + "state_description": "爪夹当前为张开状态，没有接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向右前方移动，接近滴管。", + "time": 2.082933, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768974128274_dnzx1fvb7", + "x": 0.6291703609181309, + "y": 0.5041710562538018 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768974130193_0lmfqm2yl", + "x": 0.3866941074665892, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768974134122_l32nkib5z", + "x": 0.4865372706525181, + "y": 0.24849037646229916, + "width": 0.03645067862343439, + "height": 0.07395722142729415 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768974140200_jzl1f5lwi", + "x": 0.21236477491972927, + "y": 0.3773872480927261, + "width": 0.15372677506404925, + "height": 0.21764553734317987 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹继续向右前方移动并下降，接近滴管；随后爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向左侧移动并下降，接近量筒，爪夹向左侧移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与滴管的距离。", + "frame": 85, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，没有完全接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续向右前方移动并下降，接近滴管。", + "time": 2.817448069224271, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768974118256_mhend1xo2", + "x": 0.5023853917931418, + "y": 0.3379433859172393, + "width": 0.0459595513078086, + "height": 0.12044461775302188 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768974120450_onzsan7pk", + "x": 0.38986373169471394, + "y": 0.506284119723153 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768974123089_p1awzeox8", + "x": 0.6260007366900061, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右前方移动并下降", + "correction_plan": "爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向左侧移动并下降，接近量筒，爪夹向左侧移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，接近了滴管，方便抓取。", + "frame": 120, + "progress": 20, + "progress_explanation": "爪夹向右前方移动，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，爪夹接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹合拢抓取滴管。", + "time": 3.990666, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768974097370_4yp1dq746", + "x": 0.6275855488040685, + "y": 0.5041710562538018 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768974099649_6oqk2czzk", + "x": 0.38986373169471394, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768974103521_qn8uajs4v", + "x": 0.47544358585408164, + "y": 0.47036204074418164, + "width": 0.05388361187812034, + "height": 0.09720091959015804 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768974109497_hc7vnmc20", + "x": 0.12836973287442396, + "y": 0.8084521958403834, + "width": 0.19334707791560837, + "height": 0.15214056979329083 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹合拢抓住滴管，爪夹夹住滴管向上抬升，随后向左侧移动并下降，接近量筒，爪夹向左侧移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹开始合拢，更加接近滴管。", + "frame": 166, + "progress": 25, + "progress_explanation": "爪夹开始合拢，更加接近滴管，因此任务进度提升为25%。", + "state_description": "爪夹当前为张开状态，爪夹在滴管的两侧，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续合拢夹住滴管。", + "time": 5.548, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768974078489_kanaxu4q4", + "x": 0.15055710247129706, + "y": 0.7999999419629783, + "width": 0.1584812114062364, + "height": 0.1458013793852371 + }, + { + "id": "bbox_1768896994625_1768974087809_5zbflo7p4", + "x": 0.4691043373978322, + "y": 0.48937961196834295, + "width": 0.05863804822030749, + "height": 0.10354010999821182 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768974090337_nzo23424v", + "x": 0.44850177991502144, + "y": 0.506284119723153 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768974092730_tbfl8sn4f", + "x": 0.5626082521275116, + "y": 0.506284119723153 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹合拢抓住滴管，爪夹夹住滴管向上抬升，随后向左侧移动并下降，接近量筒，爪夹向左侧移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹合拢，即将抓住滴管，确保抓取成功。", + "frame": 208, + "progress": 30, + "progress_explanation": "爪夹合拢，即将抓住滴管，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开状态，爪夹即将抓住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续合拢夹住滴管。", + "time": 6.9496, + "annotations": { + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768974057522_tmpb3sr1m", + "x": 0.48019802219626867, + "y": 0.506284119723153 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768974059570_dhulhuiz3", + "x": 0.5324968219603268, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768974063778_h6uxrotcf", + "x": 0.49129170699470526, + "y": 0.48304042156028915, + "width": 0.034865866509372, + "height": 0.0845225387740505 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768974069826_tlmo3samw", + "x": 0.15372672669942178, + "y": 0.8042260689016809, + "width": 0.16323564774842345, + "height": 0.13946218897718315 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹住滴管向上抬升，随后向左侧移动并下降，接近量筒，爪夹向左侧移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹与桌面形成一定角度，容易抓取滴管。", + "frame": 286, + "progress": 40, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为张开状态，爪夹抓住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹夹住滴管向上抬升，随后向左侧移动并下降，接近量筒。", + "time": 9.5192, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768974040731_7l4awlskm", + "x": 0.11886086019004978, + "y": 0.7999999419629784, + "width": 0.20761038694216966, + "height": 0.145801379385237 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768974046554_4n8qyphpp", + "x": 0.4976309554509547, + "y": 0.48515348502964045, + "width": 0.02694180593906017, + "height": 0.06973109448859158 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768974049786_63bbxf8rf", + "x": 0.5229879492759525, + "y": 0.5041710562538018 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768974052258_d8uhreui7", + "x": 0.49604614333689234, + "y": 0.5083971831925044 + } + ] + } + } + }, + { + "action_description": "爪夹夹住滴管向上抬升", + "correction_plan": "爪夹向左侧移动并下降，接近量筒，爪夹向左侧移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹夹住滴管向上抬升，远离了滴瓶。", + "frame": 392, + "progress": 50, + "progress_explanation": "爪夹夹住滴管向上抬升，远离滴瓶，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，滴管在滴瓶正上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向左侧移动并下降，接近量筒。", + "time": 13.050941197687441, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768974011804_1e31ep0cj", + "x": 0.4865372706525181, + "y": 0.48304042156028915, + "width": 0.04437473919374622, + "height": 0.08029641183534787 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768974014306_4ghrdbg9z", + "x": 0.4928765191087677, + "y": 0.506284119723153 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768974016979_qyvozaul8", + "x": 0.5245727613900149, + "y": 0.5041710562538018 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768974025355_kw7yyacj8", + "x": 0.15372672669942178, + "y": 0.7683039899227094, + "width": 0.15531158717811167, + "height": 0.1246707446917244 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升并向左侧移动", + "correction_plan": "爪夹向左侧移动并下降，接近量筒，爪夹向左侧移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向左侧移动，缩短了与量筒的距离。", + "frame": 417, + "progress": 55, + "progress_explanation": "爪夹向左侧移动，水平上接近了量筒，因此任务进度提升为55%。", + "state_description": "爪夹当前为合拢状态，滴管远离滴瓶，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续向左侧移动，接近量筒。", + "time": 13.892937467750865, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768973991091_697gceiax", + "x": 0.4928765191087677, + "y": 0.4809273580909379, + "width": 0.033281054395309616, + "height": 0.08874866571275296 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768973994396_04cm5wcep", + "x": 0.48812208276658053, + "y": 0.506284119723153 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768973997260_1sdn9e3eh", + "x": 0.5245727613900149, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹继续向左侧移动并下降", + "correction_plan": "爪夹向左侧移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向左侧移动并下降，接近了量筒。", + "frame": 448, + "progress": 60, + "progress_explanation": "爪夹向左侧移动并下降，接近了量筒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管接近量筒，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向左侧移动并下降，使滴管放在量筒正上方。", + "time": 14.929240569367385, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768973959372_wt632tm16", + "x": 0.5261575735040773, + "y": 0.506284119723153 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768973961700_ql82z7ptj", + "x": 0.4865372706525181, + "y": 0.5020579927844505 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768973967116_5aidwkiuc", + "x": 0.49604614333689234, + "y": 0.4809273580909379, + "width": 0.03645067862343439, + "height": 0.0950878561208068 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向左侧移动并下降", + "correction_plan": "爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向左侧移动，滴管在量筒正上方，方便溶液落入量筒。", + "frame": 487, + "progress": 80, + "progress_explanation": "爪夹向左侧移动，滴管在量筒正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，滴管在量筒正上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹挤压滴管，溶液落入量筒。", + "time": 16.224619446388044, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768973951084_zb4lavy3e", + "x": 0.48812208276658053, + "y": 0.48515348502964045, + "width": 0.041205114965621445, + "height": 0.09931398305950931 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768973953468_mc9pvdr6m", + "x": 0.49129170699470526, + "y": 0.5083971831925044 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768973955733_27f4tpkao", + "x": 0.5261575735040773, + "y": 0.5083971831925044 + } + ] + } + } + }, + { + "action_description": "爪夹挤压滴管，随后抬升向后方移动。", + "correction_plan": "", + "error_success_analysis": "爪夹挤压滴管，溶液落入量筒", + "frame": 554, + "progress": 100, + "progress_explanation": "爪夹挤压滴管，溶液落入量筒，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，溶液落入量筒，爪夹已完成将溶液从橡胶头滴管放入玻璃量筒中的任务。", + "time": 18.459148009248672, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768973927373_975xda1it", + "x": 0.5182335129337654, + "y": 0.5069884634653402 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768973930141_xs53chfvr", + "x": 0.4992157675650171, + "y": 0.5041710562538018 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768973935158_lqt41ljl6", + "x": 0.4865372706525181, + "y": 0.4809273580909379, + "width": 0.042789927079683834, + "height": 0.08663560224340176 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768973941293_mpklxo9l9", + "x": 0.4342384708884602, + "y": 0.3858395019701311, + "width": 0.12361534489686435, + "height": 0.2007410295883698 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768896988321", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768896994625", + "name": "量筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768896999906", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768897006435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..30a77f53210a68862d87cd9a65611c9260c44565 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-141835-put-solution in the rubber head dropper-glass measuring cup-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,590 @@ +{ + "task_description": "将溶液从橡胶头滴管放入玻璃量筒中\n爪夹准备移动：0\n爪夹接近滴管：20%\n爪夹抓取滴管：40%\n爪夹夹住滴管接近量筒：60%\n爪夹将滴管放在量筒正上方：80%\n爪夹挤压滴管，溶液落入量筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.10354010999821182, + "id": "bbox_1768896988321_1768976363882_7j796zkxq", + "width": 0.033281054395309616, + "x": 0.5974741186368837, + "y": 0.41753545401040004 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.20285409305772106, + "id": "bbox_1768896994625_1768976354306_gu8gxy5ms", + "width": 0.11727609644061499, + "x": 0.738522396788434, + "y": 0.2907516458493244 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768976357690_cmksio6dz", + "x": 0.38827891958065164, + "y": 0.5041710562538018 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768976359618_gnkbpzxd7", + "x": 0.6244159245759439, + "y": 0.4999449293150992 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动并下降，接近滴管；随后爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，爪夹与桌面平行，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向右前方移动并下降，接近滴管。", + "time": 1.685544434973278 + }, + { + "action_description": "爪夹轻微抬升，随后向右前方移动。", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.06973109448859163, + "id": "bbox_1768896988321_1768976338139_fukzp2o8j", + "width": 0.04912917553593328, + "x": 0.5245727613900149, + "y": 0.45345753298937147 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.2514545528528001, + "id": "bbox_1768896994625_1768976345974_v6vusc7wl", + "width": 0.13629384180936324, + "x": 0.7099957787353114, + "y": 0.15762864728019493 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768976334658_8sx8e5wlt", + "x": 0.3866941074665892, + "y": 0.506284119723153 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768976332634_070ofq891", + "x": 0.6260007366900061, + "y": 0.5020579927844505 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动并下降，接近滴管；随后爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，轻微接近了滴管。", + "frame": 77, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，轻微接近了滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，开始接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续向右前方移动并下降，接近滴管。", + "time": 2.562799 + }, + { + "action_description": "爪夹向右前方移动并下降", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.07818334836599661, + "id": "bbox_1768896988321_1768976318028_sfw96vqjs", + "width": 0.04437473919374613, + "x": 0.4992157675650171, + "y": 0.4724751042135329 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.2916027587704741, + "id": "bbox_1768896994625_1768976324785_jd35l4ac2", + "width": 0.17274452043279753, + "x": 0.7305983362181222, + "y": 0.039297092996524285 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768976327043_6uugc2u8p", + "x": 0.3930333559228387, + "y": 0.506284119723153 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768976329292_2fgz4o54p", + "x": 0.6275855488040685, + "y": 0.506284119723153 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动并下降，接近滴管；随后爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与滴管的距离。", + "frame": 95, + "progress": 15, + "progress_explanation": "爪夹向右前方移动，水平上接近了滴管，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，在滴管的上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续向右前方移动并下降，接近滴管。", + "time": 3.1588 + }, + { + "action_description": "爪夹向右前方移动并下降", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.07818334836599666, + "id": "bbox_1768896988321_1768976313818_nvblhon3v", + "width": 0.04754436342187089, + "x": 0.5134790765915784, + "y": 0.4957188023763967 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.29160275877047404, + "id": "bbox_1768896994625_1768976310635_1gmfhxi4o", + "width": 0.19968632637185788, + "x": 0.7416920210165587, + "y": 0.020279521772362936 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768976305291_h5ixxqm41", + "x": 0.38986373169471394, + "y": 0.506284119723153 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768976303235_tbcmpdjdy", + "x": 0.6228311124618815, + "y": 0.5041710562538018 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取滴管，爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，接近了滴管，方便抓取。", + "frame": 121, + "progress": 20, + "progress_explanation": "爪夹向右前方移动，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，爪夹接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹合拢抓取滴管。", + "time": 4.040350217111967 + }, + { + "action_description": "爪夹合拢抓取滴管", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.0739572214272942, + "id": "bbox_1768896988321_1768976274947_zjv7hjfa2", + "width": 0.042789927079683834, + "x": 0.4849524585384558, + "y": 0.49360573890704545 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.29371582223982534, + "id": "bbox_1768896994625_1768976282723_5xp38u15g", + "width": 0.18383820523123423, + "x": 0.7416920210165587, + "y": 0.01394033136430915 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768976293444_eiqojukqa", + "x": 0.48812208276658053, + "y": 0.5041710562538018 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768976295891_k8hi6law4", + "x": 0.5293271977322019, + "y": 0.506284119723153 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹与桌面形成一定角度，容易抓取滴管。", + "frame": 187, + "progress": 40, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹抓住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹夹住滴管向上抬升，随后向右前方移动，接近量筒。", + "time": 6.221643994250963 + }, + { + "action_description": "爪夹夹住滴管向上抬升", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.09086172918210428, + "id": "bbox_1768896988321_1768976256148_qc85ea4uy", + "width": 0.042789927079683834, + "x": 0.4865372706525181, + "y": 0.4809273580909379 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.2535676163221513, + "id": "bbox_1768896994625_1768976261796_lai4s0ruu", + "width": 0.1299545933531138, + "x": 0.6782995364540642, + "y": 0.24849037646229916 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768976264044_3bw8w7cs7", + "x": 0.4928765191087677, + "y": 0.4999449293150992 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768976266803_fmko47hll", + "x": 0.5261575735040773, + "y": 0.5041710562538018 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹夹住滴管向上抬升，远离了滴瓶。", + "frame": 223, + "progress": 50, + "progress_explanation": "爪夹夹住滴管向上抬升，远离滴瓶，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，滴管在滴瓶正上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向右前方移动，接近量筒。", + "time": 7.436228029248812 + }, + { + "action_description": "爪夹向上抬升，随后向右侧移动", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.07818334836599661, + "id": "bbox_1768896988321_1768976247132_ooopgijsg", + "width": 0.03962030285155906, + "x": 0.4849524585384558, + "y": 0.48515348502964045 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.21553247387382868, + "id": "bbox_1768896994625_1768976234629_pers0rea3", + "width": 0.10935203587030307, + "x": 0.5847956217243848, + "y": 0.3985178827862387 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768976227893_cisr0wh48", + "x": 0.48812208276658053, + "y": 0.5041710562538018 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768976225428_z7pqcdw4b", + "x": 0.5245727613900149, + "y": 0.5020579927844505 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动，接近量筒，爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右侧移动，缩短了与量筒的距离。", + "frame": 259, + "progress": 55, + "progress_explanation": "爪夹向右侧移动，水平上接近了量筒，因此任务进度提升为55%。", + "state_description": "爪夹当前为合拢状态，滴管远离滴瓶，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向右前方移动，接近量筒。", + "time": 8.626024634960991 + }, + { + "action_description": "爪夹向右前方移动", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.08874866571275301, + "id": "bbox_1768896988321_1768976200997_3ys5peq3r", + "width": 0.041205114965621445, + "x": 0.4849524585384558, + "y": 0.47881429462158664 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.20919328346577484, + "id": "bbox_1768896994625_1768976207301_b10nfosat", + "width": 0.07290135724686878, + "x": 0.4817828343103311, + "y": 0.5654498968649884 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768976216788_u4f18mkws", + "x": 0.48812208276658053, + "y": 0.5083971831925044 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768976219381_8v112p32a", + "x": 0.5245727613900149, + "y": 0.506284119723153 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动至量筒正上方，爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，接近了量筒。", + "frame": 294, + "progress": 60, + "progress_explanation": "爪夹向右前方移动，接近了量筒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管接近量筒，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹轻微向右前方移动至量筒的正上方。", + "time": 9.815821240673172 + }, + { + "action_description": "爪夹向右前方移动", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.08663560224340176, + "id": "bbox_1768896988321_1768976168654_8ywe9ivrr", + "width": 0.034865866509372, + "x": 0.49129170699470526, + "y": 0.48937961196834295 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.23877617203669257, + "id": "bbox_1768896994625_1768976176902_nubf7a7ii", + "width": 0.06656210879061923, + "x": 0.4564258404853333, + "y": 0.5591107064569345 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768976178814_lup5ts25u", + "x": 0.49129170699470526, + "y": 0.5020579927844505 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768976180885_4ujb6b6wv", + "x": 0.5245727613900149, + "y": 0.5041710562538018 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹挤压滴管，溶液落入量筒", + "error_success_analysis": "爪夹向右前方移动，滴管在量筒正上方，方便溶液落入量筒", + "frame": 337, + "progress": 80, + "progress_explanation": "爪夹向右前方移动，滴管在量筒正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，滴管在量筒正上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹挤压滴管，溶液落入量筒。", + "time": 11.228704709956386 + }, + { + "action_description": "爪夹挤压滴管，爪夹向左后方移动", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.12889687163042698, + "id": "bbox_1768896988321_1768976161998_7l2ream7w", + "width": 0.02218736959687311, + "x": 0.4976309554509547, + "y": 0.4914926754376942 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.2789243779543665, + "id": "bbox_1768896994625_1768976157262_bfqnkgq6u", + "width": 0.05705323610624511, + "x": 0.4691043373978322, + "y": 0.3752741846233748 + } + ], + "type": "bbox" + }, + "point_1768896999906": { + "instances": [ + { + "id": "point_1768896999906_1768976151703_yhqjs6s8z", + "x": 0.4976309554509547, + "y": 0.4999449293150992 + } + ], + "type": "point" + }, + "point_1768897006435": { + "instances": [ + { + "id": "point_1768897006435_1768976148783_3ekp59n5k", + "x": 0.5182335129337654, + "y": 0.49853620958793515 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹挤压滴管，溶液落入量筒", + "frame": 391, + "progress": 100, + "progress_explanation": "爪夹挤压滴管，溶液落入量筒，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，溶液落入量筒，爪夹已完成将溶液从橡胶头滴管放入玻璃量筒中的任务。", + "time": 13.038187047810323 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768896988321", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768896994625", + "name": "量筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768896999906", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768897006435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-143128-put-solution in the rubber head dropper-glass measuring cup-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-143128-put-solution in the rubber head dropper-glass measuring cup-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..adae4eee55ea18011fb23667b9a6b979520e389c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-143128-put-solution in the rubber head dropper-glass measuring cup-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,858 @@ +{ + "task_description": "将溶液从橡胶头滴管放入玻璃量筒中\n爪夹准备移动：0\n爪夹接近滴管：20%\n爪夹抓取滴管：40%\n爪夹夹住滴管接近量筒：60%\n爪夹将滴管放在量筒正上方：80%\n爪夹挤压滴管，溶液落入量筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动并下降，接近滴管，爪夹合拢抓住滴管，随后爪夹夹住滴管向上抬升，向右后方移动并下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，爪夹与桌面平行，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向右前方移动并下降，接近滴管。", + "time": 1.584730441203653, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980596224_7ntc4x3t4", + "x": 0.738522396788434, + "y": 0.42387464441845385, + "width": 0.19651670214373312, + "height": 0.29371582223982534 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980606199_ahpg6wug1", + "x": 0.6180766761196943, + "y": 0.3182214709508908, + "width": 0.049129175535933364, + "height": 0.16904507754810089 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980613887_yuljaxeik", + "x": 0.3835244832384645, + "y": 0.5105102466618556 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980615855_zmtqwm26k", + "x": 0.6260007366900061, + "y": 0.5083971831925044 + } + ] + } + } + }, + { + "action_description": "爪夹轻微抬升，随后向右前方移动。", + "correction_plan": "爪夹向右前方移动并下降，接近滴管，爪夹合拢抓住滴管，随后爪夹夹住滴管向上抬升，向右后方移动并下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与滴管的距离。", + "frame": 83, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，开始接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续向右前方移动并下降，接近滴管。", + "time": 2.7712, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980575449_426rzr78v", + "x": 0.6275855488040685, + "y": 0.5041710562538018 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980576997_ct4hi68ws", + "x": 0.3866941074665892, + "y": 0.5105102466618556 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980580136_43zfhirvk", + "x": 0.5340816340743891, + "y": 0.47036204074418164, + "width": 0.028526618053122555, + "height": 0.05493965020313277 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980585144_cko5t8im4", + "x": 0.6307551730321933, + "y": 0.7175904666582792, + "width": 0.24406106556560392, + "height": 0.145801379385237 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹合拢抓住滴管，随后爪夹夹住滴管向上抬升，向右后方移动并下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，接近了滴管，方便抓取。", + "frame": 122, + "progress": 20, + "progress_explanation": "爪夹向右前方移动，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，爪夹接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹合拢抓取滴管。", + "time": 4.08188374876914, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980557416_tgn51xtlj", + "x": 0.7131654029634362, + "y": 0.7577386725759532, + "width": 0.2472306897937286, + "height": 0.19862796611901862 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980567041_ow6gy7ddt", + "x": 0.47861321008220636, + "y": 0.4914926754376942, + "width": 0.052298799764057956, + "height": 0.05493965020313277 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980568860_iuv8ypfyl", + "x": 0.4057118528353376, + "y": 0.5041710562538018 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980570992_6fiersazp", + "x": 0.6038133670931332, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹合拢抓住滴管，随后爪夹夹住滴管向上抬升，向右后方移动并下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹合拢，即将抓住滴管，确保抓取成功。", + "frame": 171, + "progress": 35, + "progress_explanation": "爪夹合拢，即将抓住滴管，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开状态，爪夹即将抓住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续合拢夹住滴管。", + "time": 5.714637834485036, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980538386_es4xruo2m", + "x": 0.6656210395415653, + "y": 0.7027990223728203, + "width": 0.3074535501280985, + "height": 0.24934148938344894 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980542465_ahogiyh1w", + "x": 0.48336764642439345, + "y": 0.48937961196834295, + "width": 0.04754436342187089, + "height": 0.06761803101924038 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980544304_16fv0k0t5", + "x": 0.4691043373978322, + "y": 0.5083971831925044 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980546584_9nma083ay", + "x": 0.5388360704165762, + "y": 0.506284119723153 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取滴管", + "correction_plan": "爪夹夹住滴管向上抬升，向右后方移动并下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹与桌面形成一定角度，容易抓取滴管。", + "frame": 239, + "progress": 40, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹抓住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹夹住滴管向上抬升，随后向右后方移动，接近量筒。", + "time": 7.971680247092304, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980516972_lyk0v3mu7", + "x": 0.5277423856181397, + "y": 0.5069884634653402 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980518714_y820cfko1", + "x": 0.4849524585384558, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980521276_oyo72xo0r", + "x": 0.49446133122283, + "y": 0.4957188023763967, + "width": 0.030111430167184938, + "height": 0.05493965020313277 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980526506_ffzoufm2w", + "x": 0.6735451001118771, + "y": 0.6985728954341178, + "width": 0.304283925899974, + "height": 0.2599068067302053 + } + ] + } + } + }, + { + "action_description": "爪夹夹住滴管向上抬升", + "correction_plan": "爪夹夹住滴管向上抬升，向右后方移动并下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向上抬升，滴管脱离了滴瓶。", + "frame": 289, + "progress": 45, + "progress_explanation": "爪夹向上抬升，滴管在滴瓶的正上方，因此任务进度提升为45%。", + "state_description": "爪夹当前为合拢状态，滴管脱离滴瓶，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹夹住滴管继续向上抬升并向右后方移动，接近量筒。", + "time": 9.641466, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980502500_zd91qmecg", + "x": 0.49446133122283, + "y": 0.49360573890704545, + "width": 0.034865866509372, + "height": 0.05493965020313283 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980507826_60j59y5s4", + "x": 0.6782995364540642, + "y": 0.7154774031889278, + "width": 0.2583243745921654, + "height": 0.21341941040447748 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980510440_lzi31kr32", + "x": 0.4865372706525181, + "y": 0.5041710562538018 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980512188_szm21tgyu", + "x": 0.5261575735040773, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹夹住滴管向上抬升，向右后方移动并下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹把滴管放进了滴瓶，需重新使滴管脱离滴瓶。", + "frame": 326, + "progress": 40, + "progress_explanation": "爪夹下降，滴管放进了滴瓶，因此任务倒退为40%。", + "state_description": "爪夹当前为合拢状态，爪夹抓住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹夹住滴管向上抬升，向右后方移动并下降，接近量筒。", + "time": 10.853866, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980476867_brfo5plgw", + "x": 0.6782995364540642, + "y": 0.7070251493115229, + "width": 0.2931902411015373, + "height": 0.23243698162863874 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980486970_v63p8gwso", + "x": 0.4849524585384558, + "y": 0.506284119723153 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980490226_1ixv0bkvs", + "x": 0.4976309554509547, + "y": 0.49360573890704545, + "width": 0.025356993824997787, + "height": 0.05493965020313283 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980493018_ya3hqbna0", + "x": 0.5277423856181397, + "y": 0.5083971831925044 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向上抬升", + "correction_plan": "爪夹下降，接近滴管，爪夹合拢抓住滴管，随后爪夹夹住滴管向上抬升，向右后方移动并下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹张开，随后向上抬升，远离了滴管，需重新接近滴管。", + "frame": 359, + "progress": 10, + "progress_explanation": "爪夹张开，随后向上抬升，远离了滴管，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开状态，爪夹远离滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹下降，接近滴管。", + "time": 11.966666666666667, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980456994_hkmcf38fd", + "x": 0.6260007366900061, + "y": 0.5020579927844505 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980459098_97sunsvc8", + "x": 0.38986373169471394, + "y": 0.5041710562538018 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980464872_toj2l8k30", + "x": 0.7369375846743716, + "y": 0.7112512762502253, + "width": 0.19334707791560835, + "height": 0.15425363326264213 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980468219_38ty2nl7p", + "x": 0.4976309554509547, + "y": 0.4809273580909379, + "width": 0.04595955130780851, + "height": 0.06127884061118654 + } + ] + } + } + }, + { + "action_description": "爪夹下降，随后轻微合拢", + "correction_plan": "爪夹合拢抓住滴管，随后爪夹夹住滴管向上抬升，向右后方移动并下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹下降，接近了滴管，方便抓取。", + "frame": 423, + "progress": 20, + "progress_explanation": "爪夹下降，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，爪夹接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹合拢抓取滴管。", + "time": 14.1158, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980443723_yxeu64xr1", + "x": 0.7052413423931243, + "y": 0.7006859589034691, + "width": 0.28526618053122554, + "height": 0.23877617203669246 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980447980_c9a1cj22i", + "x": 0.48019802219626867, + "y": 0.4914926754376942, + "width": 0.042789927079683834, + "height": 0.0612788406111866 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980450602_xfd0p6wj6", + "x": 0.4437473435728344, + "y": 0.5083971831925044 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980452654_wwxld5x0u", + "x": 0.5673626884696987, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取滴管", + "correction_plan": "爪夹夹住滴管向上抬升，向右后方移动并下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹与桌面形成夹角，容易抓取滴管。", + "frame": 539, + "progress": 40, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹抓住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹夹住滴管向上抬升，随后向右后方移动，接近量筒。", + "time": 17.966666666666665, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980417219_0ivwogqiv", + "x": 0.5245727613900149, + "y": 0.5020579927844505 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980419737_tpgu3wzwe", + "x": 0.4865372706525181, + "y": 0.5083971831925044 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980423469_k0dmk0q1w", + "x": 0.4976309554509547, + "y": 0.49360573890704545, + "width": 0.02218736959687311, + "height": 0.057052713672484025 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980430076_xk3eanv81", + "x": 0.681469160682189, + "y": 0.6774422607406052, + "width": 0.3042839258999739, + "height": 0.26835906060761017 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后轻微向右移动。", + "correction_plan": "爪夹向右后方移动并下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹夹住滴管向上抬升，远离了滴瓶。", + "frame": 581, + "progress": 50, + "progress_explanation": "爪夹夹住滴管向上抬升，远离滴瓶，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，滴管脱离滴瓶，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向右后方移动并下降，接近量筒。", + "time": 19.369533, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980408460_gmiz0wzc5", + "x": 0.4928765191087677, + "y": 0.47458816768288414, + "width": 0.03169624228124723, + "height": 0.07607028489664534 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980410653_m5599oujd", + "x": 0.48812208276658053, + "y": 0.5041710562538018 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980412724_02jy46df4", + "x": 0.5277423856181397, + "y": 0.5020579927844505 + } + ] + } + } + }, + { + "action_description": "爪夹向右后方移动", + "correction_plan": "爪夹下降，接近量筒，爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右后方移动，更加远离滴瓶。", + "frame": 613, + "progress": 55, + "progress_explanation": "爪夹向右后方移动，更加远离滴瓶，因此任务进度提升为55%。", + "state_description": "爪夹当前为合拢状态，滴管远离滴瓶，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹下降，接近量筒。", + "time": 20.4376, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980389165_liz99t72z", + "x": 0.5261575735040773, + "y": 0.5041710562538018 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980391554_98f7w26hp", + "x": 0.4865372706525181, + "y": 0.5041710562538018 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980396269_71qqsraj7", + "x": 0.49604614333689234, + "y": 0.48937961196834295, + "width": 0.028526618053122555, + "height": 0.06339190408053787 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980401151_mdy9d9zjv", + "x": 0.4992157675650171, + "y": 0.6140503566600674, + "width": 0.05546842399218273, + "height": 0.16481895060939836 + } + ] + } + } + }, + { + "action_description": "爪夹轻微下降", + "correction_plan": "爪夹向右侧移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹下降，接近了量筒，方便溶液落入量筒。", + "frame": 641, + "progress": 60, + "progress_explanation": "爪夹下降，接近了量筒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管接近了滴瓶，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向右侧移动至量筒的正上方。", + "time": 21.361333, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980374909_b6ay10y9l", + "x": 0.5103094523634536, + "y": 0.5569976429875834, + "width": 0.041205114965621445, + "height": 0.17749733142550592 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980379877_wyhki7xb3", + "x": 0.49129170699470526, + "y": 0.48304042156028915, + "width": 0.03803549073749668, + "height": 0.07607028489664534 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980381919_ozew498t4", + "x": 0.49129170699470526, + "y": 0.506284119723153 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980384516_h8kjn2vza", + "x": 0.5261575735040773, + "y": 0.506284119723153 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向右侧移动，随后下降", + "correction_plan": "爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右侧移动，滴管在量筒正上方，方便溶液落入量筒。", + "frame": 738, + "progress": 80, + "progress_explanation": "爪夹向右侧移动，滴管在量筒正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，滴管在量筒正上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹挤压滴管，溶液落入量筒。", + "time": 24.587354178201128, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980353445_yoa2q9f62", + "x": 0.5229879492759525, + "y": 0.5020579927844505 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980355733_3uk1nmg6d", + "x": 0.4865372706525181, + "y": 0.4999449293150992 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980360539_uh83dumm3", + "x": 0.4976309554509547, + "y": 0.4872665484989917, + "width": 0.02218736959687311, + "height": 0.12467074469172447 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980365727_zb9jzqy9j", + "x": 0.47068914951189456, + "y": 0.48515348502964045, + "width": 0.05705323610624511, + "height": 0.21341941040447737 + } + ] + } + } + }, + { + "action_description": "爪夹挤压滴管，随后向上抬升并向左侧移动", + "correction_plan": "", + "error_success_analysis": "爪夹挤压滴管，溶液落入量筒。", + "frame": 814, + "progress": 100, + "progress_explanation": "爪夹挤压滴管，溶液落入量筒，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，爪夹远离量筒，爪夹已完成将溶液从橡胶头滴管放入玻璃量筒中的任务。", + "time": 27.13252966475826, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768980336232_voug6lq6d", + "x": 0.5008005796790794, + "y": 0.4752925114250713, + "width": 0.02218736959687311, + "height": 0.08663560224340176 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768980343790_sxy5o7wz2", + "x": 0.5958893065228212, + "y": 0.5126233101312069, + "width": 0.07607098147499344, + "height": 0.18383652183355975 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768980346845_detfu8fgu", + "x": 0.49604614333689234, + "y": 0.5041710562538018 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768980349110_83o2uxqvx", + "x": 0.5229879492759525, + "y": 0.5020579927844505 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768896988321", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768896994625", + "name": "量筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768896999906", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768897006435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-144846-put-solution in the rubber head dropper-glass measuring cup-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-144846-put-solution in the rubber head dropper-glass measuring cup-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..69b4da08cb52896f15500b9d76ed893c719fd4c3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-144846-put-solution in the rubber head dropper-glass measuring cup-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,442 @@ +{ + "task_description": "将溶液从橡胶头滴管放入玻璃量筒中\n爪夹准备移动：0\n爪夹接近滴管：20%\n爪夹抓取滴管：40%\n爪夹夹住滴管接近量筒：60%\n爪夹将滴管放在量筒正上方：80%\n爪夹挤压滴管，溶液落入量筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动并下降，接近滴管，爪夹合拢抓住滴管，随后爪夹夹住滴管向上抬升，向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，爪夹与桌面平行，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向上抬升，随后向右前方移动并下降，接近滴管。", + "time": 1.3415149049027755, + "annotations": { + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768983536915_50w6xdpwj", + "x": 0.7004869060509373, + "y": 0.40697013666364373, + "width": 0.041205114965621445, + "height": 0.07607028489664541 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768983543779_n8uv42ish", + "x": 0.4976309554509547, + "y": 0.1153673778931697, + "width": 0.11410647221249022, + "height": 0.2725851875463127 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768983546643_oc5uy0zsu", + "x": 0.40254222860721284, + "y": 0.4957188023763967 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768983548794_yxggg4d1v", + "x": 0.5435905067587632, + "y": 0.5083971831925044 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右前方移动", + "correction_plan": "爪夹继续向右前方移动并下降，接近滴管，爪夹合拢抓住滴管，随后爪夹夹住滴管向上抬升，向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，缩短了与滴管的距离。", + "frame": 77, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，开始接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续向右前方移动并下降，接近滴管。", + "time": 2.5632, + "annotations": { + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768983512923_7y7mcfaaf", + "x": 0.7353527725603093, + "y": 0.506284119723153 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768983515005_cbpj69vnj", + "x": 0.6085678034353201, + "y": 0.42176158094910254 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768983518859_5yuj8aq1e", + "x": 0.6782995364540642, + "y": 0.4154223905410488, + "width": 0.05705323610624511, + "height": 0.04648739632572774 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768983524578_s7uyay88z", + "x": 0.5008005796790794, + "y": 0.10902818748511592, + "width": 0.10776722375624077, + "height": 0.2725851875463127 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右前方移动并下降", + "correction_plan": "爪夹合拢抓住滴管，随后爪夹夹住滴管向上抬升，向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向右前方移动，接近了滴管，方便抓取。", + "frame": 107, + "progress": 20, + "progress_explanation": "爪夹向右前方移动，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，爪夹接近滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹合拢抓取滴管。", + "time": 3.5712, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768983493284_14xvhmk6u", + "x": 0.5134790765915784, + "y": 0.10691512401576465, + "width": 0.09825835107186656, + "height": 0.2789243779543665 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768983495876_1oz74dd49", + "x": 0.6782995364540642, + "y": 0.3900656289088336 + } + ] + }, + "point_1768897006435": { + "type": "point", + "instances": [ + { + "id": "point_1768897006435_1768983498595_x8478oj33", + "x": 0.7765578875259307, + "y": 0.47458816768288414 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹合拢抓住滴管，随后爪夹夹住滴管向上抬升，向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹合拢，没有完全抓住滴管。", + "frame": 143, + "progress": 30, + "progress_explanation": "爪夹合拢，即将抓住滴管，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开状态，爪夹即将抓住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹继续合拢夹住滴管。", + "time": 4.752, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768983484060_5yo3t1hmc", + "x": 0.5103094523634536, + "y": 0.10902818748511592, + "width": 0.09984316318592894, + "height": 0.2789243779543665 + } + ] + } + } + }, + { + "action_description": "爪夹继续合拢", + "correction_plan": "爪夹夹住滴管向上抬升，向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹与桌面形成一定角度，容易抓取滴管。", + "frame": 190, + "progress": 40, + "progress_explanation": "爪夹合拢，成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹抓住滴管，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹夹住滴管向上抬升，向左前方移动，接近量筒。", + "time": 6.348242903436578, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768983476701_cwaxzjaw1", + "x": 0.5071398281353289, + "y": 0.10691512401576465, + "width": 0.10459759952811609, + "height": 0.2768113144850152 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹夹住滴管向上抬升，向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹夹住滴管向上抬升，滴管轻微脱离滴瓶。", + "frame": 237, + "progress": 50, + "progress_explanation": "爪夹夹住滴管向上抬升，滴管轻微脱离滴瓶，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，滴管轻微脱离滴瓶，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向上抬升，随后向左前方移动，接近量筒。", + "time": 7.905359266616947, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768983467751_vsya4ctce", + "x": 0.511894264477516, + "y": 0.11325431442381843, + "width": 0.10142797529999123, + "height": 0.2725851875463127 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，轻微向右前方移动", + "correction_plan": "爪夹向左前方移动，接近量筒，爪夹向左前方移动至量筒正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向上抬升，轻微向右前方移动，缩短了与量筒的距离。", + "frame": 270, + "progress": 55, + "progress_explanation": "爪夹向上抬升，更加远离滴瓶，因此任务进度提升为55%。", + "state_description": "爪夹当前为合拢状态，滴管远离滴瓶，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向左前方移动，接近量筒。", + "time": 9.007318539021517, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768983450628_gfc717ni2", + "x": 0.5023853917931418, + "y": 0.10480206054641338, + "width": 0.11093684798436546, + "height": 0.28526356836242023 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768983454413_l4xhlz2fj", + "x": 0.6973172818228125, + "y": 0.12804575870927726, + "width": 0.0681469209046817, + "height": 0.097200919590158 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768983456724_11q9xi555", + "x": 0.7448616452446835, + "y": 0.19988991666722014 + } + ] + } + } + }, + { + "action_description": "爪夹继续抬升，随后向左前方移动。", + "correction_plan": "爪夹向左侧移动至量筒的正上方，随后爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向左前方移动，接近了量筒，方便溶液落入量筒。", + "frame": 295, + "progress": 60, + "progress_explanation": "爪夹向左前方移动，接近了量筒，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管接近了滴瓶，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹向左侧移动至量筒的正上方。", + "time": 9.845765811503254, + "annotations": { + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768983430445_fqutoavot", + "x": 0.6925628454806254, + "y": 0.07944529891419826 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768983436493_yas9n8667", + "x": 0.6022285549790707, + "y": 0.07099304503679321, + "width": 0.11093684798436546, + "height": 0.04860045979507901 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768983442620_27lptg12t", + "x": 0.5150638887056407, + "y": 0.11114125095446717, + "width": 0.09350391472967949, + "height": 0.274698251015664 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "爪夹挤压滴管，溶液落入量筒。", + "error_success_analysis": "爪夹向左侧移动，滴管在量筒正上方，方便溶液落入量筒。", + "frame": 349, + "progress": 80, + "progress_explanation": "爪夹向左侧移动，滴管在量筒正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，滴管在量筒正上方，为完成将溶液从橡胶头滴管放入玻璃量筒中的任务，应当：爪夹挤压滴管，溶液落入量筒。", + "time": 11.642438538249833, + "annotations": { + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768983417533_8g1606xpr", + "x": 0.5023853917931418, + "y": 0.10902818748511592, + "width": 0.10935203587030315, + "height": 0.2789243779543665 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768983422773_a3feyorj7", + "x": 0.5879652459525094, + "y": 0.08578448932225204, + "width": 0.09033429050155473, + "height": 0.05705271367248406 + } + ] + }, + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768983425646_v1t0kesta", + "x": 0.6592817910853158, + "y": 0.09423674319965708 + } + ] + } + } + }, + { + "action_description": "爪夹挤压滴管，随后向后移动", + "correction_plan": "", + "error_success_analysis": "爪夹挤压滴管，溶液落入量筒", + "frame": 402, + "progress": 100, + "progress_explanation": "爪夹挤压滴管，溶液落入量筒，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，爪夹远离量筒，爪夹已完成将溶液从橡胶头滴管放入玻璃量筒中的任务。", + "time": 13.415155628639793, + "annotations": { + "point_1768896999906": { + "type": "point", + "instances": [ + { + "id": "point_1768896999906_1768983395441_z5qcrl74q", + "x": 0.6545273547431287, + "y": 0.12663703898211318 + } + ] + }, + "bbox_1768896988321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896988321_1768983403790_3dgd49i79", + "x": 0.5958893065228212, + "y": 0.11959350483187221, + "width": 0.07607098147499344, + "height": 0.048600459795078994 + } + ] + }, + "bbox_1768896994625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768896994625_1768983410301_d57prehwz", + "x": 0.5134790765915784, + "y": 0.10480206054641338, + "width": 0.09825835107186656, + "height": 0.28948969530112284 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768896988321", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768896994625", + "name": "量筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768896999906", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768897006435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-150833-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-150833-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..abf934dcf531d994350d378679fc6f98fde49204 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-150833-put-rubber head dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,282 @@ +{ + "task_description": "将橡胶头滴管放入滴瓶中\n爪夹准备移动：0\n爪夹接近滴瓶：25%\n爪夹将滴管放在滴瓶正上方：50%\n爪夹将滴管放入滴瓶中：75%\n爪夹松开，滴管完全放入滴瓶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.04226126938702523, + "id": "bbox_1768896988321_1768985983903_8kjocdqfx", + "width": 0.03169624228124723, + "x": 0.5594386278993869, + "y": 0.03718402952717303 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.17538426795615467, + "id": "bbox_1768896994625_1768985979407_ha1gesp78", + "width": 0.0808254178171806, + "x": 0.45959546471345797, + "y": 0.4597967233974253 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，随后向左后方移动并下降，接近滴瓶，爪夹向左后方移动至滴瓶正上方，随后爪夹下降，.滴管放入滴瓶中，爪夹松开，滴管完全放入滴瓶。", + "error_success_analysis": "", + "frame": 57, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴瓶，因此任务进度为0.", + "state_description": "爪夹当前为合拢的状态，爪夹夹住滴管，没有接近滴瓶，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹向上抬升，随后向左后方移动，接近滴瓶。", + "time": 1.904250647518659 + }, + { + "action_description": "爪夹向上抬升，随后向左后方移动", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.04648739632572775, + "id": "bbox_1768896988321_1768985966127_e0t0ae45l", + "width": 0.02694180593906017, + "x": 0.5610234400134493, + "y": 0.001261950548201584 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.18172345836420842, + "id": "bbox_1768896994625_1768985971478_lcudaoevp", + "width": 0.07607098147499344, + "x": 0.46276508894158275, + "y": 0.44923140605066897 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左后方移动并下降，接近滴瓶，爪夹向左后方移动至滴瓶正上方，随后爪夹下降，.滴管放入滴瓶中，爪夹松开，滴管完全放入滴瓶。", + "error_success_analysis": "爪夹向左后方移动，稍微远离了量筒。", + "frame": 89, + "progress": 10, + "progress_explanation": "爪夹向左后方移动，稍微远离了量筒，因此任务进度提升为10%。", + "state_description": "爪夹当前为合拢状态，远离量筒，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹向左后方移动并下降，接近滴瓶。", + "time": 2.9600731077383546 + }, + { + "action_description": "爪夹向左后方移动并下降", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.1436883159158858, + "id": "bbox_1768896988321_1768985958023_0hwph31zd", + "width": 0.04595955130780851, + "x": 0.5277423856181397, + "y": 0.10268899707706212 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.1838365218335597, + "id": "bbox_1768896994625_1768985952578_mfdf4cunr", + "width": 0.07607098147499344, + "x": 0.46276508894158275, + "y": 0.4520488132622074 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向左后方移动并下降，接近滴瓶，爪夹向左后方移动至滴瓶正上方，随后爪夹下降，.滴管放入滴瓶中，爪夹松开，滴管完全放入滴瓶。", + "error_success_analysis": "爪夹向左后方移动并下降，缩短了与滴瓶的距离。", + "frame": 119, + "progress": 20, + "progress_explanation": "爪夹向左后方移动并下降，高度上接近了滴瓶，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，远离了量筒，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹向左后方移动并下降，接近滴瓶。", + "time": 3.9781876229502044 + }, + { + "action_description": "爪夹继续向左后方移动并下降", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.13100993509977818, + "id": "bbox_1768896988321_1768985940935_6eugs3763", + "width": 0.034865866509372, + "x": 0.5071398281353289, + "y": 0.2506034399316504 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.1838365218335597, + "id": "bbox_1768896994625_1768985945871_4aq14aucz", + "width": 0.07924060570311822, + "x": 0.45959546471345797, + "y": 0.4471183425813177 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左后方移动至滴瓶正上方，随后爪夹下降，.滴管放入滴瓶中，爪夹松开，滴管完全放入滴瓶。", + "error_success_analysis": "爪夹向左后方移动并下降，接近了滴瓶。", + "frame": 144, + "progress": 25, + "progress_explanation": "爪夹向左后方移动并下降，接近了滴瓶，因此任务进度提升为25%。", + "state_description": "爪夹当前为合拢状态，接近了滴瓶，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹向左后方移动并下降，使滴管在滴瓶正上方。", + "time": 4.805333 + }, + { + "action_description": "爪夹向左后方移动，随后下降", + "annotations": { + "bbox_1768896988321": { + "instances": [ + { + "height": 0.11199236387561685, + "id": "bbox_1768896988321_1768985933023_wgz07wnrj", + "width": 0.02218736959687311, + "x": 0.49604614333689234, + "y": 0.36893499421532105 + } + ], + "type": "bbox" + }, + "bbox_1768896994625": { + "instances": [ + { + "height": 0.1711581410174522, + "id": "bbox_1768896994625_1768985927488_flh2su4gu", + "width": 0.07607098147499344, + "x": 0.46276508894158275, + "y": 0.46190978686677653 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，滴管放入滴瓶中，爪夹松开，滴管完全放入滴瓶。", + "error_success_analysis": "爪夹向左后方移动，使滴管在滴瓶的正上方，方便放入滴瓶里。", + "frame": 182, + "progress": 50, + "progress_explanation": "爪夹向左后方移动，使滴管在滴瓶的正上方，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，滴管在滴瓶的正上方，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹下降，使滴管放进滴瓶里。", + "time": 6.05212459838175 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1768896994625": { + "instances": [ + { + "height": 0.1838365218335597, + "id": "bbox_1768896994625_1768985919584_0w8ptmskq", + "width": 0.07607098147499344, + "x": 0.45959546471345797, + "y": 0.4513444695200202 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，滴管放入滴瓶中，爪夹松开，滴管完全放入滴瓶。", + "error_success_analysis": "爪夹下降，滴管放入一半，距离任务成功又近了一步。", + "frame": 218, + "progress": 75, + "progress_explanation": "爪夹下降，滴管放入一半，因此任务进度提升为75%。", + "state_description": "爪夹当前为合拢状态，滴管放进滴瓶，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹继续下降，使滴管完全放入滴瓶里。", + "time": 7.258778838632833 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1768896994625": { + "instances": [ + { + "height": 0.17327120448680347, + "id": "bbox_1768896994625_1768985912112_mwyns8lck", + "width": 0.07765579358905583, + "x": 0.4564258404853333, + "y": 0.4597967233974253 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，滴管完全放入滴瓶。", + "error_success_analysis": "爪夹下降，滴管基本放入滴瓶中。", + "frame": 252, + "progress": 85, + "progress_explanation": "爪夹下降，滴管基本放入滴瓶中，因此任务进度提升为85%。", + "state_description": "爪夹当前为合拢状态，滴管放进滴瓶，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹松开，滴管完全放入滴瓶。", + "time": 8.409333 + }, + { + "action_description": "爪夹下降，随后松开并向上抬升。", + "annotations": { + "bbox_1768896994625": { + "instances": [ + { + "height": 0.16904507754810089, + "id": "bbox_1768896994625_1768985900969_f0cnrtuoe", + "width": 0.07924060570311822, + "x": 0.44533215568689666, + "y": 0.4668402575476662 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，滴管完全放入滴瓶", + "frame": 305, + "progress": 100, + "progress_explanation": "爪夹张开，滴管完全放入滴瓶，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，爪夹远离滴瓶，爪夹已完成将橡胶头滴管放入滴瓶中的任务。", + "time": 10.181144576740918 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768896988321", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768896994625", + "name": "滴瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768896999906", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768897006435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-152001-put-rubber head dropper-glass dropping bottle-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-152001-put-rubber head dropper-glass dropping bottle-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-152001-put-rubber head dropper-glass dropping bottle-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-155843-put-tower-solution stained area-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-155843-put-tower-solution stained area-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..774c8fc4be47b7cb4d4015595313869d432e0876 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-155843-put-tower-solution stained area-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,506 @@ +{ + "task_description": "使用毛巾将桌子的液体擦干净，然后毛巾回归原位\n爪夹准备移动：0\n爪夹接近毛巾：15%\n爪夹抓取毛巾：30%\n爪夹抓住毛巾接近桌子上的液体：45%\n爪夹抓住毛巾来回擦桌子的液体：60%\n爪夹使用毛巾将桌子的液体擦干净：75%\n爪夹夹住毛巾放在桌子左侧的正上方：90%\n爪夹松开，毛巾落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.2725851875463127, + "id": "bbox_1769046676428_1769046947319_k90llzhqx", + "width": 0.11410647221249018, + "x": 0.27258763525409907, + "y": 0.44923140605066897 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.20285409305772106, + "id": "bbox_1769046691828_1769046953735_ci0cnfeik", + "width": 0.244061065565604, + "x": 0.5261575735040773, + "y": 0.47458816768288414 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769046939703_9re97zq9l", + "x": 0.3851092953525269, + "y": 0.5083971831925044 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769046942159_sog3rd4hn", + "x": 0.6244159245759439, + "y": 0.5041710562538018 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上抬升，随后爪夹向左调整角度并下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上来回移动，使桌子上的液体擦干净，爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近毛巾，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，平行于桌面，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向上抬升，随后爪夹向左调整角度并下降，接近毛巾。", + "time": 1.3807755266510842 + }, + { + "action_description": "爪夹向上抬升，随后向左调整角度并下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3254117742800942, + "id": "bbox_1769046676428_1769046919250_bkyt7t7gk", + "width": 0.15372677506404928, + "x": 0.3930333559228387, + "y": 0.360482740337916 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.21341941040447743, + "id": "bbox_1769046691828_1769046928720_h6ci8pw3q", + "width": 0.17274452043279762, + "x": 0.6830539727962514, + "y": 0.4386660887039127 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769046914575_vsh2lejnq", + "x": 0.3866941074665892, + "y": 0.5126233101312069 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769046912383_o8b4ffg99", + "x": 0.6260007366900061, + "y": 0.5105102466618556 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上来回移动，使桌子上的液体擦干净，爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左调整角度并下降，缩短了与毛巾的距离。", + "frame": 63, + "progress": 10, + "progress_explanation": "爪夹向左调整角度并下降，高度上接近毛巾，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，爪夹在毛巾上方，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，接近毛巾。", + "time": 2.116499 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.6909717544778625, + "id": "bbox_1769046676428_1769046891392_sidxsxthd", + "width": 0.29794467744372444, + "x": 0.32013199867597, + "y": 0.08155836238354951 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.3655599801977682, + "id": "bbox_1769046691828_1769046903351_ydjd8o8r6", + "width": 0.18383820523123423, + "x": 0.8003300692368661, + "y": 0.3097692170734857 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769046905535_a9qp1b9y6", + "x": 0.3866941074665892, + "y": 0.5147363736005581 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769046907768_7jeiqtz5f", + "x": 0.6260007366900061, + "y": 0.5083971831925044 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上来回移动，使桌子上的液体擦干净，爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，接近了毛巾，方便抓取毛巾。", + "frame": 86, + "progress": 15, + "progress_explanation": "爪夹下降，接近了毛巾，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，接近毛巾，为完成使使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹合拢抓取毛巾。", + "time": 2.877333 + }, + { + "action_description": "爪夹合拢抓取毛巾", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.6973109448859163, + "id": "bbox_1769046676428_1769046883448_bi0i088bh", + "width": 0.31537761069841036, + "x": 0.3391497440447183, + "y": 0.05197547381263186 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.39514286876868593, + "id": "bbox_1769046691828_1769046876904_1ugrksrt4", + "width": 0.1632356477484233, + "x": 0.8304414994040512, + "y": 0.3013169631960807 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上来回移动，使桌子上的液体擦干净，爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹成功抓取毛巾，方便擦桌子上的液体。", + "frame": 125, + "progress": 30, + "progress_explanation": "爪夹成功抓取毛巾，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向上抬升，随后向右侧移动，接近桌子上的液体。", + "time": 4.165340921700637 + }, + { + "action_description": "爪夹向上抬升，随后向右移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.6761803101924037, + "id": "bbox_1769046676428_1769046861976_bw77v4i1p", + "width": 0.2916054289874749, + "x": 0.3708459863259656, + "y": 0.06887998156744195 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.36133385325906564, + "id": "bbox_1769046691828_1769046867528_iboswheyl", + "width": 0.1854230173452966, + "x": 0.6260007366900061, + "y": 0.2569426303397042 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上来回移动，使桌子上的液体擦干净，爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右移动，水平上接近了液体，方便擦干净。", + "frame": 148, + "progress": 40, + "progress_explanation": "爪夹向右移动，水平上接近了液体，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，毛巾放在桌子上，接近液体。", + "time": 4.938499 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.6930848179472137, + "id": "bbox_1769046676428_1769046843473_0xb0np0jy", + "width": 0.32964091972497167, + "x": 0.32171681079003234, + "y": 0.05620160075133438 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.5367181212152203, + "id": "bbox_1769046691828_1769046837538_ya4suirz8", + "width": 0.34231941663747045, + "x": 0.6307551730321933, + "y": 0.07310610850614446 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住毛巾在桌子上来回移动，使桌子上的液体擦干净，爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，接近了液体，方便擦拭桌子上的液体。", + "frame": 173, + "progress": 45, + "progress_explanation": "爪夹下降，接近了液体，因此任务进度提升为45%。", + "state_description": "爪夹当前为合拢状态，爪夹接近液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向右移动，擦拭桌子上的液体。", + "time": 5.754666 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.6825195006004575, + "id": "bbox_1769046676428_1769046819650_duu88f7bo", + "width": 0.29477505321559966, + "x": 0.34231936827284304, + "y": 0.07733223544484699 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.5451703750926254, + "id": "bbox_1769046691828_1769046827209_t2okhirxh", + "width": 0.4865373190171457, + "x": 0.2630787625697249, + "y": 0.3055430901347832 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向右侧移动，将桌子上的液体擦拭干净，爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右侧移动，桌子上的液体已擦拭一部分。", + "frame": 205, + "progress": 55, + "progress_explanation": "爪夹向右侧移动，开始擦拭桌子上的液体，因此任务进度提升为55%。", + "state_description": "爪夹当前为合拢状态，毛巾开始擦拭液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹继续向右侧移动，将桌子上的液体擦拭干净。", + "time": 6.833666 + }, + { + "action_description": "爪夹向右后方移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.7184415795794288, + "id": "bbox_1769046676428_1769046811074_7y1tsgc7e", + "width": 0.36926122257653077, + "x": 0.31220793810565817, + "y": 0.04352321993522681 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.5092482961136539, + "id": "bbox_1769046691828_1769046804498_2hpcv85j9", + "width": 0.570532361062451, + "x": 0.08241018156661542, + "y": 0.31399534401218826 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左侧移动，将桌子上的液体擦拭干净，爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右后方移动，使桌子上的液体擦干净一部分。", + "frame": 239, + "progress": 60, + "progress_explanation": "爪夹向右后方移动，已擦拭干净三分之二，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，毛巾擦拭液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向左侧移动，将桌子上的液体擦拭干净。", + "time": 7.967999 + }, + { + "action_description": "爪夹向左后方移动，随后向左侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.7311199603955364, + "id": "bbox_1769046676428_1769046774434_stblh8iut", + "width": 0.3534131014359071, + "x": 0.3502434288431549, + "y": 0.05620160075133438 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.5367181212152203, + "id": "bbox_1769046691828_1769046792906_ne4f4er67", + "width": 0.6703755242483799, + "x": 0.1141064238478627, + "y": 0.16185477421889743 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左侧移动，将桌子上的液体擦拭干净，爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左侧移动，方便将桌子上的液体擦干净。", + "frame": 269, + "progress": 70, + "progress_explanation": "爪夹向左侧移动，液体即将擦干净，因此任务进度提升为70%", + "state_description": "爪夹当前为合拢状态，毛巾擦拭液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向左侧移动，将桌子上的液体擦拭干净。", + "time": 8.975044785877136 + }, + { + "action_description": "爪夹向左侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.7163285161100776, + "id": "bbox_1769046676428_1769046765266_avsmskwal", + "width": 0.33122573183903403, + "x": 0.3676763620978409, + "y": 0.05831466422068564 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开毛巾，毛巾放在桌子上。", + "error_success_analysis": "爪夹向左侧移动，毛巾将桌子的液体已擦干净，任务即将完成。", + "frame": 298, + "progress": 75, + "progress_explanation": "爪夹向左侧移动，毛巾将桌子的液体已擦干净，因此任务进度提升为75%。", + "state_description": "爪夹当前为合拢状态，毛巾在桌子左侧，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹松开毛巾，毛巾放在桌子上。", + "time": 9.9185752089931 + }, + { + "action_description": "爪夹向上抬升", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.6677280563149987, + "id": "bbox_1769046676428_1769046755434_ha4ixt1b0", + "width": 0.28685099264528785, + "x": 0.39144854380877636, + "y": 0.09001061626095457 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开毛巾，毛巾落在桌子上。", + "error_success_analysis": "爪夹抬升，毛巾在桌子左侧的上方，方便毛巾落在桌子上。", + "frame": 346, + "progress": 90, + "progress_explanation": "爪夹抬升，毛巾在桌子左侧的上方，因此任务进度提升为90%。", + "state_description": "爪夹当前为合拢状态，毛巾在桌子左侧的上方，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹松开毛巾，毛巾落在桌子上。", + "time": 11.52948080943499 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.4585347728492237, + "id": "bbox_1769046676428_1769046745635_nqhki782v", + "width": 0.17432933254686006, + "x": 0.3803548590103398, + "y": 0.2463773129929479 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769046716756_zgxsm8juz", + "x": 0.43265365877439776, + "y": 0.5147363736005581 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769046714508_xw6hiiqpb", + "x": 0.5832108096103223, + "y": 0.49853620958793515 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开毛巾，毛巾落在桌子上", + "frame": 393, + "progress": 100, + "progress_explanation": "爪夹松开毛巾，毛巾落在桌子上，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，爪夹远离毛巾，爪夹已完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务。", + "time": 13.094360535578542 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769046676428", + "name": "毛巾" + }, + { + "color": "#FF9800", + "id": "bbox_1769046691828", + "name": "红色液体" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769046698595", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769046703661", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-160851-put-tower-solution stained area-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-160851-put-tower-solution stained area-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..77857d919c47c015a64feec31d8f293ece7682b8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-160851-put-tower-solution stained area-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,548 @@ +{ + "task_description": "使用毛巾将桌子的液体擦干净，然后毛巾回归原位\n爪夹准备移动：0\n爪夹接近毛巾：15%\n爪夹抓取毛巾：30%\n爪夹抓住毛巾接近桌子上的液体：45%\n爪夹抓住毛巾来回擦桌子的液体：60%\n爪夹使用毛巾将桌子的液体擦干净：75%\n爪夹夹住毛巾放在桌子左侧的正上方：90%\n爪夹松开，毛巾落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.37189917060582195, + "id": "bbox_1769046676428_1769050466955_y0676dyxf", + "width": 0.1759141446609224, + "x": 0.17749890841035723, + "y": 0.47458816768288414 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.2599068067302051, + "id": "bbox_1769046691828_1769050456687_t78inolrt", + "width": 0.27417249573278896, + "x": 0.4358232830025225, + "y": 0.4428922156426152 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769050469428_b6y1u0gie", + "x": 0.36926117421190324, + "y": 0.5379800717634219 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769050473011_zfzomnn4h", + "x": 0.5008005796790794, + "y": 0.5337539448247194 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左前方移动，随后下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近毛巾，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，平行于桌面，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向左前方移动，随后下降，接近毛巾。", + "time": 1.4334555784228828 + }, + { + "action_description": "爪夹向左前方移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.30216807611723034, + "id": "bbox_1769046676428_1769050439777_z8foqw57g", + "width": 0.15848121140623636, + "x": 0.1838381568666067, + "y": 0.48937961196834295 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.25779374326085386, + "id": "bbox_1769046691828_1769050450796_0h7jj000i", + "width": 0.278926932074976, + "x": 0.43582328300252254, + "y": 0.44077915217326397 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769050445892_0r7xrhjza", + "x": 0.21711921126191633, + "y": 0.5992589123746085 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769050443004_4l7t9wwu0", + "x": 0.36450673786971616, + "y": 0.5295278178860169 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左前方移动，缩短了与毛巾的距离。", + "frame": 57, + "progress": 5, + "progress_explanation": "爪夹向左前方移动，水平上接近了毛巾，因此任务进度提升为5%。", + "state_description": "爪夹当前为张开状态，爪夹在毛巾上方，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，接近毛巾。", + "time": 1.912899 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.36133385325906564, + "id": "bbox_1769046676428_1769050431446_1121fmazr", + "width": 0.16957489620467292, + "x": 0.1838381568666067, + "y": 0.48515348502964045 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.2514545528528001, + "id": "bbox_1769046691828_1769050420093_q7tdjazo4", + "width": 0.28526618053122543, + "x": 0.4294840345462731, + "y": 0.44500527911196647 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，接近了毛巾，方便抓取毛巾。", + "frame": 95, + "progress": 15, + "progress_explanation": "爪夹下降，接近了毛巾，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，爪夹接近毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹合拢抓取毛巾。", + "time": 3.1536033224252056 + }, + { + "action_description": "爪夹合拢抓取毛巾", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3085072665252842, + "id": "bbox_1769046676428_1769050407701_8ou0pu0yq", + "width": 0.17274452043279764, + "x": 0.19334702955098088, + "y": 0.4914926754376942 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.2451153624447463, + "id": "bbox_1769046691828_1769050413474_9ql4zpe9a", + "width": 0.26307881093435237, + "x": 0.4469169678009591, + "y": 0.44077915217326397 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹成功抓取毛巾，方便擦桌子上的液体。", + "frame": 136, + "progress": 30, + "progress_explanation": "爪夹成功抓取毛巾，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向上抬升，随后向右侧移动，接近桌子上的液体。", + "time": 4.533333333333333 + }, + { + "action_description": "爪夹夹住毛巾向上抬升，随后向右侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.4712131536653312, + "id": "bbox_1769046676428_1769050375206_qb7c9jlwr", + "width": 0.1885926415734213, + "x": 0.4088814770634624, + "y": 0.23158586870748907 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.2725851875463127, + "id": "bbox_1769046691828_1769050386469_svoj34b2y", + "width": 0.29635986532966196, + "x": 0.4136359134056494, + "y": 0.4365530252345614 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右移动，水平上接近了液体，方便擦干净。", + "frame": 166, + "progress": 40, + "progress_explanation": "爪夹向右移动，水平上接近了液体，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，毛巾放在桌子上，接近液体。", + "time": 5.531899 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3380901550962018, + "id": "bbox_1769046676428_1769050366890_opzu98f0j", + "width": 0.17274452043279762, + "x": 0.4215599739759613, + "y": 0.4154223905410488 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.28948969530112284, + "id": "bbox_1769046691828_1769050361661_ele7rfpcw", + "width": 0.3058687380140362, + "x": 0.41205110129158706, + "y": 0.42387464441845385 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，接近毛巾，爪夹继续下降，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹张开，使毛巾落在桌子上，需重新接近毛巾。", + "frame": 197, + "progress": 5, + "progress_explanation": "爪夹张开，使毛巾落在桌子上，因此任务进度倒退为5%。", + "state_description": "爪夹当前为张开状态，毛巾落在桌子上，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，接近毛巾。", + "time": 6.565229681363147 + }, + { + "action_description": "爪夹下降，随后轻微向前方移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3148464569333379, + "id": "bbox_1769046676428_1769050351287_hn2applaw", + "width": 0.19017745368748368, + "x": 0.4057118528353376, + "y": 0.4428922156426152 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.26413293366890767, + "id": "bbox_1769046691828_1769050355502_3gab91y7u", + "width": 0.2963598653296621, + "x": 0.41205110129158706, + "y": 0.45345753298937147 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续下降，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，接近了毛巾，方便抓取毛巾。", + "frame": 231, + "progress": 15, + "progress_explanation": "爪夹下降，接近了毛巾，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，爪夹接近毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹轻微下降，随后爪夹合拢抓取毛巾。", + "time": 7.711994844031362 + }, + { + "action_description": "爪夹继续下降，爪夹合拢抓取毛巾", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3106203299946354, + "id": "bbox_1769046676428_1769050345010_et7j4xp0j", + "width": 0.18066858100310945, + "x": 0.4057118528353376, + "y": 0.4386660887039127 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.2577937432608539, + "id": "bbox_1769046691828_1769050338318_sxtkw6wbi", + "width": 0.1648204598624859, + "x": 0.5578538157853246, + "y": 0.4386660887039127 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住毛巾向上抬升，随后向左侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹成功抓取毛巾，方便擦桌子上的液体。", + "frame": 275, + "progress": 30, + "progress_explanation": "爪夹成功抓取毛巾，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向上抬升，随后向左侧移动，接近桌子上的液体。", + "time": 9.168133 + }, + { + "action_description": "爪夹夹住毛巾向上抬升，随后向左侧轻微移动并下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.28948969530112284, + "id": "bbox_1769046676428_1769050326910_0o43ke2iz", + "width": 0.19493189002967073, + "x": 0.3074535017634711, + "y": 0.40274400972494123 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.25356761632215136, + "id": "bbox_1769046691828_1769050331599_zpmml88k5", + "width": 0.19493189002967073, + "x": 0.5150638887056407, + "y": 0.4471183425813177 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，接近了液体，方便擦拭桌子上的液体。", + "frame": 313, + "progress": 45, + "progress_explanation": "爪夹下降，接近了液体，因此任务进度提升为45%。", + "state_description": "爪夹当前为合拢状态，毛巾接近液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向右侧移动，擦拭液体。", + "time": 10.426166 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.32118564734139177, + "id": "bbox_1769046676428_1769050319696_9y1shyrk3", + "width": 0.11569128432655251, + "x": 0.5134790765915784, + "y": 0.3308998517669984 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.31273339346398665, + "id": "bbox_1769046691828_1769050314086_3wjo8tdxl", + "width": 0.3042839258999739, + "x": 0.48019802219626867, + "y": 0.40063094625559 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向右后方移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右侧移动，开始擦拭液体。", + "frame": 335, + "progress": 55, + "progress_explanation": "爪夹向右侧移动，擦拭液体，因此任务进度提升为55%。", + "state_description": "爪夹当前为合拢状态，毛巾开始擦拭液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹继续向右后方移动，擦拭液体。", + "time": 11.152290332036008 + }, + { + "action_description": "爪夹继续向右后方移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3444293455042557, + "id": "bbox_1769046676428_1769050295007_t7qe2ipau", + "width": 0.12520015701092674, + "x": 0.6751299122259394, + "y": 0.46190978686677653 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.274698251015664, + "id": "bbox_1769046691828_1769050307319_xsfn1vchw", + "width": 0.32964091972497167, + "x": 0.4849524585384558, + "y": 0.4386660887039127 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左侧移动，将桌子上的液体擦拭干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右后方移动，使桌子上的液体擦干净一部分。", + "frame": 369, + "progress": 60, + "progress_explanation": "爪夹向右后方移动，已擦拭干净三分之二，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，毛巾擦拭液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向左侧移动，将桌子上的液体擦拭干净。", + "time": 12.287366 + }, + { + "action_description": "爪夹向左侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.31907258387204046, + "id": "bbox_1769046676428_1769050285951_3mrs71ayg", + "width": 0.1521419629499869, + "x": 0.36450673786971616, + "y": 0.40697013666364373 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左侧移动，毛巾将桌子的液体已擦干净，任务即将完成。", + "frame": 405, + "progress": 75, + "progress_explanation": "爪夹向左侧移动，毛巾将桌子的液体已擦干净，因此任务进度提升为75%。", + "state_description": "爪夹当前为合拢状态，毛巾在桌子左侧，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹继续向左侧移动，使毛巾放在原位。", + "time": 13.503158915505848 + }, + { + "action_description": "爪夹向上抬升并向左侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3951428687686859, + "id": "bbox_1769046676428_1769050278952_qqeii1xr3", + "width": 0.15214196294998691, + "x": 0.1141064238478627, + "y": 0.4386660887039127 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开毛巾，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左侧移动，毛巾在桌子左侧的上方，确保能把毛巾放回原位。", + "frame": 452, + "progress": 90, + "progress_explanation": "爪夹向左侧移动，毛巾在桌子左侧的上方，因此任务进度提升为90%。", + "state_description": "爪夹当前为合拢状态，毛巾在桌子左侧的上方，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹松开毛巾，毛巾落在桌子上。", + "time": 15.079961014174645 + }, + { + "action_description": "爪夹张开，随后向右后方移动并调整角度", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.35076853591230944, + "id": "bbox_1769046676428_1769050270496_fb2c272sz", + "width": 0.17115970831873528, + "x": 0.13312416921661105, + "y": 0.46190978686677653 + } + ], + "type": "bbox" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769050261784_18k5on6da", + "x": 0.3676763620978409, + "y": 0.5407974789749604 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开毛巾，毛巾落在桌子上", + "frame": 516, + "progress": 100, + "progress_explanation": "爪夹松开毛巾，毛巾落在桌子上，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，爪夹远离毛巾，爪夹已完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务。", + "time": 17.2 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769046676428", + "name": "毛巾" + }, + { + "color": "#FF9800", + "id": "bbox_1769046691828", + "name": "红色液体" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769046698595", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769046703661", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-160851-put-tower-solution stained area-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-160851-put-tower-solution stained area-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d8e87ea7d271f18528579ac32e147442652a4d06 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-160851-put-tower-solution stained area-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,669 @@ +{ + "task_description": "使用毛巾将桌子的液体擦干净，然后毛巾回归原位\n爪夹准备移动：0\n爪夹接近毛巾：15%\n爪夹抓取毛巾：30%\n爪夹抓住毛巾接近桌子上的液体：45%\n爪夹抓住毛巾来回擦桌子的液体：60%\n爪夹使用毛巾将桌子的液体擦干净：75%\n爪夹夹住毛巾放在桌子左侧的正上方：90%\n爪夹松开，毛巾落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.2472284259140975, + "id": "bbox_1769046676428_1769059697951_dw2vj1dk8", + "width": 0.09033429050155477, + "x": 0.31696237444784525, + "y": 0.5760152142117447 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.18383652183355975, + "id": "bbox_1769046691828_1769059687543_z0zccfz65", + "width": 0.22504332019685558, + "x": 0.4992157675650171, + "y": 0.5485453891101782 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769059700303_l28l4fl8u", + "x": 0.38986373169471394, + "y": 0.5083971831925044 + }, + { + "id": "point_1769046698595_1769059702367_0wtaj3t8e", + "x": 0.6244159245759439, + "y": 0.506284119723153 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左前方移动，随后下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近毛巾，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，平行于桌面，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向左前方移动，随后下降，接近毛巾。", + "time": 1.3761173202894723 + }, + { + "action_description": "爪夹向左前方移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3866906148912808, + "id": "bbox_1769046676428_1769059671120_i054y6hw1", + "width": 0.15689639929217405, + "x": 0.4057118528353376, + "y": 0.2992038997267294 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.25356761632215136, + "id": "bbox_1769046691828_1769059679591_toklyvf2l", + "width": 0.19176226580154604, + "x": 0.6402640457165674, + "y": 0.3752741846233748 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769059666703_n99loksr3", + "x": 0.3866941074665892, + "y": 0.5105102466618556 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769059664416_2fh2lag69", + "x": 0.6260007366900061, + "y": 0.5105102466618556 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左前方移动，缩短了与毛巾的距离。", + "frame": 71, + "progress": 10, + "progress_explanation": "爪夹向左前方移动，水平上接近了毛巾，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，爪夹在毛巾上方，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，接近毛巾。", + "time": 2.3508677085574554 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.566301009786138, + "id": "bbox_1769046676428_1769059647424_lvhsb7fs3", + "width": 0.22979775653904272, + "x": 0.4072966649494, + "y": 0.06887998156744195 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.4183865669315497, + "id": "bbox_1769046691828_1769059655792_22r1rk9gf", + "width": 0.20602557482810724, + "x": 0.7654642027274943, + "y": 0.21679442442203023 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769059659680_cc9s7yxwc", + "x": 0.3866941074665892, + "y": 0.5147363736005581 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769059661520_1vsuv6kqg", + "x": 0.6260007366900061, + "y": 0.5083971831925044 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，接近了毛巾，方便抓取毛巾。", + "frame": 89, + "progress": 15, + "progress_explanation": "爪夹下降，接近了毛巾，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，爪夹接近毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹合拢抓取毛巾。", + "time": 2.964133 + }, + { + "action_description": "爪夹下降，随后合拢爪夹抓取毛巾", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.7691551028438591, + "id": "bbox_1769046676428_1769059639481_1vpat4izb", + "width": 0.3581675377780942, + "x": 0.3819396711244022, + "y": 0.0076011409562553684 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.4395172016250624, + "id": "bbox_1769046691828_1769059632456_eg00uiz2g", + "width": 0.17274452043279762, + "x": 0.8145933782634275, + "y": 0.24215118605424538 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹成功抓取毛巾，方便擦桌子上的液体。", + "frame": 136, + "progress": 30, + "progress_explanation": "爪夹成功抓取毛巾，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向上抬升，随后向右侧移动，接近桌子上的液体。", + "time": 4.533333333333333 + }, + { + "action_description": "爪夹向上抬升，随后向右侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.7776073567212641, + "id": "bbox_1769046676428_1769059609716_tbxaz2g20", + "width": 0.3106231743562233, + "x": 0.39620298015096345, + "y": 0.0076011409562553684 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.23877617203669257, + "id": "bbox_1769046691828_1769059614708_1jyqgfjig", + "width": 0.20444076271404493, + "x": 0.58162599749626, + "y": 0.36470886727661855 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右移动，水平上接近了液体，方便擦干净。", + "frame": 157, + "progress": 35, + "progress_explanation": "爪夹向右移动，水平上接近了液体，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，毛巾放在桌子上，接近液体。", + "time": 5.238933 + }, + { + "action_description": "爪夹轻微向右侧移动，随后爪夹张开", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.35922078978971445, + "id": "bbox_1769046676428_1769059593050_lc2dm38p5", + "width": 0.2313825686531051, + "x": 0.43740809511658485, + "y": 0.3013169631960807 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.2641329336689076, + "id": "bbox_1769046691828_1769059585466_oiunqydwd", + "width": 0.29952948955778674, + "x": 0.46276508894158275, + "y": 0.2992038997267294 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769059595474_p8gtvw7uz", + "x": 0.4136359134056494, + "y": 0.5105102466618556 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769059597281_0vzjqxgy5", + "x": 0.6038133670931332, + "y": 0.5083971831925044 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向左侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹张开，使毛巾落在桌面上，需重新抓取毛巾。", + "frame": 181, + "progress": 5, + "progress_explanation": "爪夹张开，使毛巾落在桌面上，因此任务进度倒退为5%。", + "state_description": "爪夹当前为张开的状态，毛巾落在桌子上，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，接近毛巾。", + "time": 6.020516229095745 + }, + { + "action_description": "爪夹轻微向左移动，随后下降。", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.42049963040090094, + "id": "bbox_1769046676428_1769059573266_mlue4pgah", + "width": 0.2202888838546686, + "x": 0.516648700819703, + "y": 0.21468136095267898 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.3169595204026892, + "id": "bbox_1769046691828_1769059577498_mxld0vlv2", + "width": 0.2820965563031009, + "x": 0.5356664461884514, + "y": 0.2696210111558118 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769059567131_594fk8r11", + "x": 0.41997516186189887, + "y": 0.5105102466618556 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769059565266_77yydqsos", + "x": 0.5943044944087589, + "y": 0.506284119723153 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向左侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，缩短了与毛巾的距离。", + "frame": 211, + "progress": 10, + "progress_explanation": "爪夹下降，开始接近毛巾，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，爪夹远离毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，接近毛巾。", + "time": 7.023935746430433 + }, + { + "action_description": "爪夹轻微向右移动，随后下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.6127884061118657, + "id": "bbox_1769046676428_1769059540498_t5hkxebqc", + "width": 0.30586873801403625, + "x": 0.3597523015275291, + "y": 0.1703070280963025 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.3972559322380371, + "id": "bbox_1769046691828_1769059548050_9ani8hnzb", + "width": 0.39937265274371564, + "x": 0.36133711364159143, + "y": 0.23158586870748907 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769059559443_vdrbte6mm", + "x": 0.41522072551971184, + "y": 0.5147363736005581 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769059561570_p21njcte9", + "x": 0.5974741186368837, + "y": 0.5083971831925044 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向左侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，接近了毛巾，方便抓取毛巾。", + "frame": 234, + "progress": 15, + "progress_explanation": "爪夹下降，接近了毛巾，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，爪夹接近毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹合拢抓取毛巾。", + "time": 7.798002231231479 + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢抓取毛巾", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.7142154526407263, + "id": "bbox_1769046676428_1769059522670_3ulg5vox6", + "width": 0.3946182164015285, + "x": 0.2805116958244109, + "y": 0.09423674319965708 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.4669870267266288, + "id": "bbox_1769046691828_1769059516172_qjpwp7mb8", + "width": 0.313792798584348, + "x": 0.5134790765915784, + "y": 0.1534025203414924 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住毛巾向上抬升，随后向左侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹成功抓取毛巾，方便擦桌子上的液体。", + "frame": 278, + "progress": 30, + "progress_explanation": "爪夹成功抓取毛巾，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向上抬升，随后向左侧移动，接近桌子上的液体。", + "time": 9.260127813633453 + }, + { + "action_description": "爪夹向上抬升，轻微向左移动，随后下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.7163285161100776, + "id": "bbox_1769046676428_1769059496356_iyqfe7pmr", + "width": 0.3676764104624684, + "x": 0.3058686896494087, + "y": 0.1153673778931697 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.3909167418299833, + "id": "bbox_1769046691828_1769059507524_r161lczjl", + "width": 0.2234585080827932, + "x": 0.6672058516556276, + "y": 0.27807326503321683 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右侧移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，接近了液体，方便擦拭液体。", + "frame": 305, + "progress": 45, + "progress_explanation": "爪夹下降，接近了液体，因此任务进度提升为45%。", + "state_description": "爪夹当前为合拢状态，毛巾接近液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向右侧移动，擦拭桌上的液体。", + "time": 10.177539943768025 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.7057631987633213, + "id": "bbox_1769046676428_1769059480852_ajuyqcrj3", + "width": 0.37877009526090494, + "x": 0.2662483867978496, + "y": 0.11959350483187221 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.35076853591230944, + "id": "bbox_1769046691828_1769059473933_6k3p313m1", + "width": 0.4928765674733951, + "x": 0.2282128960603529, + "y": 0.34146516911375463 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向右后方移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右侧移动，桌子上的液体擦拭干净一部分。", + "frame": 341, + "progress": 55, + "progress_explanation": "爪夹向右侧移动，桌子上的液体擦拭干净一部分，因此任务进度提升为55%。", + "state_description": "爪夹当前为合拢状态，毛巾开始擦拭液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹继续向右后方移动，擦拭液体。", + "time": 11.373999 + }, + { + "action_description": "爪夹继续向右后方移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.792398801006723, + "id": "bbox_1769046676428_1769059450709_83sagin6r", + "width": 0.42156002234058876, + "x": 0.2456458293150389, + "y": 0.05197547381263186 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.28526356836242034, + "id": "bbox_1769046691828_1769059460828_8nlireg18", + "width": 0.3185472349265351, + "x": 0.12044567230411214, + "y": 0.4640228503361278 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右后方移动，使桌子擦拭干净一半。", + "frame": 373, + "progress": 60, + "progress_explanation": "爪夹继续向右后方移动，擦拭干净一半，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，毛巾擦拭液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向左侧移动，使桌子上的液体擦拭干净。", + "time": 12.425233 + }, + { + "action_description": "爪夹向左侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.6994240083552675, + "id": "bbox_1769046676428_1769059434253_jtcyw190f", + "width": 0.34548904086559523, + "x": 0.34390418038690546, + "y": 0.10902818748511592 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹夹住毛巾在桌子上移动，使液体被擦干净。", + "frame": 408, + "progress": 75, + "progress_explanation": "爪夹向左侧移动，毛巾将桌子的液体已擦干净，因此任务进度提升为75%。", + "state_description": "爪夹当前为合拢状态，液体已擦拭干净，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹继续向左侧移动，使毛巾放在原位。", + "time": 13.614333 + }, + { + "action_description": "爪夹向上抬升，随后向左侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.6846325640698087, + "id": "bbox_1769046676428_1769059417344_goq3zsieu", + "width": 0.36133716200621896, + "x": 0.3391497440447183, + "y": 0.12381963177057477 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左侧移动，毛巾在桌子左侧的上方，确保能把毛巾放回原位。", + "frame": 461, + "progress": 90, + "progress_explanation": "爪夹向左侧移动，毛巾在桌子左侧的上方，因此任务进度提升为90%。", + "state_description": "爪夹当前为合拢状态，毛巾在桌子左侧的上方，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹松开毛巾，毛巾落在桌子上。", + "time": 15.3666523048417 + }, + { + "action_description": "爪夹张开，爪夹向右侧轻微移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.42472575733960355, + "id": "bbox_1769046676428_1769059407974_5gvfv500m", + "width": 0.16799008409061056, + "x": 0.3280560592462818, + "y": 0.25271650340100166 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769059399502_7ajxh6raa", + "x": 0.3866941074665892, + "y": 0.5105102466618556 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769059396950_g2kwvyg7y", + "x": 0.6291703609181309, + "y": 0.5006492730572865 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开毛巾，毛巾落在桌子上", + "frame": 504, + "progress": 100, + "progress_explanation": "爪夹松开毛巾，毛巾落在桌子上，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，爪夹远离毛巾，爪夹已完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务。", + "time": 16.800108758176965 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769046676428", + "name": "毛巾" + }, + { + "color": "#FF9800", + "id": "bbox_1769046691828", + "name": "红色液体" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769046698595", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769046703661", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-162412-put-tower-solution stained area-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-162412-put-tower-solution stained area-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..410403908c544369a5f089eb7bedb99afe851536 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-162412-put-tower-solution stained area-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,598 @@ +{ + "task_description": "使用毛巾将桌子的液体擦干净，然后毛巾回归原位\n爪夹准备移动：0\n爪夹接近毛巾：15%\n爪夹抓取毛巾：30%\n爪夹抓住毛巾接近桌子上的液体：45%\n爪夹抓住毛巾来回擦桌子的液体：60%\n爪夹使用毛巾将桌子的液体擦干净：75%\n爪夹夹住毛巾放在桌子左侧的正上方：90%\n爪夹松开，毛巾落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.37612529754452445, + "id": "bbox_1769046676428_1769064135228_ey69gxd8k", + "width": 0.17908376888904706, + "x": 0.20761033857754216, + "y": 0.4914926754376942 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.2218716642818824, + "id": "bbox_1769046691828_1769064141357_6pbdip45i", + "width": 0.20919519905623202, + "x": 0.4691043373978322, + "y": 0.457683659928074 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769064162177_0y18llsq7", + "x": 0.39144854380877636, + "y": 0.5929197219665547 + } + ], + "type": "point" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769064164065_867vzslhf", + "x": 0.49446133122283, + "y": 0.586580531558501 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左前方移动，随后下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近毛巾，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，平行于桌面，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向左前方移动，随后下降，接近毛巾。", + "time": 1.167836480394939 + }, + { + "action_description": "爪夹向上抬升，随后向左前方移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.363446916728417, + "id": "bbox_1769046676428_1769064126913_4w95xj5y8", + "width": 0.19017745368748368, + "x": 0.20127109012129268, + "y": 0.48515348502964045 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.2303239181592875, + "id": "bbox_1769046691828_1769064121234_ouke2jit6", + "width": 0.18225339311717184, + "x": 0.48336764642439345, + "y": 0.4640228503361278 + } + ], + "type": "bbox" + }, + "point_1769046703661": { + "instances": [ + { + "id": "point_1769046703661_1769064169180_ukbm5plo8", + "x": 0.3676763620978409, + "y": 0.6689900068632002 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左前方移动，缩短了与毛巾的距离。", + "frame": 62, + "progress": 10, + "progress_explanation": "爪夹向左前方移动，水平上接近了毛巾，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，爪夹在毛巾上方，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，接近毛巾。", + "time": 2.0502024195304815 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3592207897897144, + "id": "bbox_1769046676428_1769064104578_shph56oxi", + "width": 0.19651670214373307, + "x": 0.20602552646347977, + "y": 0.4999449293150992 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.2303239181592875, + "id": "bbox_1769046691828_1769064108762_2b6xttt9t", + "width": 0.20127113848592018, + "x": 0.477028397968144, + "y": 0.4597967233974253 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，接近了毛巾，方便抓取毛巾。", + "frame": 76, + "progress": 15, + "progress_explanation": "爪夹下降，接近了毛巾，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，爪夹接近毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹合拢抓取毛巾。", + "time": 2.543289267870932 + }, + { + "action_description": "爪夹合拢抓住毛巾", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3592207897897144, + "id": "bbox_1769046676428_1769064096634_ktfpkt8ix", + "width": 0.1933470779156084, + "x": 0.19493184166504324, + "y": 0.42810077135715635 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.26413293366890767, + "id": "bbox_1769046691828_1769064091587_gymvzdj9i", + "width": 0.20602557482810724, + "x": 0.477028397968144, + "y": 0.44923140605066897 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹成功抓取毛巾，方便擦桌子上的液体。", + "frame": 113, + "progress": 30, + "progress_explanation": "爪夹成功抓取毛巾，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向上抬升，随后向右侧移动，接近桌子上的液体。", + "time": 3.7666666666666666 + }, + { + "action_description": "爪夹夹住毛巾向上抬升，随后向右侧移动并下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.2958288857091766, + "id": "bbox_1769046676428_1769064079891_ydl1tcag9", + "width": 0.15372677506404928, + "x": 0.3074535017634711, + "y": 0.46824897727483034 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.21764553734317987, + "id": "bbox_1769046691828_1769064084675_f60b7sic6", + "width": 0.1981015142577954, + "x": 0.4928765191087677, + "y": 0.46824897727483034 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右侧移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右侧移动下降，接近了液体，方便擦拭液体。", + "frame": 142, + "progress": 45, + "progress_explanation": "爪夹向右侧移动并下降，接近了液体，因此任务进度提升为45%。", + "state_description": "爪夹当前为合拢状态，毛巾接近液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向右侧移动，擦拭桌上的液体。", + "time": 4.723252176323449 + }, + { + "action_description": "爪夹向右侧移动，随后向上抬升", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.2768113144850153, + "id": "bbox_1769046676428_1769064072218_1769b4b9o", + "width": 0.14738752660779975, + "x": 0.6576969789712535, + "y": 0.40697013666364373 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.0950878561208068, + "id": "bbox_1769046691828_1769064066507_2ep7932bq", + "width": 0.21078001117029438, + "x": 0.477028397968144, + "y": 0.5344582885669066 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，随后向左侧移动，使毛巾擦拭干净液体，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右侧移动，擦拭掉一部分液体。", + "frame": 157, + "progress": 60, + "progress_explanation": "爪夹向右侧移动，擦拭液体，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，毛巾擦拭液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，随后向左侧移动，使毛巾擦拭干净液体。", + "time": 5.2422909640502375 + }, + { + "action_description": "爪夹向左侧移动，随后爪夹张开并抬升", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.283150504893069, + "id": "bbox_1769046676428_1769064029516_koov9710g", + "width": 0.22979775653904272, + "x": 0.44533215568689666, + "y": 0.31258662428502415 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.05282658673378151, + "id": "bbox_1769046691828_1769064039134_1escy7zyy", + "width": 0.10776722375624068, + "x": 0.5752867490400105, + "y": 0.5781282776810959 + } + ], + "type": "bbox" + }, + "point_1769046698595": { + "instances": [ + { + "id": "point_1769046698595_1769064182408_izjempa9w", + "x": 0.35499786518534193, + "y": 0.5527715160488808 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹轻微向右前方移动，随后下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向右后方移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹张开，爪夹远离了毛巾，任务中断需重新开始。", + "frame": 181, + "progress": 10, + "progress_explanation": "爪夹张开，毛巾落在桌面上，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开状态，爪夹远离毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹轻微向右前方移动，随后下降，接近毛巾。", + "time": 6.020849145640423 + }, + { + "action_description": "爪夹轻微向右前方移动，随后下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3254117742800942, + "id": "bbox_1769046676428_1769064022404_3k52wektg", + "width": 0.21711925962654383, + "x": 0.4659347131697074, + "y": 0.3013169631960807 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取毛巾，爪夹夹住毛巾向右后方移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，接近了毛巾，方便抓取毛巾。", + "frame": 200, + "progress": 15, + "progress_explanation": "爪夹下降，接近了毛巾，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，爪夹接近毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹合拢抓取毛巾。", + "time": 6.669647630298909 + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢抓取毛巾", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3085072665252842, + "id": "bbox_1769046676428_1769064007053_slqqasc0m", + "width": 0.1996863263718578, + "x": 0.48336764642439345, + "y": 0.2992038997267294 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.13734912550783196, + "id": "bbox_1769046691828_1769064012788_vefk77vpy", + "width": 0.15689639929217397, + "x": 0.4564258404853333, + "y": 0.4724751042135329 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右后方移动，接近桌子上的液体，爪夹夹住毛巾继续向右后方移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹成功抓取毛巾，方便擦桌子上的液体。", + "frame": 216, + "progress": 30, + "progress_explanation": "爪夹成功抓取毛巾，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向右后方移动，接近桌子上的液体。", + "time": 7.1886864180257 + }, + { + "action_description": "爪夹向左移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.20285409305772106, + "id": "bbox_1769046676428_1769063999108_ka1n6xdme", + "width": 0.2535699382499782, + "x": 0.41205110129158706, + "y": 0.32456066135894457 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.1584797602013446, + "id": "bbox_1769046691828_1769063992349_8wu1m5es6", + "width": 0.2678332472765395, + "x": 0.4342384708884602, + "y": 0.47458816768288414 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住毛巾继续向右后方移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左侧移动下降，接近了液体，方便擦拭液体。", + "frame": 225, + "progress": 45, + "progress_explanation": "爪夹向左移动并下降，接近了液体，因此任务进度提升为45%。", + "state_description": "爪夹当前为合拢状态，毛巾接近液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向右后方移动，擦拭桌上的液体。", + "time": 7.500109690661773 + }, + { + "action_description": "爪夹向右侧移动并旋转", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3169595204026892, + "id": "bbox_1769046676428_1769063976469_olieg9mlz", + "width": 0.21711925962654394, + "x": 0.4072966649493999, + "y": 0.32456066135894457 + } + ], + "type": "bbox" + }, + "bbox_1769046691828": { + "instances": [ + { + "height": 0.22609779122058496, + "id": "bbox_1769046691828_1769063986276_v38p0bd2w", + "width": 0.2900206168734125, + "x": 0.41522072551971184, + "y": 0.42810077135715635 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向右侧移动，使毛巾擦拭干净液体，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右侧移动，擦拭掉一部分液体。", + "frame": 237, + "progress": 60, + "progress_explanation": "爪夹向右侧移动并旋转，擦拭液体，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，毛巾擦拭液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向右侧移动，使毛巾擦拭干净液体。", + "time": 7.915340720843206 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.3592207897897144, + "id": "bbox_1769046676428_1769063967389_wt19nne40", + "width": 0.21553444751248155, + "x": 0.5499297552150126, + "y": 0.3308998517669984 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右侧移动，桌子的液体已擦干净。", + "frame": 250, + "progress": 75, + "progress_explanation": "爪夹向右侧移动，桌子的液体已擦干净，因此任务进度提升为70%。", + "state_description": "爪夹当前为合拢状态，毛巾擦拭液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "time": 8.330399 + }, + { + "action_description": "爪夹向左侧移动，随后张开并向上抬升", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.2704721240769615, + "id": "bbox_1769046676428_1769063950885_uorlr0dp0", + "width": 0.2678332472765395, + "x": 0.34390418038690546, + "y": 0.3308998517669984 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向正前方移动并下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，爪夹向左后方移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹松开，毛巾没有放回原位置，需重新抓取毛巾。", + "frame": 269, + "progress": 5, + "progress_explanation": "爪夹松开，毛巾没有放回原位置，因此任务进度倒退为5%。", + "state_description": "爪夹当前为张开状态，爪夹在毛巾上方，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向正前方移动并下降，接近毛巾。", + "time": 8.9544 + }, + { + "action_description": "爪夹向正前方移动并下降", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.21764553734317993, + "id": "bbox_1769046676428_1769063942638_duqv5ivcg", + "width": 0.31537761069841036, + "x": 0.3391497440447183, + "y": 0.3351259787057009 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，爪夹向左后方移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向正前方移动下降，接近了毛巾，方便抓取毛巾。", + "frame": 305, + "progress": 15, + "progress_explanation": "爪夹向正前方移动下降，接近了毛巾，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，爪夹接近毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹合拢抓取毛巾。", + "time": 10.155599 + }, + { + "action_description": "爪夹合拢抓住毛巾", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.2662459971382588, + "id": "bbox_1769046676428_1769063930142_t9kdsz11n", + "width": 0.24723068979372878, + "x": 0.6006437428650083, + "y": 0.3266737248282958 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住毛巾向上抬升，爪夹向左后方移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹成功抓取毛巾，方便擦桌子上的液体。", + "frame": 331, + "progress": 30, + "progress_explanation": "爪夹成功抓取毛巾，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向上抬升，随后向左后方移动至桌子左侧，将毛巾放回原位。", + "time": 11.044799 + }, + { + "action_description": "爪夹夹住毛巾向上抬升，爪夹向左后方移动", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.30216807611723034, + "id": "bbox_1769046676428_1769063913389_2h2rid2ok", + "width": 0.35499791354996946, + "x": 0.08399499368067778, + "y": 0.303430026665432 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左后方移动，使毛巾在桌子左侧的正上方。", + "frame": 359, + "progress": 50, + "progress_explanation": "爪夹向左后方移动，毛巾放在桌子左侧的正上方，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，随后爪夹松开，毛巾落在桌子上。", + "time": 11.9652 + }, + { + "action_description": "爪夹向左后方移动，随后向右前方移动，爪夹张开。", + "annotations": { + "bbox_1769046676428": { + "instances": [ + { + "height": 0.1732712044868034, + "id": "bbox_1769046676428_1769063901223_m1etabahv", + "width": 0.09191910261561712, + "x": 0.11569123596192506, + "y": 0.7309731912165739 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，毛巾掉在桌子底下", + "frame": 410, + "progress": -50, + "progress_explanation": "爪夹松开，毛巾掉在桌子底下，因此任务进度倒退为-50%.", + "state_description": "爪夹张开，毛巾掉在桌子底下，任务失败。", + "time": 13.67667126461057 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769046676428", + "name": "毛巾" + }, + { + "color": "#FF9800", + "id": "bbox_1769046691828", + "name": "红色液体" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769046698595", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769046703661", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-162412-put-tower-solution stained area-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-162412-put-tower-solution stained area-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3469892911be23d85cf6508d226af2537662a933 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-162412-put-tower-solution stained area-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,302 @@ +{ + "task_description": "使用毛巾将桌子的液体擦干净，然后毛巾回归原位\n爪夹准备移动：0\n爪夹接近毛巾：15%\n爪夹抓取毛巾：30%\n爪夹抓住毛巾接近桌子上的液体：45%\n爪夹抓住毛巾来回擦桌子的液体：60%\n爪夹使用毛巾将桌子的液体擦干净：75%\n爪夹夹住毛巾放在桌子左侧的正上方：90%\n爪夹松开，毛巾落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向左前方移动，随后下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近毛巾，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向左前方移动，随后下降，接近毛巾。", + "time": 1.478594695638367, + "annotations": { + "point_1769046703661": { + "type": "point", + "instances": [ + { + "id": "point_1769046703661_1769065658617_tcccj48qg", + "x": 0.6133222397775072, + "y": 0.5041710562538018 + } + ] + }, + "point_1769046698595": { + "type": "point", + "instances": [ + { + "id": "point_1769046698595_1769065660657_xshqasous", + "x": 0.4057118528353376, + "y": 0.5126233101312069 + } + ] + }, + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769065666633_73h8nfewj", + "x": 0.16323559938379598, + "y": 0.29709083625737814, + "width": 0.16957489620467292, + "height": 0.4395172016250624 + } + ] + }, + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769065671769_hufpbaag7", + "x": 0.5277423856181397, + "y": 0.17875928197370752, + "width": 0.09984316318592885, + "height": 0.380351424483227 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向左移动，随后下降", + "correction_plan": "爪夹向左前方移动，随后下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹轻微向左移动，随后下降，缩短了与毛巾的距离。", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹轻微向左移动，随后下降，稍微接近了毛巾，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，爪夹没有完全接近毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向左前方移动，随后下降，接近毛巾。", + "time": 2.329733, + "annotations": { + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769065634162_140dyzuy5", + "x": 0.2282128960603529, + "y": 0.1914376627898151, + "width": 0.20919519905623196, + "height": 0.4479694555024673 + } + ] + }, + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769065646617_1x0aou13q", + "x": 0.6244159245759437, + "y": 0.17664621850435627, + "width": 0.12520015701092682, + "height": 0.3549946628510119 + } + ] + }, + "point_1769046698595": { + "type": "point", + "instances": [ + { + "id": "point_1769046698595_1769065653138_oy5fh0ems", + "x": 0.40095741649315053, + "y": 0.5105102466618556 + } + ] + }, + "point_1769046703661": { + "type": "point", + "instances": [ + { + "id": "point_1769046703661_1769065655256_a9hzktxvg", + "x": 0.6149070518915696, + "y": 0.506284119723153 + } + ] + } + } + }, + { + "action_description": "爪夹向左前方移动，随后下降", + "correction_plan": "爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左前方移动，接近了毛巾，方便抓取。", + "frame": 84, + "progress": 15, + "progress_explanation": "爪夹向左前方移动，接近了毛巾，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，爪夹接近毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹合拢抓取毛巾。", + "time": 2.787599, + "annotations": { + "point_1769046698595": { + "type": "point", + "instances": [ + { + "id": "point_1769046698595_1769065605996_oq3na19xt", + "x": 0.3977877922650258, + "y": 0.5295278178860169 + } + ] + }, + "point_1769046703661": { + "type": "point", + "instances": [ + { + "id": "point_1769046703661_1769065607810_oxdslql9w", + "x": 0.6101526155493826, + "y": 0.5083971831925044 + } + ] + }, + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769065612738_82uxtaly5", + "x": 0.8415351842024876, + "y": 0.23369893217684032, + "width": 0.13312421758123866, + "height": 0.38880367836063207 + } + ] + }, + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769065618970_to678gjnm", + "x": 0.272587635254099, + "y": 0.018166458303011675, + "width": 0.34707385297965765, + "height": 0.6592758024375934 + } + ] + } + } + }, + { + "action_description": "爪夹下降，随后爪夹合拢抓取毛巾", + "correction_plan": "爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹成功抓取毛巾，方便擦桌子上的液体。", + "frame": 101, + "progress": 30, + "progress_explanation": "爪夹成功抓取毛巾，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向上抬升，随后向右侧移动，接近桌子上的液体。", + "time": 3.380133, + "annotations": { + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769065576459_4kf3q5t1t", + "x": 0.35658267729940435, + "y": 0.1153673778931697, + "width": 0.21711925962654383, + "height": 0.5832055175409481 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右侧轻微移动。", + "correction_plan": "爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹轻微抬升并向右侧轻微移动，开始接近液体。", + "frame": 119, + "progress": 35, + "progress_explanation": "爪夹轻微抬升并向右侧轻微移动，开始接近液体，因此任务进度提升为35%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向上抬升，随后向右侧移动，接近桌子上的液体。", + "time": 3.959199, + "annotations": { + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769065547319_9djfjv1wz", + "x": 0.8256870630618641, + "y": 0.5781282776810959, + "width": 0.1521419629499869, + "height": 0.25990680673020516 + } + ] + }, + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769065559292_h7coxrgee", + "x": 0.32488643501815706, + "y": 0.10057593360771086, + "width": 0.31854723492653514, + "height": 0.6318059773360271 + } + ] + } + } + }, + { + "action_description": "爪夹张开，爪夹向右侧移动", + "correction_plan": "", + "error_success_analysis": "爪夹张开，毛巾掉落在桌子下。", + "frame": 171, + "progress": -50, + "progress_explanation": "爪夹张开，毛巾掉落在桌子下，因此任务进度倒退为-50%", + "state_description": "爪夹当前为张开状态，毛巾掉落在桌子下，没有完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务。", + "time": 5.712753212059322, + "annotations": { + "point_1769046703661": { + "type": "point", + "instances": [ + { + "id": "point_1769046703661_1769065530924_23stx9p11", + "x": 0.5943044944087589, + "y": 0.5091015269346915 + } + ] + }, + "point_1769046698595": { + "type": "point", + "instances": [ + { + "id": "point_1769046698595_1769065532764_4u4retrl6", + "x": 0.41997516186189887, + "y": 0.5210755640086119 + } + ] + }, + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769065538213_pxsa2mcy6", + "x": 0.7353527725603093, + "y": 0.21468136095267898, + "width": 0.10935203587030307, + "height": 0.3359770916268505 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769046676428", + "name": "毛巾" + }, + { + "color": "#FF9800", + "id": "bbox_1769046691828", + "name": "红色液体" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769046698595", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769046703661", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-162412-put-tower-solution stained area-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-162412-put-tower-solution stained area-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..a28257950ddbb1be4ef0a7fb1397ead75b2a0e48 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-162412-put-tower-solution stained area-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,458 @@ +{ + "task_description": "使用毛巾将桌子的液体擦干净，然后毛巾回归原位\n爪夹准备移动：0\n爪夹接近毛巾：15%\n爪夹抓取毛巾：30%\n爪夹抓住毛巾接近桌子上的液体：45%\n爪夹抓住毛巾来回擦桌子的液体：60%\n爪夹使用毛巾将桌子的液体擦干净：75%\n爪夹夹住毛巾放在桌子左侧的正上方：90%\n爪夹松开，毛巾落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向左前方移动，随后下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近毛巾，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向左前方移动，随后下降，接近毛巾。", + "time": 1.1148237598964015, + "annotations": { + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769068303394_59fsqwdf1", + "x": 0.5927196822946965, + "y": 0.6055981027826624, + "width": 0.12995459335311388, + "height": 0.2239847277512337 + } + ] + }, + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769068308162_kso9em8ge", + "x": 0.35658267729940435, + "y": 0.5908066584972035, + "width": 0.10618241164217838, + "height": 0.26201987019955647 + } + ] + }, + "point_1769046698595": { + "type": "point", + "instances": [ + { + "id": "point_1769046698595_1769068310578_94qr49o6q", + "x": 0.39144854380877636, + "y": 0.5105102466618556 + } + ] + }, + "point_1769046703661": { + "type": "point", + "instances": [ + { + "id": "point_1769046703661_1769068312962_8bg8wl47s", + "x": 0.6260007366900061, + "y": 0.5041710562538018 + } + ] + } + } + }, + { + "action_description": "爪夹向左前方移动，随后下降", + "correction_plan": "爪夹下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左前方移动并下降，缩短了与毛巾的距离。", + "frame": 72, + "progress": 10, + "progress_explanation": "爪夹向左前方移动并下降，水平上接近了毛巾，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，爪夹没有完全接近毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹下降，接近毛巾。", + "time": 2.4053, + "annotations": { + "point_1769046703661": { + "type": "point", + "instances": [ + { + "id": "point_1769046703661_1769068249972_i5sc69csr", + "x": 0.6260007366900061, + "y": 0.5083971831925044 + } + ] + }, + "point_1769046698595": { + "type": "point", + "instances": [ + { + "id": "point_1769046698595_1769068252652_m7hlunpk6", + "x": 0.3866941074665892, + "y": 0.5105102466618556 + } + ] + }, + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769068290833_u9vbcr4hn", + "x": 0.37718523478221505, + "y": 0.3393521056444034, + "width": 0.14897233872186222, + "height": 0.3338640281574993 + } + ] + }, + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769068297066_t2l257d94", + "x": 0.6846387849103136, + "y": 0.42176158094910254, + "width": 0.10776722375624077, + "height": 0.20919328346577484 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹下降，接近了毛巾，方便抓取毛巾。", + "frame": 85, + "progress": 15, + "progress_explanation": "爪夹下降，接近了毛巾，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，爪夹接近毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹合拢抓取毛巾。", + "time": 2.8467830450069322, + "annotations": { + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769068231307_khddfxcwu", + "x": 0.33756493193065595, + "y": 0.19636813347070478, + "width": 0.24881550190779111, + "height": 0.5071352326443027 + } + ] + }, + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769068237811_9tfrfivgc", + "x": 0.7512008937009329, + "y": 0.36470886727661855, + "width": 0.13787865392342563, + "height": 0.3190725838720405 + } + ] + }, + "point_1769046698595": { + "type": "point", + "instances": [ + { + "id": "point_1769046698595_1769068240650_ug25zxw4h", + "x": 0.39144854380877636, + "y": 0.5126233101312069 + } + ] + }, + "point_1769046703661": { + "type": "point", + "instances": [ + { + "id": "point_1769046703661_1769068242802_t23qa19z9", + "x": 0.6228311124618815, + "y": 0.5126233101312069 + } + ] + } + } + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢抓取毛巾", + "correction_plan": "爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹成功抓取毛巾，方便擦桌子上的液体。", + "frame": 137, + "progress": 30, + "progress_explanation": "爪夹成功抓取毛巾，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向上抬升，随后向右侧移动，接近桌子上的液体。", + "time": 4.578742330117463, + "annotations": { + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769068187004_qdmh07jf2", + "x": 0.36450673786971616, + "y": 0.07099304503679321, + "width": 0.34548904086559523, + "height": 0.7332330238648876 + } + ] + }, + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769068196493_af4uyhitb", + "x": 0.830441499404051, + "y": 0.2992038997267294, + "width": 0.15372677506404936, + "height": 0.42472575733960344 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向上抬升，距离接近液体近了一步", + "frame": 184, + "progress": 35, + "progress_explanation": "爪夹向上抬升，开始接近液体，因此任务进度提升为35%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住毛巾，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向右侧移动，随后下降，接近液体。", + "time": 6.131533413320008, + "annotations": { + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769068164564_2japqx3p8", + "x": 0.7195046514196857, + "y": 0.2569426303397042, + "width": 0.1473875266077999, + "height": 0.363446916728417 + } + ] + }, + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769068171800_dpe8qlv06", + "x": 0.3597523015275291, + "y": 0.08155836238354951, + "width": 0.32171685915465986, + "height": 0.6318059773360272 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹继续下降，向右后方移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右前方移动并下降，接近液体，容易擦拭液体。", + "frame": 229, + "progress": 45, + "progress_explanation": "爪夹向右前方移动并下降，接近液体，因此任务进度提升为45%。", + "state_description": "爪夹当前为合拢状态，毛巾接近液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹继续下降，向右后方移动，擦拭液体。", + "time": 7.624601762553224, + "annotations": { + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769068146760_o67kipex9", + "x": 0.3534130530712796, + "y": 0.09001061626095455, + "width": 0.3217168591546598, + "height": 0.6508235485601885 + } + ] + }, + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769068157293_a3gotplhd", + "x": 0.5673626884696987, + "y": 0.43021383482650766, + "width": 0.1632356477484235, + "height": 0.3106203299946354 + } + ] + } + } + }, + { + "action_description": "爪夹继续下降，向右后方移动", + "correction_plan": "爪夹继续向右后方移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向右后方移动，液体已被擦拭一部分。", + "frame": 260, + "progress": 60, + "progress_explanation": "爪夹向右后方移动，毛巾擦拭了一部分液体，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，毛巾擦拭液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹继续向右后方移动，擦拭液体。", + "time": 8.659795818021587, + "annotations": { + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769068127991_3gndqdd9b", + "x": 0.2789268837103485, + "y": 0.032957902588470506, + "width": 0.36767641046246846, + "height": 0.6635019293762962 + } + ] + } + } + }, + { + "action_description": "爪夹轻微抬升，随后向左侧移动", + "correction_plan": "爪夹向右侧移动，随后下降，擦拭液体，爪夹向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左侧移动，远离了液体，任务中断需重新擦拭液体。", + "frame": 282, + "progress": 45, + "progress_explanation": "爪夹向左侧移动，远离液体，因此任务进度倒退为45%。", + "state_description": "爪夹当前为合拢状态，毛巾远离液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向右侧移动，随后下降，擦拭液体。", + "time": 9.396376203643307, + "annotations": { + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769068093182_p1p5ysdbj", + "x": 0.6782995364540642, + "y": 0.19214200653200225, + "width": 0.19176226580154596, + "height": 0.40148205917673974 + } + ] + }, + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769068110966_fp9pjbf08", + "x": 0.3074535017634711, + "y": 0.0667669180980907, + "width": 0.4247296465687135, + "height": 0.7036501352939699 + } + ] + } + } + }, + { + "action_description": "爪夹抬升，随后继续向左侧移动", + "correction_plan": "爪夹向右侧移动，随后下降，接近液体，爪夹继续向右侧移动擦拭液体，随后爪夹向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹向左侧移动，更加远离液体，需重新接近液体。", + "frame": 305, + "progress": 35, + "progress_explanation": "爪夹向左侧移动，更加远离液体，因此任务进度倒退为35%。", + "state_description": "爪夹当前为合拢状态，毛巾远离液体，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向右侧移动，随后下降，接近液体。", + "time": 10.1597, + "annotations": { + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769068067928_4o7763ky2", + "x": 0.8114237540353028, + "y": 0.5105102466618556, + "width": 0.11410647221249022, + "height": 0.19440183918031603 + } + ] + }, + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769068075487_gp1nw8s92", + "x": 0.34548899250096776, + "y": 0.07944529891419826, + "width": 0.37560047103278027, + "height": 0.597996961826407 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向右后方移动", + "correction_plan": "爪夹下降，接近毛巾，爪夹合拢抓取毛巾，爪夹夹住毛巾向上抬升，随后向右侧移动并下降，毛巾放在桌子上，随后爪夹夹住毛巾在桌子上左右移动，使桌子上的液体擦干净，爪夹继续向左侧移动，随后爪夹松开，毛巾落在桌子上。", + "error_success_analysis": "爪夹张开，毛巾掉落在桌子上，需重新抓取毛巾把剩余液体擦拭干净。", + "frame": 336, + "progress": 10, + "progress_explanation": "爪夹张开，毛巾掉落在桌子上，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开状态，毛巾掉落在桌子上，为完成使用毛巾将桌子的液体擦干净，然后毛巾回归原位的任务，应当：爪夹向左前方移动，随后下降，接近毛巾。", + "time": 11.2008, + "annotations": { + "point_1769046703661": { + "type": "point", + "instances": [ + { + "id": "point_1769046703661_1769068005728_3pv13t32c", + "x": 0.5721171248118858, + "y": 0.5091015269346915 + } + ] + }, + "point_1769046698595": { + "type": "point", + "instances": [ + { + "id": "point_1769046698595_1769068007768_lj45t1al2", + "x": 0.43740809511658485, + "y": 0.5126233101312069 + } + ] + }, + "bbox_1769046676428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046676428_1769068055023_jviuqp00v", + "x": 0.33756493193065595, + "y": 0.3013169631960807, + "width": 0.17115970831873528, + "height": 0.38246448795257837 + } + ] + }, + "bbox_1769046691828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769046691828_1769068060647_9owyzeln6", + "x": 0.6466032941728169, + "y": 0.40063094625559, + "width": 0.11886090855467728, + "height": 0.18806264877226225 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769046676428", + "name": "毛巾" + }, + { + "color": "#FF9800", + "id": "bbox_1769046691828", + "name": "红色液体" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769046698595", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769046703661", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-170518-put-red audio cable-black-protable mixer console-good2/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-170518-put-red audio cable-black-protable mixer console-good2/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..aaa94c1bfbf8c99442b878f49b71171980433498 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-170518-put-red audio cable-black-protable mixer console-good2/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,336 @@ +{ + "task_description": "将红色音频线插入便携式调音台\n爪夹开始移动：0\n爪夹接近红色音频线：20%\n爪夹抓取红色音频线：40%\n爪夹抓住红色音频线接近便携式调音台：60%\n爪夹使红色音频线移动至便携式调音台的正上方：80%\n爪夹松开，红色音频线插入便携式调音台：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1768964149943": { + "instances": [ + { + "height": 0.08452253877405044, + "id": "bbox_1768964149943_1769071922174_jd1lurj6e", + "width": 0.07290135724686868, + "x": 0.41522072551971184, + "y": 0.4428922156426152 + } + ], + "type": "bbox" + }, + "bbox_1768964150124": { + "instances": [ + { + "height": 0.23666310856734127, + "id": "bbox_1768964150124_1769071917638_pt7nrkuf2", + "width": 0.18542301734529656, + "x": 0.3803548590103398, + "y": 0.21045523401397645 + } + ], + "type": "bbox" + }, + "point_1768964162521": { + "instances": [ + { + "id": "point_1768964162521_1769071925692_67jxfsi7g", + "x": 0.4849524585384558, + "y": 0.5126233101312069 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向正前方的移动，同时调整爪夹的角度并下降，接近红色音频线。接着爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高，向爪夹正前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，远离红色音频线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离红色音频线，为完成将红色音频线插入便携式调音台的任务，应当：爪夹向正前方移动，同时调整爪夹的角度并下降，接近红色音频线。", + "time": 1.499444477941546 + }, + { + "action_description": "爪夹向正前方移动，同时调整爪夹的角度并下降", + "annotations": { + "bbox_1768964150124": { + "instances": [ + { + "height": 0.23243698162863874, + "id": "bbox_1768964150124_1769071909854_aa13jx9ug", + "width": 0.17591414466092234, + "x": 0.3803548590103398, + "y": 0.21045523401397645 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，接近红色音频线。接着爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高，向爪夹正前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹向正前方移动并下降，在红色音频线的上方。", + "frame": 78, + "progress": 10, + "progress_explanation": "爪夹向正前方移动并下降，在红色音频线的上方，因此任务进度提升为10%。", + "state_description": "爪夹张开，爪夹在红色音频线的上方。\n为完成将红色音频线插入便携式调音台的任务应当：爪夹下降，接近红色音频线。", + "time": 2.5951930087371258 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1768964150124": { + "instances": [ + { + "height": 0.25356761632215136, + "id": "bbox_1768964150124_1769071899311_d5kffliaf", + "width": 0.17591414466092234, + "x": 0.3819396711244022, + "y": 0.20622910707527392 + } + ], + "type": "bbox" + } + }, + "correction_plan": "接着爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高，向爪夹正前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹下降，接近了红色音频线，方便抓取。", + "frame": 120, + "progress": 20, + "progress_explanation": "爪夹下降，接近了红色音频线，因此任务进度提升为20%。", + "state_description": "爪夹张开，爪夹接近红色音频线，为完成将红色音频线插入便携式调音台的任务应当：爪夹合拢抓取红色音频线。", + "time": 4.008131903710373 + }, + { + "action_description": "爪夹合拢抓取红色音频线", + "annotations": { + "bbox_1768964150124": { + "instances": [ + { + "height": 0.24300229897539508, + "id": "bbox_1768964150124_1769071891511_hluthjx4w", + "width": 0.17274452043279767, + "x": 0.3819396711244022, + "y": 0.20411604360592267 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧红色音频线垂直升高，向爪夹正前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到红色音频线。", + "frame": 203, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到红色音频线，因此进度提升为40%", + "state_description": "爪夹当前为合拢状态，爪夹夹住红色音频线，为完成将红色音频线插入便携式调音台的任务，应当：爪夹夹住红色音频线向上抬升并调整角度，向正前方移动接近便携式调音台。", + "time": 6.766666666666667 + }, + { + "action_description": "爪夹夹住红色音频线向上抬升并调整角度", + "annotations": { + "bbox_1768964150124": { + "instances": [ + { + "height": 0.24300229897539502, + "id": "bbox_1768964150124_1769071883655_3bsm1xmol", + "width": 0.18700782945935895, + "x": 0.3740156105540903, + "y": 0.21045523401397645 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹正前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹向上抬升，距离便携式调音台又进了一步。", + "frame": 243, + "progress": 50, + "progress_explanation": "爪夹向上抬升，开始接近便携式调音台，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住红色音频线，为完成将红色音频线插入便携式调音台的任务，应当：爪夹向正前方移动接近便携式调音台。", + "time": 8.10277115036754 + }, + { + "action_description": "爪夹向正后方移动，随后爪夹调整角度", + "annotations": { + "bbox_1768964149943": { + "instances": [ + { + "height": 0.06973109448859163, + "id": "bbox_1768964149943_1769071874095_aeimgtu8x", + "width": 0.023772181710935404, + "x": 0.4072966649494, + "y": 0.3266737248282958 + } + ], + "type": "bbox" + }, + "bbox_1768964150124": { + "instances": [ + { + "height": 0.2366631085673413, + "id": "bbox_1768964150124_1769071841204_zoj2jjuwj", + "width": 0.18066858100310945, + "x": 0.3756004226681527, + "y": 0.20834217054462517 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向正前方移动至便携式调音台的正上方，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹向正后方移动并调整角度，避免碰到便携式调音台。", + "frame": 305, + "progress": 60, + "progress_explanation": "爪夹调整角度，接近了便携式调音台，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，接近便携式调音台，为完成将红色音频线插入便携式调音台的任务，应当：爪夹向正前方移动至便携式调音台的正上方。", + "time": 10.157333 + }, + { + "action_description": "爪夹调整角度，随后向正前方移动", + "annotations": { + "bbox_1768964149943": { + "instances": [ + { + "height": 0.05071352326443025, + "id": "bbox_1768964149943_1769071825144_bm7ez155j", + "width": 0.01901774536874843, + "x": 0.40254222860721284, + "y": 0.3266737248282958 + } + ], + "type": "bbox" + }, + "bbox_1768964150124": { + "instances": [ + { + "height": 0.2408892355060438, + "id": "bbox_1768964150124_1769071830232_vqibsrmdi", + "width": 0.18542301734529656, + "x": 0.37243079844002797, + "y": 0.20411604360592267 + } + ], + "type": "bbox" + }, + "point_1768964162349": { + "instances": [ + { + "id": "point_1768964162349_1769071818918_ktmmyq2s0", + "x": 0.3977877922650258, + "y": 0.3562566133992135 + } + ], + "type": "point" + }, + "point_1768964162521": { + "instances": [ + { + "id": "point_1768964162521_1769071822016_qyhrakmqj", + "x": 0.4215599739759613, + "y": 0.3562566133992135 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹向正前方移动，方便成功将红色音频线插入便携式调音台。", + "frame": 362, + "progress": 80, + "progress_explanation": "爪夹向正前方移动，红色音频线在便携式调音台的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，红色音频线在便携式调音台的正上方，为完成将红色音频线插入便携式调音台的任务，应当：爪夹下降，使红色音频线插入便携式调音台。", + "time": 12.082068446414647 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1768964149943": { + "instances": [ + { + "height": 0.05071352326443025, + "id": "bbox_1768964149943_1769071794017_om3k7zxao", + "width": 0.028526618053122555, + "x": 0.40095741649315053, + "y": 0.35414354992986224 + } + ], + "type": "bbox" + }, + "bbox_1768964150124": { + "instances": [ + { + "height": 0.23877617203669255, + "id": "bbox_1768964150124_1769071790401_64dto2ifq", + "width": 0.17432933254686, + "x": 0.3835244832384645, + "y": 0.20411604360592267 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹下降，红色音频线插入便携式调音台。", + "frame": 411, + "progress": 90, + "progress_explanation": "爪夹下降，红色音频线插入便携式调音台，因此任务进度提升为90%。", + "state_description": "爪夹当前为合拢状态，红色音频线进入便携式调音台，为完成将红色音频线插入便携式调音台的任务，应当：爪夹松开，红色音频线插入便携式调音台。", + "time": 13.696855754955498 + }, + { + "action_description": "爪夹张开，随后向上抬升", + "annotations": { + "bbox_1768964149943": { + "instances": [ + { + "height": 0.05493965020313283, + "id": "bbox_1768964149943_1769071775097_deyke1qiu", + "width": 0.017432933254686044, + "x": 0.40254222860721284, + "y": 0.35273483020269814 + } + ], + "type": "bbox" + }, + "bbox_1768964150124": { + "instances": [ + { + "height": 0.2514545528528001, + "id": "bbox_1768964150124_1769071783705_axw13k2mb", + "width": 0.19334707791560835, + "x": 0.3708459863259656, + "y": 0.19566378972851764 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，红色音频线插入便携式调音台，任务完成。", + "frame": 471, + "progress": 100, + "progress_explanation": "爪夹张开，红色音频线插入便携式调音台，任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，爪夹远离便携式调音台，爪夹将红色音频线插入便携式调音台的任务完成。", + "time": 15.715339890631567 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768964149943", + "name": "红色音频线" + }, + { + "color": "#FF9800", + "id": "bbox_1768964150124", + "name": "便携式调音台" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768964162349", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768964162521", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-170518-put-red audio cable-black-protable mixer console-good2/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-170518-put-red audio cable-black-protable mixer console-good2/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..d0c39ba3a4bd785bf5d08073f69368d436536814 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-170518-put-red audio cable-black-protable mixer console-good2/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,196 @@ +{ + "task_description": "抓取红色音频线插入便携式调音台：\n准备开始移动：0%\n爪夹靠近红色音频线：20%\n爪夹抓取红色音频线：40%\n爪夹抓紧红色音频线接近便携式调音台：60%\n爪夹将红色音频线插入便携式调音台：80%\n爪夹松开红色音频线插入便携式调音台：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离红色音频线，未开始移动。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。", + "progress_explanation": "当前为初始状态，远离红色音频线，未开始移动，因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。接着落下爪夹靠近红色音频线，接近红色音频线后爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "annotations": { + "bbox_1768964149943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964149943_1768964208879_pbwbs9ysi", + "x": 0.4883089280967378, + "y": 0.22455654619730592, + "width": 0.1929844020586901, + "height": 0.6354947461350793 + } + ] + }, + "bbox_1768964150124": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964150124_1768964214952_bt9qqalft", + "x": 0.2807044955790559, + "y": 0.247948990840315, + "width": 0.3713487736583887, + "height": 0.5380262267892083 + } + ] + }, + "point_1768964162349": { + "type": "point", + "instances": [ + { + "id": "point_1768964162349_1768964217851_d7gwcob30", + "x": 0.3918167270673927, + "y": 0.4974684003657449 + } + ] + }, + "point_1768964162521": { + "type": "point", + "instances": [ + { + "id": "point_1768964162521_1768964221395_vyfpt0lfr", + "x": 0.6169651961358646, + "y": 0.5130633634610843 + } + ] + } + } + }, + { + "time": 1.755477837820297, + "frame": 53, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动，调整爪夹的角度", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近红色音频线。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。", + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%", + "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近红色音频线。", + "correction_plan": "爪夹向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。接着落下爪夹靠近红色音频线，接近红色音频线后爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 3.427363922502209, + "frame": 103, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了红色音频线。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹继续向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了红色音频线，更加方便抓。因此进度提升为15%", + "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了爪夹与红色音频线之间的距离。方便后续抓取红色音频线。", + "correction_plan": "爪夹继续向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。接着落下爪夹靠近红色音频线，接近红色音频线后爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 5.768004441056886, + "frame": 173, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了红色音频线，准备抓取红色音频线。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹合拢抓取红色音频线，抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了红色音频线，方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了红色音频线，方便抓取。", + "correction_plan": "爪夹合拢抓取红色音频线，抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 7.439890525738797, + "frame": 223, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到红色音频线。爪夹角度与桌面接近垂直。\n为完成抓取红色音频线插入便携式调音台的任务应当：抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近。", + "progress_explanation": "爪夹合拢抓取到红色音频线。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到红色音频线。", + "correction_plan": "抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 8.359427872313848, + "frame": 251, + "progress": 60, + "action_description": "爪夹夹紧红色音频线，向爪夹左方移动", + "state_description": "爪夹抓紧红色音频线，爪夹角度接近垂直于桌面，位于便携式调音台正上方。\n为完成抓取红色音频线插入便携式调音台的任务应当：调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "progress_explanation": "爪夹夹紧红色音频线，到达爪夹左方的便携式调音台正上方，方便红色音频线插入便携式调音台。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了便携式调音台正上方，方便将红色音频线插入便携式调音台。", + "correction_plan": "调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 12.204765867082246, + "frame": 366, + "progress": 50, + "action_description": "爪夹向右移动", + "state_description": "爪夹夹紧红色音频线向便携式调音台右方移动，重新调整爪夹角度。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹抓紧红色音频线并向爪夹左方的便携式调音台接近。", + "progress_explanation": "爪夹抓紧红色音频线未移动到便携式便携式调音台正上方。因此进度降低为50%", + "error_success_analysis": "爪夹抓紧红色音频线未移动到便携式便携式调音台正上方，需要再次移动。", + "correction_plan": "爪夹抓紧红色音频线并向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 13.458680430593681, + "frame": 404, + "progress": 60, + "action_description": "爪夹夹紧红色音频线，重新向爪夹左方移动", + "state_description": "爪夹抓紧红色音频线，爪夹角度接近垂直于桌面，位于便携式调音台正上方。\n为完成抓取红色音频线插入便携式调音台的任务应当：调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "progress_explanation": "爪夹夹紧红色音频线，又到达爪夹左方的便携式调音台正上方，方便红色音频线插入便携式调音台。因此进度提升为60%", + "error_success_analysis": "爪夹又移动到了便携式调音台正上方，方便将红色音频线插入便携式调音台。", + "correction_plan": "调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 15.966509557616547, + "frame": 479, + "progress": 70, + "action_description": "爪夹垂直向下移动", + "state_description": "爪夹向下移动，红色音频线未插入便携式调音台。\n为完成抓取红色音频线插入便携式调音台的任务应当：调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "progress_explanation": "爪夹垂直向下移动，接近了便携式调音台但未插入便携式调音台。因此进度提升为70&", + "error_success_analysis": "爪夹垂直向下移动，接近了便携式调音台但未插入便携式调音台，需要重新插入便携式调音台。", + "correction_plan": "调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 18.7659, + "frame": 563, + "progress": 75, + "action_description": "爪夹升高", + "state_description": "爪夹垂直升高并调整爪夹角度。\n为完成抓取红色音频线插入便携式调音台的任务应当：调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "progress_explanation": "爪夹垂直升高并调整爪夹角度使其垂直于便携式调音台，方便后续插入便携式调音台。因此进度提升为75%", + "error_success_analysis": "爪夹垂直升高并调整爪夹角度使其垂直于便携式调音台，方便后续插入便携式调音台。", + "correction_plan": "爪夹垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 22.0284, + "frame": 661, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧红色音频线，爪夹角度接近垂直于桌面。\n为完成抓取红色音频线插入便携式调音台的任务应当：松开爪夹，使红色音频线插入便携式调音台。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直向下移动，方便红色音频线插入便携式调音台。因此进度提升为80%", + "error_success_analysis": "爪夹垂直向下移动，方便红色音频线插入便携式调音台。", + "correction_plan": "松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 25.8651, + "frame": 776, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取红色音频线插入便携式调音台的任务完成。", + "progress_explanation": "爪夹张开，红色音频线插入便携式调音台，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，红色音频线插入便携式调音台，任务完成。", + "correction_plan": "爪夹抓取红色音频线插入便携式调音台的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768964149943", + "name": "红色音频线", + "color": "#4CAF50" + }, + { + "id": "bbox_1768964150124", + "name": "便携式调音台", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768964162349", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768964162521", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-170518-put-red audio cable-black-protable mixer console-good2/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-170518-put-red audio cable-black-protable mixer console-good2/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..a999db691dc3b68831dca8813e8b3727845a30e9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-170518-put-red audio cable-black-protable mixer console-good2/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,140 @@ +{ + "task_description": "抓取红色音频线插入便携式调音台：\n准备开始移动：0%\n爪夹靠近红色音频线：20%\n爪夹抓取红色音频线：40%\n爪夹抓紧红色音频线接近便携式调音台：60%\n爪夹将红色音频线插入便携式调音台：80%\n爪夹松开红色音频线插入便携式调音台：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。接着落下爪夹靠近红色音频线，接近红色音频线后爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "当前为初始状态，远离红色音频线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离红色音频线，未开始移动。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。", + "time": 1.5686 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。接着落下爪夹靠近红色音频线，接近红色音频线后爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近红色音频线。", + "frame": 105, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近红色音频线。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。", + "time": 3.4843746756149856 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取红色音频线，抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹垂直向下移动，靠近了红色音频线，方便抓取。", + "frame": 170, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了红色音频线，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了红色音频线，准备抓取红色音频线。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹合拢抓取红色音频线，抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近。", + "time": 5.667199 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到红色音频线。", + "frame": 250, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到红色音频线。因此进度提升为40%", + "state_description": "爪夹合拢抓取到红色音频线。爪夹角度与桌面接近垂直。\n为完成抓取红色音频线插入便携式调音台的任务应当：抓紧红色音频线垂直升高爪夹并向爪夹左方的便携式调音台接近。", + "time": 8.346296278195718 + }, + { + "action_description": "爪夹垂直升高并向爪夹左前方移动", + "correction_plan": "继续向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹合拢继续夹紧红色音频线，水平上接近了便携式调音台，更加方便接近便携式调音台。", + "frame": 304, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧红色音频线，垂直升高并向爪夹左方的便携式调音台接近，缩短了红色音频线与便携式调音台的距离。因此进度提升为50%", + "state_description": "爪夹合拢抓取到红色音频线，水平上接近了便携式调音台。\n为完成抓取红色音频线插入便携式调音台的任务应当：继续向爪夹左方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "time": 10.129000865808651 + }, + { + "action_description": "爪夹夹紧红色音频线，向爪夹左方移动", + "correction_plan": "调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹移动到了便携式调音台正上方，方便将红色音频线插入便携式调音台。", + "frame": 379, + "progress": 60, + "progress_explanation": "爪夹夹紧红色音频线，到达爪夹左方的便携式调音台正上方，方便红色音频线插入便携式调音台。因此进度提升为60%", + "state_description": "爪夹抓紧红色音频线，爪夹角度接近垂直于桌面，位于便携式调音台正上方。\n为完成抓取红色音频线插入便携式调音台的任务应当：调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "time": 12.640993693808696 + }, + { + "action_description": "爪夹调整角度并向左移动", + "correction_plan": "调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹夹紧红色音频线调整角度，爪夹向左移动，方便红色音频线插入便携式调音台。", + "frame": 425, + "progress": 65, + "progress_explanation": "爪夹夹紧红色音频线调整角度，爪夹向左移动，方便红色音频线插入便携式调音台。因此进度提升为65%", + "state_description": "爪夹夹紧红色音频线调整角度，爪夹向左移动。\n为完成抓取红色音频线插入便携式调音台的任务应当：调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "time": 14.180602201292595 + }, + { + "action_description": "爪夹调整角度，继续水平向便携式调音台的正上方移动", + "correction_plan": "爪夹垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹夹紧红色音频线，继续水平向便携式调音台的正上方移动，方便红色音频线插入便携式调音台。", + "frame": 479, + "progress": 70, + "progress_explanation": "爪夹夹紧红色音频线，继续水平向便携式调音台的正上方移动。因此进度提升为70%", + "state_description": "爪夹夹紧红色音频线，继续水平向便携式调音台的正上方移动。\n为完成抓取红色音频线插入便携式调音台的任务应当：调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "time": 15.963306788905529 + }, + { + "action_description": "爪夹升高", + "correction_plan": "爪夹垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹垂直升高并调整爪夹角度使其垂直于便携式调音台，方便后续插入便携式调音台。", + "frame": 549, + "progress": 75, + "progress_explanation": "爪夹垂直升高并调整爪夹角度使其垂直于便携式调音台，方便后续插入便携式调音台。因此进度提升为75%", + "state_description": "爪夹垂直升高并调整爪夹角度。\n为完成抓取红色音频线插入便携式调音台的任务应当：调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "time": 18.2919 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使红色音频线插入便携式调音台。", + "error_success_analysis": "爪夹垂直向下移动，方便红色音频线插入便携式调音台。", + "frame": 596, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直向下移动，方便红色音频线插入便携式调音台。因此进度提升为80%", + "state_description": "爪夹夹紧红色音频线，爪夹角度接近垂直于桌面。\n为完成抓取红色音频线插入便携式调音台的任务应当：松开爪夹，使红色音频线插入便携式调音台。", + "time": 19.852844070970118 + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，红色音频线插入便携式调音台，任务完成。", + "frame": 683, + "progress": 100, + "progress_explanation": "爪夹张开，红色音频线插入便携式调音台，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取红色音频线插入便携式调音台的任务完成。", + "time": 22.769997032518553 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768973054782", + "name": "红色音频线", + "color": "#4CAF50" + }, + { + "id": "bbox_1768973054989", + "name": "便携式调音台", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768973070934", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768973071107", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-171604-put-red audio cable-black-protable mixer console-mix1/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-171604-put-red audio cable-black-protable mixer console-mix1/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..ea93fe1a98b0784a59345c27dc18dc40f78e74c6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-171604-put-red audio cable-black-protable mixer console-mix1/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,140 @@ +{ + "task_description": "抓取红色音频线插入便携式调音台：\n准备开始移动：0%\n爪夹靠近红色音频线：20%\n爪夹抓取红色音频线：40%\n爪夹抓取红色音频线接近便携式调音台：60%\n爪夹将红色音频线插入便携式调音台：80%\n爪夹松开便携式调音台插入便携式调音台：100%", + "progress_points": [ + { + "time": 2.023, + "frame": 61, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离红色音频线，未开始移动。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。", + "progress_explanation": "当前为初始状态，远离红色音频线，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的红色音频线移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。接着落下爪夹靠近红色音频线，接近红色音频线后爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高并向爪夹右前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 3.8726, + "frame": 116, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了红色音频线，准备抓取红色音频线。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹合拢抓取红色音频线，抓紧红色音频线垂直升高并向爪夹右前方的便携式调音台接近。", + "progress_explanation": "爪夹垂直向下移动，靠近了红色音频线，方便抓取。因此进度同时为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了红色音频线，方便抓取。", + "correction_plan": "爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高并向爪夹右前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 5.461171433827216, + "frame": 164, + "progress": 30, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢未抓取到红色音频线，爪夹角度接近垂直于桌面。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹合拢抓取红色音频线，抓紧红色音频线垂直升高并向爪夹右前方的便携式调音台接近。", + "progress_explanation": "爪夹未抓取到红色音频线。因此进度提升为30%", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹未抓取到红色音频线。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到红色音频线的正上方。爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高并向爪夹右前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 7.5718, + "frame": 227, + "progress": 20, + "action_description": "爪夹张开，调整爪夹的角度", + "state_description": "爪夹角度接近垂直于于桌面，调整爪夹的角度，靠近了红色音频线，准备再次抓取红色音频线。\n为完成抓取红色音频线插入便携式调音台的任务应当：爪夹合拢抓取红色音频线，抓紧红色音频线垂直升高并向爪夹右前方的便携式调音台接近。", + "progress_explanation": "爪夹角度接近垂直于于桌面，调整爪夹的角度，靠近了红色音频线，方便抓取。因此进度降低为20%", + "error_success_analysis": "调整爪夹的角度，靠近了红色音频线，方便抓取。", + "correction_plan": "爪夹合拢抓取红色音频线。抓紧红色音频线垂直升高并向爪夹右前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 9.593906, + "frame": 288, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢夹紧红色音频线，爪夹角度与桌面接近垂直。\n为完成抓取红色音频线插入便携式调音台的任务应当：抓紧红色音频线垂直升高并向爪夹右前方的便携式调音台接近。", + "progress_explanation": "爪夹合拢抓取到红色音频线。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到红色音频线。", + "correction_plan": "抓紧红色音频线垂直升高并向爪夹右前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 11.847968448126448, + "frame": 355, + "progress": 50, + "action_description": "爪夹夹紧红色音频线，垂直升高，向爪夹左前放移动。", + "state_description": "爪夹合拢夹紧红色音频线，水平上接近了便携式调音台。\n为完成抓取红色音频线插入便携式调音台的任务应当：继续向爪夹右前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "progress_explanation": "爪夹合拢夹紧红色音频线，垂直升高并向爪夹左前方的便携式调音台接近，缩短了与便携式调音台的距离。因此进度提升为50%", + "error_success_analysis": "爪夹合拢继续夹紧红色音频线，水平上接近了便携式调音台，更加方便接近便携式调音台。", + "correction_plan": "继续向爪夹右前方的便携式调音台接近，水平到达便携式调音台的正上方后，调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 14.532274439643519, + "frame": 436, + "progress": 60, + "action_description": "爪夹夹紧红色音频线，向爪夹左前方移动", + "state_description": "爪夹夹紧红色音频线，爪夹角度接近垂直于桌面，位于便携式调音台正上方。\n为完成抓取红色音频线插入便携式调音台的任务应当：调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "progress_explanation": "爪夹夹紧红色音频线，到了便携式调音台正上方，方便插入便携式调音台。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了便携式调音台正上方，方便红色音频线插入便携式调音台。", + "correction_plan": "调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 18.380399, + "frame": 551, + "progress": 70, + "action_description": "爪夹升高", + "state_description": "爪夹升高后向下移动，调整爪夹角度。\n为完成抓取红色音频线插入便携式调音台的任务应当：调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "progress_explanation": "爪夹向下移动，红色音频线未插入便携式调音台。因此进度提升为70%", + "error_success_analysis": "爪夹向下移动，红色音频线未插入便携式调音台。", + "correction_plan": "调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 22.0796, + "frame": 662, + "progress": 75, + "action_description": "爪夹升高，调整爪夹角度", + "state_description": "爪夹向上升高，重新调整爪夹角度。\n为完成抓取红色音频线插入便携式调音台的任务应当：调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。", + "progress_explanation": "爪夹调整角度后，继续向下移动，红色音频线未插入便携式调音台。因此进度提升为75%", + "error_success_analysis": "爪夹调整角度后，继续向下移动，红色音频线未插入便携式调音台。", + "correction_plan": "调整爪夹的角度并垂直下降，松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 24.621562476724915, + "frame": 739, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧红色音频线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取红色音频线插入便携式调音台的任务应当：松开爪夹，使红色音频线插入便携式调音台。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降。因此进度提升为80%", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹垂直下降，方便红色音频线插入便携式调音台。", + "correction_plan": "松开爪夹，使红色音频线插入便携式调音台。" + }, + { + "time": 28.9, + "frame": 867, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取红色音频线插入便携式调音台的任务完成。", + "progress_explanation": "爪夹张开，红色音频线插入便携式调音台，任务完成，因此进度提升为100%", + "error_success_analysis": "爪夹张开，红色音频线插入便携式调音台，任务完成。", + "correction_plan": "爪夹抓取红色音频线插入便携式调音台的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768979408500", + "name": "红色音频线", + "color": "#4CAF50" + }, + { + "id": "bbox_1768979408686", + "name": "便携式调音台", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768979418424", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768979418622", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-181313-put-usb-black-protable mixer console-good2/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-181313-put-usb-black-protable mixer console-good2/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..5dafa1811048baef6fa269a1cf16c5e3e706a36b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-181313-put-usb-black-protable mixer console-good2/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,105 @@ +{ + "task_description": "抓取usb插入便携式混合器控制台：\n准备开始移动：0%\n爪夹靠近usb：20%\n爪夹抓取usb：40%\n爪夹抓紧usb接近便携式混合器控制台：60%\n爪夹将usb插入便携式混合器控制台：80%\n爪夹松开usb插入便携式混合器控制台：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右前方的usb接近，同时调整爪夹的角度使其垂直于桌面，并移动到usb的正上方。接着落下爪夹靠近usb，接近usb后爪夹合拢抓取usb。抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "当前为初始状态，远离usb，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离usb，未开始移动。\n为完成抓取usb插入便携式混合器控制台的任务应当：爪夹向爪夹右前方的usb接近，同时调整爪夹的角度使其垂直于桌面，并移动到usb的正上方。", + "time": 1.5622 + }, + { + "action_description": "爪夹向爪夹右前方移动", + "correction_plan": "爪夹向爪夹右前方的usb接近，同时调整爪夹的角度使其垂直于桌面，并移动到usb的正上方。接着落下爪夹靠近usb，接近usb后爪夹合拢抓取usb。抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了usb之间的距离，方便后续抓取usb。", + "frame": 65, + "progress": 10, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了usb，更加方便抓取。因此进度同时为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了usb。\n为完成抓取usb插入便携式混合器控制台的任务应当：爪夹向爪夹右前方的usb接近，同时调整爪夹的角度使其垂直于桌面，并移动到usb的正上方。", + "time": 2.1754 + }, + { + "action_description": "爪夹向爪夹右前方移动并向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取usb。抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹垂直向下移动，靠近了usb，方便抓取。", + "frame": 102, + "progress": 20, + "progress_explanation": "爪夹垂直向下移动，靠近了usb，方便抓取。因此进度同时为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了usb，准备抓取usb。\n为完成抓取usb插入便携式混合器控制台的任务应当：爪夹合拢抓取usb。抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近。", + "time": 3.387199 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到usb。", + "frame": 159, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到usb。因此进度同时为40%", + "state_description": "爪夹合拢抓取到usb，爪夹角度与桌面接近垂直。\n为完成抓取usb插入便携式混合器控制台的任务应当：抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近。", + "time": 5.3144 + }, + { + "action_description": "爪夹夹紧蓝色方块，垂直升高，向爪夹右前方移动。", + "correction_plan": "继续向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹合拢继续夹紧usb，水平上接近了便携式混合器控制台，更加方便接近便携式混合器控制台。", + "frame": 194, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧usb，垂直升高并向抓奸右前方的便携式混合器控制台接近，缩短了与便携式混合器控制器的距离。因此进度同时为50%", + "state_description": "爪夹合拢夹紧usb，水平上接近了便携式混合器控制台。\n为完成抓取usb插入便携式混合器控制台的任务应当：继续向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "time": 6.467799 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹移动到了便携式混合器控制台，方便usb插入便携式混合器控制台。", + "frame": 223, + "progress": 60, + "progress_explanation": "爪夹夹紧usb，到了爪夹右前方的便携式混合器控制台正上方，方便插入便携式混合器控制台。因此进度同时为60%", + "state_description": "爪夹夹紧usb，爪夹角度接近垂直于桌面，位于便携式混合器控制台正上方。\n为完成抓取usb插入便携式混合器控制台的任务应当：爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "time": 7.4168 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹角度接近垂直于桌面，垂直向下移动。", + "frame": 295, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，垂直向下移动。因此进度同时为80%", + "state_description": "爪夹夹紧usb，爪夹角度接近垂直于桌面，垂直向下移动。\n为完成抓取usb插入便携式混合器控制台的任务应当：松开爪夹，使usb插入便携式混合器控制台。", + "time": 9.8404 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取usb插入便携式浑噩后期控制台的任务完成。", + "error_success_analysis": "爪夹张开，usb插入便携式混合器控制台，任务完成。", + "frame": 373, + "progress": 100, + "progress_explanation": "爪夹张开，usb插入便携式混合器控制台，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取usb插入便携式浑噩后期控制台的任务完成。", + "time": 12.4246 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768982795978", + "name": "usb" + }, + { + "color": "#FF9800", + "id": "bbox_1768982796156", + "name": "便携式混合器控制台" + } + ], + "point_targets": [ + { + "color": "#F44336", + "id": "point_1768982815655", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-181313-put-usb-black-protable mixer console-good2/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-181313-put-usb-black-protable mixer console-good2/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..e8b1d3d0ccd09fc6abaf7ad180bd807b223f93bc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-181313-put-usb-black-protable mixer console-good2/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,120 @@ +{ + "task_description": "抓取usb插入便携式混合器控制台：\n准备开始移动：0%\n爪夹靠近usb：20%\n爪夹抓取usb：40%\n爪夹抓紧usb接近便携式混合器控制台：60%\n爪夹将usb插入便携式混合器控制台：80%\n爪夹松开usb插入便携式混合器控制台：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右前方的usb接近，同时调整爪夹的角度使其垂直于桌面，并移动到usb的正上方。接着落下爪夹靠近usb，接近usb后爪夹合拢抓取usb。抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "当前为初始状态，远离usb，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离usb，未开始移动。\n为完成抓取usb插入便携式混合器控制台的任务应当：爪夹向爪夹右前方的usb接近，同时调整爪夹的角度使其垂直于桌面，并移动到usb的正上方。", + "time": 1.549333 + }, + { + "action_description": "爪夹向爪夹右前方移动", + "correction_plan": "爪夹向爪夹右前方的usb接近，同时调整爪夹的角度使其垂直于桌面，并移动到usb的正上方。接着落下爪夹靠近usb，接近usb后爪夹合拢抓取usb。抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了usb之间的距离，方便后续抓取usb。", + "frame": 87, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了usb。更加方便抓取。因此进度提升为 10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了usb。\n为完成抓取usb插入便携式混合器控制台的任务应当：爪夹向爪夹右前方的usb接近，同时调整爪夹的角度使其垂直于桌面，并移动到usb的正上方。", + "time": 2.9064745980432023 + }, + { + "action_description": "爪夹向爪夹右前方移动并向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取usb。抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹垂直向下移动，靠近了usb，方便抓取。", + "frame": 157, + "progress": 20, + "progress_explanation": "爪夹垂直向下移动，靠近了usb，方便抓取。因此进度同时为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了usb，准备抓取usb。\n为完成抓取usb插入便携式混合器控制台的任务应当：爪夹合拢抓取usb。抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近。", + "time": 5.223466 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到usb。", + "frame": 187, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到usb。因此进度同时为40%", + "state_description": "爪夹合拢抓取到usb，爪夹角度与桌面接近垂直。\n为完成抓取usb插入便携式混合器控制台的任务应当：抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近。", + "time": 6.219466 + }, + { + "action_description": "爪夹夹紧蓝色方块，垂直升高，向爪夹右前方移动。", + "correction_plan": "继续向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹合拢继续夹紧usb，水平上接近了便携式混合器控制台，更加方便接近便携式混合器控制台。", + "frame": 252, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧usb，垂直升高并向抓奸右前方的便携式混合器控制台接近，缩短了与便携式混合器控制器的距离。因此进度同时为50%", + "state_description": "爪夹合拢夹紧usb，水平上接近了便携式混合器控制台。\n为完成抓取usb插入便携式混合器控制台的任务应当：继续向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台的正上方后，调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "time": 8.388533 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "调整爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹移动到了便携式混合器控制台，方便usb插入便携式混合器控制台。", + "frame": 335, + "progress": 60, + "progress_explanation": "爪夹夹紧usb，到了爪夹右前方的便携式混合器控制台正上方，方便插入便携式混合器控制台。因此进度同时为60%", + "state_description": "爪夹夹紧usb，爪夹角度接近垂直于桌面，位于便携式混合器控制台正上方。\n为完成抓取usb插入便携式混合器控制台的任务应当：爪夹角度，爪夹垂直下降，松开爪夹，使usb插入便携式混合器控制台。", + "time": 11.155199 + }, + { + "action_description": "爪夹调整角度，将usb插入便携式混合器控制台。", + "correction_plan": "松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹垂直向下移动，将usb插入便携式混合器控制台。", + "frame": 430, + "progress": 70, + "progress_explanation": "爪夹调整角度，垂直向下移动，将usb插入便携式混合器控制台。因此进度提升为70%", + "state_description": "爪夹调整角度，垂直向下移动，将usb插入便携式混合器控制台。\n为完成抓取usb插入便携式混合器控制台的任务应当：松开爪夹，使usb插入便携式混合器控制台。", + "time": 14.320266 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹角度接近垂直于桌面，垂直向下移动。", + "frame": 493, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，垂直向下移动。因此进度同时为80%", + "state_description": "爪夹夹紧usb，爪夹角度接近垂直于桌面，垂直向下移动。\n为完成抓取usb插入便携式混合器控制台的任务应当：松开爪夹，使usb插入便携式混合器控制台。", + "time": 16.446402925654716 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取usb插入便携式浑噩后期控制台的任务完成。", + "error_success_analysis": "爪夹张开，usb插入便携式混合器控制台，任务完成。", + "frame": 606, + "progress": 100, + "progress_explanation": "爪夹张开，usb插入便携式混合器控制台，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取usb插入便携式浑噩后期控制台的任务完成。", + "time": 20.203555812374148 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768982937474", + "name": "usb" + }, + { + "color": "#FF9800", + "id": "bbox_1768982937672", + "name": "便携式混合器控制台" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768982954573", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768982954760", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-183857-put-usb-black-protable mixer console-mix2/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-183857-put-usb-black-protable mixer console-mix2/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9ad69e1273f1ea39493102e100084f8d9f1655f6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260109-songjiaqi/20260109-183857-put-usb-black-protable mixer console-mix2/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,130 @@ +{ + "task_description": "抓取usb插入便携式混合器控制台：\n准备开始移动：0%\n爪夹靠近usb：20%\n爪夹抓取usb：40%\n爪夹抓紧usb接近便携式混合器控制台：60%\n爪夹将usb插入便携式混合器控制台：80%\n爪夹松开usb插入便携式混合器控制台：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方的usb移动，同时调整爪夹的角度使其垂直于桌面，并移动到usb的正上方。接着落下爪夹靠近usb，接近usb后爪夹合拢抓取usb。抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台后，调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "当前为初始状态，远离usb，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离usb，未开始移动。\n为完成抓取usb插入便携式混合器控制台的任务应当：爪夹向爪夹右方的usb移动，同时调整爪夹的角度使其垂直于桌面，并移动到usb的正上方。", + "time": 1.5695 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取usb。抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台后，调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹垂直向下移动，靠近了usb，方便抓取。", + "frame": 81, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了usb。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了usb。准备抓取usb。\n为完成抓取usb插入便携式混合器控制台的任务应当：爪夹合拢抓取usb。抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近。", + "time": 2.685585028801968 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台后，调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到蓝usb。", + "frame": 169, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到usb。因此进度提升为40%", + "state_description": "爪夹合拢抓取到usb，爪夹角度与桌面接近垂直。\n为完成抓取usb插入便携式混合器控制台的任务应当：抓紧usb垂直升高爪夹并向爪夹右前方的便携式混合器控制台接近。", + "time": 5.633 + }, + { + "action_description": "爪夹夹紧usb，垂直升高，向爪夹右前方移动。", + "correction_plan": "继续向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台后，调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹合拢继续夹紧usb，水平上接近了便携式混合器控制台。更加方便接近便携式混合器控制台。", + "frame": 230, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧usb，垂直升高并向爪夹右前方的便携式混合器控制台接近。缩短了与便携式混合器控制台的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧蓝色方块，水平上接近了便携式混合器控制台。\n为完成抓取usb插入便携式混合器控制台的任务应当：继续向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台后，调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "time": 7.6755 + }, + { + "action_description": "爪夹夹紧usb，向爪夹右前方移动", + "correction_plan": "调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹移动到了便携式混合器控制台正上方，方便将目标插入便携式混合器控制台。", + "frame": 262, + "progress": 60, + "progress_explanation": "爪夹夹紧usb，到了爪夹右前方的便携式混合器控制台正上方，方便插入便携式混合器控制台。因此进度提升为 60%。", + "state_description": "爪夹夹紧usb，爪夹角度接近垂直于桌面，位于便携式混合器控制台正上方。\n为完成抓取usb插入便携式混合器控制台的任务应当：调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "time": 8.729 + }, + { + "action_description": "爪夹夹紧usb，垂直升高，向爪夹右前方移动", + "correction_plan": "继续向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台后，调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹合拢继续夹紧usb，水平上接近了便携式混合器控制台。更加方便接近便携式混合器控制台。", + "frame": 291, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧usb，垂直升高并向爪夹右前方的便携式混合器控制台接近。缩短了与便携式混合器控制台的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧蓝色方块，水平上接近了便携式混合器控制台。\n为完成抓取usb插入便携式混合器控制台的任务应当：继续向爪夹右前方的便携式混合器控制台接近，水平到达便携式混合器控制台后，调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "time": 9.6965 + }, + { + "action_description": "爪夹夹紧usb，向爪夹右前方移动", + "correction_plan": "调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹移动到了便携式混合器控制台正上方，方便将目标插入便携式混合器控制台。", + "frame": 366, + "progress": 60, + "progress_explanation": "爪夹夹紧usb，到了爪夹右前方的便携式混合器控制台正上方，方便插入便携式混合器控制台。因此进度提升为 60%。", + "state_description": "爪夹夹紧usb，爪夹角度接近垂直于桌面，位于便携式混合器控制台正上方。\n为完成抓取usb插入便携式混合器控制台的任务应当：调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "time": 12.18843179748249 + }, + { + "action_description": "爪夹调整角度，将usb插入便携式混合器控制台", + "correction_plan": "垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹重复调整角度，将usb插入便携式混合器控制台，方便usb插入便携式混合器控制台。", + "frame": 446, + "progress": 70, + "progress_explanation": "爪夹重复调整角度，将usb插入便携式混合器控制台，方便usb插入便携式混合器控制台。因此进度提升为70%", + "state_description": "爪夹重复调整角度，将usb插入便携式混合器控制台\n为完成抓取usb插入便携式混合器控制台的任务应当：调整爪夹角度，垂直下降爪夹，松开爪夹，使usb插入便携式混合器控制台。", + "time": 14.874018927761766 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使usb插入便携式混合器控制台。", + "error_success_analysis": "爪夹角度接近垂直于桌面，usb插入便携式混合器控制台。", + "frame": 566, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，usb插入便携式混合器控制台。因此进度提升为80%", + "state_description": "爪夹夹紧usb，爪夹角度接近垂直于桌面，usb插入便携式混合器控制台。\n为完成抓取usb插入便携式混合器控制台的任务应当：松开爪夹，使usb插入便携式混合器控制台。", + "time": 18.877 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取usb插入便携式混合器控制台的任务完成。", + "error_success_analysis": "爪夹张开，usb插入便携式混合器控制台，任务完成。", + "frame": 645, + "progress": 100, + "progress_explanation": "爪夹张开，usb插入便携式混合器控制台，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取usb插入便携式混合器控制台的任务完成。", + "time": 21.5 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768984644055", + "name": "usb" + }, + { + "color": "#FF9800", + "id": "bbox_1768984644237", + "name": "便携式混合器控制台" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768984663615", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768984663794", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..01a3335a676457d3363a336d0c6668eb7016cfac --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,115 @@ +{ + "task_description": "抓取黑笔放入木盒：\n准备开始移动：0%\n爪夹靠近黑笔：20%\n爪夹抓取黑笔：40%\n爪夹抓紧黑笔接近木盒：60%\n爪夹将黑笔放入木盒：80%\n爪夹松开黑笔落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑笔，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离黑笔，未开始移动。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 1.394166 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，还未接近黑笔。", + "frame": 52, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 1.728766 + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了黑笔之间的距离，方便后续抓取黑笔。", + "frame": 70, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了黑笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 2.3474725781534524 + }, + { + "action_description": "爪夹向爪夹右方移动并向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑笔，方便抓取。", + "frame": 86, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑笔，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑笔，准备抓取了黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 2.8833088878670283 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便抓取到黑笔。", + "frame": 117, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黑笔。因此进度提升为40%", + "state_description": "爪夹合拢抓取到黑笔，爪夹角度接近垂直桌面。\n为完成抓取黑笔放入木盒的任务应当：抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 3.8957 + }, + { + "action_description": "爪夹夹紧黑笔，垂直升高，向爪夹左前方移动", + "correction_plan": "继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧黑笔，水平上接近了木盒，更加方便接近木盒。", + "frame": 152, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黑笔，垂直升高并向爪夹左前方的木盒接近，缩短了与木盒之间的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧黑笔，水平上接近了木盒。\n为完成抓取黑笔放入木盒的任务应当：继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "time": 5.0668 + }, + { + "action_description": "爪夹夹紧黑笔，向爪夹左前方移动", + "correction_plan": "调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹移动到了木盒正上方，方便黑笔落入木盒。", + "frame": 164, + "progress": 60, + "progress_explanation": "爪夹夹紧黑笔到了爪夹左前方的木盒正上方，方便黑笔落入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取黑笔放入木盒的任务应当：调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "time": 5.457166 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便黑笔落入木盒。", + "frame": 177, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，垂直向下移动，方便黑笔落入木盒。因此进度提升为80%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，垂直向下移动。\n为完成抓取黑笔放入木盒的任务应当：松开爪夹，使黑笔落入木盒。", + "time": 5.911266 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取黑笔放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，黑笔落入木盒，任务完成。", + "frame": 226, + "progress": 100, + "progress_explanation": "爪夹张开，黑笔落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取黑笔放入木盒的任务完成。", + "time": 7.536466 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768987905924", + "name": "黑笔" + }, + { + "color": "#FF9800", + "id": "bbox_1768987906119", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768987916207", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..e0190df699a5fe4866f8467a6ac0dc2b7d476c30 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,115 @@ +{ + "task_description": "抓取黑笔放入木盒：\n准备开始移动：0%\n爪夹靠近黑笔：20%\n爪夹抓取黑笔：40%\n爪夹抓紧黑笔接近木盒：60%\n爪夹将黑笔放入木盒：80%\n爪夹松开黑笔落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑笔，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离黑笔，未开始移动。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 1.442099 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，还未接近黑笔。", + "frame": 58, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 1.9177570653613203 + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了黑笔之间的距离，方便后续抓取黑笔。", + "frame": 73, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了黑笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 2.437233 + }, + { + "action_description": "爪夹向爪夹右方移动并向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑笔，方便抓取。", + "frame": 95, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑笔，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑笔，准备抓取了黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 3.162499 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便抓取到黑笔。", + "frame": 140, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黑笔。因此进度提升为40%", + "state_description": "爪夹合拢抓取到黑笔，爪夹角度接近垂直桌面。\n为完成抓取黑笔放入木盒的任务应当：抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 4.663633 + }, + { + "action_description": "爪夹夹紧黑笔，垂直升高，向爪夹左前方移动", + "correction_plan": "继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧黑笔，水平上接近了木盒，更加方便接近木盒。", + "frame": 164, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黑笔，垂直升高并向爪夹左前方的木盒接近，缩短了与木盒之间的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧黑笔，水平上接近了木盒。\n为完成抓取黑笔放入木盒的任务应当：继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "time": 5.456366 + }, + { + "action_description": "爪夹夹紧黑笔，向爪夹左前方移动", + "correction_plan": "调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹移动到了木盒正上方，方便黑笔落入木盒。", + "frame": 185, + "progress": 60, + "progress_explanation": "爪夹夹紧黑笔到了爪夹左前方的木盒正上方，方便黑笔落入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取黑笔放入木盒的任务应当：调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "time": 6.156333 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便黑笔落入木盒。", + "frame": 199, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，垂直向下移动，方便黑笔落入木盒。因此进度提升为80%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，垂直向下移动。\n为完成抓取黑笔放入木盒的任务应当：松开爪夹，使黑笔落入木盒。", + "time": 6.637033 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取黑笔放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，黑笔落入木盒，任务完成。", + "frame": 218, + "progress": 100, + "progress_explanation": "爪夹张开，黑笔落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取黑笔放入木盒的任务完成。", + "time": 7.2658706168122285 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769045893302", + "name": "黑笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769045893447", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769045902622", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..59bac143f69aedffe5daa5605bd38c27a5e28562 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,109 @@ +{ + "task_description": "抓取黑笔放入木盒：\n准备开始移动：0%\n爪夹靠近黑笔：20%\n爪夹抓取黑笔：40%\n爪夹抓紧黑笔接近木盒：60%\n爪夹将黑笔放入木盒：80%\n爪夹松开黑笔落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑笔，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离黑笔，未开始移动。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 1.3348 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，还未接近黑笔。", + "frame": 54, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 1.787063450531355 + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了黑笔之间的距离，方便后续抓取黑笔。", + "frame": 71, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了黑笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 2.376133 + }, + { + "action_description": "爪夹向爪夹右方移动并向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑笔，方便抓取。", + "frame": 100, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑笔，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑笔，准备抓取了黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 3.341733 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便抓取到黑笔。", + "frame": 137, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黑笔。因此进度提升为40%", + "state_description": "爪夹合拢抓取到黑笔，爪夹角度接近垂直桌面。\n为完成抓取黑笔放入木盒的任务应当：抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 4.562933 + }, + { + "action_description": "爪夹夹紧黑笔，垂直升高，向爪夹左前方移动", + "correction_plan": "继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧黑笔，水平上接近了木盒，更加方便接近木盒。", + "frame": 195, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黑笔，垂直升高并向爪夹左前方的木盒接近，缩短了与木盒之间的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧黑笔，水平上接近了木盒。\n为完成抓取黑笔放入木盒的任务应当：继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "time": 6.513066 + }, + { + "action_description": "爪夹夹紧黑笔，向爪夹左前方移动", + "correction_plan": "调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹移动到了木盒正上方，方便黑笔落入木盒。", + "frame": 216, + "progress": 60, + "progress_explanation": "爪夹夹紧黑笔到了爪夹左前方的木盒正上方，方便黑笔落入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取黑笔放入木盒的任务应当：调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "time": 7.204133 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便黑笔落入木盒。", + "frame": 231, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，垂直向下移动，方便黑笔落入木盒。因此进度提升为80%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，垂直向下移动。\n为完成抓取黑笔放入木盒的任务应当：松开爪夹，使黑笔落入木盒。", + "time": 7.6964 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取黑笔放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，黑笔落入木盒，任务完成。", + "frame": 248, + "progress": 100, + "progress_explanation": "爪夹张开，黑笔落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取黑笔放入木盒的任务完成。", + "time": 8.283333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769046247778", + "name": "黑笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769046247958", + "name": "木盒" + } + ], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..159d667e037beb3a1314d271f11bc9b6f585f4d0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-094257-put-black pen-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,120 @@ +{ + "task_description": "抓取黑笔放入木盒：\n准备开始移动：0%\n爪夹靠近黑笔：20%\n爪夹抓取黑笔：40%\n爪夹抓紧黑笔接近木盒：60%\n爪夹将黑笔放入木盒：80%\n爪夹松开黑笔落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑笔，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离黑笔，未开始移动。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 1.346366 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，还未接近黑笔。", + "frame": 52, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 1.727822237242268 + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了黑笔之间的距离，方便后续抓取黑笔。", + "frame": 71, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了黑笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 2.350166 + }, + { + "action_description": "爪夹向爪夹右方移动并向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑笔，方便抓取。", + "frame": 92, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑笔，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑笔，准备抓取了黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 3.0592 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便抓取到黑笔。", + "frame": 115, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黑笔。因此进度提升为40%", + "state_description": "爪夹合拢抓取到黑笔，爪夹角度接近垂直桌面。\n为完成抓取黑笔放入木盒的任务应当：抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 3.831966 + }, + { + "action_description": "爪夹夹紧黑笔，垂直升高，向爪夹左前方移动", + "correction_plan": "继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧黑笔，水平上接近了木盒，更加方便接近木盒。", + "frame": 144, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黑笔，垂直升高并向爪夹左前方的木盒接近，缩短了与木盒之间的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧黑笔，水平上接近了木盒。\n为完成抓取黑笔放入木盒的任务应当：继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "time": 4.8039 + }, + { + "action_description": "爪夹夹紧黑笔，向爪夹左前方移动", + "correction_plan": "调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹移动到了木盒正上方，方便黑笔落入木盒。", + "frame": 160, + "progress": 60, + "progress_explanation": "爪夹夹紧黑笔到了爪夹左前方的木盒正上方，方便黑笔落入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取黑笔放入木盒的任务应当：调整爪夹的角度，垂直向下移动，松开爪夹，使黑笔落入木盒。", + "time": 5.345633 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便黑笔落入木盒。", + "frame": 178, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，垂直向下移动，方便黑笔落入木盒。因此进度提升为80%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，垂直向下移动。\n为完成抓取黑笔放入木盒的任务应当：松开爪夹，使黑笔落入木盒。", + "time": 5.943133 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取黑笔放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，黑笔落入木盒，任务完成。", + "frame": 197, + "progress": 100, + "progress_explanation": "爪夹张开，黑笔落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取黑笔放入木盒的任务完成。", + "time": 6.580466 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769047124770", + "name": "黑笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769047124961", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769047318391", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769047318572", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-095021-put-black pen-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-095021-put-black pen-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..01d7ff3b653ca2aba626adbcb61b1270475909e9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-095021-put-black pen-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,155 @@ +{ + "task_description": "抓取黑笔放入木盒：\n准备开始移动：0%\n爪夹靠近黑笔：20%\n爪夹抓取黑笔：40%\n爪夹抓紧黑笔接近木盒：60%\n爪夹将黑笔放入木盒：80%\n爪夹松开黑笔落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑笔，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离黑笔，未开始移动。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 1.5851942175090594 + }, + { + "action_description": "爪夹向爪夹右前方移动", + "correction_plan": "爪夹继续向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了黑笔之间的距离，方便后续抓取黑笔。", + "frame": 67, + "progress": 10, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了黑笔，更加方便抓取。因此进度提升为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 2.229179982524799 + }, + { + "action_description": "爪夹向爪夹右前方移动并向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取黑笔，抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑笔，方便抓取。", + "frame": 108, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑笔，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑笔，准备抓取黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹合拢抓取黑笔，抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 3.588266 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黑笔。", + "frame": 137, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到了黑笔。因此进度提升为40%", + "state_description": "爪夹合拢抓取到黑笔，爪夹角度接近垂直于桌面。\n为完成抓取黑笔放入木盒的任务应当：抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 4.557436209889395 + }, + { + "action_description": "爪夹夹紧黑笔，垂直升高，向爪夹右前方移动", + "correction_plan": "继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧黑笔，水平上接近了木盒，更加方便接近木盒。", + "frame": 162, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黑笔，垂直升高并向爪夹右前方的木盒接近，缩短了与木盒的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧黑笔，水平上接近了木盒。\n为完成抓取黑笔放入木盒的任务应当：继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "time": 5.3995714410638245 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹张开，黑笔掉落在桌面上，远离黑笔，需要重新抓取黑笔。", + "frame": 204, + "progress": 0, + "progress_explanation": "爪夹张开，黑笔掉落在桌面上，需要重新抓取黑笔。因此进度降低为0%", + "state_description": "爪夹张开，黑笔掉落在桌面上。\n为完成抓取黑笔放入木盒的任务应当：重新调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 6.786617704174648 + }, + { + "action_description": "爪夹重新调整角度，向爪夹右前方移动", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了黑笔之间的距离，方便后续抓取黑笔。", + "frame": 245, + "progress": 10, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了黑笔，更加方便抓取。因此进度提升为10%", + "state_description": "爪夹调整角度并向爪夹右前方移动。\n为完成抓取黑笔放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 8.17366396728547 + }, + { + "action_description": "爪夹向爪夹右前方移动并向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取黑笔，抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑笔，方便抓取。", + "frame": 275, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑笔，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑笔，准备抓取黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹合拢抓取黑笔，抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 9.164411298078917 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黑笔。", + "frame": 315, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到了黑笔。因此进度提升为40%", + "state_description": "爪夹合拢抓取到黑笔，爪夹角度接近垂直于桌面。\n为完成抓取黑笔放入木盒的任务应当：抓紧黑笔垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 10.501920194650069 + }, + { + "action_description": "爪夹夹紧黑笔，垂直升高，向爪夹右前方移动", + "correction_plan": "继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧黑笔，水平上接近了木盒，更加方便接近木盒。", + "frame": 345, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黑笔，垂直升高并向爪夹右前方的木盒接近，缩短了与木盒的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧黑笔，水平上接近了木盒。\n为完成抓取黑笔放入木盒的任务应当：继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "time": 11.492667525443514 + }, + { + "action_description": "爪夹夹紧黑笔，向爪夹右前方移动", + "correction_plan": "调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹移动到了爪夹右前方的木盒正上方，方便将黑笔放入木盒。", + "frame": 376, + "progress": 60, + "progress_explanation": "爪夹夹紧黑笔，到了爪夹右前方的木盒正上方，方便将黑笔放入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取黑笔放入木盒的任务应当：调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "time": 12.53295222277663 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹下降至合适位置，方便黑笔落入木盒。", + "frame": 395, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹下降至合适位置，方便黑笔落入木盒。因此进度提升为80%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，爪夹下降至合适位置。\n为完成抓取黑笔放入木盒的任务应当：松开爪夹，使黑笔落入木盒。", + "time": 13.162133 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取黑笔放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，黑笔落入木盒，任务完成。", + "frame": 435, + "progress": 100, + "progress_explanation": "爪夹张开，黑笔落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取黑笔放入木盒的任务完成。", + "time": 14.507733 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769060138043", + "name": "黑笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769060138223", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769060147875", + "name": "爪夹右", + "color": "#2196F3" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-095021-put-black pen-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-095021-put-black pen-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..0358c77d021b80fcbcd76cc64a5a30847c7e1596 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-095021-put-black pen-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,160 @@ +{ + "task_description": "抓取黑笔放入木盒：\n准备开始移动：0%\n爪夹靠近黑笔：20%\n爪夹抓取黑笔：40%\n爪夹抓紧黑笔接近木盒：60%\n爪夹将黑笔放入木盒：80%\n爪夹松开黑笔落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方的黑笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑笔，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离黑笔，未开始移动。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方的黑笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 1.4994 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度", + "correction_plan": "爪夹向爪夹右方的黑笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹的角度接近垂直于桌面，水平上未接近黑笔。", + "frame": 62, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方的黑笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 2.0581481899242866 + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "爪夹继续向爪夹右方的黑笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了黑笔之间的距离，方便后续抓取黑笔。", + "frame": 85, + "progress": 15, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了黑笔，更加方便抓取。因此进度提升为15%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右方的黑笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 2.822399 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，需要重新抓取黑笔。", + "frame": 104, + "progress": -20, + "progress_explanation": "爪夹合拢抓取到黑笔和迷你三脚架，需要重新抓取。因此进度降低为-20%", + "state_description": "爪夹合拢抓取到黑笔和迷你三脚架，爪夹角度接近垂直于桌面。\n为完成抓取黑笔放入木盒的任务应当：爪夹张开并垂直升高，重新调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 3.4706036752590044 + }, + { + "action_description": "爪夹垂直升高", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹准备向爪夹左前方的木盒移动，需要重新抓取黑笔。", + "frame": 133, + "progress": -25, + "progress_explanation": "爪夹夹紧黑笔和迷你三脚架，爪夹准备向爪夹左前方的木盒移动，需要重新抓取黑笔。因此进度降低为-25%", + "state_description": "爪夹垂直升高，准备向爪夹左前方的木盒移动。\n为完成抓取黑笔放入木盒的任务应当：爪夹张开并垂直升高，重新调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 4.439144579488525 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹张开，黑笔和迷你三脚架落在桌面上，远离黑笔，需要重新抓取", + "frame": 160, + "progress": 0, + "progress_explanation": "爪夹张开，黑笔和迷你三脚架落在桌面上，远离黑笔。因此进度为0%", + "state_description": "爪夹张开，黑笔和迷你三脚架落在桌面上。\n为完成抓取黑笔放入木盒的任务应当：爪夹重新调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 5.32697374169892 + }, + { + "action_description": "爪夹重新调整角度，向下移动", + "correction_plan": "爪夹移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，水平上接近了黑笔，更加方便抓取。", + "frame": 187, + "progress": 10, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了黑笔，更加方便抓取。因此进度提升为10%", + "state_description": "爪夹调整角度并向下移动\n为完成抓取黑笔放入木盒的任务应当：爪夹重新调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 6.2496 + }, + { + "action_description": "爪夹垂直向下移动", + "correction_plan": "爪夹合拢抓取黑笔，抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑笔，方便抓取。", + "frame": 212, + "progress": 20, + "progress_explanation": "爪夹接近垂直于桌面，靠近了黑笔，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑笔，准备抓取黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹合拢抓取黑笔，抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 7.062276195110146 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黑笔。", + "frame": 233, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黑笔。因此进度提升为40%", + "state_description": "爪夹合拢抓取到黑笔，爪夹角度接近垂直于桌面。\n为完成抓取黑笔放入木盒的任务应当：抓紧黑笔垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 7.7742 + }, + { + "action_description": "爪夹夹紧黑笔，垂直升高，向爪夹左前方移动。", + "correction_plan": "继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧黑笔，水平上接近了木盒，更加方便接近木盒。", + "frame": 264, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黑笔，垂直升高并向爪夹左前方的木盒接近，缩短了与木盒的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧黑笔，水平上接近了黑笔。\n为完成抓取黑笔放入木盒的任务应当：继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "time": 8.797578648521371 + }, + { + "action_description": "爪夹夹紧黑笔，向爪夹左前方移动", + "correction_plan": "调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹移动到了木盒正上方，方便将黑笔放入木盒。", + "frame": 286, + "progress": 60, + "progress_explanation": "爪夹夹紧黑笔，到了爪夹左前方的木盒的正上方，方便将黑笔放入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，位于木盒的正上方。\n为完成抓取黑笔放入木盒的任务应当：调整爪夹角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "time": 9.523984326693512 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，垂直下降至合适位置，方便将黑笔放入木盒。", + "frame": 310, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，垂直下降至合适位置，方便将黑笔放入木盒。因此进度提升为80%", + "state_description": "爪夹夹紧黑笔，爪夹角度接近垂直于桌面，垂直下降至合适位置。\n为完成抓取黑笔放入木盒的任务应当：松开爪夹，使黑笔落入木盒。", + "time": 10.3446 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取黑笔放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，黑笔落入木盒，任务完成。", + "frame": 345, + "progress": 100, + "progress_explanation": "爪夹张开，黑笔落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取黑笔放入木盒的任务完成。", + "time": 11.50142200616212 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769065221013", + "name": "黑笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769065221202", + "name": "迷你三脚架", + "color": "#FF9800" + }, + { + "id": "bbox_1769065223137", + "name": "木盒", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1769065238762", + "name": "爪夹右", + "color": "#2196F3" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-100211-put-black pen-yellow-wooden box-bad/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-100211-put-black pen-yellow-wooden box-bad/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..34dfd748acadb4a2683f7a71f6b799eecf932cc8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-100211-put-black pen-yellow-wooden box-bad/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,135 @@ +{ + "task_description": "抓取黑笔放入木盒：\n准备开始移动：0%\n爪夹靠近黑笔：20%\n爪夹抓取黑笔：40%\n爪夹抓紧黑笔接近木盒：60%\n爪夹将黑笔放入木盒：80%\n爪夹松开黑笔落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右前方的黑笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓取黑笔垂直升高并向爪夹左前方的木盒接近，水平上到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离黑笔，未开始移动。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右前方的黑笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 1.5836 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取黑笔。抓取黑笔垂直升高并向爪夹左前方的木盒接近，水平上到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑笔，方便抓取。", + "frame": 67, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑笔，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑笔，准备抓取黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹合拢抓取黑笔，抓取黑笔垂直升高并向爪夹左前方的木盒接近。", + "time": 2.239002167930616 + }, + { + "action_description": "爪夹合拢并升高", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓取黑笔垂直升高并向爪夹左前方的木盒接近，水平上到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹未抓取到黑笔，远离黑笔，需要重新抓取黑笔。", + "frame": 119, + "progress": 30, + "progress_explanation": "爪夹合拢，未抓取到黑笔，远离黑笔，需要重新抓取黑笔。因此进度为30%", + "state_description": "爪夹合拢，未抓取到黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右前方的黑笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 3.975372277546409 + }, + { + "action_description": "爪夹升高", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓取黑笔垂直升高并向爪夹左前方的木盒接近，水平上到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹升高，准备重新接近黑笔。", + "frame": 169, + "progress": 10, + "progress_explanation": "爪夹升高，未抓取到黑笔。因此进度降低为10%", + "state_description": "爪夹升高，调整爪夹的角度。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右前方的黑笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 5.621066 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取黑笔。抓取黑笔垂直升高并向爪夹左前方的木盒接近，水平上到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑笔，方便抓取。", + "frame": 202, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑笔，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑笔，准备抓取黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹合拢抓取黑笔，抓取黑笔垂直升高并向爪夹左前方的木盒接近。", + "time": 6.717009292729241 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓取黑笔垂直升高并向爪夹左前方的木盒接近，水平上到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹未抓取到黑笔，远离黑笔，需要重新抓取黑笔。", + "frame": 233, + "progress": 30, + "progress_explanation": "爪夹合拢，未抓取到黑笔，远离黑笔，需要重新抓取黑笔。因此进度为30%", + "state_description": "爪夹合拢，未抓取到黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹向爪夹右前方的黑笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 7.767970148549326 + }, + { + "action_description": "爪夹张开，爪夹升高", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓取黑笔垂直升高并向爪夹左前方的木盒接近，水平上到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹升高，准备重新接近黑笔。", + "frame": 269, + "progress": 10, + "progress_explanation": "爪夹升高，未抓取到黑笔。因此进度降低为10%", + "state_description": "爪夹张开并垂直升高，爪夹角度接近垂直于桌面。\n为完成抓取黑笔放入木盒的任务应当：爪夹调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 8.959466 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取黑笔。抓取黑笔垂直升高并向爪夹左前方的木盒接近，水平上到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑笔，方便抓取。", + "frame": 288, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑笔，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑笔，准备抓取黑笔。\n为完成抓取黑笔放入木盒的任务应当：爪夹合拢抓取黑笔，抓取黑笔垂直升高并向爪夹左前方的木盒接近。", + "time": 9.595728158671214 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓取黑笔垂直升高并向爪夹左前方的木盒接近，水平上到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹合拢抓取到了黑笔和木盒，需要重新抓取。", + "frame": 333, + "progress": -20, + "progress_explanation": "爪夹合拢抓取到了黑笔和木盒，需要重新抓取。因此进度降低-20%", + "state_description": "爪夹合拢抓取到黑笔和木盒，爪夹角度接近垂直于桌面。\n为完成抓取黑笔放入木盒的任务应当：爪夹张开，重新调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 11.113733 + }, + { + "action_description": "爪夹夹紧黑笔和木盒，垂直升高，向爪夹左前方移动。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓取黑笔垂直升高并向爪夹左前方的木盒接近，水平上到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹合拢夹紧黑笔和木盒，需要重新抓取黑笔。", + "frame": 361, + "progress": -25, + "progress_explanation": "爪夹合拢夹紧黑笔和木盒，需要重新抓取黑笔。因此进度降低为-25%", + "state_description": "爪夹合拢夹紧黑笔和木盒，爪夹角度接近垂直于桌面。\n为完成抓取黑笔放入木盒的任务应当：爪夹张开，重新调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 12.041066 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。接着落下爪夹靠近黑笔，接近黑笔后爪夹合拢抓取黑笔。抓取黑笔垂直升高并向爪夹左前方的木盒接近，水平上到达木盒的正上方后，调整爪夹的角度，垂直下降至合适位置，松开爪夹，使黑笔落入木盒。", + "error_success_analysis": "爪夹张开，黑笔和木盒掉落在桌面上，需要重新抓取。", + "frame": 392, + "progress": 0, + "progress_explanation": "爪夹张开，黑笔和木盒掉落在桌面上，需要重新抓取。因此进度为0%", + "state_description": "爪夹张开，黑笔和木盒掉落在桌面上。\n为完成抓取黑笔放入木盒的任务应当：重新调整爪夹的角度使其垂直于桌面，并移动到黑笔的正上方。", + "time": 13.068468377902802 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769071616112", + "name": "黑笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769071616324", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769071624151", + "name": "爪夹右", + "color": "#2196F3" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-100937-put-tripod-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-100937-put-tripod-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..0dca4bfca25d232fb3065e676121b6eb120600f2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-100937-put-tripod-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,115 @@ +{ + "task_description": "抓取迷你三脚架放入木盒：\n准备开始移动：0%\n爪夹靠近迷你三脚架：20%\n爪夹抓取迷你三脚架：40%\n爪夹抓紧迷你三脚架接近木盒：60%\n爪夹将迷你三脚架放入木盒：80%\n爪夹松开迷你三脚架落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "当前为初始状态，远离迷你三脚架，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离迷你三脚架，未开始移动。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "time": 1.018332 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近迷你三脚架。", + "frame": 53, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "time": 1.754666 + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "爪夹继续向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了迷你三脚架之间的距离，方便后续抓取迷你三脚架。", + "frame": 76, + "progress": 15, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了迷你三脚架，更加方便抓取。因此进度提升为15%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "time": 2.533984836600951 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了迷你三脚架，方便抓取。", + "frame": 100, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，准备抓取迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹合拢抓取迷你三脚架，抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 3.321333 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹角度接近垂直桌面，方便爪夹合拢抓取到迷你三脚架。", + "frame": 125, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到迷你三脚架。因此进度提升为40%", + "state_description": "爪夹合拢抓取到迷你三脚架，爪夹角度接近垂直于桌面。\n为完成抓取迷你三脚架放入木盒的任务应当：抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 4.164767649933661 + }, + { + "action_description": "爪夹夹紧迷你三脚架，垂直升高，向爪夹左前方移动", + "correction_plan": "继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧迷你三脚架，水平上接近了木盒，更加方便接近木盒。", + "frame": 153, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧迷你三脚架，垂直升高并向爪夹左边的木盒接近，缩短了与木盒的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧迷你三脚架，水平上接技了木盒。\n为完成抓取迷你三脚架放入木盒的任务应当：继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "time": 5.099499 + }, + { + "action_description": "爪夹夹紧迷你三脚架，向爪夹左前方移动", + "correction_plan": "调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹移动到了木盒正上方，方便将迷你三脚架放入木盒。", + "frame": 172, + "progress": 60, + "progress_explanation": "爪夹夹紧迷你三脚架，到了爪夹左前方的木盒正上方，方便将迷你三脚架放入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧迷你三脚架，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "time": 5.718333 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便迷你三脚架放入木盒。", + "frame": 180, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "state_description": "爪夹夹紧迷你三脚架，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取迷你三脚架放入木盒的任务应当：松开爪夹，使迷你三脚架落入木盒。", + "time": 6.015999 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取迷你三脚架放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，迷你三脚架落入木盒，任务完成。", + "frame": 196, + "progress": 100, + "progress_explanation": "爪夹张开，迷你三脚架落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取迷你三脚架放入木盒的任务完成。", + "time": 6.548219454035316 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769072205028", + "name": "迷你三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769072205234", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769072216748", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-100937-put-tripod-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-100937-put-tripod-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..3d00b35a671aff030ca8f4e94b9b630bd7c27e60 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-100937-put-tripod-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,115 @@ +{ + "task_description": "抓取迷你三脚架放入木盒：\n准备开始移动：0%\n爪夹靠近迷你三脚架：20%\n爪夹抓取迷你三脚架：40%\n爪夹抓紧迷你三脚架接近木盒：60%\n爪夹将迷你三脚架放入木盒：80%\n爪夹松开迷你三脚架落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开", + "correction_plan": "爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，远离迷你三脚架，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离迷你三脚架，未开始移动。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "time": 1.497866 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近迷你三脚架。", + "frame": 61, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "time": 2.045866 + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "爪夹继续向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了迷你三脚架之间的距离，方便后续抓取迷你三脚架。", + "frame": 74, + "progress": 15, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了迷你三脚架，更加方便抓取。因此进度提升为15%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹 的角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "time": 2.465999 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了迷你三脚架，方便抓取。", + "frame": 90, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，准备抓取迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹合拢抓取迷你三脚架，抓紧迷你三脚架垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 3.013999 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧迷你三脚架垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹角度接近垂直桌面，方便爪夹合拢抓取到迷你三脚架。", + "frame": 115, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到迷你三脚架。因此进度提升为40%", + "state_description": "爪夹合拢抓取到迷你三脚架，爪夹角度接近垂直于桌面。\n为完成抓取迷你三脚架放入木盒的任务应当：抓紧迷你三脚架垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 3.845133 + }, + { + "action_description": "爪夹夹紧迷你三脚架，垂直升高，向爪夹右前方移动", + "correction_plan": "继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧迷你三脚架，水平上接近了木盒，更加方便接近木盒。", + "frame": 147, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧迷你三脚架，垂直升高并向爪夹右边的木盒接近，缩短了与木盒的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧迷你三脚架，水平上接技了木盒。\n为完成抓取迷你三脚架放入木盒的任务应当：继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "time": 4.887849583185155 + }, + { + "action_description": "爪夹夹紧迷你三脚架，向爪夹右前方移动", + "correction_plan": "调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹移动到了木盒正上方，方便将迷你三脚架放入木盒。", + "frame": 173, + "progress": 60, + "progress_explanation": "爪夹夹紧迷你三脚架，到了爪夹右前方的木盒正上方，方便将迷你三脚架放入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧迷你三脚架，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "time": 5.772266 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便迷你三脚架放入木盒。", + "frame": 196, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "state_description": "爪夹夹紧迷你三脚架，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取迷你三脚架放入木盒的任务应当：松开爪夹，使迷你三脚架落入木盒。", + "time": 6.530333 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取迷你三脚架放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，迷你三脚架落入木盒，任务完成。", + "frame": 220, + "progress": 100, + "progress_explanation": "爪夹张开，迷你三脚架落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取迷你三脚架放入木盒的任务完成。", + "time": 7.324933 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769074235845", + "name": "迷你三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769074236058", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769074246630", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-101606-put-tripod-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-101606-put-tripod-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..0116ea8c5a1e0b65046108e8b09d58cd3d2faa57 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-101606-put-tripod-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,140 @@ +{ + "task_description": "抓取迷你三脚架放入木盒：\n准备开始移动：0%\n爪夹靠近迷你三脚架：20%\n爪夹抓取迷你三脚架：40%\n爪夹抓紧迷你三脚架接近木盒：60%\n爪夹将迷你三脚架放入木盒：80%\n爪夹松开迷你三脚架落入木盒：100%", + "progress_points": [ + { + "time": 1.6155146733632764, + "frame": 48, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离迷你三脚架，未开始移动。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右前方的迷你三脚架移动，同时调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "progress_explanation": "当前为初始状态，远离迷你三脚架，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的迷你三脚架移动，同时调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹右方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 2.568254841637068, + "frame": 77, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右前方的迷你三脚架移动，同时调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了迷你三脚架，更加方便抓取。因此进度提升为10%", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了迷你三脚架之间的距离，方便后续抓取迷你三脚架。", + "correction_plan": "爪夹继续向爪夹右前方的迷你三脚架移动，同时调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹右方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 3.530799, + "frame": 106, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，准备抓取迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹合拢抓取迷你三脚架，抓紧迷你三脚架垂直升高爪夹并向爪夹右方的木盒接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了迷你三脚架，方便抓取。", + "correction_plan": "爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹右方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 4.805123062801623, + "frame": 144, + "progress": 30, + "action_description": "爪夹合拢，垂直升高", + "state_description": "爪夹合拢未抓取到迷你三脚架，爪夹角度接近垂直于桌面。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹张开，重新调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "progress_explanation": "爪夹合拢未抓取到迷你三脚架。因此进度为30%", + "error_success_analysis": "爪夹合拢未抓取到迷你三脚架，需要重新抓取迷你三脚架。", + "correction_plan": "调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹右方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 5.882133687806779, + "frame": 176, + "progress": 0, + "action_description": "爪夹张开，未继续移动", + "state_description": "爪夹张开，远离迷你三脚架，未继续移动。\n为完成抓取迷你三脚架放入木盒的任务应当：重新调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "progress_explanation": "当前爪夹张开，远离迷你三脚架，未继续移动。因此进度降低为0%", + "error_success_analysis": "当前爪夹张开，远离迷你三脚架，需要重新抓取迷你三脚架。", + "correction_plan": "调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹右方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 6.917720827234813, + "frame": 208, + "progress": 20, + "action_description": "爪夹垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，再次靠近了迷你三脚架，准备抓取迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹合拢抓取迷你三脚架，抓紧迷你三脚架垂直升高爪夹并向爪夹右方的木盒接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了迷你三脚架，方便抓取。", + "correction_plan": "爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹右方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 8.471333, + "frame": 254, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到迷你三脚架，爪夹角度接近垂直于桌面。\n为完成抓取迷你三脚架放入木盒的任务应当：抓紧迷你三脚架垂直升高爪夹并向爪夹右方的木盒接近。", + "progress_explanation": "爪夹合拢抓取到迷你三脚架。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到迷你三脚架。", + "correction_plan": "抓紧迷你三脚架垂直升高爪夹并向爪夹右方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 9.403129961862097, + "frame": 282, + "progress": 50, + "action_description": "爪夹夹紧迷你三脚架，垂直升高，向爪夹右方移动", + "state_description": "爪夹合拢夹紧迷你三脚架，水平上接近了木盒。\n为完成抓取迷你三脚架放入木盒的任务应当：继续向爪夹右方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "progress_explanation": "爪夹合拢夹紧迷你三脚架，垂直升高并向爪夹右方的木盒接近，缩短了与木盒的距离。因此进度提升为50%", + "error_success_analysis": "爪夹合拢继续夹紧迷你三脚架，水平上接近了木盒，更加方便接近木盒。", + "correction_plan": "继续向爪夹右方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 10.281999, + "frame": 308, + "progress": 60, + "action_description": "爪夹夹紧迷你三脚架，向爪夹右方移动", + "state_description": "爪夹夹紧迷你三脚架，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取迷你三脚架放入木盒的任务应当：调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "progress_explanation": "爪夹夹紧迷你三脚架，到了爪夹右方的木盒正上方，方便将迷你三脚架放入木盒。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了木盒正上方，方便将迷你三脚架放入木盒。", + "correction_plan": "调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 11.057999, + "frame": 332, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧迷你三脚架，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取迷你三脚架放入木盒的任务应当：松开爪夹，使迷你三脚架落入木盒。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "error_success_analysis": "爪夹下降至合适位置，方便抓取迷你三脚架放入木盒。", + "correction_plan": "松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 12.054233038797864, + "frame": 362, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取迷你三脚架放入木盒的任务完成。", + "progress_explanation": "爪夹张开，迷你三脚架落入木盒，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，迷你三脚架落入木盒，任务完成。", + "correction_plan": "爪夹抓取迷你三脚架放入木盒的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769131722718", + "name": "迷你三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1769131722895", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769131732561", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769131732740", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-101606-put-tripod-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-101606-put-tripod-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..3ff3934c8a3f631bd05ccc8f467797b653dc0a94 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-101606-put-tripod-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,140 @@ +{ + "task_description": "抓取迷你三脚架放入木盒：\n准备开始移动：0%\n爪夹靠近迷你三脚架：20%\n爪夹抓取迷你三脚架：40%\n爪夹抓紧迷你三脚架接近木盒：60%\n爪夹将迷你三脚架放入木盒：80%\n爪夹松开迷你三脚架落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右前方的迷你三脚架移动，同时调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，远离迷你三脚架，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离迷你三脚架，未开始移动。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右前方的迷你三脚架移动，同时调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "time": 1.501566 + }, + { + "action_description": "爪夹向爪夹右前方移动", + "correction_plan": "爪夹继续向爪夹右前方的迷你三脚架移动，同时调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了迷你三脚架之间的距离，方便后续抓取迷你三脚架。", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了迷你三脚架，更加方便抓取。因此进度提升为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右前方的迷你三脚架移动，同时调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "time": 2.3372227213442063 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了迷你三脚架，方便抓取。", + "frame": 98, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，准备抓取迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹合拢抓取迷你三脚架，抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 3.255733 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到迷你三脚架。", + "frame": 126, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到迷你三脚架。因此进度提升为40%", + "state_description": "爪夹合拢抓取到迷你三脚架，爪夹角度接近垂直于桌面。\n为完成抓取迷你三脚架放入木盒的任务应当：抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 4.209999 + }, + { + "action_description": "爪夹夹紧迷你三脚架，垂直升高，向爪夹左前方移动", + "correction_plan": "继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧迷你三脚架，水平上接近了木盒，更加方便接近木盒。", + "frame": 186, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧迷你三脚架，垂直升高并向爪夹左前方的木盒接近，缩短了与木盒的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧迷你三脚架，水平上接近了木盒。\n为完成抓取迷你三脚架放入木盒的任务应当：继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "time": 6.202631798238923 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹张开，迷你三脚架掉落在桌面上，远离迷你三脚架。", + "frame": 229, + "progress": 0, + "progress_explanation": "爪夹张开，迷你三脚架掉落在桌面上，远离迷你三脚架。因此进度降低为0%", + "state_description": "爪夹张开，迷你三脚架掉落在桌面上，远离迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：调整爪夹角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "time": 7.648166 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了迷你三脚架，方便抓取。", + "frame": 278, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，再次靠近了迷你三脚架，准备抓取迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹合拢抓取迷你三脚架，抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 9.25900176601614 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到迷你三脚架。", + "frame": 322, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到迷你三脚架。因此进度提升为40%", + "state_description": "爪夹合拢抓取到迷你三脚架，爪夹角度接近垂直于桌面。\n为完成抓取迷你三脚架放入木盒的任务应当：抓紧迷你三脚架垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 10.721466 + }, + { + "action_description": "爪夹夹紧迷你三脚架，向爪夹左前方移动", + "correction_plan": "调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹移动到了木盒正上方，方便将迷你三脚架放入木盒。", + "frame": 363, + "progress": 60, + "progress_explanation": "爪夹夹紧迷你三脚架，到了爪夹左前方的木盒正上方，方便将迷你三脚架放入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧迷你三脚架，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取迷你三脚架放入木盒的任务应当：调整爪夹角度，垂直下降爪夹至合适位置，松开爪夹，使迷你三脚架落入木盒。", + "time": 12.090638647927387 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使迷你三脚架落入木盒。", + "error_success_analysis": "爪夹下降至合适位置，方便抓取迷你三脚架放入木盒。", + "frame": 374, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "state_description": "爪夹夹紧迷你三脚架，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取迷你三脚架放入木盒的任务应当：松开爪夹，使迷你三脚架落入木盒。", + "time": 12.475633 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取迷你三脚架放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，迷你三脚架落入木盒，任务完成。", + "frame": 409, + "progress": 100, + "progress_explanation": "爪夹张开，迷你三脚架落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取迷你三脚架放入木盒的任务完成。", + "time": 13.618823631815998 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769136034444", + "name": "迷你三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769136034635", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769136044862", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769136045047", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-103211-put-tripod-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-103211-put-tripod-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..86a43c79369a92039ba461c175e7fb9bfec8110f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-103211-put-tripod-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,135 @@ +{ + "task_description": "抓取迷你三脚架放入木盒：\n准备开始移动：0%\n爪夹靠近迷你三脚架：20%\n爪夹抓取迷你三脚架：40%\n爪夹抓紧迷你三脚架接近木盒：60%\n爪夹将迷你三脚架放入木盒：80%\n爪夹松开迷你三脚架落入木盒：100%", + "progress_points": [ + { + "time": 1.5946, + "frame": 48, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离迷你三脚架，未开始移动。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "progress_explanation": "当前为初始状态，远离迷你三脚架，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 2.4774009182771644, + "frame": 74, + "progress": 10, + "action_description": "爪夹向爪夹右方移动", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹向爪夹右方的迷你三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "progress_explanation": "爪夹角度接近垂直雪桌面，水平上接近了迷你三脚架，更加方便抓取。因此进度提升为10%", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了迷你三脚架之间的距离，方便后续抓取迷你三脚架。", + "correction_plan": "爪夹继续向爪夹右方的迷你三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 3.391499, + "frame": 102, + "progress": 20, + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，准备抓取迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹合拢抓取迷你三脚架，抓紧迷你三脚架垂直升高爪夹并向爪夹前方的木盒接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了迷你三脚架，方便抓取。", + "correction_plan": "爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 4.7838, + "frame": 144, + "progress": 30, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢未抓取到迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹调整爪夹的角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "progress_explanation": "爪夹合拢未抓取到迷你三脚架。因此进度为30%", + "error_success_analysis": "爪夹合拢未抓取到迷你三脚架，需要重新抓取迷你三脚架。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 5.7715, + "frame": 173, + "progress": 10, + "action_description": "爪夹张开，垂直升高", + "state_description": "爪夹张开并垂直升高，爪夹角度接近垂直于桌面。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹调整爪夹的角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "progress_explanation": "爪夹张开并垂直升高，需要重新抓取迷你三脚架。因此进度降低为10%", + "error_success_analysis": "爪夹张开并垂直升高，需要重新抓取迷你三脚架。", + "correction_plan": "落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 7.0686, + "frame": 212, + "progress": 20, + "action_description": "调整爪夹角度，爪夹垂直下降。", + "state_description": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，准备抓取迷你三脚架。\n为完成抓取迷你三脚架放入木盒的任务应当：爪夹合拢抓取迷你三脚架，抓紧迷你三脚架垂直升高爪夹并向爪夹前方的木盒接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了迷你三脚架，方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了迷你三脚架，方便抓取。", + "correction_plan": "爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 7.8421, + "frame": 235, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到迷你三脚架，爪夹角度接近垂直雪桌面。\n为完成抓取迷你三脚架放入木盒的任务应当：抓紧迷你三脚架垂直升高爪夹并向爪夹前方的木盒接近。", + "progress_explanation": "爪夹合拢抓取到迷你三脚架。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到迷你三脚架。", + "correction_plan": "抓紧迷你三脚架垂直升高爪夹并向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 8.728076939091759, + "frame": 262, + "progress": 50, + "action_description": "爪夹夹紧迷你三脚架，垂直升高。", + "state_description": "爪夹合拢抓取到迷你三脚架，爪夹角度接近垂直于桌面。\n为完成抓取迷你三脚架放入木盒的任务应当：继续向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "progress_explanation": "爪夹合拢继续夹紧迷你三脚架，垂直升高，水平上接近了木盒。因此进度提升为50%", + "error_success_analysis": "爪夹合拢继续夹紧迷你三脚架，水平上接近了木盒，方便抓取。", + "correction_plan": "继续向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 9.757151649835626, + "frame": 293, + "progress": -40, + "action_description": "爪夹夹紧迷你三脚架，向爪夹左方移动。", + "state_description": "爪夹合拢夹紧迷你三脚架，爪夹角度接近垂直于桌面，位于白色垃圾桶正上方。\n为完成抓取迷你三脚架放入木盒的任务应当：向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。", + "progress_explanation": "爪夹夹紧迷你三脚架，移动到了白色垃圾桶正上方，水平上远离了木盒。因此进度降低为-40%", + "error_success_analysis": "爪夹夹紧迷你三脚架，移动到了爪夹左方的白色垃圾桶正上方，水平上远离了木盒。", + "correction_plan": "向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。" + }, + { + "time": 10.8528, + "frame": 326, + "progress": -50, + "action_description": "爪夹张开", + "state_description": "爪夹张开，迷你三脚架落入白色垃圾桶，远离了木盒。\n为完成抓取迷你三脚架放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到迷你三脚架的正上方。", + "progress_explanation": "爪夹张开，水平上远离了迷你三脚架，需要重新抓取迷你三脚架。因此进度降低为-50%", + "error_success_analysis": "爪夹张开，迷你三脚架落入白色垃圾桶，需要重新抓取迷你三脚架。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到迷你三脚架的正上方。接着落下爪夹靠近迷你三脚架，接近迷你三脚架后爪夹合拢抓取迷你三脚架。抓紧迷你三脚架垂直升高爪夹并向爪夹前方的木盒接近，水平上到达木盒的正上方后，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使迷你三脚架落入木盒。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769146990412", + "name": "迷你三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1769146990566", + "name": "木盒", + "color": "#FF9800" + }, + { + "id": "bbox_1769146991126", + "name": "白色垃圾桶", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1769147014560", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769147014749", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105038-put-usb c hub-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105038-put-usb c hub-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..b4713bec0ae95d51583986ce2b344c7878aecc64 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105038-put-usb c hub-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,120 @@ +{ + "task_description": "抓取集线器放入木盒：\n准备开始移动：0%\n爪夹靠近集线器：20%\n爪夹抓取集线器：40%\n爪夹抓紧集线器接近木盒：60%\n爪夹将集线器放入木盒：80%\n爪夹松开集线器落入木盒：100%", + "progress_points": [ + { + "time": 1.488733, + "frame": 45, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离集线器，未开始移动。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "当前为初始状态，远离集线器，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 2.749536329025761, + "frame": 82, + "progress": 10, + "action_description": "爪夹向右方移动", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了集线器，更加方便抓取。因此进度提升为10%", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了集线器之间的距离，方便后续抓取集线器。", + "correction_plan": "爪夹继续向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 4.161933, + "frame": 125, + "progress": 15, + "action_description": "调整爪夹角度，继续向下移动", + "state_description": "调整爪夹的角度并向下垂直移动。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "调整爪夹的角度并向下垂直移动，方便抓取集线器。因此进度提升为15%", + "error_success_analysis": "调整爪夹的角度并向下垂直移动，方便抓取集线器。", + "correction_plan": "落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 5.3464, + "frame": 160, + "progress": 20, + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了集线器，准备抓取集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了集线器，方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了集线器，方便抓取。", + "correction_plan": "爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 6.215733, + "frame": 186, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到集线器，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近。", + "progress_explanation": "爪夹合拢抓取到集线器。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到集线器。", + "correction_plan": "抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 6.960853092713171, + "frame": 209, + "progress": 50, + "action_description": "爪夹夹紧集线器，垂直升高，向爪夹左方移动", + "state_description": "爪夹合拢夹紧集线器，水平上接近了集线器。\n为完成抓取集线器放入木盒的任务应当：继续向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "progress_explanation": "爪夹合拢夹紧集线器，垂直升高并向爪夹左方的木盒接近，缩短了与木盒之间的距离。因此进度提升为50%", + "error_success_analysis": "爪夹合拢继续夹紧集线器，水平上接近了木盒，更加方便接近木盒。", + "correction_plan": "继续向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 8.039785486715731, + "frame": 241, + "progress": 60, + "action_description": "爪夹夹紧集线器，向爪夹左方移动", + "state_description": "爪夹夹紧集线器，爪夹角度接近垂直于桌面位于木盒正上方。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "progress_explanation": "爪夹夹紧集线器，到了爪夹左方的木盒的正上方，方便集线器落入木盒。因此进度提升为60%", + "error_success_analysis": "爪夹移动到木盒的正上方，方便集线器落入木盒。", + "correction_plan": "调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 8.457436736007043, + "frame": 254, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧集线器，爪夹角度接近垂直于桌面，爪夹垂直向下移动。\n为完成抓取集线器放入木盒的任务应当：松开爪夹，使集线器落入木盒。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "error_success_analysis": "爪夹垂直下降至合适位置，方便抓取集线器放入木盒。", + "correction_plan": "松开爪夹，使集线器落入木盒。" + }, + { + "time": 9.327543505363948, + "frame": 280, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取集线器放入木盒的任务完成。", + "progress_explanation": "爪夹张开，集线器落入木盒，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，集线器落入木盒，任务完成。", + "correction_plan": "爪夹抓取集线器放入木盒的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769148783218", + "name": "集线器", + "color": "#4CAF50" + }, + { + "id": "bbox_1769148783366", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769148794725", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769148794916", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105038-put-usb c hub-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105038-put-usb c hub-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..503ead9384c7225a30ce073cae521f8d69a0c12f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105038-put-usb c hub-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,110 @@ +{ + "task_description": "抓取集线器放入木盒：\n准备开始移动：0%\n爪夹靠近集线器：20%\n爪夹抓取集线器：40%\n爪夹抓紧集线器接近木盒：60%\n爪夹将集线器放入木盒：80%\n爪夹松开集线器落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "当前为初始状态，远离集线器，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离集线器，未开始移动。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 1.438666 + }, + { + "action_description": "爪夹向右方移动", + "correction_plan": "爪夹继续向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了集线器之间的距离，方便后续抓取集线器。", + "frame": 76, + "progress": 10, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了集线器，更加方便抓取。因此进度提升为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 2.5232 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了集线器，方便抓取。", + "frame": 115, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了集线器，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了集线器，准备抓取集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近。", + "time": 3.818 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到集线器。", + "frame": 150, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到集线器。因此进度提升为40%", + "state_description": "爪夹合拢抓取到集线器，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：抓紧集线器垂直升高爪夹并向爪夹左方的木盒接近。", + "time": 4.991066 + }, + { + "action_description": "爪夹夹紧集线器，垂直升高，向爪夹左方移动", + "correction_plan": "继续向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧集线器，水平上接近了木盒，更加方便接近木盒。", + "frame": 180, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧集线器，垂直升高并向爪夹左方的木盒接近，缩短了与木盒之间的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧集线器，水平上接近了集线器。\n为完成抓取集线器放入木盒的任务应当：继续向爪夹左方的木盒接近，水平到达木盒的正上方后，调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "time": 5.998133 + }, + { + "action_description": "爪夹夹紧集线器，向爪夹左方移动", + "correction_plan": "调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹移动到木盒的正上方，方便集线器落入木盒。", + "frame": 221, + "progress": 60, + "progress_explanation": "爪夹夹紧集线器，到了爪夹左方的木盒的正上方，方便集线器落入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧集线器，爪夹角度接近垂直于桌面位于木盒正上方。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "time": 7.372525670628425 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便抓取集线器放入木盒。", + "frame": 261, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "state_description": "爪夹夹紧集线器，爪夹角度接近垂直于桌面，爪夹垂直向下移动。\n为完成抓取集线器放入木盒的任务应当：松开爪夹，使集线器落入木盒。", + "time": 8.709466 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取集线器放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，集线器落入木盒，任务完成。", + "frame": 303, + "progress": 100, + "progress_explanation": "爪夹张开，集线器落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取集线器放入木盒的任务完成。", + "time": 10.0928 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769154908490", + "name": "集线器", + "color": "#4CAF50" + }, + { + "id": "bbox_1769154908660", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769154916809", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769154916982", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105758-put-usb c hub-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105758-put-usb c hub-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..510ecfadc694293ea04ee66db66e4015f7c38076 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105758-put-usb c hub-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,145 @@ +{ + "task_description": "抓取集线器放入木盒：\n准备开始移动：0%\n爪夹靠近集线器：20%\n爪夹抓取集线器：40%\n爪夹抓紧集线器接近木盒：60%\n爪夹将集线器放入木盒：80%\n爪夹松开集线器落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "当前为初始状态，远离集线器，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离集线器，未开始移动。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 1.4535574572528236 + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "爪夹继续向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了集线器之间的距离，方便后续抓取集线器。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了集线器，更加方便抓取。因此进度提升为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 2.2841624427702243 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了集线器，方便抓取。", + "frame": 87, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了集线器，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了集线器，准备抓取集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹合拢抓取集线器，抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 2.907116181908274 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到集线器。", + "frame": 113, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到集线器。因此进度提升为40%", + "state_description": "爪夹合拢抓取到集线器，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 3.7792514167015447 + }, + { + "action_description": "爪夹夹紧集线器，爪夹垂直升高", + "correction_plan": "继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧集线器，水平上接近了木盒，更加方便接近木盒。", + "frame": 137, + "progress": 45, + "progress_explanation": "爪夹合拢夹紧集线器，垂直升高爪夹，缩短了与木盒的距离。因此进度提升为45%", + "state_description": "爪夹合拢夹紧集线器，水平上接近了木盒。\n为完成抓取集线器放入木盒的任务应当：继续向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "time": 4.568326152943075 + }, + { + "action_description": "爪夹夹紧集线器向右前方移动", + "correction_plan": "调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹向右前方移动，接近木盒，方便将集线器放入木盒。", + "frame": 163, + "progress": 50, + "progress_explanation": "爪夹向右前方移动，接近木盒，方便将集线器放入木盒。因此进度提升为50%", + "state_description": "爪夹夹紧集线器向右前方移动，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "time": 5.440461387736345 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹张开，集线器掉落在桌面上，需要重新抓取集线器。", + "frame": 201, + "progress": 0, + "progress_explanation": "爪夹张开，集线器掉落在桌面上，需要重新抓取集线器。因此进度降低为0%", + "state_description": "爪夹张开，集线器掉落在桌面上，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 6.6863688660124465 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了集线器，方便抓取。", + "frame": 239, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了集线器，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了集线器，准备抓取集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹合拢抓取集线器，抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 7.973806593564416 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到集线器。", + "frame": 285, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到集线器。因此进度提升为40%", + "state_description": "爪夹合拢抓取到集线器，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 9.510425816771605 + }, + { + "action_description": "爪夹夹紧集线器，向爪夹右前方移动", + "correction_plan": "调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹移动到了爪夹右前方的木盒正上方，方便集线器落入木盒。", + "frame": 318, + "progress": 60, + "progress_explanation": "爪夹夹紧集线器，到了爪夹右前方的木盒正上方，方便集线器落入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧集线器，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取集线器放入木盒的任务应当：调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "time": 10.590212297944227 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便集线器落入木盒。", + "frame": 334, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置，方便集线器落入木盒。因此进度提升为80%", + "state_description": "爪夹夹紧集线器，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取集线器放入木盒的任务应当：松开爪夹，使集线器落入木盒。", + "time": 11.138366 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取集线器放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，集线器落入木盒，任务完成。", + "frame": 364, + "progress": 100, + "progress_explanation": "爪夹张开，集线器落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取集线器放入木盒的任务完成。", + "time": 12.126831521151418 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769155688545", + "name": "集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1769155688974", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#F44336", + "id": "point_1769155700447", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105758-put-usb c hub-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105758-put-usb c hub-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..64028184fbc2b08a85a2706a4aa2a6795ddefdc3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105758-put-usb c hub-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,155 @@ +{ + "task_description": "抓取集线器放入木盒：\n准备开始移动：0%\n爪夹靠近集线器：20%\n爪夹抓取集线器：40%\n爪夹抓紧集线器接近木盒：60%\n爪夹将集线器放入木盒：80%\n爪夹松开集线器落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "当前为初始状态，远离集线器，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离集线器，未开始移动。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 1.596299 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度", + "correction_plan": "爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹的角度接近垂直于桌面，水平上未接近集线器。", + "frame": 67, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 2.222299 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑笔，远离了集线器。", + "frame": 95, + "progress": -10, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑笔，远离集线器。因此进度降低为-10%", + "state_description": "爪夹角度接近垂直于桌面，靠近了，准备抓取集黑笔。\n为完成抓取集线器放入木盒的任务应当：爪夹调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 3.171733 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，重新调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取到黑笔，远离了集线器，需要重新抓取集线器。", + "frame": 115, + "progress": -20, + "progress_explanation": "爪夹合拢抓取到黑笔。因此进度降低为-20%", + "state_description": "爪夹合拢抓取到黑笔，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：爪夹调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 3.839466 + }, + { + "action_description": "爪夹夹紧黑笔，爪夹垂直升高", + "correction_plan": "爪夹张开，重新调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹合拢夹紧黑笔，垂直升高爪夹，远离了集线器，需要重新抓取集线器。", + "frame": 132, + "progress": -25, + "progress_explanation": "爪夹合拢夹紧黑笔，垂直升高爪夹，远离了集线器。因此进度降低为-25%", + "state_description": "爪夹合拢夹紧黑笔，水平上接近了木盒。\n为完成抓取集线器放入木盒的任务应当：爪夹张开并调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 4.392433 + }, + { + "action_description": "爪夹张开", + "correction_plan": "重新调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹张开，远离集线器，准备开始移动。", + "frame": 156, + "progress": 0, + "progress_explanation": "爪夹张开，远离集线器，准备开始移动。因此进度为0%", + "state_description": "爪夹张开，黑笔落在桌面上，远离集线器，准备移动。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 5.212952437091152 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取集线器，抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了集线器，方便抓取。", + "frame": 191, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了集线器，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了集线器，准备抓取集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹合拢抓取集线器，抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 6.382525328057322 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到集线器。", + "frame": 216, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到集线器。因此进度提升为40%", + "state_description": "爪夹合拢抓取到集线器，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：抓紧集线器垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 7.1845181675769805 + }, + { + "action_description": "爪夹夹紧集线器，垂直升高", + "correction_plan": "继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧集线器，水平上接近了木盒，更加方便接近木盒。", + "frame": 240, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧集线器，垂直升高，准备向爪夹左边的木盒接近，缩短了与木盒的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧集线器，水平上接近了集线器。\n为完成抓取集线器放入木盒的任务应当：继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "time": 7.98651100709664 + }, + { + "action_description": "爪夹夹紧集线器，向爪夹左前方移动", + "correction_plan": "调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹移动到了爪夹左前方的木盒正上方，方便集线器落入木盒。", + "frame": 264, + "progress": 60, + "progress_explanation": "爪夹夹紧集线器，到了爪夹右前方的木盒正上方，方便集线器落入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧集线器，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取集线器放入木盒的任务应当：调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "time": 8.805733 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便集线器落入木盒。", + "frame": 269, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置，方便集线器落入木盒。因此进度提升为80%", + "state_description": "爪夹夹紧集线器，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取集线器放入木盒的任务应当：松开爪夹，使集线器落入木盒。", + "time": 8.962233 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取集线器放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，集线器落入木盒，任务完成。", + "frame": 296, + "progress": 100, + "progress_explanation": "爪夹张开，集线器落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取集线器放入木盒的任务完成。", + "time": 9.869933 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769393020928", + "name": "集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1769393021352", + "name": "黑笔" + }, + { + "color": "#2196F3", + "id": "bbox_1769393021599", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769393032529", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769393032707", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105758-put-usb c hub-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105758-put-usb c hub-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..bc7b46785f53a2b70923b7b50c3986362b69dd56 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-105758-put-usb c hub-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,200 @@ +{ + "task_description": "抓取集线器放入木盒：\n准备开始移动：0%\n爪夹靠近集线器：20%\n爪夹抓取集线器：40%\n爪夹抓紧集线器接近木盒：60%\n爪夹将集线器放入木盒：80%\n爪夹松开集线器落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右前方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "当前为初始状态，远离集线器，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离集线器，未开始移动。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右前方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 1.797008889197703 + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "爪夹继续向爪夹右前方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了集线器之间的距离，方便后续抓取集线器。", + "frame": 79, + "progress": 10, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了集线器，更加方便抓取。因此进度提升为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右前方的集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 2.639357609335466 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取集线器，抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了集线器，方便抓取。", + "frame": 104, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了集线器，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了集线器，准备抓取集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹合拢抓取集线器，抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 3.471599 + }, + { + "action_description": "爪夹合拢并垂直下降", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹需要重新抓取集线器。", + "frame": 128, + "progress": 30, + "progress_explanation": "爪夹合拢为抓取到集线器。因此进度为30%", + "state_description": "爪夹合拢未抓取到集线器，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 4.267898468268474 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹张开，远离集线器，未开始抓取集线器。", + "frame": 165, + "progress": 0, + "progress_explanation": "爪夹张开，远离集线器，准备移动。因此进度为0%", + "state_description": "爪夹张开，远离集线器，准备移动。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 5.50334325780386 + }, + { + "action_description": "爪夹调整角度，准备垂直下降", + "correction_plan": "落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹张开，准备垂直向下移动，爪夹角度接近垂直于桌面，方便抓取。", + "frame": 212, + "progress": 10, + "progress_explanation": "爪夹张开，准备垂直向下移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为10%", + "state_description": "爪夹张开，爪夹角度接近垂直桌面，爪夹垂直升高\n为完成抓取集线器放入木盒的任务应当：落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。", + "time": 7.075727535394351 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了集线器，方便抓取。", + "frame": 239, + "progress": 15, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了集线器，方便抓取。因此进度提升为15%", + "state_description": "爪夹角度接近垂直于桌面，靠近了集线器，准备抓取集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹合拢抓取集线器，抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 7.9742328368746325 + }, + { + "action_description": "爪夹垂直升高，调整爪夹的角度", + "correction_plan": "落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹张开，准备垂直向下移动，爪夹角度接近垂直于桌面，方便抓取。", + "frame": 253, + "progress": 10, + "progress_explanation": "爪夹张开，准备垂直向下移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为10%", + "state_description": "爪夹角度接近垂直桌面，爪夹垂直升高\n为完成抓取集线器放入木盒的任务应当：落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。", + "time": 8.423485487614773 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了集线器，方便抓取。", + "frame": 285, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了集线器，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了集线器，准备抓取集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹合拢抓取集线器，抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 9.507493 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹需要重新抓取集线器。", + "frame": 315, + "progress": 30, + "progress_explanation": "爪夹合拢为抓取到集线器。因此进度为30%", + "state_description": "爪夹合拢未抓取到集线器，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 10.50127899728792 + }, + { + "action_description": "爪夹张开，垂直升高", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹张开，远离集线器，未开始抓取集线器。", + "frame": 340, + "progress": 0, + "progress_explanation": "爪夹张开，远离集线器，准备移动。因此进度为0%", + "state_description": "爪夹张开，远离集线器，准备移动。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "time": 11.344066 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了集线器，方便抓取。", + "frame": 380, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了集线器，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了集线器，准备抓取集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹合拢抓取集线器，抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 12.681773 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到集线器。", + "frame": 399, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到集线器。因此进度提升为40%", + "state_description": "爪夹合拢抓取到集线器，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：抓紧集线器垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 13.316507 + }, + { + "action_description": "爪夹夹紧集线器，垂直升高", + "correction_plan": "继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧集线器，水平上接近了木盒，更加方便接近木盒。", + "frame": 416, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧集线器，垂直升高，缩短了于木盒的距离。因此进度提升为50%", + "state_description": "爪夹合拢抓取到集线器，水平上接近了木盒。\n为完成抓取集线器放入木盒的任务应当：继续向爪夹左前方的木盒接近，水平到达木盒的正上方后，调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "time": 13.870673877838971 + }, + { + "action_description": "爪夹夹紧集线器，向爪夹左前方移动", + "correction_plan": "调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹移动到了木盒的正上方，方便将集线器放入木盒。", + "frame": 460, + "progress": 60, + "progress_explanation": "爪夹夹紧集线器，到了爪夹左前方的木盒正上方，方便将集线器放入木盒。因此进度提升为60%", + "state_description": "爪夹夹紧集线器，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取集线器放入木盒的任务应当：调整爪夹角度，爪夹垂直下降至合适位置，松开爪夹，使集线器落入木盒。", + "time": 15.324133 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使集线器落入木盒。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便集线器落入木盒。", + "frame": 480, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置，方便集线器落入木盒。因此进度提升为80%", + "state_description": "爪夹夹紧集线器，爪夹角度接近垂直于桌面，爪夹垂直向下移动。\n为完成抓取集线器放入木盒的任务应当：松开爪夹，使集线器落入木盒。", + "time": 15.990399 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取集线器放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，集线器落入木盒，任务完成。", + "frame": 521, + "progress": 100, + "progress_explanation": "爪夹张开，集线器落入木盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取集线器放入木盒的任务完成。", + "time": 17.35238192107506 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769398848967", + "name": "集线器", + "color": "#4CAF50" + }, + { + "id": "bbox_1769398849197", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769398866502", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769398866684", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-110837-put-usb c hub-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-110837-put-usb c hub-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..be18008fa6380bc542e93efa066fe8036b030545 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-110837-put-usb c hub-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,180 @@ +{ + "task_description": "抓取集线器放入木盒：\n准备开始移动：0%\n爪夹靠近集线器：20%\n爪夹抓取集线器：40%\n爪夹抓紧集线器接近木盒：60%\n爪夹将集线器放入木盒：80%\n爪夹松开集线器落入木盒：100%", + "progress_points": [ + { + "time": 1.739, + "frame": 52, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离集线器，未开始移动。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "当前为初始状态，远离集线器，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 2.3081835210466375, + "frame": 69, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%", + "error_success_analysis": "爪夹的角度接近垂直于桌面，水平上未接近集线器。", + "correction_plan": "爪夹向爪夹右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 3.3619201753829433, + "frame": 101, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接技了集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹向爪夹右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了集线器，更加方便抓取。因此进度提升为15%", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了集线器之间的距离，方便后续抓取集线器。", + "correction_plan": "爪夹继续向爪夹右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 3.8636995345907077, + "frame": 116, + "progress": -10, + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了香蕉，准备抓取香蕉。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了香蕉，远离集线器。因此进度降低为-10%", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了香蕉，远离集线器。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 4.465834765640025, + "frame": 134, + "progress": -15, + "action_description": "爪夹接触香蕉并垂直升高", + "state_description": "爪夹接触香蕉后垂直升高。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "爪夹接触香蕉并垂直升高，未抓取到香蕉，远离集线器。因此进度降低为-15%", + "error_success_analysis": "爪夹接触香蕉并垂直升高，未抓取到香蕉，远离集线器。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 5.7704610995802135, + "frame": 173, + "progress": -10, + "action_description": "爪夹垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了香蕉，准备抓取香蕉。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了香蕉，远离集线器。因此进度提升为-10%", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了香蕉，远离集线器。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 6.940333, + "frame": 208, + "progress": -15, + "action_description": "爪夹合拢未抓取到香蕉", + "state_description": "爪夹合拢未抓取到香蕉，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "爪夹合拢未抓取到香蕉。因此进度降为-15%", + "error_success_analysis": "爪夹合拢未抓取到香蕉，远离集线器。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 7.978290280094377, + "frame": 239, + "progress": -30, + "action_description": "爪夹垂直升高，爪夹角度接近垂直于桌面", + "state_description": "爪夹垂直升高，位于香蕉正上方。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "爪夹垂直升高，位于香蕉正上方，远离集线器，需要重新抓取集线器。因此进度降低为-30%", + "error_success_analysis": "爪夹垂直升高，位于香蕉正上方，远离集线器，需要重新抓取集线器。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 9.071, + "frame": 272, + "progress": 10, + "action_description": "爪夹调整角度，准备接近集线器", + "state_description": "爪夹接近垂直于桌面，准备向集线器移动。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "爪夹接近垂直于桌面，准备向集线器移动，方便后续抓取集线器。因此进度提升为10%", + "error_success_analysis": "爪夹接近垂直于桌面，准备向集线器移动，方便后续抓取集线器。", + "correction_plan": "落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 10.434, + "frame": 313, + "progress": 20, + "action_description": "爪夹垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了集线器，准备抓取集线器。\n为完成抓取集线器放入木盒的任务应当：爪夹合拢抓取集线器，抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了集线器。方便抓取，因此进度提升为 20%。", + "error_success_analysis": "爪夹垂直向下移动，靠近了集线器，方便抓取。", + "correction_plan": "爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 11.841991345994165, + "frame": 355, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到集线器，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近。", + "progress_explanation": "爪夹合拢抓取到集线器。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到集线器。", + "correction_plan": "抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 13.146617679934351, + "frame": 394, + "progress": -30, + "action_description": "爪夹夹紧集线器，垂直升高", + "state_description": "爪夹合拢夹紧集线器，准备向爪夹右前方的纸箱接近。\n为完成抓取集线器放入木盒的任务应当：向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。", + "progress_explanation": "爪夹合拢夹紧集线器，垂直升高，准备向爪夹右前方的纸箱接近，远离了木盒。因此进度降低为-30%", + "error_success_analysis": "爪夹合拢夹紧集线器，垂直升高，准备向爪夹右前方的纸箱接近，远离了木盒。", + "correction_plan": "向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 13.802333, + "frame": 414, + "progress": -40, + "action_description": "爪夹夹紧集线器，向爪夹右前方的纸箱移动，调整爪夹角度。", + "state_description": "爪夹夹紧集线器，移动到纸箱正上方。\n为完成抓取集线器放入木盒的任务应当：向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。", + "progress_explanation": "爪夹夹紧集线器，移动到纸箱正上方，远离木盒。因此进度降低为-40%", + "error_success_analysis": "爪夹夹紧集线器，移动到纸箱正上方，远离木盒。", + "correction_plan": "向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + }, + { + "time": 15.20391305268619, + "frame": 456, + "progress": -50, + "action_description": "爪夹张开", + "state_description": "爪夹张开，集线器落入纸箱，爪夹角度接近垂直于桌面。\n为完成抓取集线器放入木盒的任务应当：调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。", + "progress_explanation": "爪夹张开，集线器落入纸箱，需要重新抓取集线器。因此进度降低为-50%", + "error_success_analysis": "爪夹张开，集线器落入纸箱，需要重新抓取集线器。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到集线器的正上方。接着落下爪夹靠近集线器，接近集线器后爪夹合拢抓取集线器。抓紧集线器垂直升高爪夹并向爪夹左后方的木盒接近，水平到达木盒正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使集线器落入木盒。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769409721400", + "name": "香蕉", + "color": "#4CAF50" + }, + { + "id": "bbox_1769409721594", + "name": "集线器", + "color": "#FF9800" + }, + { + "id": "bbox_1769409722993", + "name": "木盒", + "color": "#2196F3" + }, + { + "id": "bbox_1769409723154", + "name": "纸箱", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1769409744523", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769409744704", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-111727-put-packaged snacks-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-111727-put-packaged snacks-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..4fd56514b3b5b948b577944832b5b700645d1515 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-111727-put-packaged snacks-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,99 @@ +{ + "task_description": "抓取零食包放入木盒：\n准备开始移动：0%\n爪夹靠近零食包：20%\n爪夹抓取零食包：40%\n爪夹抓紧零食包接近木盒：60%\n爪夹将零食包放入木盒：80%\n爪夹松开零食包落入木盒：100%", + "progress_points": [ + { + "time": 1.5030951871551257, + "frame": 45, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离零食包，未开始移动。\n为完成抓取零食包放入木盒的任务应当：爪夹向爪夹右前方的零食包移动，同时调整爪夹的角度使其垂直于桌面，并移动到零食包的正上方。", + "progress_explanation": "当前为初始状态，远离零食包，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的零食包移动，同时调整爪夹的角度使其垂直于桌面，并移动到零食包的正上方。接着落下爪夹靠近零食包，接近零食包后爪夹合拢抓取零食包。抓紧零食包垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使零食包落入木盒。" + }, + { + "time": 2.222999, + "frame": 67, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动", + "state_description": "爪夹张开，爪夹接近垂直于桌面，水平上接近了零食包。\n为完成抓取零食包放入木盒的任务应当：爪夹向爪夹右前方的零食包移动，同时调整爪夹的角度使其垂直于桌面，并移动到零食包的正上方。", + "progress_explanation": "爪夹进度接近垂直于桌面。水平上接近了零食包，更加方便抓取。因此进度提升为10%", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了零食包之间的距离，方便后续抓取零食包。", + "correction_plan": "爪夹继续向爪夹右前方的零食包移动，同时调整爪夹的角度使其垂直于桌面，并移动到零食包的正上方。接着落下爪夹靠近零食包，接近零食包后爪夹合拢抓取零食包。抓紧零食包垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使零食包落入木盒。" + }, + { + "time": 3.062799, + "frame": 92, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了零食包，准备抓取零食包。\n为完成抓取零食包放入木盒的任务应当：爪夹合拢抓取零食包，抓紧零食包垂直升高爪夹并向爪夹左前方的木盒接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了零食包，方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了零食包，方便抓取。", + "correction_plan": "爪夹合拢抓取零食包，抓紧零食包垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使零食包落入木盒。" + }, + { + "time": 4.149599, + "frame": 124, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到零食包，爪夹角度接近垂直于桌面。\n为完成抓取零食包放入木盒的任务应当：抓紧零食包垂直升高爪夹并向爪夹左前方的木盒接近。", + "progress_explanation": "爪夹合拢抓取到零食包。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到零食包。", + "correction_plan": "抓紧零食包垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使零食包落入木盒。" + }, + { + "time": 5.112899, + "frame": 153, + "progress": 50, + "action_description": "爪夹夹紧蓝色方块，垂直升高，准备向爪夹左前方移动。", + "state_description": "爪夹合拢夹紧零食包，水平上接近了木盒。\n为完成抓取零食包放入木盒的任务应当：继续向爪夹左前方的木盒接近，水平到达木盒的正上方，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使零食包落入木盒。", + "progress_explanation": "爪夹合拢夹紧零食包，垂直升高并向爪夹左前方的木盒接近，缩短了与木盒的距离。因此进度提升为50%", + "error_success_analysis": "爪夹合拢继续夹紧零食包，水平上接近了木盒，更加方便接近木盒。", + "correction_plan": "继续向爪夹左前方的木盒接近，水平到达木盒的正上方，调整爪夹角度，垂直下降至合适位置后，松开爪夹，使零食包落入木盒。" + }, + { + "time": 5.985633, + "frame": 180, + "progress": 60, + "action_description": "爪夹夹紧零食包，向爪夹左前方移动", + "state_description": "爪夹夹紧零食包，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取零食包放入木盒的任务应当：调整爪夹角度，垂直下降至合适位置后，松开爪夹，使零食包落入木盒。", + "progress_explanation": "爪夹夹紧零食包，到了爪夹左前方的木盒正上方，方便将零食包放入木盒。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了爪夹左前方的木盒正上方，方便将零食包放入木盒。", + "correction_plan": "调整爪夹角度，垂直下降至合适位置后，松开爪夹，使零食包落入木盒。" + }, + { + "time": 6.545499, + "frame": 196, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧零食包，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取零食包放入木盒的任务应当：松开爪夹，使零食包落入木盒。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "error_success_analysis": "爪夹垂直下降至合适位置，方便将零食包放入木盒。", + "correction_plan": "松开爪夹，使零食包落入木盒。" + }, + { + "time": 7.304518313813215, + "frame": 219, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取零食包放入木盒的任务完成。", + "progress_explanation": "爪夹张开，零食包落入木盒，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，零食包落入木盒，任务完成。", + "correction_plan": "爪夹抓取零食包放入木盒的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769414578552", + "name": "零食包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769414578732", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-112323-put-packaged snacks-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-112323-put-packaged snacks-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..32f56db5ed5719802297c89773beb7b0f7830550 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-112323-put-packaged snacks-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,566 @@ +{ + "task_description": "抓取袋装零食放进木盒：\n开始准备移动：0%\n爪夹靠近袋装零食：20%\n爪夹抓取袋装零食：40%\n爪夹抓紧袋装零食接近木盒：60%\n爪夹抓紧袋装零食移动到木盒上方：80%\n爪夹松开袋装零食落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768875394200": { + "instances": [ + { + "height": 0.1319999892578135, + "id": "bbox_1768875394200_1768875527709_no5n0mpa6", + "width": 0.09799999401855501, + "x": 0.6936665836385141, + "y": 0.5867221736269389 + } + ], + "type": "bbox" + }, + "bbox_1768875403120": { + "instances": [ + { + "height": 0.26933331141493244, + "id": "bbox_1768875403120_1768875536589_rulfq0x36", + "width": 0.33599997949218874, + "x": 0.36566660365804415, + "y": 0.3427221934837082 + } + ], + "type": "bbox" + }, + "point_1768875414207": { + "instances": [ + { + "id": "point_1768875414207_1768875663402_hddojwgtw", + "x": 0.36766660353597386, + "y": 0.4588703239851624 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "无", + "frame": 55, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离袋装零食，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离袋装零食，未开始移动。\n为完成抓取袋装零食放进木盒里的任务应当：爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直与桌面，并移动到袋装零食的正上方。", + "time": 1.8357609503544474 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1768875394200": { + "instances": [ + { + "height": 0.13999998860677168, + "id": "bbox_1768875394200_1768876068234_ac2nv1s0m", + "width": 0.09499999420166053, + "x": 0.6976665833943735, + "y": 0.5879073414788948 + } + ], + "type": "bbox" + }, + "bbox_1768875403120": { + "instances": [ + { + "height": 0.25866664561632113, + "id": "bbox_1768875403120_1768876073193_3sf91n2mi", + "width": 0.2889999823608409, + "x": 0.3756666030476926, + "y": 0.3559073603591016 + } + ], + "type": "bbox" + }, + "point_1768875414207": { + "instances": [ + { + "id": "point_1768875414207_1768876079025_7ulryx6c6", + "x": 0.7486665802815807, + "y": 0.5079073479893109 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了袋装零食。", + "frame": 94, + "progress": 20, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了袋装零食。因此进度提升为 20%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了袋装零食。\n为完成抓取袋装零食放进木盒里的任务应当：爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 3.1333333333333333 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1768875394200": { + "instances": [ + { + "height": 0.12133333333333335, + "id": "bbox_1768875394200_1768876355861_fi8efrx23", + "width": 0.07300000000000004, + "x": 0.702375, + "y": 0.5978645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768875403120": { + "instances": [ + { + "height": 0.23066666666666666, + "id": "bbox_1768875403120_1768876359948_uix5mh9ys", + "width": 0.312, + "x": 0.384375, + "y": 0.3418645833333333 + } + ], + "type": "bbox" + }, + "point_1768875414207": { + "instances": [ + { + "id": "point_1768875414207_1768876370396_gvtqfs5nu", + "x": 0.779375, + "y": 0.6418645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了袋装零食，方便抓取袋装零食。", + "frame": 139, + "progress": 30, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了袋装零食。方便抓取。因此进度提升为 30%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了袋装零食。\n为完成抓取袋装零食放进木盒里的任务应当：爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 4.628406761231176 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768875394200": { + "instances": [ + { + "height": 0.12266665668402865, + "id": "bbox_1768875394200_1768876834729_0u1jn5x9g", + "width": 0.08099999505615267, + "x": 0.6996665832723032, + "y": 0.5895369800181494 + } + ], + "type": "bbox" + }, + "bbox_1768875403120": { + "instances": [ + { + "height": 0.20799998307291792, + "id": "bbox_1768875403120_1768876842337_eux5bowqi", + "width": 0.307999981201173, + "x": 0.38566660243734113, + "y": 0.3415370002004395 + } + ], + "type": "bbox" + }, + "point_1768875414207": { + "instances": [ + { + "id": "point_1768875414207_1768876855553_a6weqiycr", + "x": 0.726666581624354, + "y": 0.6562036412594694 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧袋装零食垂直升高爪夹并向爪夹左前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了袋装零食，爪夹合拢抓取到了袋装零食。", + "frame": 170, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到袋装零食。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取袋装零食。\n为完成抓取袋装零食放进木盒里的任务应当：抓紧袋装零食垂直升高爪夹并向爪夹左前方的木盒接近。", + "time": 5.666666666666667 + }, + { + "action_description": "爪夹夹紧袋装零食，垂直升高，向爪夹左前方移动。", + "annotations": { + "bbox_1768875394200": { + "instances": [ + { + "height": 0.11466666666666671, + "id": "bbox_1768875394200_1768877153251_p6xytimpp", + "width": 0.07699999999999996, + "x": 0.625375, + "y": 0.42953125000000003 + } + ], + "type": "bbox" + }, + "bbox_1768875403120": { + "instances": [ + { + "height": 0.2786666666666667, + "id": "bbox_1768875403120_1768877159411_ov2m7n141", + "width": 0.318, + "x": 0.386375, + "y": 0.34686458333333337 + } + ], + "type": "bbox" + }, + "point_1768875414207": { + "instances": [ + { + "id": "point_1768875414207_1768877164827_mg5j0tyho", + "x": 0.636375, + "y": 0.4908645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧袋装零食，水平上接近了木盒。更加方便接近木盒。", + "frame": 186, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧袋装零食，垂直升高并向爪夹左前边的木盒接近。缩短了与木盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧袋装零食，水平上接近了木盒。\n为完成抓取袋装零食放进木盒里的任务应当：继续向爪夹左前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "time": 6.204145458988436 + }, + { + "action_description": "爪夹夹紧袋装零食，向爪夹左方移动，张开爪夹。", + "annotations": { + "bbox_1768875394200": { + "instances": [ + { + "height": 0.12133332345920221, + "id": "bbox_1768875394200_1768877500932_acfkobu4n", + "width": 0.1039999936523441, + "x": 0.45266659834798595, + "y": 0.5362036510250935 + } + ], + "type": "bbox" + }, + "bbox_1768875403120": { + "instances": [ + { + "height": 0.26666664496527953, + "id": "bbox_1768875403120_1768877512292_jhh6n3omn", + "width": 0.3389999793090833, + "x": 0.3636666037801145, + "y": 0.3415370002004394 + } + ], + "type": "bbox" + }, + "point_1768875409480": { + "instances": [ + { + "id": "point_1768875409480_1768877521276_fbzu048pp", + "x": 0.4276665998738647, + "y": 0.50420365362926 + } + ], + "type": "point" + }, + "point_1768875414207": { + "instances": [ + { + "id": "point_1768875414207_1768877523253_7w8x2fuiw", + "x": 0.5656665914510136, + "y": 0.5295369849009616 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹张开，袋装零食掉到桌面上，需要重新抓取袋装零食", + "frame": 243, + "progress": 0, + "progress_explanation": "爪夹张开，水平上远离了袋装零食，袋装零食掉到桌面上，需要重新抓取袋装零食，因此进度降低为 0%。", + "state_description": "爪夹张开，水平上远离了袋装零食，袋装零食掉到桌面上。\n为完成抓取袋装零食放进木盒的任务应当：调整爪夹角度接近垂直于桌面，并移动到袋装零食的正上方。", + "time": 8.102963739046391 + }, + { + "action_description": "爪夹向爪夹前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1768875394200": { + "instances": [ + { + "height": 0.16133333333333333, + "id": "bbox_1768875394200_1768878240398_fxtz0kjip", + "width": 0.11000000000000006, + "x": 0.45137499999999997, + "y": 0.5211979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768875403120": { + "instances": [ + { + "height": 0.22666666666666663, + "id": "bbox_1768875403120_1768878244117_nde3vfvfa", + "width": 0.304, + "x": 0.39637500000000003, + "y": 0.34119791666666666 + } + ], + "type": "bbox" + }, + "point_1768875409480": { + "instances": [ + { + "id": "point_1768875409480_1768878265309_x6v708m2v", + "x": 0.421375, + "y": 0.53053125 + } + ], + "type": "point" + }, + "point_1768875414207": { + "instances": [ + { + "id": "point_1768875414207_1768878256668_e5v2tlit8", + "x": 0.536375, + "y": 0.5851979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了袋装零食，方便抓取袋装零食。", + "frame": 303, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹前方移动并垂直向下移动，靠近了袋装零食。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹前方移动并垂直向下移动，靠近了袋装零食。\n为完成抓取袋装零食放进木盒里的任务应当：爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹前方的木盒接近。", + "time": 10.09993964007732 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768875394200": { + "instances": [ + { + "height": 0.13199998925781334, + "id": "bbox_1768875394200_1768878506663_20hqvc0yv", + "width": 0.077999995239258, + "x": 0.4966665956624392, + "y": 0.5255369852264823 + } + ], + "type": "bbox" + }, + "bbox_1768875403120": { + "instances": [ + { + "height": 0.24799997981770996, + "id": "bbox_1768875403120_1768878511472_2zv4v1dxz", + "width": 0.3109999810180675, + "x": 0.3936666019490599, + "y": 0.3415370002004394 + } + ], + "type": "bbox" + }, + "point_1768875409480": { + "instances": [ + { + "id": "point_1768875409480_1768878553830_l6653y0i5", + "x": 0.4366665993245483, + "y": 0.5308703181257879 + } + ], + "type": "point" + }, + "point_1768875414207": { + "instances": [ + { + "id": "point_1768875414207_1768878538590_m9x1afyjw", + "x": 0.497666595601404, + "y": 0.5402036506995727 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧袋装零食垂直升高爪夹并向爪夹前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了袋装零食，爪夹合拢抓取到了袋装零食。", + "frame": 361, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到袋装零食。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取袋装零食。\n为完成抓取袋装零食放进木盒里的任务应当：抓紧袋装零食垂直升高爪夹并向爪夹前方的木盒接近。", + "time": 12.034510044201031 + }, + { + "action_description": "爪夹夹紧袋装零食，垂直升高，向爪夹前方移动。", + "annotations": { + "bbox_1768875394200": { + "instances": [ + { + "height": 0.15733332052951496, + "id": "bbox_1768875394200_1768878729162_zq5e7092v", + "width": 0.08399999487304717, + "x": 0.48866659615072044, + "y": 0.3148703357039115 + } + ], + "type": "bbox" + }, + "bbox_1768875403120": { + "instances": [ + { + "height": 0.27066664463975865, + "id": "bbox_1768875403120_1768878733786_88wonv508", + "width": 0.33699997943115345, + "x": 0.36666660359700903, + "y": 0.3415370002004394 + } + ], + "type": "bbox" + }, + "point_1768875414207": { + "instances": [ + { + "id": "point_1768875414207_1768878761890_z75h2xd7j", + "x": 0.48866659615072044, + "y": 0.38953699629418975 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧袋装零食，水平上接近了木盒。更加方便接近木盒。", + "frame": 381, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧袋装零食，垂直升高并向爪夹前边的木盒接近。缩短了与木盒的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧袋装零食，水平上接近了木盒。\n为完成抓取袋装零食放进木盒的任务应当：继续向爪夹前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "time": 12.705369135953609 + }, + { + "action_description": "爪夹夹紧袋装零食，向爪夹前方移动", + "annotations": { + "bbox_1768875394200": { + "instances": [ + { + "height": 0.1826666518012165, + "id": "bbox_1768875394200_1768879027125_eq04gakdu", + "width": 0.07099999566650413, + "x": 0.4726665971272829, + "y": 0.2508703409122444 + } + ], + "type": "bbox" + }, + "bbox_1768875403120": { + "instances": [ + { + "height": 0.2653333117404532, + "id": "bbox_1768875403120_1768879031957_cs3ub2e1w", + "width": 0.3399999792480481, + "x": 0.3616666039021848, + "y": 0.3415370002004394 + } + ], + "type": "bbox" + }, + "point_1768875414207": { + "instances": [ + { + "id": "point_1768875414207_1768879042087_5d331z0y9", + "x": 0.4726665971272829, + "y": 0.3548703324487034 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹移动到了木盒正上方。", + "frame": 403, + "progress": 80, + "progress_explanation": "爪夹夹紧袋装零食，到了爪夹前方的木盒正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧袋装零食，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取袋装零食放进木盒的任务应当：松开爪夹，使袋装零食落入木盒。", + "time": 13.427581271479639 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768875394200": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1768875394200_1768879256233_og0chxys4", + "width": 0.08200000000000003, + "x": 0.477375, + "y": 0.4411979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768875403120": { + "instances": [ + { + "height": 0.2733333333333334, + "id": "bbox_1768875403120_1768879262432_vrnw0ay36", + "width": 0.33599999999999997, + "x": 0.369375, + "y": 0.34253125 + } + ], + "type": "bbox" + }, + "point_1768875414207": { + "instances": [ + { + "id": "point_1768875414207_1768879271120_6y93hz7c0", + "x": 0.497375, + "y": 0.4011979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，袋装零食落入木盒。", + "frame": 421, + "progress": 100, + "progress_explanation": "爪夹张开，袋装零食落入木盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开。\n爪夹松开袋装零食放进木盒的任务目标完成。", + "time": 14.047087319458763 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875394200", + "name": "袋装零食" + }, + { + "color": "#FF9800", + "id": "bbox_1768875403120", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875409480", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875414207", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-113214-put-packaged snacks-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-113214-put-packaged snacks-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..cff7fc7734a71daee50f06065acafbd536716d6b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-113214-put-packaged snacks-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,546 @@ +{ + "task_description": "抓取袋装零食放入木盒：\n开始准备移动：0%\n爪夹靠近袋装零食：20%\n爪夹抓取袋装零食：40%\n爪夹抓紧袋装零食接近木盒：60%\n爪夹抓紧袋装零食移动到木盒上方：80%\n爪夹松开袋装零食落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768880360745": { + "instances": [ + { + "height": 0.11200000000000022, + "id": "bbox_1768880360745_1768880522685_9sjimy2pf", + "width": 0.10500000000000007, + "x": 0.553375, + "y": 0.5718645833333332 + } + ], + "type": "bbox" + }, + "bbox_1768880373450": { + "instances": [ + { + "height": 0.3906666666666666, + "id": "bbox_1768880373450_1768880540253_6mnxxo6bx", + "width": 0.2710000000000001, + "x": 0.585375, + "y": 0.12386458333333333 + } + ], + "type": "bbox" + }, + "point_1768880499094": { + "instances": [ + { + "id": "point_1768880499094_1768880554773_7ntk1qao5", + "x": 0.409375, + "y": 0.4838645833333333 + } + ], + "type": "point" + }, + "point_1768880505733": { + "instances": [ + { + "id": "point_1768880505733_1768880557588_hc9re3bot", + "x": 0.537375, + "y": 0.5038645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "无", + "frame": 48, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离袋装零食，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离袋装零食，未开始移动。\n为完成抓取袋装零食放入木盒的任务应当：爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直与桌面，并移动到袋装零食的正上方。", + "time": 1.6046562916237113 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1768880360745": { + "instances": [ + { + "height": 0.12000000000000005, + "id": "bbox_1768880360745_1768880884479_ne1ntrhng", + "width": 0.10200000000000005, + "x": 0.556375, + "y": 0.5705312499999999 + } + ], + "type": "bbox" + }, + "bbox_1768880373450": { + "instances": [ + { + "height": 0.4, + "id": "bbox_1768880373450_1768880895983_ln4mj0d2l", + "width": 0.27600000000000013, + "x": 0.585375, + "y": 0.11319791666666666 + } + ], + "type": "bbox" + }, + "point_1768880505733": { + "instances": [ + { + "id": "point_1768880505733_1768880947206_4le56m6f5", + "x": 0.610375, + "y": 0.62253125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了袋装零食。", + "frame": 72, + "progress": 20, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了袋装零食。因此进度提升为 20%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了袋装零食。\n为完成抓取袋装零食放入木盒的任务应当：爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 2.386895172545684 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1768880360745": { + "instances": [ + { + "height": 0.12133332345920221, + "id": "bbox_1768880360745_1768881185248_enyz444h5", + "width": 0.0959999941406254, + "x": 0.5596665918172246, + "y": 0.5745740092306307 + } + ], + "type": "bbox" + }, + "bbox_1768880373450": { + "instances": [ + { + "height": 0.3933333013237874, + "id": "bbox_1768880373450_1768881189031_dxuytfh0d", + "width": 0.2749999832153331, + "x": 0.5866665901692755, + "y": 0.12124071278965554 + } + ], + "type": "bbox" + }, + "point_1768880499094": { + "instances": [ + { + "id": "point_1768880499094_1768881205151_95kot1ogk", + "x": 0.5026665952962283, + "y": 0.5959073408278531 + } + ], + "type": "point" + }, + "point_1768880505733": { + "instances": [ + { + "id": "point_1768880505733_1768881206991_r5i7fb9s5", + "x": 0.6376665870564826, + "y": 0.6399073372471242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了袋装零食，方便抓取袋装零食。", + "frame": 100, + "progress": 30, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了袋装零食。方便抓取。因此进度提升为 30%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了袋装零食。\n为完成抓取袋装零食放入木盒的任务应当：爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 3.3333333333333335 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768880373450": { + "instances": [ + { + "height": 0.3973333009982666, + "id": "bbox_1768880373450_1768881457194_f87y7774q", + "width": 0.27399998327636804, + "x": 0.5866665901692755, + "y": 0.11724071311517634 + } + ], + "type": "bbox" + }, + "point_1768880499094": { + "instances": [ + { + "id": "point_1768880499094_1768881447762_d18fa5oqv", + "x": 0.5336665934041386, + "y": 0.6065740066264643 + } + ], + "type": "point" + }, + "point_1768880505733": { + "instances": [ + { + "id": "point_1768880505733_1768881449674_fvw3ehy3j", + "x": 0.6376665870564826, + "y": 0.6239073385492074 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧袋装零食垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了袋装零食，爪夹合拢抓取到了袋装零食。", + "frame": 121, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到袋装零食。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取袋装零食。\n为完成抓取袋装零食放入木盒的任务应当：抓紧袋装零食垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 4.036271312242269 + }, + { + "action_description": "爪夹夹紧袋装零食，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1768880373450": { + "instances": [ + { + "height": 0.39866666666666667, + "id": "bbox_1768880373450_1768884828798_09igbssl4", + "width": 0.275, + "x": 0.585375, + "y": 0.11853125 + } + ], + "type": "bbox" + }, + "point_1768880499094": { + "instances": [ + { + "id": "point_1768880499094_1768884852957_wbev3lv7c", + "x": 0.529375, + "y": 0.59053125 + } + ], + "type": "point" + }, + "point_1768880505733": { + "instances": [ + { + "id": "point_1768880505733_1768884855165_ymy23znfl", + "x": 0.649375, + "y": 0.6118645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹合拢继续夹紧袋装零食，水平上接近了木盒。更加方便接近木盒。", + "frame": 141, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧袋装零食，垂直升高并向爪夹右前的木盒接近。缩短了与木盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧袋装零食，水平上接近了木盒。\n为完成抓取袋装零食放入木盒的任务应当：继续向爪夹右前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "time": 4.698676783376288 + }, + { + "action_description": "爪夹夹紧袋装零食，向爪夹右前方移动，张开爪夹。", + "annotations": { + "bbox_1768880360745": { + "instances": [ + { + "height": 0.11199999999999997, + "id": "bbox_1768880360745_1768885282685_anevpqt3s", + "width": 0.07099999999999991, + "x": 0.601375, + "y": 0.52953125 + } + ], + "type": "bbox" + }, + "bbox_1768880373450": { + "instances": [ + { + "height": 0.3906666666666668, + "id": "bbox_1768880373450_1768885294772_cv5rztgwz", + "width": 0.27199999999999996, + "x": 0.5863750000000001, + "y": 0.12019791666666667 + } + ], + "type": "bbox" + }, + "point_1768880499094": { + "instances": [ + { + "id": "point_1768880499094_1768885310292_sx1v3vugk", + "x": 0.5693749999999997, + "y": 0.46819791666666666 + } + ], + "type": "point" + }, + "point_1768880505733": { + "instances": [ + { + "id": "point_1768880505733_1768885312635_5k9yhl59e", + "x": 0.7023750000000001, + "y": 0.5335312499999999 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹张开，袋装零食掉到桌面上，需要重新抓取袋装零食", + "frame": 164, + "progress": 0, + "progress_explanation": "爪夹张开，水平上远离了袋装零食，袋装零食掉到桌面上，需要重新抓取袋装零食，因此进度降低为 0%。", + "state_description": "爪夹张开，水平上远离了袋装零食，袋装零食掉到桌面上。\n为完成抓取袋装零食放入木盒的任务应当：调整爪夹角度接近垂直于桌面，并移动到袋装零食的正上方。", + "time": 5.458556477319587 + }, + { + "action_description": "爪夹向右前方移动，同时降低角度使爪夹接近垂直于桌面，", + "annotations": { + "bbox_1768880360745": { + "instances": [ + { + "height": 0.10799999121093826, + "id": "bbox_1768880360745_1768885808592_x0ub6s9sz", + "width": 0.06899999578857452, + "x": 0.6166665883382209, + "y": 0.5188703191023503 + } + ], + "type": "bbox" + }, + "bbox_1768880373450": { + "instances": [ + { + "height": 0.40399996712239855, + "id": "bbox_1768880373450_1768885678499_e2qma29ja", + "width": 0.2739999832763682, + "x": 0.5866665901692755, + "y": 0.11620368520477825 + } + ], + "type": "bbox" + }, + "point_1768880505733": { + "instances": [ + { + "id": "point_1768880505733_1768885821199_j1154yo0o", + "x": 0.7046665836995493, + "y": 0.4788703214895029 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上垂直升高，并向爪夹左后方的袋装零食移动。调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹向右前方移动，同时降低角度使爪夹接近垂直于桌面，接近了木盒，并未接近袋装零食。", + "frame": 179, + "progress": -20, + "progress_explanation": "爪夹向右前方移动，爪夹接近垂直于桌面，接近了木盒，并未接近目标袋装零食。需要多两步爪夹向上垂直升高，并向爪夹左后方的袋装零食移动。因此进度降低为 -20%。", + "state_description": "爪夹向右前方移动，同时降低角度使爪夹接近垂直于桌面，接近了木盒。\n为完成抓取袋装零食放入木盒的任务应当：爪夹向上垂直升高并向爪夹左后方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 5.9564086905927836 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "annotations": { + "bbox_1768880360745": { + "instances": [ + { + "height": 0.1226666566840286, + "id": "bbox_1768880360745_1768886882121_jh6vxjihf", + "width": 0.07799999523925809, + "x": 0.609666588765467, + "y": 0.5172406805630957 + } + ], + "type": "bbox" + }, + "bbox_1768880373450": { + "instances": [ + { + "height": 0.5293332902560799, + "id": "bbox_1768880373450_1768886887056_ub6ndwlsn", + "width": 0.3159999807128918, + "x": 0.5596665918172247, + "y": 0.0785740495952108 + } + ], + "type": "bbox" + }, + "point_1768880499094": { + "instances": [ + { + "id": "point_1768880499094_1768886907336_7c36ssqwm", + "x": 0.563666591573084, + "y": 0.5119073476637901 + } + ], + "type": "point" + }, + "point_1768880505733": { + "instances": [ + { + "id": "point_1768880505733_1768886909441_9tg7v4aiy", + "x": 0.6386665869954475, + "y": 0.5532406776334083 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高，并向爪夹左后方的袋装零食移动。调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹按压到木盒下方边缘。木盒被掀起。", + "frame": 193, + "progress": -30, + "progress_explanation": "爪夹按压到木盒下方边缘。木盒被掀起。需要多三步张开爪夹，垂直向上升高，并向爪夹左后方的袋装零食移动。因此进度降低为 -30%。", + "state_description": "爪夹合拢爪夹，按压到到木盒下方边缘。木盒被掀起。\n为完成抓取袋装零食放入木盒的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹左下方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 6.436791658951803 + }, + { + "action_description": "爪夹合拢，向爪夹左后方移动，并抬高了爪夹。", + "annotations": { + "bbox_1768880360745": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1768880360745_1768888207742_n0gy4cc2k", + "width": 0.07999999999999999, + "x": 0.615375, + "y": 0.59453125 + } + ], + "type": "bbox" + }, + "bbox_1768880373450": { + "instances": [ + { + "height": 0.42800000000000005, + "id": "bbox_1768880373450_1768888216654_bt2mmwejf", + "width": 0.28000000000000014, + "x": 0.629375, + "y": 0.3158645833333333 + } + ], + "type": "bbox" + }, + "point_1768880499094": { + "instances": [ + { + "id": "point_1768880499094_1768888230277_sbtq5i4gf", + "x": 0.492375, + "y": 0.5571979166666666 + } + ], + "type": "point" + }, + "point_1768880505733": { + "instances": [ + { + "id": "point_1768880505733_1768888232829_46eo5s3wm", + "x": 0.587375, + "y": 0.5785312499999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹右方的木盒移动，同时调整爪夹的角度使其垂直于桌面，并移动到木盒的正上方。接着落下爪夹靠近木盒，接近木盒后爪夹合拢抓取木盒。抓紧木盒垂直升高爪夹并向爪夹前方的桌子右上角接近，水平到达桌子右上角的正上方后松开爪夹，使木盒落在桌子上。\n爪夹向爪夹后方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹合拢，木盒被移动到桌子的右下方，需要先将木盒移动到初始位置。", + "frame": 213, + "progress": -50, + "progress_explanation": "爪夹合拢，停留在袋装零食左上方。木盒被移动到桌子的右下方，需要先将木盒移动到初始位置，因此进度降低为 -50%。", + "state_description": "爪夹合拢，向爪夹左后方移动。\n为完成抓取袋装零食放入木盒的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹右方的木盒移动，同时调整爪夹的角度使其垂直于桌面，并移动到木盒的正上方。", + "time": 7.084133 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768880360745": { + "instances": [ + { + "height": 0.1413333333333334, + "id": "bbox_1768880360745_1768887998193_n8f96uzma", + "width": 0.08200000000000003, + "x": 0.614375, + "y": 0.59053125 + } + ], + "type": "bbox" + }, + "bbox_1768880373450": { + "instances": [ + { + "height": 0.4226666666666667, + "id": "bbox_1768880373450_1768888009217_zqsz6llx6", + "width": 0.2789999999999999, + "x": 0.632375, + "y": 0.3131979166666667 + } + ], + "type": "bbox" + }, + "point_1768880499094": { + "instances": [ + { + "id": "point_1768880499094_1768888069113_p0twcpkje", + "x": 0.46137500000000004, + "y": 0.55053125 + } + ], + "type": "point" + }, + "point_1768880505733": { + "instances": [ + { + "id": "point_1768880505733_1768888071319_j9soapgjm", + "x": 0.596375, + "y": 0.5838645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上垂直升高并向爪夹右方的木盒移动，同时调整爪夹的角度使其垂直于桌面，并移动到木盒的正上方。接着落下爪夹靠近木盒，接近木盒后爪夹合拢抓取木盒。抓紧木盒垂直升高爪夹并向爪夹前方的桌子右上角接近，水平到达桌子右上角的正上方后松开爪夹，使木盒落在桌子上。\n爪夹向爪夹后方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹前方的木盒接近，水平到达木盒的正上方后松开爪夹，使袋装零食落入木盒。", + "error_success_analysis": "爪夹张开，爪夹停留在袋装零食左上方，应该向爪夹右方木盒移动。", + "frame": 227, + "progress": -40, + "progress_explanation": "爪夹张开，爪夹停留在袋装零食左上方。应当向爪夹右方木盒移动，这时还未靠近木盒，需要多一步向上升高因此进度为 -40%", + "state_description": "爪夹张开，停留在袋装零食左上方。\n为完成抓取袋装零食放入木盒的任务应当：爪夹向上垂直升高并向爪夹右方的木盒移动，同时调整爪夹的角度使其垂直于桌面，并移动到木盒的正上方。", + "time": 7.56036542536675 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768880360745", + "name": "袋装零食" + }, + { + "color": "#FF9800", + "id": "bbox_1768880373450", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768880499094", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768880505733", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-134543-put-packaged snacks-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-134543-put-packaged snacks-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..0b36898f949cf0c2f8c721c8f13b75231c1c7484 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-134543-put-packaged snacks-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,352 @@ +{ + "task_description": "抓取袋装零食放进纸箱里：\n开始准备移动：0%\n爪夹靠近袋装零食：20%\n爪夹抓取袋装零食：40%\n爪夹抓紧袋装零食接近纸箱：60%\n爪夹抓紧袋装零食移动到纸箱上方：80%\n爪夹松开袋装零食落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768892191963": { + "instances": [ + { + "height": 0.1426666666666667, + "id": "bbox_1768892191963_1768892263482_9vl5vyhlf", + "width": 0.11800000000000006, + "x": 0.6643749999999999, + "y": 0.4861979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768892202533": { + "instances": [ + { + "height": 0.4253333333333334, + "id": "bbox_1768892202533_1768892271721_de4vydylv", + "width": 0.20500000000000007, + "x": 0.791375, + "y": 0.11553125 + } + ], + "type": "bbox" + }, + "point_1768892210050": { + "instances": [ + { + "id": "point_1768892210050_1768892282065_u95fej5gi", + "x": 0.471375, + "y": 0.49686458333333333 + } + ], + "type": "point" + }, + "point_1768892216403": { + "instances": [ + { + "id": "point_1768892216403_1768892285041_8s8he5inh", + "x": 0.620375, + "y": 0.5488645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右上方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "无", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离袋装零食，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离袋装零食，未开始移动。\n为完成抓取袋装零食放进纸箱里的任务应当：爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 1.49585057435567 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1768892191963": { + "instances": [ + { + "height": 0.10133332508680618, + "id": "bbox_1768892191963_1768892613420_l14w837xx", + "width": 0.06299999615478535, + "x": 0.6926665836995493, + "y": 0.5122036529782183 + } + ], + "type": "bbox" + }, + "bbox_1768892202533": { + "instances": [ + { + "height": 0.43866663096788494, + "id": "bbox_1768892202533_1768892623556_ac7l1q1d1", + "width": 0.18699998858642664, + "x": 0.8066665767415419, + "y": 0.10820368585581983 + } + ], + "type": "bbox" + }, + "point_1768892210050": { + "instances": [ + { + "id": "point_1768892210050_1768892636754_37l9pya3s", + "x": 0.6266665877278694, + "y": 0.46553699010929445 + } + ], + "type": "point" + }, + "point_1768892216403": { + "instances": [ + { + "id": "point_1768892216403_1768892639146_bqoluw0on", + "x": 0.7746665786946668, + "y": 0.5522036497230103 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右上方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了袋装零食。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了袋装零食。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了袋装零食。\n为完成抓取袋装零食放进纸箱里的任务应当：爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 2.3076031836340203 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1768892202533": { + "instances": [ + { + "height": 0.4266666666666667, + "id": "bbox_1768892202533_1768893093786_d5eq2u0jy", + "width": 0.20400000000000018, + "x": 0.7893749999999999, + "y": 0.11719791666666667 + } + ], + "type": "bbox" + }, + "point_1768892210050": { + "instances": [ + { + "id": "point_1768892210050_1768893073682_csse66sut", + "x": 0.667375, + "y": 0.48653125 + } + ], + "type": "point" + }, + "point_1768892216403": { + "instances": [ + { + "id": "point_1768892216403_1768893075858_f7eh14tih", + "x": 0.7783749999999999, + "y": 0.5931979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了袋装零食，方便抓取袋装零食。", + "frame": 102, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了袋装零食。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了袋装零食。\n为完成抓取袋装零食放进纸箱里的任务应当：爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 3.4073970413659787 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768892202533": { + "instances": [ + { + "height": 0.4293332983941, + "id": "bbox_1768892202533_1768893409171_b42zb7hjp", + "width": 0.20199998767089938, + "x": 0.792666577596034, + "y": 0.11620368520477822 + } + ], + "type": "bbox" + }, + "point_1768892210050": { + "instances": [ + { + "id": "point_1768892210050_1768893420818_vewpn49sc", + "x": 0.6786665845540414, + "y": 0.5148703194278711 + } + ], + "type": "point" + }, + "point_1768892216403": { + "instances": [ + { + "id": "point_1768892216403_1768893422602_z6y2tby37", + "x": 0.7586665796712293, + "y": 0.588203646793323 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧袋装零食垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了袋装零食，爪夹合拢抓取到了袋装零食。", + "frame": 130, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到袋装零食。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取袋装零食。\n为完成抓取袋装零食放进纸箱里的任务应当：抓紧袋装零食垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 4.333333333333333 + }, + { + "action_description": "爪夹夹紧袋装零食，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1768892202533": { + "instances": [ + { + "height": 0.42400000000000004, + "id": "bbox_1768892202533_1768893676277_0yeyc0vgj", + "width": 0.19900000000000012, + "x": 0.798375, + "y": 0.11986458333333333 + } + ], + "type": "bbox" + }, + "point_1768892210050": { + "instances": [ + { + "id": "point_1768892210050_1768893685180_70exq0alv", + "x": 0.859375, + "y": 0.11186458333333334 + } + ], + "type": "point" + }, + "point_1768892216403": { + "instances": [ + { + "id": "point_1768892216403_1768893687733_7295us6mq", + "x": 0.976375, + "y": 0.19853125 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧袋装零食，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 170, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧袋装零食，垂直升高并向爪夹右前的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧袋装零食，水平上接近了纸箱。\n为完成抓取袋装零食放进纸箱里的任务应当：继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "time": 5.666666666666667 + }, + { + "action_description": "爪夹夹紧袋装零食，向爪夹右前方移动", + "annotations": { + "bbox_1768892202533": { + "instances": [ + { + "height": 0.4146666666666666, + "id": "bbox_1768892202533_1768893984128_itqmkqoon", + "width": 0.192, + "x": 0.802375, + "y": 0.12919791666666666 + } + ], + "type": "bbox" + }, + "point_1768892210050": { + "instances": [ + { + "id": "point_1768892210050_1768893997486_7nf6oy8my", + "x": 0.890375, + "y": 0.07719791666666667 + } + ], + "type": "point" + }, + "point_1768892216403": { + "instances": [ + { + "id": "point_1768892216403_1768893999743_smd90ftaf", + "x": 0.9793750000000001, + "y": 0.21053125 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 182, + "progress": 80, + "progress_explanation": "爪夹夹紧袋装零食，到了爪夹右前方的纸箱正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧袋装零食，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取袋装零食放进纸箱里的任务应当：松开爪夹，使袋装零食落入纸箱。", + "time": 6.069596458891753 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768892202533": { + "instances": [ + { + "height": 0.39333330132378724, + "id": "bbox_1768892202533_1768894250072_vtvrldca6", + "width": 0.20299998760986399, + "x": 0.7896665777791395, + "y": 0.15087034905026456 + } + ], + "type": "bbox" + }, + "point_1768892216403": { + "instances": [ + { + "id": "point_1768892216403_1768894261473_tgg12s3ap", + "x": 0.9756665664266011, + "y": 0.2762036721839459 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，袋装零食落入纸箱。", + "frame": 203, + "progress": 100, + "progress_explanation": "爪夹张开，袋装零食落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开袋装零食落入纸箱的任务目标完成。", + "time": 6.761694789129902 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768892191963", + "name": "袋装零食" + }, + { + "color": "#FF9800", + "id": "bbox_1768892202533", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768892210050", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768892216403", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-135145-put-packaged snacks-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-135145-put-packaged snacks-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d810b6fa2bf8ca94de56d8109d25e03789afb233 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-135145-put-packaged snacks-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,590 @@ +{ + "task_description": "抓取袋装零食放进纸箱里：\n开始准备移动：0%\n爪夹靠近袋装零食：20%\n爪夹抓取袋装零食：40%\n爪夹抓紧袋装零食接近纸箱：60%\n爪夹抓紧袋装零食移动到纸箱上方：80%\n爪夹松开袋装零食落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768895787363": { + "instances": [ + { + "height": 0.1053333247612855, + "id": "bbox_1768895787363_1768895849233_bi6zlm7dw", + "width": 0.09199999438476594, + "x": 0.5126665946858767, + "y": 0.5396110655020292 + } + ], + "type": "bbox" + }, + "bbox_1768895796426": { + "instances": [ + { + "height": 0.26666664496527953, + "id": "bbox_1768895796426_1768895860225_f5g6cso7j", + "width": 0.1799999890136726, + "x": 0.6846665841878304, + "y": 0.38627774464699344 + } + ], + "type": "bbox" + }, + "point_1768895802866": { + "instances": [ + { + "id": "point_1768895802866_1768895834026_xe89i8t21", + "x": 0.386666602376306, + "y": 0.5148703194278712 + } + ], + "type": "point" + }, + "point_1768895814506": { + "instances": [ + { + "id": "point_1768895814506_1768895836049_g5shokro2", + "x": 0.6236665879109748, + "y": 0.524203652001656 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "无", + "frame": 43, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离袋装零食，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离袋装零食，未开始移动。\n为完成抓取袋装零食放进纸箱里的任务应当：爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 1.4399613402061857 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1768895787363": { + "instances": [ + { + "height": 0.15599998730468853, + "id": "bbox_1768895787363_1768896280455_8bcnyzu0b", + "width": 0.124999992370606, + "x": 0.4826665965169313, + "y": 0.3788703304955786 + } + ], + "type": "bbox" + }, + "bbox_1768895796426": { + "instances": [ + { + "height": 0.34533330523003697, + "id": "bbox_1768895796426_1768896294368_ys70weqx1", + "width": 0.18299998883056726, + "x": 0.7256665816853892, + "y": 0.2508703409122444 + } + ], + "type": "bbox" + }, + "point_1768895802866": { + "instances": [ + { + "id": "point_1768895802866_1768896311486_5oci2topx", + "x": 0.38966660219320054, + "y": 0.5188703191023504 + } + ], + "type": "point" + }, + "point_1768895814506": { + "instances": [ + { + "id": "point_1768895814506_1768896313334_oap9gszys", + "x": 0.6236665879109748, + "y": 0.5148703194278712 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了袋装零食。", + "frame": 68, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了袋装零食。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了袋装零食。\n为完成抓取袋装零食放进纸箱里的任务应当：爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 2.2619201030927836 + }, + { + "action_description": "爪夹向右前方移动，同时降低角度使爪夹接近垂直于桌面。", + "annotations": { + "bbox_1768895787363": { + "instances": [ + { + "height": 0.30133330881076603, + "id": "bbox_1768895787363_1768896624263_wncuc52b7", + "width": 0.2239999863281259, + "x": 0.5036665952351931, + "y": 0.24820367446259162 + } + ], + "type": "bbox" + }, + "bbox_1768895796426": { + "instances": [ + { + "height": 0.5039999589843783, + "id": "bbox_1768895796426_1768896640143_8foq08stk", + "width": 0.15499999053955146, + "x": 0.8426665745442765, + "y": 0.15353701549991736 + } + ], + "type": "bbox" + }, + "point_1768895802866": { + "instances": [ + { + "id": "point_1768895802866_1768896653991_8eixsis58", + "x": 0.38766660231527084, + "y": 0.5108703197533919 + } + ], + "type": "point" + }, + "point_1768895814506": { + "instances": [ + { + "id": "point_1768895814506_1768896655935_mfrzvjqa8", + "x": 0.6256665877889045, + "y": 0.5215369855520031 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上垂直升高并向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹向右前方移动，同时降低角度使爪夹接近垂直于桌面，移动到了袋装零食左下侧，并未移动到袋装零食正上方。", + "frame": 100, + "progress": -10, + "progress_explanation": "爪夹向右前方移动，爪夹接近垂直于桌面，移动到了袋装零食左下侧，并未移动到袋装零食正上方。需要多一次爪夹向上垂直升高因此进度降低为 -10%。", + "state_description": "爪夹向右前方移动，同时降低角度使爪夹接近垂直于桌面，移动到了袋装零食左下侧。\n为完成抓取袋装零食放进纸箱里的任务应当：爪夹向上垂直升高并向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 3.3333333333333335 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "annotations": { + "bbox_1768895787363": { + "instances": [ + { + "height": 0.29199997623698104, + "id": "bbox_1768895787363_1768897288578_vrsk63t7t", + "width": 0.21299998699951245, + "x": 0.5116665947469119, + "y": 0.219907371426809 + } + ], + "type": "bbox" + }, + "bbox_1768895796426": { + "instances": [ + { + "height": 0.49599995963542004, + "id": "bbox_1768895796426_1768897305242_7w29h79mq", + "width": 0.1469999910278325, + "x": 0.8496665741170304, + "y": 0.12124071278965554 + } + ], + "type": "bbox" + }, + "point_1768895802866": { + "instances": [ + { + "id": "point_1768895802866_1768897321466_wfxc8n9o0", + "x": 0.497666595601404, + "y": 0.5105740144389637 + } + ], + "type": "point" + }, + "point_1768895814506": { + "instances": [ + { + "id": "point_1768895814506_1768897323586_wygcpqyb5", + "x": 0.5156665945027713, + "y": 0.5119073476637901 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹未抓取到袋装零食。", + "frame": 120, + "progress": -20, + "progress_explanation": "爪夹未抓取到袋装零食。需要多两步张开爪夹，垂直向上升高，因此进度降低为 -20%。", + "state_description": "爪夹合拢爪夹，未抓取到袋装零食。\n为完成抓取袋装零食放进纸箱里的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 4 + }, + { + "action_description": "爪夹张开，向上垂直移动。", + "annotations": { + "bbox_1768895787363": { + "instances": [ + { + "height": 0.1773333333333333, + "id": "bbox_1768895787363_1768897809609_u1qpkz5c3", + "width": 0.15500000000000008, + "x": 0.549375, + "y": 0.38153125000000004 + } + ], + "type": "bbox" + }, + "bbox_1768895796426": { + "instances": [ + { + "height": 0.4399999999999999, + "id": "bbox_1768895796426_1768897825160_delhi1af8", + "width": 0.15799999999999984, + "x": 0.8383750000000001, + "y": 0.19353125000000002 + } + ], + "type": "bbox" + }, + "point_1768895802866": { + "instances": [ + { + "id": "point_1768895802866_1768897840024_z60guskrf", + "x": 0.40437500000000004, + "y": 0.51353125 + } + ], + "type": "point" + }, + "point_1768895814506": { + "instances": [ + { + "id": "point_1768895814506_1768897842176_rjcryzepj", + "x": 0.609375, + "y": 0.51353125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的袋装零食移动，保持爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹接近垂直于桌面，处于袋装零食左上方，应该向爪夹右前方袋装零食移动。", + "frame": 149, + "progress": 10, + "progress_explanation": "爪夹张开，爪夹接近垂直于桌面。应当向爪夹右前方袋装零食移动，这时还未靠近袋装零食，因此进度为 10%", + "state_description": "爪夹张开，爪夹接近垂直于桌面，停留在袋装零食左上方。\n为完成抓取袋装零食放进纸箱里的任务应当：爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 4.952198501920499 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1768895787363": { + "instances": [ + { + "height": 0.3839999687500026, + "id": "bbox_1768895787363_1768898855587_d36u8asx6", + "width": 0.29899998175048936, + "x": 0.35166660451253634, + "y": 0.14820368260061176 + } + ], + "type": "bbox" + }, + "bbox_1768895796426": { + "instances": [ + { + "height": 0.4879999602864616, + "id": "bbox_1768895796426_1768898868074_1zrnma270", + "width": 0.2739999832763683, + "x": 0.7196665820516002, + "y": 0.20153701159366771 + } + ], + "type": "bbox" + }, + "point_1768895802866": { + "instances": [ + { + "id": "point_1768895802866_1768898886514_gr64ardh8", + "x": 0.3936666019490599, + "y": 0.5148703194278712 + } + ], + "type": "point" + }, + "point_1768895814506": { + "instances": [ + { + "id": "point_1768895814506_1768898888602_3b8vzquix", + "x": 0.6186665882161506, + "y": 0.5148703194278712 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了袋装零食，方便抓取袋装零食。", + "frame": 191, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了袋装零食。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了袋装零食。\n为完成抓取袋装零食放进纸箱里的任务应当：爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹右方的纸箱接近。", + "time": 6.363023155415444 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768895787363": { + "instances": [ + { + "height": 0.28133331043836984, + "id": "bbox_1768895787363_1768899462573_6kes891v8", + "width": 0.19499998809814528, + "x": 0.4046666012776733, + "y": 0.3575369988983563 + } + ], + "type": "bbox" + }, + "bbox_1768895796426": { + "instances": [ + { + "height": 0.4599999625651073, + "id": "bbox_1768895796426_1768899476672_vb8jp1unl", + "width": 0.2919999821777351, + "x": 0.6846665841878306, + "y": 0.3002036702308211 + } + ], + "type": "bbox" + }, + "point_1768895802866": { + "instances": [ + { + "id": "point_1768895802866_1768899494124_ikazyzk39", + "x": 0.48266659651693133, + "y": 0.5108703197533919 + } + ], + "type": "point" + }, + "point_1768895814506": { + "instances": [ + { + "id": "point_1768895814506_1768899495980_m78rtzfrn", + "x": 0.5286665937093142, + "y": 0.517536985877524 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧袋装零食垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到袋装零食。", + "frame": 218, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到袋装零食。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到袋装零食，爪夹角度与桌面接近垂直。\n为完成抓取袋装零食放进纸箱里的任务应当：抓紧袋装零食垂直升高爪夹并向爪夹右方的纸箱接近", + "time": 7.255012886597939 + }, + { + "action_description": "爪夹夹紧袋装零食，垂直升高，向爪夹右方移动。", + "annotations": { + "bbox_1768895787363": { + "instances": [ + { + "height": 0.3333333062065994, + "id": "bbox_1768895787363_1768899913908_ra06zs8ax", + "width": 0.16999998962402402, + "x": 0.4166666005452514, + "y": 0.24687034123776522 + } + ], + "type": "bbox" + }, + "bbox_1768895796426": { + "instances": [ + { + "height": 0.3706666365017386, + "id": "bbox_1768895796426_1768899941636_t8fzpbcju", + "width": 0.2529999845581064, + "x": 0.497666595601404, + "y": 0.21753701029158445 + } + ], + "type": "bbox" + }, + "point_1768895802866": { + "instances": [ + { + "id": "point_1768895802866_1768899957771_8gd3xq36x", + "x": 0.48866659615072044, + "y": 0.5028703204044336 + } + ], + "type": "point" + }, + "point_1768895814506": { + "instances": [ + { + "id": "point_1768895814506_1768899959820_fjh24dy4n", + "x": 0.5166665944417361, + "y": 0.5028703204044336 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧袋装零食，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 281, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧袋装零食，垂直升高并向爪夹右边的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧袋装零食，水平上接近了纸箱。\n为完成抓取袋装零食放进纸箱里的任务应当：继续向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "time": 9.377384020618559 + }, + { + "action_description": "爪夹夹紧袋装零食，向爪夹右方移动", + "annotations": { + "bbox_1768895787363": { + "instances": [ + { + "height": 0.3506666381293427, + "id": "bbox_1768895787363_1768900360572_t2hqehz59", + "width": 0.1719999895019538, + "x": 0.41666660054525134, + "y": 0.24287034156328602 + } + ], + "type": "bbox" + }, + "bbox_1768895796426": { + "instances": [ + { + "height": 0.5693332870008718, + "id": "bbox_1768895796426_1768900371012_n3f2467nt", + "width": 0.41099997491455226, + "x": 0.29466660799154, + "y": 0.10553701940616704 + } + ], + "type": "bbox" + }, + "point_1768895802866": { + "instances": [ + { + "id": "point_1768895802866_1768900388021_jad7yclvo", + "x": 0.4936665958455446, + "y": 0.5188703191023504 + } + ], + "type": "point" + }, + "point_1768895814506": { + "instances": [ + { + "id": "point_1768895814506_1768900389892_xowi343rm", + "x": 0.5146665945638065, + "y": 0.5188703191023504 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 300, + "progress": 80, + "progress_explanation": "爪夹夹紧袋装零食，到了爪夹右方的纸箱正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧袋装零食，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取袋装零食放进纸箱里的任务应当：松开爪夹，使袋装零食落入纸箱。", + "time": 10.015322164948454 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768895787363": { + "instances": [ + { + "height": 0.3493333049045162, + "id": "bbox_1768895787363_1768900607759_lzmfqfii1", + "width": 0.15799999035644588, + "x": 0.4046666012776733, + "y": 0.3082036695797795 + } + ], + "type": "bbox" + }, + "bbox_1768895796426": { + "instances": [ + { + "height": 0.5519999550781286, + "id": "bbox_1768895796426_1768900621486_flsrmc5on", + "width": 0.39399997595214986, + "x": 0.3176666065877315, + "y": 0.1855370128957509 + } + ], + "type": "bbox" + }, + "point_1768895802866": { + "instances": [ + { + "id": "point_1768895802866_1768900632431_vj96uku9z", + "x": 0.4696665973103883, + "y": 0.50420365362926 + } + ], + "type": "point" + }, + "point_1768895814506": { + "instances": [ + { + "id": "point_1768895814506_1768900634359_kpp287x83", + "x": 0.536666593221033, + "y": 0.50420365362926 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，袋装零食落入纸箱。", + "frame": 312, + "progress": 100, + "progress_explanation": "爪夹张开，袋装零食落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开袋装零食落入纸箱的任务目标完成。", + "time": 10.383363402061857 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768895787363", + "name": "袋装零食" + }, + { + "color": "#FF9800", + "id": "bbox_1768895796426", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768895802866", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768895814506", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-140419-put-packaged snacks-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-140419-put-packaged snacks-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..0dc6e681ec3de53d5e099e2aac7b0b80c5c59ba6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-140419-put-packaged snacks-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,534 @@ +{ + "task_description": "抓取香蕉放入纸箱里：\n爪夹靠近香蕉：20%\n爪夹抓取香蕉：40%\n爪夹抓紧香蕉接近纸箱：60%\n爪夹抓紧香蕉移动到纸箱上方：80%\n爪夹松开香蕉落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768902186638": { + "instances": [ + { + "height": 0.17866666666666664, + "id": "bbox_1768902186638_1768902256352_kj1yh207a", + "width": 0.16699999999999998, + "x": 0.5713750000000001, + "y": 0.5531979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768902211357": { + "instances": [ + { + "height": 0.3466666666666667, + "id": "bbox_1768902211357_1768902269789_b6j2ulcpj", + "width": 0.28500000000000014, + "x": 0.4593749999999999, + "y": 0.007864583333333331 + } + ], + "type": "bbox" + }, + "point_1768902222974": { + "instances": [ + { + "id": "point_1768902222974_1768902294020_518ox9hf3", + "x": 0.327375, + "y": 0.57053125 + } + ], + "type": "point" + }, + "point_1768902236893": { + "instances": [ + { + "id": "point_1768902236893_1768902296332_8xml73wgm", + "x": 0.450375, + "y": 0.5518645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的香蕉移动，同时调整爪夹的角度使其垂直于桌面，并移动到香蕉的正上方。接着落下爪夹靠近香蕉，接近香蕉后爪夹合拢抓取香蕉。抓紧香蕉垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使香蕉落入纸箱。", + "error_success_analysis": "无", + "frame": 55, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离香蕉，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离香蕉，未开始移动。\n为完成抓取香蕉放入纸箱里的任务应当：爪夹向爪夹右前方的香蕉移动，同时调整爪夹的角度使其垂直于桌面，并移动到香蕉的正上方。", + "time": 1.8378093444587629 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1768902186638": { + "instances": [ + { + "height": 0.1706666666666667, + "id": "bbox_1768902186638_1768902904345_dmugc2j5s", + "width": 0.15199999999999997, + "x": 0.5863750000000001, + "y": 0.55653125 + } + ], + "type": "bbox" + }, + "bbox_1768902211357": { + "instances": [ + { + "height": 0.3493333333333334, + "id": "bbox_1768902211357_1768902912200_6ejyhm1ri", + "width": 0.2799999999999999, + "x": 0.46137500000000004, + "y": 0.004531250000000001 + } + ], + "type": "bbox" + }, + "point_1768902222974": { + "instances": [ + { + "id": "point_1768902222974_1768902931343_1giehv65n", + "x": 0.459375, + "y": 0.5778645833333333 + } + ], + "type": "point" + }, + "point_1768902236893": { + "instances": [ + { + "id": "point_1768902236893_1768902929015_l33lkf1vh", + "x": 0.632375, + "y": 0.6205312500000001 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的香蕉移动，同时调整爪夹的角度使其垂直于桌面，并移动到香蕉的正上方。接着落下爪夹靠近香蕉，接近香蕉后爪夹合拢抓取香蕉。抓紧香蕉垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使香蕉落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了香蕉。", + "frame": 81, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了香蕉。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了香蕉。\n为完成抓取香蕉放入纸箱里的任务应当：爪夹向爪夹右前方的香蕉移动，同时调整爪夹的角度使其垂直于桌面，并移动到香蕉的正上方。", + "time": 2.7099422644707265 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1768902186638": { + "instances": [ + { + "height": 0.11999999023437577, + "id": "bbox_1768902186638_1768902663917_taipkwrvw", + "width": 0.1559999949951174, + "x": 0.572666589131678, + "y": 0.6163517977144262 + } + ], + "type": "bbox" + }, + "bbox_1768902211357": { + "instances": [ + { + "height": 0.34, + "id": "bbox_1768902211357_1768902686844_q4h5zlm1g", + "width": 0.279, + "x": 0.46637500000000004, + "y": 0.011864583333333335 + } + ], + "type": "bbox" + }, + "point_1768902222974": { + "instances": [ + { + "id": "point_1768902222974_1768902706043_13i58ahpw", + "x": 0.635375, + "y": 0.5918645833333334 + } + ], + "type": "point" + }, + "point_1768902236893": { + "instances": [ + { + "id": "point_1768902236893_1768902708172_599ql07vj", + "x": 0.765375, + "y": 0.6878645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取香蕉。抓紧香蕉垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使香蕉落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了香蕉，方便抓取香蕉。", + "frame": 98, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了香蕉。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了香蕉。\n为完成抓取香蕉放入纸箱里的任务应当：爪夹合拢抓取香蕉。抓紧香蕉垂直升高爪夹并向爪夹前方的纸箱接近。", + "time": 3.2831381253108303 + }, + { + "action_description": "爪夹向右方移动", + "annotations": { + "bbox_1768902186638": { + "instances": [ + { + "height": 0.18533331825086924, + "id": "bbox_1768902186638_1768903446653_ikbobw1dl", + "width": 0.1809999889526374, + "x": 0.5756665908406621, + "y": 0.5458332787407815 + } + ], + "type": "bbox" + }, + "bbox_1768902211357": { + "instances": [ + { + "height": 0.3493333049045161, + "id": "bbox_1768902211357_1768903457436_loj8jmlyz", + "width": 0.2749999832153331, + "x": 0.46366659767659923, + "y": 0.005833322686090278 + } + ], + "type": "bbox" + }, + "point_1768902222974": { + "instances": [ + { + "id": "point_1768902222974_1768903481700_6o82zc49t", + "x": 0.7506665812581431, + "y": 0.5978332755940802 + } + ], + "type": "point" + }, + "point_1768902236893": { + "instances": [ + { + "id": "point_1768902236893_1768903485236_wpawyy7sr", + "x": 0.8606665739949599, + "y": 0.7231665998128309 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左方的香蕉移动，并移动到香蕉的正上方。接着落下爪夹靠近香蕉，接近香蕉后爪夹合拢抓取香蕉。爪夹合拢抓取香蕉。抓紧香蕉垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使香蕉落入纸箱。", + "error_success_analysis": "爪夹向右方移动，接近了缠上黑绳的香蕉，并未接近目标香蕉。", + "frame": 139, + "progress": 10, + "progress_explanation": "爪夹向右方移动，接近了缠上黑绳的香蕉，并未接近目标香蕉。需要多一次向左移动因此进度降低为 10%。", + "state_description": "爪夹向右方移动，接近了缠上黑绳的香蕉。\n为完成抓取香蕉放入纸箱里的任务应当：爪夹向爪夹左方的香蕉移动。", + "time": 4.620595133937741 + }, + { + "action_description": "爪夹向爪夹左方移动，同时爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1768902186638": { + "instances": [ + { + "height": 0.15333333333333338, + "id": "bbox_1768902186638_1768958150897_sn530txh6", + "width": 0.16099999999999995, + "x": 0.5703750000000001, + "y": 0.5815312499999999 + } + ], + "type": "bbox" + }, + "bbox_1768902211357": { + "instances": [ + { + "height": 0.34266666666666673, + "id": "bbox_1768902211357_1768958165993_smrimbg84", + "width": 0.277, + "x": 0.46237500000000004, + "y": 0.010864583333333332 + } + ], + "type": "bbox" + }, + "point_1768902222974": { + "instances": [ + { + "id": "point_1768902222974_1768958186488_376v71do5", + "x": 0.6563749999999999, + "y": 0.5788645833333333 + } + ], + "type": "point" + }, + "point_1768902236893": { + "instances": [ + { + "id": "point_1768902236893_1768958188977_6mq0c4l6q", + "x": 0.754375, + "y": 0.65353125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取香蕉。抓紧香蕉垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使香蕉落入纸箱。", + "error_success_analysis": "爪夹张开，爪夹角度接近垂直于桌面，靠近了香蕉正上方，方便抓取香蕉。", + "frame": 166, + "progress": 20, + "progress_explanation": "爪夹张开，爪夹角度接近垂直于桌面，靠近了香蕉正上方，方便抓取香蕉。因此进度提升为 20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了香蕉正上方。\n为完成抓取香蕉放入纸箱里的任务应当：爪夹合拢抓取香蕉。抓紧香蕉垂直升高爪夹并向爪夹前方的纸箱接近。", + "time": 5.537708511281908 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768902186638": { + "instances": [ + { + "height": 0.14266666666666658, + "id": "bbox_1768902186638_1768958436291_qk6fk6xfj", + "width": 0.158, + "x": 0.579, + "y": 0.5955555419921875 + } + ], + "type": "bbox" + }, + "bbox_1768902211357": { + "instances": [ + { + "height": 0.35066666666666674, + "id": "bbox_1768902211357_1768958423052_zgf3j6qtr", + "width": 0.30200000000000005, + "x": 0.461, + "y": 0.00577777099609375 + } + ], + "type": "bbox" + }, + "point_1768902222974": { + "instances": [ + { + "id": "point_1768902222974_1768958456190_pj1ve9fs4", + "x": 0.666, + "y": 0.6008888753255209 + } + ], + "type": "point" + }, + "point_1768902236893": { + "instances": [ + { + "id": "point_1768902236893_1768958458667_27p5i47e2", + "x": 0.74, + "y": 0.6475555419921875 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧香蕉垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正前方后松开爪夹，使香蕉落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了香蕉，爪夹合拢抓取到了香蕉。", + "frame": 179, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到香蕉。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取香蕉。\n为完成抓取香蕉放入纸箱里的任务应当：抓紧香蕉垂直升高爪夹并向爪夹前方的纸箱接近。", + "time": 5.958052142564651 + }, + { + "action_description": "爪夹夹紧香蕉，垂直升高，向爪夹前方移动。", + "annotations": { + "bbox_1768902186638": { + "instances": [ + { + "height": 0.12533333333333344, + "id": "bbox_1768902186638_1768958786988_sh2efvo87", + "width": 0.16499999999999995, + "x": 0.662375, + "y": 0.46786458333333336 + } + ], + "type": "bbox" + }, + "bbox_1768902211357": { + "instances": [ + { + "height": 0.3426666666666666, + "id": "bbox_1768902211357_1768958762677_lnb0k7yx4", + "width": 0.28500000000000014, + "x": 0.460375, + "y": 0.010531249999999999 + } + ], + "type": "bbox" + }, + "point_1768902222974": { + "instances": [ + { + "id": "point_1768902222974_1768958796684_48ekfni8d", + "x": 0.721375, + "y": 0.47719791666666667 + } + ], + "type": "point" + }, + "point_1768902236893": { + "instances": [ + { + "id": "point_1768902236893_1768958799500_w19b6zxik", + "x": 0.812375, + "y": 0.5251979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使香蕉落入纸箱。", + "error_success_analysis": "爪夹合拢夹紧香蕉，水平上接近了纸箱。方便接近纸箱。", + "frame": 210, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧香蕉，垂直升高并向爪夹前边的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧香蕉，水平上接近了纸箱。\n为完成抓取香蕉放入纸箱里的任务应当：继续向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使香蕉落入纸箱。", + "time": 7.008911220771508 + }, + { + "action_description": "爪夹夹紧香蕉，向爪夹前方移动", + "annotations": { + "bbox_1768902186638": { + "instances": [ + { + "height": 0.15066667230902736, + "id": "bbox_1768902186638_1768959674194_3ux9ndrs0", + "width": 0.20999999871826186, + "x": 0.5643750023193358, + "y": 0.007864591037325766 + } + ], + "type": "bbox" + }, + "bbox_1768902211357": { + "instances": [ + { + "height": 0.3493333333333333, + "id": "bbox_1768902211357_1768959695098_0fjmbhoax", + "width": 0.2710000000000001, + "x": 0.46437499999999987, + "y": 0.00653125 + } + ], + "type": "bbox" + }, + "point_1768902222974": { + "instances": [ + { + "id": "point_1768902222974_1768959708962_qebtulzc1", + "x": 0.6963750003051759, + "y": 0.1998645875651038 + } + ], + "type": "point" + }, + "point_1768902236893": { + "instances": [ + { + "id": "point_1768902236893_1768960717019_38e3zvxes", + "x": 0.7346665811360729, + "y": 0.15872219574200883 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使香蕉落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧香蕉，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 220, + "progress": 80, + "progress_explanation": "爪夹夹紧香蕉，缩短了与纸箱的距离。因此进度提升为 80%。", + "state_description": "爪夹夹紧香蕉，水平上接近了纸箱。\n为完成抓取香蕉放入纸箱里的任务应当：继续向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使香蕉落入纸箱。", + "time": 7.343275472928236 + }, + { + "action_description": "爪夹夹紧香蕉，向爪夹前方移动并张开爪夹", + "annotations": { + "bbox_1768902186638": { + "instances": [ + { + "height": 0.1853333308376738, + "id": "bbox_1768902186638_1768959943612_x919t1o28", + "width": 0.056000010437011125, + "x": 0.5103750009765624, + "y": 0.09419790939670199 + } + ], + "type": "bbox" + }, + "bbox_1768902211357": { + "instances": [ + { + "height": 0.3399999992404515, + "id": "bbox_1768902211357_1768959960332_slnled078", + "width": 0.2860000033569333, + "x": 0.45937500030517586, + "y": 0.010197917534722137 + } + ], + "type": "bbox" + }, + "point_1768902222974": { + "instances": [ + { + "id": "point_1768902222974_1768959974324_y8ntkz18k", + "x": 0.4993750070800778, + "y": 0.07019791395399327 + } + ], + "type": "point" + }, + "point_1768902236893": { + "instances": [ + { + "id": "point_1768902236893_1768959976540_pekx6g7t6", + "x": 0.5443750065917966, + "y": 0.07953124978298612 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹移动到了纸箱正上方后爪夹张开，香蕉落入纸箱。", + "frame": 235, + "progress": 100, + "progress_explanation": "爪夹夹紧香蕉，到了爪夹前方的纸箱正上方后爪夹张开，香蕉落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹夹紧香蕉，到了爪夹前方的纸箱正上方后爪夹张开。\n爪夹松开香蕉放入纸箱里的任务目标完成。", + "time": 7.837259732087629 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768902186638", + "name": "香蕉" + }, + { + "color": "#FF9800", + "id": "bbox_1768902211357", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768902222974", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768902236893", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-140419-put-packaged snacks-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-140419-put-packaged snacks-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e5e8cdd9c782d532e7d20cdd37e613a981ae2598 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-140419-put-packaged snacks-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,974 @@ +{ + "task_description": "抓取袋装零食放入纸箱：\n准备开始移动：0%\n爪夹靠近袋装零食：20%\n爪夹抓取袋装零食：40%\n爪夹抓紧袋装零食接近纸箱：60%\n爪夹抓紧袋装零食移动到纸箱上方：80%\n爪夹松开袋装零食落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.13333333333333328, + "id": "bbox_1768963478345_1768963542207_hjgp7awvb", + "width": 0.11099999999999977, + "x": 0.733375, + "y": 0.4838645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.3426666666666666, + "id": "bbox_1768963487482_1768963578808_oj532dg9a", + "width": 0.28300000000000003, + "x": 0.460375, + "y": 0.011864583333333335 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768963590830_vlywuazq3", + "x": 0.45137499999999997, + "y": 0.5491979166666667 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768963593478_m7alpsr5d", + "x": 0.571375, + "y": 0.57053125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "无", + "frame": 46, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离袋装零食，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离袋装零食，未开始移动。\n为完成抓取袋装零食放入纸箱的任务应当：爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 1.5397471458369525 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.13199998925781334, + "id": "bbox_1768963478345_1768964027070_m0g146fwp", + "width": 0.1009999938354496, + "x": 0.7426665806477917, + "y": 0.4828703220320376 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.3439999720052106, + "id": "bbox_1768963487482_1768964038182_zj555odly", + "width": 0.2809999828491221, + "x": 0.46166659779866953, + "y": 0.008203693993840007 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768964049638_eor0huqzs", + "x": 0.6176665882771857, + "y": 0.5602036490719687 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768964051716_lgsr8c9rb", + "x": 0.766666579182948, + "y": 0.6375369761118997 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了袋装零食。", + "frame": 75, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了袋装零食。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了袋装零食。\n为完成抓取袋装零食放入纸箱的任务应当：爪夹向爪夹右前方的袋装零食移动，同时调整爪夹的角度使其垂直于桌面，并移动到袋装零食的正上方。", + "time": 2.499128510212219 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.14133333333333323, + "id": "bbox_1768963478345_1768964319280_ny4gv1a4l", + "width": 0.07100000000000009, + "x": 0.7783749999999999, + "y": 0.51253125 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.34933333333333333, + "id": "bbox_1768963487482_1768964329793_mpfgdhx21", + "width": 0.274, + "x": 0.464375, + "y": 0.00853125 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768964360330_gbhz2am23", + "x": 0.716375, + "y": 0.5138645833333333 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768964362423_zvcj8ejp3", + "x": 0.841375, + "y": 0.5951979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了袋装零食，方便抓取袋装零食。", + "frame": 123, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了袋装零食。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了袋装零食。\n为完成抓取袋装零食放入纸箱的任务应当：爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近。", + "time": 4.0929165874999995 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.11733332378472307, + "id": "bbox_1768963478345_1768964654145_lbywzhlht", + "width": 0.0959999941406254, + "x": 0.7566665797932994, + "y": 0.4935369878306488 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.345333305230037, + "id": "bbox_1768963487482_1768964674665_1dkoqo1ua", + "width": 0.2789999829711924, + "x": 0.4656665975545288, + "y": 0.006129617827993341 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768964695257_2qm929pkv", + "x": 0.7246665817464244, + "y": 0.5394629077585524 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768964697577_aexhb4e37", + "x": 0.8096665765584363, + "y": 0.5874629038523028 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了袋装零食，爪夹合拢抓取到了袋装零食。", + "frame": 142, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到袋装零食。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取袋装零食。\n为完成抓取袋装零食放入纸箱的任务应当：抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近。", + "time": 4.733333333333333 + }, + { + "action_description": "爪夹夹紧袋装零食，垂直升高，向爪夹左前方移动。", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.11999999023437583, + "id": "bbox_1768963478345_1768964914932_0bbm0s9eh", + "width": 0.0999999938964847, + "x": 0.7256665816853892, + "y": 0.3562036656735298 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.34533330523003697, + "id": "bbox_1768963487482_1768964924819_pdf0yr2fn", + "width": 0.2749999832153329, + "x": 0.465666597554529, + "y": 0.008203693993840007 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768964967467_6fs0rab6y", + "x": 0.6856665841267954, + "y": 0.39827774367043106 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768964945452_cbokbi7uh", + "x": 0.759666579610194, + "y": 0.46553699010929445 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧袋装零食，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 194, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧袋装零食，垂直升高并向爪夹左前的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧袋装零食，水平上接近了纸箱。\n为完成抓取袋装零食放入纸箱的任务应当：继续向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "time": 6.46101821865082 + }, + { + "action_description": "爪夹夹紧袋装零食，向爪夹左前方移动，张开爪夹。", + "annotations": { + "bbox_1768963487482": { + "instances": [ + { + "height": 0.3413333055555579, + "id": "bbox_1768963487482_1768965296283_rnopklgaq", + "width": 0.28199998278808697, + "x": 0.46166659779866953, + "y": 0.008203693993840007 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768965308981_xgjfba03e", + "x": 0.5886665900472051, + "y": 0.366870331472141 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768965310860_kwu3l920z", + "x": 0.7216665819295298, + "y": 0.3708703311466202 + } + ], + "type": "point" + } + }, + "correction_plan": "接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹移动到了杯子正上方，爪夹张开，袋装零食掉入杯子里，需要重新抓取袋装零食。", + "frame": 205, + "progress": -10, + "progress_explanation": "爪夹移动到了杯子正上方，爪夹张开，袋装零食掉入杯子里，需要重新抓取袋装零食，因此进度降低为 -10%。", + "state_description": "爪夹移动到了杯子正上方，爪夹张开，袋装零食掉入杯子里。\n为完成抓取袋装零食放入纸箱的任务应当：接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近。", + "time": 6.828930280283504 + }, + { + "action_description": "爪夹向左前方移动。", + "annotations": { + "bbox_1768963487482": { + "instances": [ + { + "height": 0.3573333042534746, + "id": "bbox_1768963487482_1768965724651_mzpg2aczj", + "width": 0.2749999832153331, + "x": 0.4686665973714234, + "y": 0.00687036076901361 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768965739187_r06s7r4r2", + "x": 0.543666595174158, + "y": 0.28687034395043864 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768965741603_7cvgubca1", + "x": 0.6896665866292366, + "y": 0.29353701083411915 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右后方的杯子移动，保持爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹向左前方移动，接近了纸箱，并未接近袋装零食。", + "frame": 222, + "progress": -20, + "progress_explanation": "爪夹向左前方移动，接近了纸箱，并未接近目标袋装零食。需要多一次爪夹向右后移动，因此进度降低为 -20%。", + "state_description": "爪夹向左前方移动，接近了纸箱。\n为完成抓取袋装零食放入纸箱的任务应当：爪夹向爪夹右后方的杯子移动，移动到杯子的正上方。", + "time": 7.415218928737113 + }, + { + "action_description": "爪夹合拢，垂直向下移动并按压纸箱。", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.09999999186197979, + "id": "bbox_1768963478345_1768966711391_xwthid75t", + "width": 0.06799999584960963, + "x": 0.6096665881551154, + "y": 0.31087033678898085 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.42133329882812787, + "id": "bbox_1768963487482_1768966722247_m21scs2g1", + "width": 0.33699997949218874, + "x": 0.39566660182698965, + "y": 0.029537025808076246 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768966738919_1t6751b75", + "x": 0.5026665955403689, + "y": 0.3482036664330784 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768966741231_ga4f4osww", + "x": 0.5876665902303106, + "y": 0.3615369986813423 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹右方的杯子移动，保持爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹按压到纸箱。纸箱脱离初始位置。", + "frame": 250, + "progress": -40, + "progress_explanation": "爪夹按压到纸箱，纸箱脱离初始位置。需要多两步张开爪夹，垂直向上升高，因此进度降低为 -40%。", + "state_description": "爪夹合拢爪夹，按压到纸箱。纸箱脱离初始位置。\n为完成抓取抓取袋装零食放入纸箱的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹右方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 8.326481982713837 + }, + { + "action_description": "爪夹向上垂直移动并向爪夹后方移动", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.08533333333333334, + "id": "bbox_1768963478345_1768967680891_xty6mg6hz", + "width": 0.07799999999999993, + "x": 0.611375, + "y": 0.30919791666666663 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.3, + "id": "bbox_1768963487482_1768967688907_w2mktya5z", + "width": 0.28900000000000003, + "x": 0.425375, + "y": 0.011864583333333336 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768967702491_lk14gh3xo", + "x": 0.430375, + "y": 0.36653125000000003 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向爪夹右前方的杯子移动，保持爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹向上垂直移动并向后方移动，水平和高度上远离了袋装零食。纸箱恢复到初始位置", + "frame": 262, + "progress": -35, + "progress_explanation": "爪夹合拢，爪夹接近垂直于桌面，远离了袋装零食，需要多两步张开爪夹并向爪夹右前方杯子移动。纸箱恢复到初始位置，因此进度为 -35%", + "state_description": "爪夹合拢，爪夹接近垂直于桌面，停留在杯子左上方。纸箱恢复到初始位置。\n为完成抓取黄色积木插入相应的孔洞使其落入铁盒的任务应当：爪夹张开，爪夹向爪夹右前方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 8.717341057088944 + }, + { + "action_description": "爪夹张开，向爪夹正前方移动并向下垂直移动。", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.09333332573784782, + "id": "bbox_1768963478345_1768972676820_grreuvdw3", + "width": 0.08399999487304717, + "x": 0.602666589192713, + "y": 0.3040555172480862 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.31599997428385623, + "id": "bbox_1768963487482_1768972683596_ld54vsobs", + "width": 0.29299998211670025, + "x": 0.43066659969075927, + "y": 0.006722208111799469 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768972696789_s4ab49ip0", + "x": 0.45166659834798584, + "y": 0.32538885166648884 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768972698820_23gxshvjk", + "x": 0.5606665913899784, + "y": 0.324055519309718 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上垂直升高并向爪夹右方的杯子移动，保持爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹向正前方移动并向下垂直移动。水平上接近了袋装零食。", + "frame": 299, + "progress": -30, + "progress_explanation": "爪夹张开，爪夹向前移动，爪夹接近垂直于桌面，靠近了袋装零食。需要多一次爪夹向上垂直升高因此进度为 -30%。", + "state_description": "爪夹张开，爪夹向前方移动，同时降低角度使爪夹接近垂直于桌面，接近了袋装零食。\n为完成抓取袋装零食放入纸箱的任务应当：爪夹向上垂直升高并向爪夹右方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 9.978749888026796 + }, + { + "action_description": "爪夹合拢，向上垂直移动。", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.10799999999999994, + "id": "bbox_1768963478345_1768974118095_ypogxx29z", + "width": 0.08500000000000005, + "x": 0.607375, + "y": 0.2968645833333333 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.30133333333333334, + "id": "bbox_1768963487482_1768974123039_x7z9ta17d", + "width": 0.26899999999999996, + "x": 0.44037500000000007, + "y": 0.010197916666666666 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768974134791_3rb46nqdw", + "x": 0.456375, + "y": 0.2221979166666667 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768974137351_nu4am0lwo", + "x": 0.5533750000000001, + "y": 0.20086458333333332 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开并向爪夹右方的杯子移动，保持爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹向上垂直移动，并合拢爪夹。爪夹未抓取到纸箱，水平上未靠近袋装零食。处于杯子左上方，应该向爪夹右方杯子移动。", + "frame": 325, + "progress": -25, + "progress_explanation": "爪夹合拢并垂直升高，未抓取到纸箱。移动到了杯子左上方，水平上未靠近袋装零食，需要多一步张开爪夹因此进度为 -25%", + "state_description": "爪夹垂直于桌面合拢，未抓取到纸箱。水平上未靠近袋装零食，停留在杯子左上方。\n为完成抓取袋装零食放入纸箱的任务应当：爪夹张开并向爪夹右方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 10.831533323027033 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.10133333333333336, + "id": "bbox_1768963478345_1768977302421_9da6v4p2k", + "width": 0.08100000000000004, + "x": 0.609375, + "y": 0.30253125000000003 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.3, + "id": "bbox_1768963487482_1768977336141_tc6dp71ku", + "width": 0.26899999999999996, + "x": 0.4433750000000001, + "y": 0.01419791666666667 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768977347533_4xu6af74s", + "x": 0.41937499999999994, + "y": 0.23019791666666667 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768977370636_nqwv4dwzj", + "x": 0.556375, + "y": 0.22619791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的杯子移动，保持爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹接近垂直于桌面，处于杯子左上方，应该向爪夹右方杯子移动。", + "frame": 340, + "progress": -20, + "progress_explanation": "爪夹张开，未靠近杯子。需要多一步向右方移动，因此进度为 -20%", + "state_description": "爪夹张开，爪夹接近垂直于桌面，停留在杯子左上方。\n为完成抓取袋装零食放入纸箱的任务应当：爪夹向爪夹右方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 11.328990326777168 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.09600000000000003, + "id": "bbox_1768963478345_1768978195989_upd5t394s", + "width": 0.09500000000000011, + "x": 0.6023749999999999, + "y": 0.30253125000000003 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.312, + "id": "bbox_1768963487482_1768978213386_jwovt23q2", + "width": 0.26899999999999985, + "x": 0.4443750000000001, + "y": 0.007864583333333335 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768978227268_90lmhvows", + "x": 0.43537499999999996, + "y": 0.26386458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹右方的杯子移动，保持爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹未抓取到纸箱。水平上未靠近袋装零食。", + "frame": 367, + "progress": -30, + "progress_explanation": "爪夹未抓取到纸箱。水平上未靠近袋装零食。需要多两步张开爪夹，垂直向上升高，因此进度降低为 -30%。", + "state_description": "爪夹合拢爪夹，未抓取到纸箱。水平上未靠近袋装零食。\n为完成抓取袋装零食放入纸箱的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹右方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 12.217306404902416 + }, + { + "action_description": "爪夹向上垂直移动并向左后方移动。", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1768963478345_1768978667362_kau2k0ln9", + "width": 0.08499999999999996, + "x": 0.607375, + "y": 0.3038645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.3533333333333334, + "id": "bbox_1768963487482_1768978676450_ugtl9gj4q", + "width": 0.30599999999999994, + "x": 0.372375, + "y": 0.011864583333333326 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768978723186_d9w966m43", + "x": 0.317375, + "y": 0.19853125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的杯子移动，保持爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹水平上移动到杯子左下，水平和高度上远离了袋装零食。", + "frame": 380, + "progress": -35, + "progress_explanation": "爪夹向左后方移动，远离了袋装零食。因此进度降低为 -35%。", + "state_description": "爪夹向左后方移动，水平上停留在杯子左下。垂直高度上远离了袋装零食。\n为完成抓取黄色积木插入相应的孔洞使其落入铁盒的任务应当：爪夹向上垂直升高并向爪夹右方的黄色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄色积木的正上方。", + "time": 12.661464443965038 + }, + { + "action_description": "爪夹张开，向爪夹右前方移动，", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.09333333333333335, + "id": "bbox_1768963478345_1768979841619_bj95cs2bx", + "width": 0.08900000000000005, + "x": 0.606375, + "y": 0.3011979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.34666666666666673, + "id": "bbox_1768963487482_1768979851291_qgerwicw7", + "width": 0.277, + "x": 0.39837500000000003, + "y": 0.01719791666666667 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768979864515_wy4o7b54q", + "x": 0.48237500000000005, + "y": 0.22119791666666666 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768979866545_yu6wewju1", + "x": 0.5903750000000001, + "y": 0.2918645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的杯子移动，保持爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了袋装零食。", + "frame": 411, + "progress": -20, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了袋装零食。因此进度提升为 -20%。", + "state_description": "爪夹张开，水平上接近了袋装零食。\n为完成抓取袋装零食放入纸箱的任务应当：爪夹向爪夹右方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 13.691911094590328 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.09599999218750063, + "id": "bbox_1768963478345_1768980272794_1s30hijkl", + "width": 0.08199999499511756, + "x": 0.6066665889485724, + "y": 0.30005551757360693 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.3666666368272594, + "id": "bbox_1768963487482_1768980282777_lypw3i3qn", + "width": 0.31299998089599723, + "x": 0.34466660493978235, + "y": 0.006722208111799469 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768980297451_umv2ccvri", + "x": 0.4916665959676149, + "y": 0.2584259026346108 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768980299290_nq3lnbg1b", + "x": 0.5926665898030645, + "y": 0.27575923455735396 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹右方的杯子移动，保持爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹抓取到纸箱。水平上未靠近袋装零食。", + "frame": 436, + "progress": -30, + "progress_explanation": "爪夹抓取到纸箱。水平上未靠近袋装零食。需要多两步张开爪夹，垂直向上升高，因此进度降低为 -30%。", + "state_description": "爪夹合拢爪夹，抓取到纸箱。水平上未靠近袋装零食。\n为完成抓取袋装零食放入纸箱的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹右方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 14.544694529590563 + }, + { + "action_description": "爪夹夹紧纸箱，向爪夹左后方移动，并抬高了爪夹。", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.10533333333333333, + "id": "bbox_1768963478345_1768980774952_7ygfz9tg1", + "width": 0.083, + "x": 0.609375, + "y": 0.2958645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.3893333333333333, + "id": "bbox_1768963487482_1768980782542_mv15ae2u0", + "width": 0.331, + "x": 0.009375000000000022, + "y": 0.010531249999999999 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768980793511_445robput", + "x": 0.332375, + "y": 0.19853125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧纸箱向爪夹右前方移动，水平到达杯子的左上方后松开爪夹，使纸箱落在桌子上。\n爪夹向爪夹右后方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹夹紧纸箱，向爪夹左后方移动，水平上远离了袋装零食。纸箱脱离初始位置，被移动到桌子左下方。", + "frame": 454, + "progress": -40, + "progress_explanation": "爪夹夹紧纸箱，水平上远离了袋装零食，来到了杯子左下方。纸箱脱离初始位置，被移动到桌子左下方，因此进度降低为-40%。", + "state_description": "爪夹夹紧纸箱，向爪夹左后方移动，水平上远离了袋装零食。纸箱脱离初始位置，被移动到桌子左下方。\n为完成抓取袋装零食放入纸箱的任务应当：夹紧纸箱向爪夹右前方移动。", + "time": 15.143569294716492 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768963478345": { + "instances": [ + { + "height": 0.09999999186197985, + "id": "bbox_1768963478345_1768981660358_ic618f7ar", + "width": 0.06899999578857452, + "x": 0.6156665883992559, + "y": 0.2973888511239542 + } + ], + "type": "bbox" + }, + "bbox_1768963487482": { + "instances": [ + { + "height": 0.38133330230034973, + "id": "bbox_1768963487482_1768981666886_tc5av24cb", + "width": 0.3359999794921887, + "x": 0.13266661787923476, + "y": 0.028055539709021828 + } + ], + "type": "bbox" + }, + "point_1768963486042": { + "instances": [ + { + "id": "point_1768963486042_1768981680022_8mex88qmu", + "x": 0.24466661104329765, + "y": 0.24805552180537746 + } + ], + "type": "point" + }, + "point_1768963497288": { + "instances": [ + { + "id": "point_1768963497288_1768981682230_1hfuhug7x", + "x": 0.3256666060994503, + "y": 0.2293888566578079 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方的纸箱移动，同时调整爪夹的角度使其垂直于桌面，并移动到纸箱的正上方。接着落下爪夹靠近纸箱，接近纸箱后爪夹合拢抓取纸箱。抓紧纸箱垂直升高爪夹并向爪夹右方的杯子左上方接近，水平到达杯子左上方的正上方后松开爪夹，使纸箱落在桌面上。\n爪夹向爪夹右后方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。接着落下爪夹靠近袋装零食，接近袋装零食后爪夹合拢抓取袋装零食。抓紧袋装零食垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使袋装零食落入纸箱。", + "error_success_analysis": "爪夹张开，纸箱掉到桌面上，需要先将纸箱移动到初始位置", + "frame": 478, + "progress": -50, + "progress_explanation": "爪夹张开，水平上远离了袋装零食，纸箱掉到桌面上，需要先将纸箱移动到初始位置，因此进度降低为 -50%。", + "state_description": "爪夹张开，水平上远离了袋装零食，纸箱掉在桌面上。纸箱移动到初始位置的左侧。", + "time": 15.948233933028455 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768963478345", + "name": "袋装零食" + }, + { + "color": "#FF9800", + "id": "bbox_1768963487482", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768963486042", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768963497288", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-141642-put-usb c hub-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-141642-put-usb c hub-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e2885f0454dbb30c41d414ac5e3c19d8314d0060 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-141642-put-usb c hub-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,422 @@ +{ + "task_description": "抓取USB-C集线器放进纸箱里：\n准备开始移动：0%\n爪夹靠近USB-C集线器：20%\n爪夹抓取USB-C集线器：40%\n爪夹抓紧USB-C集线器接近纸箱：60%\n爪夹抓紧USB-C集线器移动到纸箱上方：80%\n爪夹松开USB-C集线器落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768983270004": { + "instances": [ + { + "height": 0.13999999999999999, + "id": "bbox_1768983270004_1768983337907_eaegs2xid", + "width": 0.13699999999999993, + "x": 0.5903750000000001, + "y": 0.5891979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768983289940": { + "instances": [ + { + "height": 0.41600000000000004, + "id": "bbox_1768983289940_1768983348207_b0exodbt5", + "width": 0.2370000000000001, + "x": 0.167375, + "y": 0.35053125 + } + ], + "type": "bbox" + }, + "point_1768983298901": { + "instances": [ + { + "id": "point_1768983298901_1768983357420_lumc5vyrw", + "x": 0.079375, + "y": 0.40519791666666666 + } + ], + "type": "point" + }, + "point_1768983312964": { + "instances": [ + { + "id": "point_1768983312964_1768983359739_wpme0f1ai", + "x": 0.33737500000000004, + "y": 0.3638645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "无", + "frame": 43, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离USB-C集线器，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离USB-C集线器，未开始移动。\n为完成抓取USB-C集线器放进纸箱里的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 1.4199871134020619 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1768983270004": { + "instances": [ + { + "height": 0.1359999889322926, + "id": "bbox_1768983270004_1768983590102_xsxsxqhtu", + "width": 0.13999999145507874, + "x": 0.5886665900472051, + "y": 0.5935369796926285 + } + ], + "type": "bbox" + }, + "bbox_1768983289940": { + "instances": [ + { + "height": 0.41199996647135706, + "id": "bbox_1768983289940_1768983602221_qae4am9th", + "width": 0.31099998101806764, + "x": 0.09966661989339479, + "y": 0.34820366632457134 + } + ], + "type": "bbox" + }, + "point_1768983298901": { + "instances": [ + { + "id": "point_1768983298901_1768983617597_6ckgwvrun", + "x": 0.5026665952962283, + "y": 0.47620365590790564 + } + ], + "type": "point" + }, + "point_1768983312964": { + "instances": [ + { + "id": "point_1768983312964_1768983615477_m69i7ojyn", + "x": 0.6536665860799202, + "y": 0.5775369809947118 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。", + "frame": 76, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了USB-C集线器。\n为完成抓取USB-C集线器放进纸箱里的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 2.5445231958762884 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1768983270004": { + "instances": [ + { + "height": 0.10533333333333322, + "id": "bbox_1768983270004_1768983843528_rjdd7elaf", + "width": 0.14399999999999985, + "x": 0.595375, + "y": 0.6198645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768983289940": { + "instances": [ + { + "height": 0.41599999999999987, + "id": "bbox_1768983289940_1768983853057_0sygieqgm", + "width": 0.30700000000000005, + "x": 0.105375, + "y": 0.34786458333333337 + } + ], + "type": "bbox" + }, + "point_1768983298901": { + "instances": [ + { + "id": "point_1768983298901_1768983862888_7ccleaj6e", + "x": 0.591375, + "y": 0.6091979166666667 + } + ], + "type": "point" + }, + "point_1768983312964": { + "instances": [ + { + "id": "point_1768983312964_1768983865191_awmu0rxer", + "x": 0.712375, + "y": 0.6451979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，方便抓取USB-C集线器。", + "frame": 114, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。\n为完成抓取USB-C集线器放进纸箱里的任务应当：爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近。", + "time": 3.7940077319587626 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768983270004": { + "instances": [ + { + "height": 0.10266665831163262, + "id": "bbox_1768983270004_1768984165339_0tmdsnse2", + "width": 0.14399999121093812, + "x": 0.6036665891316778, + "y": 0.6162036445146774 + } + ], + "type": "bbox" + }, + "bbox_1768983289940": { + "instances": [ + { + "height": 0.42266663226996815, + "id": "bbox_1768983289940_1768984178994_t80ubktkv", + "width": 0.30099998162841907, + "x": 0.10466661958821902, + "y": 0.35087033277422425 + } + ], + "type": "bbox" + }, + "point_1768983298901": { + "instances": [ + { + "id": "point_1768983298901_1768984173258_0uzryrilj", + "x": 0.6336665873006233, + "y": 0.6068703119408927 + } + ], + "type": "point" + }, + "point_1768983312964": { + "instances": [ + { + "id": "point_1768983312964_1768984175147_grjpwwyic", + "x": 0.6976665833943735, + "y": 0.6162036445146774 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，爪夹合拢抓取到了USB-C集线器。", + "frame": 160, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到USB-C集线器。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取USB-C集线器。\n为完成抓取USB-C集线器放进纸箱里的任务应当：抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近。", + "time": 5.335038659793814 + }, + { + "action_description": "爪夹夹紧USB-C集线器，垂直升高，向爪夹左方移动。", + "annotations": { + "bbox_1768983270004": { + "instances": [ + { + "height": 0.11999999023437583, + "id": "bbox_1768983270004_1768984364239_djpm9rfzx", + "width": 0.1729999894409186, + "x": 0.543666592793787, + "y": 0.42420366013967603 + } + ], + "type": "bbox" + }, + "bbox_1768983289940": { + "instances": [ + { + "height": 0.4119999664713569, + "id": "bbox_1768983289940_1768984371599_3n6mhxcf0", + "width": 0.2709999834594737, + "x": 0.12666661824544564, + "y": 0.3522036659990506 + } + ], + "type": "bbox" + }, + "point_1768983298901": { + "instances": [ + { + "id": "point_1768983298901_1768984383560_sh7vj4pyx", + "x": 0.576666590779627, + "y": 0.4295369930389817 + } + ], + "type": "point" + }, + "point_1768983312964": { + "instances": [ + { + "id": "point_1768983312964_1768984385206_mlz7pe4ju", + "x": 0.6396665869344124, + "y": 0.4402036588375929 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧USB-C集线器，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 208, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧USB-C集线器，垂直升高并向爪夹左方的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧USB-C集线器，水平上接近了纸箱。\n为完成抓取USB-C集线器放进纸箱里的任务应当：继续向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "time": 6.94895618556701 + }, + { + "action_description": "爪夹夹紧USB-C集线器，向爪夹左方移动", + "annotations": { + "bbox_1768983270004": { + "instances": [ + { + "height": 0.0866666681857638, + "id": "bbox_1768983270004_1768984741487_0p7cbsukr", + "width": 0.15900000030517578, + "x": 0.18037499969482423, + "y": 0.30919791666666663 + } + ], + "type": "bbox" + }, + "bbox_1768983289940": { + "instances": [ + { + "height": 0.40933333333333344, + "id": "bbox_1768983289940_1768984746695_cl5qe6jx2", + "width": 0.29400000000000004, + "x": 0.114375, + "y": 0.3491979166666666 + } + ], + "type": "bbox" + }, + "point_1768983298901": { + "instances": [ + { + "id": "point_1768983298901_1768984795854_0cuqvdwfy", + "x": 0.252375, + "y": 0.2971979166666667 + } + ], + "type": "point" + }, + "point_1768983312964": { + "instances": [ + { + "id": "point_1768983312964_1768984792718_75heuwjek", + "x": 0.311375, + "y": 0.31053125000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 224, + "progress": 80, + "progress_explanation": "爪夹夹紧USB-C集线器，到了爪夹左方的纸箱正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧USB-C集线器，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取USB-C集线器放进纸箱里的任务应当：松开爪夹，使USB-C集线器落入纸箱。", + "time": 7.4591623711340205 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768983270004": { + "instances": [ + { + "height": 0.11599999055989668, + "id": "bbox_1768983270004_1768985053170_9akyra4u0", + "width": 0.07399999548339875, + "x": 0.2786666089681024, + "y": 0.5015369871796072 + } + ], + "type": "bbox" + }, + "bbox_1768983289940": { + "instances": [ + { + "height": 0.4493332967664961, + "id": "bbox_1768983289940_1768985065296_2uter8p2c", + "width": 0.2809999828491221, + "x": 0.12466661836751596, + "y": 0.3068703363549531 + } + ], + "type": "bbox" + }, + "point_1768983298901": { + "instances": [ + { + "id": "point_1768983298901_1768985079801_o0anypajy", + "x": 0.19666661397298496, + "y": 0.4508703246362041 + } + ], + "type": "point" + }, + "point_1768983312964": { + "instances": [ + { + "id": "point_1768983312964_1768985081531_z73z0w9ip", + "x": 0.35266660445150116, + "y": 0.3095370028046059 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，USB-C集线器落入纸箱。", + "frame": 268, + "progress": 100, + "progress_explanation": "爪夹张开，USB-C集线器落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开USB-C集线器放进纸箱里的任务目标完成。", + "time": 8.948131443298967 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768983270004", + "name": "USB-C集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1768983289940", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768983298901", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768983312964", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-142432-put-usb c hub-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-142432-put-usb c hub-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..4cfcd73e1b80f1a254a2e91e35d87daa84b412cc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-142432-put-usb c hub-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,544 @@ +{ + "task_description": "抓取USB-C集线器放进纸箱里：\n准备开始移动：0%\n爪夹靠近USB-C集线器：20%\n爪夹抓取USB-C集线器：40%\n爪夹抓紧USB-C集线器接近纸箱：60%\n爪夹抓紧USB-C集线器移动到纸箱上方：80%\n爪夹松开USB-C集线器落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768985608238": { + "instances": [ + { + "height": 0.14533333333333331, + "id": "bbox_1768985608238_1768986224625_w7pgpw5ch", + "width": 0.050999999999999976, + "x": 0.714375, + "y": 0.46986458333333325 + } + ], + "type": "bbox" + }, + "bbox_1768986164554": { + "instances": [ + { + "height": 0.4439999999999999, + "id": "bbox_1768986164554_1768986240080_se8fe9o8r", + "width": 0.21300000000000008, + "x": 0.783375, + "y": 0.11919791666666667 + } + ], + "type": "bbox" + }, + "point_1768986191539": { + "instances": [ + { + "id": "point_1768986191539_1768986250776_5ve54ytmk", + "x": 0.395375, + "y": 0.52853125 + } + ], + "type": "point" + }, + "point_1768986192537": { + "instances": [ + { + "id": "point_1768986192537_1768986253120_n70hqsanh", + "x": 0.526375, + "y": 0.5391979166666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右上方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "无", + "frame": 54, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离USB-C集线器，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离USB-C集线器，未开始移动。\n为完成抓取USB-C集线器放进纸箱里的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 1.7949707107376123 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1768985608238": { + "instances": [ + { + "height": 0.14799998795573016, + "id": "bbox_1768985608238_1768986624108_gmqkserpz", + "width": 0.034999997863769575, + "x": 0.7236665818074596, + "y": 0.4708703230086 + } + ], + "type": "bbox" + }, + "bbox_1768986164554": { + "instances": [ + { + "height": 0.4079999667968776, + "id": "bbox_1768986164554_1768986653570_suwpfczez", + "width": 0.21299998699951256, + "x": 0.7816665782674208, + "y": 0.15353701549991736 + } + ], + "type": "bbox" + }, + "point_1768986191539": { + "instances": [ + { + "id": "point_1768986191539_1768986666720_eavfz90eq", + "x": 0.5416665929158573, + "y": 0.5282036516761351 + } + ], + "type": "point" + }, + "point_1768986192537": { + "instances": [ + { + "id": "point_1768986192537_1768986668448_b5tgj3d60", + "x": 0.7046665829671275, + "y": 0.5948703129174551 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右上方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。", + "frame": 83, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了USB-C集线器。\n为完成抓取USB-C集线器放进纸箱里的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 2.754420794696184 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1768985608238": { + "instances": [ + { + "height": 0.15999998697916762, + "id": "bbox_1768985608238_1768986930300_e3y252exc", + "width": 0.04799999707031279, + "x": 0.7146665823567758, + "y": 0.46020365720998885 + } + ], + "type": "bbox" + }, + "bbox_1768986164554": { + "instances": [ + { + "height": 0.4239999654947944, + "id": "bbox_1768986164554_1768986943219_44fx0vty1", + "width": 0.21399998693847727, + "x": 0.7836665781453503, + "y": 0.1375370168020006 + } + ], + "type": "bbox" + }, + "point_1768986191539": { + "instances": [ + { + "id": "point_1768986191539_1768986953426_za61jkbkk", + "x": 0.6036665891316779, + "y": 0.5162036526526975 + } + ], + "type": "point" + }, + "point_1768986192537": { + "instances": [ + { + "id": "point_1768986192537_1768986955314_3tjcu8rhc", + "x": 0.7396665808308971, + "y": 0.5335369845754407 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了USB-C集线器", + "frame": 101, + "progress": 15, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。因此进度提升为 15%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。移动到了USB-C集线器左上方。\n为完成抓取USB-C集线器放进纸箱里的任务应当：爪夹向爪夹右方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 3.366070223219773 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "annotations": { + "bbox_1768985608238": { + "instances": [ + { + "height": 0.137333322157119, + "id": "bbox_1768985608238_1768987842064_rxf12t521", + "width": 0.03999999755859394, + "x": 0.7216665819295298, + "y": 0.48124068349278293 + } + ], + "type": "bbox" + }, + "bbox_1768986164554": { + "instances": [ + { + "height": 0.40933330002170415, + "id": "bbox_1768986164554_1768987872759_uac4be077", + "width": 0.21099998712158277, + "x": 0.7806665783284559, + "y": 0.14820368260061176 + } + ], + "type": "bbox" + }, + "point_1768986191539": { + "instances": [ + { + "id": "point_1768986191539_1768987845663_pri91o9xp", + "x": 0.6566665858968148, + "y": 0.5345740124858389 + } + ], + "type": "point" + }, + "point_1768986192537": { + "instances": [ + { + "id": "point_1768986192537_1768987867296_ts20kxqxv", + "x": 0.7226665818684948, + "y": 0.5735369813202327 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹右方的黄色积木移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹抓取到USB-C集线器。水平上未靠近USB-C集线器。", + "frame": 128, + "progress": 5, + "progress_explanation": "爪夹未抓取到USB-C集线器。水平上未靠近USB-C集线器。需要多两步张开爪夹，垂直向上升高，因此进度降低为 5%。", + "state_description": "爪夹合拢爪夹，未抓取到USB-C集线器。水平上未靠近USB-C集线器。\n为抓取USB-C集线器放进纸箱里的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹右方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 4.277547802980416 + }, + { + "action_description": "爪夹张开，向上垂直移动。", + "annotations": { + "bbox_1768985608238": { + "instances": [ + { + "height": 0.16666666666666666, + "id": "bbox_1768985608238_1768988375101_ijkipmkye", + "width": 0.04200000000000008, + "x": 0.715375, + "y": 0.45053125 + } + ], + "type": "bbox" + }, + "bbox_1768986164554": { + "instances": [ + { + "height": 0.4226666666666666, + "id": "bbox_1768986164554_1768988382886_j7vcarb6l", + "width": 0.21000000000000005, + "x": 0.7833749999999999, + "y": 0.13586458333333334 + } + ], + "type": "bbox" + }, + "point_1768986191539": { + "instances": [ + { + "id": "point_1768986191539_1768988393029_31l6t9fjl", + "x": 0.654375, + "y": 0.4971979166666667 + } + ], + "type": "point" + }, + "point_1768986192537": { + "instances": [ + { + "id": "point_1768986192537_1768988395356_0yvep1uf3", + "x": 0.7813749999999999, + "y": 0.53853125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的黄色积木移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹接近垂直于桌面，处于USB-C集线器左上方，应该向爪夹右方USB-C集线器移动。", + "frame": 157, + "progress": 15, + "progress_explanation": "爪夹张开，爪夹接近垂直于桌面。应当向爪夹右方USB-C集线器移动，这时还未靠近USB-C集线器，因此进度为 15%", + "state_description": "爪夹张开，爪夹接近垂直于桌面，停留在USB-C集线器左上方。\n为完成抓取USB-C集线器放进纸箱里的任务应当：爪夹向爪夹右方的USB-C移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C的正上方。", + "time": 5.236997886938988 + }, + { + "action_description": "爪夹向爪夹右方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1768985608238": { + "instances": [ + { + "height": 0.12266665668402853, + "id": "bbox_1768985608238_1768988811084_2ek6qaabm", + "width": 0.029999998168945385, + "x": 0.7416665807088269, + "y": 0.5230184765203063 + } + ], + "type": "bbox" + }, + "bbox_1768986164554": { + "instances": [ + { + "height": 0.43599996451823214, + "id": "bbox_1768986164554_1768988835707_3u0j6yekx", + "width": 0.20699998736572348, + "x": 0.7856665780232801, + "y": 0.12568517552203975 + } + ], + "type": "bbox" + }, + "point_1768986191539": { + "instances": [ + { + "id": "point_1768986191539_1768988830531_d5h0joe8g", + "x": 0.6576665858357796, + "y": 0.5336851423189175 + } + ], + "type": "point" + }, + "point_1768986192537": { + "instances": [ + { + "id": "point_1768986192537_1768988833138_0q092mbiy", + "x": 0.7776665785115613, + "y": 0.5990184703354109 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，方便抓取USB-C集线器。", + "frame": 208, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右方移动并垂直向下移动，靠近了USB-C集线器。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。\n为完成抓取USB-C集线器放进纸箱里的任务应当：爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近", + "time": 6.940021785965452 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768986164554": { + "instances": [ + { + "height": 0.41866666666666674, + "id": "bbox_1768986164554_1768989219563_fo1ecygrn", + "width": 0.21300000000000016, + "x": 0.7813749999999999, + "y": 0.14519791666666668 + } + ], + "type": "bbox" + }, + "point_1768986191539": { + "instances": [ + { + "id": "point_1768986191539_1768989229604_otpkwyta4", + "x": 0.681375, + "y": 0.5478645833333334 + } + ], + "type": "point" + }, + "point_1768986192537": { + "instances": [ + { + "id": "point_1768986192537_1768989232050_bd2i267t8", + "x": 0.757375, + "y": 0.5891979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，爪夹合拢抓取到了USB-C集线器。", + "frame": 234, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到USB-C集线器。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取USB-C集线器。\n为完成抓取抓取USB-C集线器放进纸箱里的任务应当：抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 7.81551998757765 + }, + { + "action_description": "爪夹夹紧USB-C集线器，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1768986164554": { + "instances": [ + { + "height": 0.41600000000000004, + "id": "bbox_1768986164554_1768989496108_66mw6xfq1", + "width": 0.203, + "x": 0.7903749999999999, + "y": 0.14786458333333335 + } + ], + "type": "bbox" + }, + "point_1768986191539": { + "instances": [ + { + "id": "point_1768986191539_1768989535620_ysgt4xwo5", + "x": 0.741375, + "y": 0.43053125 + } + ], + "type": "point" + }, + "point_1768986192537": { + "instances": [ + { + "id": "point_1768986192537_1768989514597_0vki8s4cf", + "x": 0.827375, + "y": 0.4918645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧USB-C集线器，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 263, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧USB-C集线器，垂直升高并向爪夹右边的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧USB-C集线器，水平上接近了纸箱。\n为完成抓取USB-C集线器放进纸箱里的任务应当：继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "time": 8.774970071536218 + }, + { + "action_description": "爪夹夹紧USB-C集线器，向爪夹右前方移动", + "annotations": { + "bbox_1768985608238": { + "instances": [ + { + "height": 0.2946666426866339, + "id": "bbox_1768985608238_1768989907013_xuc72y6tn", + "width": 0.05499999664306685, + "x": 0.9396665686238663, + "y": 0.05931480433636032 + } + ], + "type": "bbox" + }, + "bbox_1768986164554": { + "instances": [ + { + "height": 0.4226666322699681, + "id": "bbox_1768986164554_1768989927524_39eatdq8r", + "width": 0.2009999877319343, + "x": 0.7906665777181043, + "y": 0.135314798151465 + } + ], + "type": "bbox" + }, + "point_1768986191539": { + "instances": [ + { + "id": "point_1768986191539_1768989968548_4isdpi3ug", + "x": 0.935375, + "y": 0.22786458333333334 + } + ], + "type": "point" + }, + "point_1768986192537": { + "instances": [ + { + "id": "point_1768986192537_1768989970667_a7f1kbxle", + "x": 0.970375, + "y": 0.24119791666666668 + } + ], + "type": "point" + } + }, + "correction_plan": "开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 290, + "progress": 80, + "progress_explanation": "爪夹夹紧USB-C集线器，到了爪夹右前方的纸箱正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧USB-C集线器，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取USB-C集线器放进纸箱里的任务应当：松开爪夹，使USB-C集线器落入纸箱。", + "time": 9.650468273148418 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768986164554": { + "instances": [ + { + "height": 0.42266666666666663, + "id": "bbox_1768986164554_1768990236966_f7x4435v8", + "width": 0.21499999999999994, + "x": 0.779375, + "y": 0.13853125000000002 + } + ], + "type": "bbox" + }, + "point_1768986192537": { + "instances": [ + { + "id": "point_1768986192537_1768990246591_4p244eqo2", + "x": 0.985375, + "y": 0.36253125 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，USB-C集线器落入纸箱。", + "frame": 308, + "progress": 100, + "progress_explanation": "爪夹张开，USB-C集线器落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开USB-C集线器放进纸箱里的任务目标完成。", + "time": 10.258620840077318 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768985608238", + "name": "USB-C集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1768986164554", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768986191539", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768986192537", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-142432-put-usb c hub-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-142432-put-usb c hub-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..3fa60595a6c6ed858c81ef59de0218dd06db4181 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-142432-put-usb c hub-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,640 @@ +{ + "task_description": "抓取USB-C集线器放入纸箱：\n开始准备移动：0%\n爪夹靠近USB-C集线器：20%\n爪夹抓取USB-C集线器：40%\n爪夹抓紧USB-C集线器接近纸箱：60%\n爪夹抓紧USB-C集线器移动到纸箱上方：80%\n爪夹松开USB-C集线器落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769045218319": { + "instances": [ + { + "height": 0.09466666666666672, + "id": "bbox_1769045218319_1769045299821_yd7g8gnwb", + "width": 0.12800000000000003, + "x": 0.704375, + "y": 0.40753124999999996 + } + ], + "type": "bbox" + }, + "bbox_1769045251431": { + "instances": [ + { + "height": 0.36400000000000005, + "id": "bbox_1769045251431_1769045316613_xv32tonyn", + "width": 0.2520000000000001, + "x": 0.38737499999999997, + "y": 0.28219791666666666 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769045337829_wrxxc9zkp", + "x": 0.496375, + "y": 0.5461979166666667 + } + ], + "type": "point" + }, + "point_1769045264583": { + "instances": [ + { + "id": "point_1769045264583_1769045341013_r543n7eda", + "x": 0.614375, + "y": 0.5595312499999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "无", + "frame": 46, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离USB-C集线器，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离USB-C集线器，未开始移动。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 1.5371434380154638 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769045218319": { + "instances": [ + { + "height": 0.060000000000000026, + "id": "bbox_1769045218319_1769045801299_jbb5ohnha", + "width": 0.09799999999999995, + "x": 0.731375, + "y": 0.4428645833333334 + } + ], + "type": "bbox" + }, + "bbox_1769045251431": { + "instances": [ + { + "height": 0.3946666666666667, + "id": "bbox_1769045251431_1769045813387_yrbgfqbrd", + "width": 0.261, + "x": 0.384375, + "y": 0.2788645833333333 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769045829242_9r3nnt6ao", + "x": 0.627375, + "y": 0.43086458333333333 + } + ], + "type": "point" + }, + "point_1769045264583": { + "instances": [ + { + "id": "point_1769045264583_1769045831434_31bp4uf0k", + "x": 0.780375, + "y": 0.51753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。", + "frame": 76, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 2.5363874029639177 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769045218319": { + "instances": [ + { + "height": 0.06133333333333327, + "id": "bbox_1769045218319_1769046041334_0vhioxys9", + "width": 0.14300000000000007, + "x": 0.706375, + "y": 0.4421979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769045251431": { + "instances": [ + { + "height": 0.384, + "id": "bbox_1769045251431_1769046052269_czhs0ew4j", + "width": 0.26400000000000007, + "x": 0.380375, + "y": 0.28619791666666666 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769046066061_7mbi2cim8", + "x": 0.706375, + "y": 0.4461979166666667 + } + ], + "type": "point" + }, + "point_1769045264583": { + "instances": [ + { + "id": "point_1769045264583_1769046068229_fji81srzf", + "x": 0.8543750000000001, + "y": 0.4808645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，方便抓取USB-C集线器。", + "frame": 99, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近。", + "time": 3.3099956338917527 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769045218319": { + "instances": [ + { + "height": 0.07733332703993098, + "id": "bbox_1769045218319_1769046276144_cek3qwyaz", + "width": 0.13299999188232486, + "x": 0.7016665831502329, + "y": 0.42331477471396695 + } + ], + "type": "bbox" + }, + "bbox_1769045251431": { + "instances": [ + { + "height": 0.38933330164930813, + "id": "bbox_1769045251431_1769046286496_tz18tzygj", + "width": 0.2559999843750008, + "x": 0.3856666024373412, + "y": 0.28331478610719507 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769046304623_hjmiuqw73", + "x": 0.7296665814412486, + "y": 0.44331477308636286 + } + ], + "type": "point" + }, + "point_1769045264583": { + "instances": [ + { + "id": "point_1769045264583_1769046306823_h71fflgcq", + "x": 0.8046665768636123, + "y": 0.4766481037070228 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，爪夹合拢抓取到了USB-C集线器。", + "frame": 138, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到USB-C集线器。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近。", + "time": 4.615459523582475 + }, + { + "action_description": "爪夹夹紧USB-C集线器，垂直升高，向爪夹左方移动。", + "annotations": { + "bbox_1769045218319": { + "instances": [ + { + "height": 0.06666666124131986, + "id": "bbox_1769045218319_1769046521891_vwn8ziohu", + "width": 0.18499998870849668, + "x": 0.5316665935262088, + "y": 0.40464810956639735 + } + ], + "type": "bbox" + }, + "bbox_1769045251431": { + "instances": [ + { + "height": 0.38799996842448176, + "id": "bbox_1769045251431_1769046536562_5xw8zwl3j", + "width": 0.2509999846801767, + "x": 0.38466660249837625, + "y": 0.2833147861071951 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769046547203_w63n2axlp", + "x": 0.602666589192713, + "y": 0.4699814375828908 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧USB-C集线器，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 191, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧USB-C集线器，垂直升高并向爪夹左边的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧USB-C集线器，水平上接近了纸箱。\n为完成抓取USB-C集线器放入纸箱的任务应当：继续向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "time": 6.3721948813144325 + }, + { + "action_description": "爪夹松开，未移动", + "annotations": { + "bbox_1769045251431": { + "instances": [ + { + "height": 0.3880000000000001, + "id": "bbox_1769045251431_1769046904602_922xr5owt", + "width": 0.24999999999999994, + "x": 0.385375, + "y": 0.28253125 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769046916395_ygdzz45jh", + "x": 0.580375, + "y": 0.4851979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "夹紧的USB-C集线器掉落桌面上，水平和高度上远离了USB-C集线器。需重新抓取USB-C集线器。", + "frame": 211, + "progress": 10, + "progress_explanation": "夹紧的USB-C集线器掉落桌面，远离了USB-C集线器。需重新抓取USB-C集线器，因此进度降低为 10%。", + "state_description": "爪夹张开，夹紧的USB-C集线器掉落桌面，垂直高度上远离了USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 7.016868407087629 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769045218319": { + "instances": [ + { + "height": 0.08266665993923675, + "id": "bbox_1769045218319_1769047144229_auxwg06uh", + "width": 0.13699999163818405, + "x": 0.6326665873616585, + "y": 0.43857402029833814 + } + ], + "type": "bbox" + }, + "bbox_1769045251431": { + "instances": [ + { + "height": 0.391999968098961, + "id": "bbox_1769045251431_1769047155709_it31yn0r1", + "width": 0.25799998425293064, + "x": 0.3846666024983763, + "y": 0.2865740326681288 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769047166725_s5etj6y95", + "x": 0.6986665833333384, + "y": 0.43590735384868545 + } + ], + "type": "point" + }, + "point_1769045264583": { + "instances": [ + { + "id": "point_1769045264583_1769047193405_t4u8md8qh", + "x": 0.7893749999999999, + "y": 0.56353125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。", + "frame": 267, + "progress": 20, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。因此进度提升为 20%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 8.902538469974226 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769045218319": { + "instances": [ + { + "height": 0.06399999479166715, + "id": "bbox_1769045218319_1769047320602_m42cr2g78", + "width": 0.10199999377441457, + "x": 0.6266665877278693, + "y": 0.4499814392104948 + } + ], + "type": "bbox" + }, + "bbox_1769045251431": { + "instances": [ + { + "height": 0.3826666355251761, + "id": "bbox_1769045251431_1769047331290_jdkf0x00t", + "width": 0.26199998400879, + "x": 0.38566660243734113, + "y": 0.28731478578167435 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769047343241_m3zmmmds9", + "x": 0.6526665861409554, + "y": 0.4499814392104949 + } + ], + "type": "point" + }, + "point_1769045264583": { + "instances": [ + { + "id": "point_1769045264583_1769047345281_tvvp71dkc", + "x": 0.7396665808308971, + "y": 0.5419814317235162 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，方便抓取USB-C集线器。", + "frame": 309, + "progress": 30, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。方便抓取。因此进度提升为 30%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近。", + "time": 10.304703388530928 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769045218319": { + "instances": [ + { + "height": 0.06399999479166703, + "id": "bbox_1769045218319_1769047497551_btghq6qr4", + "width": 0.11599999291992225, + "x": 0.6256665877889045, + "y": 0.4593147717842797 + } + ], + "type": "bbox" + }, + "bbox_1769045251431": { + "instances": [ + { + "height": 0.39066663487413433, + "id": "bbox_1769045251431_1769047507599_nj7404y0n", + "width": 0.248999984802247, + "x": 0.38266660262044655, + "y": 0.28064811965754244 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769047518430_ds4uxeu8s", + "x": 0.6566665858968148, + "y": 0.4579814385594532 + } + ], + "type": "point" + }, + "point_1769045264583": { + "instances": [ + { + "id": "point_1769045264583_1769047520894_ob2csgdhf", + "x": 0.7306665813802135, + "y": 0.5366480988242107 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，爪夹合拢抓取到了USB-C集线器。", + "frame": 324, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到USB-C集线器。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：抓紧USB-C集线器垂直升高爪夹并向爪夹左方的纸箱接近。", + "time": 10.804325371005154 + }, + { + "action_description": "爪夹夹紧USB-C集线器，垂直升高，向爪夹左方移动。", + "annotations": { + "bbox_1769045218319": { + "instances": [ + { + "height": 0.24133333333333332, + "id": "bbox_1769045218319_1769047695243_1a66uhlrk", + "width": 0.08100000000000004, + "x": 0.509375, + "y": 0.2661979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769045251431": { + "instances": [ + { + "height": 0.38933333333333325, + "id": "bbox_1769045251431_1769047713242_wqgmunrsf", + "width": 0.19899999999999998, + "x": 0.382375, + "y": 0.2808645833333333 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769047731211_8t3oai10c", + "x": 0.509375, + "y": 0.42353125 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧USB-C集线器，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 385, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧USB-C集线器，垂直升高并向爪夹左边的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧USB-C集线器，水平上接近了纸箱。\n为完成抓取USB-C集线器放入纸箱的任务应当：继续向爪夹左方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "time": 12.835046977190721 + }, + { + "action_description": "爪夹夹紧USB-C集线器，向爪夹左方移动", + "annotations": { + "bbox_1769045218319": { + "instances": [ + { + "height": 0.20933331629774438, + "id": "bbox_1769045218319_1769047813288_c3hz2yagm", + "width": 0.055999996582031475, + "x": 0.46766659743245864, + "y": 0.3292406958625736 + } + ], + "type": "bbox" + }, + "bbox_1769045251431": { + "instances": [ + { + "height": 0.4119999664713569, + "id": "bbox_1769045251431_1769047819464_2yedtppxb", + "width": 0.2609999840698251, + "x": 0.3846666024983763, + "y": 0.26524070107090647 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769047831017_efu9amefo", + "x": 0.4476665986531617, + "y": 0.467907351244519 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 412, + "progress": 80, + "progress_explanation": "爪夹夹紧USB-C集线器，到了爪夹左方的纸箱正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧USB-C集线器，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取USB-C集线器放入纸箱的任务应当：松开爪夹，使USB-C集线器落入纸箱。", + "time": 13.737589913273196 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769045218319": { + "instances": [ + { + "height": 0.14266666666666677, + "id": "bbox_1769045218319_1769048082171_p1r6o7haw", + "width": 0.14299999999999996, + "x": 0.414375, + "y": 0.45153125 + } + ], + "type": "bbox" + }, + "bbox_1769045251431": { + "instances": [ + { + "height": 0.396, + "id": "bbox_1769045251431_1769048090898_5rv5n2ut8", + "width": 0.259, + "x": 0.381375, + "y": 0.27819791666666666 + } + ], + "type": "bbox" + }, + "point_1769045258838": { + "instances": [ + { + "id": "point_1769045258838_1769048101675_dzgrbnsh2", + "x": 0.45437500000000003, + "y": 0.4861979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，USB-C集线器落入纸箱。", + "frame": 426, + "progress": 100, + "progress_explanation": "爪夹张开，USB-C集线器落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开USB-C集线器放入纸箱的任务目标完成。", + "time": 14.188861381314434 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769045218319", + "name": "USB-C集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1769045251431", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769045258838", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769045264583", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-143434-put-usb c hub-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-143434-put-usb c hub-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..5da40d7d2e7007da602fb87bc034b22dd9fb2078 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-143434-put-usb c hub-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,634 @@ +{ + "task_description": "抓取USB-C集线器放入纸箱：\n开始准备移动：0%\n爪夹靠近USB-C集线器：20%\n爪夹抓取USB-C集线器：40%\n爪夹抓紧USB-C集线器接近纸箱：60%\n爪夹抓紧USB-C集线器移动到纸箱上方：80%\n爪夹松开USB-C集线器落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769048867883": { + "instances": [ + { + "height": 0.07599999999999991, + "id": "bbox_1769048867883_1769048911306_ax81zq7bl", + "width": 0.12199999999999989, + "x": 0.6293750000000001, + "y": 0.5008645833333334 + } + ], + "type": "bbox" + }, + "bbox_1769048884714": { + "instances": [ + { + "height": 0.3826666666666666, + "id": "bbox_1769048884714_1769048923362_i00t63oy4", + "width": 0.2500000000000001, + "x": 0.746375, + "y": 0.023531250000000004 + } + ], + "type": "bbox" + }, + "point_1769048889539": { + "instances": [ + { + "id": "point_1769048889539_1769048937378_smdlc4pa4", + "x": 0.40737500000000004, + "y": 0.5621979166666667 + } + ], + "type": "point" + }, + "point_1769048894946": { + "instances": [ + { + "id": "point_1769048894946_1769048940817_bh1vl98r0", + "x": 0.530375, + "y": 0.58753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "无", + "frame": 41, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离USB-C集线器，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离USB-C集线器，未开始移动。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 1.371404618427835 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769048867883": { + "instances": [ + { + "height": 0.07600000000000004, + "id": "bbox_1769048867883_1769049252986_09utxgafr", + "width": 0.183, + "x": 0.580375, + "y": 0.49553125000000003 + } + ], + "type": "bbox" + }, + "bbox_1769048884714": { + "instances": [ + { + "height": 0.3773333333333333, + "id": "bbox_1769048884714_1769049264482_47jsdv0wp", + "width": 0.2549999999999999, + "x": 0.741375, + "y": 0.026197916666666658 + } + ], + "type": "bbox" + }, + "point_1769048889539": { + "instances": [ + { + "id": "point_1769048889539_1769049277489_frykos4jj", + "x": 0.595375, + "y": 0.44353125000000004 + } + ], + "type": "point" + }, + "point_1769048894946": { + "instances": [ + { + "id": "point_1769048894946_1769049279370_abnkhj13w", + "x": 0.759375, + "y": 0.4928645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。", + "frame": 80, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 2.6666666666666665 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769048867883": { + "instances": [ + { + "height": 0.05599999999999999, + "id": "bbox_1769048867883_1769049454734_ti88gz7pv", + "width": 0.14700000000000008, + "x": 0.597375, + "y": 0.5121979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769048884714": { + "instances": [ + { + "height": 0.36800000000000005, + "id": "bbox_1769048884714_1769049494645_1y7ijjiun", + "width": 0.2500000000000001, + "x": 0.745375, + "y": 0.029864583333333337 + } + ], + "type": "bbox" + }, + "point_1769048889539": { + "instances": [ + { + "id": "point_1769048889539_1769049507261_4anbekps0", + "x": 0.600375, + "y": 0.48719791666666673 + } + ], + "type": "point" + }, + "point_1769048894946": { + "instances": [ + { + "id": "point_1769048894946_1769049509061_707vpaffk", + "x": 0.731375, + "y": 0.5191979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，方便抓取USB-C集线器。", + "frame": 117, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 3.892744786469072 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769048867883": { + "instances": [ + { + "height": 0.051999995768229466, + "id": "bbox_1769048867883_1769049736017_jjueyi4yg", + "width": 0.11599999291992225, + "x": 0.6326665873616585, + "y": 0.5345740124858389 + } + ], + "type": "bbox" + }, + "bbox_1769048884714": { + "instances": [ + { + "height": 0.3786666358506968, + "id": "bbox_1769048884714_1769049745595_aw9kdnqwg", + "width": 0.2509999846801767, + "x": 0.7416665807088269, + "y": 0.027907387051807692 + } + ], + "type": "bbox" + }, + "point_1769048889539": { + "instances": [ + { + "id": "point_1769048889539_1769049758296_p5lyg32p4", + "x": 0.6386665869954475, + "y": 0.4959073489658733 + } + ], + "type": "point" + }, + "point_1769048894946": { + "instances": [ + { + "id": "point_1769048894946_1769049760504_ymc17ju47", + "x": 0.7236665818074595, + "y": 0.525240679912054 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，爪夹合拢抓取到了USB-C集线器。", + "frame": 141, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到USB-C集线器。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 4.694385880005645 + }, + { + "action_description": "爪夹夹紧USB-C集线器，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1769048867883": { + "instances": [ + { + "height": 0.09066665928819505, + "id": "bbox_1769048867883_1769050071776_4y8aeldyv", + "width": 0.14399999121093804, + "x": 0.8046665768636123, + "y": 0.1985740398295866 + } + ], + "type": "bbox" + }, + "bbox_1769048884714": { + "instances": [ + { + "height": 0.37466663617621776, + "id": "bbox_1769048884714_1769050091752_ubhd93sqv", + "width": 0.24099998529052816, + "x": 0.7506665801595105, + "y": 0.027907387051807692 + } + ], + "type": "bbox" + }, + "point_1769048889539": { + "instances": [ + { + "id": "point_1769048889539_1769050136448_5puk2erli", + "x": 0.8746665725911515, + "y": 0.2052407059537186 + } + ], + "type": "point" + }, + "point_1769048894946": { + "instances": [ + { + "id": "point_1769048894946_1769050138903_v029lwlgz", + "x": 0.8936665714314836, + "y": 0.2185740382019826 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧USB-C集线器，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 242, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧USB-C集线器，垂直升高并向爪夹右前的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧USB-C集线器，水平上接近了纸箱。\n为完成抓取USB-C集线器放入纸箱的任务应当：继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "time": 8.066666666666666 + }, + { + "action_description": "爪夹松开，未移动", + "annotations": { + "bbox_1769048867883": { + "instances": [ + { + "height": 0.07999999999999995, + "id": "bbox_1769048867883_1769050386362_2f92inmxy", + "width": 0.14700000000000016, + "x": 0.730375, + "y": 0.35386458333333337 + } + ], + "type": "bbox" + }, + "bbox_1769048884714": { + "instances": [ + { + "height": 0.36266666666666664, + "id": "bbox_1769048884714_1769050396690_oi1rsl58a", + "width": 0.24600000000000008, + "x": 0.748375, + "y": 0.027197916666666665 + } + ], + "type": "bbox" + }, + "point_1769048889539": { + "instances": [ + { + "id": "point_1769048889539_1769050413706_b232teb2p", + "x": 0.8543750000000001, + "y": 0.16186458333333334 + } + ], + "type": "point" + }, + "point_1769048894946": { + "instances": [ + { + "id": "point_1769048894946_1769050415810_vzpfweub8", + "x": 0.891375, + "y": 0.18719791666666669 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "夹紧的USB-C集线器掉落桌面上，高度上远离了USB-C集线器。需重新抓取USB-C集线器。", + "frame": 274, + "progress": 10, + "progress_explanation": "夹紧的USB-C集线器掉落桌面，远离了USB-C集线器。需重新抓取USB-C集线器，因此进度降低为 10%。", + "state_description": "爪夹张开，夹紧的USB-C集线器掉落桌面，垂直高度上远离了黄色积木。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 9.117143332860822 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769048867883": { + "instances": [ + { + "height": 0.0706666666666667, + "id": "bbox_1769048867883_1769050718724_m9mrepx3s", + "width": 0.14599999999999963, + "x": 0.744375, + "y": 0.36986458333333333 + } + ], + "type": "bbox" + }, + "bbox_1769048884714": { + "instances": [ + { + "height": 0.36800000000000005, + "id": "bbox_1769048884714_1769050730675_cza79modq", + "width": 0.25200000000000006, + "x": 0.744375, + "y": 0.02853125 + } + ], + "type": "bbox" + }, + "point_1769048889539": { + "instances": [ + { + "id": "point_1769048889539_1769050745627_htz0c4okm", + "x": 0.736375, + "y": 0.39386458333333335 + } + ], + "type": "point" + }, + "point_1769048894946": { + "instances": [ + { + "id": "point_1769048894946_1769050747571_ww42t6xlu", + "x": 0.8623749999999999, + "y": 0.43253125000000003 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。", + "frame": 373, + "progress": 20, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了USB-C集线器。因此进度提升为 20%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 12.433500671005154 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769048884714": { + "instances": [ + { + "height": 0.37733330262587056, + "id": "bbox_1769048884714_1769050922920_4npl38anq", + "width": 0.24699998492431732, + "x": 0.747666580342616, + "y": 0.020499998331705866 + } + ], + "type": "bbox" + }, + "point_1769048889539": { + "instances": [ + { + "id": "point_1769048889539_1769050941104_4ilf92bfl", + "x": 0.7566665797932994, + "y": 0.3871666351589652 + } + ], + "type": "point" + }, + "point_1769048894946": { + "instances": [ + { + "id": "point_1769048894946_1769050943344_iuzst740t", + "x": 0.8576665736287492, + "y": 0.42049996577962523 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，方便抓取USB-C集线器。", + "frame": 458, + "progress": 30, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。方便抓取。因此进度提升为 30%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 15.266666666666667 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769048867883": { + "instances": [ + { + "height": 0.09999999999999994, + "id": "bbox_1769048867883_1769051064271_il4spu9t2", + "width": 0.12600000000000006, + "x": 0.745375, + "y": 0.3541979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769048884714": { + "instances": [ + { + "height": 0.372, + "id": "bbox_1769048884714_1769051073183_jyr3c025g", + "width": 0.24399999999999994, + "x": 0.750375, + "y": 0.026197916666666664 + } + ], + "type": "bbox" + }, + "point_1769048889539": { + "instances": [ + { + "id": "point_1769048889539_1769051087853_3shs4r2r0", + "x": 0.767375, + "y": 0.3821979166666667 + } + ], + "type": "point" + }, + "point_1769048894946": { + "instances": [ + { + "id": "point_1769048894946_1769051091012_tqcc04nla", + "x": 0.836375, + "y": 0.41286458333333337 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了USB-C集线器，爪夹合拢抓取到了USB-C集线器。", + "frame": 484, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到USB-C集线器。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取USB-C集线器。\n为完成抓取USB-C集线器放入纸箱的任务应当：抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 16.133333333333333 + }, + { + "action_description": "爪夹夹紧USB-C集线器，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1769048867883": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1769048867883_1769051212753_etrz5v62z", + "width": 0.15700000000000003, + "x": 0.8383750000000001, + "y": 0.019197916666666665 + } + ], + "type": "bbox" + }, + "bbox_1769048884714": { + "instances": [ + { + "height": 0.3706666666666667, + "id": "bbox_1769048884714_1769051226242_t655wzg9t", + "width": 0.24899999999999994, + "x": 0.746375, + "y": 0.02853125 + } + ], + "type": "bbox" + }, + "point_1769048889539": { + "instances": [ + { + "id": "point_1769048889539_1769051239889_o9qndnh2t", + "x": 0.9403750000000001, + "y": 0.09253125 + } + ], + "type": "point" + }, + "point_1769048894946": { + "instances": [ + { + "id": "point_1769048894946_1769051242779_vcmn3h8x2", + "x": 0.952375, + "y": 0.09786458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧USB-C集线器，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 577, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧USB-C集线器，垂直升高并向爪夹右前的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧USB-C集线器，水平上接近了纸箱。\n为完成抓取USB-C集线器放入纸箱的任务应当：继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "time": 19.24793355760309 + }, + { + "action_description": "爪夹松开，未移动", + "annotations": { + "bbox_1769048867883": { + "instances": [ + { + "height": 0.14399999999999996, + "id": "bbox_1769048867883_1769051336536_3jhju3ega", + "width": 0.051000000000000066, + "x": 0.780375, + "y": 0.2978645833333334 + } + ], + "type": "bbox" + }, + "bbox_1769048884714": { + "instances": [ + { + "height": 0.3706666666666667, + "id": "bbox_1769048884714_1769051347311_aiqsbx7kj", + "width": 0.24400000000000005, + "x": 0.748375, + "y": 0.021864583333333337 + } + ], + "type": "bbox" + }, + "point_1769048889539": { + "instances": [ + { + "id": "point_1769048889539_1769051358503_6li3gmwko", + "x": 0.882375, + "y": 0.13119791666666666 + } + ], + "type": "point" + }, + "point_1769048894946": { + "instances": [ + { + "id": "point_1769048894946_1769051360992_n6oetn3xb", + "x": 0.9493750000000001, + "y": 0.16586458333333332 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。接着落下爪夹靠近USB-C集线器，接近USB-C集线器后爪夹合拢抓取USB-C集线器。抓紧USB-C集线器垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使USB-C集线器落入纸箱。", + "error_success_analysis": "夹紧的USB-C集线器掉落桌面上，高度上远离了USB-C集线器。需重新抓取USB-C集线器。", + "frame": 598, + "progress": 10, + "progress_explanation": "夹紧的USB-C集线器掉落桌面，远离了USB-C集线器。需重新抓取USB-C集线器，因此进度降低为 10%。", + "state_description": "爪夹张开，夹紧的USB-C集线器掉落桌面，垂直高度上远离了黄色积木。\n为完成抓取USB-C集线器放入纸箱的任务应当：爪夹向爪夹右前方的USB-C集线器移动，同时调整爪夹的角度使其垂直于桌面，并移动到USB-C集线器的正上方。", + "time": 19.929376846262887 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769048867883", + "name": "USB-C集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1769048884714", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769048889539", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769048894946", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-145632-put-tripod-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-145632-put-tripod-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..cd3d91e75fdc48152fda8d90dbf1634f5d984221 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-145632-put-tripod-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,386 @@ +{ + "task_description": "抓取三脚架放进纸箱：\n开始准备移动：0%\n爪夹靠近三脚架：20%\n爪夹抓取三脚架：40%\n爪夹抓紧三脚架接近纸箱：60%\n爪夹抓紧三脚架移动到纸箱上方：80%\n爪夹松开三脚架落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769052664782": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1769052664782_1769052721435_91b4ve5wn", + "width": 0.08400000000000007, + "x": 0.729375, + "y": 0.45753125 + } + ], + "type": "bbox" + }, + "bbox_1769052669445": { + "instances": [ + { + "height": 0.41200000000000003, + "id": "bbox_1769052669445_1769052729836_6zud3csz0", + "width": 0.3080000000000001, + "x": 0.46637500000000004, + "y": 0.005531250000000002 + } + ], + "type": "bbox" + }, + "point_1769052674052": { + "instances": [ + { + "id": "point_1769052674052_1769052741932_lgrrrig1g", + "x": 0.530375, + "y": 0.3401979166666667 + } + ], + "type": "point" + }, + "point_1769052679596": { + "instances": [ + { + "id": "point_1769052679596_1769052744452_3kqtj0eeb", + "x": 0.6563749999999999, + "y": 0.3721979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "无", + "frame": 44, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。\n为完成抓取三脚架放进纸箱的任务应当：爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。", + "time": 1.48143047435567 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769052664782": { + "instances": [ + { + "height": 0.13733333333333342, + "id": "bbox_1769052664782_1769053019935_4ah24fr5b", + "width": 0.0919999999999999, + "x": 0.721375, + "y": 0.45619791666666665 + } + ], + "type": "bbox" + }, + "bbox_1769052669445": { + "instances": [ + { + "height": 0.41466666666666663, + "id": "bbox_1769052669445_1769053033174_wc9r8342j", + "width": 0.30799999999999983, + "x": 0.4703750000000001, + "y": 0.0028645833333333258 + } + ], + "type": "bbox" + }, + "point_1769052674052": { + "instances": [ + { + "id": "point_1769052674052_1769053046526_yvwq782tm", + "x": 0.595375, + "y": 0.3028645833333333 + } + ], + "type": "point" + }, + "point_1769052679596": { + "instances": [ + { + "id": "point_1769052679596_1769053048445_fmh5vlyqn", + "x": 0.745375, + "y": 0.3961979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了三脚架。", + "frame": 82, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了三脚架。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了三脚架。\n为完成抓取三脚架放进纸箱的任务应当：爪夹向爪夹右方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。", + "time": 2.7216023475515465 + }, + { + "action_description": "爪夹向爪夹右方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769052664782": { + "instances": [ + { + "height": 0.09866665863715346, + "id": "bbox_1769052664782_1769053309732_s4xd3j64m", + "width": 0.05499999664306658, + "x": 0.759666579610194, + "y": 0.48820365493134316 + } + ], + "type": "bbox" + }, + "bbox_1769052669445": { + "instances": [ + { + "height": 0.41066663324653047, + "id": "bbox_1769052669445_1769053318599_vf1us8bfd", + "width": 0.3109999810180676, + "x": 0.4666665974934938, + "y": 0.00687036076901361 + } + ], + "type": "bbox" + }, + "point_1769052674052": { + "instances": [ + { + "id": "point_1769052674052_1769053356270_5l9r8p69c", + "x": 0.7226665818684948, + "y": 0.4535369910858568 + } + ], + "type": "point" + }, + "point_1769052679596": { + "instances": [ + { + "id": "point_1769052679596_1769053358702_ue9zd0n5b", + "x": 0.8216665758260145, + "y": 0.5028703204044336 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，方便抓取三脚架。", + "frame": 118, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右方移动并垂直向下移动，靠近了三脚架。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右方移动并垂直向下移动，靠近了三脚架。\n为完成抓取三脚架放进纸箱的任务应当：爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近。", + "time": 3.933333333333333 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769052664782": { + "instances": [ + { + "height": 0.13333332248263977, + "id": "bbox_1769052664782_1769053541418_vh8nij78p", + "width": 0.05899999639892588, + "x": 0.7486665802815807, + "y": 0.4522036578610305 + } + ], + "type": "bbox" + }, + "bbox_1769052669445": { + "instances": [ + { + "height": 0.4053333003472249, + "id": "bbox_1769052669445_1769053551721_68rwle6ob", + "width": 0.30799998120117306, + "x": 0.46766659743245864, + "y": 0.013537026893145598 + } + ], + "type": "bbox" + }, + "point_1769052674052": { + "instances": [ + { + "id": "point_1769052674052_1769053566362_yxpcfihn7", + "x": 0.7286665815022838, + "y": 0.4508703246362041 + } + ], + "type": "point" + }, + "point_1769052679596": { + "instances": [ + { + "id": "point_1769052679596_1769053568697_sk860gfc8", + "x": 0.8146665762532607, + "y": 0.5028703204044336 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，爪夹合拢抓取到了三脚架。", + "frame": 146, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到三脚架。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取三脚架。\n为完成抓取三脚架放进纸箱的任务应当：抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近。", + "time": 4.866666666666666 + }, + { + "action_description": "爪夹夹紧三脚架，垂直升高，向爪夹左前方移动。", + "annotations": { + "bbox_1769052669445": { + "instances": [ + { + "height": 0.4093333333333333, + "id": "bbox_1769052669445_1769053738918_dx59eim31", + "width": 0.29999999999999993, + "x": 0.46637500000000004, + "y": 0.009531250000000002 + } + ], + "type": "bbox" + }, + "point_1769052674052": { + "instances": [ + { + "id": "point_1769052674052_1769053756982_e8afdzbgp", + "x": 0.709375, + "y": 0.11219791666666667 + } + ], + "type": "point" + }, + "point_1769052679596": { + "instances": [ + { + "id": "point_1769052679596_1769053759246_8gqtau5ij", + "x": 0.8153750000000001, + "y": 0.16553125 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧三脚架，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 177, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧三脚架，垂直升高并向爪夹左前的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧三脚架，水平上接近了纸箱。\n为完成抓取三脚架放进纸箱的任务应当：继续向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "time": 5.908269147551547 + }, + { + "action_description": "爪夹夹紧三脚架，向爪夹左前方移动", + "annotations": { + "bbox_1769052669445": { + "instances": [ + { + "height": 0.408, + "id": "bbox_1769052669445_1769054011233_qfb6c1uvr", + "width": 0.31300000000000006, + "x": 0.460375, + "y": 0.005197916666666665 + } + ], + "type": "bbox" + }, + "point_1769052674052": { + "instances": [ + { + "id": "point_1769052674052_1769054021857_t16x8tbyy", + "x": 0.624375, + "y": 0.13586458333333334 + } + ], + "type": "point" + }, + "point_1769052679596": { + "instances": [ + { + "id": "point_1769052679596_1769054024217_0pvvbpduf", + "x": 0.736375, + "y": 0.16519791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 190, + "progress": 80, + "progress_explanation": "爪夹夹紧三脚架，到了爪夹左前方的纸箱正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧三脚架，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取三脚架放进纸箱的任务应当：松开爪夹，使三脚架落入纸箱。", + "time": 6.337742945715147 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769052669445": { + "instances": [ + { + "height": 0.4066666666666666, + "id": "bbox_1769052669445_1769054210869_ex5rwprst", + "width": 0.317, + "x": 0.468375, + "y": 0.013197916666666667 + } + ], + "type": "bbox" + }, + "point_1769052674052": { + "instances": [ + { + "id": "point_1769052674052_1769054232167_xu318e2o4", + "x": 0.522375, + "y": 0.16253125 + } + ], + "type": "point" + }, + "point_1769052679596": { + "instances": [ + { + "id": "point_1769052679596_1769054234493_lxr2t3hlo", + "x": 0.6913750000000001, + "y": 0.19719791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架落入纸箱。", + "frame": 205, + "progress": 100, + "progress_explanation": "爪夹张开，三脚架落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开三脚架放进纸箱的任务目标完成。", + "time": 6.8363447877577315 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769052664782", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769052669445", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769052674052", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769052679596", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-145632-put-tripod-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-145632-put-tripod-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..208b77a079f7811601a5fbe1ea03c1c6bf2b3d06 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-145632-put-tripod-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,402 @@ +{ + "task_description": "抓取三脚架放入纸箱：\n准备开始移动：0%\n爪夹靠近三脚架：20%\n爪夹抓取三脚架：40%\n爪夹抓紧三脚架接近纸箱：60%\n爪夹抓紧三脚架移动到纸箱上方：80%\n爪夹松开三脚架落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769058483052": { + "instances": [ + { + "height": 0.09733333333333327, + "id": "bbox_1769058483052_1769058558219_6m8pqq4o0", + "width": 0.15100000000000008, + "x": 0.460375, + "y": 0.7278645833333334 + } + ], + "type": "bbox" + }, + "bbox_1769058487604": { + "instances": [ + { + "height": 0.4053333333333334, + "id": "bbox_1769058487604_1769058566474_ybjn01466", + "width": 0.30299999999999994, + "x": 0.685375, + "y": 0.2851979166666666 + } + ], + "type": "bbox" + }, + "point_1769058498428": { + "instances": [ + { + "id": "point_1769058498428_1769058583114_o5ncvmj7i", + "x": 0.390375, + "y": 0.3771979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "无", + "frame": 38, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。\n为完成抓取三脚架放入纸箱的任务应当：爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。", + "time": 1.2617636046639917 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769058483052": { + "instances": [ + { + "height": 0.10266666666666685, + "id": "bbox_1769058483052_1769058839839_gvq040mgc", + "width": 0.14400000000000004, + "x": 0.464375, + "y": 0.7251979166666666 + } + ], + "type": "bbox" + }, + "bbox_1769058487604": { + "instances": [ + { + "height": 0.3920000000000002, + "id": "bbox_1769058487604_1769058823478_8lkse8gn3", + "width": 0.30100000000000016, + "x": 0.6913750000000001, + "y": 0.29053124999999996 + } + ], + "type": "bbox" + }, + "point_1769058498428": { + "instances": [ + { + "id": "point_1769058498428_1769058859589_55p4ikw2x", + "x": 0.5573750000000001, + "y": 0.6891979166666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了纸箱。", + "frame": 77, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了三脚架。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了三脚架。\n为完成抓取三脚架放入纸箱的任务应当：爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。", + "time": 2.5818686485824744 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769058483052": { + "instances": [ + { + "height": 0.0840000000000001, + "id": "bbox_1769058483052_1769059049705_2q695yoku", + "width": 0.14000000000000012, + "x": 0.47137499999999993, + "y": 0.7425312500000001 + } + ], + "type": "bbox" + }, + "bbox_1769058487604": { + "instances": [ + { + "height": 0.3946666666666668, + "id": "bbox_1769058487604_1769059060433_1rqom9vcj", + "width": 0.301, + "x": 0.692375, + "y": 0.29319791666666667 + } + ], + "type": "bbox" + }, + "point_1769058492292": { + "instances": [ + { + "id": "point_1769058492292_1769059074394_sdcharbvs", + "x": 0.42037500000000005, + "y": 0.7691979166666667 + } + ], + "type": "point" + }, + "point_1769058498428": { + "instances": [ + { + "id": "point_1769058498428_1769059076528_yjjjk5kai", + "x": 0.519375, + "y": 0.67053125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，方便抓取三脚架。", + "frame": 115, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了三脚架。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了三脚架。\n为完成抓取三脚架放入纸箱的任务应当：爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 3.8303545997419786 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769058483052": { + "instances": [ + { + "height": 0.0906666592881951, + "id": "bbox_1769058483052_1769059278692_etuotb1jk", + "width": 0.14799999096679742, + "x": 0.46566659755452894, + "y": 0.7362036347490531 + } + ], + "type": "bbox" + }, + "bbox_1769058487604": { + "instances": [ + { + "height": 0.3999999674479193, + "id": "bbox_1769058487604_1769059286989_2e2yc7tp7", + "width": 0.300999981628419, + "x": 0.6906665838216196, + "y": 0.2868703379825571 + } + ], + "type": "bbox" + }, + "point_1769058492292": { + "instances": [ + { + "id": "point_1769058492292_1769059320227_ihq941ebv", + "x": 0.43137499999999995, + "y": 0.7451979166666667 + } + ], + "type": "point" + }, + "point_1769058498428": { + "instances": [ + { + "id": "point_1769058498428_1769059322500_bduwnjacy", + "x": 0.5273749999999999, + "y": 0.67453125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，爪夹合拢抓取到了三脚架。", + "frame": 134, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到三脚架。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取三脚架。\n为完成抓取三脚架放入纸箱的任务应当：抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 4.467674169949298 + }, + { + "action_description": "爪夹夹紧三脚架，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1769058483052": { + "instances": [ + { + "height": 0.1386666666666666, + "id": "bbox_1769058483052_1769059456409_b07sherox", + "width": 0.13099999999999995, + "x": 0.49537499926757816, + "y": 0.4775312504340277 + } + ], + "type": "bbox" + }, + "bbox_1769058487604": { + "instances": [ + { + "height": 0.3933333333333335, + "id": "bbox_1769058487604_1769059481136_0lvcznx2h", + "width": 0.30199999999999994, + "x": 0.6893750000000001, + "y": 0.2908645833333333 + } + ], + "type": "bbox" + }, + "point_1769058492292": { + "instances": [ + { + "id": "point_1769058492292_1769059510176_k3nqjp9mi", + "x": 0.44537499987792967, + "y": 0.4775312504340277 + } + ], + "type": "point" + }, + "point_1769058498428": { + "instances": [ + { + "id": "point_1769058498428_1769059512207_r36epbcqq", + "x": 0.5403749998168947, + "y": 0.42553125097656247 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧三脚架，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 200, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧三脚架，垂直升高并向爪夹右前的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧三脚架，水平上接近了纸箱。\n为完成抓取三脚架放入纸箱的任务应当：继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "time": 6.656851611469073 + }, + { + "action_description": "爪夹夹紧三脚架，向爪夹右前方移动", + "annotations": { + "bbox_1769058483052": { + "instances": [ + { + "height": 0.22400000000000003, + "id": "bbox_1769058483052_1769059986197_9qqmht3h6", + "width": 0.1370000000000001, + "x": 0.735375, + "y": 0.17453125 + } + ], + "type": "bbox" + }, + "bbox_1769058487604": { + "instances": [ + { + "height": 0.3946666666666667, + "id": "bbox_1769058487604_1769060044508_c2sxngaur", + "width": 0.3040000000000001, + "x": 0.6859999999999999, + "y": 0.2942222086588542 + } + ], + "type": "bbox" + }, + "point_1769058492292": { + "instances": [ + { + "id": "point_1769058492292_1769060039324_wvoapjvza", + "x": 0.6759999999999999, + "y": 0.24888887532552084 + } + ], + "type": "point" + }, + "point_1769058498428": { + "instances": [ + { + "id": "point_1769058498428_1769060018701_tm4uo1g8i", + "x": 0.768, + "y": 0.2315555419921875 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 219, + "progress": 80, + "progress_explanation": "爪夹夹紧三脚架，到了爪夹右前方的纸箱正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧三脚架，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取三脚架放入纸箱的任务应当：松开爪夹，使三脚架落入纸箱。", + "time": 7.300206445360826 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769058483052": { + "instances": [ + { + "height": 0.1879999860026053, + "id": "bbox_1769058483052_1769060250320_fd7ytmhtk", + "width": 0.08299999713134784, + "x": 0.7216665808308971, + "y": 0.2932407011794135 + } + ], + "type": "bbox" + }, + "bbox_1769058487604": { + "instances": [ + { + "height": 0.43066663226996815, + "id": "bbox_1769058487604_1769060262463_wpat97r1m", + "width": 0.30199998516845794, + "x": 0.6716665849812875, + "y": 0.25990736752055926 + } + ], + "type": "bbox" + }, + "point_1769058492292": { + "instances": [ + { + "id": "point_1769058492292_1769060309423_uwvfl0j6w", + "x": 0.651375, + "y": 0.24919791666666669 + } + ], + "type": "point" + }, + "point_1769058498428": { + "instances": [ + { + "id": "point_1769058498428_1769060288543_dku0pz24v", + "x": 0.7813749999999999, + "y": 0.23853125 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架落入纸箱。", + "frame": 235, + "progress": 100, + "progress_explanation": "爪夹张开，三脚架落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开三脚架落入纸箱的任务目标完成。", + "time": 7.8252708970360825 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769058483052", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769058487604", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769058492292", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769058498428", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-145632-put-tripod-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-145632-put-tripod-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..1edd323b4cf13c0ae45452e63f638dbd0fbc3b30 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-145632-put-tripod-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,410 @@ +{ + "task_description": "抓取三脚架放进纸箱：\n开始准备移动：0%\n爪夹靠近三脚架：20%\n爪夹抓取三脚架：40%\n爪夹抓紧三脚架接近纸箱：60%\n爪夹抓紧三脚架移动到纸箱上方：80%\n爪夹松开三脚架落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769060775509": { + "instances": [ + { + "height": 0.29066664301215467, + "id": "bbox_1769060775509_1769060831429_3pzulah7m", + "width": 0.22899998602295005, + "x": 0.37166660329183326, + "y": 0.36420366502248824 + } + ], + "type": "bbox" + }, + "point_1769060780005": { + "instances": [ + { + "id": "point_1769060780005_1769060842124_y7mixwxr9", + "x": 0.38866660225423566, + "y": 0.5095369865285656 + } + ], + "type": "point" + }, + "point_1769060786341": { + "instances": [ + { + "id": "point_1769060786341_1769060844379_ebg9k6mgk", + "x": 0.6216665880330451, + "y": 0.5188703191023504 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "无", + "frame": 42, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。\n为完成抓取三脚架放进纸箱的任务应当：爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。", + "time": 1.3852688233182724 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769060770925": { + "instances": [ + { + "height": 0.136, + "id": "bbox_1769060770925_1769061052769_9gfjsakun", + "width": 0.06000000000000005, + "x": 0.700375, + "y": 0.5291979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769060775509": { + "instances": [ + { + "height": 0.4453333333333334, + "id": "bbox_1769060775509_1769061060976_5n7ygrbdk", + "width": 0.36999999999999994, + "x": 0.20337500000000003, + "y": 0.14519791666666662 + } + ], + "type": "bbox" + }, + "point_1769060780005": { + "instances": [ + { + "id": "point_1769060780005_1769061076640_12jbm52wf", + "x": 0.390375, + "y": 0.51853125 + } + ], + "type": "point" + }, + "point_1769060786341": { + "instances": [ + { + "id": "point_1769060786341_1769061081471_m2fkduasy", + "x": 0.619375, + "y": 0.5211979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了三脚架。", + "frame": 81, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了三脚架。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了三脚架。\n为完成抓取三脚架放进纸箱的任务应当：爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。", + "time": 2.691145084447797 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769060770925": { + "instances": [ + { + "height": 0.2706666666666667, + "id": "bbox_1769060770925_1769061239084_nchw0y0r9", + "width": 0.17700000000000005, + "x": 0.394375, + "y": 0.34386458333333336 + } + ], + "type": "bbox" + }, + "bbox_1769060775509": { + "instances": [ + { + "height": 0.7213333333333332, + "id": "bbox_1769060775509_1769061253868_pwwn5p9w8", + "width": 0.20600000000000002, + "x": 0.005375000000000005, + "y": 0.013197916666666675 + } + ], + "type": "bbox" + }, + "point_1769060780005": { + "instances": [ + { + "id": "point_1769060780005_1769061272788_qphxz6rop", + "x": 0.387375, + "y": 0.5251979166666667 + } + ], + "type": "point" + }, + "point_1769060786341": { + "instances": [ + { + "id": "point_1769060786341_1769061274851_5evkhgpp0", + "x": 0.619375, + "y": 0.5238645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，方便抓取三脚架。", + "frame": 103, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了三脚架。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了三脚架。\n为完成抓取三脚架放进纸箱的任务应当：爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近。", + "time": 3.4467464430887786 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769060770925": { + "instances": [ + { + "height": 0.29599997591146027, + "id": "bbox_1769060770925_1769061449016_c09jtdowv", + "width": 0.19099998834228585, + "x": 0.4176666004842162, + "y": 0.380203663720405 + } + ], + "type": "bbox" + }, + "bbox_1769060775509": { + "instances": [ + { + "height": 0.7386666065538243, + "id": "bbox_1769060775509_1769061457648_ckd3gryly", + "width": 0.2399999853515634, + "x": 0.005666625630699118, + "y": 0.009537027218666404 + } + ], + "type": "bbox" + }, + "point_1769060780005": { + "instances": [ + { + "id": "point_1769060780005_1769061467023_bfd6dmg7z", + "x": 0.4766665968831423, + "y": 0.5282036516761351 + } + ], + "type": "point" + }, + "point_1769060786341": { + "instances": [ + { + "id": "point_1769060786341_1769061469503_ikfvl6xm8", + "x": 0.5386665930989627, + "y": 0.5295369849009616 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近。水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，爪夹合拢抓取到了三脚架。", + "frame": 146, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到三脚架。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取三脚架。\n为完成抓取三脚架放进纸箱的任务应当：抓紧三脚架垂直升高爪夹并向爪夹左前方的纸箱接近。", + "time": 4.859392461417572 + }, + { + "action_description": "爪夹夹紧三脚架，垂直升高，向爪夹左前方移动。", + "annotations": { + "bbox_1769060770925": { + "instances": [ + { + "height": 0.2373333333333333, + "id": "bbox_1769060770925_1769061671244_oqjbduybl", + "width": 0.16900000000000004, + "x": 0.425375, + "y": 0.4011979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769060775509": { + "instances": [ + { + "height": 0.384, + "id": "bbox_1769060775509_1769061658084_e2cqouss4", + "width": 0.25200000000000006, + "x": 0.189375, + "y": 0.47719791666666667 + } + ], + "type": "bbox" + }, + "point_1769060780005": { + "instances": [ + { + "id": "point_1769060780005_1769061682157_ij4n0msyf", + "x": 0.477375, + "y": 0.51853125 + } + ], + "type": "point" + }, + "point_1769060786341": { + "instances": [ + { + "id": "point_1769060786341_1769061684692_xdt22edhq", + "x": 0.537375, + "y": 0.51853125 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左前方的纸箱接近。水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧三脚架，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 170, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧三脚架，垂直升高并向爪夹左前的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧三脚架，水平上接近了纸箱。\n为完成抓取三脚架放进纸箱的任务应当：继续向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "time": 5.66427216953514 + }, + { + "action_description": "爪夹夹紧三脚架，向爪夹左前方移动", + "annotations": { + "bbox_1769060770925": { + "instances": [ + { + "height": 0.2293333146701403, + "id": "bbox_1769060770925_1769061931622_0xphybxy9", + "width": 0.13499999176025446, + "x": 0.4476665986531616, + "y": 0.4215369936900233 + } + ], + "type": "bbox" + }, + "bbox_1769060775509": { + "instances": [ + { + "height": 0.47066662836371836, + "id": "bbox_1769060775509_1769061943430_g2qg2memp", + "width": 0.3589999780883802, + "x": 0.26966660951741883, + "y": 0.37487033082109933 + } + ], + "type": "bbox" + }, + "point_1769060780005": { + "instances": [ + { + "id": "point_1769060780005_1769061954158_3u2di2ww4", + "x": 0.4766665968831423, + "y": 0.5122036529782183 + } + ], + "type": "point" + }, + "point_1769060786341": { + "instances": [ + { + "id": "point_1769060786341_1769061956383_wavipumvo", + "x": 0.5386665930989627, + "y": 0.517536985877524 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 188, + "progress": 80, + "progress_explanation": "爪夹夹紧三脚架，到了爪夹左前方的纸箱正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧三脚架，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取三脚架放进纸箱的任务应当：松开爪夹，使三脚架落入纸箱。", + "time": 6.280251537992462 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769060770925": { + "instances": [ + { + "height": 0.19333331759982772, + "id": "bbox_1769060770925_1769062155074_1hhbrkt8r", + "width": 0.16199999011230526, + "x": 0.5146665945638065, + "y": 0.44153699206241925 + } + ], + "type": "bbox" + }, + "bbox_1769060775509": { + "instances": [ + { + "height": 0.5079999586588573, + "id": "bbox_1769060775509_1769062164689_1xy4tlzyt", + "width": 0.3749999771118178, + "x": 0.34566660487874723, + "y": 0.2815370050832515 + } + ], + "type": "bbox" + }, + "point_1769060780005": { + "instances": [ + { + "id": "point_1769060780005_1769062179922_wgfv4ae29", + "x": 0.40966660097249746, + "y": 0.5108703197533919 + } + ], + "type": "point" + }, + "point_1769060786341": { + "instances": [ + { + "id": "point_1769060786341_1769062182137_4d0h3ndc1", + "x": 0.602666589192713, + "y": 0.524203652001656 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架落入纸箱。", + "frame": 201, + "progress": 100, + "progress_explanation": "爪夹张开，三脚架落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开三脚架落入纸箱的任务目标完成。", + "time": 6.70733056678954 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769060770925", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769060775509", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769060780005", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769060786341", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-150403-put-tripod-yellow-cardboard box-mix1/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-150403-put-tripod-yellow-cardboard box-mix1/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..c22dc4ec4257e4f55ad0bbd1dd55382fc7f1004b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-150403-put-tripod-yellow-cardboard box-mix1/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,1181 @@ +{ + "task_description": "把三脚架从胶带中移出并放入纸箱：\n准备开始移动：0%\n爪夹抓取胶带：20%\n爪夹松开三脚架从胶带中脱离：40%\n爪夹靠近三脚架：60%\n爪夹抓紧三脚架接近纸箱：80%\n爪夹松开三脚架落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.1319999892578134, + "id": "bbox_1769065104478_1769065209363_ubvyogxqa", + "width": 0.124999992370606, + "x": 0.4666665974934937, + "y": 0.6228703106388094 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.10799999121093802, + "id": "bbox_1769065110550_1769065212979_4how47xrk", + "width": 0.08899999456787136, + "x": 0.48866659615072044, + "y": 0.6295369767629414 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.4106666332465305, + "id": "bbox_1769065131709_1769065231555_dfw4fradw", + "width": 0.31199998095703235, + "x": 0.5966665895589239, + "y": 0.27887033863359884 + } + ], + "type": "bbox" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769065277506_fdzytxi0z", + "x": 0.24466661104329765, + "y": 0.38687032984453695 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的胶带移动，同时调整爪夹的角度使其垂直于桌面，并移动到胶带的正上方。接着落下爪夹靠近胶带，接近胶带后爪夹合拢抓取胶带。抓紧胶带垂直升高爪夹。松开爪夹，使三脚架从胶带中脱离并掉落在桌面。\n爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "无", + "frame": 34, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离胶带，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离胶带，未开始移动。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：爪夹向爪夹右前方的胶带移动，同时调整爪夹的角度使其垂直于桌面，并移动到胶带的正上方。", + "time": 1.1268602118056956 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.13333332248263982, + "id": "bbox_1769065104478_1769065853438_hqko2y93t", + "width": 0.11499999298095753, + "x": 0.4686665973714234, + "y": 0.6246480916627529 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.10266665831163262, + "id": "bbox_1769065110550_1769065856846_e2nwwcu9b", + "width": 0.08399999487304717, + "x": 0.4896665960896852, + "y": 0.6326480910117114 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.41333329969618343, + "id": "bbox_1769065131709_1769065871030_qeyaredtl", + "width": 0.31199998095703235, + "x": 0.5936665897420295, + "y": 0.2779814532078895 + } + ], + "type": "bbox" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769065884646_j4u7kbfx", + "x": 0.5356665928548222, + "y": 0.5019814329170925 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的胶带移动，同时调整爪夹的角度使其垂直于桌面，并移动到胶带的正上方。接着落下爪夹靠近胶带，接近胶带后爪夹合拢抓取胶带。抓紧胶带垂直升高爪夹。松开爪夹，使三脚架从胶带中脱离并掉落在桌面。\n爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了胶带。", + "frame": 75, + "progress": 5, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了胶带。因此进度提升为 5%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了胶带。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：爪夹向爪夹右前方的胶带移动，同时调整爪夹的角度使其垂直于桌面，并移动到胶带的正上方。", + "time": 2.498251686469072 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1769065104478_1769066281317_laq2gyk18", + "width": 0.129, + "x": 0.467375, + "y": 0.61853125 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1769065110550_1769066285005_obi1vvrvl", + "width": 0.07999999999999999, + "x": 0.499375, + "y": 0.6478645833333334 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.4093333333333334, + "id": "bbox_1769065131709_1769066295525_5ghkfnplv", + "width": 0.324, + "x": 0.5903750000000001, + "y": 0.2811979166666667 + } + ], + "type": "bbox" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769066318381_bqg2we8ju", + "x": 0.600375, + "y": 0.7091979166666668 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取胶带。抓紧胶带垂直升高爪夹。松开爪夹，使三脚架从胶带中脱离并掉落在桌面。\n爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了胶带，方便抓取胶带。", + "frame": 104, + "progress": 10, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了胶带。方便抓取。因此进度提升为 10%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了胶带。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：爪夹合拢抓取胶带。抓紧胶带垂直升高爪夹。", + "time": 3.452701960302485 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769065110550": { + "instances": [ + { + "height": 0.08799999283854222, + "id": "bbox_1769065110550_1769066868593_fkzwa1hq1", + "width": 0.09499999420166053, + "x": 0.4576665980428102, + "y": 0.6539814226089338 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.41599996614583623, + "id": "bbox_1769065131709_1769066871769_yjqukp160", + "width": 0.3169999806518565, + "x": 0.5946665896809942, + "y": 0.27264812030858393 + } + ], + "type": "bbox" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769066902504_ehxqq75fu", + "x": 0.5536665921834355, + "y": 0.6873147532295937 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧胶带垂直升高爪夹。松开爪夹，使三脚架从胶带中脱离并掉落在桌面。\n爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了胶带，爪夹合拢抓取到了胶带。", + "frame": 120, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到胶带。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取胶带。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：抓紧胶带垂直升高爪夹。", + "time": 3.993595390185459 + }, + { + "action_description": "爪夹夹紧胶带，垂直升高，向爪夹左后方移动。", + "annotations": { + "bbox_1769065131709": { + "instances": [ + { + "height": 0.4093333333333335, + "id": "bbox_1769065131709_1769067145155_vtqss5bw6", + "width": 0.3179999999999999, + "x": 0.5923750000000001, + "y": 0.2798645833333333 + } + ], + "type": "bbox" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769067141635_lbaidjw3i", + "x": 0.450375, + "y": 0.31586458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使三脚架从胶带中脱离并落在桌面。\n爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧胶带，高度上远离了桌面。更加方便三脚架从胶带中脱离。", + "frame": 151, + "progress": 30, + "progress_explanation": "爪夹合拢夹紧胶带，垂直升高并向爪夹左后边的桌子左下角接近。增加了与桌面的距离。因此进度提升为 30%", + "state_description": "爪夹合拢夹紧胶带，高度上远离了桌面。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：松开爪夹，使三脚架从胶带中脱离并落在桌面。", + "time": 5.040450966881443 + }, + { + "action_description": "爪夹松开，未移动", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.07199999414062538, + "id": "bbox_1769065104478_1769068013434_y17kfi37s", + "width": 0.12999999206543014, + "x": 0.3176666065877315, + "y": 0.6242036438636359 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.11999999023437588, + "id": "bbox_1769065110550_1769068019538_ty7a6xll7", + "width": 0.0859999947509769, + "x": 0.39466660188802477, + "y": 0.6122036448401981 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.41199996647135684, + "id": "bbox_1769065131709_1769068029785_4m74jh8ic", + "width": 0.31899998052978623, + "x": 0.5936665897420295, + "y": 0.2842036715329043 + } + ], + "type": "bbox" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769068047465_95mdrbnt8", + "x": 0.471666597188318, + "y": 0.3642036650224882 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "夹紧的胶带掉落桌面上，三脚架成功从胶带中脱离。", + "frame": 253, + "progress": 40, + "progress_explanation": "夹紧的胶带掉落桌面，三脚架从胶带中脱离并掉落到桌面。因此进度提升为 40%。", + "state_description": "爪夹张开，夹紧的胶带掉落桌面，三脚架从胶带中脱离并掉落到桌面。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。", + "time": 8.448079789561858 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.08133333333333338, + "id": "bbox_1769065104478_1769068778578_1knf3aa0w", + "width": 0.139, + "x": 0.29237499999999994, + "y": 0.67653125 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.10933333333333349, + "id": "bbox_1769065110550_1769068786803_k518r9smp", + "width": 0.08700000000000001, + "x": 0.393375, + "y": 0.6165312499999999 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.4120000000000001, + "id": "bbox_1769065131709_1769068794410_ew6qquxmf", + "width": 0.31599999999999995, + "x": 0.5923749999999999, + "y": 0.27786458333333336 + } + ], + "type": "bbox" + }, + "point_1769065142622": { + "instances": [ + { + "id": "point_1769065142622_1769068860353_yfi4mqmtp", + "x": 0.297375, + "y": 0.62253125 + } + ], + "type": "point" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769068862033_tuc2udkhy", + "x": 0.45437500000000003, + "y": 0.53853125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了三脚架。", + "frame": 313, + "progress": 50, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了三脚架。因此进度提升为 50%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了三脚架。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。", + "time": 10.4493856060567 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.06666666807725706, + "id": "bbox_1769065104478_1769069060725_17ca6nafp", + "width": 0.13200000067138667, + "x": 0.305374999206543, + "y": 0.6811979152560765 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1769065110550_1769069096852_figj1zr8u", + "width": 0.08999999999999994, + "x": 0.39137500000000003, + "y": 0.6171979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.40933333333333327, + "id": "bbox_1769065131709_1769069099668_gnlcnl9d3", + "width": 0.31900000000000006, + "x": 0.595375, + "y": 0.27986458333333336 + } + ], + "type": "bbox" + }, + "point_1769065142622": { + "instances": [ + { + "id": "point_1769065142622_1769069136067_y96rkip2n", + "x": 0.374375, + "y": 0.7478645833333334 + } + ], + "type": "point" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769069138075_v0rr33090", + "x": 0.43237500000000006, + "y": 0.5985312500000001 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，方便抓取三脚架。", + "frame": 354, + "progress": 60, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了三脚架。方便抓取。因此进度提升为 60%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了三脚架。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 11.801619265850515 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.061333328342014326, + "id": "bbox_1769065104478_1769069443101_9m4vftweg", + "width": 0.1429999912719732, + "x": 0.29566660793050487, + "y": 0.675314754206156 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.11466665733507024, + "id": "bbox_1769065110550_1769069446181_xjecs5756", + "width": 0.07599999536132832, + "x": 0.4046666012776733, + "y": 0.617981425538621 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.4213332990451418, + "id": "bbox_1769065131709_1769069452429_ow1yeq4jd", + "width": 0.3219999803466809, + "x": 0.5916665898640996, + "y": 0.27664811998306316 + } + ], + "type": "bbox" + }, + "point_1769065142622": { + "instances": [ + { + "id": "point_1769065142622_1769069474348_kx9uftben", + "x": 0.36866660347493874, + "y": 0.7366480825481704 + } + ], + "type": "point" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769069476316_zkr7hifvz", + "x": 0.425666599995935, + "y": 0.6339814242365378 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，爪夹合拢抓取到了三脚架。", + "frame": 378, + "progress": 70, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到三脚架。因此进度提升为 70%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取三脚架。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 12.612959461726804 + }, + { + "action_description": "爪夹夹紧三脚架，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.19066666666666668, + "id": "bbox_1769065104478_1769069697097_byyxt58a5", + "width": 0.04700000000000006, + "x": 0.6543749999999999, + "y": 0.13286458333333334 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.10800000000000007, + "id": "bbox_1769065110550_1769069705712_drmm8ail2", + "width": 0.08700000000000001, + "x": 0.39237500000000003, + "y": 0.61953125 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.41999999999999993, + "id": "bbox_1769065131709_1769069716087_pspxn1a3i", + "width": 0.32, + "x": 0.590375, + "y": 0.27553125 + } + ], + "type": "bbox" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769069728431_4tvnr7h41", + "x": 0.6743750000000001, + "y": 0.24353125 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧三脚架，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 454, + "progress": 80, + "progress_explanation": "爪夹合拢夹紧三脚架，垂直升高并向爪夹右前的纸箱接近。缩短了与纸箱的距离。因此进度提升为 80%", + "state_description": "爪夹合拢夹紧三脚架，水平上接近了纸箱。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "time": 15.128114068943297 + }, + { + "action_description": "爪夹松开，未移动", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.061333328342014264, + "id": "bbox_1769065104478_1769070060456_vq2noy1dg", + "width": 0.09399999426269563, + "x": 0.4716665935262089, + "y": 0.5326481043580643 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.12266665668402865, + "id": "bbox_1769065110550_1769070072824_ls2m65hr7", + "width": 0.08999999450683624, + "x": 0.39166660207113024, + "y": 0.6126480926393153 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.48133329600694746, + "id": "bbox_1769065131709_1769070085208_bkma7rxpu", + "width": 0.2749999809570324, + "x": 0.5166665932820682, + "y": 0.22864812367229906 + } + ], + "type": "bbox" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769070103416_izmic4blo", + "x": 0.7046665829671275, + "y": 0.26731478740927833 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右后方移动，并移动到纸箱的左上方。接着落下爪夹靠近纸箱，接近纸箱后爪夹向右推动纸箱，使纸箱复原。\n爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。\n", + "error_success_analysis": "夹紧的三脚架掉落桌面上，高度上远离了三脚架。纸箱被打翻。需将纸箱恢复到初始位置并重新抓取三脚架。", + "frame": 472, + "progress": 0, + "progress_explanation": "夹紧的三脚架掉落桌面，远离了三脚架。纸箱被掉落的三脚架打翻。需将纸箱恢复到初始位置并重新抓取三脚架，因此进度降低为 0%。", + "state_description": "爪夹张开，夹紧的三脚架掉落桌面，垂直高度上远离了三脚架。纸箱被掉落的三脚架打翻。\n把三脚架从胶带中移出并放入纸箱的任务应当：爪夹向爪夹左后方移动，移动到纸箱的左上方。", + "time": 15.723096879252576 + }, + { + "action_description": "爪夹向爪夹左后方移动。", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.06133332834201421, + "id": "bbox_1769065104478_1769072008545_h1167zek2", + "width": 0.1009999938354496, + "x": 0.48766659621175557, + "y": 0.6135369780650246 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.11599999055989656, + "id": "bbox_1769065110550_1769072018088_jqz1503sl", + "width": 0.08599999475097694, + "x": 0.3936666019490599, + "y": 0.6148703112898509 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.4573332961154545, + "id": "bbox_1769065131709_1769072029616_t2ylmarjf", + "width": 0.24399998510742282, + "x": 0.48466659639486104, + "y": 0.2655370063853348 + } + ], + "type": "bbox" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769072047327_wkxh8f8so", + "x": 0.48266659651693133, + "y": 0.3548703324487034 + } + ], + "type": "point" + } + }, + "correction_plan": "落下爪夹靠近纸箱，接近纸箱后爪夹向右推动纸箱，使纸箱复原。\n爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱左上方", + "frame": 512, + "progress": 20, + "progress_explanation": "爪夹移动到了爪夹左后方的纸箱左上方，方便推动纸箱。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，位于纸箱左上方。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：落下爪夹靠近纸箱，接近纸箱后爪夹向爪夹右方略微移动，使纸箱复原。", + "time": 17.056171721859286 + }, + { + "action_description": "爪夹调整角度，垂直向下移动并向右推动纸箱", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.11066666482204883, + "id": "bbox_1769065104478_1769073097947_r9z1rdds0", + "width": 0.10799999969482421, + "x": 0.489375, + "y": 0.5718645851779512 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.1146666666666666, + "id": "bbox_1769065110550_1769073105826_2omxwd9xp", + "width": 0.09000000000000004, + "x": 0.39237500000000003, + "y": 0.6171979166666668 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.4799999993489584, + "id": "bbox_1769065131709_1769073115834_kg0ji8wm1", + "width": 0.26899999945068354, + "x": 0.5633749962768557, + "y": 0.22386458420138883 + } + ], + "type": "bbox" + }, + "point_1769065142622": { + "instances": [ + { + "id": "point_1769065142622_1769073130913_43faf3kmy", + "x": 0.5113749951171878, + "y": 0.4171979191623262 + } + ], + "type": "point" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769073133322_b604rtalu", + "x": 0.6363749977416994, + "y": 0.3971979189453123 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "纸箱恢复到初始位置。", + "frame": 593, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，纸箱恢复到初始位置。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，纸箱恢复到初始位置。\n为完成抓取蓝色方块插入相应的孔洞使其落入铁盒的任务应当：松开爪夹，使蓝色方块落入铁盒。", + "time": 19.75275318543814 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.11999999023437564, + "id": "bbox_1769065104478_1769073560489_abtzc898c", + "width": 0.10999999328613308, + "x": 0.4876665962117556, + "y": 0.5599073437575405 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.11866665700954944, + "id": "bbox_1769065110550_1769073569257_iwvmk5gly", + "width": 0.09099999444580109, + "x": 0.39266660201009507, + "y": 0.6132406727505962 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.44799996354166965, + "id": "bbox_1769065131709_1769073577865_8dcoopju2", + "width": 0.2989999817504893, + "x": 0.5886665900472051, + "y": 0.25590736849712176 + } + ], + "type": "bbox" + }, + "point_1769065142622": { + "instances": [ + { + "id": "point_1769065142622_1769073594792_mw32tacvi", + "x": 0.4546665982259156, + "y": 0.45057401932177576 + } + ], + "type": "point" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769073598640_x7h9k3fjj", + "x": 0.5826665904134161, + "y": 0.4719073509189981 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的三角架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了三脚架。", + "frame": 616, + "progress": 50, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了三脚架。因此进度提升为 50%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了三脚架。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。", + "time": 20.537048708118554 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1769065104478_1769073966780_7zlrox5q1", + "width": 0.10999999999999996, + "x": 0.493375, + "y": 0.5611979166666666 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.11333333333333329, + "id": "bbox_1769065110550_1769073973961_4uurs6c3y", + "width": 0.08399999999999999, + "x": 0.397375, + "y": 0.6158645833333334 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.41599999999999987, + "id": "bbox_1769065131709_1769073980440_qraazockg", + "width": 0.30900000000000005, + "x": 0.612375, + "y": 0.2811979166666667 + } + ], + "type": "bbox" + }, + "point_1769065142622": { + "instances": [ + { + "id": "point_1769065142622_1769073997328_zh1orrdxa", + "x": 0.495375, + "y": 0.54253125 + } + ], + "type": "point" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769073998976_d133asyds", + "x": 0.611375, + "y": 0.6038645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，方便抓取三脚架。", + "frame": 633, + "progress": 60, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了三脚架。方便抓取。因此进度提升为 60%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了三脚架。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 21.10498684523196 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.1413333333333334, + "id": "bbox_1769065104478_1769074131334_9ktcekssd", + "width": 0.10899999999999999, + "x": 0.49537499999999995, + "y": 0.5491979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.11333333333333329, + "id": "bbox_1769065110550_1769074139862_vi3ic4gw0", + "width": 0.09, + "x": 0.39337500000000003, + "y": 0.6185312500000001 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.40266666666666673, + "id": "bbox_1769065131709_1769074149565_dv0ol2k5f", + "width": 0.309, + "x": 0.616375, + "y": 0.2958645833333333 + } + ], + "type": "bbox" + }, + "point_1769065142622": { + "instances": [ + { + "id": "point_1769065142622_1769074164684_hykxive7z", + "x": 0.521375, + "y": 0.61053125 + } + ], + "type": "point" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769074166660_9gdf07o3n", + "x": 0.5533750000000001, + "y": 0.63453125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，爪夹合拢抓取到了三脚架。", + "frame": 662, + "progress": 70, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到三脚架。因此进度提升为 70%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取三脚架。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：抓紧三脚架垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 22.078595080283502 + }, + { + "action_description": "爪夹夹紧三脚架，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.18533333333333335, + "id": "bbox_1769065104478_1769074338817_zfinm7olz", + "width": 0.06500000000000003, + "x": 0.634375, + "y": 0.11453124999999999 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.11333333333333341, + "id": "bbox_1769065110550_1769074353321_dlmxa9imt", + "width": 0.08800000000000004, + "x": 0.39437500000000003, + "y": 0.6171979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.40399999999999997, + "id": "bbox_1769065131709_1769074362912_z7t89tbul", + "width": 0.30999999999999994, + "x": 0.6223750000000001, + "y": 0.2971979166666667 + } + ], + "type": "bbox" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769074380224_8g5zqlu1k", + "x": 0.6563749999999999, + "y": 0.20519791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧三脚架，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 719, + "progress": 80, + "progress_explanation": "爪夹合拢夹紧三脚架，垂直升高并向爪夹右前的纸箱接近。缩短了与纸箱的距离。因此进度提升为 80%", + "state_description": "爪夹合拢夹紧三脚架，水平上接近了纸箱。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "time": 23.979607624361353 + }, + { + "action_description": "爪夹夹紧三脚架，向爪夹右前方移动", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.2093333333333333, + "id": "bbox_1769065104478_1769074408744_ve37i408t", + "width": 0.04899999999999984, + "x": 0.7133750000000001, + "y": 0.18386458333333336 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.11333333333333305, + "id": "bbox_1769065110550_1769074422576_bbfl3gxvz", + "width": 0.09100000000000001, + "x": 0.39237500000000003, + "y": 0.6171979166666668 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.40799999999999986, + "id": "bbox_1769065131709_1769074437607_0g0rbtbk0", + "width": 0.30200000000000016, + "x": 0.619375, + "y": 0.2958645833333334 + } + ], + "type": "bbox" + }, + "point_1769065142622": { + "instances": [ + { + "id": "point_1769065142622_1769074481838_i0m68xhrl", + "x": 0.717375, + "y": 0.23853125 + } + ], + "type": "point" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769074483774_yv6xdpexe", + "x": 0.735375, + "y": 0.24386458333333336 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 728, + "progress": 90, + "progress_explanation": "爪夹夹紧三脚架，到了爪夹右前方的纸箱正上方。因此进度提升为 90%。", + "state_description": "爪夹夹紧三脚架，位于纸箱正上方。\n为完成把三脚架从胶带中移出并放入纸箱的任务应当：松开爪夹，使三脚架落入纸箱。", + "time": 24.27709901079699 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769065104478": { + "instances": [ + { + "height": 0.137333322157119, + "id": "bbox_1769065104478_1769074735377_hywi03a7r", + "width": 0.04099999749755874, + "x": 0.674666584798182, + "y": 0.45190735254660214 + } + ], + "type": "bbox" + }, + "bbox_1769065110550": { + "instances": [ + { + "height": 0.117333323784723, + "id": "bbox_1769065110550_1769074747449_gksxrhemw", + "width": 0.08599999475097678, + "x": 0.3936666019490599, + "y": 0.6145740059754227 + } + ], + "type": "bbox" + }, + "bbox_1769065131709": { + "instances": [ + { + "height": 0.41999996582031535, + "id": "bbox_1769065131709_1769074755697_evd48h1t2", + "width": 0.3079999812011728, + "x": 0.6146665884602912, + "y": 0.28524069944330244 + } + ], + "type": "bbox" + }, + "point_1769065149388": { + "instances": [ + { + "id": "point_1769065149388_1769074768456_qfwfy25zd", + "x": 0.7356665810750378, + "y": 0.24924070237298973 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架落入纸箱。", + "frame": 753, + "progress": 100, + "progress_explanation": "爪夹张开，三脚架落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开。\n爪夹松开三脚架从胶带中移出并放入纸箱的任务目标完成。", + "time": 25.088439155621447 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769065104478", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769065110550", + "name": "胶带" + }, + { + "color": "#2196F3", + "id": "bbox_1769065131709", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769065142622", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769065149388", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-152151-put-tripod-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-152151-put-tripod-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..da36a8ee00a346af54712c26ef82398c78c40fde --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-152151-put-tripod-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,454 @@ +{ + "task_description": "抓取三脚架放进纸箱：\n准备开始移动：0%\n爪夹靠近三脚架：20%\n爪夹抓取三脚架：40%\n爪夹抓紧三脚架接近纸箱：60%\n爪夹抓紧三脚架移动到纸箱上方：80%\n爪夹松开三脚架落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769075681534": { + "instances": [ + { + "height": 0.05999999511718777, + "id": "bbox_1769075681534_1769075735420_egnmzy37c", + "width": 0.10899999334716845, + "x": 0.6126665885823614, + "y": 0.5215369855520032 + } + ], + "type": "bbox" + }, + "bbox_1769075689454": { + "instances": [ + { + "height": 0.37466663617621787, + "id": "bbox_1769075689454_1769075744804_e8s9aveai", + "width": 0.2009999877319343, + "x": 0.7936665775349988, + "y": 0.37887033049557856 + } + ], + "type": "bbox" + }, + "point_1769075700165": { + "instances": [ + { + "id": "point_1769075700165_1769075754229_l4tt1h0wp", + "x": 0.4186666004231811, + "y": 0.37353699759627296 + } + ], + "type": "point" + }, + "point_1769075717453": { + "instances": [ + { + "id": "point_1769075717453_1769075756716_wv7axx0kw", + "x": 0.5946665896809942, + "y": 0.40020366209280095 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "无", + "frame": 57, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。\n为完成抓取三脚架放进纸箱的任务应当：爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。", + "time": 1.8907210900551017 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769075681534": { + "instances": [ + { + "height": 0.057333328667535, + "id": "bbox_1769075681534_1769076061126_dryakklv0", + "width": 0.124999992370606, + "x": 0.5946665896809942, + "y": 0.5282036516761351 + } + ], + "type": "bbox" + }, + "bbox_1769075689454": { + "instances": [ + { + "height": 0.3493333049045162, + "id": "bbox_1769075689454_1769076070238_bq9p0igbg", + "width": 0.2069999873657234, + "x": 0.7886665778401747, + "y": 0.4042036617672801 + } + ], + "type": "bbox" + }, + "point_1769075700165": { + "instances": [ + { + "id": "point_1769075700165_1769076080381_igib9q5rb", + "x": 0.5236665940144901, + "y": 0.3588703321231826 + } + ], + "type": "point" + }, + "point_1769075717453": { + "instances": [ + { + "id": "point_1769075717453_1769076082445_c18zlitxu", + "x": 0.6866665840657602, + "y": 0.4882036549313432 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了三脚架。", + "frame": 111, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了纸箱。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了三脚架。\n为完成抓取三脚架放进纸箱的任务应当：爪夹向爪夹右前方的三脚架移动，同时调整爪夹的角度使其垂直于桌面，并移动到三脚架的正上方。", + "time": 3.709277676657282 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769075689454": { + "instances": [ + { + "height": 0.34133333333333327, + "id": "bbox_1769075689454_1769076339256_lfjymgehh", + "width": 0.20500000000000007, + "x": 0.792375, + "y": 0.4118645833333333 + } + ], + "type": "bbox" + }, + "point_1769075700165": { + "instances": [ + { + "id": "point_1769075700165_1769076350161_7fslqlqon", + "x": 0.592375, + "y": 0.46919791666666666 + } + ], + "type": "point" + }, + "point_1769075717453": { + "instances": [ + { + "id": "point_1769075717453_1769076352768_bry7webu2", + "x": 0.700375, + "y": 0.5878645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，方便抓取三脚架。", + "frame": 153, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了三脚架。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了三脚架。\n为完成抓取三脚架放进纸箱的任务应当：爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右方的纸箱接近。", + "time": 5.116494082956589 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769075681534": { + "instances": [ + { + "height": 0.05333333333333344, + "id": "bbox_1769075681534_1769076546686_qed9cpeho", + "width": 0.10200000000000005, + "x": 0.631375, + "y": 0.51053125 + } + ], + "type": "bbox" + }, + "bbox_1769075689454": { + "instances": [ + { + "height": 0.34533333333333344, + "id": "bbox_1769075689454_1769076557012_kfdv87q96", + "width": 0.2039999999999999, + "x": 0.789375, + "y": 0.40519791666666666 + } + ], + "type": "bbox" + }, + "point_1769075700165": { + "instances": [ + { + "id": "point_1769075700165_1769076583675_nyqyeknhk", + "x": 0.609375, + "y": 0.51453125 + } + ], + "type": "point" + }, + "point_1769075717453": { + "instances": [ + { + "id": "point_1769075717453_1769076585603_7tu4s1inh", + "x": 0.684375, + "y": 0.57053125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧三脚架垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了三脚架，爪夹合拢抓取到了三脚架。", + "frame": 175, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到三脚架。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取三脚架。\n为完成抓取抓取三脚架放进纸箱的任务应当：抓紧三脚架垂直升高爪夹并向爪夹右方的纸箱接近。", + "time": 5.830927027693159 + }, + { + "action_description": "爪夹夹紧三脚架，垂直升高，", + "annotations": { + "bbox_1769075681534": { + "instances": [ + { + "height": 0.08933333333333329, + "id": "bbox_1769075681534_1769131848317_jnpz3bery", + "width": 0.11000000000000006, + "x": 0.7353750000000001, + "y": 0.17686458333333333 + } + ], + "type": "bbox" + }, + "bbox_1769075689454": { + "instances": [ + { + "height": 0.35066666666666674, + "id": "bbox_1769075689454_1769131863413_c00hpx60a", + "width": 0.2030000000000002, + "x": 0.7923749999999999, + "y": 0.40619791666666666 + } + ], + "type": "bbox" + }, + "point_1769075700165": { + "instances": [ + { + "id": "point_1769075700165_1769131875614_cfqwzo7la", + "x": 0.657375, + "y": 0.2928645833333334 + } + ], + "type": "point" + }, + "point_1769075717453": { + "instances": [ + { + "id": "point_1769075717453_1769131877588_7auz2v4hv", + "x": 0.772375, + "y": 0.32086458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹夹紧三脚架垂直升高，爪夹接近垂直于桌面，处于纸箱左上方，应该向爪夹右方纸箱移动。", + "frame": 231, + "progress": 50, + "progress_explanation": "爪夹夹紧三脚架并垂直升高。应当向爪夹右方纸箱移动，这时还未靠近纸箱，因此进度为 50%", + "state_description": "爪夹夹紧三脚架并垂直升高，爪夹角度接近垂直于桌面，停留在纸箱左上方", + "time": 7.6896262886597935 + }, + { + "action_description": "爪夹夹紧三脚架，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1769075681534": { + "instances": [ + { + "height": 0.09466666666666668, + "id": "bbox_1769075681534_1769131910107_kz8hcjf5v", + "width": 0.11100000000000003, + "x": 0.7743750000000001, + "y": 0.040864583333333336 + } + ], + "type": "bbox" + }, + "bbox_1769075689454": { + "instances": [ + { + "height": 0.3413333333333334, + "id": "bbox_1769075689454_1769130350756_d0ma1ss9w", + "width": 0.20099999999999998, + "x": 0.7933749999999999, + "y": 0.41953125 + } + ], + "type": "bbox" + }, + "point_1769075700165": { + "instances": [ + { + "id": "point_1769075700165_1769130364188_itjsa3cm3", + "x": 0.724375, + "y": 0.11686458333333333 + } + ], + "type": "point" + }, + "point_1769075717453": { + "instances": [ + { + "id": "point_1769075717453_1769130366748_yc0o5q2ac", + "x": 0.827375, + "y": 0.17019791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右后方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧三脚架，水平上远离了纸箱。", + "frame": 240, + "progress": 40, + "progress_explanation": "爪夹合拢夹紧三脚架，垂直升高并向爪夹右前的罐子接近。增加了与纸箱的距离。因此进度降低为 40%", + "state_description": "爪夹合拢夹紧三脚架，水平上远离了纸箱。\n为完成抓取三脚架放进纸箱的任务应当：向爪夹右后方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "time": 8.00354381443299 + }, + { + "action_description": "爪夹夹紧三脚架，向爪夹右前方移动", + "annotations": { + "bbox_1769075689454": { + "instances": [ + { + "height": 0.34800000000000003, + "id": "bbox_1769075689454_1769131979017_xw1xnkbzw", + "width": 0.2079999999999999, + "x": 0.7893749999999999, + "y": 0.4118645833333333 + } + ], + "type": "bbox" + }, + "point_1769075700165": { + "instances": [ + { + "id": "point_1769075700165_1769131987937_f3pwdql9k", + "x": 0.726375, + "y": 0.07053125 + } + ], + "type": "point" + }, + "point_1769075717453": { + "instances": [ + { + "id": "point_1769075717453_1769131994130_7xyxxtige", + "x": 0.837375, + "y": 0.11586458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右后方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹移动到了罐子正上方，水平上更加远离纸箱。", + "frame": 249, + "progress": 30, + "progress_explanation": "爪夹夹紧三脚架，到了爪夹右前方的罐子正上方，增加了与纸箱的距离。因此进度降低为 30%", + "state_description": "爪夹夹紧三脚架，爪夹角度接近垂直于桌面，位于罐子正上方。水平上更加远离纸箱。\n为完成抓取三脚架放进纸箱的任务应当：向爪夹右后方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "time": 8.30979285109732 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769075681534": { + "instances": [ + { + "height": 0.068, + "id": "bbox_1769075681534_1769133100219_4l4j24wp9", + "width": 0.10400000000000001, + "x": 0.6873750000000001, + "y": 0.12086458333333333 + } + ], + "type": "bbox" + }, + "bbox_1769075689454": { + "instances": [ + { + "height": 0.35066666666666674, + "id": "bbox_1769075689454_1769133108722_rz7dmt5dl", + "width": 0.20199999999999987, + "x": 0.793375, + "y": 0.40619791666666666 + } + ], + "type": "bbox" + }, + "point_1769075700165": { + "instances": [ + { + "id": "point_1769075700165_1769133118610_s9l79xb94", + "x": 0.6903750000000001, + "y": 0.06886458333333333 + } + ], + "type": "point" + }, + "point_1769075717453": { + "instances": [ + { + "id": "point_1769075717453_1769133120962_1sur027fb", + "x": 0.8243750000000001, + "y": 0.11686458333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的罐子移动，同时调整爪夹的角度使其垂直于桌面，并移动到罐子的正上方。接着落下爪夹靠近三脚架，接近三脚架后爪夹合拢抓取三脚架。抓紧三脚架垂直升高爪夹并向爪夹右后方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使三脚架落入纸箱。", + "error_success_analysis": "爪夹张开，三脚架掉入罐子，需要重新抓取三脚架", + "frame": 264, + "progress": -10, + "progress_explanation": "爪夹张开，高度上远离了三脚架，三脚架掉入罐子，需要重新抓取三脚架，因此进度降低为 -10%。", + "state_description": "爪夹张开，垂直高度上远离了三脚架，三脚架掉入罐子。\n为完成抓取抓取三脚架放进纸箱的任务应当：爪夹向爪夹右前方的罐子移动，同时调整爪夹的角度使其垂直于桌面，并移动到罐子的正上方。", + "time": 8.807730964095537 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769075681534", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769075689454", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769075700165", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769075717453", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-152651-put-black pen-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-152651-put-black pen-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d3c2ce4db8b5ce8ffeeec5872ba6541fb5d04a1c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-152651-put-black pen-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,438 @@ +{ + "task_description": "抓取黑色钢笔放进纸箱里：\n开始准备移动：0%\n爪夹靠近黑色钢笔：20%\n爪夹抓取黑色钢笔：40%\n爪夹抓紧黑色钢笔接近纸箱：60%\n爪夹抓紧黑色钢笔移动到纸箱上方：80%\n爪夹松开黑色钢笔落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769134577468": { + "instances": [ + { + "height": 0.18000000000000008, + "id": "bbox_1769134577468_1769134630274_pep9qfrzo", + "width": 0.04500000000000002, + "x": 0.5533750000000001, + "y": 0.3001979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769134589371": { + "instances": [ + { + "height": 0.3866666666666666, + "id": "bbox_1769134589371_1769134639946_7jibds5x0", + "width": 0.23900000000000005, + "x": 0.757375, + "y": 0.22286458333333334 + } + ], + "type": "bbox" + }, + "point_1769134593795": { + "instances": [ + { + "id": "point_1769134593795_1769134654985_ioynhr1rh", + "x": 0.33737500000000004, + "y": 0.5321979166666667 + } + ], + "type": "point" + }, + "point_1769134598747": { + "instances": [ + { + "id": "point_1769134598747_1769134657594_0iipt6v8s", + "x": 0.471375, + "y": 0.5268645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "无", + "frame": 34, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。\n为完成抓取黑色钢笔放进纸箱里的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 1.1426340163302382 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769134589371": { + "instances": [ + { + "height": 0.3893333016493082, + "id": "bbox_1769134589371_1769134931229_newfbfxut", + "width": 0.23399998571777428, + "x": 0.7566665797932997, + "y": 0.22153700996606365 + } + ], + "type": "bbox" + }, + "point_1769134593795": { + "instances": [ + { + "id": "point_1769134593795_1769134943491_dfmbilkfo", + "x": 0.44966659853109137, + "y": 0.3028703366804739 + } + ], + "type": "point" + }, + "point_1769134598747": { + "instances": [ + { + "id": "point_1769134598747_1769134945563_whwmwr4ey", + "x": 0.6076665888875372, + "y": 0.3522036659990506 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了黑色钢笔。\n为完成抓取黑色钢笔放进纸箱里的任务应当：爪夹向爪夹右方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 2.3204939173969072 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769134589371": { + "instances": [ + { + "height": 0.384, + "id": "bbox_1769134589371_1769135179064_knkgw4syn", + "width": 0.23499999999999996, + "x": 0.757375, + "y": 0.21986458333333334 + } + ], + "type": "bbox" + }, + "point_1769134593795": { + "instances": [ + { + "id": "point_1769134593795_1769135172672_arqcy6zdq", + "x": 0.504375, + "y": 0.3691979166666667 + } + ], + "type": "point" + }, + "point_1769134598747": { + "instances": [ + { + "id": "point_1769134598747_1769135175265_4wyos2yda", + "x": 0.630375, + "y": 0.40919791666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，方便抓取黑色钢笔。", + "frame": 97, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。\n为完成抓取黑色钢笔放进纸箱里的任务应当：爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近。", + "time": 3.227169905783873 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769134589371": { + "instances": [ + { + "height": 0.3919999680989609, + "id": "bbox_1769134589371_1769135440395_ty14o1lpx", + "width": 0.23299998577880948, + "x": 0.7626665794270886, + "y": 0.21857403820198257 + } + ], + "type": "bbox" + }, + "point_1769134593795": { + "instances": [ + { + "id": "point_1769134593795_1769135472089_hinupb8a9", + "x": 0.536375, + "y": 0.37586458333333334 + } + ], + "type": "point" + }, + "point_1769134598747": { + "instances": [ + { + "id": "point_1769134598747_1769135474970_1pse8vu6t", + "x": 0.609375, + "y": 0.39186458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向下垂直降低，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "合拢爪夹，爪夹未抓取到黑色钢笔。", + "frame": 119, + "progress": 10, + "progress_explanation": "爪夹未抓取到黑色钢笔。需要多两步张开爪夹，向下垂直降低，因此进度降低为 10%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢未抓取到黑色钢笔。\n为完成抓取黑色钢笔放进纸箱里的任务应当：爪夹张开，爪夹向下垂直降低，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 3.9799189769754633 + }, + { + "action_description": "爪夹张开，向下垂直移动。", + "annotations": { + "bbox_1769134589371": { + "instances": [ + { + "height": 0.3906666348741348, + "id": "bbox_1769134589371_1769136475524_s6y9xfn00", + "width": 0.23499998565673924, + "x": 0.760666579549159, + "y": 0.21990737142680897 + } + ], + "type": "bbox" + }, + "point_1769134593795": { + "instances": [ + { + "id": "point_1769134593795_1769136488244_c6eqy7z8c", + "x": 0.5226665940755252, + "y": 0.3732406922818447 + } + ], + "type": "point" + }, + "point_1769134598747": { + "instances": [ + { + "id": "point_1769134598747_1769136491436_rlcih41h9", + "x": 0.6136665885213264, + "y": 0.3932406906542407 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，方便抓取黑色钢笔。", + "frame": 180, + "progress": 20, + "progress_explanation": "爪夹张开，爪夹角度接近垂直于桌面，爪夹垂直向下移动，靠近了黑色钢笔。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹张开，爪夹接近垂直于桌面，停留在黑色钢笔正上方。\n为完成抓取黑色钢笔放进纸箱里的任务应当：爪夹合拢抓取黑色钢笔，抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近", + "time": 5.994970336780645 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769134589371": { + "instances": [ + { + "height": 0.39333333333333337, + "id": "bbox_1769134589371_1769136755030_fig6ar7b9", + "width": 0.2339999999999999, + "x": 0.7593750000000001, + "y": 0.21586458333333333 + } + ], + "type": "bbox" + }, + "point_1769134593795": { + "instances": [ + { + "id": "point_1769134593795_1769136769174_4cwca7uiu", + "x": 0.529375, + "y": 0.37853125 + } + ], + "type": "point" + }, + "point_1769134598747": { + "instances": [ + { + "id": "point_1769134598747_1769136771382_p6l5c5d01", + "x": 0.602375, + "y": 0.39586458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，爪夹合拢抓取到了黑色钢笔。", + "frame": 192, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到黑色钢笔。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取黑色钢笔。\n为完成抓取黑色钢笔放进纸箱里的任务应当：抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近。", + "time": 6.411877514671372 + }, + { + "action_description": "爪夹夹紧黑色钢笔，垂直升高，向爪夹右方移动。", + "annotations": { + "bbox_1769134589371": { + "instances": [ + { + "height": 0.3933333333333334, + "id": "bbox_1769134589371_1769136935515_zo9g3st7j", + "width": 0.23500000000000004, + "x": 0.7583749999999999, + "y": 0.21619791666666668 + } + ], + "type": "bbox" + }, + "point_1769134593795": { + "instances": [ + { + "id": "point_1769134593795_1769136953410_h69yldfet", + "x": 0.606375, + "y": 0.3161979166666667 + } + ], + "type": "point" + }, + "point_1769134598747": { + "instances": [ + { + "id": "point_1769134598747_1769136955522_49zkepton", + "x": 0.701375, + "y": 0.34286458333333336 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧黑色钢笔，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 252, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧黑色钢笔，垂直升高并向爪夹右边的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧黑色钢笔，水平上接近了纸箱。\n为完成抓取黑色钢笔放进纸箱里的任务应当：继续向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "time": 8.392186609652326 + }, + { + "action_description": "爪夹夹紧黑色钢笔，向爪夹右方移动", + "annotations": { + "bbox_1769134589371": { + "instances": [ + { + "height": 0.38399999999999995, + "id": "bbox_1769134589371_1769137225414_99cn3j9to", + "width": 0.2179999999999999, + "x": 0.776375, + "y": 0.22386458333333337 + } + ], + "type": "bbox" + }, + "point_1769134593795": { + "instances": [ + { + "id": "point_1769134593795_1769137237456_cpab8e7qk", + "x": 0.8543750000000001, + "y": 0.3051979166666667 + } + ], + "type": "point" + }, + "point_1769134598747": { + "instances": [ + { + "id": "point_1769134598747_1769137239694_c06sejghc", + "x": 0.944375, + "y": 0.3651979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 275, + "progress": 80, + "progress_explanation": "爪夹夹紧黑色钢笔，到了爪夹右方的纸箱正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧黑色钢笔，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取黑色钢笔放进纸箱里的任务应当：松开爪夹，使黑色钢笔落入纸箱。", + "time": 9.168097190726733 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769134589371": { + "instances": [ + { + "height": 0.37866663585069704, + "id": "bbox_1769134589371_1769137417714_gc6wvfo5e", + "width": 0.21099998712158294, + "x": 0.7816665782674206, + "y": 0.22820367609019562 + } + ], + "type": "bbox" + }, + "point_1769134593795": { + "instances": [ + { + "id": "point_1769134593795_1769137433986_v5fhf9bld", + "x": 0.8036665769246474, + "y": 0.3575369988983562 + } + ], + "type": "point" + }, + "point_1769134598747": { + "instances": [ + { + "id": "point_1769134598747_1769137437283_99j0wqqv8", + "x": 0.9566665675862691, + "y": 0.4242036601396761 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，黑色钢笔落入纸箱。", + "frame": 296, + "progress": 100, + "progress_explanation": "爪夹张开，黑色钢笔落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开黑色钢笔放进纸箱里的任务目标完成。", + "time": 9.871146614304124 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769134577468", + "name": "黑色钢笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769134589371", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769134593795", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769134598747", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-152651-put-black pen-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-152651-put-black pen-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..1d3199bd5ce2704d683cc12165843f76687e27f2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-152651-put-black pen-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,350 @@ +{ + "task_description": "抓取黑色钢笔放入纸箱：\n开始准备移动：0%\n爪夹靠近黑色钢笔：20%\n爪夹抓取黑色钢笔：40%\n爪夹抓紧黑色钢笔接近纸箱：60%\n爪夹抓紧黑色钢笔移动到纸箱上方：80%\n爪夹松开黑色钢笔落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769138047780": { + "instances": [ + { + "height": 0.12933332280816062, + "id": "bbox_1769138047780_1769138086699_8m2eyk2zp", + "width": 0.16299999005127006, + "x": 0.48166659657796645, + "y": 0.5846481000042236 + } + ], + "type": "bbox" + }, + "bbox_1769138054619": { + "instances": [ + { + "height": 0.2906666430121548, + "id": "bbox_1769138054619_1769138094346_xqkp3dd93", + "width": 0.23299998577880937, + "x": 0.4206666003011108, + "y": 0.15131480193564437 + } + ], + "type": "bbox" + }, + "point_1769138066851": { + "instances": [ + { + "id": "point_1769138066851_1769138110035_nuv94mf8k", + "x": 0.17766661513265286, + "y": 0.37531478370647925 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "无", + "frame": 39, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。\n为完成抓取黑色钢笔放入纸箱的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 1.2912710734088657 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769138047780": { + "instances": [ + { + "height": 0.13466665570746617, + "id": "bbox_1769138047780_1769138332270_5pz2yr6k1", + "width": 0.14499999114990292, + "x": 0.4896665960896852, + "y": 0.5815369806691911 + } + ], + "type": "bbox" + }, + "bbox_1769138054619": { + "instances": [ + { + "height": 0.27866664398871716, + "id": "bbox_1769138054619_1769138342822_par8io0wv", + "width": 0.23799998547363374, + "x": 0.4166666005452514, + "y": 0.16153701484887575 + } + ], + "type": "bbox" + }, + "point_1769138066851": { + "instances": [ + { + "id": "point_1769138066851_1769138392021_po1kc3xbs", + "x": 0.4443750000000001, + "y": 0.5625312499999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了黑色钢笔。\n为完成抓取黑色钢笔放入纸箱的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 2.3050386597938144 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769138047780": { + "instances": [ + { + "height": 0.13066665603298694, + "id": "bbox_1769138047780_1769138545898_wi3ojqtv2", + "width": 0.14899999090576213, + "x": 0.4896665960896853, + "y": 0.5825740085795892 + } + ], + "type": "bbox" + }, + "bbox_1769138054619": { + "instances": [ + { + "height": 0.2773333107638907, + "id": "bbox_1769138054619_1769138553634_mh9ihhoy0", + "width": 0.23099998590087964, + "x": 0.41766660048421633, + "y": 0.1532407101854891 + } + ], + "type": "bbox" + }, + "point_1769138066851": { + "instances": [ + { + "id": "point_1769138066851_1769138570673_90wh5vckc", + "x": 0.583666590352381, + "y": 0.6585740023946939 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，方便抓取黑色钢笔。", + "frame": 92, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。\n为完成抓取黑色钢笔放入纸箱的任务应当：爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的纸箱接近。", + "time": 3.0773534352502923 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769138047780": { + "instances": [ + { + "height": 0.1519999876302093, + "id": "bbox_1769138047780_1769138824454_dnrifo8eu", + "width": 0.11899999273681683, + "x": 0.4896665960896852, + "y": 0.5659814297703913 + } + ], + "type": "bbox" + }, + "bbox_1769138054619": { + "instances": [ + { + "height": 0.2933333094618076, + "id": "bbox_1769138054619_1769138805957_i5gxolure", + "width": 0.23299998577880957, + "x": 0.4166666005452514, + "y": 0.14998146362455536 + } + ], + "type": "bbox" + }, + "point_1769138060933": { + "instances": [ + { + "id": "point_1769138060933_1769138819452_x8pjf0ofm", + "x": 0.4756665969441774, + "y": 0.611314759414489 + } + ], + "type": "point" + }, + "point_1769138066851": { + "instances": [ + { + "id": "point_1769138066851_1769138872644_ycdbxkiq6", + "x": 0.5543750000000001, + "y": 0.6461979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，爪夹合拢抓取到了黑色钢笔。", + "frame": 112, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到黑色钢笔。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取黑色钢笔。\n为完成抓取黑色钢笔放入纸箱的任务应当：抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的纸箱接近。", + "time": 3.7282812293436125 + }, + { + "action_description": "爪夹夹紧黑色钢笔，垂直升高，向爪夹正前方移动。", + "annotations": { + "bbox_1769138047780": { + "instances": [ + { + "height": 0.21733333333333332, + "id": "bbox_1769138047780_1769139086775_jzzafq5af", + "width": 0.04299999999999997, + "x": 0.507375, + "y": 0.00653125 + } + ], + "type": "bbox" + }, + "bbox_1769138054619": { + "instances": [ + { + "height": 0.2786666666666667, + "id": "bbox_1769138054619_1769139121062_0yrdwp435", + "width": 0.23200000000000007, + "x": 0.42037499999999994, + "y": 0.16519791666666664 + } + ], + "type": "bbox" + }, + "point_1769138066851": { + "instances": [ + { + "id": "point_1769138066851_1769139140693_fm2dda09j", + "x": 0.5473749999999998, + "y": 0.13186458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹正前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧黑色钢笔，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 157, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧黑色钢笔，垂直升高并向爪夹前方的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧黑色钢笔，水平上接近了纸箱。\n为完成抓取黑色钢笔放入纸箱的任务应当：继续向爪夹正前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "time": 5.228590413290411 + }, + { + "action_description": "爪夹夹紧黑色钢笔，向爪夹正前方移动", + "annotations": { + "bbox_1769138054619": { + "instances": [ + { + "height": 0.2826666666666667, + "id": "bbox_1769138054619_1769139370105_faanscvcc", + "width": 0.23000000000000007, + "x": 0.418375, + "y": 0.16119791666666666 + } + ], + "type": "bbox" + }, + "point_1769138066851": { + "instances": [ + { + "id": "point_1769138066851_1769139381367_wmt81fo8o", + "x": 0.511375, + "y": 0.01853125 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 167, + "progress": 80, + "progress_explanation": "爪夹夹紧黑色钢笔，到了爪夹正前方的纸箱正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧黑色钢笔，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取黑色钢笔放入纸箱的任务应当：松开爪夹，使黑色钢笔落入纸箱。", + "time": 5.561992454167477 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769138047780": { + "instances": [ + { + "height": 0.18933333333333338, + "id": "bbox_1769138047780_1769139577108_banldwd9p", + "width": 0.038999999999999965, + "x": 0.48237500000000005, + "y": 0.11986458333333334 + } + ], + "type": "bbox" + }, + "bbox_1769138054619": { + "instances": [ + { + "height": 0.2946666666666667, + "id": "bbox_1769138054619_1769139589052_pbyn91d8d", + "width": 0.23000000000000004, + "x": 0.42037499999999994, + "y": 0.1518645833333333 + } + ], + "type": "bbox" + }, + "point_1769138066851": { + "instances": [ + { + "id": "point_1769138066851_1769139600331_dd52dioy5", + "x": 0.530375, + "y": 0.07719791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，黑色钢笔落入纸箱。", + "frame": 179, + "progress": 100, + "progress_explanation": "爪夹张开，黑色钢笔落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开。\n爪夹松开黑色钢笔落入纸箱的任务目标完成。", + "time": 5.972461340206187 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769138047780", + "name": "黑色钢笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769138054619", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769138060933", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769138066851", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-153930-put-black pen-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-153930-put-black pen-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..0e972be7a0b7cc707ea351236e018b4bf45a8436 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-153930-put-black pen-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,464 @@ +{ + "task_description": "抓取杯子中的黑色钢笔放入纸箱：\n开始准备移动：0%\n爪夹靠近杯子：20%\n爪夹抓取黑色钢笔：40%\n爪夹抓紧黑色钢笔接近纸箱：60%\n爪夹抓紧黑色钢笔移动到纸箱上方：80%\n爪夹松开黑色钢笔落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769140247134": { + "instances": [ + { + "height": 0.09466666666666672, + "id": "bbox_1769140247134_1769140348429_49imayz0e", + "width": 0.10499999999999998, + "x": 0.502375, + "y": 0.4758645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769140256462": { + "instances": [ + { + "height": 0.35466666666666674, + "id": "bbox_1769140256462_1769140304693_u0ortqwzt", + "width": 0.2909999999999999, + "x": 0.4753750000000001, + "y": 0.15186458333333328 + } + ], + "type": "bbox" + }, + "point_1769140271198": { + "instances": [ + { + "id": "point_1769140271198_1769140302261_b29kco0hm", + "x": 0.24137499999999998, + "y": 0.34386458333333336 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "无", + "frame": 37, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。\n为完成抓取杯子中的黑色钢笔放入纸箱的任务应当：爪夹向爪夹右前方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 1.2334357486411343 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769140247134": { + "instances": [ + { + "height": 0.09733332541232696, + "id": "bbox_1769140247134_1769140704470_jyonkschl", + "width": 0.09299999432373074, + "x": 0.5116665947469119, + "y": 0.4735369894582528 + } + ], + "type": "bbox" + }, + "bbox_1769140256462": { + "instances": [ + { + "height": 0.3613333039279539, + "id": "bbox_1769140256462_1769140711237_y0b6aax00", + "width": 0.28499998260498166, + "x": 0.47966659670003675, + "y": 0.15753701517439653 + } + ], + "type": "bbox" + }, + "point_1769140271198": { + "instances": [ + { + "id": "point_1769140271198_1769140724374_lm9fdxda7", + "x": 0.5136665946248417, + "y": 0.40820366144175935 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。", + "frame": 99, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了黑色钢笔。\n为完成抓取杯子中的黑色钢笔放入纸箱的任务应当：爪夹向爪夹右前方的杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 3.3077963917525777 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769140247134": { + "instances": [ + { + "height": 0.09733332541232691, + "id": "bbox_1769140247134_1769143057701_m2p988p0t", + "width": 0.1019999937744144, + "x": 0.5036665952351932, + "y": 0.47398143725737 + } + ], + "type": "bbox" + }, + "bbox_1769140256462": { + "instances": [ + { + "height": 0.35199997135416894, + "id": "bbox_1769140256462_1769143068867_gprmplgr5", + "width": 0.3159999807128918, + "x": 0.4506665984700563, + "y": 0.15931479619834016 + } + ], + "type": "bbox" + }, + "point_1769140271198": { + "instances": [ + { + "id": "point_1769140271198_1769143087218_f02bj08ns", + "x": 0.5966665895589239, + "y": 0.5046481014283771 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，方便抓取黑色钢笔。", + "frame": 133, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。\n为完成抓取杯子中的黑色钢笔放入纸箱的任务应当：爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的纸箱接近。", + "time": 4.447249979408501 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769140247134": { + "instances": [ + { + "height": 0.10266665831163267, + "id": "bbox_1769140247134_1769143390763_4ly6tjse8", + "width": 0.07999999511718778, + "x": 0.5236665940144901, + "y": 0.45753699076033605 + } + ], + "type": "bbox" + }, + "bbox_1769140256462": { + "instances": [ + { + "height": 0.351999971354169, + "id": "bbox_1769140256462_1769143403050_8wxmlyi3p", + "width": 0.31199998095703235, + "x": 0.45166659840902107, + "y": 0.16153701484887578 + } + ], + "type": "bbox" + }, + "point_1769140261927": { + "instances": [ + { + "id": "point_1769140261927_1769143439738_zxyj6x1m4", + "x": 0.5666665913899785, + "y": 0.46731477113323805 + } + ], + "type": "point" + }, + "point_1769140271198": { + "instances": [ + { + "id": "point_1769140271198_1769143441993_sp53ze13p", + "x": 0.5806665905354864, + "y": 0.4846481030559812 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，爪夹合拢未抓取到黑色钢笔。", + "frame": 150, + "progress": 10, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢未抓取到黑色钢笔。需要多两步张开爪夹，垂直向上升高，因此进度降低为 10%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢未抓取到黑色钢笔。\n为完成抓取杯子中的黑色钢笔放入纸箱的任务应当：爪夹张开，爪夹向上垂直升高，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 5.007456129725749 + }, + { + "action_description": "爪夹张开，向上垂直移动，调整爪夹角度垂直于桌面并垂直向下移动靠近黑色钢笔。", + "annotations": { + "bbox_1769140247134": { + "instances": [ + { + "height": 0.10933332443576453, + "id": "bbox_1769140247134_1769143952471_4hz8sy2a9", + "width": 0.06699999591064483, + "x": 0.5136665946248415, + "y": 0.45620365753550973 + } + ], + "type": "bbox" + }, + "bbox_1769140256462": { + "instances": [ + { + "height": 0.38399996875000253, + "id": "bbox_1769140256462_1769143960543_i6up2xhb3", + "width": 0.353999978393556, + "x": 0.4236666001180053, + "y": 0.1335370171275214 + } + ], + "type": "bbox" + }, + "point_1769140271198": { + "instances": [ + { + "id": "point_1769140271198_1769144173362_he9x823f8", + "x": 0.602375, + "y": 0.4971979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹张开接近垂直于桌面，向下移动靠近了黑色钢笔。方便抓取黑色钢笔，因此进度提升为 20%。", + "frame": 235, + "progress": 20, + "progress_explanation": "爪夹张开接近垂直于桌面，移动到黑色钢笔正上方，向下移动靠近了黑色钢笔。方便抓取黑色钢笔，因此进度提升为 20%。", + "state_description": "爪夹张开，爪夹接近垂直于桌面，停留在黑色钢笔正上方。\n为完成抓取杯子中的黑色钢笔放入纸箱的任务应当：接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 7.837971415539211 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769140247134": { + "instances": [ + { + "height": 0.16399998665364687, + "id": "bbox_1769140247134_1769144774231_i8ak7vtgx", + "width": 0.09799999401855511, + "x": 0.517666594380701, + "y": 0.4119073558018103 + } + ], + "type": "bbox" + }, + "bbox_1769140256462": { + "instances": [ + { + "height": 0.345333305230037, + "id": "bbox_1769140256462_1769144783008_ch4x8qy0s", + "width": 0.2929999821167003, + "x": 0.4666665974934937, + "y": 0.16124070953444747 + } + ], + "type": "bbox" + }, + "point_1769140261927": { + "instances": [ + { + "id": "point_1769140261927_1769144796536_3xm6r8xiy", + "x": 0.563666591573084, + "y": 0.4372406870735118 + } + ], + "type": "point" + }, + "point_1769140271198": { + "instances": [ + { + "id": "point_1769140271198_1769144798416_ydyyiraih", + "x": 0.5876665901082403, + "y": 0.4452406864224702 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧黑色钢笔垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，爪夹合拢抓取到了黑色钢笔。", + "frame": 263, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到黑色钢笔。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取黑色钢笔。\n为完成抓取杯子中的黑色钢笔放入纸箱的任务应当：抓紧黑色钢笔垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 8.75199197658314 + }, + { + "action_description": "爪夹夹紧黑色钢笔，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1769140247134": { + "instances": [ + { + "height": 0.18266666666666667, + "id": "bbox_1769140247134_1769144973955_hyjcz4kq6", + "width": 0.04900000000000002, + "x": 0.53, + "y": -0.0053333333333333306 + } + ], + "type": "bbox" + }, + "bbox_1769140256462": { + "instances": [ + { + "height": 0.35466666666666663, + "id": "bbox_1769140256462_1769144993595_eowoegc33", + "width": 0.29300000000000004, + "x": 0.47000000000000003, + "y": 0.16266666666666665 + } + ], + "type": "bbox" + }, + "point_1769140271198": { + "instances": [ + { + "id": "point_1769140271198_1769144983067_htrnol9un", + "x": 0.5860000000000001, + "y": 0.064 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧黑色钢笔，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 325, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧黑色钢笔，垂直升高并向爪夹右前的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧黑色钢笔，水平上接近了纸箱。\n为完成抓取杯子中的黑色钢笔放入纸箱的任务应当：继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后将松开爪夹，使黑色钢笔落入纸箱。", + "time": 10.8306516396024 + }, + { + "action_description": "爪夹夹紧黑色钢笔，向爪夹右前方移动", + "annotations": { + "bbox_1769140247134": { + "instances": [ + { + "height": 0.14666666666666664, + "id": "bbox_1769140247134_1769145325612_rukxgqab9", + "width": 0.046, + "x": 0.5693750000000001, + "y": 0.12386458333333333 + } + ], + "type": "bbox" + }, + "bbox_1769140256462": { + "instances": [ + { + "height": 0.3506666666666666, + "id": "bbox_1769140256462_1769145349531_py0evzaej", + "width": 0.304, + "x": 0.46699999999999997, + "y": 0.16044441731770834 + } + ], + "type": "bbox" + }, + "point_1769140271198": { + "instances": [ + { + "id": "point_1769140271198_1769145362236_sxr5pa9yv", + "x": 0.622, + "y": 0.15644441731770833 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方。", + "frame": 355, + "progress": 80, + "progress_explanation": "爪夹夹紧黑色钢笔，到了爪夹右前方的纸箱正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧黑色钢笔，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取杯子中的黑色钢笔放入纸箱的任务应当：松开爪夹，使黑色钢笔落入纸箱。", + "time": 11.833125803328002 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769140247134": { + "instances": [ + { + "height": 0.13866665538194536, + "id": "bbox_1769140247134_1769145562710_mudj2416m", + "width": 0.029999998168945385, + "x": 0.5786665906575567, + "y": 0.2442036747881124 + } + ], + "type": "bbox" + }, + "bbox_1769140256462": { + "instances": [ + { + "height": 0.36266663715278014, + "id": "bbox_1769140256462_1769145571686_gbbawy1zb", + "width": 0.29399998205566524, + "x": 0.47866659676107187, + "y": 0.15353701549991736 + } + ], + "type": "bbox" + }, + "point_1769140271198": { + "instances": [ + { + "id": "point_1769140271198_1769145585862_dhcok6rmm", + "x": 0.6376665870564826, + "y": 0.17087034742266055 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，黑色钢笔落入纸箱。", + "frame": 366, + "progress": 100, + "progress_explanation": "爪夹张开，黑色钢笔落入纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开杯子中的黑色钢笔放入纸箱任务目标完成。", + "time": 12.186940214054683 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769140247134", + "name": "黑色钢笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769140256462", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769140261927", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769140271198", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-155510-put-black pen-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-155510-put-black pen-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..a211c1f5c8dde5e10fa194332e33243d06517fc2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-155510-put-black pen-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,352 @@ +{ + "task_description": "抓取黑色钢笔放入纸箱：\n开始准备移动：0%\n爪夹靠近黑色钢笔：20%\n爪夹抓取黑色钢笔：40%\n爪夹抓紧黑色钢笔接近纸箱：60%\n爪夹抓紧黑色钢笔移动到纸箱上方：80%\n爪夹松开黑色钢笔落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769146392005": { + "instances": [ + { + "height": 0.07599999381510472, + "id": "bbox_1769146392005_1769146443244_cz8cnqyte", + "width": 0.13399999182128958, + "x": 0.5386665930989627, + "y": 0.5135369862030448 + } + ], + "type": "bbox" + }, + "bbox_1769146400277": { + "instances": [ + { + "height": 0.37599996940104413, + "id": "bbox_1769146400277_1769146452788_vyj6jim4r", + "width": 0.15599999047851618, + "x": 0.8366665749104873, + "y": 0.28953700443221 + } + ], + "type": "bbox" + }, + "point_1769146405583": { + "instances": [ + { + "id": "point_1769146405583_1769146465068_9i3i1tmhv", + "x": 0.38866660225423566, + "y": 0.5122036529782183 + } + ], + "type": "point" + }, + "point_1769146413573": { + "instances": [ + { + "id": "point_1769146413573_1769146466924_ic29uyssv", + "x": 0.5186665943196658, + "y": 0.5308703181257879 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "无", + "frame": 46, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。\n为完成抓取黑色钢笔放入纸箱的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 1.5238483154392317 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769146400277": { + "instances": [ + { + "height": 0.37866666666666676, + "id": "bbox_1769146400277_1769146844259_fgbujbbb4", + "width": 0.1570000000000002, + "x": 0.837375, + "y": 0.29453125 + } + ], + "type": "bbox" + }, + "point_1769146405583": { + "instances": [ + { + "id": "point_1769146405583_1769146853396_e1b04nivg", + "x": 0.515375, + "y": 0.4891979166666667 + } + ], + "type": "point" + }, + "point_1769146413573": { + "instances": [ + { + "id": "point_1769146413573_1769146855250_wbwyb8vk0", + "x": 0.666375, + "y": 0.6011979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。", + "frame": 71, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了黑色钢笔。\n为完成抓取黑色钢笔放入纸箱的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 2.358487438179098 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769146400277": { + "instances": [ + { + "height": 0.385333301974829, + "id": "bbox_1769146400277_1769147038104_jqekfd48x", + "width": 0.15699999041748108, + "x": 0.8356665749715224, + "y": 0.2815370050832515 + } + ], + "type": "bbox" + }, + "point_1769146405583": { + "instances": [ + { + "id": "point_1769146405583_1769147048527_82t0541v5", + "x": 0.5676665913289434, + "y": 0.4828703220320376 + } + ], + "type": "point" + }, + "point_1769146413573": { + "instances": [ + { + "id": "point_1769146413573_1769147050304_6w2uq758l", + "x": 0.6766665846761117, + "y": 0.6255369770884621 + } + ], + "type": "point" + } + }, + "correction_plan": "接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，方便抓取黑色钢笔。", + "frame": 82, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。\n为完成抓取黑色钢笔放入纸箱的任务应当：接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近。", + "time": 2.71889978663495 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "annotations": { + "bbox_1769146400277": { + "instances": [ + { + "height": 0.37600000000000006, + "id": "bbox_1769146400277_1769147478224_10u9d95qm", + "width": 0.154, + "x": 0.8383749999999999, + "y": 0.29319791666666667 + } + ], + "type": "bbox" + }, + "point_1769146405583": { + "instances": [ + { + "id": "point_1769146405583_1769147473327_mjripkt5s", + "x": 0.5863750000000001, + "y": 0.55053125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹抓取到黑色钢笔。", + "frame": 118, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到黑色钢笔。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取黑色钢笔。\n为完成抓取黑色钢笔放入纸箱的任务应当：抓紧黑色钢笔垂直升高爪夹并向爪夹右方的纸箱接近。", + "time": 3.9234357933163486 + }, + { + "action_description": "爪夹夹紧黑色钢笔，垂直升高，向爪夹右方移动。", + "annotations": { + "bbox_1769146400277": { + "instances": [ + { + "height": 0.38000000000000006, + "id": "bbox_1769146400277_1769147750802_qh1kifx2k", + "width": 0.1530000000000001, + "x": 0.843375, + "y": 0.28786458333333337 + } + ], + "type": "bbox" + }, + "point_1769146405583": { + "instances": [ + { + "id": "point_1769146405583_1769147760881_laltsz7cp", + "x": 0.7073750000000001, + "y": 0.47719791666666667 + } + ], + "type": "point" + }, + "point_1769146413573": { + "instances": [ + { + "id": "point_1769146413573_1769147762937_6h6dugdiv", + "x": 0.809375, + "y": 0.5091979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧黑色钢笔，水平上接近了纸箱。更加方便接近纸箱。", + "frame": 167, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧黑色钢笔，垂直升高并向爪夹右边的纸箱接近。缩短了与纸箱的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧黑色钢笔，水平上接近了纸箱。\n为完成抓取黑色钢笔放入纸箱的任务应当：继续向爪夹右方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "time": 5.570979381443298 + }, + { + "action_description": "爪夹夹紧黑色钢笔，向爪夹右方移动", + "annotations": { + "bbox_1769146400277": { + "instances": [ + { + "height": 0.3719999999999999, + "id": "bbox_1769146400277_1769148129594_z09v81m2d", + "width": 0.15600000000000006, + "x": 0.837375, + "y": 0.29186458333333337 + } + ], + "type": "bbox" + }, + "point_1769146405583": { + "instances": [ + { + "id": "point_1769146405583_1769148122802_8361lflqp", + "x": 0.945375, + "y": 0.41853125 + } + ], + "type": "point" + }, + "point_1769146413573": { + "instances": [ + { + "id": "point_1769146413573_1769148119227_yzp66tje4", + "x": 0.977375, + "y": 0.5651979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱左上方", + "frame": 186, + "progress": 70, + "progress_explanation": "爪夹夹紧黑色钢笔，到了爪夹右方的纸箱左上方。因此进度提升为 70%。", + "state_description": "爪夹夹紧黑色钢笔，爪夹角度接近垂直于桌面，位于纸箱左上方。\n为完成抓取黑色钢笔放入纸箱的任务应当：爪夹向爪夹右前方移动，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "time": 6.19972430987962 + }, + { + "action_description": "爪夹松开，向下垂直移动并向左方移动。", + "annotations": { + "bbox_1769146392005": { + "instances": [ + { + "height": 0.035999997070312637, + "id": "bbox_1769146392005_1769148607297_eleainaqn", + "width": 0.14099999139404362, + "x": 0.5856665902303105, + "y": 0.7055369705780461 + } + ], + "type": "bbox" + }, + "bbox_1769146400277": { + "instances": [ + { + "height": 0.4573333333333333, + "id": "bbox_1769146400277_1769148652304_2atr7l4n2", + "width": 0.27199999999999996, + "x": 0.505375, + "y": 0.10519791666666668 + } + ], + "type": "bbox" + }, + "point_1769146405583": { + "instances": [ + { + "id": "point_1769146405583_1769148616937_s7zpkm6tm", + "x": 0.4196666003621459, + "y": 0.346870333099745 + } + ], + "type": "point" + }, + "point_1769146413573": { + "instances": [ + { + "id": "point_1769146413573_1769148649344_fa6bcymds", + "x": 0.477375, + "y": 0.34386458333333336 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的纸箱移动，同时调整爪夹的角度使其垂直于桌面，并移动到纸箱的正上方。接着落下爪夹靠近纸箱，接近纸箱后爪夹合拢抓取纸箱。抓紧纸箱垂直升高爪夹并向爪夹右方移动，水平到达桌子的右上角后松开爪夹，使纸箱落在桌子上。\n爪夹向爪夹左后方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "夹紧的黑色钢笔掉落桌面上，水平和高度上远离了黑色钢笔。需重新抓取黑色钢笔。爪夹向下垂直移动并向左移动使纸箱脱离了初始位置，需先将纸箱复原。", + "frame": 239, + "progress": -50, + "progress_explanation": "夹紧的黑色钢笔掉落桌面，远离了黑色钢笔。需重新抓取黑色钢笔。纸箱脱离了初始位置，需先将纸箱复原。因此进度降低为 -50%。", + "state_description": "爪夹张开，夹紧的黑色钢笔掉落桌面，水平和高度上远离了黑色钢笔。爪夹向下垂直移动并向左移动，使纸箱脱离了初始位置。\n为完成抓取黑色钢笔放入纸箱的任务应当：\n爪夹向爪夹右前方的纸箱移动，同时调整爪夹的角度使其垂直于桌面，并移动到纸箱的正上方。", + "time": 7.967010309278351 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769146392005", + "name": "黑色钢笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769146400277", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769146405583", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769146413573", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-155510-put-black pen-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-155510-put-black pen-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..151556f4c1a93765815f6ee88cd207808eb8c8e1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-155510-put-black pen-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,422 @@ +{ + "task_description": "抓取黑色钢笔放进纸箱：\n开始准备移动：0%\n爪夹靠近黑色钢笔：20%\n爪夹抓取黑色钢笔：40%\n爪夹抓紧黑色钢笔接近纸箱：60%\n爪夹抓紧黑色钢笔移动到纸箱上方：80%\n爪夹松开黑色钢笔落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769151154052": { + "instances": [ + { + "height": 0.09199999999999993, + "id": "bbox_1769151154052_1769151199147_b011iya4x", + "width": 0.13999999999999996, + "x": 0.649375, + "y": 0.5865312500000001 + } + ], + "type": "bbox" + }, + "bbox_1769151160964": { + "instances": [ + { + "height": 0.3239999999999999, + "id": "bbox_1769151160964_1769151210652_23qhd8qzp", + "width": 0.25999999999999995, + "x": 0.5433749999999999, + "y": 0.011864583333333335 + } + ], + "type": "bbox" + }, + "point_1769151174019": { + "instances": [ + { + "id": "point_1769151174019_1769151239410_m5a9zkhow", + "x": 0.41537500000000005, + "y": 0.5718645833333333 + } + ], + "type": "point" + }, + "point_1769151179395": { + "instances": [ + { + "id": "point_1769151179395_1769151244043_tutgjqwt8", + "x": 0.5313749999999999, + "y": 0.61053125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "无", + "frame": 44, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 1.460068242334221 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769151154052": { + "instances": [ + { + "height": 0.05733333333333342, + "id": "bbox_1769151154052_1769151644355_rbetzncc9", + "width": 0.11900000000000013, + "x": 0.672375, + "y": 0.6118645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769151160964": { + "instances": [ + { + "height": 0.3346666666666667, + "id": "bbox_1769151160964_1769151713145_ldz30q96r", + "width": 0.2639999999999999, + "x": 0.54, + "y": 0.007111104329427084 + } + ], + "type": "bbox" + }, + "point_1769151174019": { + "instances": [ + { + "id": "point_1769151174019_1769151678378_pn685isba", + "x": 0.637, + "y": 0.44311108398437504 + } + ], + "type": "point" + }, + "point_1769151179395": { + "instances": [ + { + "id": "point_1769151179395_1769151680674_jq3sz4hxk", + "x": 0.779, + "y": 0.5777777506510416 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。", + "frame": 86, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了黑色钢笔。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 2.8817783505154644 + }, + { + "action_description": "爪夹向右方移动，同时降低角度使爪夹接近垂直于桌面。", + "annotations": { + "bbox_1769151154052": { + "instances": [ + { + "height": 0.0706666666666667, + "id": "bbox_1769151154052_1769153760271_mty542rsk", + "width": 0.16000000000000023, + "x": 0.6493749999999999, + "y": 0.5918645833333334 + } + ], + "type": "bbox" + }, + "bbox_1769151160964": { + "instances": [ + { + "height": 0.3373333058810787, + "id": "bbox_1769151160964_1769153709529_fsgfenfkn", + "width": 0.2579999842529307, + "x": 0.5446665927327519, + "y": 0.005240722229758932 + } + ], + "type": "bbox" + }, + "point_1769151174019": { + "instances": [ + { + "id": "point_1769151174019_1769153729264_shyrb62re", + "x": 0.7566665797932994, + "y": 0.4972406821906997 + } + ], + "type": "point" + }, + "point_1769151179395": { + "instances": [ + { + "id": "point_1769151179395_1769153731071_mvgdopr2n", + "x": 0.8436665749104874, + "y": 0.6225740057584088 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上垂直升高并向爪夹左方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹向右方移动，同时降低角度使爪夹接近垂直于桌面，接近了充电器，并未接近黑色钢笔。", + "frame": 116, + "progress": -10, + "progress_explanation": "爪夹向右方移动，爪夹接近垂直于桌面，接近了充电器，并未接近目标黑色钢笔。需要多一次爪夹向上垂直升高因此进度降低为 -10%。", + "state_description": "爪夹向右方移动，同时降低角度使爪夹接近垂直于桌面，接近了充电器。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹向上垂直升高并向爪夹左方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 3.853676339144278 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "annotations": { + "bbox_1769151154052": { + "instances": [ + { + "height": 0.07466666059027828, + "id": "bbox_1769151154052_1769154190519_28itgcbc3", + "width": 0.1469999910278325, + "x": 0.6566665858968148, + "y": 0.588203646793323 + } + ], + "type": "bbox" + }, + "bbox_1769151160964": { + "instances": [ + { + "height": 0.32399997363281463, + "id": "bbox_1769151160964_1769154200366_xed06bs3n", + "width": 0.2549999844360361, + "x": 0.5446665927327519, + "y": 0.010870360443492802 + } + ], + "type": "bbox" + }, + "point_1769151174019": { + "instances": [ + { + "id": "point_1769151174019_1769154232269_vsfa1d7vy", + "x": 0.760375, + "y": 0.5158645833333334 + } + ], + "type": "point" + }, + "point_1769151179395": { + "instances": [ + { + "id": "point_1769151179395_1769154234141_vbl0s98ee", + "x": 0.8163750000000001, + "y": 0.6145312500000001 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹左方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹抓取到充电器。水平上未靠近黑色钢笔。", + "frame": 130, + "progress": -20, + "progress_explanation": "爪夹抓取到充电器。水平上未靠近黑色钢笔。需要多两步张开爪夹，垂直向上升高，因此进度降低为 -20%。", + "state_description": "爪夹合拢爪夹，抓取到充电器。水平上未靠近黑色钢笔。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹左方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 4.33821239113012 + }, + { + "action_description": "爪夹夹紧充电器，垂直升高", + "annotations": { + "bbox_1769151154052": { + "instances": [ + { + "height": 0.0840000000000001, + "id": "bbox_1769151154052_1769154510944_i29qv77fj", + "width": 0.13899999999999996, + "x": 0.654375, + "y": 0.5921979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769151160964": { + "instances": [ + { + "height": 0.33066666666666666, + "id": "bbox_1769151160964_1769154520960_hc0dd2cie", + "width": 0.2589999999999999, + "x": 0.542375, + "y": 0.004197916666666664 + } + ], + "type": "bbox" + }, + "point_1769151174019": { + "instances": [ + { + "id": "point_1769151174019_1769154537463_ujrvsqk1p", + "x": 0.745375, + "y": 0.47219791666666666 + } + ], + "type": "point" + }, + "point_1769151179395": { + "instances": [ + { + "id": "point_1769151179395_1769154539487_r42u8m69n", + "x": 0.8393750000000001, + "y": 0.5508645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开并向爪夹左方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹向上垂直移动，水平上未靠近黑色钢笔。", + "frame": 178, + "progress": -15, + "progress_explanation": "爪夹夹紧充电器垂直升高，移动到了黑色钢笔右上方。这时还未靠近黑色钢笔，因此进度为 -15%", + "state_description": "爪夹夹紧充电器垂直升高，停留在黑色钢笔右上方。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹张开并向爪夹左方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 5.934355670103093 + }, + { + "action_description": "爪夹夹紧充电器，向爪夹前方移动", + "annotations": { + "bbox_1769151154052": { + "instances": [ + { + "height": 0.08800000000000013, + "id": "bbox_1769151154052_1769155915221_kec4wpcl5", + "width": 0.13500000000000006, + "x": 0.651375, + "y": 0.5878645833333332 + } + ], + "type": "bbox" + }, + "bbox_1769151160964": { + "instances": [ + { + "height": 0.328, + "id": "bbox_1769151160964_1769155924587_iun8d3fti", + "width": 0.2609999999999998, + "x": 0.541375, + "y": 0.010531249999999999 + } + ], + "type": "bbox" + }, + "point_1769151174019": { + "instances": [ + { + "id": "point_1769151174019_1769155950731_5v039zgan", + "x": 0.622375, + "y": 0.05186458333333333 + } + ], + "type": "point" + }, + "point_1769151179395": { + "instances": [ + { + "id": "point_1769151179395_1769155953053_396d0vzze", + "x": 0.755375, + "y": 0.07586458333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向爪夹后方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹夹紧充电器，移动到了爪夹前方的纸箱正上方，水平上远离了黑色钢笔。", + "frame": 213, + "progress": -30, + "progress_explanation": "爪夹夹紧充电器，移动到了爪夹前方的纸箱正上方，水平上远离了黑色钢笔。因此进度降低为 -30%。", + "state_description": "爪夹夹紧充电器，向爪夹前方移动，位于纸箱正上方，水平上远离了黑色钢笔。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹张开，爪夹向爪夹后方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 7.097242268041237 + }, + { + "action_description": "爪夹张开，并向爪夹左后方的杯子移动", + "annotations": { + "bbox_1769151154052": { + "instances": [ + { + "height": 0.07333332736545195, + "id": "bbox_1769151154052_1769156516759_q27zqcjh7", + "width": 0.1499999908447271, + "x": 0.6456665865682014, + "y": 0.5932406743782004 + } + ], + "type": "bbox" + }, + "bbox_1769151160964": { + "instances": [ + { + "height": 0.33066663975694666, + "id": "bbox_1769151160964_1769156529007_rwb1wlf7c", + "width": 0.26199998400879015, + "x": 0.5426665928548221, + "y": 0.006574055454585329 + } + ], + "type": "bbox" + }, + "point_1769151174019": { + "instances": [ + { + "id": "point_1769151174019_1769156544351_y6ulvm2pj", + "x": 0.45966659792073983, + "y": 0.29324069879226083 + } + ], + "type": "point" + }, + "point_1769151179395": { + "instances": [ + { + "id": "point_1769151179395_1769156547480_da1n98qif", + "x": 0.6696665851033579, + "y": 0.3252406961880944 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹张开，移动到了爪夹左后方的杯子正上方，水平上接近了黑色钢笔。", + "frame": 264, + "progress": 10, + "progress_explanation": "爪夹张开，移动到了到杯子正上方，水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，移动到了杯子正上方。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹向爪夹右方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 8.793118556701032 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769151154052", + "name": "黑色钢笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769151160964", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769151174019", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769151179395", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-155510-put-black pen-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-155510-put-black pen-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b14d12a64a626f4cc772c48fd05afba9213b3099 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-155510-put-black pen-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,398 @@ +{ + "task_description": "抓取黑色钢笔放进纸箱：\n开始准备移动：0%\n爪夹靠近黑色钢笔：20%\n爪夹抓取黑色钢笔：40%\n爪夹抓紧黑色钢笔接近纸箱：60%\n爪夹抓紧黑色钢笔移动到纸箱上方：80%\n爪夹松开黑色钢笔落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769157878555": { + "instances": [ + { + "height": 0.052000000000000074, + "id": "bbox_1769157878555_1769157945818_txuv89vpt", + "width": 0.10399999999999991, + "x": 0.6903750000000001, + "y": 0.4988645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769157919194": { + "instances": [ + { + "height": 0.20399999999999993, + "id": "bbox_1769157919194_1769157958682_q1radyr4q", + "width": 0.213, + "x": 0.521375, + "y": 0.10586458333333335 + } + ], + "type": "bbox" + }, + "point_1769157887939": { + "instances": [ + { + "id": "point_1769157887939_1769157970002_cpow9iiyz", + "x": 0.39137500000000003, + "y": 0.5151979166666667 + } + ], + "type": "point" + }, + "point_1769157923611": { + "instances": [ + { + "id": "point_1769157923611_1769157972610_4lv1ljnvn", + "x": 0.621375, + "y": 0.52053125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "无", + "frame": 51, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 1.6995103092783506 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769157878555": { + "instances": [ + { + "height": 0.14133333333333328, + "id": "bbox_1769157878555_1769158146022_feltaujcz", + "width": 0.14900000000000002, + "x": 0.5273750000000001, + "y": 0.4231979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769157919194": { + "instances": [ + { + "height": 0.4026666666666667, + "id": "bbox_1769157919194_1769158176829_2rpn0y6ox", + "width": 0.31599999999999995, + "x": 0.12837500000000002, + "y": 0.011197916666666674 + } + ], + "type": "bbox" + }, + "point_1769157887939": { + "instances": [ + { + "id": "point_1769157887939_1769158211076_yr4uq5fbv", + "x": 0.39237500000000003, + "y": 0.51253125 + } + ], + "type": "point" + }, + "point_1769157923611": { + "instances": [ + { + "id": "point_1769157923611_1769158213381_xro1lbt65", + "x": 0.621375, + "y": 0.5151979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。", + "frame": 86, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了黑色钢笔。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 2.87208762886598 + }, + { + "action_description": "爪夹向右前方移动，同时降低角度使爪夹接近垂直于桌面。", + "annotations": { + "bbox_1769157878555": { + "instances": [ + { + "height": 0.18666665147569575, + "id": "bbox_1769157878555_1769158351305_bavc7adkt", + "width": 0.16099999017334055, + "x": 0.4496665985310913, + "y": 0.6778332679985947 + } + ], + "type": "bbox" + }, + "bbox_1769157919194": { + "instances": [ + { + "height": 0.5813332860243093, + "id": "bbox_1769157919194_1769158360177_yzsxrdbv7", + "width": 0.12299999249267624, + "x": 0.008666625447593659, + "y": 0.2311666376817515 + } + ], + "type": "bbox" + }, + "point_1769157887939": { + "instances": [ + { + "id": "point_1769157887939_1769158370953_wcvnecahk", + "x": 0.39166660207113024, + "y": 0.5138332813449478 + } + ], + "type": "point" + }, + "point_1769157923611": { + "instances": [ + { + "id": "point_1769157923611_1769158372801_k4rjx9non", + "x": 0.6236665879109748, + "y": 0.531166613267691 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上垂直升高并向爪夹左后方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹向右前方移动，同时降低角度使爪夹接近垂直于桌面，接近了充电器，并未接近黑色钢笔。", + "frame": 116, + "progress": -10, + "progress_explanation": "爪夹向右前方移动，爪夹接近垂直于桌面，接近了充电器，并未接近目标黑色钢笔。需要多一次爪夹向上垂直升高因此进度降低为 -10%。", + "state_description": "爪夹向右前方移动，同时降低角度使爪夹接近垂直于桌面，接近了充电器。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹向上垂直升高并向爪夹左后方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 3.8799226804123705 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "annotations": { + "bbox_1769157878555": { + "instances": [ + { + "height": 0.19466666666666654, + "id": "bbox_1769157878555_1769158625396_r3tkio3sk", + "width": 0.20300000000000012, + "x": 0.4343749999999999, + "y": 0.6938645833333335 + } + ], + "type": "bbox" + }, + "bbox_1769157919194": { + "instances": [ + { + "height": 0.5760000000000001, + "id": "bbox_1769157919194_1769158638475_st3qgslm2", + "width": 0.153, + "x": 0.007375000000000001, + "y": 0.23919791666666665 + } + ], + "type": "bbox" + }, + "point_1769157887939": { + "instances": [ + { + "id": "point_1769157887939_1769158649467_v1bpe0107", + "x": 0.46537500000000004, + "y": 0.52053125 + } + ], + "type": "point" + }, + "point_1769157923611": { + "instances": [ + { + "id": "point_1769157923611_1769158651548_wumq2wvzu", + "x": 0.5573750000000001, + "y": 0.5378645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹左后方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹抓取到充电器。水平上未靠近黑色钢笔。", + "frame": 138, + "progress": -20, + "progress_explanation": "爪夹抓取到充电器。水平上未靠近黑色钢笔。需要多两步张开爪夹，垂直向上升高，因此进度降低为 -20%。", + "state_description": "爪夹合拢爪夹，抓取到充电器。水平上未靠近黑色钢笔。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹左后方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 4.599861859202475 + }, + { + "action_description": "爪夹夹紧充电器，垂直升高", + "annotations": { + "bbox_1769157878555": { + "instances": [ + { + "height": 0.18266666666666673, + "id": "bbox_1769157878555_1769158789673_8wcta4t03", + "width": 0.15300000000000002, + "x": 0.49137499999999995, + "y": 0.48453125 + } + ], + "type": "bbox" + }, + "bbox_1769157919194": { + "instances": [ + { + "height": 0.48800000000000004, + "id": "bbox_1769157919194_1769158803824_87nfgn5jw", + "width": 0.29900000000000004, + "x": 0.031375, + "y": 0.06453125 + } + ], + "type": "bbox" + }, + "point_1769157887939": { + "instances": [ + { + "id": "point_1769157887939_1769158797954_85efnqjq3", + "x": 0.46537500000000004, + "y": 0.5271979166666667 + } + ], + "type": "point" + }, + "point_1769157923611": { + "instances": [ + { + "id": "point_1769157923611_1769158799753_if602mlj2", + "x": 0.5493750000000001, + "y": 0.5338645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开并向爪夹右后方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹向上垂直移动，水平上未靠近黑色钢笔。", + "frame": 170, + "progress": -15, + "progress_explanation": "爪夹夹紧充电器垂直升高，移动到了黑色钢笔左上方。这时还未靠近黑色钢笔，因此进度为 -15%", + "state_description": "爪夹夹紧充电器垂直升高，停留在黑色钢笔左上方。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹张开并向爪夹右后方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 5.663015463917525 + }, + { + "action_description": "爪夹夹紧充电器，向爪夹左前方移动", + "annotations": { + "bbox_1769157919194": { + "instances": [ + { + "height": 0.32399999999999995, + "id": "bbox_1769157919194_1769159307862_6zl8jr6va", + "width": 0.26599999999999996, + "x": 0.39099999999999996, + "y": 0.5728888753255209 + } + ], + "type": "bbox" + }, + "point_1769157887939": { + "instances": [ + { + "id": "point_1769157887939_1769159302463_eoz8dwqsi", + "x": 0.46399999999999997, + "y": 0.5231111043294271 + } + ], + "type": "point" + }, + "point_1769157923611": { + "instances": [ + { + "id": "point_1769157923611_1769159304591_onanzff6e", + "x": 0.554, + "y": 0.5448888753255209 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向爪夹右后方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹夹紧充电器，移动到了爪夹左前方的纸箱正上方，水平上远离了黑色钢笔。", + "frame": 220, + "progress": -30, + "progress_explanation": "爪夹夹紧充电器，移动到了爪夹左前方的纸箱正上方，水平上远离了黑色钢笔。因此进度降低为 -30%。", + "state_description": "爪夹夹紧充电器，向爪夹左前方移动，位于纸箱正上方，水平上远离了黑色钢笔。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹张开，爪夹向爪夹右后方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 7.320128865979382 + }, + { + "action_description": "爪夹张开，并向爪夹左后方的木盒移动", + "annotations": { + "bbox_1769157919194": { + "instances": [ + { + "height": 0.2760000000000001, + "id": "bbox_1769157919194_1769159598913_sgwoi2hb4", + "width": 0.25500000000000017, + "x": 0.549375, + "y": 0.1951979166666667 + } + ], + "type": "bbox" + }, + "point_1769157887939": { + "instances": [ + { + "id": "point_1769157887939_1769159593232_w7oamjwqm", + "x": 0.39237500000000003, + "y": 0.52053125 + } + ], + "type": "point" + }, + "point_1769157923611": { + "instances": [ + { + "id": "point_1769157923611_1769159595624_zgpy913gz", + "x": 0.619375, + "y": 0.5191979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹前方的纸箱接近，水平到达纸箱的正上方后松开爪夹，使黑色钢笔落入纸箱。", + "error_success_analysis": "爪夹张开，移动到了爪夹左后方的木盒正上方，水平上接近了黑色钢笔。", + "frame": 260, + "progress": 10, + "progress_explanation": "爪夹张开，移动到了到木盒正上方，水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，移动到了木盒正上方。\n为完成抓取黑色钢笔放进纸箱的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 8.666666666666666 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769157878555", + "name": "黑色钢笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769157919194", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769157887939", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769157923611", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162019-put-black pen-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162019-put-black pen-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..5b0c56cc774c6b109f7e08c86e340bcac99a29d8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162019-put-black pen-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,310 @@ +{ + "task_description": "抓取黑色钢笔放进白桶：\n开始准备移动：0%\n爪夹靠近黑色钢笔：20%\n爪夹抓取黑色钢笔：40%\n爪夹抓紧黑色钢笔接近白桶：60%\n爪夹抓紧黑色钢笔移动到白桶上方：80%\n爪夹松开黑色钢笔落入白桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769160572165": { + "instances": [ + { + "height": 0.07466666059027845, + "id": "bbox_1769160572165_1769160627738_hl17kybyq", + "width": 0.13099999200439508, + "x": 0.6736665848592172, + "y": 0.5068703200789128 + } + ], + "type": "bbox" + }, + "bbox_1769160579419": { + "instances": [ + { + "height": 0.19866665049913337, + "id": "bbox_1769160579419_1769160642827_l47pnhzov", + "width": 0.07099999566650403, + "x": 0.9256665694783589, + "y": 0.484203655256864 + } + ], + "type": "bbox" + }, + "point_1769160586884": { + "instances": [ + { + "id": "point_1769160586884_1769160654819_61q2041b1", + "x": 0.3366666054280636, + "y": 0.5162036526526975 + } + ], + "type": "point" + }, + "point_1769160598994": { + "instances": [ + { + "id": "point_1769160598994_1769160657738_wp4vbhf7b", + "x": 0.4766665968831423, + "y": 0.49220365460582244 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "无", + "frame": 48, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 1.5999994966172992 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769160579419": { + "instances": [ + { + "height": 0.18399999999999986, + "id": "bbox_1769160579419_1769160985308_e0plh4d3q", + "width": 0.06999999999999992, + "x": 0.927375, + "y": 0.49386458333333333 + } + ], + "type": "bbox" + }, + "point_1769160586884": { + "instances": [ + { + "id": "point_1769160586884_1769161001363_bdoytyumb", + "x": 0.636375, + "y": 0.38186458333333334 + } + ], + "type": "point" + }, + "point_1769160598994": { + "instances": [ + { + "id": "point_1769160598994_1769161003307_9agy6zgje", + "x": 0.762375, + "y": 0.5511979166666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。", + "frame": 85, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 2.8342268041237113 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769160579419": { + "instances": [ + { + "height": 0.19866665049913307, + "id": "bbox_1769160579419_1769161435323_pkjkv6vhc", + "width": 0.06699999591064483, + "x": 0.9266665694173236, + "y": 0.48598143628080764 + } + ], + "type": "bbox" + }, + "point_1769160586884": { + "instances": [ + { + "id": "point_1769160586884_1769161429755_jzkbxibcb", + "x": 0.7115, + "y": 0.4666666666666667 + } + ], + "type": "point" + }, + "point_1769160598994": { + "instances": [ + { + "id": "point_1769160598994_1769161432755_bt5sztoa4", + "x": 0.792666577596034, + "y": 0.6206480919882738 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，方便抓取黑色钢笔。", + "frame": 127, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹右方的白桶接近。", + "time": 4.242473557149447 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769160579419": { + "instances": [ + { + "height": 0.1999999837239597, + "id": "bbox_1769160579419_1769161698477_74wqgboyf", + "width": 0.07099999566650421, + "x": 0.9256665694783587, + "y": 0.4802036555823848 + } + ], + "type": "bbox" + }, + "point_1769160586884": { + "instances": [ + { + "id": "point_1769160586884_1769161692749_rxcbrgzlp", + "x": 0.713666582417811, + "y": 0.5068703200789128 + } + ], + "type": "point" + }, + "point_1769160598994": { + "instances": [ + { + "id": "point_1769160598994_1769161695181_fqd7hw0jm", + "x": 0.7836665781453503, + "y": 0.5628703155216215 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧黑色钢笔垂直升高爪夹并向爪夹右方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，爪夹合拢抓取到了黑色钢笔。", + "frame": 163, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到黑色钢笔。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：抓紧黑色钢笔垂直升高爪夹并向爪夹右方的白桶接近。", + "time": 5.439999254993604 + }, + { + "action_description": "爪夹夹紧黑色钢笔，垂直升高，向爪夹右方移动。", + "annotations": { + "bbox_1769160579419": { + "instances": [ + { + "height": 0.18399998502604287, + "id": "bbox_1769160579419_1769161849627_gg6z9bso3", + "width": 0.07299999554443382, + "x": 0.924666569539394, + "y": 0.49087032138099596 + } + ], + "type": "bbox" + }, + "point_1769160598994": { + "instances": [ + { + "id": "point_1769160598994_1769161909345_63xmy5upf", + "x": 0.952375, + "y": 0.45186458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹合拢继续夹紧黑色钢笔，水平上接近了白桶。更加方便接近白桶。", + "frame": 201, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧黑色钢笔，垂直升高并向爪夹右边的白桶接近。缩短了与白桶的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧黑色钢笔，水平上接近了白桶。\n为完成抓取黑色钢笔放进白桶的任务应当：继续向爪夹右方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "time": 6.6940206185567 + }, + { + "action_description": "爪夹夹紧黑色钢笔，向爪夹右方移动", + "annotations": { + "bbox_1769160579419": { + "instances": [ + { + "height": 0.21466666666666664, + "id": "bbox_1769160579419_1769162159108_7xbaoajci", + "width": 0.07099999999999991, + "x": 0.9263750000000002, + "y": 0.47086458333333336 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹移动到了白桶正上方。", + "frame": 235, + "progress": 80, + "progress_explanation": "爪夹夹紧黑色钢笔，到了爪夹右方的白桶正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧黑色钢笔，爪夹角度接近垂直于桌面，位于白桶正上方。\n为完成抓取黑色钢笔放进白桶的任务应当：松开爪夹，使黑色钢笔落入白桶。", + "time": 7.822268041237113 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769160579419": { + "instances": [ + { + "height": 0.24399998014323085, + "id": "bbox_1769160579419_1769162417167_j56fb9hjg", + "width": 0.08999999450683642, + "x": 0.903666570821132, + "y": 0.43353699271346086 + } + ], + "type": "bbox" + }, + "point_1769160586884": { + "instances": [ + { + "id": "point_1769160586884_1769162431495_vcdr9vxx2", + "x": 0.9186665699056048, + "y": 0.406870328216933 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，黑色钢笔落入白桶。", + "frame": 253, + "progress": 100, + "progress_explanation": "爪夹张开，黑色钢笔落入白桶，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开黑色钢笔落入白桶的任务目标完成。", + "time": 8.435876288659793 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769160572165", + "name": "黑色钢笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769160579419", + "name": "白桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769160586884", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769160598994", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162019-put-black pen-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162019-put-black pen-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..cbebd4ec38b503cfdfd72474d164af9546933184 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162019-put-black pen-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,380 @@ +{ + "task_description": "抓取黑色钢笔放进白桶：\n准备开始移动：0%\n爪夹靠近黑色钢笔：20%\n爪夹抓取黑色钢笔：40%\n爪夹抓紧黑色钢笔接近白桶：60%\n爪夹抓紧黑色钢笔移动到白桶上方：80%\n爪夹松开黑色钢笔落入白桶：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769390005247": { + "instances": [ + { + "height": 0.12400000151909717, + "id": "bbox_1769390005247_1769390081885_wcya6ung1", + "width": 0.12100000067138676, + "x": 0.7033749993286132, + "y": 0.40553124869791674 + } + ], + "type": "bbox" + }, + "bbox_1769390012471": { + "instances": [ + { + "height": 0.22399998177083477, + "id": "bbox_1769390012471_1769390094110_wsimmev9b", + "width": 0.14199999133300842, + "x": 0.5866665901692755, + "y": 0.06361109915274259 + } + ], + "type": "bbox" + }, + "point_1769390019759": { + "instances": [ + { + "id": "point_1769390019759_1769390105461_zyc4cu60t", + "x": 0.38866660225423566, + "y": 0.5489443929895513 + } + ], + "type": "point" + }, + "point_1769390025504": { + "instances": [ + { + "id": "point_1769390025504_1769390107580_5ciafkgy3", + "x": 0.5116665947469119, + "y": 0.5662777249122946 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "无", + "frame": 34, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 1.1435044912119134 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769390005247": { + "instances": [ + { + "height": 0.13999998860677182, + "id": "bbox_1769390005247_1769390228554_tes725zgu", + "width": 0.11299999310302775, + "x": 0.7066665828450571, + "y": 0.3879073679274603 + } + ], + "type": "bbox" + }, + "bbox_1769390012471": { + "instances": [ + { + "height": 0.22399998177083483, + "id": "bbox_1769390012471_1769390239841_ekczzikjt", + "width": 0.1499999908447272, + "x": 0.5806665905354864, + "y": 0.059907394620166456 + } + ], + "type": "bbox" + }, + "point_1769390019759": { + "instances": [ + { + "id": "point_1769390019759_1769390252377_fg2nlluzk", + "x": 0.6676665852254281, + "y": 0.430574031121905 + } + ], + "type": "point" + }, + "point_1769390025504": { + "instances": [ + { + "id": "point_1769390025504_1769390254921_6ib5bpiyf", + "x": 0.8366665749104873, + "y": 0.37324070245436997 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。", + "frame": 91, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 3.0477311755162706 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769390005247": { + "instances": [ + { + "height": 0.11599999055989661, + "id": "bbox_1769390005247_1769390424590_vepkwwv0l", + "width": 0.11099999322509815, + "x": 0.7056665829060923, + "y": 0.4059814326186985 + } + ], + "type": "bbox" + }, + "bbox_1769390012471": { + "instances": [ + { + "height": 0.22533331499566125, + "id": "bbox_1769390012471_1769390431869_5zuwhxexm", + "width": 0.14599999108886763, + "x": 0.5826665904134162, + "y": 0.0619814606134879 + } + ], + "type": "bbox" + }, + "point_1769390019759": { + "instances": [ + { + "id": "point_1769390019759_1769390452237_9cj324i37", + "x": 0.7096665826619517, + "y": 0.5086480909303311 + } + ], + "type": "point" + }, + "point_1769390025504": { + "instances": [ + { + "id": "point_1769390025504_1769390455061_ruog6isyj", + "x": 0.8116665764363662, + "y": 0.40731476584352494 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，方便抓取黑色钢笔。", + "frame": 146, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近。", + "time": 4.864741370463176 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769390005247": { + "instances": [ + { + "height": 0.12533332313368142, + "id": "bbox_1769390005247_1769390603649_yebeyz2gx", + "width": 0.09399999426269563, + "x": 0.7056665829060924, + "y": 0.41190736597433547 + } + ], + "type": "bbox" + }, + "bbox_1769390012471": { + "instances": [ + { + "height": 0.22399998177083477, + "id": "bbox_1769390012471_1769390612273_57zczws6o", + "width": 0.14399999121093804, + "x": 0.5866665901692755, + "y": 0.06390739429464566 + } + ], + "type": "bbox" + }, + "point_1769390019759": { + "instances": [ + { + "id": "point_1769390019759_1769390638672_s2b6infmd", + "x": 0.7356665810750378, + "y": 0.5012406920377042 + } + ], + "type": "point" + }, + "point_1769390025504": { + "instances": [ + { + "id": "point_1769390025504_1769390641424_ts76qo3t1", + "x": 0.7916665776570692, + "y": 0.4399073636956898 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，爪夹合拢抓取到了黑色钢笔。", + "frame": 180, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到黑色钢笔。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近。", + "time": 6.013091813669622 + }, + { + "action_description": "爪夹夹紧黑色钢笔，垂直升高，向爪夹左前方移动。", + "annotations": { + "bbox_1769390012471": { + "instances": [ + { + "height": 0.22666666666666674, + "id": "bbox_1769390012471_1769390810070_ka2auwsxf", + "width": 0.14500000000000002, + "x": 0.583375, + "y": 0.06053125 + } + ], + "type": "bbox" + }, + "point_1769390019759": { + "instances": [ + { + "id": "point_1769390019759_1769390824277_7s7e2pfrg", + "x": 0.761375, + "y": 0.03786458333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹合拢继续夹紧黑色钢笔，水平上接近了白桶。更加方便接近白桶。", + "frame": 285, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧黑色钢笔，垂直升高并向爪夹左前的白桶接近。缩短了与白桶的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧黑色钢笔，水平上接近了白桶。\n为完成抓取黑色钢笔放进白桶的任务应当：继续向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "time": 9.512048969072165 + }, + { + "action_description": "爪夹夹紧黑色钢笔，向爪夹左前方移动", + "annotations": { + "bbox_1769390005247": { + "instances": [ + { + "height": 0.08266665993923666, + "id": "bbox_1769390005247_1769391537854_i9oodydsv", + "width": 0.03599999780273446, + "x": 0.661666585591639, + "y": 0.00390739917745775 + } + ], + "type": "bbox" + }, + "bbox_1769390012471": { + "instances": [ + { + "height": 0.24133331369357794, + "id": "bbox_1769390012471_1769391548933_rijosvfrf", + "width": 0.14599999108886763, + "x": 0.5876665901082403, + "y": 0.058574061395340056 + } + ], + "type": "bbox" + }, + "point_1769390019759": { + "instances": [ + { + "id": "point_1769390019759_1769391577956_znt2izz8r", + "x": 0.665375, + "y": 0.021864583333333337 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹移动到了白桶正上方。", + "frame": 309, + "progress": 80, + "progress_explanation": "爪夹夹紧黑色钢笔，到了爪夹左前方的白桶正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧黑色钢笔，爪夹角度接近垂直于桌面，位于白桶正上方。\n为完成抓取黑色钢笔放进白桶的任务应当：松开爪夹，使黑色钢笔落入白桶。", + "time": 10.31153350515464 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769390005247": { + "instances": [ + { + "height": 0.08533333333333332, + "id": "bbox_1769390005247_1769391644771_mbirtomrg", + "width": 0.09100000000000011, + "x": 0.601375, + "y": 0.15253125 + } + ], + "type": "bbox" + }, + "bbox_1769390012471": { + "instances": [ + { + "height": 0.22666666666666663, + "id": "bbox_1769390012471_1769391652268_jp25uz6jz", + "width": 0.19299999999999998, + "x": 0.584375, + "y": 0.06053125000000001 + } + ], + "type": "bbox" + }, + "point_1769390019759": { + "instances": [ + { + "id": "point_1769390019759_1769391641011_3xkid6cg5", + "x": 0.612375, + "y": 0.09253125 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，黑色钢笔落入白桶。", + "frame": 327, + "progress": 100, + "progress_explanation": "爪夹张开，黑色钢笔落入白桶，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开。\n爪夹松开黑色钢笔落入白桶的任务目标完成。", + "time": 10.90751288659794 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769390005247", + "name": "黑色钢笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769390012471", + "name": "白桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769390019759", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769390025504", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162019-put-black pen-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162019-put-black pen-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..6c6f39a72ab069cf8d35d7240820ca9d445a5e8c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162019-put-black pen-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,380 @@ +{ + "task_description": "抓取黑色钢笔放进白桶：\n准备开始移动：0%\n爪夹靠近黑色钢笔：20%\n爪夹抓取黑色钢笔：40%\n爪夹抓紧黑色钢笔接近白桶：60%\n爪夹抓紧黑色钢笔移动到白桶上方：80%\n爪夹松开黑色钢笔落入白桶：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769392425044": { + "instances": [ + { + "height": 0.1013333333333333, + "id": "bbox_1769392425044_1769392483618_5wmb8lc9z", + "width": 0.06899999999999987, + "x": 0.534375, + "y": 0.53353125 + } + ], + "type": "bbox" + }, + "bbox_1769392432762": { + "instances": [ + { + "height": 0.2306666666666667, + "id": "bbox_1769392432762_1769392497714_0d5md0i0l", + "width": 0.13200000000000003, + "x": 0.546375, + "y": 0.22286458333333334 + } + ], + "type": "bbox" + }, + "point_1769392449452": { + "instances": [ + { + "id": "point_1769392449452_1769392511473_g596wo4oh", + "x": 0.259375, + "y": 0.28553125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "无", + "frame": 43, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 1.4255025773195877 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769392425044": { + "instances": [ + { + "height": 0.11999999999999993, + "id": "bbox_1769392425044_1769392642527_2nchg4tea", + "width": 0.0700000000000001, + "x": 0.5353749999999999, + "y": 0.52953125 + } + ], + "type": "bbox" + }, + "bbox_1769392432762": { + "instances": [ + { + "height": 0.23066666666666666, + "id": "bbox_1769392432762_1769392651638_1vm2ptzxe", + "width": 0.13799999999999998, + "x": 0.541375, + "y": 0.22153125 + } + ], + "type": "bbox" + }, + "point_1769392443699": { + "instances": [ + { + "id": "point_1769392443699_1769392699773_psx7riy3y", + "x": 0.434375, + "y": 0.44953125 + } + ], + "type": "point" + }, + "point_1769392449452": { + "instances": [ + { + "id": "point_1769392449452_1769392702230_z9el6c9u3", + "x": 0.551375, + "y": 0.4908645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。", + "frame": 127, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 4.248904639175258 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769392425044": { + "instances": [ + { + "height": 0.10000000000000006, + "id": "bbox_1769392425044_1769392825923_yvrmj6m9s", + "width": 0.08600000000000012, + "x": 0.5373749999999999, + "y": 0.5521979166666665 + } + ], + "type": "bbox" + }, + "bbox_1769392432762": { + "instances": [ + { + "height": 0.21200000000000002, + "id": "bbox_1769392432762_1769392837819_itg9ctiie", + "width": 0.12999999999999998, + "x": 0.5483750000000001, + "y": 0.22286458333333334 + } + ], + "type": "bbox" + }, + "point_1769392443699": { + "instances": [ + { + "id": "point_1769392443699_1769392851298_do016zux3", + "x": 0.496375, + "y": 0.52553125 + } + ], + "type": "point" + }, + "point_1769392449452": { + "instances": [ + { + "id": "point_1769392449452_1769392853458_k3quswk64", + "x": 0.597375, + "y": 0.6001979166666668 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，方便抓取黑色钢笔。", + "frame": 180, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的白桶接近。", + "time": 5.9997293814432995 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769392425044": { + "instances": [ + { + "height": 0.14133332183159814, + "id": "bbox_1769392425044_1769392965857_n4mt55nz8", + "width": 0.08499999481201197, + "x": 0.5256665938924198, + "y": 0.5569443923385098 + } + ], + "type": "bbox" + }, + "bbox_1769392432762": { + "instances": [ + { + "height": 0.22533331499566117, + "id": "bbox_1769392432762_1769392977456_j9dq28a8j", + "width": 0.13199999194335996, + "x": 0.5466665926106815, + "y": 0.22494441935673673 + } + ], + "type": "bbox" + }, + "point_1769392443699": { + "instances": [ + { + "id": "point_1769392443699_1769392993679_lhpa303nl", + "x": 0.5186665943196658, + "y": 0.5702777245867737 + } + ], + "type": "point" + }, + "point_1769392449452": { + "instances": [ + { + "id": "point_1769392449452_1769392995831_txf21oixh", + "x": 0.5866665901692755, + "y": 0.6102777213315657 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了黑色钢笔，爪夹合拢抓取到了黑色钢笔。", + "frame": 208, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到黑色钢笔。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：抓紧黑色钢笔垂直升高爪夹并向爪夹正前方的白桶接近。", + "time": 6.946121134020619 + }, + { + "action_description": "爪夹夹紧黑色钢笔，垂直升高，向爪夹正前方移动。", + "annotations": { + "bbox_1769392432762": { + "instances": [ + { + "height": 0.2253333149956612, + "id": "bbox_1769392432762_1769393177260_40l97qh8w", + "width": 0.12999999206543017, + "x": 0.5476665925496464, + "y": 0.22701849552258338 + } + ], + "type": "bbox" + }, + "point_1769392449452": { + "instances": [ + { + "id": "point_1769392449452_1769393188747_q8tf5m7zh", + "x": 0.6386665869954475, + "y": 0.04568517694619328 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹正前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹合拢继续夹紧黑色钢笔，水平上接近了白桶。更加方便接近白桶。", + "frame": 302, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧黑色钢笔，垂直升高并向爪夹前边的白桶接近。缩短了与白桶的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧黑色钢笔，水平上接近了白桶。\n为完成抓取黑色钢笔放进白桶的任务应当：继续向爪夹正前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "time": 10.066666666666666 + }, + { + "action_description": "爪夹夹紧黑色钢笔，向爪夹正前方移动", + "annotations": { + "bbox_1769392425044": { + "instances": [ + { + "height": 0.19066666666666662, + "id": "bbox_1769392425044_1769393380623_qqxxs2bge", + "width": 0.04400000000000004, + "x": 0.6083749999999999, + "y": 0.14686458333333335 + } + ], + "type": "bbox" + }, + "bbox_1769392432762": { + "instances": [ + { + "height": 0.22133333333333335, + "id": "bbox_1769392432762_1769393389928_wxtscdx00", + "width": 0.13000000000000006, + "x": 0.548375, + "y": 0.2321979166666667 + } + ], + "type": "bbox" + }, + "point_1769392449452": { + "instances": [ + { + "id": "point_1769392449452_1769393406375_42dz1bi3x", + "x": 0.634375, + "y": 0.27086458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹移动到了白桶正上方。", + "frame": 353, + "progress": 80, + "progress_explanation": "爪夹夹紧黑色钢笔，到了爪夹正前方的白桶正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧黑色钢笔，爪夹角度接近垂直于桌面，位于白桶正上方。\n为完成抓取黑色钢笔放进白桶的任务应当：松开爪夹，使黑色钢笔落入白桶。", + "time": 11.756945876288661 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769392425044": { + "instances": [ + { + "height": 0.11333332411024385, + "id": "bbox_1769392425044_1769393606938_az33gavwk", + "width": 0.03799999768066416, + "x": 0.583666590352381, + "y": 0.27220367250946675 + } + ], + "type": "bbox" + }, + "bbox_1769392432762": { + "instances": [ + { + "height": 0.22799998144531405, + "id": "bbox_1769392432762_1769393613370_tn8k40yr8", + "width": 0.13199999194335996, + "x": 0.5456665926717166, + "y": 0.22820367609019562 + } + ], + "type": "bbox" + }, + "point_1769392443699": { + "instances": [ + { + "id": "point_1769392443699_1769393640002_jufvxlae8", + "x": 0.5336665934041386, + "y": 0.29087033765703635 + } + ], + "type": "point" + }, + "point_1769392449452": { + "instances": [ + { + "id": "point_1769392449452_1769393642721_8radqpx5f", + "x": 0.6626665855306039, + "y": 0.28701849063977125 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，黑色钢笔落入白桶。", + "frame": 377, + "progress": 100, + "progress_explanation": "爪夹张开，黑色钢笔落入白桶，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开。\n爪夹松开黑色钢笔落入白桶的任务目标完成。", + "time": 12.561378865979382 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769392425044", + "name": "黑色钢笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769392432762", + "name": "白桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769392443699", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769392449452", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162851-put-black pen-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162851-put-black pen-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..d5c7f7dc1a3ca3dfae33b455a4ff8f330e283629 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162851-put-black pen-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,510 @@ +{ + "task_description": "抓取黑色钢笔放进白桶：\n开始准备移动：0%\n爪夹靠近黑色钢笔：20%\n爪夹抓取黑色钢笔：40%\n爪夹抓紧黑色钢笔接近白桶：60%\n爪夹抓紧黑色钢笔移动到白桶上方：80%\n爪夹松开黑色钢笔落入白桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769394366795": { + "instances": [ + { + "height": 0.17866665212673727, + "id": "bbox_1769394366795_1769394422106_wfohaqhqq", + "width": 0.048999997009277416, + "x": 0.6966665834554087, + "y": 0.4148703275658913 + } + ], + "type": "bbox" + }, + "bbox_1769394380122": { + "instances": [ + { + "height": 0.23333331434461962, + "id": "bbox_1769394380122_1769394431641_2524lw4gt", + "width": 0.14099999139404354, + "x": 0.4726665971272828, + "y": 0.16287034807370215 + } + ], + "type": "bbox" + }, + "point_1769394387968": { + "instances": [ + { + "id": "point_1769394387968_1769394445577_aghz9n4q5", + "x": 0.3786666028645872, + "y": 0.4308703262638081 + } + ], + "type": "point" + }, + "point_1769394401306": { + "instances": [ + { + "id": "point_1769394401306_1769394447920_9kn8dn8it", + "x": 0.48866659615072044, + "y": 0.44687032496172485 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "无", + "frame": 64, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色钢笔，未开始移动。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 2.132667525773196 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769394366795": { + "instances": [ + { + "height": 0.1679999863281261, + "id": "bbox_1769394366795_1769394708548_x6by62465", + "width": 0.05899999639892606, + "x": 0.6916665837605843, + "y": 0.42687032658932894 + } + ], + "type": "bbox" + }, + "bbox_1769394380122": { + "instances": [ + { + "height": 0.2359999807942724, + "id": "bbox_1769394380122_1769394723691_2f5uygr6y", + "width": 0.14299999127197313, + "x": 0.4726665971272829, + "y": 0.16420368129852853 + } + ], + "type": "bbox" + }, + "point_1769394387968": { + "instances": [ + { + "id": "point_1769394387968_1769394743298_rqo0899gz", + "x": 0.635666587178553, + "y": 0.39753699564314815 + } + ], + "type": "point" + }, + "point_1769394401306": { + "instances": [ + { + "id": "point_1769394401306_1769394745371_q8t5xxc7", + "x": 0.7746665786946668, + "y": 0.46553699010929445 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。", + "frame": 126, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了黑色钢笔。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹向爪夹右前方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 4.207925257731959 + }, + { + "action_description": "爪夹向正前方移动，同时降低角度使爪夹接近垂直于桌面", + "annotations": { + "bbox_1769394380122": { + "instances": [ + { + "height": 0.234666647569446, + "id": "bbox_1769394380122_1769394957279_5byv9y1xt", + "width": 0.14299999127197313, + "x": 0.471666597188318, + "y": 0.16449998661295684 + } + ], + "type": "bbox" + }, + "point_1769394387968": { + "instances": [ + { + "id": "point_1769394387968_1769394972941_vvyxx3frw", + "x": 0.662666586385096, + "y": 0.4218332979193822 + } + ], + "type": "point" + }, + "point_1769394401306": { + "instances": [ + { + "id": "point_1769394401306_1769394975701_9e5bduibk", + "x": 0.7766665803426159, + "y": 0.4898332923855286 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上垂直升高并向爪夹右方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹向正前方移动，同时降低角度使爪夹接近垂直于桌面，接近了钥匙，并未接近黑色钢笔。", + "frame": 157, + "progress": -10, + "progress_explanation": "爪夹向正前方移动，爪夹接近垂直于桌面，接近了钥匙，并未接近目标黑色钢笔。需要多一次爪夹向上垂直升高因此进度降低为 -10%。", + "state_description": "爪夹向正前方移动，同时降低角度使爪夹接近垂直于桌面，接近了钥匙。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹向上垂直升高并向爪夹右方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 5.22854381443299 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "annotations": { + "bbox_1769394380122": { + "instances": [ + { + "height": 0.23466664756944605, + "id": "bbox_1769394380122_1769395289032_khwr9gkw3", + "width": 0.14199999133300825, + "x": 0.4726665971272829, + "y": 0.16287034807370215 + } + ], + "type": "bbox" + }, + "point_1769394387968": { + "instances": [ + { + "id": "point_1769394387968_1769395308583_z6ecrh2bl", + "x": 0.648666586385096, + "y": 0.4562036575355097 + } + ], + "type": "point" + }, + "point_1769394401306": { + "instances": [ + { + "id": "point_1769394401306_1769395310879_omu9vh545", + "x": 0.726666581624354, + "y": 0.5015369871796072 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹右方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹抓取到钥匙。水平上未靠近黑色钢笔。", + "frame": 184, + "progress": -20, + "progress_explanation": "爪夹抓取到钥匙。水平上未靠近黑色钢笔。需要多两步张开爪夹，垂直向上升高，因此进度降低为 -20%。", + "state_description": "爪夹合拢爪夹，抓取到钥匙。水平上未靠近黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹右方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 6.133333333333334 + }, + { + "action_description": "爪夹张开，向上垂直移动。", + "annotations": { + "bbox_1769394380122": { + "instances": [ + { + "height": 0.22933331467014043, + "id": "bbox_1769394380122_1769395669512_sji1ni013", + "width": 0.14199999133300834, + "x": 0.4726665971272829, + "y": 0.16687034774818132 + } + ], + "type": "bbox" + }, + "point_1769394387968": { + "instances": [ + { + "id": "point_1769394387968_1769395684848_xjzz4fnp9", + "x": 0.6066665889485724, + "y": 0.4428703252872456 + } + ], + "type": "point" + }, + "point_1769394401306": { + "instances": [ + { + "id": "point_1769394401306_1769395687247_mj290xf75", + "x": 0.7376665809529674, + "y": 0.50420365362926 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的黑色钢笔移动，保持爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。接着落下爪夹靠近黑色钢笔，接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹接近垂直于桌面，处于错误目标上方，应该向爪夹右方黑色钢笔移动。", + "frame": 244, + "progress": -10, + "progress_explanation": "爪夹张开，爪夹接近垂直于桌面。应当向爪夹右方黑色钢笔移动，这时靠近钥匙还未靠近黑色钢笔，需要多一步向上升高因此进度为 -10%", + "state_description": "爪夹张开，爪夹接近垂直于桌面，停留在钥匙正上方。\n为完成抓取黑色钢笔放进白桶的任务应当：爪夹向爪夹右方的黑色钢笔移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色钢笔的正上方。", + "time": 8.133333333333333 + }, + { + "action_description": "爪夹向上垂直移动并向爪夹右方黑色钢笔移动，移动到黑色钢笔正上方，垂直向下移动并调整爪夹角度垂直于桌面靠近黑色钢笔。", + "annotations": { + "bbox_1769394380122": { + "instances": [ + { + "height": 0.23466664756944605, + "id": "bbox_1769394380122_1769395905219_df1z3x4l3", + "width": 0.14199999133300834, + "x": 0.4726665971272828, + "y": 0.16153701484887575 + } + ], + "type": "bbox" + }, + "point_1769394387968": { + "instances": [ + { + "id": "point_1769394387968_1769395916899_rx4t9zua4", + "x": 0.6846665841878304, + "y": 0.45220365786103045 + } + ], + "type": "point" + }, + "point_1769394401306": { + "instances": [ + { + "id": "point_1769394401306_1769395919635_h3ejj1apq", + "x": 0.8046665768636123, + "y": 0.5162036526526975 + } + ], + "type": "point" + } + }, + "correction_plan": "接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹接近垂直于桌面，移动到黑色钢笔正上方，向下移动靠近了黑色钢笔，方便抓取。", + "frame": 294, + "progress": 20, + "progress_explanation": "爪夹张开接近垂直于桌面，移动到黑色钢笔正上方，向下移动靠近了黑色钢笔。方便抓取黑色钢笔，因此进度提升为 20%。", + "state_description": "爪夹张开接近垂直于桌面，移动到黑色钢笔正上方，向下移动靠近了黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：接近黑色钢笔后爪夹合拢抓取黑色钢笔。抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近。", + "time": 9.8 + }, + { + "action_description": "爪夹合拢，抓取黑色钢笔。", + "annotations": { + "bbox_1769394380122": { + "instances": [ + { + "height": 0.23733331401909882, + "id": "bbox_1769394380122_1769396178781_ouqhh0u3e", + "width": 0.14199999133300825, + "x": 0.4726665971272829, + "y": 0.16153701484887578 + } + ], + "type": "bbox" + }, + "point_1769394387968": { + "instances": [ + { + "id": "point_1769394387968_1769396186198_25o9ajshp", + "x": 0.6856665841267954, + "y": 0.4722036562334264 + } + ], + "type": "point" + }, + "point_1769394401306": { + "instances": [ + { + "id": "point_1769394401306_1769396188484_imyu0ocyz", + "x": 0.759666579610194, + "y": 0.5108703197533919 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹垂直于桌面合拢，抓取到了黑色钢笔。", + "frame": 342, + "progress": 40, + "progress_explanation": "爪夹垂直于桌面合拢，抓取到了黑色钢笔。因此进度提升为 40%。", + "state_description": "爪夹垂直于桌面合拢，抓取到黑色钢笔。\n为完成抓取黑色钢笔放进白桶的任务应当：抓紧黑色钢笔垂直升高爪夹并向爪夹左前方的白桶接近。", + "time": 11.4 + }, + { + "action_description": "爪夹夹紧黑色钢笔，垂直升高，向爪夹左前方移动。", + "annotations": { + "bbox_1769394366795": { + "instances": [ + { + "height": 0.27333333333333326, + "id": "bbox_1769394366795_1769396349882_nlh5c67dx", + "width": 0.071, + "x": 0.623375, + "y": 0.019864583333333338 + } + ], + "type": "bbox" + }, + "bbox_1769394380122": { + "instances": [ + { + "height": 0.2320000000000001, + "id": "bbox_1769394380122_1769396360393_qp8t7aoyh", + "width": 0.14099999999999993, + "x": 0.47337500000000005, + "y": 0.16386458333333334 + } + ], + "type": "bbox" + }, + "point_1769394387968": { + "instances": [ + { + "id": "point_1769394387968_1769396375177_v9q89gr75", + "x": 0.622375, + "y": 0.20919791666666668 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹合拢继续夹紧黑色钢笔，水平上接近了白桶。更加方便接近白桶。", + "frame": 380, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧黑色钢笔，垂直升高并向爪夹左前的白桶接近。缩短了与白桶的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧黑色钢笔，水平上接近了白桶。\n为完成抓取黑色钢笔放进白桶的任务应当：继续向爪夹左前方的白桶接近，水平到达白桶的正上方后松开爪夹，使黑色钢笔落入白桶。", + "time": 12.666666666666666 + }, + { + "action_description": "爪夹夹紧黑色钢笔，向爪夹左前方移动", + "annotations": { + "bbox_1769394366795": { + "instances": [ + { + "height": 0.24533331336805717, + "id": "bbox_1769394366795_1769396600020_8rbwnwljm", + "width": 0.03599999780273455, + "x": 0.5706665911458378, + "y": 0.030129615874868503 + } + ], + "type": "bbox" + }, + "bbox_1769394380122": { + "instances": [ + { + "height": 0.2319999811197932, + "id": "bbox_1769394380122_1769396586158_azsls2lpd", + "width": 0.15999999023437567, + "x": 0.4726665971272828, + "y": 0.16287034807370215 + } + ], + "type": "bbox" + }, + "point_1769394387968": { + "instances": [ + { + "id": "point_1769394387968_1769396608541_igge8rd90", + "x": 0.5816665904744512, + "y": 0.13946294031063314 + } + ], + "type": "point" + }, + "point_1769394401306": { + "instances": [ + { + "id": "point_1769394401306_1769396632492_kck6fukks", + "x": 0.6056665890096076, + "y": 0.12464813235285382 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使黑色钢笔落入白桶。", + "error_success_analysis": "爪夹移动到了白桶正上方。", + "frame": 412, + "progress": 80, + "progress_explanation": "爪夹夹紧黑色钢笔，到了爪夹左前方的白桶正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧黑色钢笔，爪夹角度接近垂直于桌面，位于白桶正上方。\n为完成抓取黑色钢笔放进白桶的任务应当：松开爪夹，使黑色钢笔落入白桶。", + "time": 13.716688144329897 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769394366795": { + "instances": [ + { + "height": 0.15999999999999998, + "id": "bbox_1769394366795_1769396899918_sbjk9l539", + "width": 0.06499999999999995, + "x": 0.489375, + "y": 0.19086458333333337 + } + ], + "type": "bbox" + }, + "bbox_1769394380122": { + "instances": [ + { + "height": 0.23333333333333334, + "id": "bbox_1769394380122_1769396906584_70501fseb", + "width": 0.133, + "x": 0.47337500000000005, + "y": 0.1641979166666667 + } + ], + "type": "bbox" + }, + "point_1769394387968": { + "instances": [ + { + "id": "point_1769394387968_1769396918911_ue58khdvt", + "x": 0.495375, + "y": 0.27619791666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，黑色钢笔落入白桶。", + "frame": 438, + "progress": 100, + "progress_explanation": "爪夹张开，黑色钢笔落入白桶，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开。\n爪夹松开黑色钢笔落入白桶的任务目标完成。", + "time": 14.584213917525771 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769394366795", + "name": "黑色钢笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769394380122", + "name": "白桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769394387968", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769394401306", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162851-put-black pen-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162851-put-black pen-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..5cfc1e58db4b9e312e41f770c5d0f37f81f002a9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-162851-put-black pen-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,664 @@ +{ + "task_description": "抓起黑色的笔使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近黑色的笔:20%\n爪夹抓取黑色的笔:40%\n爪夹抓住黑色的笔接近白色垃圾桶:60%\n爪夹抓住黑色的笔在白色垃圾桶正上方:80%\n爪夹松开，将黑色的笔放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右后方移动，到达黑色的笔正上方，后下降，抓取黑色的笔后上升，向爪夹方向的左前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰黑色的笔。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右后方移动，准备抓取黑色的笔。", + "time": 1.4207547169811323, + "annotations": { + "point_1768964218487": { + "type": "point", + "instances": [ + { + "id": "point_1768964218487_1768965034256_j0fdcads6", + "x": 0.36674259681093396, + "y": 0.42976461655277143 + } + ] + }, + "point_1768964218727": { + "type": "point", + "instances": [ + { + "id": "point_1768964218727_1768965036743_nr17rgk07", + "x": 0.49430523917995445, + "y": 0.4373576309794989 + } + ] + }, + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965050016_ikefox68g", + "x": 0.5580865603644647, + "y": 0.07289293849658314, + "width": 0.14806378132118453, + "height": 0.23234624145785882 + } + ] + }, + "bbox_1768964217223": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217223_1768965062480_2wslxh3rf", + "x": 0.6970387243735764, + "y": 0.6211085801063022, + "width": 0.13895216400911153, + "height": 0.08504176157934704 + } + ] + } + } + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的右前方略微移动，调整爪夹角度，使其垂直于桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右后方移动，直至黑色的笔的正上方，后下降，抓取黑色的笔后上升，向爪夹方向的左前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方方移动，在水平方向上成功略微接近黑色的笔，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 72, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近黑色的笔并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近黑色的笔。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右后方移动，直至黑色的笔的正上方。", + "time": 2.3845, + "annotations": { + "bbox_1768964217223": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217223_1768965070664_jpji6et2q", + "x": 0.6970387243735764, + "y": 0.6226271829916478, + "width": 0.14464692482915717, + "height": 0.0911161731207289 + } + ] + }, + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965077824_gc49o6l1h", + "x": 0.5592255125284737, + "y": 0.07441154138192863, + "width": 0.14920273348519367, + "height": 0.2308276385725133 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右后方移动，并下降。调整爪夹角度，使其垂直于桌面。", + "correction_plan": "爪夹竖直下降，抓取黑色的笔，后上升向爪夹方向的左前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动至黑色的笔正上方，已调整爪夹角度为垂直，方便机取黑色的笔。", + "frame": 102, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于黑色的笔的正上方，已接近黑色的笔，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，处于黑色的笔的正上方。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹竖直下降，抓取黑色的笔，后上升向爪夹方向的左前方移动，直至处于白色垃圾桶正上方。", + "time": 3.3885, + "annotations": { + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965095400_5ycy1gfne", + "x": 0.5592255125284739, + "y": 0.06985573272589218, + "width": 0.14692482915717536, + "height": 0.23538344722854976 + } + ] + }, + "bbox_1768964217223": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217223_1768965102080_fszmn3lg8", + "x": 0.6970387243735764, + "y": 0.6180713743356113, + "width": 0.14464692482915717, + "height": 0.1002277904328018 + } + ] + } + } + }, + { + "action_description": "爪夹下降，后合拢抓取黑色的笔。", + "correction_plan": "爪夹抓住黑色的笔上升，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在黑色的笔的正上方竖直下降，成功抓取到黑色的笔。", + "frame": 162, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到黑色的笔，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，黑色的笔已被爪夹抓取。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹抓住黑色的笔上升，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 5.4, + "annotations": { + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965111744_t7136t0f5", + "x": 0.5558086560364466, + "y": 0.07137433561123767, + "width": 0.15034168564920272, + "height": 0.2338648443432043 + } + ] + } + } + }, + { + "action_description": "爪夹抓住黑色的笔上升，向爪夹方向的左前方略微移动。", + "correction_plan": "爪夹抓住黑色的笔向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧黑色的笔向爪夹方向的左前方移动，成功在水平方向上接近白色垃圾桶。", + "frame": 193, + "progress": 50, + "progress_explanation": "当前爪夹已抓住黑色的笔，并在水平方向上略微接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住黑色的笔在水平方向上略微接近白色垃圾桶。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹抓住黑色的笔向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 6.422995283018869, + "annotations": { + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965122919_ojm2kfo9y", + "x": 0.5592255125284739, + "y": 0.07289293849658314, + "width": 0.14692482915717536, + "height": 0.23234624145785882 + } + ] + }, + "bbox_1768964217223": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217223_1768965132592_ptgz1kqqz", + "x": 0.7391799544419134, + "y": 0.12300683371298407, + "width": 0.1446469248291571, + "height": 0.17312072892938493 + } + ] + }, + "point_1768964218487": { + "type": "point", + "instances": [ + { + "id": "point_1768964218487_1768965149856_68ckz1jq1", + "x": 0.7733485193621868, + "y": 0.23690205011389526 + } + ] + } + } + }, + { + "action_description": "爪夹抓住黑色的笔向爪夹方向的左前方移动。", + "correction_plan": "爪夹抓住黑色的笔向爪夹方向的前方移动，直至白色垃圾桶的正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住黑色的笔向爪夹方向的左前方移动，在水平方向上接近白色垃圾桶。", + "frame": 221, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住黑色的笔在水平方向上接近白色垃圾桶，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住黑色的笔在水平方向上接近白色垃圾桶。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹抓住黑色的笔向爪夹方向的前方移动，直至白色垃圾桶的正上方。", + "time": 7.3543, + "annotations": { + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965161664_do6urr6e7", + "x": 0.5569476082004556, + "y": 0.07744874715261958, + "width": 0.1503416856492028, + "height": 0.2232346241457859 + } + ] + } + } + }, + { + "action_description": "爪夹张开，黑色的笔掉落至桌面，爪夹向爪夹方向的右后方略微移动。", + "correction_plan": "爪夹向爪夹方向的左后方移动，直至黑色的笔的正上方，后下降，抓取黑色的笔后上升，向爪夹方向的右前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，黑色的笔已掉落至桌面，爪夹在垂直方向上远离了黑色的笔。", + "frame": 276, + "progress": 15, + "progress_explanation": "当前爪夹张开，黑色的笔已掉落至桌面，爪夹在垂直方向上远离了黑色的笔，因此进度下降至15%。", + "state_description": "当前状态为爪夹张开，黑色的笔已掉落至桌面，爪夹在垂直方向上远离了黑色的笔。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的左后方移动，直至黑色的笔的正上方。", + "time": 9.205306603773586, + "annotations": { + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965174472_0lknitrm0", + "x": 0.5637813211845103, + "y": 0.07137433561123767, + "width": 0.14464692482915717, + "height": 0.20804859529233108 + } + ] + }, + "point_1768964218487": { + "type": "point", + "instances": [ + { + "id": "point_1768964218487_1768965188448_6jhii2qfo", + "x": 0.47494305239179957, + "y": 0.387243735763098 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动并下降。", + "correction_plan": "爪夹推动木盒向爪夹方向的左后方移动，后爪夹上升，竖直下降抓取黑色的笔，后上升，向爪夹方向的右前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在下降，导致触碰木盒而不是目标物品黑色的笔。", + "frame": 342, + "progress": -10, + "progress_explanation": "爪夹张下降，触碰木盒而不是黑色的笔，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，爪夹左触碰木盒。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹推动木盒向爪夹方向的左后方移动，后爪夹上升准备抓取黑色的笔。", + "time": 11.395636792452832, + "annotations": { + "point_1768964218487": { + "type": "point", + "instances": [ + { + "id": "point_1768964218487_1768965193688_2co2opsy8", + "x": 0.4236902050113896, + "y": 0.5041761579347 + } + ] + }, + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965203504_23o6cpyss", + "x": 0.5558086560364466, + "y": 0.07289293849658315, + "width": 0.14920273348519358, + "height": 0.23234624145785882 + } + ] + } + } + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的右前方略微移动，后下降推动木盒向爪夹方向的左后方移动。", + "correction_plan": "爪夹上升，后竖直下降抓取黑色的笔，后上升，向爪夹方向的右前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的右前方略微移动，后下降推动木盒向爪夹方向的左后方移动，方便抓取黑色的笔。", + "frame": 383, + "progress": -5, + "progress_explanation": "当前爪夹左触碰木盒，但爪夹将木盒向爪夹方向的左后方移动，方便抓取黑色的笔，因此进度略微提升至-5%。", + "state_description": "当前状态为爪夹张开，爪夹左触碰木盒。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹上升，后竖直下降抓取黑色的笔。", + "time": 12.7508, + "annotations": { + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965217144_k4bb9iaxz", + "x": 0.5546697038724374, + "y": 0.06985573272589217, + "width": 0.15034168564920272, + "height": 0.23386484434320423 + } + ] + }, + "bbox_1768964217223": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217223_1768965228192_1pyf2lcyk", + "x": 0.33029612756264237, + "y": 0.3583902809415338, + "width": 0.1287015945330296, + "height": 0.09719058466211088 + } + ] + }, + "point_1768964218487": { + "type": "point", + "instances": [ + { + "id": "point_1768964218487_1768965230952_rzekwnevl", + "x": 0.428246013667426, + "y": 0.4813971146545179 + } + ] + } + } + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的右侧略微移动。", + "correction_plan": "爪夹竖直下降，抓取黑色的笔，后上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右侧略微移动至黑色的笔正上方。", + "frame": 410, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于黑色的笔的正上方，已接近黑色的笔，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，处于黑色的笔的正上方。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹竖直下降，抓取黑色的笔，后上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 13.674764150943396, + "annotations": { + "bbox_1768964217223": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217223_1768965237336_j2k7biqaf", + "x": 0.33143507972665154, + "y": 0.3614274867122248, + "width": 0.13667425968109334, + "height": 0.10478359908883826 + } + ] + }, + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965246344_crrpz5lb5", + "x": 0.5580865603644647, + "y": 0.07137433561123767, + "width": 0.1503416856492028, + "height": 0.22930903568716782 + } + ] + } + } + }, + { + "action_description": "爪夹略微向爪夹方向的右侧移动并略微下降，后合拢。", + "correction_plan": "爪夹张开并抬起，爪夹向爪夹方向的左前方移动，直至黑色的笔的正上方，后下降，抓取黑色的笔后上升，向爪夹方向的右前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微向爪夹方向的右侧移动并略微下降，在错误地点下降后没有及时抬升，进行合拢空抓。", + "frame": 495, + "progress": -20, + "progress_explanation": "爪夹合拢，己经进行空抓动作，爪夹需要多一次张开爪夹的动作才能接近黑色的笔，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，己经进行空抓动作。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹张开并抬起，爪夹向爪夹方向的左前方移动，直至黑色的笔的正上方。", + "time": 16.515799, + "annotations": { + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965257640_m08xu0s7p", + "x": 0.5569476082004556, + "y": 0.0683371298405467, + "width": 0.14920273348519367, + "height": 0.23690205011389526 + } + ] + }, + "bbox_1768964217223": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217223_1768965266944_s42m3ut6v", + "x": 0.33143507972665154, + "y": 0.3143507972665148, + "width": 0.1457858769931663, + "height": 0.047076689445709974 + } + ] + } + } + }, + { + "action_description": "爪夹抬升，爪夹向爪夹方向的右侧调整，后爪夹向爪夹方向的左侧略微移动。", + "correction_plan": "爪夹向爪夹方向的左侧移动，直至黑色的笔的正上方，后下降，抓取黑色的笔后上升，向爪夹方向的右前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左侧略微移动，在水平方向上再次接近黑色的笔。", + "frame": 554, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上再次接近黑色的笔，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上再次接近黑色的笔。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的左侧移动，直至黑色的笔的正上方。", + "time": 18.46981132075472, + "annotations": { + "point_1768964218487": { + "type": "point", + "instances": [ + { + "id": "point_1768964218487_1768965277608_asv6u9wws", + "x": 0.44419134396355353, + "y": 0.22475322703113138 + } + ] + }, + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965284488_k8617crmh", + "x": 0.5523917995444192, + "y": 0.07137433561123767, + "width": 0.1548974943052392, + "height": 0.2338648443432043 + } + ] + }, + "bbox_1768964217223": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217223_1768965295760_xr52n90d5", + "x": 0.33485193621867887, + "y": 0.3477600607441155, + "width": 0.13781321184510248, + "height": 0.03189066059225508 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧移动并下降。", + "correction_plan": "爪夹竖直下降，抓取黑色的笔，后上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动至黑色的笔的正上方。", + "frame": 589, + "progress": 20, + "progress_explanation": "当前爪夹已再次悬空于黑色的笔的正上方，已接近黑色的笔，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，处于黑色的笔的正上方。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹竖直下降，抓取黑色的笔，后上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 19.6282, + "annotations": { + "bbox_1768964217223": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217223_1768965301976_ogxizviva", + "x": 0.3325740318906606, + "y": 0.3462414578587699, + "width": 0.16173120728929385, + "height": 0.0364464692482916 + } + ] + }, + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965310520_3sgz3wpc1", + "x": 0.5569476082004556, + "y": 0.06985573272589218, + "width": 0.1503416856492028, + "height": 0.23538344722854976 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢抓取黑色的笔。", + "correction_plan": "爪夹抓住黑色的笔上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在黑色的笔的正上方竖直下降，成功抓取到黑色的笔。", + "frame": 646, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到黑色的笔，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，黑色的笔已被爪夹抓取。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹抓住黑色的笔上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 21.533333333333335, + "annotations": { + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965326080_dqy6on391", + "x": 0.5546697038724374, + "y": 0.07289293849658314, + "width": 0.15375854214123005, + "height": 0.2308276385725133 + } + ] + }, + "bbox_1768964217223": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217223_1768965338016_ugodl00ik", + "x": 0.3485193621867882, + "y": 0.2930903568716781, + "width": 0.11958997722095668, + "height": 0.11845102505694757 + } + ] + } + } + }, + { + "action_description": "爪夹抓住黑色的笔上升，向爪夹方向的右前方略微移动。", + "correction_plan": "爪夹抓住黑色的笔向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧黑色的笔向爪夹方向的右前方移动，成功在水平方向上接近白色垃圾桶。", + "frame": 662, + "progress": 50, + "progress_explanation": "当前爪夹已抓住黑色的笔，并在水平方向上略微接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住黑色的笔在水平方向上略微接近白色垃圾桶。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹抓住黑色的笔向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 22.05129716981132, + "annotations": { + "bbox_1768964217223": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217223_1768965355056_hy2l6s9br", + "x": 0.37813211845102507, + "y": 0.214123006833713, + "width": 0.1332574031890661, + "height": 0.14426727410782078 + } + ] + }, + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965363568_imulf8mlw", + "x": 0.5558086560364465, + "y": 0.0698557327258922, + "width": 0.15375854214123014, + "height": 0.23538344722854979 + } + ] + } + } + }, + { + "action_description": "爪夹抓住黑色的笔向爪夹方向的右前方移动。", + "correction_plan": "爪夹抓住黑色的笔向爪夹方向的前方移动，直至白色垃圾桶的正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住黑色的笔向爪夹方向的右前方移动，在水平方向上接近白色垃圾桶。", + "frame": 677, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住黑色的笔在水平方向上接近白色垃圾桶，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住黑色的笔在水平方向上接近白色垃圾桶。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹抓住黑色的笔向爪夹方向的前方移动，直至白色垃圾桶的正上方。", + "time": 22.554481132075473, + "annotations": { + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965377544_57nih0paq", + "x": 0.5558086560364465, + "y": 0.07744874715261958, + "width": 0.14236902050113906, + "height": 0.2201974183750949 + } + ] + } + } + }, + { + "action_description": "爪夹抓住黑色的笔向爪夹方向的前方略微移动。", + "correction_plan": "爪夹抓住黑色的笔下降，将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住黑色的笔向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 691, + "progress": 80, + "progress_explanation": "当前爪夹抓住黑色的笔处于白色垃圾桶的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住黑色的笔处于白色垃圾桶的正上方。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹抓住黑色的笔下降，将黑色的笔放入白色垃圾桶中，爪夹张开。", + "time": 23.028066037735847, + "annotations": { + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965392768_1ger394d1", + "x": 0.5580865603644647, + "y": 0.08959757023538346, + "width": 0.14920273348519367, + "height": 0.19286256643887625 + } + ] + } + } + }, + { + "action_description": "爪夹张开，黑色的笔落入白色垃圾桶中。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，黑色的笔已被放入白色垃圾桶中。", + "frame": 709, + "progress": 100, + "progress_explanation": "爪夹张开，黑色的笔落入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，黑色的笔已被放入白色垃圾桶中。\n已完成抓起黑色的笔使其放入白色垃圾桶中的任务。", + "time": 23.62004716981132, + "annotations": { + "bbox_1768964217471": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768964217471_1768965406608_uticemhgp", + "x": 0.5546697038724374, + "y": 0.06074411541381929, + "width": 0.15034168564920272, + "height": 0.22475322703113138 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768964217223", + "name": "黑色的笔" + }, + { + "color": "#FF9800", + "id": "bbox_1768964217471", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768964218487", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768964218727", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-164939-put-black pen-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-164939-put-black pen-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d71022bb36f7749b813ff8afbaabfd84f6b0bba5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260112-songjiaqi/20260112-164939-put-black pen-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,336 @@ +{ + "task_description": "抓起黑色的笔使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近黑色的笔:20%\n爪夹抓取黑色的笔:40%\n爪夹抓住黑色的笔接近白色垃圾桶:60%\n爪夹抓住黑色的笔在白色垃圾桶正上方:80%\n爪夹松开，将黑色的笔放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达黑色的笔正上方，后下降，抓取黑色的笔后上升，向爪夹方向的前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰黑色的笔。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取黑色的笔。", + "time": 1.5516509433962264, + "annotations": { + "point_1768967832363": { + "type": "point", + "instances": [ + { + "id": "point_1768967832363_1768967877555_1d7w385dm", + "x": 0.3883826879271071, + "y": 0.5178435839028095 + } + ] + }, + "point_1768967832595": { + "type": "point", + "instances": [ + { + "id": "point_1768967832595_1768967880171_c8e4ybicj", + "x": 0.5159453302961275, + "y": 0.5375854214123007 + } + ] + }, + "bbox_1768967831259": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831259_1768967885883_cbuwbgxks", + "x": 0.693621867881549, + "y": 0.5056947608200456, + "width": 0.13667425968109342, + "height": 0.060744115413819286 + } + ] + }, + "bbox_1768967831563": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831563_1768967891811_344w17iqa", + "x": 0.6867881548974943, + "y": 0.27790432801822335, + "width": 0.17539863325740326, + "height": 0.22779043280182223 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，调整爪夹角度，使其垂直于桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，直至黑色的笔的正上方，后下降，抓取黑色的笔后上升，向爪夹方向的前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方方移动，在水平方向上成功略微接近黑色的笔，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 75, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近黑色的笔并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近黑色的笔。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，直至黑色的笔的正上方。", + "time": 2.484669811320755, + "annotations": { + "bbox_1768967831563": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831563_1768975269028_ps26d9wtl", + "x": 0.6856492027334852, + "y": 0.2794229309035688, + "width": 0.1765375854214124, + "height": 0.23234624145785873 + } + ] + }, + "bbox_1768967831259": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831259_1768975289228_22btxrbne", + "x": 0.6958997722095672, + "y": 0.5056947608200456, + "width": 0.1400911161731207, + "height": 0.06529992406985574 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并下降。调整爪夹角度，使其垂直于桌面。", + "correction_plan": "向爪夹方向的右前方移动，直至黑色的笔的正上方，后下降，抓取黑色的笔后上升，向爪夹方向的前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近黑色的笔，爪夹垂直于桌面，方便抓取。", + "frame": 87, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近黑色的笔，并调整夹角度垂直于桌面，方便抓取，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹在水平方向上接近黑色的笔。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:向爪夹方向的右前方移动，直至黑色的笔的正上方。", + "time": 2.915399, + "annotations": { + "bbox_1768967831259": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831259_1768975296197_b5wan8qzi", + "x": 0.703872437357631, + "y": 0.4935459377372817, + "width": 0.13211845102505687, + "height": 0.07744874715261958 + } + ] + }, + "bbox_1768967831563": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831563_1768975303677_hydwowwt4", + "x": 0.683371298405467, + "y": 0.27638572513287774, + "width": 0.1788154897494306, + "height": 0.22171602126044043 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至黑色的笔的正上方，后下降，抓取黑色的笔后上升，向爪夹方向的前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上更接近黑色的笔。", + "frame": 111, + "progress": 17, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近黑色的笔，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹在水平方向上更接近黑色的笔，\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的左前方移动，直至黑色的笔的正上方。", + "time": 3.7066, + "annotations": { + "bbox_1768967831563": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831563_1768975320028_7xgqnzbsh", + "x": 0.6867881548974943, + "y": 0.2733485193621868, + "width": 0.17425968109339401, + "height": 0.2353834472285498 + } + ] + }, + "bbox_1768967831259": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831259_1768975332237_gdkcxrnqj", + "x": 0.6936218678815491, + "y": 0.5056947608200456, + "width": 0.12414578587699321, + "height": 0.0987091875474564 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并略微下降。", + "correction_plan": "爪夹竖直下降，抓取黑色的笔，后上升向爪夹方向的前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动至黑色的笔正上方，爪夹垂直于桌面，方便机取黑色的笔。", + "frame": 134, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于黑色的笔的正上方，已接近黑色的笔，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，处于黑色的笔的正上方。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹竖直下降，抓取黑色的笔，后上升向爪夹方向的前方移动，直至处于白色垃圾桶正上方。", + "time": 4.471999, + "annotations": { + "bbox_1768967831259": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831259_1768975348093_g2r04d9cy", + "x": 0.6492027334851936, + "y": 0.4813971146545179, + "width": 0.18906605922551245, + "height": 0.08504176157934704 + } + ] + }, + "bbox_1768967831563": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831563_1768975362924_ha81m8pny", + "x": 0.6560364464692483, + "y": 0.2126044039483675, + "width": 0.1571753986332574, + "height": 0.2414578587699317 + } + ] + } + } + }, + { + "action_description": "爪夹下降，后合拢抓取黑色的笔。", + "correction_plan": "爪夹抓住黑色的笔上升，向爪夹方向的前方移动，直至白色垃圾桶的正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在黑色的笔的正上方竖直下降，成功抓取到黑色的笔。", + "frame": 154, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到黑色的笔，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，黑色的笔已被爪夹抓取。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹抓住黑色的笔上升，向爪夹方向的前方移动，直至白色垃圾桶的正上方。", + "time": 5.121462264150944, + "annotations": { + "bbox_1768967831563": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831563_1768975375997_e4g9jg7qz", + "x": 0.6605922551252847, + "y": 0.23690205011389526, + "width": 0.16287015945330302, + "height": 0.22019741837509488 + } + ] + } + } + }, + { + "action_description": "爪夹抓住黑色的笔上升，向爪夹方向的左前方移动。", + "correction_plan": "爪夹下降并张开，然后爪夹将白色竖直放置，重新抓取黑色的笔。抓取黑色的笔后上升，向爪夹方向的前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹将白色垃圾桶带倒，爪夹抓住黑色的笔在水平方向上略微接近白色垃圾桶。", + "frame": 177, + "progress": 45, + "progress_explanation": "当前爪夹抓住黑色的笔在水平方向上略微接近白色垃圾桶，但爪夹将白色垃圾桶带倒，因此进度略微提升至45%", + "state_description": "当前状态为爪夹合拢，爪夹将白色垃圾桶带倒，爪夹抓住黑色的笔在水平方向上略微接近白色垃圾桶。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹下降并张开，然后爪夹将白色竖直放置，重新抓取黑色的笔。", + "time": 5.892216981132074, + "annotations": { + "bbox_1768967831563": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831563_1768975391405_xokzp75d5", + "x": 0.5523917995444191, + "y": 0.10782080485952923, + "width": 0.16856492027334857, + "height": 0.23082763857251334 + } + ] + }, + "bbox_1768967831259": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831259_1768975465437_wxh46buac", + "x": 0.5649202733485195, + "y": 0.13059984813971146, + "width": 0.05922551252847379, + "height": 0.20956719817767652 + } + ] + } + } + }, + { + "action_description": "爪夹左右晃动后，爪夹张开，黑色的笔掉落至桌面。", + "correction_plan": "爪夹将白色竖直放置，重新抓取黑色的笔。抓取黑色的笔后上升，向爪夹方向的前方移动，直至处于白色垃圾桶正上方。下降将黑色的笔放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，黑色的笔掉落至桌面，白色垃圾桶仍倒在桌面。", + "frame": 193, + "progress": 15, + "progress_explanation": "当前爪夹张开，黑色的笔掉落至桌面，白色垃圾桶仍倒在桌面，因此进度下降至15%。", + "state_description": "当前状态为爪夹张开，白色垃圾桶仍倒在桌面，黑色的笔已掉落至桌面。\n为完成抓起黑色的笔使其放入白色垃圾桶中的任务应当:爪夹将白色竖直放置，重新抓取黑色的笔。", + "time": 6.432799, + "annotations": { + "bbox_1768967831563": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831563_1768975404261_ky9k5co7m", + "x": 0.5523917995444191, + "y": 0.1017463933181473, + "width": 0.17084282460136685, + "height": 0.2293090356871678 + } + ] + }, + "bbox_1768967831259": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967831259_1768975432869_5u8smnpob", + "x": 0.4715261958997722, + "y": 0.2323462414578588, + "width": 0.05694760820045559, + "height": 0.15945330296127566 + } + ] + }, + "point_1768967832363": { + "type": "point", + "instances": [ + { + "id": "point_1768967832363_1768975446780_evrqtvnau", + "x": 0.5056947608200456, + "y": 0.3249810174639332 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768967831259", + "name": "黑色的笔" + }, + { + "color": "#FF9800", + "id": "bbox_1768967831563", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768967832363", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768967832595", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..9031432890280383b2bd21358282edb9fd93d4be --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,380 @@ +{ + "task_description": "抓起三脚架使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近白色垃圾桶:60%\n爪夹抓住三脚架在白色垃圾桶正上方:80%\n爪夹松开，将三脚架放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1768892654790": { + "instances": [ + { + "height": 0.12507817385866168, + "id": "bbox_1768892654790_1768892717238_83scthk5v", + "width": 0.1144465290806754, + "x": 0.6435272045028143, + "y": 0.3946911094336304 + } + ], + "type": "bbox" + }, + "bbox_1768892655079": { + "instances": [ + { + "height": 0.23014383989993745, + "id": "bbox_1768892655079_1768892727751_3bubgw93l", + "width": 0.13133208255159481, + "x": 0.5590994371482176, + "y": 0.09450349217284242 + } + ], + "type": "bbox" + }, + "point_1768892672606": { + "instances": [ + { + "id": "point_1768892672606_1768892708798_jaar8ebba", + "x": 0.39962476547842407, + "y": 0.5222708467694653 + } + ], + "type": "point" + }, + "point_1768892672902": { + "instances": [ + { + "id": "point_1768892672902_1768892711630_lgu99aw71", + "x": 0.527204502814259, + "y": 0.5472864815411976 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取三脚架。\n", + "time": 1.9859677259125699 + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的右前方略微移动，调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1768892654790": { + "instances": [ + { + "height": 0.12757973733583494, + "id": "bbox_1768892654790_1768892773384_v4p1ushtp", + "width": 0.12007504690431521, + "x": 0.6416510318949344, + "y": 0.39218954595645716 + } + ], + "type": "bbox" + }, + "bbox_1768892655079": { + "instances": [ + { + "height": 0.22514071294559104, + "id": "bbox_1768892655079_1768892751478_haltzt96t", + "width": 0.1350844277673547, + "x": 0.5553470919324578, + "y": 0.09700505565001565 + } + ], + "type": "bbox" + }, + "point_1768892672606": { + "instances": [ + { + "id": "point_1768892672606_1768892763958_4stjg5dgo", + "x": 0.49906191369606007, + "y": 0.37467860161624456 + } + ], + "type": "point" + }, + "point_1768892672902": { + "instances": [ + { + "id": "point_1768892672902_1768892760630_rtbkzejhu", + "x": 0.6266416510318951, + "y": 0.4297129981140557 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的右前方略微移动，在水平方向上略微接近三脚架。", + "frame": 89, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近三脚架，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 2.9731788293150876 + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右前方移动，并下降。", + "annotations": { + "bbox_1768892655079": { + "instances": [ + { + "height": 0.2200956937799043, + "id": "bbox_1768892655079_1768892802302_352srtlgj", + "width": 0.13636363636363633, + "x": 0.5550239234449761, + "y": 0.10065567892704283 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近三脚架。", + "frame": 117, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近三脚架，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 3.891721882274221 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并下降，爪夹调整爪夹角度，垂直于桌面。", + "annotations": { + "bbox_1768892654790": { + "instances": [ + { + "height": 0.1164274322169059, + "id": "bbox_1768892654790_1768892835350_gdd04kvof", + "width": 0.10047846889952154, + "x": 0.6459330143540669, + "y": 0.3951798702160898 + } + ], + "type": "bbox" + }, + "bbox_1768892655079": { + "instances": [ + { + "height": 0.2200956937799043, + "id": "bbox_1768892655079_1768892819014_u5vg6d77z", + "width": 0.1375598086124402, + "x": 0.55622009569378, + "y": 0.09852915251274048 + } + ], + "type": "bbox" + } + }, + "correction_plan": "竖直下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至三脚架的正上方，已调整瓜夹角度为垂直，方便机取三脚架。", + "frame": 143, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹处于三脚架的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 4.766323154639176 + }, + { + "action_description": "爪夹略微下降，后合拢抓取三脚架。", + "annotations": { + "bbox_1768892655079": { + "instances": [ + { + "height": 0.22009569377990434, + "id": "bbox_1768892655079_1768892852822_n99d1qe32", + "width": 0.1375598086124402, + "x": 0.5526315789473684, + "y": 0.0953393598492636 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住三脚架上升，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。", + "frame": 195, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，三脚架已被抓取。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架上升，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 6.50958649484514 + }, + { + "action_description": "爪夹抓住三脚架上升。", + "annotations": { + "bbox_1768892654790": { + "instances": [ + { + "height": 0.1866028708133971, + "id": "bbox_1768892654790_1768892889598_dofcb8edy", + "width": 0.07894736842105265, + "x": 0.7117224880382775, + "y": 0.2931065049848298 + } + ], + "type": "bbox" + }, + "bbox_1768892655079": { + "instances": [ + { + "height": 0.22169059011164277, + "id": "bbox_1768892655079_1768892871246_dbch14ykx", + "width": 0.1375598086124402, + "x": 0.5526315789473684, + "y": 0.10012404884447892 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住三脚架向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "当前爪夹抓住三脚架在垂直方向上接近白色垃圾桶。", + "frame": 236, + "progress": 50, + "progress_explanation": "当前爪夹已抓住三脚架，并在垂直方向上接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在垂直方向上接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 7.855960321361007 + }, + { + "action_description": "爪夹抬升，爪夹抓住三脚架向爪夹方向的左前方移动。", + "annotations": { + "bbox_1768892654790": { + "instances": [ + { + "height": 0.21333333333333332, + "id": "bbox_1768892654790_1768892952398_rykvlr640", + "width": 0.0669999999999999, + "x": 0.753, + "y": 0.17955555216471356 + } + ], + "type": "bbox" + }, + "bbox_1768892655079": { + "instances": [ + { + "height": 0.22133333333333333, + "id": "bbox_1768892655079_1768892915918_m8cye3ys8", + "width": 0.14100000000000001, + "x": 0.5505, + "y": 0.09866666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住三脚架向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抬升，爪夹抓住三脚架向爪夹方向的左前方移动在水平方向上接近白色垃圾桶。", + "frame": 251, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 8.366151431958762 + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的左前方移动。", + "annotations": { + "bbox_1768892655079": { + "instances": [ + { + "height": 0.24533333333333332, + "id": "bbox_1768892655079_1768892968862_lmam9osdb", + "width": 0.13899999999999996, + "x": 0.556, + "y": 0.09422221883138021 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住三脚架向爪夹方向的前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的左前方移动，在水平方向上更接近白色垃圾桶。", + "frame": 273, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上更接近白色垃圾桶，因此进度提升至70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上更接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的前方移动，直至白色垃圾桶的正上方。", + "time": 9.093642860824742 + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的前方略微移动。", + "annotations": { + "bbox_1768892655079": { + "instances": [ + { + "height": 0.2293333333333333, + "id": "bbox_1768892655079_1768892976999_2v7bejj6c", + "width": 0.1330000000000001, + "x": 0.5579999999999999, + "y": 0.08888888549804688 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 293, + "progress": 80, + "progress_explanation": "当前爪夹抓住三脚架位于白色垃圾桶的正上方，因此进度提升至80%.", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架处于白色垃圾桶的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "time": 9.750057285706385 + }, + { + "action_description": "爪夹张开，三脚架落入白色垃圾桶中。", + "annotations": { + "bbox_1768892655079": { + "instances": [ + { + "height": 0.21866666666666662, + "id": "bbox_1768892655079_1768892993101_4tl73bdo1", + "width": 0.14200000000000007, + "x": 0.5529999999999999, + "y": 0.09955555216471355 + } + ], + "type": "bbox" + }, + "point_1768892672606": { + "instances": [ + { + "id": "point_1768892672606_1768892986734_brtuzp78e", + "x": 0.576, + "y": 0.11022221883138021 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架已放入白色垃圾桶中。", + "frame": 311, + "progress": 100, + "progress_explanation": "当前爪夹张开，三脚架已放入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，三脚架已放入白色垃圾桶中。\n已完成抓起三脚架使其放入白色垃圾桶中的任务。", + "time": 10.352119157871334 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768892654790", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1768892655079", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768892672606", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768892672902", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..44665c1605929a1b8fc3af4c8cc923adc02eff64 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,488 @@ +{ + "task_description": "抓起三脚架使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近白色垃圾桶:60%\n爪夹抓住三脚架在白色垃圾桶正上方:80%\n爪夹松开，将三脚架放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1768894988260": { + "instances": [ + { + "height": 0.13999999999999999, + "id": "bbox_1768894988260_1768895068444_w0vklw2g7", + "width": 0.10800000000000001, + "x": 0.6005, + "y": 0.484 + } + ], + "type": "bbox" + }, + "bbox_1768894988622": { + "instances": [ + { + "height": 0.232, + "id": "bbox_1768894988622_1768895080844_mmu5c6ij9", + "width": 0.14800000000000005, + "x": 0.4725, + "y": 0.24266666666666667 + } + ], + "type": "bbox" + }, + "point_1768895000925": { + "instances": [ + { + "id": "point_1768895000925_1768895070596_zu25rhzjm", + "x": 0.2975, + "y": 0.548 + } + ], + "type": "point" + }, + "point_1768895001228": { + "instances": [ + { + "id": "point_1768895001228_1768895073739_tj2hko0ke", + "x": 0.4365, + "y": 0.5186666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取三脚架。\n", + "time": 1.3537724982035928 + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的右前方略微移动，调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1768894988260": { + "instances": [ + { + "height": 0.14400000000000007, + "id": "bbox_1768894988260_1768895127556_0avllcby4", + "width": 0.10599999999999996, + "x": 0.6033333129882813, + "y": 0.4848888854980469 + } + ], + "type": "bbox" + }, + "bbox_1768894988622": { + "instances": [ + { + "height": 0.232, + "id": "bbox_1768894988622_1768895116660_6ctnraokl", + "width": 0.14900000000000002, + "x": 0.47233331298828124, + "y": 0.2382222188313802 + } + ], + "type": "bbox" + }, + "point_1768895000925": { + "instances": [ + { + "id": "point_1768895000925_1768895138797_55qzlrtfr", + "x": 0.36033331298828125, + "y": 0.4328888854980469 + } + ], + "type": "point" + }, + "point_1768895001228": { + "instances": [ + { + "id": "point_1768895001228_1768895136083_h0sk7j9zz", + "x": 0.49533331298828126, + "y": 0.43822221883138024 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的右前方略微移动，在水平方向上略微接近三脚架。", + "frame": 69, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近三脚架，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 2.301947161912489 + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右前方移动，并下降。", + "annotations": { + "bbox_1768894988260": { + "instances": [ + { + "height": 0.14000000000000004, + "id": "bbox_1768894988260_1768895155596_bdcl7guk4", + "width": 0.10400000000000001, + "x": 0.6033333129882813, + "y": 0.4902222188313802 + } + ], + "type": "bbox" + }, + "bbox_1768894988622": { + "instances": [ + { + "height": 0.2466666666666667, + "id": "bbox_1768894988622_1768895150611_7ml52swut", + "width": 0.15099999999999997, + "x": 0.4733333129882813, + "y": 0.22755555216471354 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近三脚架。", + "frame": 84, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近三脚架，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 2.805066 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并下降，爪夹调整爪夹角度，垂直于桌面。", + "annotations": { + "bbox_1768894988622": { + "instances": [ + { + "height": 0.23466666666666666, + "id": "bbox_1768894988622_1768895266956_q29whaoy9", + "width": 0.14699999999999996, + "x": 0.4723333129882813, + "y": 0.24088888549804688 + } + ], + "type": "bbox" + } + }, + "correction_plan": "竖直下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至三脚架的正上方，已调整瓜夹角度为垂直，方便机取三脚架。", + "frame": 99, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹处于三脚架的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 3.306357654369518 + }, + { + "action_description": "爪夹略微下降。", + "annotations": { + "bbox_1768894988622": { + "instances": [ + { + "height": 0.23466666666666666, + "id": "bbox_1768894988622_1768895286092_ledaqe6z7", + "width": 0.14900000000000002, + "x": 0.47133331298828124, + "y": 0.2382222188313802 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹下降，爪夹在垂直方向上接近三脚架，爪夹左右接触桌面，", + "frame": 135, + "progress": 30, + "progress_explanation": "爪夹下降，爪夹在垂直方向上接近三脚架，爪夹左右接触桌面，因此进度提升至30%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上接近三脚架，爪夹左右接触桌面。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹合拢，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 4.4902 + }, + { + "action_description": "爪夹合拢抓取三脚架。", + "annotations": { + "bbox_1768894988622": { + "instances": [ + { + "height": 0.23200000000000004, + "id": "bbox_1768894988622_1768895304284_mis7alk33", + "width": 0.15000000000000008, + "x": 0.4713333129882812, + "y": 0.23822221883138017 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住三脚架上升，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。", + "frame": 179, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，三脚架已被抓取。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架上升，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 5.966666666666667 + }, + { + "action_description": "爪夹抓住三脚架上升。", + "annotations": { + "bbox_1768894988622": { + "instances": [ + { + "height": 0.23333333333333336, + "id": "bbox_1768894988622_1768895478867_kkymt2e2r", + "width": 0.14699999999999996, + "x": 0.4743333129882813, + "y": 0.23555555216471355 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住三脚架向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "当前爪夹抓住三脚架在垂直方向上接近白色垃圾桶。", + "frame": 201, + "progress": 50, + "progress_explanation": "当前爪夹已抓住三脚架，并在垂直方向上接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在垂直方向上接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 6.6882 + }, + { + "action_description": "爪夹抬升，爪夹抓住三脚架向爪夹方向的左前方移动。", + "annotations": { + "bbox_1768894988260": { + "instances": [ + { + "height": 0.20800000000000002, + "id": "bbox_1768894988260_1768895456163_k113zrpl2", + "width": 0.03300000000000001, + "x": 0.5843333129882813, + "y": 0.12222221883138021 + } + ], + "type": "bbox" + }, + "bbox_1768894988622": { + "instances": [ + { + "height": 0.24000000000000002, + "id": "bbox_1768894988622_1768895465139_rpz9j1l1l", + "width": 0.15099999999999997, + "x": 0.4723333129882813, + "y": 0.23288888549804687 + } + ], + "type": "bbox" + }, + "point_1768895000925": { + "instances": [ + { + "id": "point_1768895000925_1768895445579_557c71a1g", + "x": 0.5843333129882813, + "y": 0.19155555216471354 + } + ], + "type": "point" + }, + "point_1768895001228": { + "instances": [ + { + "id": "point_1768895001228_1768895448779_j62daysv7", + "x": 0.6163333129882813, + "y": 0.17955555216471356 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住三脚架向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抬升，爪夹抓住三脚架向爪夹方向的左前方移动在水平方向上接近白色垃圾桶。", + "frame": 214, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 7.148733 + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的左前方移动。", + "annotations": { + "bbox_1768894988260": { + "instances": [ + { + "height": 0.19600000000000004, + "id": "bbox_1768894988260_1768895414188_wu0tssyt3", + "width": 0.04999999999999991, + "x": 0.5403333129882812, + "y": 0.13155555216471354 + } + ], + "type": "bbox" + }, + "bbox_1768894988622": { + "instances": [ + { + "height": 0.23600000000000002, + "id": "bbox_1768894988622_1768895433668_ftn535ojf", + "width": 0.1490000000000001, + "x": 0.4743333129882812, + "y": 0.23688888549804688 + } + ], + "type": "bbox" + }, + "point_1768895000925": { + "instances": [ + { + "id": "point_1768895000925_1768895401011_qd54cysil", + "x": 0.5483333129882813, + "y": 0.19688888549804687 + } + ], + "type": "point" + }, + "point_1768895001228": { + "instances": [ + { + "id": "point_1768895001228_1768895403620_lfn6iwqab", + "x": 0.5753333129882813, + "y": 0.18488888549804688 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住三脚架向爪夹方向的前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的左前方移动，在水平方向上更接近白色垃圾桶。", + "frame": 236, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上更接近白色垃圾桶，因此进度提升至70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上更接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的前方移动，直至白色垃圾桶的正上方。", + "time": 7.85 + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的前方略微移动。", + "annotations": { + "bbox_1768894988260": { + "instances": [ + { + "height": 0.18933333333333333, + "id": "bbox_1768894988260_1768895369195_i27w2nmh0", + "width": 0.04900000000000002, + "x": 0.5093333129882812, + "y": 0.15688888549804686 + } + ], + "type": "bbox" + }, + "bbox_1768894988622": { + "instances": [ + { + "height": 0.228, + "id": "bbox_1768894988622_1768895385715_3dl5mx9sk", + "width": 0.142, + "x": 0.4733333129882813, + "y": 0.2422222188313802 + } + ], + "type": "bbox" + }, + "point_1768895000925": { + "instances": [ + { + "id": "point_1768895000925_1768895356660_ih1e7i3lf", + "x": 0.5233333129882813, + "y": 0.21288888549804688 + } + ], + "type": "point" + }, + "point_1768895001228": { + "instances": [ + { + "id": "point_1768895001228_1768895359684_uuo1dd7r0", + "x": 0.5403333129882812, + "y": 0.19688888549804687 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 249, + "progress": 80, + "progress_explanation": "当前爪夹抓住三脚架位于白色垃圾桶的正上方，因此进度提升至80%.", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架处于白色垃圾桶的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "time": 8.310532 + }, + { + "action_description": "爪夹张开，三脚架落入白色垃圾桶中。", + "annotations": { + "bbox_1768894988260": { + "instances": [ + { + "height": 0.13733333333333336, + "id": "bbox_1768894988260_1768895332379_anqyhv3j2", + "width": 0.05899999999999998, + "x": 0.5013333129882812, + "y": 0.32088888549804684 + } + ], + "type": "bbox" + }, + "bbox_1768894988622": { + "instances": [ + { + "height": 0.2346666666666667, + "id": "bbox_1768894988622_1768895337531_apvjqmmbw", + "width": 0.14900000000000002, + "x": 0.46733331298828124, + "y": 0.23955555216471355 + } + ], + "type": "bbox" + }, + "point_1768895000925": { + "instances": [ + { + "id": "point_1768895000925_1768895322811_3fov1fqhs", + "x": 0.5193333129882813, + "y": 0.33955555216471356 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架已放入白色垃圾桶中。", + "frame": 267, + "progress": 100, + "progress_explanation": "当前爪夹张开，三脚架已放入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，三脚架已放入白色垃圾桶中。\n已完成抓起三脚架使其放入白色垃圾桶中的任务。", + "time": 8.909263595185996 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768894988260", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1768894988622", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768895000925", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768895001228", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c9bd6ee54344494857c6320e456e5907917fa691 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,610 @@ +{ + "task_description": "抓起三脚架使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近白色垃圾桶:60%\n爪夹抓住三脚架在白色垃圾桶正上方:80%\n爪夹松开，将三脚架放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1768895652251": { + "instances": [ + { + "height": 0.128, + "id": "bbox_1768895652251_1768899126408_qzjwa98ex", + "width": 0.04200000000000008, + "x": 0.5753333129882812, + "y": 0.6022222188313803 + } + ], + "type": "bbox" + }, + "bbox_1768895652548": { + "instances": [ + { + "height": 0.17600000000000005, + "id": "bbox_1768895652548_1768899141665_2cy3a2eib", + "width": 0.1049999999999999, + "x": 0.8233333129882814, + "y": 0.5208888854980469 + } + ], + "type": "bbox" + }, + "point_1768895665395": { + "instances": [ + { + "id": "point_1768895665395_1768899132864_v84wlabg7", + "x": 0.4113333129882813, + "y": 0.5128888854980469 + } + ], + "type": "point" + }, + "point_1768895666244": { + "instances": [ + { + "id": "point_1768895666244_1768899135608_82br0xvnr", + "x": 0.6073333129882813, + "y": 0.5155555521647136 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取三脚架。\n", + "time": 1.499999932132891 + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的右前方略微移动，调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1768895652251": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1768895652251_1768899103504_u1ll24g16", + "width": 0.04799999999999995, + "x": 0.5463333129882814, + "y": 0.3435555521647135 + } + ], + "type": "bbox" + }, + "bbox_1768895652548": { + "instances": [ + { + "height": 0.16266666666666668, + "id": "bbox_1768895652548_1768899083128_pev6jss8i", + "width": 0.11800000000000015, + "x": 0.822333312988281, + "y": 0.33955555216471356 + } + ], + "type": "bbox" + }, + "point_1768895665395": { + "instances": [ + { + "id": "point_1768895665395_1768899091656_6expxqf8j", + "x": 0.4073333129882813, + "y": 0.5102222188313802 + } + ], + "type": "point" + }, + "point_1768895666244": { + "instances": [ + { + "id": "point_1768895666244_1768899094432_s7nf2g0ph", + "x": 0.6093333129882812, + "y": 0.5062222188313802 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的右前方略微移动，在水平方向上略微接近三脚架。", + "frame": 80, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近三脚架，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 2.66 + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右前方移动，并下降。", + "annotations": { + "bbox_1768895652251": { + "instances": [ + { + "height": 0.23466666666666666, + "id": "bbox_1768895652251_1768899055216_9dl6i8e98", + "width": 0.06000000000000005, + "x": 0.49633331298828126, + "y": 0.24888888549804689 + } + ], + "type": "bbox" + }, + "bbox_1768895652548": { + "instances": [ + { + "height": 0.22133333333333333, + "id": "bbox_1768895652548_1768899066576_na4f9eypy", + "width": 0.12400000000000003, + "x": 0.8753333129882812, + "y": 0.2382222188313802 + } + ], + "type": "bbox" + }, + "point_1768895665395": { + "instances": [ + { + "id": "point_1768895665395_1768899045384_u2ziyh4a0", + "x": 0.40933331298828124, + "y": 0.5062222188313802 + } + ], + "type": "point" + }, + "point_1768895666244": { + "instances": [ + { + "id": "point_1768895666244_1768899047480_dqba73sq4", + "x": 0.6093333129882812, + "y": 0.5128888854980469 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近三脚架。", + "frame": 94, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近三脚架，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 3.135 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并下降，爪夹调整爪夹角度，垂直于桌面。", + "annotations": { + "bbox_1768895652251": { + "instances": [ + { + "height": 0.37733333333333335, + "id": "bbox_1768895652251_1768899032610_i6fbwbpip", + "width": 0.1, + "x": 0.4613333129882813, + "y": 0.24088888549804688 + } + ], + "type": "bbox" + }, + "point_1768895665395": { + "instances": [ + { + "id": "point_1768895665395_1768899035714_otm5ezyx2", + "x": 0.40433331298828123, + "y": 0.5208888854980469 + } + ], + "type": "point" + }, + "point_1768895666244": { + "instances": [ + { + "id": "point_1768895666244_1768899037912_5efvts2rp", + "x": 0.6053333129882812, + "y": 0.5075555521647136 + } + ], + "type": "point" + } + }, + "correction_plan": "竖直下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至三脚架的正上方，已调整瓜夹角度为垂直，方便机取三脚架。", + "frame": 109, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹处于三脚架的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 3.648 + }, + { + "action_description": "爪夹略微下降。", + "annotations": { + "bbox_1768895652251": { + "instances": [ + { + "height": 0.452, + "id": "bbox_1768895652251_1768899020297_ugzo14yzn", + "width": 0.12699999999999995, + "x": 0.4573333129882813, + "y": 0.25555555216471354 + } + ], + "type": "bbox" + }, + "point_1768895665395": { + "instances": [ + { + "id": "point_1768895665395_1768899011056_vci08ouf0", + "x": 0.43333331298828126, + "y": 0.5102222188313802 + } + ], + "type": "point" + }, + "point_1768895666244": { + "instances": [ + { + "id": "point_1768895666244_1768899009008_mcf6k29d4", + "x": 0.5873333129882813, + "y": 0.4968888854980469 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹下降，爪夹在垂直方向上接近三脚架，爪夹左右接触桌面，", + "frame": 124, + "progress": 30, + "progress_explanation": "爪夹下降，爪夹在垂直方向上接近三脚架，爪夹左右接触桌面，因此进度提升至30%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上接近三脚架，爪夹左右接触桌面。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹合拢，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 4.119718123463573 + }, + { + "action_description": "爪夹合拢抓取三脚架。", + "annotations": { + "bbox_1768895652251": { + "instances": [ + { + "height": 0.45066666666666666, + "id": "bbox_1768895652251_1768898993080_mkvnytj11", + "width": 0.11499999999999995, + "x": 0.4653333129882813, + "y": 0.24888888549804689 + } + ], + "type": "bbox" + }, + "point_1768895665395": { + "instances": [ + { + "id": "point_1768895665395_1768898995656_njleahj80", + "x": 0.46733331298828124, + "y": 0.5062222188313802 + } + ], + "type": "point" + }, + "point_1768895666244": { + "instances": [ + { + "id": "point_1768895666244_1768898997824_l6uylu2pj", + "x": 0.5483333129882813, + "y": 0.4995555521647136 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住三脚架上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。", + "frame": 154, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，三脚架已被抓取。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 5.133333333333334 + }, + { + "action_description": "爪夹抓住三脚架上升，向爪夹方向的右前方略微移动。", + "annotations": { + "bbox_1768895652251": { + "instances": [ + { + "height": 0.44266666666666665, + "id": "bbox_1768895652251_1768898983640_a8h4xdi0p", + "width": 0.10900000000000007, + "x": 0.46833331298828124, + "y": 0.25022221883138024 + } + ], + "type": "bbox" + }, + "bbox_1768895652548": { + "instances": [ + { + "height": 0.22133333333333335, + "id": "bbox_1768895652548_1768898958864_1uuilw3jl", + "width": 0.15900000000000017, + "x": 0.8093333129882812, + "y": 0.33022221883138025 + } + ], + "type": "bbox" + }, + "point_1768895665395": { + "instances": [ + { + "id": "point_1768895665395_1768898970920_f2v2sp2hk", + "x": 0.47233331298828124, + "y": 0.4968888854980469 + } + ], + "type": "point" + }, + "point_1768895666244": { + "instances": [ + { + "id": "point_1768895666244_1768898974057_vag5v292z", + "x": 0.5483333129882813, + "y": 0.4968888854980469 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "当前爪夹抓住三脚架在水平方向上略微接近白色垃圾桶。", + "frame": 183, + "progress": 50, + "progress_explanation": "当前爪夹已抓住三脚架，并在水平方向上略微接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上略微接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 6.095070146765338 + }, + { + "action_description": "爪夹抬升，爪夹抓住三脚架向爪夹方向的右前方移动。", + "annotations": { + "bbox_1768895652251": { + "instances": [ + { + "height": 0.44800000000000006, + "id": "bbox_1768895652251_1768898908024_2xqjoxkmv", + "width": 0.11000000000000006, + "x": 0.46733331298828124, + "y": 0.24888888549804689 + } + ], + "type": "bbox" + }, + "bbox_1768895652548": { + "instances": [ + { + "height": 0.23733333333333334, + "id": "bbox_1768895652548_1768898921610_iujydmja7", + "width": 0.1849999999999999, + "x": 0.6223333129882813, + "y": 0.2302222188313802 + } + ], + "type": "bbox" + }, + "point_1768895665395": { + "instances": [ + { + "id": "point_1768895665395_1768898911657_oxgiqqqvc", + "x": 0.4773333129882813, + "y": 0.4915555521647136 + } + ], + "type": "point" + }, + "point_1768895666244": { + "instances": [ + { + "id": "point_1768895666244_1768898914288_ycthboolj", + "x": 0.5443333129882812, + "y": 0.5115555521647136 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抬升，爪夹抓住三脚架向爪夹方向的左前方移动在水平方向上接近白色垃圾桶。", + "frame": 196, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 6.538732098522955 + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的右前方移动。", + "annotations": { + "bbox_1768895652251": { + "instances": [ + { + "height": 0.456, + "id": "bbox_1768895652251_1768898897392_wuvffjn4e", + "width": 0.11799999999999997, + "x": 0.4653333129882813, + "y": 0.2462222188313802 + } + ], + "type": "bbox" + }, + "bbox_1768895652548": { + "instances": [ + { + "height": 0.26, + "id": "bbox_1768895652548_1768898865945_rlr58pnrb", + "width": 0.2, + "x": 0.45933331298828123, + "y": 0.3248888854980469 + } + ], + "type": "bbox" + }, + "point_1768895665395": { + "instances": [ + { + "id": "point_1768895665395_1768898885376_j8tvbwmqw", + "x": 0.4733333129882813, + "y": 0.4968888854980469 + } + ], + "type": "point" + }, + "point_1768895666244": { + "instances": [ + { + "id": "point_1768895666244_1768898888248_h1zdt3qml", + "x": 0.5453333129882812, + "y": 0.4995555521647136 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的右前方移动，在水平方向上更接近白色垃圾桶。", + "frame": 209, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上更接近白色垃圾桶，因此进度提升至70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上更接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的右前方略微移动，直至白色垃圾桶的正上方。", + "time": 6.950703910869312 + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的右前方略微移动，并下降。", + "annotations": { + "bbox_1768895652251": { + "instances": [ + { + "height": 0.444, + "id": "bbox_1768895652251_1768898835641_2vq0lx1zf", + "width": 0.10600000000000005, + "x": 0.47133331298828124, + "y": 0.2528888854980469 + } + ], + "type": "bbox" + }, + "bbox_1768895652548": { + "instances": [ + { + "height": 0.324, + "id": "bbox_1768895652548_1768898848248_6tgq97kgd", + "width": 0.24799999999999994, + "x": 0.4073333129882813, + "y": 0.34355555216471356 + } + ], + "type": "bbox" + }, + "point_1768895665395": { + "instances": [ + { + "id": "point_1768895665395_1768898820184_nml43qmsg", + "x": 0.47533331298828124, + "y": 0.49555555216471353 + } + ], + "type": "point" + }, + "point_1768895666244": { + "instances": [ + { + "id": "point_1768895666244_1768898817984_jhxf7wi8n", + "x": 0.5413333129882812, + "y": 0.5048888854980469 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 221, + "progress": 80, + "progress_explanation": "当前爪夹抓住三脚架位于白色垃圾桶的正上方，因此进度提升至80%.", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架处于白色垃圾桶的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "time": 7.36267572321567 + }, + { + "action_description": "爪夹张开，三脚架落入白色垃圾桶中。", + "annotations": { + "bbox_1768895652251": { + "instances": [ + { + "height": 0.20800000000000002, + "id": "bbox_1768895652251_1768898793568_72w7ea76t", + "width": 0.10999999999999996, + "x": 0.5333333129882812, + "y": 0.3515555521647135 + } + ], + "type": "bbox" + }, + "bbox_1768895652548": { + "instances": [ + { + "height": 0.336, + "id": "bbox_1768895652548_1768898805058_rt5mxi3wc", + "width": 0.26000000000000006, + "x": 0.46433331298828123, + "y": 0.25555555216471354 + } + ], + "type": "bbox" + }, + "point_1768895665395": { + "instances": [ + { + "id": "point_1768895665395_1768898785024_v55dthz6c", + "x": 0.39633331298828123, + "y": 0.5115555521647136 + } + ], + "type": "point" + }, + "point_1768895666244": { + "instances": [ + { + "id": "point_1768895666244_1768898782520_ku09c18n0", + "x": 0.6193333129882813, + "y": 0.4915555521647136 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架已放入白色垃圾桶中。", + "frame": 238, + "progress": 100, + "progress_explanation": "当前爪夹张开，三脚架已放入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，三脚架已放入白色垃圾桶中。\n已完成抓起三脚架使其放入白色垃圾桶中的任务。", + "time": 7.922534852814564 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768895652251", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1768895652548", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768895665395", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768895666244", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..66f3b8f9842baa9721f31b67b41cae9af2d32d2a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-170057-put-tripod-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,566 @@ +{ + "task_description": "抓起三脚架使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近白色垃圾桶:60%\n爪夹抓住三脚架在白色垃圾桶正上方:80%\n爪夹松开，将三脚架放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1768898291059": { + "instances": [ + { + "height": 0.11066666666666668, + "id": "bbox_1768898291059_1768898385800_3iwkv7iei", + "width": 0.025999999999999978, + "x": 0.7655000000000001, + "y": 0.5653333333333334 + } + ], + "type": "bbox" + }, + "bbox_1768898291457": { + "instances": [ + { + "height": 0.11866666666666663, + "id": "bbox_1768898291457_1768898369456_0knvnfjww", + "width": 0.06999999999999992, + "x": 0.6055, + "y": 0.43866666666666665 + } + ], + "type": "bbox" + }, + "point_1768898292281": { + "instances": [ + { + "id": "point_1768898292281_1768898359737_49jc5e3kx", + "x": 0.3905, + "y": 0.512 + } + ], + "type": "point" + }, + "point_1768898292553": { + "instances": [ + { + "id": "point_1768898292553_1768898357042_u3r1265yf", + "x": 0.6235, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取三脚架。\n", + "time": 1.5828761815336583 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1768898291059": { + "instances": [ + { + "height": 0.19733333333333333, + "id": "bbox_1768898291059_1768898394857_bamglepl4", + "width": 0.06400000000000006, + "x": 0.6335, + "y": 0.284 + } + ], + "type": "bbox" + }, + "bbox_1768898291457": { + "instances": [ + { + "height": 0.14266666666666666, + "id": "bbox_1768898291457_1768898477849_yh97amxf9", + "width": 0.16699999999999998, + "x": 0.43733331298828115, + "y": 0.006222218831380151 + } + ], + "type": "bbox" + }, + "point_1768898292281": { + "instances": [ + { + "id": "point_1768898292281_1768898402097_ozrd3xkjr", + "x": 0.3915, + "y": 0.5013333333333334 + } + ], + "type": "point" + }, + "point_1768898292553": { + "instances": [ + { + "id": "point_1768898292553_1768898404625_q35dv292q", + "x": 0.6225, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的右前方略微移动，在水平方向上略微接近三脚架。", + "frame": 85, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近三脚架，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 2.8380296414952855 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并下降，爪夹继续调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1768898291059": { + "instances": [ + { + "height": 0.2693333333333333, + "id": "bbox_1768898291059_1768898523664_7gykq1cun", + "width": 0.11699999999999999, + "x": 0.44033331298828127, + "y": 0.20888888549804688 + } + ], + "type": "bbox" + }, + "bbox_1768898291457": { + "instances": [ + { + "height": 0.09733333333333334, + "id": "bbox_1768898291457_1768898512225_3kihob768", + "width": 0.22200000000000003, + "x": 0.12733331298828127, + "y": -0.0004444478352864584 + } + ], + "type": "bbox" + }, + "point_1768898292281": { + "instances": [ + { + "id": "point_1768898292281_1768898515145_refkbmotg", + "x": 0.40033331298828123, + "y": 0.5048888854980469 + } + ], + "type": "point" + }, + "point_1768898292553": { + "instances": [ + { + "id": "point_1768898292553_1768898517441_5p6g7peem", + "x": 0.6203333129882813, + "y": 0.5062222188313802 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近三脚架。", + "frame": 103, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近三脚架，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 3.423 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并下降，爪夹调整爪夹角度，垂直于桌面。", + "annotations": { + "bbox_1768898291059": { + "instances": [ + { + "height": 0.37066666666666664, + "id": "bbox_1768898291059_1768898530201_edsfisxya", + "width": 0.12199999999999997, + "x": 0.4533333129882813, + "y": 0.32888888549804685 + } + ], + "type": "bbox" + }, + "bbox_1768898291457": { + "instances": [ + { + "height": 0.05866666666666667, + "id": "bbox_1768898291457_1768898548833_spn11q486", + "width": 0.21400000000000002, + "x": 0.16533331298828124, + "y": -0.0004444478352864584 + } + ], + "type": "bbox" + }, + "point_1768898292281": { + "instances": [ + { + "id": "point_1768898292281_1768898536456_j9jk1stm2", + "x": 0.3913333129882813, + "y": 0.5102222188313802 + } + ], + "type": "point" + }, + "point_1768898292553": { + "instances": [ + { + "id": "point_1768898292553_1768898539080_3n0bz80xb", + "x": 0.6213333129882812, + "y": 0.5048888854980469 + } + ], + "type": "point" + } + }, + "correction_plan": "竖直下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至三脚架的正上方，已调整瓜夹角度为垂直，方便机取三脚架。", + "frame": 124, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹处于三脚架的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 4.129333 + }, + { + "action_description": "爪夹略微下降。", + "annotations": { + "bbox_1768898291059": { + "instances": [ + { + "height": 0.4386666666666667, + "id": "bbox_1768898291059_1768898564339_cc3a4f9ul", + "width": 0.11600000000000002, + "x": 0.46733331298828124, + "y": 0.31288888549804683 + } + ], + "type": "bbox" + }, + "point_1768898292281": { + "instances": [ + { + "id": "point_1768898292281_1768898566384_6rze5oo3o", + "x": 0.44533331298828127, + "y": 0.5262222188313802 + } + ], + "type": "point" + }, + "point_1768898292553": { + "instances": [ + { + "id": "point_1768898292553_1768898568369_1dd7soj3t", + "x": 0.5773333129882813, + "y": 0.5168888854980469 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹下降，爪夹在垂直方向上接近三脚架，爪夹左接触桌面，爪夹右接触三脚架。", + "frame": 139, + "progress": 30, + "progress_explanation": "爪夹下降，爪夹在垂直方向上接近三脚架，爪夹左接触桌面，爪夹右接触三脚架，因此进度提升至30%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上接近三脚架，爪夹左接触桌面，爪夹右接触三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹合拢，抓取三脚架后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 4.62779830173581 + }, + { + "action_description": "爪夹合拢抓取三脚架。", + "annotations": { + "bbox_1768898291059": { + "instances": [ + { + "height": 0.456, + "id": "bbox_1768898291059_1768898581512_fzqx6asgj", + "width": 0.07799999999999993, + "x": 0.4653333129882813, + "y": 0.30222221883138023 + } + ], + "type": "bbox" + }, + "point_1768898292281": { + "instances": [ + { + "id": "point_1768898292281_1768898573488_y18z1pyqi", + "x": 0.46833331298828124, + "y": 0.5022222188313802 + } + ], + "type": "point" + }, + "point_1768898292553": { + "instances": [ + { + "id": "point_1768898292553_1768898571137_fokwhb15v", + "x": 0.5473333129882813, + "y": 0.5048888854980469 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住三脚架上升，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。", + "frame": 179, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，三脚架已被抓取。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架上升，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 5.966666666666667 + }, + { + "action_description": "爪夹抓住三脚架上升。向爪夹方向的左前方移动。", + "annotations": { + "bbox_1768898291059": { + "instances": [ + { + "height": 0.45199999999999996, + "id": "bbox_1768898291059_1768898636160_reftt8tin", + "width": 0.075, + "x": 0.46833331298828124, + "y": 0.3088888854980469 + } + ], + "type": "bbox" + }, + "bbox_1768898291457": { + "instances": [ + { + "height": 0.25600000000000006, + "id": "bbox_1768898291457_1768898642665_0tkzhdezj", + "width": 0.13100000000000006, + "x": 0.40033331298828123, + "y": 0.37955555216471354 + } + ], + "type": "bbox" + }, + "point_1768898292281": { + "instances": [ + { + "id": "point_1768898292281_1768898624920_bwrwcvzbc", + "x": 0.4733333129882813, + "y": 0.5048888854980469 + } + ], + "type": "point" + }, + "point_1768898292553": { + "instances": [ + { + "id": "point_1768898292553_1768898627752_kblfmoihh", + "x": 0.5403333129882812, + "y": 0.49555555216471353 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住三脚架向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抬升，爪夹抓住三脚架向爪夹方向的左前方移动在水平方向上接近白色垃圾桶。", + "frame": 213, + "progress": 60, + "progress_explanation": "当前爪夹抓住三脚架在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 7.1068 + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的左前方移动。", + "annotations": { + "bbox_1768898291059": { + "instances": [ + { + "height": 0.4426666666666667, + "id": "bbox_1768898291059_1768898685635_qq84r6f6k", + "width": 0.07400000000000002, + "x": 0.46833331298828124, + "y": 0.3088888854980469 + } + ], + "type": "bbox" + }, + "bbox_1768898291457": { + "instances": [ + { + "height": 0.25866666666666677, + "id": "bbox_1768898291457_1768898657793_btmqjpu5w", + "width": 0.14499999999999993, + "x": 0.4303333129882813, + "y": 0.5008888854980469 + } + ], + "type": "bbox" + }, + "point_1768898292281": { + "instances": [ + { + "id": "point_1768898292281_1768898669320_rcf6jpo92", + "x": 0.47633331298828124, + "y": 0.49555555216471353 + } + ], + "type": "point" + }, + "point_1768898292553": { + "instances": [ + { + "id": "point_1768898292553_1768898672528_88jo3rb79", + "x": 0.5453333129882812, + "y": 0.49555555216471353 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住三脚架向爪夹方向的前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的左前方移动，在水平方向上更接近白色垃圾桶。", + "frame": 226, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上更接近白色垃圾桶，因此进度提升至70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上更接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的前方移动，直至白色垃圾桶的正上方。", + "time": 7.527724130499764 + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的前方略微移动并下降。", + "annotations": { + "bbox_1768898291059": { + "instances": [ + { + "height": 0.44000000000000006, + "id": "bbox_1768898291059_1768898713000_zcqv0jz4h", + "width": 0.071, + "x": 0.4693333129882813, + "y": 0.31288888549804683 + } + ], + "type": "bbox" + }, + "bbox_1768898291457": { + "instances": [ + { + "height": 0.276, + "id": "bbox_1768898291457_1768898724425_e3g9hoba6", + "width": 0.18100000000000005, + "x": 0.4523333129882813, + "y": 0.5555555521647136 + } + ], + "type": "bbox" + }, + "point_1768898292281": { + "instances": [ + { + "id": "point_1768898292281_1768898716752_ybf672o2c", + "x": 0.47633331298828124, + "y": 0.4968888854980469 + } + ], + "type": "point" + }, + "point_1768898292553": { + "instances": [ + { + "id": "point_1768898292553_1768898718864_o7u2q73jy", + "x": 0.5443333129882812, + "y": 0.5075555521647136 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 246, + "progress": 80, + "progress_explanation": "当前爪夹抓住三脚架位于白色垃圾桶的正上方，因此进度提升至80%.", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架处于白色垃圾桶的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "time": 8.204333 + }, + { + "action_description": "爪夹张开，三脚架落入白色垃圾桶中。", + "annotations": { + "bbox_1768898291059": { + "instances": [ + { + "height": 0.16666666666666666, + "id": "bbox_1768898291059_1768898761696_q53o1k4j8", + "width": 0.10599999999999996, + "x": 0.4813333129882813, + "y": 0.5635555521647135 + } + ], + "type": "bbox" + }, + "bbox_1768898291457": { + "instances": [ + { + "height": 0.29733333333333334, + "id": "bbox_1768898291457_1768898739488_fhwngsnai", + "width": 0.19899999999999993, + "x": 0.4383333129882813, + "y": 0.47022221883138027 + } + ], + "type": "bbox" + }, + "point_1768898292281": { + "instances": [ + { + "id": "point_1768898292281_1768898746129_nsk4byw6k", + "x": 0.42833331298828126, + "y": 0.5048888854980469 + } + ], + "type": "point" + }, + "point_1768898292553": { + "instances": [ + { + "id": "point_1768898292553_1768898754000_h7o9fz729", + "x": 0.5833333129882813, + "y": 0.5048888854980469 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架已放入白色垃圾桶中。", + "frame": 267, + "progress": 100, + "progress_explanation": "当前爪夹张开，三脚架已放入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，三脚架已放入白色垃圾桶中。\n已完成抓起三脚架使其放入白色垃圾桶中的任务。", + "time": 8.888933 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768898291059", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1768898291457", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768898292281", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768898292553", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-171650-put-tripod-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-171650-put-tripod-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..1e16e0ecc23f23e2b76de1c0e3c48a018a24c1c8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-171650-put-tripod-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,170 @@ +{ + "task_description": "抓起三脚架使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近白色垃圾桶:60%\n爪夹抓住三脚架在白色垃圾桶正上方:80%\n爪夹松开，将三脚架放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取三脚架。\n", + "time": 1.4632075188679246 + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的右前方略微移动，调整爪夹角度使其垂直于桌面。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的右前方略微移动，在水平方向上略微接近三脚架。", + "frame": 78, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近三脚架，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 2.602233 + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右前方移动，并下降。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近三脚架。", + "frame": 97, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近三脚架，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 3.222633 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并下降，爪夹调整爪夹角度，垂直于桌面。", + "correction_plan": "竖直下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至三脚架的正上方，已调整瓜夹角度为垂直，方便机取三脚架。", + "frame": 114, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹处于三脚架的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 3.8002750837264148 + }, + { + "action_description": "爪夹略微下降，后合拢抓取三脚架。", + "correction_plan": "爪夹抓住三脚架上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。", + "frame": 145, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，三脚架已被抓取。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 4.842566 + }, + { + "action_description": "爪夹抓住三脚架上升，向爪夹方向的右侧略微移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "当前爪夹抓住三脚架在水平方向上略微接近白色垃圾桶。", + "frame": 215, + "progress": 45, + "progress_explanation": "当前爪夹已抓住三脚架，并在水平方向上开始略微接近白色垃圾桶，因此进度提升为45%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上开始略微接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 7.153458981132075 + }, + { + "action_description": "爪夹张开，三脚架掉落至桌面。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，三脚架已掉落至桌面，爪夹在垂直方向上远离三脚架。", + "frame": 266, + "progress": 15, + "progress_explanation": "当前爪夹张开，三脚架已掉落至桌面，爪夹在垂直方向上远离三脚架，因此进度下降至15%。", + "state_description": "当前状态为爪夹张开，三脚架已掉落至桌面，爪夹在垂直方向上远离三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 8.860534419811321 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并下降。", + "correction_plan": "竖直下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至三脚架的正上方，已调整瓜夹角度为垂直，方便机取三脚架。", + "frame": 300, + "progress": 20, + "progress_explanation": "当前爪夹已再次悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹处于三脚架的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 9.995333 + }, + { + "action_description": "爪夹略微下降，后合拢抓取三脚架。", + "correction_plan": "爪夹抓住三脚架上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。", + "frame": 336, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，三脚架已被抓取。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 11.184433 + }, + { + "action_description": "爪夹抓住三脚架上升，向爪夹方向的右前方略微移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "当前爪夹抓住三脚架在水平方向上略微接近白色垃圾桶。", + "frame": 388, + "progress": 50, + "progress_explanation": "当前爪夹已抓住三脚架，并在水平方向上略微接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上略微接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 12.94532207665094 + }, + { + "action_description": "爪夹抬升，爪夹抓住三脚架向爪夹方向的右前方移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抬升，爪夹抓住三脚架向爪夹方向的右前方移动在水平方向上接近白色垃圾桶。", + "frame": 410, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 13.676925836084905 + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的右前方移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的右前方移动，在水平方向上更接近白色垃圾桶。", + "frame": 427, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上更接近白色垃圾桶，因此进度提升至70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上更接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的右前方略微移动，直至白色垃圾桶的正上方。", + "time": 14.245950982311319 + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的右前方略微移动，并下降。", + "correction_plan": "爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 441, + "progress": 80, + "progress_explanation": "当前爪夹抓住三脚架位于白色垃圾桶的正上方，因此进度提升至80%.", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架处于白色垃圾桶的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "time": 14.713364495283017 + }, + { + "action_description": "爪夹张开，三脚架落入白色垃圾桶中。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架已放入白色垃圾桶中。", + "frame": 470, + "progress": 100, + "progress_explanation": "爪夹张开，三脚架已放入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，三脚架已放入白色垃圾桶中。\n已完成抓起三脚架使其放入白色垃圾桶中的任务。", + "time": 15.668513847877357 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768976479582", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1768976479830", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768976506270", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768976506598", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-171650-put-tripod-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-171650-put-tripod-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..912754bf18683f51dc07aa8f2ed0971ee83e6c4f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-171650-put-tripod-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,590 @@ +{ + "task_description": "抓起三脚架使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近白色垃圾桶:60%\n爪夹抓住三脚架在白色垃圾桶正上方:80%\n爪夹松开，将三脚架放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取三脚架。\n", + "time": 1.786357348969072, + "annotations": { + "point_1768983479982": { + "type": "point", + "instances": [ + { + "id": "point_1768983479982_1768983511727_fcnhreg8q", + "x": 0.215158924205379, + "y": 0.36022819885900575 + } + ] + }, + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983523391_gxdmicl2z", + "x": 0.5061124694376529, + "y": 0.5916870415647922, + "width": 0.04278728606356967, + "height": 0.15484922575387128 + } + ] + }, + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983539663_8lg6kiucg", + "x": 0.1528117359413203, + "y": 0.4612876935615322, + "width": 0.17970660146699266, + "height": 0.28198859005704974 + } + ] + } + } + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的右前方略微移动，调整爪夹角度使其垂直于桌面。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的右前方略微移动，在水平方向上略微接近三脚架。", + "frame": 91, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近三脚架，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 3.026666, + "annotations": { + "point_1768983479743": { + "type": "point", + "instances": [ + { + "id": "point_1768983479743_1768983553719_qzq4wt0cp", + "x": 0.3312958435207824, + "y": 0.5965770171149144 + } + ] + }, + "point_1768983479982": { + "type": "point", + "instances": [ + { + "id": "point_1768983479982_1768983556175_5s1okxnws", + "x": 0.4523227383863081, + "y": 0.6210268948655256 + } + ] + }, + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983567927_zdnfjz8b0", + "x": 0.508557457212714, + "y": 0.5900570497147515, + "width": 0.04034229828850853, + "height": 0.16299918500407493 + } + ] + }, + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983576599_0gq07f9ph", + "x": 0.15036674816625917, + "y": 0.46128769356153226, + "width": 0.1833740831295844, + "height": 0.2819885900570497 + } + ] + } + } + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右前方移动，并下降。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近三脚架。", + "frame": 110, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近三脚架，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 3.677399, + "annotations": { + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983589207_l3l9dgdk2", + "x": 0.1356968215158924, + "y": 0.4612876935615322, + "width": 0.19682151589242056, + "height": 0.28035859820700904 + } + ] + }, + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983602655_d2mfcss20", + "x": 0.508557457212714, + "y": 0.5916870415647922, + "width": 0.04645476772616135, + "height": 0.15321923390383047 + } + ] + }, + "point_1768983479743": { + "type": "point", + "instances": [ + { + "id": "point_1768983479743_1768983614111_4jdvpch27", + "x": 0.430317848410758, + "y": 0.6340668296658517 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并下降，爪夹调整爪夹角度，垂直于桌面。", + "correction_plan": "竖直下降，抓取三脚架后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至三脚架的正上方，已调整瓜夹角度为垂直，方便机取三脚架。", + "frame": 133, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹处于三脚架的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。", + "time": 4.417089581218274, + "annotations": { + "point_1768983479743": { + "type": "point", + "instances": [ + { + "id": "point_1768983479743_1768983618943_87sd2grld", + "x": 0.47188264058679713, + "y": 0.7188264058679706 + } + ] + }, + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983631551_hdmgwzram", + "x": 0.508557457212714, + "y": 0.5867970660146699, + "width": 0.04278728606356967, + "height": 0.16136919315403433 + } + ] + }, + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983644839_xwkezzm03", + "x": 0.15892420537897312, + "y": 0.49225753871230643, + "width": 0.17481662591687044, + "height": 0.2526487367563162 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢抓取三脚架。", + "correction_plan": "爪夹抓住三脚架上升，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。", + "frame": 158, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，三脚架已被抓取。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架上升，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 5.266399, + "annotations": { + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983658311_rml6ds3pe", + "x": 0.17726161369193155, + "y": 0.4857375713121435, + "width": 0.15892420537897312, + "height": 0.24775876120619397 + } + ] + }, + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983683671_pj0go5y5n", + "x": 0.5134474327628362, + "y": 0.58679706601467, + "width": 0.03789731051344738, + "height": 0.15973920130399352 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架上升。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "当前爪夹抓住三脚架在垂直方向上接近白色垃圾桶。", + "frame": 199, + "progress": 45, + "progress_explanation": "当前爪夹已抓住三脚架，并在垂直方向上接近白色垃圾桶，因此进度提升为45%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在垂直方向上接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 6.62278335927835, + "annotations": { + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983697879_tii4v7c2y", + "x": 0.5073349633251835, + "y": 0.4775876120619397, + "width": 0.039119804400977995, + "height": 0.18744906275468623 + } + ] + }, + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983705671_88ana7cs5", + "x": 0.136919315403423, + "y": 0.45965770171149145, + "width": 0.19682151589242053, + "height": 0.2852485737571312 + } + ] + } + } + }, + { + "action_description": "爪夹张开，三脚架掉落至桌面。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，三脚架已掉落至桌面，爪夹在垂直方向上远离三脚架。", + "frame": 222, + "progress": 15, + "progress_explanation": "当前爪夹张开，三脚架已掉落至桌面，爪夹在垂直方向上远离三脚架，因此进度下降至15%。", + "state_description": "当前状态为爪夹张开，三脚架已掉落至桌面，爪夹在垂直方向上远离三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 7.393823864213197, + "annotations": { + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983722095_ng8ypuokl", + "x": 0.14914425427872863, + "y": 0.46128769356153226, + "width": 0.18459657701711493, + "height": 0.2836185819070904 + } + ] + }, + "point_1768983479743": { + "type": "point", + "instances": [ + { + "id": "point_1768983479743_1768983731231_ind7mjkss", + "x": 0.4462102689486553, + "y": 0.6503667481662593 + } + ] + }, + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983736119_uago5j1mt", + "x": 0.5171149144254279, + "y": 0.5998370008149959, + "width": 0.05501222493887532, + "height": 0.15484922575387128 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并下降。", + "correction_plan": "竖直下降，抓取三脚架后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至三脚架的正上方，已调整瓜夹角度为垂直，方便机取三脚架。", + "frame": 276, + "progress": 20, + "progress_explanation": "当前爪夹已再次悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹处于三脚架的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。", + "time": 9.185933, + "annotations": { + "point_1768983479743": { + "type": "point", + "instances": [ + { + "id": "point_1768983479743_1768983745639_b3xa6nnkl", + "x": 0.5097799511002445, + "y": 0.6927465362673186 + } + ] + }, + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983761103_vl5m3thol", + "x": 0.508557457212714, + "y": 0.6030969845150775, + "width": 0.06356968215158929, + "height": 0.1581092094539527 + } + ] + }, + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983768799_6hvysxt3r", + "x": 0.15403422982885087, + "y": 0.45965770171149145, + "width": 0.1797066014669927, + "height": 0.2852485737571312 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢抓取三脚架。", + "correction_plan": "爪夹抓住三脚架上升，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。", + "frame": 314, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，三脚架已被抓取。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架上升，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 10.466581833756345, + "annotations": { + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983780639_vlo0o3fpb", + "x": 0.15158924205378974, + "y": 0.4612876935615322, + "width": 0.16748166259168706, + "height": 0.2493887530562348 + } + ] + }, + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983802711_uzyzm13ln", + "x": 0.5, + "y": 0.6079869600651997, + "width": 0.05378973105134479, + "height": 0.13528932355338222 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架上升，向爪夹方向的左侧略微移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "当前爪夹抓住三脚架在水平方向上略微接近白色垃圾桶。", + "frame": 358, + "progress": 50, + "progress_explanation": "当前爪夹已抓住三脚架，并在水平方向上略微接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上略微接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 11.945346606598985, + "annotations": { + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983814727_a20q2llbb", + "x": 0.15036674816625917, + "y": 0.4726976365118175, + "width": 0.18459657701711496, + "height": 0.27220863895680514 + } + ] + }, + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983931759_k5bn47jgr", + "x": 0.5268948655256724, + "y": 0.45802770986145075, + "width": 0.03667481662591685, + "height": 0.16136919315403417 + } + ] + } + } + }, + { + "action_description": "爪夹抬升，爪夹抓住三脚架向爪夹方向的左侧移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抬升，爪夹抓住三脚架向爪夹方向的左侧移动在水平方向上接近白色垃圾桶。", + "frame": 370, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 12.348646090101523, + "annotations": { + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983972951_i1dvgta61", + "x": 0.16381418092909536, + "y": 0.4661776691116544, + "width": 0.17114914425427877, + "height": 0.2787286063569682 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的左侧移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的左侧移动，在水平方向上更接近白色垃圾桶。", + "frame": 382, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上更接近白色垃圾桶，因此进度提升至70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上更接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹抓住三脚架向爪夹方向的左侧略微移动，直至白色垃圾桶的正上方。", + "time": 12.732740836294417, + "annotations": { + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983988199_86pdbkixn", + "x": 0.15158924205378974, + "y": 0.45802770986145075, + "width": 0.1833740831295844, + "height": 0.2868785656071719 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的左侧略微移动，并下降。", + "correction_plan": "爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 396, + "progress": 80, + "progress_explanation": "当前爪夹抓住三脚架位于白色垃圾桶的正上方，因此进度提升至80%.", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架处于白色垃圾桶的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹下降，将三脚架放入垃圾桶中，爪夹张开。", + "time": 13.206563282989691, + "annotations": { + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983888391_qu0ygrlcj", + "x": 0.22493887530562345, + "y": 0.4678076609616952, + "width": 0.059902200488997616, + "height": 0.097799511002445 + } + ] + }, + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983900488_7z6g1q0no", + "x": 0.16748166259168706, + "y": 0.4498777506112469, + "width": 0.16748166259168706, + "height": 0.29502852485737574 + } + ] + } + } + }, + { + "action_description": "爪夹张开，三脚架落入白色垃圾桶中。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架已放入白色垃圾桶中。", + "frame": 416, + "progress": 100, + "progress_explanation": "爪夹张开，三脚架已放入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，三脚架已放入白色垃圾桶中。\n已完成抓起三脚架使其放入白色垃圾桶中的任务。", + "time": 13.877422374742268, + "annotations": { + "point_1768983479743": { + "type": "point", + "instances": [ + { + "id": "point_1768983479743_1768983854159_jx4os7itf", + "x": 0.24816625916870416, + "y": 0.5965770171149144 + } + ] + }, + "bbox_1768983477958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983477958_1768983858663_wmox7dz80", + "x": 0.24327628361858192, + "y": 0.5134474327628362, + "width": 0.05623471882640589, + "height": 0.16136919315403422 + } + ] + }, + "bbox_1768983478239": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768983478239_1768983863023_oaotueecw", + "x": 0.17481662591687042, + "y": 0.47269763651181745, + "width": 0.1662591687041565, + "height": 0.27709861450692747 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768983477958", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1768983478239", + "name": "白色垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768983479743", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768983479982", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-173217-put-tripod-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-173217-put-tripod-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..2447e8ed9316e85fab555ef87e3541ded873fb58 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-173217-put-tripod-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,414 @@ +{ + "task_description": "抓起三脚架使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近白色垃圾桶:60%\n爪夹抓住三脚架在白色垃圾桶正上方:80%\n爪夹松开，将三脚架放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，到达三脚架正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取三脚架。\n", + "time": 1.4773689200507614, + "annotations": { + "point_1769044726402": { + "type": "point", + "instances": [ + { + "id": "point_1769044726402_1769046349785_gbzivhwwb", + "x": 0.43681820293079854, + "y": 0.5337765197753906 + } + ] + }, + "point_1769044726634": { + "type": "point", + "instances": [ + { + "id": "point_1769044726634_1769046352520_9825yqkav", + "x": 0.5598182104381232, + "y": 0.5644431864420573 + } + ] + }, + "bbox_1769044725290": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725290_1769046358289_dwm01sr69", + "x": 0.5058182071422246, + "y": 0.5377765197753906, + "width": 0.08400000512695342, + "height": 0.10400000000000009 + } + ] + }, + "bbox_1769044725562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725562_1769046372761_h0kspc04x", + "x": 0.7728182234386122, + "y": 0.42710985310872396, + "width": 0.193000011779786, + "height": 0.22533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，调整爪夹角度使其垂直于桌面。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，在水平方向上略微接近三脚架。", + "frame": 71, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近三脚架，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的前方移动，直至三脚架的正上方。", + "time": 2.3513747514707433, + "annotations": { + "bbox_1769044725562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725562_1769046389752_2ahykvkez", + "x": 0.7728182234386123, + "y": 0.423109853108724, + "width": 0.19500001190185623, + "height": 0.228 + } + ] + }, + "bbox_1769044725290": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725290_1769046410841_znlrr2llz", + "x": 0.4888182061046268, + "y": 0.5351098531087238, + "width": 0.10300000628662147, + "height": 0.1306666666666668 + } + ] + }, + "point_1769044726402": { + "type": "point", + "instances": [ + { + "id": "point_1769044726402_1769046649624_0zdjt26mp", + "x": 0.4888182061046268, + "y": 0.6124431864420573 + } + ] + } + } + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右前方略微移动，并下降。", + "correction_plan": "爪夹向爪夹方向的前方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，在水平方向上接近三脚架。", + "frame": 84, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近三脚架，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近三脚架。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的前方移动，直至三脚架的正上方。", + "time": 2.789007277198443, + "annotations": { + "bbox_1769044725290": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725290_1769046423720_rwqcabs8e", + "x": 0.4888182061046268, + "y": 0.5564431864420574, + "width": 0.09300000567626991, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1769044725562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725562_1769046438745_569ezxsnr", + "x": 0.7718182233775771, + "y": 0.42710985310872396, + "width": 0.19500001190185615, + "height": 0.22666666666666663 + } + ] + }, + "point_1769044726402": { + "type": "point", + "instances": [ + { + "id": "point_1769044726402_1769046656592_xynvbnqsb", + "x": 0.5078182072642948, + "y": 0.6257765197753906 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动，并下降，爪夹调整爪夹角度，垂直于桌面。", + "correction_plan": "竖直下降，抓取三脚架后竖直上升，向爪夹方向的右侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方略微移动至三脚架的正上方，已调整瓜夹角度为垂直，方便机取三脚架。", + "frame": 97, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹处于三脚架的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:竖直下降，抓取三脚架后竖直上升，向爪夹方向的右侧移动，直至处于白色垃圾桶的正上方。", + "time": 3.233925667512691, + "annotations": { + "bbox_1769044725562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725562_1769046456352_6qugwvuau", + "x": 0.7738182234996474, + "y": 0.42710985310872396, + "width": 0.19300001177978582, + "height": 0.22533333333333333 + } + ] + }, + "bbox_1769044725290": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725290_1769046469216_hd3yttvdn", + "x": 0.4888182061046268, + "y": 0.547109853108724, + "width": 0.10100000616455115, + "height": 0.12399999999999996 + } + ] + }, + "point_1769044726402": { + "type": "point", + "instances": [ + { + "id": "point_1769044726402_1769046663585_am1yc2omq", + "x": 0.5178182078746465, + "y": 0.6057765197753907 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢，抓取到充电线。", + "correction_plan": "爪夹张开并抬升，向爪夹方向的左后方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微下降，后合拢，抓取到充电线。", + "frame": 113, + "progress": -20, + "progress_explanation": "当前爪夹已抓取到充电线，需要多一次张开爪夹的动作，才能接近三脚架，因此进度下降至-20%。", + "state_description": "当前状态为爪夹合拢，爪夹垂直于桌面，爪夹已抓取到充电线。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹张开并抬升，向爪夹方向的左后方移动，直至三脚架的正上方。", + "time": 3.758333, + "annotations": { + "bbox_1769044725290": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725290_1769046475313_8sah59r69", + "x": 0.4978182066539433, + "y": 0.543109853108724, + "width": 0.09600000585937529, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1769044725562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725562_1769046488224_9juwiyued", + "x": 0.7708182233165417, + "y": 0.4244431864420573, + "width": 0.19500001190185623, + "height": 0.23066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹抓住充电线抬升。", + "correction_plan": "爪夹张开，爪夹向爪夹方向的左后方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住充电线上升，在垂直方向上接近白色垃圾桶。", + "frame": 146, + "progress": -30, + "progress_explanation": "当前爪夹抓住充电线上升，在垂直方向上接近白色垃圾桶，因此进度下降为-30%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住充电线，在垂直方向上接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹张开，向爪夹方向的左后方移动，直至三脚架的正上方。", + "time": 4.858333, + "annotations": { + "bbox_1769044725562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725562_1769046504864_6aqdho6o7", + "x": 0.7728182234386122, + "y": 0.423109853108724, + "width": 0.1950000119018563, + "height": 0.228 + } + ] + }, + "bbox_1769044725290": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725290_1769046522216_p4ji5litu", + "x": 0.495818206531873, + "y": 0.5417765197753907, + "width": 0.08300000506591827, + "height": 0.14799999999999994 + } + ] + } + } + }, + { + "time": 6.188144891860294, + "frame": 186, + "progress": -35, + "action_description": "爪夹抓住充电线，向爪夹方向的右侧略微移动。", + "state_description": "当前状态为爪夹合拢，爪夹抓住充电线，在水平方向上略微接近白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹张开，向爪夹方向的左后方移动，直至三脚架的正上方。", + "progress_explanation": "较上一阶段相比，爪夹抓住充电线，在水平方向上略微接近白色垃圾桶，因此进度下降为-35%。", + "error_success_analysis": "爪夹抓住充电线，向爪夹方向的右侧略微移动，在水平方向上略微接近白色垃圾桶", + "correction_plan": "爪夹张开，爪夹向爪夹方向的左后方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "annotations": { + "bbox_1769044725290": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725290_1769046535449_f78jn5ijg", + "x": 0.4978182066539433, + "y": 0.5337765197753906, + "width": 0.09600000585937529, + "height": 0.1586666666666666 + } + ] + }, + "bbox_1769044725562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725562_1769046544544_uz5a9smsg", + "x": 0.7728182234386123, + "y": 0.427109853108724, + "width": 0.194000011840821, + "height": 0.22666666666666657 + } + ] + } + } + }, + { + "action_description": "爪夹抓住充电线，向爪夹方向的右侧移动。", + "correction_plan": "爪夹张开，爪夹向爪夹方向的左后方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住充电线，向爪夹方向的右侧移动至白色垃圾桶的正上方。", + "frame": 205, + "progress": -40, + "progress_explanation": "当前爪夹抓住充电线位于白色垃圾桶的正上方，因此进度下降为-40%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住充电线位于白色垃圾桶的正上方。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹张开，向爪夹方向的左后方移动，直至三脚架的正上方。", + "time": 6.832242679054173, + "annotations": { + "bbox_1769044725562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725562_1769046556896_4twly1gl1", + "x": 0.7718182233775771, + "y": 0.42577651977539066, + "width": 0.1760000107421881, + "height": 0.21733333333333327 + } + ] + }, + "bbox_1769044725290": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725290_1769046569864_fyep90t73", + "x": 0.495818206531873, + "y": 0.5377765197753905, + "width": 0.0980000059814456, + "height": 0.15333333333333338 + } + ] + } + } + }, + { + "action_description": "爪夹张开，充电线落入白色垃圾桶。", + "correction_plan": "爪夹向爪夹方向的左后方移动，直至三脚架的正上方，后下降，抓取三脚架后竖直上升，向爪夹方向的右侧移动，直至处于白色垃圾桶的正上方。下降将三脚架放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，充电线已落入白色垃圾桶。", + "frame": 215, + "progress": -50, + "progress_explanation": "当前爪夹张开，充电线已落入白色垃圾桶，因此进度下降为-50%。", + "state_description": "当前状态为爪夹张开，充电线已落入白色垃圾桶。\n为完成抓起三脚架使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的左后方移动，直至三脚架的正上方。", + "time": 7.180413031616212, + "annotations": { + "bbox_1769044725290": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725290_1769046583568_855zy6u9t", + "x": 0.4978182066539433, + "y": 0.5404431864420574, + "width": 0.09500000579834014, + "height": 0.1466666666666666 + } + ] + }, + "point_1769044726402": { + "type": "point", + "instances": [ + { + "id": "point_1769044726402_1769046603856_xkksub93b", + "x": 0.8628182289317767, + "y": 0.43644318644205726 + } + ] + }, + "bbox_1769044725562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044725562_1769046607952_ezgfkhk72", + "x": 0.7778182237437881, + "y": 0.41910985310872395, + "width": 0.1820000111083992, + "height": 0.21066666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769044725290", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1769044725562", + "name": "白色垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769044726402", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769044726634", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-175049-put-usb c hub-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-175049-put-usb c hub-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..42f95b119d33126701e8a2612921afe995b05040 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-175049-put-usb c hub-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,428 @@ +{ + "task_description": "抓起USB-C集线器使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近USB-C集线器:20%\n爪夹抓取USB-C集线器:40%\n爪夹抓住USB-C集线器接近白色垃圾桶:60%\n爪夹抓住USB-C集线器在白色垃圾桶正上方:80%\n爪夹松开，将USB-C集线器放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1768986428106": { + "instances": [ + { + "height": 0.09616951915240422, + "id": "bbox_1768986428106_1768986471931_vtpeu9dh5", + "width": 0.1528117359413203, + "x": 0.4315403422982885, + "y": 0.5167074164629177 + } + ], + "type": "bbox" + }, + "bbox_1768986428338": { + "instances": [ + { + "height": 0.2330888345558272, + "id": "bbox_1768986428338_1768986477410_iq439cj5p", + "width": 0.14058679706601476, + "x": 0.6540342298288508, + "y": 0.280358598207009 + } + ], + "type": "bbox" + }, + "point_1768986429658": { + "instances": [ + { + "id": "point_1768986429658_1768986461378_tm02okud0", + "x": 0.2836185819070905, + "y": 0.21841890790546048 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取USB-C集线器。\n", + "time": 1.2872250063451776 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并略微下降，调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1768986428106": { + "instances": [ + { + "height": 0.09127954360228199, + "id": "bbox_1768986428106_1768986501570_brb6p24lj", + "width": 0.1515892420537898, + "x": 0.4315403422982885, + "y": 0.5183374083129585 + } + ], + "type": "bbox" + }, + "bbox_1768986428338": { + "instances": [ + { + "height": 0.2396088019559902, + "id": "bbox_1768986428338_1768986489475_i8tkiobol", + "width": 0.14425427872860624, + "x": 0.6528117359413204, + "y": 0.273838630806846 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的右前方略微移动，在水平方向上略微接近USB-C集线器。", + "frame": 85, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近USB-C集线器，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 2.840133 + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右前方移动，并下降。爪夹向爪夹方向的左侧调整。", + "annotations": { + "bbox_1768986428106": { + "instances": [ + { + "height": 0.09616951915240422, + "id": "bbox_1768986428106_1768986514443_dw637z8yx", + "width": 0.1515892420537897, + "x": 0.4327628361858191, + "y": 0.5134474327628362 + } + ], + "type": "bbox" + }, + "bbox_1768986428338": { + "instances": [ + { + "height": 0.2396088019559902, + "id": "bbox_1768986428338_1768986526251_9s13jbd33", + "width": 0.1418092909535452, + "x": 0.6552567237163814, + "y": 0.273838630806846 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近USB-C集线器。", + "frame": 113, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近USB-C集线器，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 3.7556682538071064 + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动，并下降，爪夹向爪夹方向的左侧调整。", + "annotations": { + "bbox_1768986428106": { + "instances": [ + { + "height": 0.08964955175224129, + "id": "bbox_1768986428106_1768986550090_3ifprbd8w", + "width": 0.16870415647921755, + "x": 0.4168704156479218, + "y": 0.5183374083129585 + } + ], + "type": "bbox" + }, + "bbox_1768986428338": { + "instances": [ + { + "height": 0.23797881010594948, + "id": "bbox_1768986428338_1768986537291_2lagff4jg", + "width": 0.13936430317848414, + "x": 0.656479217603912, + "y": 0.2754686226568867 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方略微移动至USB-C集线器的正上方。", + "frame": 155, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于USB-C集线器正上方，已接近USB-C集线器，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于USB-C集线器的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 5.155199 + }, + { + "action_description": "爪夹合拢抓取USB-C集线器。", + "annotations": { + "bbox_1768986428106": { + "instances": [ + { + "height": 0.1287693561532193, + "id": "bbox_1768986428106_1768986568819_fm97jnu8w", + "width": 0.1466992665036675, + "x": 0.4462102689486553, + "y": 0.49225753871230643 + } + ], + "type": "bbox" + }, + "bbox_1768986428338": { + "instances": [ + { + "height": 0.23797881010594946, + "id": "bbox_1768986428338_1768986575611_wx8cjo8hm", + "width": 0.14303178484107573, + "x": 0.654034229828851, + "y": 0.27546862265688676 + } + ], + "type": "bbox" + }, + "point_1768986429450": { + "instances": [ + { + "id": "point_1768986429450_1768986817067_g11bwxocb", + "x": 0.47799511002444994, + "y": 0.5672371638141809 + } + ], + "type": "point" + }, + "point_1768986429658": { + "instances": [ + { + "id": "point_1768986429658_1768986813275_4crl56nmo", + "x": 0.48777506112469443, + "y": 0.5427872860635697 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在USB-C集线器的正上方竖直下降，成功抓取到USB-C集线器。", + "frame": 181, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到USB-C集线器，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，USB-C集线器已被抓取。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 6.027241794416243 + }, + { + "action_description": "爪夹抓住USB-C集线器上升，向爪夹方向的右前方移动。", + "annotations": { + "bbox_1768986428106": { + "instances": [ + { + "height": 0.18418907905460472, + "id": "bbox_1768986428106_1768986605619_71ht4kkjl", + "width": 0.09413202933985332, + "x": 0.5097799511002445, + "y": 0.25427872860635703 + } + ], + "type": "bbox" + }, + "bbox_1768986428338": { + "instances": [ + { + "height": 0.2396088019559902, + "id": "bbox_1768986428338_1768986594387_6buo3h9k5", + "width": 0.1418092909535452, + "x": 0.654034229828851, + "y": 0.273838630806846 + } + ], + "type": "bbox" + }, + "point_1768986429658": { + "instances": [ + { + "id": "point_1768986429658_1768986755531_lue42ybke", + "x": 0.5342298288508558, + "y": 0.30480847595762023 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "当前爪夹抓住USB-C集线器在水平方向上略微接近白色垃圾桶。", + "frame": 246, + "progress": 50, + "progress_explanation": "当前爪夹已抓住USB-C集线器，并在水平方向上开始略微接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上略微接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 8.198199 + }, + { + "action_description": "爪夹抓住USB-C集线器抬升，向爪夹方向的右前方移动。", + "annotations": { + "bbox_1768986428106": { + "instances": [ + { + "height": 0.2689486552567237, + "id": "bbox_1768986428106_1768986632147_o2ta2qvg0", + "width": 0.0782396088019559, + "x": 0.5488997555012226, + "y": 0.0162999185004075 + } + ], + "type": "bbox" + }, + "bbox_1768986428338": { + "instances": [ + { + "height": 0.23634881825590875, + "id": "bbox_1768986428338_1768986646699_p6glvz1sx", + "width": 0.14180929095354528, + "x": 0.656479217603912, + "y": 0.27709861450692747 + } + ], + "type": "bbox" + }, + "point_1768986429658": { + "instances": [ + { + "id": "point_1768986429658_1768986752315_pm5lry5ib", + "x": 0.5574572127139364, + "y": 0.14995925020374898 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抬升，爪夹抓住USB-C集线器向爪夹方向的右前方移动在水平方向上接近白色垃圾桶。", + "frame": 257, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 8.571404159898476 + }, + { + "action_description": "爪夹抓住USB-C集线器向爪夹方向的右前方移动并下降。", + "annotations": { + "bbox_1768986428338": { + "instances": [ + { + "height": 0.234718826405868, + "id": "bbox_1768986428338_1768986659779_wrzznxgph", + "width": 0.14058679706601468, + "x": 0.6552567237163814, + "y": 0.2770986145069275 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器向爪夹方向的右前方移动，在水平方向上更接近白色垃圾桶。", + "frame": 269, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住USB-C集线器在水平方向上更接近白色垃圾桶，因此进度提升至70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上更接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 8.965143573604061 + }, + { + "action_description": "爪夹抓住USB-C集线器左右晃动后，略微下降。", + "annotations": { + "bbox_1768986428106": { + "instances": [ + { + "height": 0.25916870415647925, + "id": "bbox_1768986428106_1768986684979_exdcks2gd", + "width": 0.09046454767726156, + "x": 0.7188264058679708, + "y": 0.02444987775061125 + } + ], + "type": "bbox" + }, + "bbox_1768986428338": { + "instances": [ + { + "height": 0.23797881010594946, + "id": "bbox_1768986428338_1768986671411_93km8niok", + "width": 0.14303178484107582, + "x": 0.6528117359413204, + "y": 0.27546862265688676 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 287, + "progress": 80, + "progress_explanation": "当前爪夹抓住USB-C集线器位于白色垃圾桶的正上方，因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器处于白色垃圾桶的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "time": 9.555752694162436 + }, + { + "action_description": "爪夹张开，USB-C集线器落入白色垃圾桶中。", + "annotations": { + "bbox_1768986428106": { + "instances": [ + { + "height": 0.17440912795436023, + "id": "bbox_1768986428106_1768986697491_5imfcd9t7", + "width": 0.07701711491442546, + "x": 0.6687041564792177, + "y": 0.32110839445802775 + } + ], + "type": "bbox" + }, + "bbox_1768986428338": { + "instances": [ + { + "height": 0.23960880195599027, + "id": "bbox_1768986428338_1768986703539_w9e8fa2v0", + "width": 0.14792176039119803, + "x": 0.6479217603911981, + "y": 0.27709861450692747 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，USB-C集线器已放入白色垃圾桶中。", + "frame": 308, + "progress": 100, + "progress_explanation": "爪夹张开，USB-C集线器落入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，USB-C集线器已放入白色垃圾桶中。\n已完成抓起USB-C集线器使其放入白色垃圾桶中的任务。", + "time": 10.2675124035533 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768986428106", + "name": "USB-C集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1768986428338", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768986429450", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768986429658", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-175049-put-usb c hub-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-175049-put-usb c hub-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..b76a56090679ecf847f44777c2505cbfa905426c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-175049-put-usb c hub-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,666 @@ +{ + "task_description": "抓起USB-C集线器使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近USB-C集线器:20%\n爪夹抓取USB-C集线器:40%\n爪夹抓住USB-C集线器接近白色垃圾桶:60%\n爪夹抓住USB-C集线器在白色垃圾桶正上方:80%\n爪夹松开，将USB-C集线器放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1768988623453": { + "instances": [ + { + "height": 0.14533333333333337, + "id": "bbox_1768988623453_1768989135894_sdhnl23sq", + "width": 0.09500000000000001, + "x": 0.6665, + "y": 0.5306666666666666 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768989128238_1ndn4nf1n", + "x": 0.3925, + "y": 0.512 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768989125662_1h9abq15a", + "x": 0.6225, + "y": 0.5026666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取USB-C集线器。\n", + "time": 1.3557559768041236 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并略微下降，调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1768988622741": { + "instances": [ + { + "height": 0.1466666666666666, + "id": "bbox_1768988622741_1768989109510_6gwru6bp9", + "width": 0.08100000000000004, + "x": 0.5015, + "y": 0.39333333333333337 + } + ], + "type": "bbox" + }, + "bbox_1768988623453": { + "instances": [ + { + "height": 0.16666666666666669, + "id": "bbox_1768988623453_1768989095038_pvi1tli72", + "width": 0.11900000000000004, + "x": 0.5085, + "y": 0.168 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768989120198_apzy6ov1i", + "x": 0.3935, + "y": 0.508 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768989122542_h1vb175zc", + "x": 0.6245, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，在水平方向上略微接近USB-C集线器。", + "frame": 80, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近USB-C集线器，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 2.6546953591370555 + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右前方移动，并下降。", + "annotations": { + "bbox_1768988622741": { + "instances": [ + { + "height": 0.3146666666666668, + "id": "bbox_1768988622741_1768989071606_h0r7hgk3j", + "width": 0.13100000000000006, + "x": 0.5395, + "y": 0.224 + } + ], + "type": "bbox" + }, + "bbox_1768988623453": { + "instances": [ + { + "height": 0.09866666666666667, + "id": "bbox_1768988623453_1768989083134_ltzctkakp", + "width": 0.22600000000000003, + "x": 0.3735, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768989063269_9ea6jv5do", + "x": 0.3895, + "y": 0.508 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768989060469_stmythvcs", + "x": 0.6265000000000001, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近USB-C集线器。", + "frame": 106, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近USB-C集线器，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 3.547666 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并下降，爪夹向爪夹方向的左侧调整。", + "annotations": { + "bbox_1768988622741": { + "instances": [ + { + "height": 0.456, + "id": "bbox_1768988622741_1768989044054_7sigrcpwe", + "width": 0.19400000000000003, + "x": 0.5145, + "y": 0.16266666666666665 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768989053734_8ibo9ajfz", + "x": 0.4375, + "y": 0.516 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768989056526_nsr74dwof", + "x": 0.5765, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至USB-C集线器的正上方。", + "frame": 140, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于USB-C集线器正上方，已接近USB-C集线器，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于USB-C集线器的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的前方移动，直至处于白色垃圾桶的正上方。", + "time": 4.660899 + }, + { + "action_description": "爪夹略微下降，后合拢抓取USB-C集线器。", + "annotations": { + "bbox_1768988622741": { + "instances": [ + { + "height": 0.4706666666666667, + "id": "bbox_1768988622741_1768989028126_2ykldoj7k", + "width": 0.306, + "x": 0.3565, + "y": 0.15066666666666667 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768989013597_ecr7pj5im", + "x": 0.49750000000000005, + "y": 0.508 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768989018102_hfojtg7sq", + "x": 0.5225000000000001, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器上升，向爪夹方向的前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在USB-C集线器的正上方竖直下降，成功抓取到USB-C集线器。", + "frame": 164, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到USB-C集线器，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，USB-C集线器已被抓取。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器上升，向爪夹方向的前方移动，直至白色垃圾桶的正上方。", + "time": 5.464636060913706 + }, + { + "action_description": "爪夹抓住USB-C集线器上升，向爪夹方向的前方移动。", + "annotations": { + "bbox_1768988622741": { + "instances": [ + { + "height": 0.4466666666666666, + "id": "bbox_1768988622741_1768988987726_qroevd54k", + "width": 0.28500000000000003, + "x": 0.3605, + "y": 0.17600000000000002 + } + ], + "type": "bbox" + }, + "bbox_1768988623453": { + "instances": [ + { + "height": 0.24400000000000002, + "id": "bbox_1768988623453_1768988999942_ejjk3i0wd", + "width": 0.27799999999999997, + "x": 0.35950000000000004, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768988974189_bm2xo1cll", + "x": 0.49850000000000005, + "y": 0.5013333333333334 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768988978542_qx3u8dny9", + "x": 0.5215, + "y": 0.5 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧USB-C集线器向爪夹方向的前方移动，成功在水平方向上略微接近白色垃圾桶。", + "frame": 222, + "progress": 50, + "progress_explanation": "当前爪夹已抓住USB-C集线器，并在水平方向上开始略微接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上略微接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的前方移动，直至白色垃圾桶的正上方。", + "time": 7.401166 + }, + { + "action_description": "爪夹抬升，爪夹抓住USB-C集线器向爪夹方向的左前方移动。", + "annotations": { + "bbox_1768988622741": { + "instances": [ + { + "height": 0.45600000000000007, + "id": "bbox_1768988622741_1768988947758_cuqt5vja4", + "width": 0.26, + "x": 0.3845, + "y": 0.19733333333333333 + } + ], + "type": "bbox" + }, + "bbox_1768988623453": { + "instances": [ + { + "height": 0.2626666666666667, + "id": "bbox_1768988623453_1768988961270_vw9pdr7tk", + "width": 0.19099999999999992, + "x": 0.49250000000000005, + "y": 0.16666666666666666 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768988939301_skd7kf7fu", + "x": 0.4955, + "y": 0.5013333333333334 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768988941349_azgr15x2j", + "x": 0.5225000000000001, + "y": 0.4986666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的右侧移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抬升，爪夹抓住USB-C集线器向爪夹方向的左前方移动在水平方向上接近白色垃圾桶。", + "frame": 232, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的右侧移动，直至白色垃圾桶的正上方。", + "time": 7.737267830412371 + }, + { + "action_description": "爪夹抓住USB-C集线器向爪夹方向的前方略微移动并下降。", + "annotations": { + "bbox_1768988622741": { + "instances": [ + { + "height": 0.476, + "id": "bbox_1768988622741_1768988899254_6rjnpb4q0", + "width": 0.277, + "x": 0.3745, + "y": 0.18533333333333335 + } + ], + "type": "bbox" + }, + "bbox_1768988623453": { + "instances": [ + { + "height": 0.18800000000000003, + "id": "bbox_1768988623453_1768988922718_5cs9t9vbr", + "width": 0.15000000000000005, + "x": 0.5285, + "y": 0.4666666666666668 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768988882533_fliv90fey", + "x": 0.49450000000000005, + "y": 0.5026666666666667 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768988885494_3j2pe8isg", + "x": 0.5225000000000001, + "y": 0.504 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的右后方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器向爪夹方向的前方略微移动，在水平方向上更接近白色垃圾桶。", + "frame": 246, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住USB-C集线器在水平方向上更接近白色垃圾桶，因此进度提升至70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上更接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的右后方移动，直至白色垃圾桶的正上方。", + "time": 8.196954091370559 + }, + { + "action_description": "爪夹抓住USB-C集线器向爪夹方向的右后方略微移动并下降。", + "annotations": { + "bbox_1768988622741": { + "instances": [ + { + "height": 0.44133333333333324, + "id": "bbox_1768988622741_1768988845917_t7xwvc10v", + "width": 0.25800000000000006, + "x": 0.3815, + "y": 0.21733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1768988623453": { + "instances": [ + { + "height": 0.34133333333333327, + "id": "bbox_1768988623453_1768988862341_gzq98uxqi", + "width": 0.25299999999999995, + "x": 0.41850000000000004, + "y": 0.33066666666666666 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768988820398_7gljjsn6x", + "x": 0.4955, + "y": 0.504 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768988824869_56581rv8x", + "x": 0.5225, + "y": 0.5080000000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 264, + "progress": 80, + "progress_explanation": "当前爪夹抓住USB-C集线器位于白色垃圾桶的正上方，因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器处于白色垃圾桶的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "time": 8.786886393401016 + }, + { + "action_description": "爪夹张开，USB-C集线器在白色垃圾桶上。", + "annotations": { + "bbox_1768988622741": { + "instances": [ + { + "height": 0.3893333333333333, + "id": "bbox_1768988622741_1768988780341_8spyp3rxc", + "width": 0.20099999999999998, + "x": 0.4595000000000001, + "y": 0.22266666666666665 + } + ], + "type": "bbox" + }, + "bbox_1768988623453": { + "instances": [ + { + "height": 0.352, + "id": "bbox_1768988623453_1768988791565_ul1wtgh3t", + "width": 0.26800000000000007, + "x": 0.4085, + "y": 0.2986666666666666 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768988767541_kh9w24yzu", + "x": 0.3965, + "y": 0.5053333333333333 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768988770710_i2kged4go", + "x": 0.6174999999999999, + "y": 0.5 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右后方移动并下降，推动USB-C集线器的线，使USB-C集线器落入白色垃圾桶中。", + "error_success_analysis": "爪夹张开，USB-C集线器在白色垃圾桶上。", + "frame": 286, + "progress": 95, + "progress_explanation": "当前爪夹张开，USB-C集线器在白色垃圾桶上，因此进度提升为95%。", + "state_description": "当前状态为爪夹张开，USB-C集线器在白色垃圾桶上。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右后方移动并下降，推动USB-C集线器的线，使USB-C集线器落入白色垃圾桶中。", + "time": 9.532064038071065 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "annotations": { + "bbox_1768988622741": { + "instances": [ + { + "height": 0.45866666666666667, + "id": "bbox_1768988622741_1768988740229_egg5yir04", + "width": 0.275, + "x": 0.3995, + "y": 0.05733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1768988623453": { + "instances": [ + { + "height": 0.43466666666666676, + "id": "bbox_1768988623453_1768988747869_tknsq2n6p", + "width": 0.35100000000000003, + "x": 0.3405, + "y": 0.14133333333333328 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768988710949_42k9e19q4", + "x": 0.3965, + "y": 0.5013333333333334 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768988708805_x1l22uifq", + "x": 0.6235, + "y": 0.5066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹推动USB-C集线器的线，使USB-C集线器落入白色垃圾桶中。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动并下降，爪夹右接触到USB-C集线器的线。", + "frame": 299, + "progress": 97, + "progress_explanation": "当前爪夹右接触到USB-C集线器的线，因此进度提升至97%。", + "state_description": "当前状态为爪夹张开，爪夹右接触到USB-C集线器的线。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹推动USB-C集线器的线，使USB-C集线器落入白色垃圾桶中。", + "time": 9.957933 + }, + { + "action_description": "爪夹推动USB-C集线器的线，使USB-C集线器落入白色垃圾桶中。", + "annotations": { + "bbox_1768988622741": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1768988622741_1768988676157_udivdjj0z", + "width": 0.21300000000000002, + "x": 0.3845, + "y": 0.30666666666666664 + } + ], + "type": "bbox" + }, + "bbox_1768988623453": { + "instances": [ + { + "height": 0.45333333333333337, + "id": "bbox_1768988623453_1768988688541_nlvfwx6u3", + "width": 0.3490000000000001, + "x": 0.3495, + "y": 0.14933333333333337 + } + ], + "type": "bbox" + }, + "point_1768988624725": { + "instances": [ + { + "id": "point_1768988624725_1768988663885_57xjk0ohf", + "x": 0.3955, + "y": 0.5093333333333334 + } + ], + "type": "point" + }, + "point_1768988624941": { + "instances": [ + { + "id": "point_1768988624941_1768988666293_aagck5vun", + "x": 0.6235, + "y": 0.5053333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，USB-C集线器已在白色垃圾桶中。", + "frame": 316, + "progress": 100, + "progress_explanation": "爪夹张开，USB-C集线器已在白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，USB-C集线器已在白色垃圾桶中。\n已完成抓起USB-C集线器使其放入白色垃圾桶中的任务。", + "time": 10.520666 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768988622741", + "name": "USB-C集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1768988623453", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768988624725", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768988624941", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-180100-put-usb c hub-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-180100-put-usb c hub-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..3a9634e988efe6836f502c70bf733a01d92dcf07 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-180100-put-usb c hub-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,558 @@ +{ + "task_description": "抓起USB-C集线器使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近USB-C集线器:20%\n爪夹抓取USB-C集线器:40%\n爪夹抓住USB-C集线器接近白色垃圾桶:60%\n爪夹抓住USB-C集线器在白色垃圾桶正上方:80%\n爪夹松开，将USB-C集线器放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1769050487261": { + "instances": [ + { + "height": 0.11066666666666668, + "id": "bbox_1769050487261_1769050556053_khk0hd69e", + "width": 0.14800000903320365, + "x": 0.4158182016490602, + "y": 0.4684431864420573 + } + ], + "type": "bbox" + }, + "bbox_1769050487557": { + "instances": [ + { + "height": 0.21333333333333335, + "id": "bbox_1769050487557_1769050568869_0try3l91e", + "width": 0.15900000970459044, + "x": 0.6638182167857798, + "y": 0.263109853108724 + } + ], + "type": "bbox" + }, + "point_1769050488389": { + "instances": [ + { + "id": "point_1769050488389_1769050525869_07oa3k5jq", + "x": 0.37581819920765375, + "y": 0.5031098531087239 + } + ], + "type": "point" + }, + "point_1769050488629": { + "instances": [ + { + "id": "point_1769050488629_1769050528605_f9vjfe8zk", + "x": 0.5288182085460332, + "y": 0.495109853108724 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取USB-C集线器。\n", + "time": 1.4887507601634054 + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的前方略微移动，调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1769050487261": { + "instances": [ + { + "height": 0.11199999999999997, + "id": "bbox_1769050487261_1769050800741_9g4t7qmns", + "width": 0.17100001043701235, + "x": 0.39681820048939215, + "y": 0.4684431864420573 + } + ], + "type": "bbox" + }, + "bbox_1769050487557": { + "instances": [ + { + "height": 0.21466666666666664, + "id": "bbox_1769050487557_1769050597101_etj12up6r", + "width": 0.15900000970459036, + "x": 0.664818216846815, + "y": 0.2604431864420573 + } + ], + "type": "bbox" + }, + "point_1769050488389": { + "instances": [ + { + "id": "point_1769050488389_1769050792685_w9h1zv3bt", + "x": 0.3828181996348999, + "y": 0.4324431864420573 + } + ], + "type": "point" + }, + "point_1769050488629": { + "instances": [ + { + "id": "point_1769050488629_1769050795429_hn2hhk3p8", + "x": 0.5128182075694706, + "y": 0.4164431864420573 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方略微移动，在水平方向上略微接近USB-C集线器。", + "frame": 75, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近USB-C集线器，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 2.4989744902742874 + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的前方移动，并下降。", + "annotations": { + "bbox_1769050487261": { + "instances": [ + { + "height": 0.1066666666666667, + "id": "bbox_1769050487261_1769050819213_zsknlnvyd", + "width": 0.13300000811767632, + "x": 0.42781820238148205, + "y": 0.45377651977539063 + } + ], + "type": "bbox" + }, + "bbox_1769050487557": { + "instances": [ + { + "height": 0.21333333333333335, + "id": "bbox_1769050487557_1769050611829_h4794pjgu", + "width": 0.1580000096435552, + "x": 0.6638182167857798, + "y": 0.26577651977539063 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右侧移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，在水平方向上接近USB-C集线器。", + "frame": 90, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近USB-C集线器，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右侧移动，直至USB-C集线器的正上方。", + "time": 3.0124 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "annotations": { + "bbox_1769050487261": { + "instances": [ + { + "height": 0.10666666666666665, + "id": "bbox_1769050487261_1769050845052_00ugypucl", + "width": 0.14900000909423888, + "x": 0.4118182014049195, + "y": 0.4524431864420573 + } + ], + "type": "bbox" + }, + "bbox_1769050487557": { + "instances": [ + { + "height": 0.21200000000000005, + "id": "bbox_1769050487557_1769050850629_ljkoa93wg", + "width": 0.15700000958252006, + "x": 0.6608182166026744, + "y": 0.26977651977539063 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方略微移动至USB-C集线器的正上方。", + "frame": 114, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于USB-C集线器正上方，已接近USB-C集线器，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹处于USB-C集线器的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 3.801631405417267 + }, + { + "action_description": "爪夹略微下降，后合拢进行空抓，然后向爪夹方向的右侧移动。", + "annotations": { + "bbox_1769050487261": { + "instances": [ + { + "height": 0.13733333333333342, + "id": "bbox_1769050487261_1769050878373_mqxlijr3s", + "width": 0.16000000976562562, + "x": 0.45281820390736105, + "y": 0.5044431864420573 + } + ], + "type": "bbox" + }, + "bbox_1769050487557": { + "instances": [ + { + "height": 0.21466666666666667, + "id": "bbox_1769050487557_1769050871540_i9aa5jmcu", + "width": 0.15900000970459044, + "x": 0.6618182166637095, + "y": 0.2644431864420573 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开并抬升，爪夹向爪夹方向的前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微下降，后合拢进行空抓。", + "frame": 148, + "progress": -20, + "progress_explanation": "当前爪夹合拢，爪夹需要多一次张开爪夹的动作才能接近USB-C集线器，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹垂直于桌面，已进行空抓动作。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹张开并抬升，爪夹向爪夹方向的前方移动，直至USB-C集线器的正上方。", + "time": 4.946833 + }, + { + "action_description": "爪夹张开并抬升。", + "annotations": { + "bbox_1769050487557": { + "instances": [ + { + "height": 0.21466666666666667, + "id": "bbox_1769050487557_1769050899132_tq7qk8j9x", + "width": 0.1600000097656257, + "x": 0.6638182167857798, + "y": 0.2604431864420573 + } + ], + "type": "bbox" + }, + "point_1769050488389": { + "instances": [ + { + "id": "point_1769050488389_1769050894100_k1ih4cnd6", + "x": 0.49681820659290815, + "y": 0.4964431864420573 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右后方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开并抬升，爪夹可以再次接近USB-C集线器。", + "frame": 197, + "progress": 15, + "progress_explanation": "当前爪夹张开，爪夹可以再次接近USB-C集线器，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在USB-C集线器的左前方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右后方移动，直至USB-C集线器的正上方。", + "time": 6.566454245720734 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "annotations": { + "bbox_1769050487261": { + "instances": [ + { + "height": 0.13866666666666674, + "id": "bbox_1769050487261_1769050929052_tk0fk0ybr", + "width": 0.08800000537109405, + "x": 0.5188182079356817, + "y": 0.5004431864420573 + } + ], + "type": "bbox" + }, + "bbox_1769050487557": { + "instances": [ + { + "height": 0.2146666666666667, + "id": "bbox_1769050487557_1769050915365_y1lmmp18d", + "width": 0.15900000970459044, + "x": 0.6638182167857798, + "y": 0.2604431864420572 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动并下降，爪夹在垂直方向上接近USB-C集线器。", + "frame": 243, + "progress": 17, + "progress_explanation": "当前爪夹在垂直方向上接近USB-C集线器，因此进度提升至17%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的前方移动，直至USB-C集线器的正上方。", + "time": 8.091220113917526 + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动并下降。", + "annotations": { + "bbox_1769050487557": { + "instances": [ + { + "height": 0.21466666666666664, + "id": "bbox_1769050487557_1769050949332_hh14efoik", + "width": 0.15900000970459044, + "x": 0.6638182167857798, + "y": 0.263109853108724 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方略微移动至USB-C集线器的正上方。", + "frame": 264, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于USB-C集线器正上方，已接近USB-C集线器，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于USB-C集线器的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 8.800933 + }, + { + "action_description": "爪夹合拢抓取USB-C集线器。", + "annotations": { + "bbox_1769050487557": { + "instances": [ + { + "height": 0.216, + "id": "bbox_1769050487557_1769050966325_8k54wmyr8", + "width": 0.1580000096435553, + "x": 0.6628182167247447, + "y": 0.26044318644205733 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住USB-C集线器上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在USB-C集线器的正上方竖直下降，成功抓取到USB-C集线器。", + "frame": 278, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到USB-C集线器，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，USB-C集线器已被抓取。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 9.27864282113402 + }, + { + "action_description": "爪夹抓住USB-C集线器抬升，向爪夹方向的前方略微移动。", + "annotations": { + "bbox_1769050487261": { + "instances": [ + { + "height": 0.21866666666666668, + "id": "bbox_1769050487261_1769050985461_ucigjciqp", + "width": 0.1270000077514654, + "x": 0.558818210377088, + "y": 0.41110985310872394 + } + ], + "type": "bbox" + }, + "bbox_1769050487557": { + "instances": [ + { + "height": 0.21733333333333335, + "id": "bbox_1769050487557_1769051007276_6awsdokaq", + "width": 0.15800000964355512, + "x": 0.664818216846815, + "y": 0.2617765197753906 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧USB-C集线器向爪夹方向的右前方移动在水平方向上略微接近白色垃圾桶。", + "frame": 304, + "progress": 50, + "progress_explanation": "当前爪夹已抓住USB-C集线器，并在水平方向上略微接近白色垃圾桶，因此进度提升至50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上略微接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 10.129933 + }, + { + "action_description": "爪夹抓住USB-C集线器抬升，向爪夹方向的右前方移动。", + "annotations": { + "bbox_1769050487261": { + "instances": [ + { + "height": 0.22800000000000004, + "id": "bbox_1769050487261_1769051035109_4c3h8oeyl", + "width": 0.13700000836181694, + "x": 0.6138182137340218, + "y": 0.267109853108724 + } + ], + "type": "bbox" + }, + "bbox_1769050487557": { + "instances": [ + { + "height": 0.21733333333333335, + "id": "bbox_1769050487557_1769051045844_4thbsmofc", + "width": 0.15200000927734428, + "x": 0.6698182171519909, + "y": 0.2617765197753906 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抬升，爪夹抓住USB-C集线器向爪夹方向的右前方移动在水平方向上接近白色垃圾桶。", + "frame": 344, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 11.458063886257637 + }, + { + "action_description": "爪夹抓住USB-C集线器向爪夹方向的右前方移动。", + "annotations": { + "bbox_1769050487261": { + "instances": [ + { + "height": 0.24933333333333332, + "id": "bbox_1769050487261_1769051071268_q3lvoy7qt", + "width": 0.16100000982666068, + "x": 0.745818221790663, + "y": 0.06577651977539063 + } + ], + "type": "bbox" + }, + "bbox_1769050487557": { + "instances": [ + { + "height": 0.1933333333333333, + "id": "bbox_1769050487557_1769051060293_6upetu6za", + "width": 0.15700000958252022, + "x": 0.6638182167857798, + "y": 0.2657765197753907 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器向爪夹方向的右前方移动，在水平方向上更接近白色垃圾桶。", + "frame": 362, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住USB-C集线器在水平方向上更接近白色垃圾桶，因此进度提升至70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上更接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 12.06951509132475 + }, + { + "action_description": "爪夹抓住USB-C集线器向爪夹方向的右前方略微移动。", + "annotations": { + "bbox_1769050487261": { + "instances": [ + { + "height": 0.19866666666666669, + "id": "bbox_1769050487261_1769051084372_oe6kucug6", + "width": 0.14100000860595757, + "x": 0.7738182234996474, + "y": 0.08577651977539062 + } + ], + "type": "bbox" + }, + "bbox_1769050487557": { + "instances": [ + { + "height": 0.20133333333333334, + "id": "bbox_1769050487557_1769051095300_do5y8wxen", + "width": 0.1440000087890631, + "x": 0.664818216846815, + "y": 0.2644431864420574 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 381, + "progress": 80, + "progress_explanation": "当前爪夹抓住USB-C集线器位于白色垃圾桶的正上方，因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器处于白色垃圾桶的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "time": 12.688677262371133 + }, + { + "action_description": "爪夹张开，USB-C集线器落入白色垃圾桶中。", + "annotations": { + "bbox_1769050487261": { + "instances": [ + { + "height": 0.12133333333333335, + "id": "bbox_1769050487261_1769051115444_4o5cwi09o", + "width": 0.08100000494384796, + "x": 0.6848182180675182, + "y": 0.319109853108724 + } + ], + "type": "bbox" + }, + "bbox_1769050487557": { + "instances": [ + { + "height": 0.204, + "id": "bbox_1769050487557_1769051126828_kozd4hsmp", + "width": 0.15400000939941458, + "x": 0.6698182171519907, + "y": 0.26577651977539063 + } + ], + "type": "bbox" + }, + "point_1769050488389": { + "instances": [ + { + "id": "point_1769050488389_1769051111156_ysmmgedjw", + "x": 0.7548182223399793, + "y": 0.2617765197753906 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，USB-C集线器已放入白色垃圾桶中。", + "frame": 401, + "progress": 100, + "progress_explanation": "爪夹张开，USB-C集线器落入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，USB-C集线器已放入白色垃圾桶中。\n已完成抓起USB-C集线器使其放入白色垃圾桶中的任务。", + "time": 13.358505456185567 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769050487261", + "name": "USB-C集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1769050487557", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769050488389", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769050488629", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-180100-put-usb c hub-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-180100-put-usb c hub-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..54a2ab3a353712169cf272753bbedea58f5aff17 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-180100-put-usb c hub-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,982 @@ +{ + "task_description": "抓起USB-C集线器使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近USB-C集线器:20%\n爪夹抓取USB-C集线器:40%\n爪夹抓住USB-C集线器接近白色垃圾桶:60%\n爪夹抓住USB-C集线器在白色垃圾桶正上方:80%\n爪夹松开，将USB-C集线器放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.13733333333333336, + "id": "bbox_1769063462714_1769066013136_g57h7zwy4", + "width": 0.06200000378417982, + "x": 0.7468182218516981, + "y": 0.7214128824869791 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.1413333333333334, + "id": "bbox_1769063463034_1769066006952_zktfwkkw4", + "width": 0.08400000512695342, + "x": 0.6768182175792369, + "y": 0.5387462158203125 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769065989472_ucjqg9rkz", + "x": 0.3928182002452515, + "y": 0.5054128824869791 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769065992343_bcflz4mzw", + "x": 0.6268182145274789, + "y": 0.5067462158203125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取USB-C集线器。\n", + "time": 1.1802061465678197 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并略微下降，调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.1573333333333333, + "id": "bbox_1769063462714_1769066023576_u7jeewcfj", + "width": 0.08600000524902382, + "x": 0.5818182117808967, + "y": 0.4012916768391927 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.18266666666666664, + "id": "bbox_1769063463034_1769066040935_4yrvvcqat", + "width": 0.1290000078735356, + "x": 0.42381820213734145, + "y": 0.19462501017252606 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769066049647_lkyeolsrr", + "x": 0.3948182003673218, + "y": 0.4999583435058594 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769066052303_922z37tb9", + "x": 0.6258182144664437, + "y": 0.506625010172526 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，在水平方向上略微接近USB-C集线器。", + "frame": 74, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近USB-C集线器，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 2.475 + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右前方移动，并下降。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.2106666666666666, + "id": "bbox_1769063462714_1769066082688_o8logiemi", + "width": 0.1470000089721685, + "x": 0.46581820470081814, + "y": 0.32807954915364584 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.26933333333333337, + "id": "bbox_1769063463034_1769066064520_xnq5j0fx7", + "width": 0.2170000132446297, + "x": 0.15781818590198887, + "y": 0.1187462158203125 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769066059215_ites1f9le", + "x": 0.3928182002452515, + "y": 0.5094128824869791 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769066056695_10wodgl7p", + "x": 0.6268182145274789, + "y": 0.5054128824869791 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近USB-C集线器。", + "frame": 89, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近USB-C集线器，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 2.97 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并下降，爪夹向爪夹方向的左侧调整。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.35200000000000004, + "id": "bbox_1769063462714_1769066099696_3jnm22r12", + "width": 0.2650000161743174, + "x": 0.38581819981800536, + "y": 0.2667462158203125 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.4693333333333333, + "id": "bbox_1769063463034_1769066118415_k3o36uvsh", + "width": 0.23000001403808681, + "x": -0.0011818238026015504, + "y": 0.029412882486979167 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769066123575_50ho48djy", + "x": 0.3848181997569702, + "y": 0.5040795491536458 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769066130583_o051co25c", + "x": 0.6268182145274789, + "y": 0.5080795491536458 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至USB-C集线器的正上方。", + "frame": 119, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于USB-C集线器正上方，已接近USB-C集线器，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于USB-C集线器的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 3.96 + }, + { + "action_description": "爪夹略微下降，后合拢抓取USB-C集线器。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.37200000000000005, + "id": "bbox_1769063462714_1769066157200_i626xw172", + "width": 0.3640000222167982, + "x": 0.3098181951793332, + "y": 0.2520795491536458 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.43200000000000005, + "id": "bbox_1769063463034_1769066147152_779v61brw", + "width": 0.16300000994873104, + "x": 0.0028181764415390895, + "y": 0.0147462158203125 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769066136663_ddec2batd", + "x": 0.49681820659290815, + "y": 0.5014128824869791 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769066134207_0uyrrgryh", + "x": 0.5228182081798223, + "y": 0.5040795491536458 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器上升，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在USB-C集线器的正上方竖直下降，成功抓取到三脚架。", + "frame": 145, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到USB-C集线器，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，USB-C集线器已被抓取。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器上升，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 4.834020809465912 + }, + { + "action_description": "爪夹抓住USB-C集线器上升，向爪夹方向的左侧移动。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.3373333333333334, + "id": "bbox_1769063462714_1769066181048_9lq9kfrbj", + "width": 0.3350000204467785, + "x": 0.301818194691052, + "y": 0.2852916768391927 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.24666666666666667, + "id": "bbox_1769063463034_1769066192872_edvzz9fzk", + "width": 0.19600001196289127, + "x": 0.21581818944202819, + "y": 0.31062501017252603 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769066201799_bkz0adert", + "x": 0.49681820659290815, + "y": 0.502625010172526 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769066204520_98qbni283", + "x": 0.5188182079356817, + "y": 0.5012916768391927 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "当前爪夹抓住USB-C集线器在水平方向上略微接近白色垃圾桶。", + "frame": 197, + "progress": 50, + "progress_explanation": "当前爪夹已抓住USB-C集线器，并在水平方向上开始略微接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上略微接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 6.569072465032044 + }, + { + "action_description": "爪夹张开，USB-C集线器掉落至桌面。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.20000000000000004, + "id": "bbox_1769063462714_1769066230655_6kho5ds8l", + "width": 0.10900000665283249, + "x": 0.5928182124522834, + "y": 0.2720795491536458 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.22666666666666666, + "id": "bbox_1769063463034_1769066216023_q6cvfvj2w", + "width": 0.19900001214599686, + "x": 0.36981819884144274, + "y": 0.1467462158203125 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769066210431_45nlxiscr", + "x": 0.3928182002452515, + "y": 0.5054128824869791 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769066208311_8w91yhrxr", + "x": 0.6248182144054086, + "y": 0.5067462158203125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，USB-C集线器已掉落至桌面，爪夹在垂直方向上远离USB-C集线器。", + "frame": 219, + "progress": 13, + "progress_explanation": "当前爪夹张开，USB-C集线器已掉落至桌面，爪夹需要重新抓取USB-C集线器，因此进度下降至13%。", + "state_description": "当前状态为爪夹张开，USB-C集线器已掉落至桌面，爪夹在垂直方向上远离USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 7.3062 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并下降。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.23866666666666672, + "id": "bbox_1769063462714_1769066250552_c8t8vjzbx", + "width": 0.14700000897216858, + "x": 0.4798182055553103, + "y": 0.38407954915364584 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.316, + "id": "bbox_1769063463034_1769066274527_ytx58hzic", + "width": 0.24400001489257903, + "x": 0.20281818864857107, + "y": 0.28141288248697915 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769066259839_9sdfavo5f", + "x": 0.3958182004283569, + "y": 0.5120795491536458 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769066267199_0uydm8dwx", + "x": 0.6268182145274789, + "y": 0.5080795491536458 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近USB-C集线器。", + "frame": 279, + "progress": 15, + "progress_explanation": "爪夹在水平方向上接近USB-C集线器，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 9.304330369101008 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.436, + "id": "bbox_1769063462714_1769066310504_g0bu370yf", + "width": 0.3260000198974621, + "x": 0.370818198902478, + "y": 0.07341288248697915 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.6426666666666667, + "id": "bbox_1769063463034_1769066293679_v5qyia6xi", + "width": 0.3070000187377941, + "x": 0.0018181763805039293, + "y": 0.058746215820312496 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769066301815_c9lw9wl66", + "x": 0.39081820012318114, + "y": 0.5067462158203125 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769066304351_1wn1i61pv", + "x": 0.6258182144664437, + "y": 0.5040795491536458 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上更接近USB-C集线器。", + "frame": 323, + "progress": 17, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近USB-C集线器，因此进度提升至17%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上更接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的前方移动，直至USB-C集线器的正上方。", + "time": 10.765237638489998 + }, + { + "action_description": "爪夹向爪夹方向的左侧移动。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.39333333333333337, + "id": "bbox_1769063462714_1769066326456_l3iu6i3dc", + "width": 0.35000002136230596, + "x": 0.42581820225941175, + "y": 0.08941288248697916 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.6306666666666666, + "id": "bbox_1769063463034_1769066355535_l98ioi5te", + "width": 0.38300002337646627, + "x": 0.0008181763194687691, + "y": 0.10807954915364584 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769066329735_395cfmmk1", + "x": 0.4138182015269898, + "y": 0.5080795491536458 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769066332175_vmed7c8b5", + "x": 0.6058182132457406, + "y": 0.5147462158203125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动，爪夹在水平方向上略微远离USB-C集线器。", + "frame": 336, + "progress": 16, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上略微远离USB-C集线器，因此进度下降至16%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微远离USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 11.192995425449865 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并下降。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.356, + "id": "bbox_1769063462714_1769066395167_dkwysm654", + "width": 0.33200002026367315, + "x": 0.37381819908558345, + "y": 0.25062501017252603 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.544, + "id": "bbox_1769063463034_1769066381775_u51sawm6c", + "width": 0.3460000211181653, + "x": 0.00781817674671489, + "y": 0.29195834350585936 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769067873646_a2v09z4u2", + "x": 0.43581820286976336, + "y": 0.5052916768391927 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769067876030_c6kt6zpgc", + "x": 0.5788182115977912, + "y": 0.5039583435058594 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至USB-C集线器的正上方。", + "frame": 360, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于USB-C集线器正上方，已接近USB-C集线器，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于USB-C集线器的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。", + "time": 11.9988 + }, + { + "action_description": "爪夹略微下降，后合拢抓取USB-C集线器。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.34400000000000003, + "id": "bbox_1769063462714_1769067917678_lolpfb25u", + "width": 0.4270000260620133, + "x": 0.2878181938365597, + "y": 0.25207954915364583 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.664, + "id": "bbox_1769063463034_1769067901006_cu8loxqr7", + "width": 0.3220000196533215, + "x": -0.0021818238636367106, + "y": 0.22541288248697916 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769067886774_qnvgwvlyl", + "x": 0.49381820640980256, + "y": 0.5054128824869791 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769067883366_r8c5iinbo", + "x": 0.5238182082408575, + "y": 0.5067462158203125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器上升，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在USB-C集线器的正上方竖直下降，成功抓取到USB-C集线器。", + "frame": 398, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到USB-C集线器，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，USB-C集线器已被抓取\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器上升，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 13.264330618275473 + }, + { + "action_description": "爪夹抓住USB-C集线器上升，向爪夹方向的左侧移动。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.34400000000000003, + "id": "bbox_1769063462714_1769067938390_hwn91pl8i", + "width": 0.39000002380371235, + "x": 0.3078181950572628, + "y": 0.2574128824869792 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.24533333333333343, + "id": "bbox_1769063463034_1769067953502_0rzpw2xoc", + "width": 0.22600001379394613, + "x": 0.26281819231068065, + "y": 0.4200795491536458 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769067961334_60vo2xam9", + "x": 0.49681820659290815, + "y": 0.4987462158203125 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769067964510_9xurke2fz", + "x": 0.5198182079967169, + "y": 0.5000795491536458 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧USB-C集线器向爪夹方向的左侧移动，成功在水平方向上略微接近白色垃圾桶。", + "frame": 459, + "progress": 50, + "progress_explanation": "当前爪夹已抓住USB-C集线器，并在水平方向上略微接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上略微接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 15.3054 + }, + { + "action_description": "爪夹抓住USB-C集线器向爪夹方向的左侧移动。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.3506666666666668, + "id": "bbox_1769063462714_1769068000854_qmll51ttn", + "width": 0.3890000237426773, + "x": 0.31481819548450896, + "y": 0.2507462158203125 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.24666666666666667, + "id": "bbox_1769063463034_1769068009710_4ylud53sl", + "width": 0.18800001147461015, + "x": 0.5568182102550177, + "y": 0.36274621582031247 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769067993182_ohix70e56", + "x": 0.4958182065318729, + "y": 0.5027462158203125 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769067990270_ascy0uudf", + "x": 0.5218182081187871, + "y": 0.5040795491536458 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器向爪夹方向的左侧移动在水平方向上接近白色垃圾桶。", + "frame": 471, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 15.713815308486486 + }, + { + "action_description": "爪夹抓住USB-C集线器向爪夹方向的左侧移动并下降。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.3506666666666666, + "id": "bbox_1769063462714_1769068049334_9es6s1taz", + "width": 0.3930000239868179, + "x": 0.31481819548450896, + "y": 0.2507462158203125 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.3306666666666667, + "id": "bbox_1769063463034_1769068029246_gvazqxtv6", + "width": 0.23200001416015717, + "x": 0.5828182118419318, + "y": 0.3320795491536458 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769068041966_b7g18dvn9", + "x": 0.49681820659290815, + "y": 0.5067462158203125 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769068039670_fjcszrmlw", + "x": 0.5188182079356817, + "y": 0.5040795491536458 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的右侧略微移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器向爪夹方向的左侧移动略微移动，在水平方向上更接近白色垃圾桶。", + "frame": 495, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住USB-C集线器在水平方向上更接近白色垃圾桶，因此进度提升至70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上更接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的右侧略微移动，直至白色垃圾桶的正上方。", + "time": 16.4934 + }, + { + "action_description": "爪夹抓住USB-C集线器，向爪夹方向的右侧略微移动，并下降。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.33866666666666667, + "id": "bbox_1769063462714_1769068065798_o4o7ipl8k", + "width": 0.3900000238037124, + "x": 0.31381819542347383, + "y": 0.2507462158203125 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.37466666666666676, + "id": "bbox_1769063463034_1769068074302_7zynooxxw", + "width": 0.28400001733398544, + "x": 0.44981820372425557, + "y": 0.2654128824869792 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769068091582_owe8npfdm", + "x": 0.4978182066539433, + "y": 0.5014128824869791 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769068094630_nk5522tzn", + "x": 0.5178182078746465, + "y": 0.5000795491536458 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 522, + "progress": 80, + "progress_explanation": "当前爪夹抓住USB-C集线器位于白色垃圾桶的正上方，因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器处于白色垃圾桶的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "time": 17.387629846797346 + }, + { + "action_description": "爪夹张开，USB-C集线器落入白色垃圾桶中。", + "annotations": { + "bbox_1769063462714": { + "instances": [ + { + "height": 0.17066666666666663, + "id": "bbox_1769063462714_1769068110382_s3s9ne8s7", + "width": 0.08500000518798859, + "x": 0.5098182073863652, + "y": 0.33729167683919276 + } + ], + "type": "bbox" + }, + "bbox_1769063463034": { + "instances": [ + { + "height": 0.3346666666666666, + "id": "bbox_1769063463034_1769068122782_dtaee5ot6", + "width": 0.25700001568603614, + "x": 0.4308182025645875, + "y": 0.2132916768391927 + } + ], + "type": "bbox" + }, + "point_1769063463914": { + "instances": [ + { + "id": "point_1769063463914_1769068101718_uuqev05v4", + "x": 0.3928182002452515, + "y": 0.5092916768391927 + } + ], + "type": "point" + }, + "point_1769063464170": { + "instances": [ + { + "id": "point_1769063464170_1769068099286_m0wbqwo1m", + "x": 0.6268182145274789, + "y": 0.506625010172526 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，USB-C集线器已放入白色垃圾桶中。", + "frame": 543, + "progress": 100, + "progress_explanation": "爪夹张开，USB-C集线器落入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，USB-C集线器已放入白色垃圾桶中。\n已完成抓起USB-C集线器使其放入白色垃圾桶中的任务。", + "time": 18.10206288144222 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769063462714", + "name": "USB-C集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1769063463034", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769063463914", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769063464170", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-180100-put-usb c hub-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-180100-put-usb c hub-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..7cdb19371eb847ebbd4c9c868b643d0bb58350e3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-180100-put-usb c hub-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,802 @@ +{ + "task_description": "抓起USB-C集线器使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近USB-C集线器:20%\n爪夹抓取USB-C集线器:40%\n爪夹抓住USB-C集线器接近白色垃圾桶:60%\n爪夹抓住USB-C集线器在白色垃圾桶正上方:80%\n爪夹松开，将USB-C集线器放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1769068220990": { + "instances": [ + { + "height": 0.1693333333333334, + "id": "bbox_1769068220990_1769069673733_6lsqv2bcm", + "width": 0.10900000665283249, + "x": 0.4738182051890994, + "y": 0.646867431640625 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769069662421_zgk9ynrho", + "x": 0.3938182003062866, + "y": 0.506867431640625 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769069665108_i41k55989", + "x": 0.6268182145274789, + "y": 0.502867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取USB-C集线器。\n", + "time": 1.34114338612623 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并略微下降，调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.07733333333333328, + "id": "bbox_1769068220742_1769069704948_eklhkoiep", + "width": 0.14100000860595757, + "x": 0.5938182125133186, + "y": 0.4335340983072917 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.2853333333333333, + "id": "bbox_1769068220990_1769069712309_kifrl71gw", + "width": 0.20200001232910228, + "x": 0.18581818761097338, + "y": 0.3095340983072916 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769069697780_n7gzyteqo", + "x": 0.3958182004283569, + "y": 0.518867431640625 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769069700076_bwlxvufhv", + "x": 0.6248182144054086, + "y": 0.5082007649739583 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，在水平方向上略微接近USB-C集线器。", + "frame": 86, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近USB-C集线器，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 2.8779 + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右前方移动，并下降。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.25066666666666676, + "id": "bbox_1769068220742_1769069741989_y81is3wwy", + "width": 0.3010000183715831, + "x": 0.6008182129405648, + "y": 0.43486743164062497 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.5053333333333334, + "id": "bbox_1769068220990_1769069771524_ol1u6vphx", + "width": 0.23400001428222744, + "x": 0.0028181764415390895, + "y": 0.3642007649739583 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769069758548_o0vnvzqi7", + "x": 0.4128182014659546, + "y": 0.5042007649739584 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769069791268_6e03flxmh", + "x": 0.6068182133067757, + "y": 0.5095340983072917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹略微抬升，向爪夹方向的右后方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品USB-C集线器。", + "frame": 116, + "progress": -10, + "progress_explanation": "爪夹在错误地点下降，触碰白色杯子而不是USB-C集线器，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，爪夹右触碰白色杯子。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹略微抬升，向爪夹方向的右后方移动，直至USB-C集线器的正上方。", + "time": 3.8796 + }, + { + "action_description": "爪夹合拢，抓取白色杯子。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.38800000000000007, + "id": "bbox_1769068220742_1769069810525_132o1w9j6", + "width": 0.24800001513671957, + "x": 0.5608182104991584, + "y": 0.45353409830729163 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.5013333333333334, + "id": "bbox_1769068220990_1769069826325_ukdlen1i7", + "width": 0.21200001293945386, + "x": 0.0008181763194687695, + "y": 0.3735340983072917 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769069800996_g3qkd7bc0", + "x": 0.4978182066539433, + "y": 0.5002007649739583 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769069797404_v0qa4jmcy", + "x": 0.5258182083629277, + "y": 0.5202007649739584 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开并抬升，向爪夹方向的右后方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢抓取白色杯子。", + "frame": 134, + "progress": -20, + "progress_explanation": "与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近USB-C集线器，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，白色杯子已被抓取。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹张开并抬升，向爪夹方向的右后方移动，直至USB-C集线器的正上方。", + "time": 4.4719683253946725 + }, + { + "action_description": "爪夹抓住白色杯子上升。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.38799999999999996, + "id": "bbox_1769068220742_1769069880164_83qy1k769", + "width": 0.2630000160522471, + "x": 0.5488182097667365, + "y": 0.45086743164062504 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.31466666666666665, + "id": "bbox_1769068220990_1769069862652_02cp2thjk", + "width": 0.2270000138549813, + "x": 0.07581818089710576, + "y": 0.4175340983072917 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769069889244_y4873sfco", + "x": 0.49681820659290815, + "y": 0.5002007649739583 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769069891972_uokxtpyge", + "x": 0.5268182084239629, + "y": 0.514867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直下降，将白色杯子放在桌子上，爪夹张开并抬升，向爪夹方向的右后方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住白色杯子上升，在垂直方向上接近白色垃圾桶。", + "frame": 202, + "progress": -30, + "progress_explanation": "当前爪夹抓住白色杯子，在垂直方向上接近白色垃圾桶，因此进度下降至-30%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住白色杯子，在垂直方向上接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹竖直下降，将白色杯子放在桌子上，爪夹张开并抬升，向爪夹方向的右后方移动，直至USB-C集线器的正上方。", + "time": 6.7416 + }, + { + "action_description": "爪夹张开，白色杯子掉落至桌面。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.24533333333333335, + "id": "bbox_1769068220742_1769069955292_h9yygel95", + "width": 0.23700001446533286, + "x": 0.42081820195423597, + "y": 0.21753409830729167 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.34400000000000003, + "id": "bbox_1769068220990_1769069941612_3dvlzhn61", + "width": 0.22400001367187583, + "x": 0.02981817808948841, + "y": 0.3535340983072917 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769069932708_5rqjb80r8", + "x": 0.41881820183216567, + "y": 0.5055340983072917 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769069930157_88c7ml1wp", + "x": 0.5948182125743537, + "y": 0.5055340983072917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，白色杯子掉落至桌面，爪夹可以接近USB-C集线器。", + "frame": 242, + "progress": 15, + "progress_explanation": "当前爪夹张开，爪夹可以接近USB-C集线器，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，USB-C集线器在爪夹方向的前方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的前方移动，直至USB-C集线器的正上方。", + "time": 8.072307934219923 + }, + { + "action_description": "爪夹子昂爪夹方向的右前方移动，并下降。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.31333333333333335, + "id": "bbox_1769068220742_1769069972908_h7wy455nj", + "width": 0.1960000119628913, + "x": 0.4168182017100953, + "y": 0.32553409830729163 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.32, + "id": "bbox_1769068220990_1769069988396_b8kbh3b8z", + "width": 0.22500001373291095, + "x": 0.08081818120228157, + "y": 0.518867431640625 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769069997572_75jipiqfg", + "x": 0.42381820213734145, + "y": 0.506867431640625 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769070000348_m0a718xdi", + "x": 0.5968182126964241, + "y": 0.5082007649739583 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至USB-C集线器的正上方。", + "frame": 283, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于USB-C集线器正上方，已接近USB-C集线器，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于USB-C集线器的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。", + "time": 9.4446 + }, + { + "action_description": "爪夹略微下降。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.3093333333333334, + "id": "bbox_1769068220742_1769070018668_qr22wicam", + "width": 0.18500001129150467, + "x": 0.4288182024425171, + "y": 0.37086743164062497 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.3133333333333333, + "id": "bbox_1769068220990_1769070029404_ng0ozdke6", + "width": 0.21300001300048907, + "x": 0.089818181751598, + "y": 0.5522007649739584 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769070008348_appnadedw", + "x": 0.44081820317493914, + "y": 0.510867431640625 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769070005116_fmdynyti7", + "x": 0.5878182121471076, + "y": 0.5215340983072917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢，抓取USB-C集线器后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微下降，爪夹右触碰USB-C集线器。", + "frame": 306, + "progress": 30, + "progress_explanation": "当前爪夹下降，爪夹右触碰USB-C集线器，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹右触碰USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹合拢，抓取USB-C集线器后竖直上升，向爪夹方向的左侧移动，直至处于白色垃圾桶的正上方。", + "time": 10.191899 + }, + { + "action_description": "爪夹合拢抓取USB-C集线器。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.32666666666666677, + "id": "bbox_1769068220742_1769070077156_jzxs5hxl2", + "width": 0.09800000598144569, + "x": 0.4808182056163456, + "y": 0.36953409830729167 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.3, + "id": "bbox_1769068220990_1769070048492_9ckhn1b53", + "width": 0.2170000132446297, + "x": 0.0998181823619496, + "y": 0.5682007649739584 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769070061860_xmr8q3sp7", + "x": 0.47681820537220493, + "y": 0.502867431640625 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769070066204_hbxmhffm7", + "x": 0.5368182090343144, + "y": 0.498867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器上升，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在USB-C集线器的正上方竖直下降，成功抓取到三脚架。", + "frame": 316, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到USB-C集线器，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，USB-C集线器已被抓取\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器上升，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 10.536917160626734 + }, + { + "action_description": "爪夹抓住USB-C集线器上升。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.2826666666666666, + "id": "bbox_1769068220742_1769070105756_vij24iu8p", + "width": 0.1070000065307621, + "x": 0.4668182047618533, + "y": 0.38286743164062503 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.2613333333333333, + "id": "bbox_1769068220990_1769070118460_r35e6waip", + "width": 0.19700001202392653, + "x": 0.14181818492542633, + "y": 0.430867431640625 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769070096372_jzcidz6ee", + "x": 0.47881820549427523, + "y": 0.5002007649739583 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769070098932_6qkskipj9", + "x": 0.53981820921742, + "y": 0.502867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧USB-C集线器上升，成功在垂直方向上接近白色垃圾桶。", + "frame": 351, + "progress": 50, + "progress_explanation": "当前爪夹已抓住USB-C集线器，并在垂直方向上接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在垂直方向上接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 11.6865 + }, + { + "action_description": "爪夹抓住USB-C集线器向爪夹方向的左侧移动。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.2839999999999999, + "id": "bbox_1769068220742_1769070164460_7o5yy0c2u", + "width": 0.1050000064086917, + "x": 0.4688182048839237, + "y": 0.3842007649739584 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.21066666666666667, + "id": "bbox_1769068220990_1769070142548_brke5bm5c", + "width": 0.1580000096435553, + "x": 0.3798181994517944, + "y": 0.3535340983072917 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769070177284_mmbb5cb4g", + "x": 0.47681820537220493, + "y": 0.5015340983072917 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769070180300_skigdrkoc", + "x": 0.5378182090953497, + "y": 0.5042007649739584 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抬升，爪夹抓住USB-C集线器向爪夹方向的左侧移动在水平方向上接近白色垃圾桶。", + "frame": 374, + "progress": 60, + "progress_explanation": "爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 12.471144086457501 + }, + { + "action_description": "爪夹抓住USB-C集线器向爪夹方向的左侧略微移动。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.28666666666666657, + "id": "bbox_1769068220742_1769070199172_k7c7yg8nr", + "width": 0.10400000634765663, + "x": 0.46781820482288844, + "y": 0.3815340983072917 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.2240000000000001, + "id": "bbox_1769068220990_1769070211252_jzfus8zg5", + "width": 0.17200001049804747, + "x": 0.4168182017100953, + "y": 0.35086743164062495 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769070186844_udv3tkl6j", + "x": 0.4778182054332401, + "y": 0.5015340983072917 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769070184060_69c4l935y", + "x": 0.5388182091563849, + "y": 0.5002007649739583 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器向爪夹方向的前方略微移动至白色垃圾桶的正上方。", + "frame": 382, + "progress": 80, + "progress_explanation": "当前爪夹抓住USB-C集线器位于白色垃圾桶的正上方，因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器处于白色垃圾桶的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "time": 12.7359 + }, + { + "action_description": "爪夹抓住USB-C集线器竖直下降。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.2839999999999999, + "id": "bbox_1769068220742_1769070243844_iihe500zm", + "width": 0.10600000646972693, + "x": 0.46581820470081814, + "y": 0.3842007649739584 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.38533333333333336, + "id": "bbox_1769068220990_1769070255132_me6ma108k", + "width": 0.29900001824951283, + "x": 0.3368181968272825, + "y": 0.29753409830729166 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769070232892_khdnrbecg", + "x": 0.47681820537220493, + "y": 0.5002007649739583 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769070235292_liwqmytev", + "x": 0.5388182091563849, + "y": 0.5015340983072917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器仍处于白色垃圾桶的正上方，爪夹在垂直方向上接近白色垃圾桶。", + "frame": 423, + "progress": 90, + "progress_explanation": "当前爪夹抓住USB-C集线器仍处于白色垃圾桶的正上方，爪夹在垂直方向上接近白色垃圾桶，因此进度提升至90%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器处于白色垃圾桶的正上方，爪夹在垂直方向上接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续下降，将USB-C集线器放入垃圾桶中，爪夹张开。", + "time": 14.093927693722296 + }, + { + "action_description": "爪夹张开，USB-C集线器落入白色垃圾桶中。", + "annotations": { + "bbox_1769068220742": { + "instances": [ + { + "height": 0.22000000000000006, + "id": "bbox_1769068220742_1769070288580_zjjik8kcj", + "width": 0.12700000775146533, + "x": 0.3718181989635131, + "y": 0.3175340983072916 + } + ], + "type": "bbox" + }, + "bbox_1769068220990": { + "instances": [ + { + "height": 0.31733333333333325, + "id": "bbox_1769068220990_1769070267900_ldru3ok5r", + "width": 0.2370000144653329, + "x": 0.3168181956065793, + "y": 0.25620076497395833 + } + ], + "type": "bbox" + }, + "point_1769068221838": { + "instances": [ + { + "id": "point_1769068221838_1769070279756_sockarhaj", + "x": 0.3958182004283569, + "y": 0.506867431640625 + } + ], + "type": "point" + }, + "point_1769068221998": { + "instances": [ + { + "id": "point_1769068221998_1769070282372_vdtef4guy", + "x": 0.6218182142223031, + "y": 0.506867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，USB-C集线器已放入白色垃圾桶中。", + "frame": 443, + "progress": 100, + "progress_explanation": "爪夹张开，USB-C集线器落入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，USB-C集线器已放入白色垃圾桶中。\n已完成抓起USB-C集线器使其放入白色垃圾桶中的任务。", + "time": 14.765989591680441 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769068220742", + "name": "USB-C集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1769068220990", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769068221838", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769068221998", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-181743-put-usb c hub-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-181743-put-usb c hub-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d66531037c587a6755e3e484affb796dfe655fef --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260112-181743-put-usb c hub-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,702 @@ +{ + "task_description": "抓起USB-C集线器使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近USB-C集线器:20%\n爪夹抓取USB-C集线器:40%\n爪夹抓住USB-C集线器接近白色垃圾桶:60%\n爪夹抓住USB-C集线器在白色垃圾桶正上方:80%\n爪夹松开，将USB-C集线器放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1769073285353": { + "instances": [ + { + "height": 0.11199999999999997, + "id": "bbox_1769073285353_1769135875905_ahy2t82qa", + "width": 0.05900000360107436, + "x": 0.7208182202647839, + "y": 0.5374128824869792 + } + ], + "type": "bbox" + }, + "bbox_1769073285617": { + "instances": [ + { + "height": 0.1506666666666667, + "id": "bbox_1769073285617_1769135891689_epzna5e2f", + "width": 0.09200000561523466, + "x": 0.739818221424452, + "y": 0.38541288248697914 + } + ], + "type": "bbox" + }, + "point_1769073286409": { + "instances": [ + { + "id": "point_1769073286409_1769135864656_0tp9qbjsv", + "x": 0.4068182010997437, + "y": 0.5080795491536458 + } + ], + "type": "point" + }, + "point_1769073286642": { + "instances": [ + { + "id": "point_1769073286642_1769135867304_15inygczb", + "x": 0.6118182136119514, + "y": 0.5054128824869791 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取USB-C集线器。\n", + "time": 1.4828241638032054 + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的右前方移动，调整爪夹角度使其垂直于桌面。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，在水平方向上略微接近USB-C集线器。", + "frame": 82, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近USB-C集线器，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 2.7392, + "annotations": { + "point_1769073286409": { + "type": "point", + "instances": [ + { + "id": "point_1769073286409_1769135922960_8z7cgkget", + "x": 0.4048182009776734, + "y": 0.5132916768391927 + } + ] + }, + "point_1769073286642": { + "type": "point", + "instances": [ + { + "id": "point_1769073286642_1769135925536_xhpt0g9k7", + "x": 0.608818213428846, + "y": 0.5092916768391927 + } + ] + }, + "bbox_1769073285353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285353_1769135931840_h11qs0f88", + "x": 0.4978182066539432, + "y": 0.37462501017252603, + "width": 0.06900000421142609, + "height": 0.156 + } + ] + }, + "bbox_1769073285617": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285617_1769135946152_xk3gmoni0", + "x": 0.527818208484998, + "y": 0.2052916768391927, + "width": 0.12100000738525436, + "height": 0.164 + } + ] + } + } + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方，后下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近USB-C集线器。", + "frame": 105, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近USB-C集线器，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近USB-C集线器。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至USB-C集线器的正上方。", + "time": 3.5096, + "annotations": { + "point_1769073286409": { + "type": "point", + "instances": [ + { + "id": "point_1769073286409_1769135957057_3jiyfqey3", + "x": 0.4108182013438843, + "y": 0.5107462158203125 + } + ] + }, + "point_1769073286642": { + "type": "point", + "instances": [ + { + "id": "point_1769073286642_1769135959448_f87brtp20", + "x": 0.6078182133678108, + "y": 0.5094128824869791 + } + ] + }, + "bbox_1769073285617": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285617_1769135966632_jx26pb682", + "x": 0.44781820360218527, + "y": 0.0014128824869791667, + "width": 0.23900001458740325, + "height": 0.24799999999999997 + } + ] + }, + "bbox_1769073285353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285353_1769135979232_8bbj8ud39", + "x": 0.4018182007945679, + "y": 0.2760795491536458, + "width": 0.12500000762939498, + "height": 0.2546666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至USB-C集线器的正上方。", + "frame": 122, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于USB-C集线器正上方，已接近USB-C集线器，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于USB-C集线器的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 4.065140731962801, + "annotations": { + "bbox_1769073285353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285353_1769135994000_96no7k679", + "x": 0.3828181996348999, + "y": 0.1734128824869792, + "width": 0.2160000131835945, + "height": 0.4106666666666667 + } + ] + }, + "point_1769073286409": { + "type": "point", + "instances": [ + { + "id": "point_1769073286409_1769135996848_ingme5vtf", + "x": 0.408818201221814, + "y": 0.5080795491536458 + } + ] + }, + "point_1769073286642": { + "type": "point", + "instances": [ + { + "id": "point_1769073286642_1769135999144_bi8aofnky", + "x": 0.6078182133678108, + "y": 0.5040795491536458 + } + ] + }, + "bbox_1769073285617": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285617_1769136014200_hn90p6u95", + "x": 0.4848182058604862, + "y": 0.0014128824869791667, + "width": 0.45800002795410333, + "height": 0.1413333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢抓取USB-C集线器。", + "correction_plan": "爪夹抓住USB-C集线器上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在USB-C集线器的正上方竖直下降，成功抓取到三脚架。", + "frame": 144, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到USB-C集线器，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，USB-C集线器已被抓取。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器上升，向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 4.806810704916646, + "annotations": { + "point_1769073286409": { + "type": "point", + "instances": [ + { + "id": "point_1769073286409_1769136023808_zqjy8ayiy", + "x": 0.45381820396839617, + "y": 0.5054128824869791 + } + ] + }, + "point_1769073286642": { + "type": "point", + "instances": [ + { + "id": "point_1769073286642_1769136026720_xkh4kob2a", + "x": 0.5668182108653693, + "y": 0.5027462158203125 + } + ] + }, + "bbox_1769073285353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285353_1769136041632_md5o9bfrv", + "x": 0.37581819920765375, + "y": 0.11741288248697918, + "width": 0.26700001629638775, + "height": 0.552 + } + ] + }, + "bbox_1769073285617": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285617_1769136054488_xr3eosbv4", + "x": 0.44781820360218527, + "y": -0.0012537841796874999, + "width": 0.5510000336303731, + "height": 0.14666666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹抓取USB-C集线器略微上升，然后USB-C集线器掉落至桌面，爪夹合拢。", + "correction_plan": "爪夹张开，竖直下降，抓取USB-C集线器后上升，向爪夹方向的前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓取USB-C集线器略微上升，后USB-C集线器掉落至桌面，爪夹合拢。", + "frame": 166, + "progress": -20, + "progress_explanation": "当前爪夹合拢，USB-C集线器在桌面上，爪夹需要多一次张开爪夹的动作才能接近USB-C集线器，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面己经进行抓取动作。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹张开，竖直下降，抓取USB-C集线器后上升。", + "time": 5.549733, + "annotations": { + "bbox_1769073285617": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285617_1769136063008_l78n711cu", + "x": 0.4798182055553104, + "y": 0.005291676839192709, + "width": 0.3340000203857434, + "height": 0.268 + } + ] + }, + "point_1769073286409": { + "type": "point", + "instances": [ + { + "id": "point_1769073286409_1769136067728_erjhimuvy", + "x": 0.5018182068980839, + "y": 0.502625010172526 + } + ] + }, + "point_1769073286642": { + "type": "point", + "instances": [ + { + "id": "point_1769073286642_1769136071064_9nfz6sb3s", + "x": 0.5168182078136112, + "y": 0.502625010172526 + } + ] + }, + "bbox_1769073285353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285353_1769136077416_9bu2tyrnr", + "x": 0.5068182072032597, + "y": 0.302625010172526, + "width": 0.11600000708007858, + "height": 0.332 + } + ] + } + } + }, + { + "action_description": "爪夹张开，并下降。", + "correction_plan": "爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的前方移动，直至处于白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，爪夹处于USB-C集线器的正上方。", + "frame": 213, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于USB-C集线器正上方，已接近USB-C集线器，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于USB-C集线器的正上方。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹下降，抓取USB-C集线器后竖直上升，向爪夹方向的前方移动，直至处于白色垃圾桶的正上方。", + "time": 7.090533, + "annotations": { + "bbox_1769073285353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285353_1769136094505_ks8b7a721", + "x": 0.4828182057384159, + "y": 0.2934128824869792, + "width": 0.14600000891113335, + "height": 0.32799999999999996 + } + ] + }, + "bbox_1769073285617": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285617_1769136109616_p7fdjhndz", + "x": 0.383818199695935, + "y": 0.0014128824869791667, + "width": 0.41500002532959135, + "height": 0.25066666666666665 + } + ] + }, + "point_1769073286409": { + "type": "point", + "instances": [ + { + "id": "point_1769073286409_1769136112712_tu2z29m23", + "x": 0.43581820286976336, + "y": 0.5120795491536458 + } + ] + }, + "point_1769073286642": { + "type": "point", + "instances": [ + { + "id": "point_1769073286642_1769136118240_ka9xi2hsm", + "x": 0.5858182120250374, + "y": 0.5147462158203125 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢抓取USB-C集线器。", + "correction_plan": "爪夹抓住USB-C集线器上升，向爪夹方向的前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在USB-C集线器的正上方竖直下降，成功抓取到三脚架。", + "frame": 255, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到USB-C集线器，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，USB-C集线器已被抓取。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器上升，向爪夹方向的前方移动，直至白色垃圾桶的正上方。", + "time": 8.502933, + "annotations": { + "point_1769073286642": { + "type": "point", + "instances": [ + { + "id": "point_1769073286642_1769136124424_o8cv6ailf", + "x": 0.5638182106822638, + "y": 0.5040795491536458 + } + ] + }, + "point_1769073286409": { + "type": "point", + "instances": [ + { + "id": "point_1769073286409_1769136127096_5lj8z9cvy", + "x": 0.45381820396839617, + "y": 0.5080795491536458 + } + ] + }, + "bbox_1769073285353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285353_1769136134392_zcywu3hfy", + "x": 0.42481820219837657, + "y": 0.2467462158203125, + "width": 0.22800001391601646, + "height": 0.47733333333333333 + } + ] + }, + "bbox_1769073285617": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285617_1769136162696_0xgrihtcx", + "x": 0.0028181764415390895, + "y": 0.0014128824869791667, + "width": 0.994000060668949, + "height": 0.19466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹抓住USB-C集线器上升。", + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "当前爪夹抓住USB-C集线器在垂直方向上略微接近白色垃圾桶。", + "frame": 291, + "progress": 45, + "progress_explanation": "当前爪夹已抓住USB-C集线器，并在垂直方向上开始略微接近白色垃圾桶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在垂直方向上略微接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的前方移动，直至白色垃圾桶的正上方。", + "time": 9.7, + "annotations": { + "bbox_1769073285617": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285617_1769136191393_ntwi4b2tv", + "x": 0.32281819597279027, + "y": 7.954915364583334e-05, + "width": 0.3620000220947279, + "height": 0.26 + } + ] + }, + "point_1769073286409": { + "type": "point", + "instances": [ + { + "id": "point_1769073286409_1769136194744_ohwjb9h1j", + "x": 0.4508182037852907, + "y": 0.5054128824869791 + } + ] + }, + "point_1769073286642": { + "type": "point", + "instances": [ + { + "id": "point_1769073286642_1769136197200_t85ee59gp", + "x": 0.564818210743299, + "y": 0.5000795491536458 + } + ] + }, + "bbox_1769073285353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285353_1769136206704_mrmgrms8x", + "x": 0.41881820183216567, + "y": 0.24541288248697915, + "width": 0.2310000140991219, + "height": 0.48533333333333323 + } + ] + } + } + }, + { + "action_description": "爪夹抓住USB-C集线器上升，向爪夹方向的前方移动。", + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的前方移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抬升，爪夹抓住USB-C集线器向爪夹方向的左侧移动在水平方向上接近白色垃圾桶。", + "frame": 315, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器在水平方向上接近白色垃圾桶。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 10.514533, + "annotations": { + "point_1769073286409": { + "type": "point", + "instances": [ + { + "id": "point_1769073286409_1769136221360_6lfmqh3be", + "x": 0.45381820396839617, + "y": 0.5040795491536458 + } + ] + }, + "point_1769073286642": { + "type": "point", + "instances": [ + { + "id": "point_1769073286642_1769136223951_uhs1birz0", + "x": 0.5658182108043341, + "y": 0.5014128824869791 + } + ] + }, + "bbox_1769073285353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285353_1769136232280_4xqn3o3rq", + "x": 0.42581820225941175, + "y": 0.24941288248697915, + "width": 0.22500001373291098, + "height": 0.4866666666666667 + } + ] + }, + "bbox_1769073285617": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285617_1769136245721_ls3526i28", + "x": 0.4178182017711305, + "y": 0.22941288248697916, + "width": 0.20700001263427809, + "height": 0.272 + } + ] + } + } + }, + { + "action_description": "爪夹抓住USB-C集线器向爪夹方向的左侧略微移动并下降。", + "correction_plan": "爪夹抓住USB-C集线器，向爪夹方向的右前方略微移动，直至白色垃圾桶的正上方。下降将USB-C集线器放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住USB-C集线器接触白色垃圾桶边缘，在水平方向上更接近白色垃圾桶。", + "frame": 342, + "progress": 70, + "progress_explanation": "当前爪夹抓住USB-C集线器接触白色垃圾桶边缘，在水平方向上更接近白色垃圾桶，因此进度提升至70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住USB-C集线器接触白色垃圾桶边缘。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹抓住USB-C集线器，向爪夹方向的右前方略微移动，直至白色垃圾桶的正上方。", + "time": 11.399066, + "annotations": { + "point_1769073286409": { + "type": "point", + "instances": [ + { + "id": "point_1769073286409_1769136256904_lx6be7037", + "x": 0.45881820427357206, + "y": 0.5040795491536458 + } + ] + }, + "point_1769073286642": { + "type": "point", + "instances": [ + { + "id": "point_1769073286642_1769136259696_tuly2lsg3", + "x": 0.5638182106822638, + "y": 0.5040795491536458 + } + ] + }, + "bbox_1769073285617": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285617_1769136269759_qgdclz4jc", + "x": 0.3928182002452515, + "y": 0.14141288248697917, + "width": 0.30700001873779403, + "height": 0.4066666666666666 + } + ] + }, + "bbox_1769073285353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285353_1769136288008_pcgf3hj5h", + "x": 0.41881820183216567, + "y": 0.2507462158203125, + "width": 0.2320000141601571, + "height": 0.5093333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹抓住USB-C集线器向爪夹方向的左后方略微移动并下降，爪夹将白色垃圾桶带倒，爪夹张开，USB-C集线器掉落一半至桌面，一半至白色垃圾桶内。", + "correction_plan": "爪夹将USB-C集线器推进白色垃圾桶内，后爪夹抓取白色垃圾桶，将其竖直放置。", + "error_success_analysis": "爪夹在错误地点下降，将白色垃圾桶带倒，爪夹张开，USB-C集线器掉落一半至桌面，一半至白色垃圾桶内。", + "frame": 368, + "progress": -5, + "progress_explanation": "爪夹在错误地点下降，将白色垃圾桶带倒，爪夹张开，USB-C集线器掉落一半至桌面，一半至白色垃圾桶内，因此进度降低到-5%。", + "state_description": "当前状态为爪夹张开，白色垃圾桶已倒，USB-C集线器一半在桌面，一半在白色垃圾桶内。\n为完成抓起USB-C集线器使其放入白色垃圾桶中的任务应当:爪夹将USB-C集线器推进白色垃圾桶内，后爪夹抓取白色垃圾桶，将其竖直放置。", + "time": 12.278426469897303, + "annotations": { + "bbox_1769073285353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285353_1769136302192_otc7l5784", + "x": 0.5258182083629277, + "y": 0.3894128824869792, + "width": 0.21000001281738356, + "height": 0.2653333333333334 + } + ] + }, + "point_1769073286409": { + "type": "point", + "instances": [ + { + "id": "point_1769073286409_1769136310047_5an7yo6md", + "x": 0.43681820293079854, + "y": 0.5120795491536458 + } + ] + }, + "point_1769073286642": { + "type": "point", + "instances": [ + { + "id": "point_1769073286642_1769136313936_czjj13m2g", + "x": 0.583818211902967, + "y": 0.5080795491536458 + } + ] + }, + "bbox_1769073285617": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769073285617_1769136320176_lw1vl5ocx", + "x": 0.5708182111095099, + "y": 0.0987462158203125, + "width": 0.3580000218505872, + "height": 0.5693333333333332 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769073285353", + "name": "USB-C集线器" + }, + { + "color": "#FF9800", + "id": "bbox_1769073285617", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769073286409", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769073286642", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-093419-put-packaged snacks-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-093419-put-packaged snacks-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..59b47d77545e8e5196a68b8a09d7fb3e5c9afb89 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-093419-put-packaged snacks-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,542 @@ +{ + "task_description": "抓起袋装零食使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近袋装零食:20%\n爪夹抓取袋装零食:40%\n爪夹抓住袋装零食接近白色垃圾桶:60%\n爪夹抓住袋装零食在白色垃圾桶正上方:80%\n爪夹松开，将袋装零食放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1769070564140": { + "instances": [ + { + "height": 0.14800000000000005, + "id": "bbox_1769070564140_1769072843834_qmjgb4ikn", + "width": 0.08800000537109405, + "x": 0.75881822258412, + "y": 0.618867431640625 + } + ], + "type": "bbox" + }, + "bbox_1769070564492": { + "instances": [ + { + "height": 0.18666666666666665, + "id": "bbox_1769070564492_1769072856802_b1ucx9yj3", + "width": 0.1050000064086917, + "x": 0.6928182185557994, + "y": 0.24286743164062502 + } + ], + "type": "bbox" + }, + "point_1769070565748": { + "instances": [ + { + "id": "point_1769070565748_1769072834738_tk5zkwjed", + "x": 0.3948182003673218, + "y": 0.5135340983072917 + } + ], + "type": "point" + }, + "point_1769070565988": { + "instances": [ + { + "id": "point_1769070565988_1769072837210_hhexkd0or", + "x": 0.6238182143443735, + "y": 0.5122007649739584 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度，使其垂直于桌面，向爪夹方向的右后方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 55, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右后方移动，准备抓取袋装零食。\n", + "time": 1.8294252897944367 + }, + { + "action_description": "爪夹向爪夹方向的右后方略微移动并略微下降，开始调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1769070564140": { + "instances": [ + { + "height": 0.16000000000000003, + "id": "bbox_1769070564140_1769072899378_lkusgsi1f", + "width": 0.11900000726318405, + "x": 0.5598182104381231, + "y": 0.466867431640625 + } + ], + "type": "bbox" + }, + "bbox_1769070564492": { + "instances": [ + { + "height": 0.22400000000000003, + "id": "bbox_1769070564492_1769072877098_otf5lnbu6", + "width": 0.17800001086425848, + "x": 0.42781820238148205, + "y": 0.00020076497395833334 + } + ], + "type": "bbox" + }, + "point_1769070565748": { + "instances": [ + { + "id": "point_1769070565748_1769072888225_firikz0ux", + "x": 0.3958182004283569, + "y": 0.5122007649739584 + } + ], + "type": "point" + }, + "point_1769070565988": { + "instances": [ + { + "id": "point_1769070565988_1769072890970_ggdij7cxd", + "x": 0.6258182144664437, + "y": 0.5042007649739584 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右后方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方略微移动，在水平方向上略微接近袋装零食。", + "frame": 87, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近袋装零食，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右后方移动，直至袋装零食的正上方。", + "time": 2.885466 + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右后方移动，并下降。", + "annotations": { + "bbox_1769070564140": { + "instances": [ + { + "height": 0.284, + "id": "bbox_1769070564140_1769072912394_qv9srcqrg", + "width": 0.2160000131835945, + "x": 0.2998181945689816, + "y": 0.12953409830729168 + } + ], + "type": "bbox" + }, + "point_1769070565748": { + "instances": [ + { + "id": "point_1769070565748_1769072921017_jtcg1beyo", + "x": 0.3968182004893921, + "y": 0.514867431640625 + } + ], + "type": "point" + }, + "point_1769070565988": { + "instances": [ + { + "id": "point_1769070565988_1769072923330_spuyf6r57", + "x": 0.6258182144664437, + "y": 0.506867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的左前方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，在水平方向上接近袋装零食。", + "frame": 105, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近袋装零食，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的左前方移动，直至袋装零食的正上方。", + "time": 3.509933 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "annotations": { + "bbox_1769070564140": { + "instances": [ + { + "height": 0.3106666666666667, + "id": "bbox_1769070564140_1769072938690_ubjdj1g6p", + "width": 0.22500001373291098, + "x": 0.40281820085560305, + "y": 0.298867431640625 + } + ], + "type": "bbox" + }, + "point_1769070565748": { + "instances": [ + { + "id": "point_1769070565748_1769072930401_8do7kx52w", + "x": 0.39081820012318114, + "y": 0.5095340983072917 + } + ], + "type": "point" + }, + "point_1769070565988": { + "instances": [ + { + "id": "point_1769070565988_1769072927073_dfb871saf", + "x": 0.6268182145274789, + "y": 0.506867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方略微移动至袋装零食的正上方。", + "frame": 132, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于袋装零食正上方，已接近袋装零食，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于袋装零食的正上方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 4.414333 + }, + { + "action_description": "爪夹略微下降，后合拢抓取袋装零食。", + "annotations": { + "bbox_1769070564140": { + "instances": [ + { + "height": 0.3093333333333333, + "id": "bbox_1769070564140_1769072960234_0d59r2gae", + "width": 0.22200001354980553, + "x": 0.3828181996348999, + "y": 0.3802007649739583 + } + ], + "type": "bbox" + }, + "point_1769070565748": { + "instances": [ + { + "id": "point_1769070565748_1769072950418_xq7lpemm3", + "x": 0.4598182043346072, + "y": 0.5255340983072917 + } + ], + "type": "point" + }, + "point_1769070565988": { + "instances": [ + { + "id": "point_1769070565988_1769072953026_n5bbyw593", + "x": 0.5478182097057013, + "y": 0.498867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在袋装零食的正上方竖直下降，成功抓取到袋装零食。", + "frame": 160, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到袋装零食，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，袋装零食已被抓取。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 5.336917028021557 + }, + { + "action_description": "爪夹抓住袋装零食略微上升。", + "annotations": { + "bbox_1769070564140": { + "instances": [ + { + "height": 0.2773333333333333, + "id": "bbox_1769070564140_1769072979290_z0humvs75", + "width": 0.2200000134277352, + "x": 0.3808181995128296, + "y": 0.378867431640625 + } + ], + "type": "bbox" + }, + "point_1769070565748": { + "instances": [ + { + "id": "point_1769070565748_1769072972626_941itzhza", + "x": 0.4728182051280642, + "y": 0.5175340983072917 + } + ], + "type": "point" + }, + "point_1769070565988": { + "instances": [ + { + "id": "point_1769070565988_1769072970345_m8f85frlb", + "x": 0.5448182095225957, + "y": 0.502867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食，在垂直方向上略微接近白色垃圾桶。", + "frame": 180, + "progress": 45, + "progress_explanation": "当前爪夹抓住袋装零食，在垂直方向上略微接近白色垃圾桶，因此进度提升至45%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食在垂直方向上略微接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 6.0078 + }, + { + "action_description": "爪夹抓住袋装零食上升，向爪夹方向的左前方移动。", + "annotations": { + "bbox_1769070564140": { + "instances": [ + { + "height": 0.2813333333333333, + "id": "bbox_1769070564140_1769073108857_q1s1lmteh", + "width": 0.21400001306152427, + "x": 0.38581819981800536, + "y": 0.3735340983072917 + } + ], + "type": "bbox" + }, + "bbox_1769070564492": { + "instances": [ + { + "height": 0.2986666666666667, + "id": "bbox_1769070564492_1769073121025_639hwdo5s", + "width": 0.21500001312255934, + "x": 0.2748181930431026, + "y": 0.25886743164062503 + } + ], + "type": "bbox" + }, + "point_1769070565748": { + "instances": [ + { + "id": "point_1769070565748_1769072990089_xjkgwnxox", + "x": 0.47681820537220493, + "y": 0.518867431640625 + } + ], + "type": "point" + }, + "point_1769070565988": { + "instances": [ + { + "id": "point_1769070565988_1769072992857_w8goipx44", + "x": 0.53981820921742, + "y": 0.506867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食上升，向爪夹方向的左前方移动，在水平方向上接近白色垃圾桶。", + "frame": 211, + "progress": 60, + "progress_explanation": "爪夹抓住袋装零食在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食在水平方向上接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 7.019866 + }, + { + "action_description": "爪夹抓住袋装零食向爪夹方向的左前方移动。", + "annotations": { + "bbox_1769070564140": { + "instances": [ + { + "height": 0.29600000000000004, + "id": "bbox_1769070564140_1769073090906_ijvqqguh9", + "width": 0.21800001330566485, + "x": 0.3788181993907592, + "y": 0.3735340983072917 + } + ], + "type": "bbox" + }, + "bbox_1769070564492": { + "instances": [ + { + "height": 0.25466666666666654, + "id": "bbox_1769070564492_1769073080394_ofih05zdx", + "width": 0.21200001293945386, + "x": 0.4098182012828492, + "y": 0.5842007649739585 + } + ], + "type": "bbox" + }, + "point_1769070565748": { + "instances": [ + { + "id": "point_1769070565748_1769072999641_7y0q1m98f", + "x": 0.4758182053111697, + "y": 0.506867431640625 + } + ], + "type": "point" + }, + "point_1769070565988": { + "instances": [ + { + "id": "point_1769070565988_1769072997194_bsoj1qa0b", + "x": 0.53981820921742, + "y": 0.502867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，将袋装零食放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食向爪夹方向的左前方略微移动至白色垃圾桶的正上方。", + "frame": 225, + "progress": 80, + "progress_explanation": "当前爪夹抓住袋装零食位于白色垃圾桶的正上方，因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食处于白色垃圾桶的正上方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹下降，将袋装零食放入垃圾桶中，爪夹张开。", + "time": 7.4936 + }, + { + "action_description": "爪夹抓住袋装零食竖直下降。", + "annotations": { + "bbox_1769070564140": { + "instances": [ + { + "height": 0.2813333333333334, + "id": "bbox_1769070564140_1769073049674_t93cb8h2g", + "width": 0.2230000136108407, + "x": 0.37981819945179435, + "y": 0.3722007649739583 + } + ], + "type": "bbox" + }, + "bbox_1769070564492": { + "instances": [ + { + "height": 0.3440000000000001, + "id": "bbox_1769070564492_1769073064722_j3872b4jf", + "width": 0.28100001715087997, + "x": 0.40081820073353275, + "y": 0.4402007649739584 + } + ], + "type": "bbox" + }, + "point_1769070565748": { + "instances": [ + { + "id": "point_1769070565748_1769073002921_s4mjd9by2", + "x": 0.4708182050059939, + "y": 0.5162007649739583 + } + ], + "type": "point" + }, + "point_1769070565988": { + "instances": [ + { + "id": "point_1769070565988_1769073005577_ljk9gtf9k", + "x": 0.5388182091563849, + "y": 0.498867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续下降，将袋装零食放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食仍处于白色垃圾桶的正上方，爪夹在垂直方向上接近白色垃圾桶。", + "frame": 253, + "progress": 90, + "progress_explanation": "当前爪夹抓住袋装零食仍处于白色垃圾桶的正上方，爪夹在垂直方向上接近白色垃圾桶，因此进度提升至90%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食处于白色垃圾桶的正上方，爪夹在垂直方向上接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹继续下降，将袋装零食放入垃圾桶中，爪夹张开。", + "time": 8.433721442468917 + }, + { + "action_description": "爪夹张开，袋装零食落入白色垃圾桶中。", + "annotations": { + "bbox_1769070564140": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1769070564140_1769073020954_7zqlph1g8", + "width": 0.13500000823974662, + "x": 0.4668182047618533, + "y": 0.542867431640625 + } + ], + "type": "bbox" + }, + "bbox_1769070564492": { + "instances": [ + { + "height": 0.3266666666666667, + "id": "bbox_1769070564492_1769073034730_wufq749cu", + "width": 0.25600001562500097, + "x": 0.38881820000111084, + "y": 0.3975340983072917 + } + ], + "type": "bbox" + }, + "point_1769070565748": { + "instances": [ + { + "id": "point_1769070565748_1769073011473_aftl5c69n", + "x": 0.3868181998790405, + "y": 0.5095340983072917 + } + ], + "type": "point" + }, + "point_1769070565988": { + "instances": [ + { + "id": "point_1769070565988_1769073008793_wbq7v4gvx", + "x": 0.6228182142833383, + "y": 0.514867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，袋装零食已放入白色垃圾桶中。", + "frame": 272, + "progress": 100, + "progress_explanation": "爪夹张开，袋装零食落入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，袋装零食已放入白色垃圾桶中。\n已完成抓起袋装零食使其放入白色垃圾桶中的任务。", + "time": 9.077501571637187 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769070564140", + "name": "袋装零食" + }, + { + "color": "#FF9800", + "id": "bbox_1769070564492", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769070565748", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769070565988", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-094638-put-packaged snacks-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-094638-put-packaged snacks-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..59b6ce239590cde05f055fce395d671f55242fbf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-094638-put-packaged snacks-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,760 @@ +{ + "task_description": "抓起袋装零食使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近袋装零食:20%\n爪夹抓取袋装零食:40%\n爪夹抓住袋装零食接近白色垃圾桶:60%\n爪夹抓住袋装零食在白色垃圾桶正上方:80%\n爪夹松开，将袋装零食放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹调整爪夹角度，使其垂直于桌面，向爪夹方向的右侧移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右侧移动，准备抓取袋装零食。\n", + "time": 1.4604810294037198, + "annotations": { + "point_1769136364199": { + "type": "point", + "instances": [ + { + "id": "point_1769136364199_1769151715495_t1skbeioh", + "x": 0.42281820207630627, + "y": 0.38820076497395833 + } + ] + }, + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769151720783_xquofe3w3", + "x": 0.4428182032970095, + "y": 0.234867431640625, + "width": 0.14500000885009817, + "height": 0.22133333333333335 + } + ] + }, + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769151737895_1ws2jws49", + "x": 0.7198182202037489, + "y": 0.43353409830729167, + "width": 0.12400000756835983, + "height": 0.13600000000000007 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，开始调整爪夹角度使其垂直于桌面。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右侧移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方略微移动，在水平方向上略微接近袋装零食。", + "frame": 64, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近袋装零食，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右侧移动，直至袋装零食的正上方。", + "time": 2.147871496715564, + "annotations": { + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769151751599_v91uvapbn", + "x": 0.7208182202647839, + "y": 0.43486743164062497, + "width": 0.12300000750732476, + "height": 0.13466666666666677 + } + ] + }, + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769151763286_4ujxmrxmn", + "x": 0.43881820305286895, + "y": 0.25886743164062503, + "width": 0.14700000897216842, + "height": 0.20533333333333328 + } + ] + } + } + }, + { + "time": 2.726144591985139, + "frame": 82, + "progress": 15, + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右侧移动，并下降。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右后方移动，直至袋装零食的正上方。", + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近袋装零食，因此进度提升至15%。", + "error_success_analysis": "爪夹向爪夹方向的右侧移动，在水平方向上接近袋装零食。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右后方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769151778551_vh9qgdkiu", + "x": 0.4418182032359743, + "y": 0.234867431640625, + "width": 0.1470000089721685, + "height": 0.23333333333333334 + } + ] + }, + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769151803174_4wi1v7rca", + "x": 0.7208182202647839, + "y": 0.43086743164062496, + "width": 0.12300000750732476, + "height": 0.14000000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右后方略微移动并下降。", + "correction_plan": "爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方略微移动至袋装零食的正上方。", + "frame": 114, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于袋装零食正上方，已接近袋装零食，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于袋装零食的正上方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 3.814799, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769151822831_xg45ln44n", + "x": 0.4418182032359743, + "y": 0.23753409830729166, + "width": 0.1470000089721685, + "height": 0.23333333333333336 + } + ] + }, + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769151847590_1h2nbu1dk", + "x": 0.7108182196544324, + "y": 0.42953409830729167, + "width": 0.1250000076293949, + "height": 0.1386666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢抓取袋装零食。", + "correction_plan": "爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在袋装零食的正上方竖直下降，成功抓取到袋装零食。", + "frame": 168, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到袋装零食，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，袋装零食已被抓取。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 5.598900478464625, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769151865775_abt1v5mxk", + "x": 0.4418182032359743, + "y": 0.23486743164062499, + "width": 0.14600000891113335, + "height": 0.23466666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹抓住袋装零食略微上升，向爪夹方向的左侧略微移动。", + "correction_plan": "爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食，在水平方向上略微接近白色垃圾桶。", + "frame": 188, + "progress": 50, + "progress_explanation": "当前爪夹抓住袋装零食，在水平方向上略微接近白色垃圾桶，因此进度提升至50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食在水平方向上略微接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 6.283199, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769151881567_vtu5va257", + "x": 0.4438182033580446, + "y": 0.2375340983072917, + "width": 0.14600000891113335, + "height": 0.23333333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹抓住袋装零食上升，向爪夹方向的左前方移动。", + "correction_plan": "爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食上升，向爪夹方向的左前方移动，在水平方向上接近白色垃圾桶。", + "frame": 230, + "progress": 60, + "progress_explanation": "爪夹抓住袋装零食在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食在水平方向上接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 7.680962437308931, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769151897486_5v7qtsla7", + "x": 0.4418182032359743, + "y": 0.2375340983072917, + "width": 0.15000000915527395, + "height": 0.23066666666666666 + } + ] + }, + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769151917094_q1kljokbd", + "x": 0.5938182125133186, + "y": 0.194867431640625, + "width": 0.11000000671386764, + "height": 0.12933333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开，袋装零食掉落至桌面。", + "correction_plan": "爪夹向爪夹方向的后方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，袋装零食掉落至桌面，爪夹需要重新抓取袋装零食。", + "frame": 255, + "progress": 15, + "progress_explanation": "当前爪夹张开，袋装零食掉落至桌面，爪夹需要重新抓取袋装零食，因此进度下降至15%。", + "state_description": "当前状态为爪夹张开，袋装零食已掉落至桌面。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的后方移动，直至袋装零食的正上方。", + "time": 8.502266, + "annotations": { + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769151924758_31phgw2op", + "x": 0.5538182100719122, + "y": 0.3895340983072917, + "width": 0.10900000665283249, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769151934934_f03n340de", + "x": 0.4438182033580446, + "y": 0.2375340983072917, + "width": 0.15300000933837943, + "height": 0.23199999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的后方略微移动。", + "correction_plan": "爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的后方略微移动至袋装零食的正上方。", + "frame": 278, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于袋装零食正上方，已接近袋装零食，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于袋装零食的正上方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 9.274639492226795, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769151946622_4m06zmos5", + "x": 0.4428182032970095, + "y": 0.23486743164062499, + "width": 0.16300000994873107, + "height": 0.232 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧略微移动并下降。", + "correction_plan": "爪夹抬升，爪夹向爪夹左前方略微移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品。", + "frame": 329, + "progress": -10, + "progress_explanation": "当前爪夹在错误地点下降，触碰白色杯子而不是袋装零食，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，爪夹右接触白色杯子。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抬升，爪夹向爪夹左前方略微移动，直至袋装零食的正上方。", + "time": 10.970666, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769151962702_1hm3p4zgx", + "x": 0.44081820317493914, + "y": 0.23220076497395833, + "width": 0.14600000891113335, + "height": 0.23600000000000002 + } + ] + }, + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769151967494_oaott767b", + "x": 0.552818210010877, + "y": 0.398867431640625, + "width": 0.09200000561523476, + "height": 0.1066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取白色杯子。", + "correction_plan": "爪夹张开并抬升，向爪夹方向的左前方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢抓取白色杯子。", + "frame": 357, + "progress": -20, + "progress_explanation": "当前爪夹已抓住白色杯子，爪夹需要多一次张开爪夹的动作才能接近袋装零食，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹已抓取白色杯子。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹张开并抬升，向爪夹方向的左前方移动，直至袋装零食的正上方。", + "time": 11.893199, + "annotations": { + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769151985486_q14eukkbv", + "x": 0.5538182100719122, + "y": 0.398867431640625, + "width": 0.09300000567626991, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769151995974_93mx6knlo", + "x": 0.4418182032359743, + "y": 0.2375340983072917, + "width": 0.14500000885009817, + "height": 0.23333333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹张开，白色杯子掉落至桌面。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，白色杯子掉落至桌面，爪夹可以开始抓取袋装零食。", + "frame": 386, + "progress": 10, + "progress_explanation": "当前爪夹张开，白色杯子掉落至桌面，爪夹可以开始抓取袋装零食，因此进度上升至10%。", + "state_description": "当前状态为爪夹张开，白色杯子已掉落至桌面。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的左前方移动，直至袋装零食的正上方。", + "time": 12.873265100105844, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769152016486_5v7j3ulep", + "x": 0.4418182032359743, + "y": 0.2335340983072917, + "width": 0.14500000885009817, + "height": 0.23466666666666666 + } + ] + }, + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769152035022_40c3n9k81", + "x": 0.5558182101939826, + "y": 0.40020076497395835, + "width": 0.09500000579834014, + "height": 0.1306666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧移动。", + "correction_plan": "爪夹向爪夹方向的前方略微移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动，在水平方向上接近袋装零食", + "frame": 414, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上接近袋装零食，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的前方略微移动，直至袋装零食的正上方。", + "time": 13.788133, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769152055398_xvt716sps", + "x": 0.4438182033580446, + "y": 0.234867431640625, + "width": 0.14600000891113335, + "height": 0.23600000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动，并下降。", + "correction_plan": "爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方略微移动至袋装零食的正上方。", + "frame": 448, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于袋装零食正上方，已接近袋装零食，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于袋装零食的正上方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 14.935066, + "annotations": { + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769152130886_1t6qtev2u", + "x": 0.5598182104381232, + "y": 0.40286743164062505, + "width": 0.08500000518798859, + "height": 0.12799999999999995 + } + ] + }, + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769152145838_13l4fq5nr", + "x": 0.4428182032970095, + "y": 0.23620076497395834, + "width": 0.14600000891113335, + "height": 0.2333333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢抓取袋装零食。", + "correction_plan": "爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在袋装零食的正上方竖直下降，成功抓取到袋装零食。", + "frame": 487, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到袋装零食，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，袋装零食已被抓取。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 16.231599, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769152167414_l831rg38t", + "x": 0.4428182032970095, + "y": 0.2362007649739583, + "width": 0.14600000891113335, + "height": 0.23333333333333334 + } + ] + }, + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769152187694_7wsbd1szv", + "x": 0.5768182114757209, + "y": 0.3842007649739584, + "width": 0.07700000469970733, + "height": 0.11066666666666662 + } + ] + } + } + }, + { + "action_description": "爪夹抓住袋装零食略微上升。", + "correction_plan": "爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食，在垂直方向上略微接近白色垃圾桶。", + "frame": 555, + "progress": 45, + "progress_explanation": "当前爪夹抓住袋装零食，在垂直方向上略微接近白色垃圾桶，因此进度提升至45%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食在垂直方向上略微接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 18.502543729573784, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769152195054_5wtsefyk4", + "x": 0.4418182032359743, + "y": 0.23620076497395834, + "width": 0.14500000885009817, + "height": 0.2333333333333333 + } + ] + } + } + }, + { + "time": 19.173733, + "frame": 575, + "progress": 15, + "action_description": "爪夹张开，袋装零食掉落至桌面。", + "state_description": "当前状态为爪夹张开，袋装零食已掉落至桌面。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的前方移动，直至袋装零食的正上方。", + "progress_explanation": "当前爪夹张开，袋装零食掉落至桌面，爪夹需要重新抓取袋装零食，因此进度下降至15%。", + "error_success_analysis": "爪夹张开，袋装零食掉落至桌面，爪夹需要重新抓取袋装零食。", + "correction_plan": "爪夹向爪夹方向的前方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769152209310_axpsa8jbn", + "x": 0.4418182032359743, + "y": 0.23620076497395834, + "width": 0.14600000891113335, + "height": 0.2333333333333333 + } + ] + }, + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769152221934_feehtyak3", + "x": 0.5288182085460332, + "y": 0.42020076497395825, + "width": 0.07500000457763703, + "height": 0.1053333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，爪夹下降，爪夹左右接触袋装零食", + "frame": 600, + "progress": 30, + "progress_explanation": "当前爪夹张开，爪夹左右接触袋装零食，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹左右接触袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹合拢，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 19.99172700789102, + "annotations": { + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769152254030_vbs5cwl20", + "x": 0.5168182078136112, + "y": 0.4095340983072917, + "width": 0.08200000500488311, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769152268822_homlet8hy", + "x": 0.4438182033580446, + "y": 0.234867431640625, + "width": 0.1470000089721685, + "height": 0.23333333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取袋装零食。", + "correction_plan": "爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在袋装零食的正上方竖直下降，成功抓取到袋装零食。", + "frame": 638, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到袋装零食，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，袋装零食已被抓取。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 21.252921872738483, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769152284126_ph6k1u8bg", + "x": 0.43881820305286884, + "y": 0.230867431640625, + "width": 0.1470000089721685, + "height": 0.23599999999999996 + } + ] + }, + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769152289918_my56qe9sm", + "x": 0.5108182074474004, + "y": 0.4455340983072916, + "width": 0.08000000488281271, + "height": 0.0879999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹抓住袋装零食上升，向爪夹方向的左前方移动。", + "correction_plan": "爪夹抓住袋装零食向爪夹方向的左侧移动，直至白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食上升，向爪夹方向的左前方移动，在水平方向上接近白色垃圾桶。", + "frame": 688, + "progress": 60, + "progress_explanation": "爪夹抓住袋装零食在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食在水平方向上接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食向爪夹方向的左侧移动，直至白色垃圾桶的正上方。", + "time": 22.938666, + "annotations": { + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769152313261_wchodzbem", + "x": 0.4448182034190798, + "y": 0.24020076497395834, + "width": 0.15400000939941458, + "height": 0.2293333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹抓住袋装零食向爪夹方向的左侧移动。", + "correction_plan": "爪夹下降，将袋装零食放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食向爪夹方向的左前方略微移动至白色垃圾桶的正上方。", + "frame": 705, + "progress": 80, + "progress_explanation": "当前爪夹抓住袋装零食位于白色垃圾桶的正上方，因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食处于白色垃圾桶的正上方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹下降，将袋装零食放入垃圾桶中，爪夹张开。", + "time": 23.489210643349036, + "annotations": { + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769152338302_l3sgwl86c", + "x": 0.47681820537220493, + "y": 0.2655340983072917, + "width": 0.10000000610351592, + "height": 0.11599999999999995 + } + ] + }, + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769152353789_a9zcc8uvy", + "x": 0.44081820317493914, + "y": 0.22953409830729168, + "width": 0.15900000970459044, + "height": 0.23600000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹张开，袋装零食落入垃圾桶中。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，袋装零食已放入白色垃圾桶中。", + "frame": 748, + "progress": 100, + "progress_explanation": "爪夹张开，袋装零食落入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，袋装零食已放入白色垃圾桶中。\n已完成抓起袋装零食使其放入白色垃圾桶中的任务。", + "time": 24.933333, + "annotations": { + "bbox_1769136363279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363279_1769152376645_5rw2cxwd0", + "x": 0.4758182053111697, + "y": 0.31086743164062497, + "width": 0.07300000445556672, + "height": 0.092 + } + ] + }, + "bbox_1769136363536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136363536_1769152385077_nc5uty7cg", + "x": 0.44081820317493914, + "y": 0.230867431640625, + "width": 0.15100000921630913, + "height": 0.23466666666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769136363279", + "name": "袋装零食" + }, + { + "color": "#FF9800", + "id": "bbox_1769136363536", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769136364199", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769136364423", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-094638-put-packaged snacks-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-094638-put-packaged snacks-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..9d50e86b44696f87f2b919a40a57e10c5a8cf7cc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-094638-put-packaged snacks-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,554 @@ +{ + "task_description": "抓起袋装零食使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近袋装零食:20%\n爪夹抓取袋装零食:40%\n爪夹抓住袋装零食接近白色垃圾桶:60%\n爪夹抓住袋装零食在白色垃圾桶正上方:80%\n爪夹松开，将袋装零食放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹调整爪夹角度，使其垂直于桌面，向爪夹方向的右前方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取袋装零食。\n", + "time": 1.0805248193186223, + "annotations": { + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769139782664_05guj909n", + "x": 0.5948182125743537, + "y": 0.6082007649739584, + "width": 0.10500000640869178, + "height": 0.15333333333333327 + } + ] + }, + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769139846456_sdqk7h3wi", + "x": 0.3798181994517944, + "y": 0.22553409830729168, + "width": 0.13200000805664108, + "height": 0.23333333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动并略微下降，开始调整爪夹角度使其垂直于桌面。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右侧移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 66, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近袋装零食，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右侧移动，直至袋装零食的正上方。", + "time": 2.2052, + "annotations": { + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769139955648_b34upw2dj", + "x": 0.3778181993297241, + "y": 0.22553409830729168, + "width": 0.13300000811767623, + "height": 0.232 + } + ] + }, + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769139973168_huhw5orfb", + "x": 0.5928182124522834, + "y": 0.6082007649739584, + "width": 0.1070000065307621, + "height": 0.15466666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右后方移动，并下降。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右侧移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，在水平方向上接近袋装零食。", + "frame": 85, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近袋装零食，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右侧移动，直至袋装零食的正上方。", + "time": 2.8195783650883754, + "annotations": { + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769139993880_jpf2i73yo", + "x": 0.5918182123912482, + "y": 0.6122007649739584, + "width": 0.11000000671386774, + "height": 0.15066666666666664 + } + ] + }, + "point_1769139731752": { + "type": "point", + "instances": [ + { + "id": "point_1769139731752_1769140002472_9xjxz66ad", + "x": 0.5258182083629277, + "y": 0.6175340983072917 + } + ] + }, + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140018088_buej9o5r6", + "x": 0.37781819932972405, + "y": 0.222867431640625, + "width": 0.13400000817871144, + "height": 0.24133333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧略微移动并下降。", + "correction_plan": "爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右侧略微移动至袋装零食的正上方。", + "frame": 103, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于袋装零食正上方，已接近袋装零食，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于袋装零食的正上方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 3.433599, + "annotations": { + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140032744_p0x2niba5", + "x": 0.3798181994517944, + "y": 0.226867431640625, + "width": 0.13200000805664108, + "height": 0.22666666666666668 + } + ] + }, + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769140050008_v3e6clu2f", + "x": 0.5988182128184943, + "y": 0.6068674316406251, + "width": 0.09900000604248085, + "height": 0.156 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢抓取袋装零食。", + "correction_plan": "爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在袋装零食的正上方竖直下降，成功抓取到袋装零食", + "frame": 137, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到袋装零食，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，袋装零食已被抓取。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 4.55928792481022, + "annotations": { + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769140075535_vkzkia8e7", + "x": 0.6018182130015999, + "y": 0.610867431640625, + "width": 0.08500000518798859, + "height": 0.14933333333333335 + } + ] + }, + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140094935_lhf9ma5ql", + "x": 0.3798181994517944, + "y": 0.22420076497395833, + "width": 0.13200000805664108, + "height": 0.23066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹抓住袋装零食略微上升。", + "correction_plan": "爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食，在垂直方向上略微接近白色垃圾桶。", + "frame": 153, + "progress": 45, + "progress_explanation": "当前爪夹抓住袋装零食，在垂直方向上略微接近白色垃圾桶，因此进度提升至45%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食在垂直方向上略微接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 5.0912, + "annotations": { + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140125215_ps78dlr8i", + "x": 0.3778181993297241, + "y": 0.22553409830729168, + "width": 0.13400000817871138, + "height": 0.2253333333333333 + } + ] + }, + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769140146887_iliu62nkk", + "x": 0.583818211902967, + "y": 0.48420076497395836, + "width": 0.10300000628662147, + "height": 0.1373333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹抓住袋装零食向爪夹方向的左前方略微移动。", + "correction_plan": "爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食上升，向爪夹方向的左前方移动，在水平方向上略微接近白色垃圾桶。", + "frame": 175, + "progress": 55, + "progress_explanation": "爪夹抓住袋装零食在水平方向上略微接近白色垃圾桶，因此进度提升至55%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食在水平方向上略微接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 5.840937489991335, + "annotations": { + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769140197327_6ayd7y1pb", + "x": 0.5268182084239629, + "y": 0.266867431640625, + "width": 0.08300000506591827, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140203311_m0d186rm9", + "x": 0.3798181994517944, + "y": 0.22553409830729168, + "width": 0.1310000079956059, + "height": 0.22133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开，袋装零食掉落至桌面。", + "correction_plan": "爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，袋装零食掉落至桌面，爪夹需要重新抓取袋装零食。", + "frame": 189, + "progress": 20, + "progress_explanation": "当前爪夹张开，袋装零食掉落至桌面，爪夹需要重新抓取袋装零食，因此进度下降至20%。", + "state_description": "当前状态为爪夹张开，爪夹处于袋装零食的正上方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 6.29, + "annotations": { + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140220711_4m5vvlxto", + "x": 0.37981819945179435, + "y": 0.22553409830729168, + "width": 0.13600000830078174, + "height": 0.19866666666666666 + } + ] + }, + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769140244999_hf7taw0a5", + "x": 0.5378182090953496, + "y": 0.43886743164062497, + "width": 0.045000002746582266, + "height": 0.15200000000000008 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，在水平方向上略微远离了袋装零食。", + "frame": 239, + "progress": 15, + "progress_explanation": "爪夹张开，爪夹在水平方向上略微远离了袋装零食，因此进度下降至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微远离了袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的左前方移动，直至袋装零食的正上方。", + "time": 7.962399, + "annotations": { + "point_1769139731752": { + "type": "point", + "instances": [ + { + "id": "point_1769139731752_1769140267768_kk598z85w", + "x": 0.5068182072032597, + "y": 0.5255340983072917 + } + ] + }, + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140300143_43xpulut7", + "x": 0.3798181994517944, + "y": 0.22553409830729168, + "width": 0.13000000793457075, + "height": 0.22533333333333336 + } + ] + }, + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769140312287_tas08v4x1", + "x": 0.5358182089732794, + "y": 0.45886743164062505, + "width": 0.04700000286865249, + "height": 0.13200000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方略微移动，并下降。", + "correction_plan": "爪夹合拢抓取袋装零食，后上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方略微移动至袋装零食的正前方。", + "frame": 281, + "progress": 20, + "progress_explanation": "当前爪夹处于袋装零食的正前方，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于袋装零食的正前方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹合拢抓取袋装零食，后上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 9.3536, + "annotations": { + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769140327023_rckfmt6r6", + "x": 0.533818208851209, + "y": 0.4482007649739583, + "width": 0.04900000299072289, + "height": 0.14400000000000007 + } + ] + }, + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140338167_7uc7jo5kf", + "x": 0.3788181993907592, + "y": 0.22553409830729168, + "width": 0.13100000799560596, + "height": 0.22133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取袋装零食。", + "correction_plan": "爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在袋装零食的正上方竖直下降，成功抓取到袋装零食。", + "frame": 303, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到袋装零食，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，袋装零食已被抓取。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 10.097844974342893, + "annotations": { + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140358703_f21uiyt5i", + "x": 0.3778181993297241, + "y": 0.22420076497395833, + "width": 0.13500000823974653, + "height": 0.23066666666666666 + } + ] + }, + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769140371799_z2525p27m", + "x": 0.5328182087901738, + "y": 0.46820076497395835, + "width": 0.04900000299072289, + "height": 0.12400000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹抓住袋装零食略微上升。", + "correction_plan": "爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食，在垂直方向上略微接近白色垃圾桶。", + "frame": 334, + "progress": 45, + "progress_explanation": "当前爪夹抓住袋装零食，在垂直方向上略微接近白色垃圾桶，因此进度提升至45%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食在垂直方向上略微接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 11.1296, + "annotations": { + "bbox_1769139730824": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139730824_1769140378903_o17fobrk4", + "x": 0.5308182086681035, + "y": 0.3535340983072917, + "width": 0.057000003479004135, + "height": 0.10666666666666665 + } + ] + }, + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140388607_l2jdk943n", + "x": 0.37781819932972405, + "y": 0.22420076497395833, + "width": 0.12000000732421925, + "height": 0.204 + } + ] + } + } + }, + { + "action_description": "爪夹抓住袋装零食上升，向爪夹方向的左前方移动。", + "correction_plan": "爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食上升，向爪夹方向的左前方移动，在水平方向上接近白色垃圾桶。", + "frame": 350, + "progress": 60, + "progress_explanation": "爪夹抓住袋装零食在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食在水平方向上接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食向爪夹方向的左前方移动，直至白色垃圾桶的正上方。", + "time": 11.670602624191883, + "annotations": { + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140406239_7imcb0uni", + "x": 0.38181819957386476, + "y": 0.22553409830729168, + "width": 0.13200000805664103, + "height": 0.232 + } + ] + } + } + }, + { + "action_description": "爪夹抓住袋装零食向爪夹方向的左前方略微移动并下降。", + "correction_plan": "爪夹下降，将袋装零食放入垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食向爪夹方向的左前方略微移动至白色垃圾桶的正上方。", + "frame": 381, + "progress": 80, + "progress_explanation": "当前爪夹抓住袋装零食位于白色垃圾桶的正上方，因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食处于白色垃圾桶的正上方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹下降，将袋装零食放入垃圾桶中，爪夹张开。", + "time": 12.706917303461594, + "annotations": { + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140420551_1kud3hmg0", + "x": 0.38181819957386476, + "y": 0.222867431640625, + "width": 0.13100000799560588, + "height": 0.23333333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹张开，袋装零食落入白色垃圾桶中。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，袋装零食已放入白色垃圾桶中。", + "frame": 401, + "progress": 100, + "progress_explanation": "爪夹张开，袋装零食落入白色垃圾桶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，袋装零食已放入白色垃圾桶中。\n已完成抓起袋装零食使其放入白色垃圾桶中的任务。", + "time": 13.362999818970975, + "annotations": { + "bbox_1769139731064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139731064_1769140441215_378medx96", + "x": 0.37981819945179435, + "y": 0.22020076497395832, + "width": 0.1320000080566411, + "height": 0.23600000000000004 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769139730824", + "name": "袋装零食", + "color": "#4CAF50" + }, + { + "id": "bbox_1769139731064", + "name": "白色垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769139731752", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769139732000", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-102115-put-packaged snacks-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-102115-put-packaged snacks-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..34a174474a9f3ed8e3a9b78b1b5b39dec87869d6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-102115-put-packaged snacks-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,620 @@ +{ + "task_description": "抓起袋装零食使其放入白色垃圾桶中:\n开始移动:0%\n爪夹靠近袋装零食:20%\n爪夹抓取袋装零食:40%\n爪夹抓住袋装零食接近白色垃圾桶:60%\n爪夹抓住袋装零食在白色垃圾桶正上方:80%\n爪夹松开，将袋装零食放入白色垃圾桶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹调整爪夹角度，使其垂直于桌面，向爪夹方向的右侧移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "", + "frame": 67, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右侧移动，准备抓取袋装零食。\n", + "time": 2.22414879515669, + "annotations": { + "point_1769152592829": { + "type": "point", + "instances": [ + { + "id": "point_1769152592829_1769157555426_kayylr5xn", + "x": 0.3098181951793332, + "y": 0.34953409830729165 + } + ] + }, + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157568858_w6efvf4e7", + "x": 0.8078182255748428, + "y": 0.40420076497395835, + "width": 0.18400001123046933, + "height": 0.26666666666666666 + } + ] + }, + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769157582554_rseqwwmwh", + "x": 0.564818210743299, + "y": 0.6602007649739584, + "width": 0.11000000671386756, + "height": 0.16399999999999995 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动并略微下降，开始调整爪夹角度使其垂直于桌面。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右后方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方略微移动，在水平方向上略微接近袋装零食。", + "frame": 99, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近袋装零食，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，向爪夹方向的右后方移动，直至袋装零食的正上方。", + "time": 3.2897, + "annotations": { + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769157594506_5nr0vtrne", + "x": 0.5638182106822638, + "y": 0.6602007649739583, + "width": 0.11000000671386756, + "height": 0.16533333333333336 + } + ] + }, + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157608346_pmtnsgxk7", + "x": 0.8068182255138077, + "y": 0.40020076497395835, + "width": 0.18600001135253982, + "height": 0.26799999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降，爪夹继续调整爪夹角度，使其垂直于桌面。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右后方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，在水平方向上接近袋装零食。", + "frame": 121, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近袋装零食，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面，爪夹向爪夹方向的右后方移动，直至袋装零食的正上方。", + "time": 4.0262, + "annotations": { + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157628378_w52ajbfct", + "x": 0.8068182255138078, + "y": 0.40420076497395835, + "width": 0.18400001123046933, + "height": 0.26399999999999996 + } + ] + }, + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769157641474_5ye6s7duh", + "x": 0.565818210804334, + "y": 0.6602007649739584, + "width": 0.10900000665283249, + "height": 0.16133333333333322 + } + ] + }, + "point_1769152592526": { + "type": "point", + "instances": [ + { + "id": "point_1769152592526_1769157650170_gsn2ghclx", + "x": 0.5068182072032597, + "y": 0.6282007649739583 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降，爪夹继续调整爪夹角度，使其垂直于桌面。", + "correction_plan": "爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方略微移动至袋装零食的正上方。", + "frame": 127, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于袋装零食正上方，已接近袋装零食，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于袋装零食的正上方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 4.238966, + "annotations": { + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157664786_kaem64a6o", + "x": 0.8068182255138077, + "y": 0.4055340983072918, + "width": 0.18400001123046925, + "height": 0.2653333333333333 + } + ] + }, + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769157679818_4zt1cemoe", + "x": 0.5628182106212287, + "y": 0.6682007649739583, + "width": 0.11100000677490263, + "height": 0.1586666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并下降。", + "correction_plan": "爪夹抬升，爪夹向爪夹方向的左侧移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品。", + "frame": 138, + "progress": -10, + "progress_explanation": "爪夹在错误地点下降，触碰透明胶带而不是袋装零食，因此进度降低到-10%。\n", + "state_description": "当前状态为爪夹张开，在袋装零食边缘下降，右侧爪夹触碰透明胶带。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抬升，爪夹向爪夹方向的左侧移动，直至袋装零食的正上方。", + "time": 4.603221158256745, + "annotations": { + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157740410_l5tzzo5q2", + "x": 0.8068182255138077, + "y": 0.402867431640625, + "width": 0.1850000112915046, + "height": 0.2653333333333333 + } + ] + }, + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769157759970_2iesag9hr", + "x": 0.5268182084239629, + "y": 0.6962007649739584, + "width": 0.1200000073242192, + "height": 0.11999999999999993 + } + ] + }, + "point_1769152592526": { + "type": "point", + "instances": [ + { + "id": "point_1769152592526_1769157771866_9lxyfm8qu", + "x": 0.5878182121471076, + "y": 0.7322007649739584 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取透明胶带。", + "correction_plan": "爪夹张开，向爪夹方向的左后方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢抓取透明胶带。", + "frame": 185, + "progress": -20, + "progress_explanation": "与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近袋装零食，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，透明胶带已被抓取。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹张开，向爪夹方向的左后方移动，直至袋装零食的正上方。", + "time": 6.170233, + "annotations": { + "point_1769152592526": { + "type": "point", + "instances": [ + { + "id": "point_1769152592526_1769157790362_cq9siwp1r", + "x": 0.5568182102550177, + "y": 0.6495340983072917 + } + ] + }, + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157797330_684nugpdz", + "x": 0.8078182255748431, + "y": 0.40153409830729175, + "width": 0.18400001123046944, + "height": 0.26933333333333337 + } + ] + }, + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769157821842_hva6znw67", + "x": 0.48781820604359155, + "y": 0.6948674316406251, + "width": 0.12500000762939506, + "height": 0.12266666666666654 + } + ] + } + } + }, + { + "action_description": "爪夹抓住透明胶带上升。", + "correction_plan": "爪夹张开，向爪夹方向的左后方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住透明胶带上升，在垂直方向上接近白色垃圾桶。", + "frame": 242, + "progress": -30, + "progress_explanation": "当前爪夹抓住透明胶带在垂直方向上接近白色垃圾桶，因此进度下降为-30%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住透明胶带在垂直方向上接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹张开，向爪夹方向的左后方移动，直至袋装零食的正上方。", + "time": 8.079809550045916, + "annotations": { + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769157841874_0vifbjkbl", + "x": 0.48981820616566196, + "y": 0.7055340983072916, + "width": 0.1180000072021489, + "height": 0.10933333333333325 + } + ] + }, + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157859098_gmn9ufu6a", + "x": 0.8068182255138077, + "y": 0.40553409830729165, + "width": 0.1850000112915046, + "height": 0.26533333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹张开，透明胶带掉落至桌面。", + "correction_plan": "爪夹向爪夹方向的左后方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹张开，透明胶带掉落至桌面,爪夹可以接近袋装零食。", + "frame": 259, + "progress": 5, + "progress_explanation": "当前爪夹张开，透明胶带掉落至桌面，因此进度上升至5%.", + "state_description": "当前状态为爪夹张开，袋装零食在爪夹方向的左后方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的左后方移动，直至袋装零食的正上方。", + "time": 8.635833177979533, + "annotations": { + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157877666_mdo58eyg8", + "x": 0.8078182255748427, + "y": 0.402867431640625, + "width": 0.18600001135253982, + "height": 0.268 + } + ] + }, + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769157897218_guitico3q", + "x": 0.4888182061046268, + "y": 0.7055340983072916, + "width": 0.1200000073242192, + "height": 0.11066666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动并下降。", + "correction_plan": "爪夹子昂爪夹方向的右后方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，在水平方向上接近袋装零食。", + "frame": 292, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上接近袋装零食，因此进度提升至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近袋装零食。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹子昂爪夹方向的右后方移动，直至袋装零食的正上方。", + "time": 9.749441518154027, + "annotations": { + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769157916258_qiqpjmvmc", + "x": 0.4888182061046269, + "y": 0.702867431640625, + "width": 0.1180000072021488, + "height": 0.1146666666666666 + } + ] + }, + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157930082_m98tdahnj", + "x": 0.8098182256969132, + "y": 0.40553409830729165, + "width": 0.18200001110839903, + "height": 0.26266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "correction_plan": "爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动至袋装零食的正上方。", + "frame": 332, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于袋装零食正上方，已接近袋装零食，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于袋装零食的正上方。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。", + "time": 11.063866, + "annotations": { + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157958666_rpegyewow", + "x": 0.8108182257579483, + "y": 0.4015340983072917, + "width": 0.18300001116943426, + "height": 0.268 + } + ] + }, + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769157968642_hyl45v3rm", + "x": 0.4888182061046268, + "y": 0.7042007649739583, + "width": 0.1360000083007818, + "height": 0.11333333333333329 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢抓取袋装零食。", + "correction_plan": "爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹在袋装零食的正上方竖直下降，成功抓取到袋装零食。", + "frame": 349, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到袋装零食，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，袋装零食已被抓取。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食后竖直上升，向爪夹方向的左前方移动，直至处于白色垃圾桶的正上方。", + "time": 11.639201125722865, + "annotations": { + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769157981290_93ayix03n", + "x": 0.49181820628773226, + "y": 0.678867431640625, + "width": 0.11300000689697312, + "height": 0.12000000000000005 + } + ] + }, + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157987858_538m9lrfd", + "x": 0.8068182255138078, + "y": 0.402867431640625, + "width": 0.1850000112915044, + "height": 0.2666666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹抓住袋装零食上升，向爪夹方向的右前方移动。", + "correction_plan": "爪夹抓住袋装零食向爪夹方向的右前方移动，直至白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹抓住袋装零食上升，向爪夹方向的右前方移动，在水平方向上接近白色垃圾桶。", + "frame": 390, + "progress": 50, + "progress_explanation": "爪夹抓住袋装零食在水平方向上接近白色垃圾桶，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住袋装零食在水平方向上接近白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹抓住袋装零食向爪夹方向的右前方移动，直至白色垃圾桶的正上方。", + "time": 12.989029416843463, + "annotations": { + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769157999778_otwbgw8w9", + "x": 0.8078182255748428, + "y": 0.402867431640625, + "width": 0.18600001135253966, + "height": 0.2653333333333333 + } + ] + }, + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769158014257_qyaxnm2n8", + "x": 0.6568182163585337, + "y": 0.39486743164062504, + "width": 0.05800000354003929, + "height": 0.13466666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹略微张开，袋装零食掉落至桌面，爪夹向爪夹方向的右前方移动，爪夹合拢。", + "correction_plan": "爪夹张开，向爪夹方向的左后方略微移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹略微张开，袋装零食掉落至桌面，然后爪夹向爪夹方向的右前方移动，爪夹合拢。", + "frame": 408, + "progress": -20, + "progress_explanation": "当前爪夹合拢，袋装零食已掉落至桌面，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，袋装零食已掉落至桌面。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹张开，向爪夹方向的左后方略微移动，直至袋装零食的正上方。", + "time": 13.58384088782887, + "annotations": { + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769158024801_nmkh6kl1v", + "x": 0.6668182169688853, + "y": 0.5642007649739582, + "width": 0.09900000604248085, + "height": 0.07466666666666673 + } + ] + }, + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769158034681_mz6oh30oy", + "x": 0.8078182255748428, + "y": 0.40020076497395835, + "width": 0.18600001135253966, + "height": 0.26933333333333337 + } + ] + }, + "point_1769152592526": { + "type": "point", + "instances": [ + { + "id": "point_1769152592526_1769158049089_h03408nh0", + "x": 0.7228182203868543, + "y": 0.418867431640625 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "爪夹张开，向爪夹方向的左侧移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，爪夹接触白色垃圾桶。", + "frame": 421, + "progress": -25, + "progress_explanation": "当前爪夹合拢，爪夹接触白色垃圾桶，因此进度下降为-25%。", + "state_description": "当前状态为爪夹合拢，爪夹接触白色垃圾桶。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹张开，向爪夹方向的左侧移动，直至袋装零食的正上方。", + "time": 14.04476962054961, + "annotations": { + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769158061577_t28tqe084", + "x": 0.6678182170299205, + "y": 0.5655340983072917, + "width": 0.09400000573730498, + "height": 0.07733333333333323 + } + ] + }, + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769158075465_2qaz8rczj", + "x": 0.7968182249034561, + "y": 0.40420076497395835, + "width": 0.18400001123046952, + "height": 0.26399999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹合拢推动白色垃圾桶向爪夹方向的左后方移动，然后白色垃圾桶倾倒，爪夹张开。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至袋装零食的正上方，后下降，抓取袋装零食后竖直上升，向爪夹方向的右前方移动，直至处于白色垃圾桶的正上方。下降将袋装零食放入白色垃圾桶中，爪夹张开。", + "error_success_analysis": "爪夹合拢推动白色垃圾桶向爪夹方向的左后方移动，然后白色垃圾桶倾倒，爪夹张开.", + "frame": 463, + "progress": -40, + "progress_explanation": "当前爪夹张开，白色垃圾桶已倒在桌面上，因此进度下降为-40%。", + "state_description": "当前状态为爪夹张开，白色垃圾桶已倒在桌面上。\n为完成抓起袋装零食使其放入白色垃圾桶中的任务应当:爪夹向爪夹方向的右前方移动，直至袋装零食的正上方。", + "time": 15.435593194499548, + "annotations": { + "bbox_1769152591693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591693_1769158091849_stnb2s44u", + "x": 0.5818182117808968, + "y": 0.30286743164062496, + "width": 0.15100000921630913, + "height": 0.22400000000000003 + } + ] + }, + "bbox_1769152591214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152591214_1769158107537_1yhip46gp", + "x": 0.6508182159923227, + "y": 0.5588674316406251, + "width": 0.1070000065307621, + "height": 0.09599999999999985 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769152591214", + "name": "袋装零食" + }, + { + "color": "#FF9800", + "id": "bbox_1769152591693", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769152592526", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769152592829", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-110746-put-wide-mouth bottle cap-wide-mouth bottle-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-110746-put-wide-mouth bottle cap-wide-mouth bottle-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..aad0de2147b68c51267b76f40c93397b5a45213e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-110746-put-wide-mouth bottle cap-wide-mouth bottle-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,268 @@ +{ + "task_description": "抓起广口瓶盖使其放入广口瓶中:\n开始移动:0%\n爪夹靠近广口瓶盖:20%\n爪夹抓取广口瓶盖:40%\n爪夹抓住广口瓶盖接近广口瓶:60%\n爪夹抓住广口瓶盖在广口瓶正上方:80%\n爪夹松开，将广口瓶盖放入广口瓶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1769222865313": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1769222865313_1769222903217_5gy3qxfyw", + "width": 0.03700000225830093, + "x": 0.589818212269178, + "y": 0.2575340983072917 + } + ], + "type": "bbox" + }, + "bbox_1769222865578": { + "instances": [ + { + "height": 0.08399999999999999, + "id": "bbox_1769222865578_1769222910146_lyr3cilov", + "width": 0.06200000378417991, + "x": 0.6948182186778697, + "y": 0.41220076497395836 + } + ], + "type": "bbox" + }, + "point_1769222866546": { + "instances": [ + { + "id": "point_1769222866546_1769222920649_tkl3maxcc", + "x": 0.3808181995128296, + "y": 0.502867431640625 + } + ], + "type": "point" + }, + "point_1769222866786": { + "instances": [ + { + "id": "point_1769222866786_1769222924065_1qxfpqplp", + "x": 0.5128182075694706, + "y": 0.4962007649739583 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达广口瓶盖正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取广口瓶盖。", + "time": 1.334545432177384 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降，调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1769222865313": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1769222865313_1769222934778_uo8u3pzxe", + "width": 0.03800000231933609, + "x": 0.5908182123302131, + "y": 0.2575340983072917 + } + ], + "type": "bbox" + }, + "bbox_1769222865578": { + "instances": [ + { + "height": 0.08666666666666671, + "id": "bbox_1769222865578_1769222947346_wdrufp4k1", + "width": 0.057000003479004045, + "x": 0.6998182189830456, + "y": 0.4122007649739583 + } + ], + "type": "bbox" + }, + "point_1769222866786": { + "instances": [ + { + "id": "point_1769222866786_1769222928361_wwriahc0f", + "x": 0.5568182102550177, + "y": 0.186867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹方向，直到垂直于桌面，继续向爪夹方向的右前方移动，直至广口瓶盖正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上成功接近广口瓶盖，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 63, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近广口瓶盖，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与广口瓶盖的水平距离略微缩短。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹继续调整爪夹方向，直到垂直于桌面，继续向爪夹方向的右前方移动，直至广口瓶盖正上方。", + "time": 2.1036077543429625 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动并下降，爪夹继续调整爪夹方向，使其垂直于桌面。", + "annotations": { + "bbox_1769222865578": { + "instances": [ + { + "height": 0.08533333333333329, + "id": "bbox_1769222865578_1769222989905_nsu3xd3io", + "width": 0.061000003723144756, + "x": 0.6958182187389049, + "y": 0.414867431640625 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续调整爪夹方向，直至垂直于桌面，爪夹向爪夹方向的前方移动，直至广口瓶盖的正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动在水平方向上成功接近 ，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 86, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近广口瓶盖并开始调整夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹继续调整爪夹方向，直至垂直于桌面，爪夹向爪夹方向的前方移动，直至广口瓶盖的正上方。", + "time": 2.874395328453361 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "annotations": { + "bbox_1769222865578": { + "instances": [ + { + "height": 0.08533333333333329, + "id": "bbox_1769222865578_1769223018906_bce4me363", + "width": 0.061000003723144756, + "x": 0.6968182187999401, + "y": 0.41220076497395836 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹先爪夹方向的前方移动至广口瓶盖正上方，已调整爪夹角度为垂直，方便机取广口瓶盖。", + "frame": 117, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于广口瓶盖的正上方，已接近广口瓶盖，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，处于广口瓶盖的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至广口瓶的正上方。", + "time": 3.907329029115785 + }, + { + "action_description": "爪夹略微下降，后合拢抓取广口瓶盖。", + "annotations": { + "bbox_1769222865578": { + "instances": [ + { + "height": 0.08399999999999999, + "id": "bbox_1769222865578_1769223046625_ysbeeqpmq", + "width": 0.0600000036621096, + "x": 0.6968182187999401, + "y": 0.414867431640625 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取广口瓶盖上升，然后向爪夹方向的右后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹在广口瓶盖的正上方竖直下降，成功抓取到广口瓶盖。", + "frame": 140, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到广口瓶盖，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，广口瓶盖已被爪夹抓取。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓取广口瓶盖上升，然后向爪夹方向的右后方移动，直至广口瓶的正上方。", + "time": 4.660899 + }, + { + "action_description": "爪夹抓住广口瓶盖上升，然后向爪夹方向的右后方略微移动。", + "annotations": { + "bbox_1769222865578": { + "instances": [ + { + "height": 0.08533333333333329, + "id": "bbox_1769222865578_1769223077882_u2sv37phk", + "width": 0.060000003662109516, + "x": 0.6978182188609753, + "y": 0.4122007649739584 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住广口瓶盖向爪夹方向的右后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧广口瓶盖向爪夹方向的右后方移动，成功在水平方向上接近广口瓶。", + "frame": 216, + "progress": 50, + "progress_explanation": "当前爪夹已抓住广口瓶盖，并在水平方向上逐渐接近广口瓶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在水平方向上略微接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖向爪夹方向的右后方移动，直至广口瓶的正上方。", + "time": 7.193199804 + }, + { + "action_description": "爪夹抓住广口瓶盖向爪夹方向的右后方移动。", + "correction_plan": "爪夹向爪夹方向的后方略微移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住广口瓶盖向爪夹方向的右后方移动，在水平方向上接近广口瓶。", + "frame": 232, + "progress": 60, + "progress_explanation": "当前爪夹抓住广口瓶盖在水平方向上接近广口瓶，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在水平方向上接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹向爪夹方向的后方略微移动，直至广口瓶的正上方。", + "time": 7.743699 + }, + { + "action_description": "爪夹向爪夹方向的后方略微移动并下降。", + "correction_plan": "爪夹抓住广口瓶盖下降，将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的后方略微移动至广口瓶的正上方。", + "frame": 263, + "progress": 80, + "progress_explanation": "当前爪夹抓住广口瓶盖处于广口瓶的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖处于广口瓶的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖下降，将广口瓶盖放入广口瓶中，爪夹张开。", + "time": 8.759066 + }, + { + "action_description": "爪夹抓住广口瓶盖下降。", + "correction_plan": "爪夹张开，将广口瓶盖放入广口瓶中。", + "error_success_analysis": "爪夹抓住广口瓶盖下降，广口瓶盖已被放入广口瓶中。", + "frame": 299, + "progress": 90, + "progress_explanation": "爪夹抓住广口瓶盖下降，广口瓶盖放入广口瓶中，因此进度提升为90%。", + "state_description": "当前状态为爪夹合拢，广口瓶盖已被放入广口瓶中。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹张开，将广口瓶盖放入广口瓶中。", + "time": 9.970903526077006 + }, + { + "action_description": "爪夹张开，广口瓶盖放入广口瓶中。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，广口瓶盖已被放入广口瓶中。", + "frame": 329, + "progress": 100, + "progress_explanation": "当前爪夹张开，广口瓶盖放入广口瓶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，广口瓶盖已被放入广口瓶中。\n已完成抓起广口瓶盖使其放入广口瓶中的任务。", + "time": 10.982483920696387 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769222865313", + "name": "广口瓶盖" + }, + { + "color": "#FF9800", + "id": "bbox_1769222865578", + "name": "广口瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769222866546", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769222866786", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-110746-put-wide-mouth bottle cap-wide-mouth bottle-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-110746-put-wide-mouth bottle cap-wide-mouth bottle-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..a1d8b09b914031c13a7699677c9ae05bdc095411 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-110746-put-wide-mouth bottle cap-wide-mouth bottle-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,394 @@ +{ + "task_description": "抓起广口瓶盖使其放入广口瓶中:\n开始移动:0%\n爪夹靠近广口瓶盖:20%\n爪夹抓取广口瓶盖:40%\n爪夹抓住广口瓶盖接近广口瓶:60%\n爪夹抓住广口瓶盖在广口瓶正上方:80%\n爪夹松开，将广口瓶盖放入广口瓶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1769223240097": { + "instances": [ + { + "height": 0.052000000000000074, + "id": "bbox_1769223240097_1769224180545_4ooq269cq", + "width": 0.040000002441406446, + "x": 0.39781820055042727, + "y": 0.5002007649739583 + } + ], + "type": "bbox" + }, + "bbox_1769223240441": { + "instances": [ + { + "height": 0.1013333333333333, + "id": "bbox_1769223240441_1769224194985_gr3fddrup", + "width": 0.044000002685547025, + "x": 0.5468182096446661, + "y": 0.366867431640625 + } + ], + "type": "bbox" + }, + "point_1769223241930": { + "instances": [ + { + "id": "point_1769223241930_1769224171721_mpfcp35xf", + "x": 0.21581818944202819, + "y": 0.18420076497395835 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达广口瓶盖正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取广口瓶盖。", + "time": 1.2698522387005564 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降，调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1769223240097": { + "instances": [ + { + "height": 0.05600000000000005, + "id": "bbox_1769223240097_1769224255729_y2fbjaw4h", + "width": 0.03800000231933613, + "x": 0.4008182007335327, + "y": 0.4962007649739583 + } + ], + "type": "bbox" + }, + "bbox_1769223240441": { + "instances": [ + { + "height": 0.10266666666666661, + "id": "bbox_1769223240441_1769224221841_y8ft89zfq", + "width": 0.04600000280761733, + "x": 0.5478182097057013, + "y": 0.3642007649739583 + } + ], + "type": "bbox" + }, + "point_1769223241689": { + "instances": [ + { + "id": "point_1769223241689_1769224207937_pd7zt2d2o", + "x": 0.26581819249378613, + "y": 0.27086743164062504 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，直到垂直于桌面，继续向爪夹方向的右前方移动直至广口瓶盖正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上成功接近广口瓶盖，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 62, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近广口瓶盖，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与广口瓶盖的水平距离略微缩短。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹继续调整爪夹角度，直到垂直于桌面，继续向爪夹方向的右前方移动直至广口瓶盖正上方。", + "time": 2.052933 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动并下降，爪夹继续调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1769223240097": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1769223240097_1769224271153_1h7jjk6ca", + "width": 0.040000002441406446, + "x": 0.39781820055042727, + "y": 0.4962007649739583 + } + ], + "type": "bbox" + }, + "bbox_1769223240441": { + "instances": [ + { + "height": 0.10399999999999997, + "id": "bbox_1769223240441_1769224285297_xzivfheys", + "width": 0.04600000280761733, + "x": 0.5468182096446661, + "y": 0.362867431640625 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，直至垂直于桌面，爪夹向爪夹方向的前方移动，直至广口瓶盖的正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动在水平方向上成功接近 ，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 78, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近广口瓶盖并开始调整夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹继续调整爪夹角度，直至垂直于桌面，爪夹向爪夹方向的前方移动，直至广口瓶盖的正上方。", + "time": 2.610666 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "annotations": { + "bbox_1769223240097": { + "instances": [ + { + "height": 0.05599999999999999, + "id": "bbox_1769223240097_1769224326817_99oyokjgv", + "width": 0.040000002441406404, + "x": 0.39781820055042727, + "y": 0.49486743164062497 + } + ], + "type": "bbox" + }, + "bbox_1769223240441": { + "instances": [ + { + "height": 0.10399999999999997, + "id": "bbox_1769223240441_1769224312425_rdyn8j44z", + "width": 0.04500000274658209, + "x": 0.5468182096446662, + "y": 0.362867431640625 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹先爪夹方向的前方移动至广口瓶盖正上方，已调整爪夹角度为垂直，方便机取广口瓶盖。", + "frame": 103, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于广口瓶盖的正上方，已接近广口瓶盖，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，处于广口瓶盖的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 3.429466 + }, + { + "action_description": "爪夹略微下降，后合拢抓取广口瓶盖。", + "annotations": { + "bbox_1769223240097": { + "instances": [ + { + "height": 0.04933333333333341, + "id": "bbox_1769223240097_1769224347625_ekme6supx", + "width": 0.0390000023803712, + "x": 0.3968182004893921, + "y": 0.4975340983072917 + } + ], + "type": "bbox" + }, + "bbox_1769223240441": { + "instances": [ + { + "height": 0.10266666666666667, + "id": "bbox_1769223240441_1769224360457_l4asfcfox", + "width": 0.04500000274658218, + "x": 0.5468182096446661, + "y": 0.3642007649739583 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取广口瓶盖上升，然后向爪夹方向的右前方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹在广口瓶盖的正上方竖直下降，成功抓取到广口瓶盖。", + "frame": 131, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到广口瓶盖，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，广口瓶盖已被爪夹抓取。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓取广口瓶盖上升，然后向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 4.36978564494015 + }, + { + "action_description": "爪夹抓住广口瓶盖上升，然后向爪夹方向的右前方略微移动。", + "annotations": { + "bbox_1769223240441": { + "instances": [ + { + "height": 0.10266666666666667, + "id": "bbox_1769223240441_1769224478650_60y250gdw", + "width": 0.04500000274658218, + "x": 0.5458182095836309, + "y": 0.36686743164062496 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住广口瓶盖向爪夹方向的右前方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧广口瓶盖向爪夹方向的右前方移动，成功在水平方向上接近广口瓶。", + "frame": 178, + "progress": 50, + "progress_explanation": "当前爪夹已抓住广口瓶盖，并在水平方向上逐渐接近广口瓶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在水平方向上略微接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 5.9452 + }, + { + "action_description": "爪夹抓住广口瓶盖向爪夹方向的右前方移动。", + "annotations": { + "bbox_1769223240441": { + "instances": [ + { + "height": 0.10266666666666667, + "id": "bbox_1769223240441_1769224465257_mb2iawuej", + "width": 0.04600000280761733, + "x": 0.5478182097057013, + "y": 0.3642007649739583 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住广口瓶盖向爪夹方向的右前方略微移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住广口瓶盖向爪夹方向的右前方移动，在水平方向上接近广口瓶。", + "frame": 206, + "progress": 60, + "progress_explanation": "当前爪夹抓住广口瓶盖在水平方向上接近广口瓶，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在水平方向上接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖向爪夹方向的右前方略微移动，直至广口瓶的正上方。", + "time": 6.853467229457415 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并下降。", + "annotations": { + "bbox_1769223240097": { + "instances": [ + { + "height": 0.04799999999999998, + "id": "bbox_1769223240097_1769224440321_48c2r77xp", + "width": 0.04500000274658218, + "x": 0.552818210010877, + "y": 0.33886743164062505 + } + ], + "type": "bbox" + }, + "bbox_1769223240441": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1769223240441_1769224453609_mncrmnojs", + "width": 0.04500000274658218, + "x": 0.5468182096446661, + "y": 0.3735340983072917 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住广口瓶盖下降，将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至广口瓶的正上方。", + "frame": 245, + "progress": 80, + "progress_explanation": "当前爪夹抓住广口瓶盖处于广口瓶的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖处于广口瓶的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖下降，将广口瓶盖放入广口瓶中，爪夹张开。", + "time": 8.15763891261917 + }, + { + "action_description": "爪夹抓住广口瓶盖下降。", + "annotations": { + "bbox_1769223240441": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1769223240441_1769224422825_hp3vdo9ym", + "width": 0.044000002685547025, + "x": 0.5468182096446661, + "y": 0.3735340983072917 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，将广口瓶盖放入广口瓶中。", + "error_success_analysis": "爪夹抓住广口瓶盖下降，广口瓶盖已被放入广口瓶中。", + "frame": 281, + "progress": 90, + "progress_explanation": "爪夹抓住广口瓶盖下降，广口瓶盖放入广口瓶中，因此进度提升为90%。", + "state_description": "当前状态为爪夹合拢，广口瓶盖已被放入广口瓶中。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹张开，将广口瓶盖放入广口瓶中。", + "time": 9.35582311160263 + }, + { + "action_description": "爪夹张开，广口瓶盖放入广口瓶中。", + "annotations": { + "bbox_1769223240097": { + "instances": [ + { + "height": 0.051999999999999956, + "id": "bbox_1769223240097_1769224403769_34daj6ixh", + "width": 0.040000002441406404, + "x": 0.5508182098888067, + "y": 0.3535340983072917 + } + ], + "type": "bbox" + }, + "bbox_1769223240441": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1769223240441_1769224415529_0v9m1su02", + "width": 0.04200000256347671, + "x": 0.5478182097057013, + "y": 0.37486743164062497 + } + ], + "type": "bbox" + }, + "point_1769223241689": { + "instances": [ + { + "id": "point_1769223241689_1769224394945_fb9gjqmf5", + "x": 0.5258182083629277, + "y": 0.32553409830729163 + } + ], + "type": "point" + }, + "point_1769223241930": { + "instances": [ + { + "id": "point_1769223241930_1769224397697_bnb73jb3k", + "x": 0.5858182120250374, + "y": 0.35220076497395836 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，广口瓶盖已被放入广口瓶中。", + "frame": 306, + "progress": 100, + "progress_explanation": "当前爪夹张开，广口瓶盖放入广口瓶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，广口瓶盖已被放入广口瓶中。\n已完成抓起广口瓶盖使其放入广口瓶中的任务。", + "time": 10.196166504860349 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769223240097", + "name": "广口瓶盖" + }, + { + "color": "#FF9800", + "id": "bbox_1769223240441", + "name": "广口瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769223241689", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769223241930", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-112125-put-wide-mouth bottle cap-wide-mouth bottle-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-112125-put-wide-mouth bottle cap-wide-mouth bottle-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..c6c1d1b894101524911e13479358fd1ed4225cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-112125-put-wide-mouth bottle cap-wide-mouth bottle-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,498 @@ +{ + "task_description": "抓起广口瓶盖使其放入广口瓶中:\n开始移动:0%\n爪夹靠近广口瓶盖:20%\n爪夹抓取广口瓶盖:40%\n爪夹抓住广口瓶盖接近广口瓶:60%\n爪夹抓住广口瓶盖在广口瓶正上方:80%\n爪夹松开，将广口瓶盖放入广口瓶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1769395293288": { + "instances": [ + { + "height": 0.051999999999999956, + "id": "bbox_1769395293288_1769408873178_2v826g670", + "width": 0.040000002441406404, + "x": 0.6508182159923227, + "y": 0.5202007649739584 + } + ], + "type": "bbox" + }, + "bbox_1769395293488": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1769395293488_1769408879307_kqh4e5kw0", + "width": 0.061000003723144756, + "x": 0.7118182197154674, + "y": 0.3722007649739583 + } + ], + "type": "bbox" + }, + "point_1769395294360": { + "instances": [ + { + "id": "point_1769395294360_1769408861891_5zeuplalh", + "x": 0.3308181964610716, + "y": 0.546867431640625 + } + ], + "type": "point" + }, + "point_1769395294640": { + "instances": [ + { + "id": "point_1769395294640_1769408864835_rzim90e3l", + "x": 0.4668182047618533, + "y": 0.5242007649739583 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达广口瓶盖正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取广口瓶盖。", + "time": 1.4254295362569303 + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的右前方移动，调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1769395293288": { + "instances": [ + { + "height": 0.05333333333333326, + "id": "bbox_1769395293288_1769408895499_5hzoqpe4e", + "width": 0.041000002502441554, + "x": 0.6498182159312875, + "y": 0.5202007649739584 + } + ], + "type": "bbox" + }, + "bbox_1769395293488": { + "instances": [ + { + "height": 0.08666666666666666, + "id": "bbox_1769395293488_1769408903331_2kzifmcx0", + "width": 0.061000003723144756, + "x": 0.7118182197154674, + "y": 0.37486743164062497 + } + ], + "type": "bbox" + }, + "point_1769395294640": { + "instances": [ + { + "id": "point_1769395294640_1769408886618_n42z83j4b", + "x": 0.5608182104991584, + "y": 0.44286743164062503 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，直到垂直于桌面，继续向爪夹方向的右侧移动直至广口瓶盖正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上成功接近广口瓶盖，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 66, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近广口瓶盖，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与广口瓶盖的水平距离略微缩短。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹继续调整爪夹角度，直到垂直于桌面，继续向爪夹方向的右侧移动直至广口瓶盖正上方。", + "time": 2.2143 + }, + { + "action_description": "爪夹继续向爪夹方向的右侧移动并下降，爪夹继续调整爪夹角度，使其垂直于桌面。", + "annotations": { + "point_1769395294640": { + "instances": [ + { + "id": "point_1769395294640_1769408925922_pdhw2ial7", + "x": 0.7968182249034561, + "y": 0.5162007649739583 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，直至垂直于桌面，爪夹向爪夹方向的前方略微移动，直至广口瓶盖的正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右侧移动在水平方向上成功接近 ，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 92, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近广口瓶盖并开始调整夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹继续调整爪夹角度，直至垂直于桌面，爪夹向爪夹方向的前方略微移动，直至广口瓶盖的正上方。", + "time": 3.064233 + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动并下降。", + "correction_plan": "爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹先爪夹方向的前方移动至广口瓶盖正上方，已调整爪夹角度为垂直，方便机取广口瓶盖。", + "frame": 114, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于广口瓶盖的正上方，已接近广口瓶盖，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，处于广口瓶盖的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 3.8004469032255446 + }, + { + "action_description": "爪夹竖直下降。", + "annotations": { + "bbox_1769395293488": { + "instances": [ + { + "height": 0.07600000000000004, + "id": "bbox_1769395293488_1769408944474_7zrpepszg", + "width": 0.041000002502441554, + "x": 0.7328182209972058, + "y": 0.3722007649739583 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方。", + "error_success_analysis": "爪夹竖直下降，爪夹左右接触桌面。", + "frame": 146, + "progress": 30, + "progress_explanation": "当前爪夹竖直下降，爪夹左右接触桌面，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹左右接触桌面。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹合拢抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 4.875933 + }, + { + "action_description": "爪夹合拢，抓取到广口瓶盖。", + "annotations": { + "bbox_1769395293488": { + "instances": [ + { + "height": 0.08533333333333334, + "id": "bbox_1769395293488_1769408959771_yq6yqepzg", + "width": 0.05600000341796898, + "x": 0.7168182200206432, + "y": 0.37486743164062497 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取广口瓶盖上升，然后向爪夹方向的右前方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹在广口瓶盖的正上方竖直下降，成功抓取到广口瓶盖。", + "frame": 175, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到广口瓶盖，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，广口瓶盖已被爪夹抓取。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓取广口瓶盖上升，然后向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 5.829587954616206 + }, + { + "action_description": "爪夹抓住广口瓶盖略微上升。", + "annotations": { + "bbox_1769395293488": { + "instances": [ + { + "height": 0.0706666666666667, + "id": "bbox_1769395293488_1769408968562_5nbd3hpih", + "width": 0.041000002502441554, + "x": 0.7358182211803113, + "y": 0.37486743164062497 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹抓住广口瓶盖向爪夹方向的右前方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "frame": 213, + "progress": 45, + "progress_explanation": "当前爪夹已抓住广口瓶盖，并在垂直方向上逐渐接近广口瓶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在垂直方向上略微接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 7.114594696494369 + }, + { + "action_description": "爪夹抓住广口瓶盖下降。", + "annotations": { + "bbox_1769395293488": { + "instances": [ + { + "height": 0.08799999999999995, + "id": "bbox_1769395293488_1769408981139_ju1rglngk", + "width": 0.05100000311279311, + "x": 0.7228182203868543, + "y": 0.3735340983072917 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取广口瓶盖上升，然后向爪夹方向的右前方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住广口瓶盖下降至桌面。", + "frame": 269, + "progress": 40, + "progress_explanation": "当前爪夹抓住广口瓶盖下降至桌面，因此进度下降至40%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在桌面上。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓取广口瓶盖上升，然后向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 8.969033 + }, + { + "action_description": "爪夹张开并抬升，向爪夹方向的后方略微移动。", + "annotations": { + "bbox_1769395293288": { + "instances": [ + { + "height": 0.05333333333333326, + "id": "bbox_1769395293288_1769409002042_84a2lhs9a", + "width": 0.041000002502441554, + "x": 0.6158182138560921, + "y": 0.5922007649739583 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹调整爪夹方向，直至垂直于桌面，爪夹向爪夹方向的左后方移动，直至广口瓶盖的正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹张开并抬升，向爪夹方向的后方略微移动，在垂直方向上远离了广口瓶盖。", + "frame": 311, + "progress": 15, + "progress_explanation": "当前爪夹张开，爪夹在垂直方向上远离了广口瓶盖，因此进度下降至15%。", + "state_description": "当前爪夹张开，爪夹在垂直方向上远离了广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹调整爪夹方向，直至垂直于桌面，爪夹向爪夹方向的左后方移动，直至广口瓶盖的正上方。", + "time": 10.378133 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动并下降，爪夹调整爪夹方向，直至垂直于桌面。", + "annotations": { + "bbox_1769395293488": { + "instances": [ + { + "height": 0.08133333333333338, + "id": "bbox_1769395293488_1769409027674_hsv7t1aia", + "width": 0.0600000036621096, + "x": 0.7138182198375378, + "y": 0.37486743164062497 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动在水平方向上成功接近 ，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 346, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于广口瓶盖的正上方，已接近广口瓶盖，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，处于广口瓶盖的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 11.518833 + }, + { + "action_description": "爪夹竖直下降。", + "annotations": { + "bbox_1769395293488": { + "instances": [ + { + "height": 0.08266666666666668, + "id": "bbox_1769395293488_1769409042706_08j2bks0f", + "width": 0.06200000378417991, + "x": 0.7128182197765026, + "y": 0.37486743164062497 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方。", + "error_success_analysis": "爪夹竖直下降，爪夹左右接触桌面。", + "frame": 377, + "progress": 30, + "progress_explanation": "当前爪夹竖直下降，爪夹左右接触桌面，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹左右接触桌面。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹合拢抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 12.570066 + }, + { + "action_description": "爪夹合拢，抓取广口瓶盖。", + "annotations": { + "bbox_1769395293488": { + "instances": [ + { + "height": 0.08666666666666671, + "id": "bbox_1769395293488_1769409079338_u7tcth2me", + "width": 0.060000003662109516, + "x": 0.7128182197765026, + "y": 0.3735340983072917 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取广口瓶盖上升，然后向爪夹方向的右前方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹在广口瓶盖的正上方竖直下降，成功抓取到广口瓶盖。", + "frame": 407, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到广口瓶盖，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，广口瓶盖已被爪夹抓取。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓取广口瓶盖上升，然后向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 13.577217423562365 + }, + { + "action_description": "爪夹抓住广口瓶盖上升，然后向爪夹方向的右前方略微移动。", + "annotations": { + "bbox_1769395293488": { + "instances": [ + { + "height": 0.07066666666666664, + "id": "bbox_1769395293488_1769409106450_7zmrifza9", + "width": 0.04200000256347671, + "x": 0.7318182209361707, + "y": 0.3735340983072917 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住广口瓶盖向爪夹方向的右前方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧广口瓶盖向爪夹方向的右前方移动，成功在水平方向上接近广口瓶。", + "frame": 435, + "progress": 50, + "progress_explanation": "当前爪夹已抓住广口瓶盖，并在水平方向上逐渐接近广口瓶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在水平方向上略微接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 14.4936 + }, + { + "action_description": "爪夹抓住广口瓶盖上升，向爪夹方向的右前方移动并下降。", + "correction_plan": "爪夹向爪夹方向的右前方略微移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住广口瓶盖向爪夹方向的右前方移动，在水平方向上接近广口瓶。", + "frame": 464, + "progress": 60, + "progress_explanation": "当前爪夹抓住广口瓶盖在水平方向上接近广口瓶，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在水平方向上接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹向爪夹方向的右前方略微移动，直至广口瓶的正上方。", + "time": 15.482862467260874 + }, + { + "action_description": "爪夹抓住广口瓶盖向爪夹方向的右前方移动并下降。", + "annotations": { + "bbox_1769395293488": { + "instances": [ + { + "height": 0.08799999999999995, + "id": "bbox_1769395293488_1769409117586_v61t81sh", + "width": 0.05900000360107445, + "x": 0.7158182199596081, + "y": 0.3735340983072917 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方略微移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住广口瓶盖向爪夹方向的右前方移动，在水平方向上更接近广口瓶。", + "frame": 497, + "progress": 70, + "progress_explanation": "当前爪夹抓住广口瓶盖在水平方向上更接近广口瓶，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在水平方向上更接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹向爪夹方向的右侧略微移动，直至广口瓶的正上方。", + "time": 16.579826407248994 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并略微下降。爪夹向爪夹方向的右侧略微调整，后略微上升。", + "annotations": { + "bbox_1769395293488": { + "instances": [ + { + "height": 0.092, + "id": "bbox_1769395293488_1769409136794_5bkpbvw25", + "width": 0.04500000274658218, + "x": 0.7158182199596081, + "y": 0.36820076497395837 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住广口瓶盖下降，将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右侧略微移动，并略微下降。爪夹向爪夹方向的右侧略微调整，至广口瓶的正上方。", + "frame": 568, + "progress": 80, + "progress_explanation": "当前爪夹抓住广口瓶盖处于广口瓶的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖处于广口瓶的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖下降，将广口瓶盖放入广口瓶中，爪夹张开。", + "time": 18.930463421509245 + }, + { + "action_description": "爪夹抓住广口瓶盖下降。", + "annotations": { + "bbox_1769395293488": { + "instances": [ + { + "height": 0.08000000000000002, + "id": "bbox_1769395293488_1769409144371_45r2mwgav", + "width": 0.04200000256347671, + "x": 0.7188182201427136, + "y": 0.3802007649739583 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，将广口瓶盖放入广口瓶中。", + "error_success_analysis": "爪夹抓住广口瓶盖下降，广口瓶盖已被放入广口瓶中。", + "frame": 587, + "progress": 90, + "progress_explanation": "爪夹抓住广口瓶盖下降，广口瓶盖放入广口瓶中，因此进度提升为90%。", + "state_description": "当前状态为爪夹合拢，广口瓶盖已被放入广口瓶中。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹张开，将广口瓶盖放入广口瓶中。", + "time": 19.557299958645313 + }, + { + "action_description": "爪夹张开，广口瓶盖放入广口瓶中。", + "annotations": { + "bbox_1769395293288": { + "instances": [ + { + "height": 0.05200000000000002, + "id": "bbox_1769395293288_1769409156843_93pdbhnc1", + "width": 0.041000002502441554, + "x": 0.7368182212413464, + "y": 0.36820076497395837 + } + ], + "type": "bbox" + }, + "bbox_1769395293488": { + "instances": [ + { + "height": 0.0933333333333333, + "id": "bbox_1769395293488_1769409170634_ua5aux1so", + "width": 0.06600000402832054, + "x": 0.7128182197765026, + "y": 0.36820076497395837 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，广口瓶盖已被放入广口瓶中。", + "frame": 627, + "progress": 100, + "progress_explanation": "当前爪夹张开，广口瓶盖放入广口瓶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，广口瓶盖已被放入广口瓶中。\n已完成抓起广口瓶盖使其放入广口瓶中的任务。", + "time": 20.88673689277645 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769395293288", + "name": "广口瓶盖" + }, + { + "color": "#FF9800", + "id": "bbox_1769395293488", + "name": "广口瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769395294360", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769395294640", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-112125-put-wide-mouth bottle cap-wide-mouth bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-112125-put-wide-mouth bottle cap-wide-mouth bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..5451bf73916039b859632e4fddfab1895db6c86b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-112125-put-wide-mouth bottle cap-wide-mouth bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,666 @@ +{ + "task_description": "抓起广口瓶盖使其放入广口瓶中:\n开始移动:0%\n爪夹靠近广口瓶盖:20%\n爪夹抓取广口瓶盖:40%\n爪夹抓住广口瓶盖接近广口瓶:60%\n爪夹抓住广口瓶盖在广口瓶正上方:80%\n爪夹松开，将广口瓶盖放入广口瓶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769412979270_na8qlk5cm", + "x": 0.39081820012318114, + "y": 0.510867431640625 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769412976862_z5kcpxytw", + "x": 0.6258182144664437, + "y": 0.5042007649739584 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达广口瓶盖正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的左侧移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取广口瓶盖。", + "time": 1.4014607193728341 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降，调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1769409237267": { + "instances": [ + { + "height": 0.05999999999999996, + "id": "bbox_1769409237267_1769413000271_2b97rfyvs", + "width": 0.044000002685547025, + "x": 0.6488182158702525, + "y": 0.350867431640625 + } + ], + "type": "bbox" + }, + "bbox_1769409237498": { + "instances": [ + { + "height": 0.06933333333333333, + "id": "bbox_1769409237498_1769413021518_qo4qrfjp9", + "width": 0.053000003234863424, + "x": 0.5458182095836309, + "y": 0.45220076497395834 + } + ], + "type": "bbox" + }, + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769412992279_w2caapaxl", + "x": 0.3918182001842163, + "y": 0.510867431640625 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769412989823_7zuya9ic9", + "x": 0.6268182145274789, + "y": 0.5162007649739583 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，直到垂直于桌面，继续向爪夹方向的右前方移动直至广口瓶盖正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的左侧移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上成功接近广口瓶盖，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 83, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近广口瓶盖，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与广口瓶盖的水平距离略微缩短。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹继续调整爪夹角度，直到垂直于桌面，继续向爪夹方向的右前方移动直至广口瓶盖正上方。", + "time": 2.752511730561418 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动并下降，爪夹继续调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1769409237267": { + "instances": [ + { + "height": 0.136, + "id": "bbox_1769409237267_1769413038182_wkx0xyj0b", + "width": 0.10900000665283231, + "x": 0.4418182032359744, + "y": 0.4575340983072917 + } + ], + "type": "bbox" + }, + "bbox_1769409237498": { + "instances": [ + { + "height": 0.22266666666666665, + "id": "bbox_1769409237498_1769413053326_0vy1v85m6", + "width": 0.12500000762939498, + "x": 0.283818193592419, + "y": 0.6695340983072917 + } + ], + "type": "bbox" + }, + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769413044302_dfft01uvg", + "x": 0.3938182003062866, + "y": 0.514867431640625 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769413046695_qumi35pxn", + "x": 0.6268182145274789, + "y": 0.5095340983072917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的左后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹先爪夹方向的前方移动至广口瓶盖正上方，已调整爪夹角度为垂直，方便机取广口瓶盖。", + "frame": 120, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于广口瓶盖的正上方，已接近广口瓶盖，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，处于广口瓶盖的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的左后方移动，直至广口瓶的正上方。", + "time": 3.9887728166765277 + }, + { + "action_description": "爪夹略微向爪夹方向的后方移动并下降，后合拢。", + "annotations": { + "bbox_1769409237267": { + "instances": [ + { + "height": 0.17466666666666666, + "id": "bbox_1769409237267_1769413083462_jmh9yu5lp", + "width": 0.13500000823974662, + "x": 0.45181820384632587, + "y": 0.35220076497395836 + } + ], + "type": "bbox" + }, + "bbox_1769409237498": { + "instances": [ + { + "height": 0.24799999999999991, + "id": "bbox_1769409237498_1769413064839_zz4zsbiuh", + "width": 0.14500000885009814, + "x": 0.2668181925548213, + "y": 0.6215340983072917 + } + ], + "type": "bbox" + }, + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769413094614_fjq96ckd3", + "x": 0.5008182068370488, + "y": 0.514867431640625 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769413096678_51vk06axg", + "x": 0.5168182078136112, + "y": 0.5162007649739583 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开并抬起，向爪夹方向的前方略微移动，直至广口瓶的正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的左后方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。", + "frame": 168, + "progress": -20, + "progress_explanation": "当前爪夹合拢，爪夹需要多一次张开爪夹的动作才能接近广口瓶盖，因此进度下降为-20%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹已经进行空抓动作。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹张开并抬起，向爪夹方向的前方略微移动，直至广口瓶的正上方。", + "time": 5.616133 + }, + { + "action_description": "爪夹张开，向爪夹方向的右前方移动并抬升。", + "annotations": { + "bbox_1769409237267": { + "instances": [ + { + "height": 0.08399999999999992, + "id": "bbox_1769409237267_1769413109534_tvaq9m6kb", + "width": 0.06300000384521506, + "x": 0.43181820262562265, + "y": 0.5175340983072917 + } + ], + "type": "bbox" + }, + "bbox_1769409237498": { + "instances": [ + { + "height": 0.12133333333333347, + "id": "bbox_1769409237498_1769413118423_dnk5gwvrk", + "width": 0.0680000041503909, + "x": 0.32381819603382545, + "y": 0.6708674316406249 + } + ], + "type": "bbox" + }, + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769413102654_rwgyp6wxi", + "x": 0.3948182003673218, + "y": 0.5122007649739584 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769413100054_14igvvxxd", + "x": 0.6268182145274789, + "y": 0.5095340983072917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左后方略微移动，直至广口瓶盖的正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的左后方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹张开，向爪夹方向的右前方移动并抬升。", + "frame": 229, + "progress": 15, + "progress_explanation": "当前爪夹张开，爪夹可以接近广口瓶盖，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，广口瓶盖在爪夹方向的左后方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹向爪夹方向的左后方略微移动，直至广口瓶盖的正上方。", + "time": 7.635633 + }, + { + "action_description": "爪夹向爪夹方向的左后方略微移动并下降。", + "annotations": { + "bbox_1769409237267": { + "instances": [ + { + "height": 0.1373333333333333, + "id": "bbox_1769409237267_1769413168862_2ko0x9vag", + "width": 0.11200000683593796, + "x": 0.4398182031139039, + "y": 0.46820076497395835 + } + ], + "type": "bbox" + }, + "bbox_1769409237498": { + "instances": [ + { + "height": 0.21600000000000003, + "id": "bbox_1769409237498_1769413136046_6tk1yjq0f", + "width": 0.1200000073242192, + "x": 0.27381819298206744, + "y": 0.6815340983072917 + } + ], + "type": "bbox" + }, + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769413143238_dw4is5bb9", + "x": 0.3938182003062866, + "y": 0.5082007649739583 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769413161327_mtgfz0d0c", + "x": 0.6238182143443735, + "y": 0.5135340983072917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的左后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹先爪夹方向的左后方略微移动至广口瓶盖正上方。", + "frame": 276, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于广口瓶盖的正上方，已接近广口瓶盖，因此进度提升为20%。", + "state_description": "当前爪夹张开，处于广口瓶盖的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的左后方移动，直至广口瓶的正上方。", + "time": 9.193533 + }, + { + "action_description": "爪夹略微下降，后合拢抓取广口瓶盖。", + "annotations": { + "bbox_1769409237267": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1769409237267_1769413194222_76hsgka64", + "width": 0.11300000689697312, + "x": 0.45281820390736105, + "y": 0.466867431640625 + } + ], + "type": "bbox" + }, + "bbox_1769409237498": { + "instances": [ + { + "height": 0.26400000000000007, + "id": "bbox_1769409237498_1769413198190_ons3tnzhp", + "width": 0.14200000866699272, + "x": 0.26981819273792673, + "y": 0.6375340983072917 + } + ], + "type": "bbox" + }, + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769413184150_7xwjw88jd", + "x": 0.44981820372425557, + "y": 0.5042007649739584 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769413186223_equ7a0vce", + "x": 0.5658182108043341, + "y": 0.506867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取广口瓶盖上升，然后向爪夹方向的左后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹在广口瓶盖的正上方竖直下降，成功抓取到广口瓶盖。", + "frame": 297, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到广口瓶盖，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，广口瓶盖已被爪夹抓取。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓取广口瓶盖上升，然后向爪夹方向的左后方移动，直至广口瓶的正上方。", + "time": 9.891078538650579 + }, + { + "action_description": "爪夹抓住广口瓶盖上升，然后向爪夹方向的左后方略微移动。", + "annotations": { + "bbox_1769409237267": { + "instances": [ + { + "height": 0.13999999999999999, + "id": "bbox_1769409237267_1769413220998_kj66y2dho", + "width": 0.10900000665283241, + "x": 0.4558182040904666, + "y": 0.470867431640625 + } + ], + "type": "bbox" + }, + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769413211374_phck9qi2b", + "x": 0.45381820396839617, + "y": 0.5042007649739584 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769413214142_w4ksviaqi", + "x": 0.5678182109264045, + "y": 0.506867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住广口瓶盖向爪夹方向的左后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧广口瓶盖向爪夹方向的左后方略微移动，成功在水平方向上接近广口瓶。", + "frame": 357, + "progress": 50, + "progress_explanation": "当前爪夹已抓住广口瓶盖，并在水平方向上逐渐接近广口瓶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在水平方向上略微接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖向爪夹方向的左后方移动，直至广口瓶的正上方。", + "time": 11.912416114669089 + }, + { + "action_description": "爪夹抓住广口瓶盖向爪夹方向的左后方略微移动，爪夹向爪夹方向的左侧略微调整。", + "annotations": { + "bbox_1769409237267": { + "instances": [ + { + "height": 0.1373333333333333, + "id": "bbox_1769409237267_1769413237134_kmlla5fcu", + "width": 0.11200000683593796, + "x": 0.4508182037852907, + "y": 0.4735340983072917 + } + ], + "type": "bbox" + }, + "bbox_1769409237498": { + "instances": [ + { + "height": 0.10800000000000001, + "id": "bbox_1769409237498_1769413245670_zo5p915b8", + "width": 0.08300000506591827, + "x": 0.4448182034190798, + "y": 0.36820076497395837 + } + ], + "type": "bbox" + }, + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769413228199_c27l1hx7g", + "x": 0.4508182037852907, + "y": 0.5055340983072917 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769413230486_w1xgcu37o", + "x": 0.5668182108653693, + "y": 0.5015340983072917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住广口瓶盖向爪夹方向的右前方略微移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住广口瓶盖向爪夹方向的左后方略微移动，在水平方向上接近广口瓶。", + "frame": 375, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住广口瓶盖在水平方向上接近广口瓶，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在水平方向上接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖向爪夹方向的右前方略微移动，直至广口瓶的正上方。", + "time": 12.505341803634519 + }, + { + "action_description": "爪夹抓住广口瓶盖向爪夹方向的前方略微移动，后左右晃动，向爪夹方向的右侧略微移动，并下降。", + "annotations": { + "bbox_1769409237267": { + "instances": [ + { + "height": 0.14266666666666664, + "id": "bbox_1769409237267_1769413265110_fixch1q2s", + "width": 0.11200000683593796, + "x": 0.45381820396839617, + "y": 0.46953409830729165 + } + ], + "type": "bbox" + }, + "bbox_1769409237498": { + "instances": [ + { + "height": 0.16133333333333333, + "id": "bbox_1769409237498_1769413269974_medq4vk0j", + "width": 0.11000000671386756, + "x": 0.42281820207630627, + "y": 0.3855340983072917 + } + ], + "type": "bbox" + }, + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769413256806_djwvzhhha", + "x": 0.45481820402943135, + "y": 0.5055340983072917 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769413259150_ollh1ietm", + "x": 0.5668182108653693, + "y": 0.4975340983072917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住广口瓶盖向爪夹方向的左侧略微移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住广口瓶盖向爪夹方向的前方略微移动，后左右晃动，向爪夹方向的右侧略微移动后，在水平方向上更接近广口瓶。", + "frame": 419, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住广口瓶盖在水平方向上更接近广口瓶，因此进度提升为70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在水平方向上更接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖向爪夹方向的左侧略微移动，直至广口瓶的正上方。", + "time": 13.960704858367844 + }, + { + "action_description": "爪夹抓住广口瓶盖向爪夹方向的左侧略微移动并下降。", + "annotations": { + "bbox_1769409237267": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1769409237267_1769413293334_olycdalv9", + "width": 0.10800000659179725, + "x": 0.4538182039683963, + "y": 0.4722007649739583 + } + ], + "type": "bbox" + }, + "bbox_1769409237498": { + "instances": [ + { + "height": 0.2213333333333333, + "id": "bbox_1769409237498_1769413304206_veddxfmxd", + "width": 0.1200000073242192, + "x": 0.45181820384632587, + "y": 0.3895340983072917 + } + ], + "type": "bbox" + }, + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769413284390_fog7x9e0o", + "x": 0.45181820384632587, + "y": 0.5002007649739583 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769413287094_w5k1ytm9p", + "x": 0.5658182108043341, + "y": 0.502867431640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住广口瓶盖下降，将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左侧略微移动至广口瓶的正上方。", + "frame": 475, + "progress": 80, + "progress_explanation": "当前爪夹抓住广口瓶盖处于广口瓶的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖处于广口瓶的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖下降，将广口瓶盖放入广口瓶中，爪夹张开。", + "time": 15.847286595985123 + }, + { + "action_description": "爪夹抓住广口瓶盖下降，广口瓶盖放入广口瓶中，爪夹张开。", + "annotations": { + "bbox_1769409237267": { + "instances": [ + { + "height": 0.13066666666666674, + "id": "bbox_1769409237267_1769413322454_xr7joiuu6", + "width": 0.10600000646972693, + "x": 0.44981820372425557, + "y": 0.47353409830729165 + } + ], + "type": "bbox" + }, + "bbox_1769409237498": { + "instances": [ + { + "height": 0.1946666666666667, + "id": "bbox_1769409237498_1769413335333_w1sfvkesy", + "width": 0.11600000708007858, + "x": 0.45181820384632587, + "y": 0.40820076497395835 + } + ], + "type": "bbox" + }, + "point_1769409238226": { + "instances": [ + { + "id": "point_1769409238226_1769413314646_zmsvcgomu", + "x": 0.3998182006724976, + "y": 0.5122007649739584 + } + ], + "type": "point" + }, + "point_1769409238474": { + "instances": [ + { + "id": "point_1769409238474_1769413317094_auivlojsy", + "x": 0.6168182139171272, + "y": 0.5095340983072917 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，广口瓶盖已被放入广口瓶中。", + "frame": 488, + "progress": 100, + "progress_explanation": "当前爪夹张开，广口瓶盖放入广口瓶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，广口瓶盖已被放入广口瓶中。\n已完成抓起广口瓶盖使其放入广口瓶中的任务。", + "time": 16.278505278869073 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769409237267", + "name": "广口瓶盖" + }, + { + "color": "#FF9800", + "id": "bbox_1769409237498", + "name": "广口瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769409238226", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769409238474", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-134330-put-wide-mouth bottle cap-wide-mouth bottle-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-134330-put-wide-mouth bottle cap-wide-mouth bottle-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..40fc620d084bafe7649f0f501b3b3a3f4a8c94f9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-134330-put-wide-mouth bottle cap-wide-mouth bottle-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,770 @@ +{ + "task_description": "抓起广口瓶盖使其放入广口瓶中:\n开始移动:0%\n爪夹靠近广口瓶盖:20%\n爪夹抓取广口瓶盖:40%\n爪夹抓住广口瓶盖接近广口瓶:60%\n爪夹抓住广口瓶盖在广口瓶正上方:80%\n爪夹松开，将广口瓶盖放入广口瓶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达广口瓶盖正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右后移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取广口瓶盖。", + "time": 1.2577603953124998, + "annotations": { + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416387347_lyiv5edtb", + "x": 0.4158182016490602, + "y": 0.5455340983072916, + "width": 0.041000002502441554, + "height": 0.05599999999999999 + } + ] + }, + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416393339_2eiv487ae", + "x": 0.49981820677601363, + "y": 0.542867431640625, + "width": 0.048000002929687646, + "height": 0.10666666666666665 + } + ] + }, + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416397707_5n9ecgqkg", + "x": 0.333818196644177, + "y": 0.3215340983072917 + } + ] + } + } + }, + { + "action_description": "爪夹先抬升，向爪夹方向的右前方移动并下降，调整爪夹角度，使其垂直于桌面。", + "correction_plan": "爪夹继续调整爪夹角度，直到垂直于桌面，继续向爪夹方向的右前方移动直至广口瓶盖正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上成功接近广口瓶盖，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 96, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近广口瓶盖，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与广口瓶盖的水平距离略微缩短。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹继续调整爪夹角度，直到垂直于桌面，继续向爪夹方向的右前方移动直至广口瓶盖正上方。", + "time": 3.1904166125, + "annotations": { + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416406483_k03nhjyi9", + "x": 0.49881820671497845, + "y": 0.5388674316406249, + "width": 0.048000002929687646, + "height": 0.1120000000000001 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416420563_yw4x8ts4s", + "x": 0.41481820158802496, + "y": 0.546867431640625, + "width": 0.0420000025634768, + "height": 0.054666666666666565 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动并下降，爪夹继续调整爪夹角度，使其垂直于桌面。", + "correction_plan": "爪夹继续调整爪夹角度，直至垂直于桌面，爪夹向爪夹方向的右侧移动，直至广口瓶盖的正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动在水平方向上成功接近 ，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 143, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近广口瓶盖并开始调整夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹继续调整爪夹角度，直至垂直于桌面，爪夹向爪夹方向的右侧移动，直至广口瓶盖的正上方。", + "time": 4.7549478359375, + "annotations": { + "point_1769413621982": { + "type": "point", + "instances": [ + { + "id": "point_1769413621982_1769416431563_7sih2nihi", + "x": 0.3568181980479857, + "y": 0.49353409830729167 + } + ] + }, + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416433779_enjbz11ke", + "x": 0.43581820286976336, + "y": 0.5175340983072917 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416439371_rqvleb91j", + "x": 0.4168182017100953, + "y": 0.546867431640625, + "width": 0.040000002441406404, + "height": 0.054666666666666565 + } + ] + }, + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416444435_y5v77otwk", + "x": 0.4978182066539433, + "y": 0.5415340983072917, + "width": 0.05000000305175796, + "height": 0.10799999999999994 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧移动并下降。", + "correction_plan": "爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹先爪夹方向的前方移动至广口瓶盖正上方。", + "frame": 179, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于广口瓶盖的正上方，已接近广口瓶盖，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，处于广口瓶盖的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至广口瓶的正上方。", + "time": 5.951354065625, + "annotations": { + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416454715_56yx3awro", + "x": 0.4978182066539433, + "y": 0.5375340983072917, + "width": 0.05000000305175796, + "height": 0.11466666666666671 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416466483_8c80frfe1", + "x": 0.4168182017100953, + "y": 0.546867431640625, + "width": 0.040000002441406404, + "height": 0.054666666666666565 + } + ] + }, + "point_1769413621982": { + "type": "point", + "instances": [ + { + "id": "point_1769413621982_1769416468730_odpmn75bl", + "x": 0.3928182002452515, + "y": 0.5495340983072917 + } + ] + }, + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416470699_wac2azpdf", + "x": 0.4718182050670291, + "y": 0.5682007649739583 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧移动并下降。", + "correction_plan": "爪夹合拢，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动并下降后，右触碰广口瓶盖。", + "frame": 191, + "progress": 30, + "progress_explanation": "当前爪夹向爪夹方向的左侧移动并下降后，右触碰广口瓶盖，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹右触碰广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹合拢，抓取广口瓶盖后上升，向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 6.361199, + "annotations": { + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416505251_4wkxltolb", + "x": 0.43681820293079854, + "y": 0.5935340983072916 + } + ] + }, + "point_1769413621982": { + "type": "point", + "instances": [ + { + "id": "point_1769413621982_1769416507451_wcjhpmpxv", + "x": 0.35881819817005606, + "y": 0.574867431640625 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416512083_e444rc10n", + "x": 0.3968182004893921, + "y": 0.546867431640625, + "width": 0.045000002746582224, + "height": 0.05599999999999999 + } + ] + }, + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416517563_1ut71xg52", + "x": 0.49681820659290815, + "y": 0.5402007649739583, + "width": 0.05200000317382827, + "height": 0.11066666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧移动，广口瓶盖倾倒，爪夹略微抬升。", + "correction_plan": "爪夹下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动，广口瓶盖倾倒，爪夹略微抬升。", + "frame": 218, + "progress": -5, + "progress_explanation": "当前爪夹处于广口瓶盖的上方，广口瓶盖已倾倒，因此进度下降至-5%。", + "state_description": "当前状态为爪夹张开，爪夹处于广口瓶盖的上方，广口瓶盖已倾倒。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至广口瓶的正上方。", + "time": 7.2704686265625, + "annotations": { + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416525482_s7r7sseal", + "x": 0.4978182066539433, + "y": 0.5375340983072917, + "width": 0.05000000305175796, + "height": 0.11333333333333329 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416532827_46mwwvk8w", + "x": 0.3328181965831419, + "y": 0.5695340983072916, + "width": 0.03500000213623058, + "height": 0.05600000000000011 + } + ] + }, + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416545979_hqvc34snh", + "x": 0.37281819902454827, + "y": 0.5402007649739583 + } + ] + } + } + }, + { + "action_description": "爪夹合拢并抬升。", + "correction_plan": "爪夹张开，向爪夹方向的前方移动，直至广口瓶盖的正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点合拢，进行空抓。", + "frame": 250, + "progress": -20, + "progress_explanation": "当前爪夹合拢，爪夹需要多一次张开爪夹的动作才能接近广口瓶盖，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹悬空在空中已进行空抓动作。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹张开，向爪夹方向的前方移动，直至广口瓶盖的正上方。", + "time": 8.344165, + "annotations": { + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416564955_cebzet2fr", + "x": 0.49981820677601363, + "y": 0.5415340983072917, + "width": 0.048000002929687646, + "height": 0.11066666666666668 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416569779_zv7705v1j", + "x": 0.3948182003673218, + "y": 0.5962007649739584, + "width": 0.04300000262451191, + "height": 0.0586666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并张开。", + "correction_plan": "爪夹张开，向爪夹方向的后方移动，直至广口瓶盖的正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹抬升并张开，爪夹可以再次接近广口瓶盖。", + "frame": 287, + "progress": 13, + "progress_explanation": "当前爪夹张开，爪夹可以接近广口瓶盖，因此进度上升至13%。", + "state_description": "当前状态为爪夹张开，广口瓶盖在爪夹方向的后方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹张开，向爪夹方向的后方移动，直至广口瓶盖的正上方。", + "time": 9.5712498375, + "annotations": { + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416577395_a7awrrbnx", + "x": 0.4048182009776734, + "y": 0.5815340983072917, + "width": 0.040000002441406404, + "height": 0.060000000000000026 + } + ] + }, + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416585915_6e6e6wbr7", + "x": 0.49881820671497845, + "y": 0.5402007649739583, + "width": 0.048000002929687646, + "height": 0.11066666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧移动并下降。", + "correction_plan": "爪夹子昂爪夹方向的右侧移动，将广口瓶盖放正，爪夹合拢，抓取广口瓶盖，后上升，然后向爪夹方向的右后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动并下降，爪夹右触碰广口瓶盖。", + "frame": 327, + "progress": 5, + "progress_explanation": "当前爪夹接触广口瓶盖，因此进度上升至5%。", + "state_description": "当前状态为爪夹张开，爪夹右触碰广口瓶盖。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹子昂爪夹方向的右侧移动，将广口瓶盖放正。", + "time": 10.916133, + "annotations": { + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416596611_qsrklx26y", + "x": 0.4978182066539433, + "y": 0.538867431640625, + "width": 0.05100000311279311, + "height": 0.11333333333333341 + } + ] + }, + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416599067_7fbyflc5a", + "x": 0.4308182025645875, + "y": 0.5948674316406249 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416603971_zus8heeia", + "x": 0.4108182013438843, + "y": 0.586867431640625, + "width": 0.036000002197265776, + "height": 0.047999999999999925 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧略微移动并略微上升。", + "correction_plan": "爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹先爪夹方向的前方移动至广口瓶盖正上方，已调整爪夹角度为垂直，方便机取广口瓶盖。", + "frame": 373, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于广口瓶盖的正上方，已接近广口瓶盖，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，处于广口瓶盖的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹竖直下降，抓取广口瓶盖后上升，向爪夹方向的右后方移动，直至广口瓶的正上方。", + "time": 12.424218539062501, + "annotations": { + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416611651_r7crrfqps", + "x": 0.4418182032359743, + "y": 0.5882007649739583, + "width": 0.044000002685547025, + "height": 0.060000000000000026 + } + ] + }, + "point_1769413621982": { + "type": "point", + "instances": [ + { + "id": "point_1769413621982_1769416614195_m22dn0al0", + "x": 0.42681820232044687, + "y": 0.5962007649739584 + } + ] + }, + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416616411_dbo821pk1", + "x": 0.48581820592152136, + "y": 0.6015340983072917 + } + ] + }, + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416622539_3kki7xcx6", + "x": 0.495818206531873, + "y": 0.5415340983072916, + "width": 0.05200000317382827, + "height": 0.11066666666666679 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢抓取广口瓶盖。", + "correction_plan": "爪夹抓取广口瓶盖上升，然后向爪夹方向的右后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹在广口瓶盖的正上方竖直下降，成功抓取到广口瓶盖。", + "frame": 410, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到广口瓶盖，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，广口瓶盖已被爪夹抓取。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓取广口瓶盖上升，然后向爪夹方向的右前方移动，直至广口瓶的正上方。", + "time": 13.6513018515625, + "annotations": { + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416635835_2241j1gtk", + "x": 0.49681820659290815, + "y": 0.538867431640625, + "width": 0.05200000317382827, + "height": 0.11199999999999997 + } + ] + }, + "point_1769413621982": { + "type": "point", + "instances": [ + { + "id": "point_1769413621982_1769416639267_ykjcryd6i", + "x": 0.43681820293079854, + "y": 0.610867431640625 + } + ] + }, + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416641611_dp9xbwbyq", + "x": 0.46381820457874784, + "y": 0.6122007649739583 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416646436_7vv9885b4", + "x": 0.42781820238148205, + "y": 0.586867431640625, + "width": 0.04600000280761733, + "height": 0.060000000000000026 + } + ] + } + } + }, + { + "action_description": "爪夹抓住广口瓶盖上升。", + "correction_plan": "爪夹抓住广口瓶盖向爪夹方向的右后方移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧广口瓶盖上升，成功在垂直方向上接近广口瓶。", + "frame": 448, + "progress": 50, + "progress_explanation": "当前爪夹已抓住广口瓶盖，并在垂直方向上逐渐接近广口瓶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在垂直方向上接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖向爪夹方向的右后方移动，直至广口瓶的正上方。", + "time": 14.940966, + "annotations": { + "point_1769413621982": { + "type": "point", + "instances": [ + { + "id": "point_1769413621982_1769416652115_tp1rnuapd", + "x": 0.42281820207630627, + "y": 0.402867431640625 + } + ] + }, + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416654467_em4e6klul", + "x": 0.44081820317493914, + "y": 0.42153409830729166 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416659347_yq1jibdlm", + "x": 0.4138182015269898, + "y": 0.38820076497395833, + "width": 0.04700000286865258, + "height": 0.06133333333333333 + } + ] + }, + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416666707_p3fjbzf4p", + "x": 0.49681820659290804, + "y": 0.5388674316406249, + "width": 0.05200000317382836, + "height": 0.11333333333333352 + } + ] + } + } + }, + { + "action_description": "爪夹抓住广口瓶盖向爪夹方向的右后方移动并下降。", + "correction_plan": "爪夹抓住广口瓶盖向爪夹方向的右侧略微移动，直至广口瓶的正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住广口瓶盖向爪夹方向的右后方移动，在水平方向上接近广口瓶。", + "frame": 469, + "progress": 60, + "progress_explanation": "当前爪夹抓住广口瓶盖在水平方向上接近广口瓶，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖在水平方向上接近广口瓶。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖向爪夹方向的右侧略微移动，直至广口瓶的正上方。", + "time": 15.645312234375, + "annotations": { + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416677395_52o1mag3w", + "x": 0.4978182066539432, + "y": 0.538867431640625, + "width": 0.050000003051758043, + "height": 0.11466666666666671 + } + ] + }, + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416747235_jmzjq1m97", + "x": 0.48981820616566196, + "y": 0.41220076497395836 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416753051_tac64qh3m", + "x": 0.4708182050059939, + "y": 0.3815340983072917, + "width": 0.04700000286865258, + "height": 0.064 + } + ] + } + } + }, + { + "action_description": "爪夹抓住广口瓶盖向爪夹方向的右侧略微移动并下降。", + "correction_plan": "爪夹抓住广口瓶盖下降，将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右侧略微移动至广口瓶的正上方。", + "frame": 506, + "progress": 80, + "progress_explanation": "当前爪夹抓住广口瓶盖处于广口瓶的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住广口瓶盖处于广口瓶的正上方。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹抓住广口瓶盖下降，将广口瓶盖放入广口瓶中，爪夹张开。", + "time": 16.872395546875, + "annotations": { + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416686355_c4pxcluc3", + "x": 0.4978182066539432, + "y": 0.5375340983072917, + "width": 0.050000003051758043, + "height": 0.11333333333333329 + } + ] + }, + "point_1769413621982": { + "type": "point", + "instances": [ + { + "id": "point_1769413621982_1769416732635_gpspglatz", + "x": 0.5078182072642948, + "y": 0.5042007649739584 + } + ] + }, + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416734875_u4r3i3qyt", + "x": 0.5298182086070684, + "y": 0.506867431640625 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416740027_vtbm95dkq", + "x": 0.4978182066539433, + "y": 0.4815340983072917, + "width": 0.048000002929687646, + "height": 0.06133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开，广口瓶盖接触广口瓶后弹落至桌面。", + "correction_plan": "爪夹向爪夹方向的前方移动，直至广口瓶盖的正上方，后下降，抓取广口瓶盖后上升，向爪夹方向的后方移动，直至处于广口瓶正上方。下降将广口瓶盖放入广口瓶中，爪夹张开。", + "error_success_analysis": "爪夹张开，广口瓶盖接触广口瓶后弹落至桌面。", + "frame": 530, + "progress": 15, + "progress_explanation": "当前爪夹张开，广口瓶盖掉落至桌面，爪夹需要重新抓取广口瓶盖，因此进度下降至15%。", + "state_description": "当前状态为爪夹张开，广口瓶盖已掉落至桌面。\n为完成抓起广口瓶盖使其放入广口瓶中的任务应当:爪夹向爪夹方向的前方移动，直至广口瓶盖的正上方。", + "time": 17.6699997, + "annotations": { + "bbox_1769413621310": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621310_1769416695235_fetonprru", + "x": 0.4978182066539433, + "y": 0.5442007649739583, + "width": 0.05100000311279311, + "height": 0.10799999999999994 + } + ] + }, + "point_1769413621982": { + "type": "point", + "instances": [ + { + "id": "point_1769413621982_1769416719147_0bncguyov", + "x": 0.48581820592152136, + "y": 0.5215340983072917 + } + ] + }, + "point_1769413622182": { + "type": "point", + "instances": [ + { + "id": "point_1769413622182_1769416721691_lsno4yu8k", + "x": 0.533818208851209, + "y": 0.538867431640625 + } + ] + }, + "bbox_1769413621118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413621118_1769416728234_21waxbp7g", + "x": 0.4958182065318729, + "y": 0.506867431640625, + "width": 0.041000002502441554, + "height": 0.04533333333333337 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769413621118", + "name": "广口瓶盖" + }, + { + "color": "#FF9800", + "id": "bbox_1769413621310", + "name": "广口瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769413621982", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769413622182", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-135625-put-rubber-tippen dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-135625-put-rubber-tippen dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..bc963ccf87203ea611af3af40b0f375bd71e5acd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-135625-put-rubber-tippen dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,622 @@ +{ + "task_description": "抓起胶头滴管使其放入玻璃滴瓶中:\n开始移动:0%\n爪夹靠近胶头滴管:20%\n爪夹抓取胶头滴管:40%\n爪夹抓住胶头滴管接近玻璃滴瓶:60%\n爪夹抓住胶头滴管在玻璃滴瓶正上方:80%\n爪夹松开，将胶头滴管放入玻璃滴瓶中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1769394172017": { + "instances": [ + { + "height": 0.09866666666666658, + "id": "bbox_1769394172017_1769394363273_b8bbtdigv", + "width": 0.0490000029907228, + "x": 0.4978182066539433, + "y": 0.7497765197753907 + } + ], + "type": "bbox" + }, + "point_1769394173202": { + "instances": [ + { + "id": "point_1769394173202_1769394351625_1gsjon37s", + "x": 0.3958182004283569, + "y": 0.5137765197753906 + } + ], + "type": "point" + }, + "point_1769394173425": { + "instances": [ + { + "id": "point_1769394173425_1769394353921_ipdkinox3", + "x": 0.6238182143443735, + "y": 0.5124431864420573 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，到达胶头滴管正上方，后下降，抓取胶头滴管后上升，向爪夹方向的右前方移动，直至处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰胶头滴管。\n为完成抓起胶头滴管使其放入玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取胶头滴管。", + "time": 1.302761589069207 + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动并下降，调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1769394172017": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1769394172017_1769394374225_mb2s51y79", + "width": 0.03800000231933609, + "x": 0.5688182109874396, + "y": 0.383109853108724 + } + ], + "type": "bbox" + }, + "bbox_1769394172217": { + "instances": [ + { + "height": 0.068, + "id": "bbox_1769394172217_1769394381449_ltc61h3ki", + "width": 0.05200000317382836, + "x": 0.7348182211192762, + "y": 0.2004431864420573 + } + ], + "type": "bbox" + }, + "point_1769394173202": { + "instances": [ + { + "id": "point_1769394173202_1769394391265_1skhtjc82", + "x": 0.3968182004893921, + "y": 0.5111098531087239 + } + ], + "type": "point" + }, + "point_1769394173425": { + "instances": [ + { + "id": "point_1769394173425_1769394394105_hqivyid1e", + "x": 0.6268182145274789, + "y": 0.5044431864420573 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整爪夹角度，直到垂直于桌面，继续向爪夹方向的右前方移动，直至胶头滴管正上方，后下降，抓取胶头滴管后上升，向爪夹方向的右前方移动，直至处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方略微移动，在水平方向上成功接近胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 84, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近胶头滴管，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与胶头滴管的水平距离略微缩短。\n为完成抓起胶头滴管使其放入玻璃滴瓶中的任务应当:爪夹继续调整爪夹角度，直到垂直于桌面，继续向爪夹方向的右前方移动直至广口瓶盖正上方。", + "time": 2.814992870306236 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "annotations": { + "bbox_1769394172017": { + "instances": [ + { + "height": 0.2493333333333333, + "id": "bbox_1769394172017_1769394418345_l8ksddw9t", + "width": 0.05000000305175796, + "x": 0.4818182056773807, + "y": 0.459109853108724 + } + ], + "type": "bbox" + }, + "bbox_1769394172217": { + "instances": [ + { + "height": 0.108, + "id": "bbox_1769394172217_1769394440513_jgxvg9i5u", + "width": 0.12800000781250037, + "x": 0.7878182243541396, + "y": 0.07110985310872396 + } + ], + "type": "bbox" + }, + "point_1769394173202": { + "instances": [ + { + "id": "point_1769394173202_1769394426785_tzw6d60up", + "x": 0.3958182004283569, + "y": 0.5097765197753906 + } + ], + "type": "point" + }, + "point_1769394173425": { + "instances": [ + { + "id": "point_1769394173425_1769394429769_8b5cvlreo", + "x": 0.6248182144054086, + "y": 0.5111098531087239 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直下降，抓取胶头滴管后上升，向爪夹方向的右前方移动，直至玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方方移动至胶头滴管的正上方，已调整爪夹角度为垂直，方便机取 。", + "frame": 123, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于胶头滴管的正上方，已接近胶头滴管，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，处于胶头滴管的正上方。\n为完成抓起胶头滴管使其放入玻璃滴瓶中的任务应当:爪夹竖直下降，抓取胶头滴管后上升，向爪夹方向的右前方移动，直至玻璃滴瓶正上方。", + "time": 4.099332 + }, + { + "action_description": "爪夹下降，爪夹略微合拢。", + "annotations": { + "bbox_1769394172017": { + "instances": [ + { + "height": 0.2733333333333333, + "id": "bbox_1769394172017_1769394468537_41ln4mmge", + "width": 0.05800000354003929, + "x": 0.4438182033580446, + "y": 0.47377651977539065 + } + ], + "type": "bbox" + }, + "bbox_1769394172217": { + "instances": [ + { + "height": 0.12399999999999999, + "id": "bbox_1769394172217_1769394448609_eetl7ed9k", + "width": 0.1470000089721685, + "x": 0.8288182268565812, + "y": 0.051109853108723964 + } + ], + "type": "bbox" + }, + "point_1769394173202": { + "instances": [ + { + "id": "point_1769394173202_1769394461473_e3zxwtyoy", + "x": 0.4348182028087281, + "y": 0.5137765197753906 + } + ], + "type": "point" + }, + "point_1769394173425": { + "instances": [ + { + "id": "point_1769394173425_1769394458337_knuwk685g", + "x": 0.5828182118419318, + "y": 0.5031098531087239 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取胶头滴管后上升，向爪夹方向的右前方移动，直至玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "error_success_analysis": "爪夹爪夹下降，爪夹左接触桌面。", + "frame": 191, + "progress": 30, + "progress_explanation": "当前爪夹下降，爪夹左接触桌面，爪夹只需要合拢抓取胶头滴管即可，，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹左触碰桌面。\n为完成抓起胶头滴管使其放入玻璃滴瓶中的任务应当:爪夹合拢抓取胶头滴管后上升，向爪夹方向的右前方移动，直至玻璃滴瓶正上方。", + "time": 6.372599 + }, + { + "action_description": "爪夹合拢，抓取到胶头滴管。", + "annotations": { + "bbox_1769394172017": { + "instances": [ + { + "height": 0.2733333333333333, + "id": "bbox_1769394172017_1769394499640_ejz28dpwv", + "width": 0.04700000286865258, + "x": 0.4738182051890994, + "y": 0.4804431864420573 + } + ], + "type": "bbox" + }, + "bbox_1769394172217": { + "instances": [ + { + "height": 0.12666666666666665, + "id": "bbox_1769394172217_1769394507705_govxfcuro", + "width": 0.12200000744628951, + "x": 0.8768182297862689, + "y": 0.11510985310872396 + } + ], + "type": "bbox" + }, + "point_1769394173202": { + "instances": [ + { + "id": "point_1769394173202_1769394488297_6a4jnfprg", + "x": 0.5008182068370488, + "y": 0.5084431864420573 + } + ], + "type": "point" + }, + "point_1769394173425": { + "instances": [ + { + "id": "point_1769394173425_1769394491402_euivjnewz", + "x": 0.5168182078136112, + "y": 0.5031098531087239 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住胶头滴管上升，向爪夹方向的右前方移动，直至玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "error_success_analysis": "爪夹在胶头滴管的正上方竖直下降，成功抓取到胶头滴管。", + "frame": 230, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到胶头滴管，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，胶头滴管已被抓取。\n为完成抓起胶头滴管使其放入玻璃滴瓶中的任务应当:爪夹抓住胶头滴管上升，向爪夹方向的右前方移动，直至玻璃滴瓶正上方。", + "time": 7.66114675513625 + }, + { + "action_description": "爪夹抓住胶头滴管上升。", + "annotations": { + "bbox_1769394172017": { + "instances": [ + { + "height": 0.264, + "id": "bbox_1769394172017_1769394575777_4x7jvfbbs", + "width": 0.053000003234863514, + "x": 0.4738182051890994, + "y": 0.48177651977539065 + } + ], + "type": "bbox" + }, + "bbox_1769394172217": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1769394172217_1769394530849_emsqcskrd", + "width": 0.11300000689697302, + "x": 0.7298182208141004, + "y": 0.052443186442057296 + } + ], + "type": "bbox" + }, + "point_1769394173202": { + "instances": [ + { + "id": "point_1769394173202_1769394565921_cwbrzy86b", + "x": 0.49881820671497845, + "y": 0.5044431864420573 + } + ], + "type": "point" + }, + "point_1769394173425": { + "instances": [ + { + "id": "point_1769394173425_1769394568817_awyhvdr9e", + "x": 0.5188182079356817, + "y": 0.5044431864420573 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住胶头滴管上升，向爪夹方向的右前方移动，直至玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住胶头滴管上升，在垂直方向上接近玻璃滴瓶。", + "frame": 284, + "progress": 45, + "progress_explanation": "当前爪夹抓住胶头滴管在垂直方向上接近玻璃滴瓶，因此进度提升至45%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住胶头滴管在垂直方向上接近玻璃滴瓶。\n为完成抓起胶头滴管使其放入玻璃滴瓶中的任务应当:爪夹抓住胶头滴管上升，向爪夹方向的右前方移动，直至玻璃滴瓶正上方。", + "time": 9.465733 + }, + { + "action_description": "爪夹抓住胶头滴管上升，向爪夹方向的右前方移动。", + "annotations": { + "bbox_1769394172017": { + "instances": [ + { + "height": 0.2733333333333334, + "id": "bbox_1769394172017_1769394590513_6hytvcy83", + "width": 0.07500000457763703, + "x": 0.44981820372425557, + "y": 0.48177651977539065 + } + ], + "type": "bbox" + }, + "point_1769394173202": { + "instances": [ + { + "id": "point_1769394173202_1769394581601_g8olrwa0i", + "x": 0.49881820671497845, + "y": 0.5031098531087239 + } + ], + "type": "point" + }, + "point_1769394173425": { + "instances": [ + { + "id": "point_1769394173425_1769394585385_037g83re2", + "x": 0.5188182079356817, + "y": 0.5044431864420573 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住胶头滴管，向爪夹方向的右前方移动，直至玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住胶头滴管上升，向爪夹方向的右前方移动，在水平方向上接近玻璃滴瓶。", + "frame": 320, + "progress": 50, + "progress_explanation": "当前爪夹已抓住胶头滴管，并在水平方向上接近玻璃滴瓶，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住胶头滴管在水平方向上接近玻璃滴瓶。\n为完成抓起胶头滴管使其放入玻璃滴瓶中的任务应当:爪夹抓住胶头滴管，向爪夹方向的右前方移动，直至玻璃滴瓶正上方。", + "time": 10.676899 + }, + { + "action_description": "爪夹抓住胶头滴管，向爪夹方向的右前方移动。", + "annotations": { + "bbox_1769394172017": { + "instances": [ + { + "height": 0.27066666666666656, + "id": "bbox_1769394172017_1769394620657_wnmnu3ant", + "width": 0.07000000427246116, + "x": 0.4558182040904666, + "y": 0.483109853108724 + } + ], + "type": "bbox" + }, + "bbox_1769394172217": { + "instances": [ + { + "height": 0.07733333333333334, + "id": "bbox_1769394172217_1769394629705_3lb2a4emh", + "width": 0.05900000360107445, + "x": 0.48781820604359166, + "y": 0.6844431864420574 + } + ], + "type": "bbox" + }, + "point_1769394173202": { + "instances": [ + { + "id": "point_1769394173202_1769394613777_eces6onwd", + "x": 0.49881820671497845, + "y": 0.5044431864420573 + } + ], + "type": "point" + }, + "point_1769394173425": { + "instances": [ + { + "id": "point_1769394173425_1769394610553_esm66qinf", + "x": 0.5188182079356817, + "y": 0.5017765197753906 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住胶头滴管，向爪夹方向的右侧略微移动，直至玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住胶头滴管，向爪夹方向的右前方移动，在水平方向上更接近玻璃滴瓶。", + "frame": 367, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住胶头滴管在水平方向上更接近玻璃滴瓶，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住胶头滴管在水平方向上更接近玻璃滴瓶。\n为完成抓起胶头滴管使其放入玻璃滴瓶中的任务应当:爪夹抓住胶头滴管，向爪夹方向的右侧略微移动，直至玻璃滴瓶正上方。", + "time": 12.242099 + }, + { + "action_description": "爪夹抓住胶头滴管，向爪夹方向的右侧略微移动，并略微下降。", + "annotations": { + "bbox_1769394172017": { + "instances": [ + { + "height": 0.23333333333333328, + "id": "bbox_1769394172017_1769394658801_yl6mncxo6", + "width": 0.05500000335693382, + "x": 0.4688182048839236, + "y": 0.48177651977539065 + } + ], + "type": "bbox" + }, + "bbox_1769394172217": { + "instances": [ + { + "height": 0.07733333333333323, + "id": "bbox_1769394172217_1769394643281_lun0k6sxh", + "width": 0.05900000360107436, + "x": 0.4578182042125369, + "y": 0.6657765197753907 + } + ], + "type": "bbox" + }, + "point_1769394173202": { + "instances": [ + { + "id": "point_1769394173202_1769394649065_etf6x9eow", + "x": 0.49681820659290815, + "y": 0.507109853108724 + } + ], + "type": "point" + }, + "point_1769394173425": { + "instances": [ + { + "id": "point_1769394173425_1769394651649_zanpcc3af", + "x": 0.5178182078746465, + "y": 0.5004431864420573 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住胶头滴管下降，将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "error_success_analysis": "爪夹抓住胶头滴管，向爪夹方向的右侧略微移动至玻璃滴瓶的正上方。", + "frame": 429, + "progress": 80, + "progress_explanation": "当前爪夹抓住胶头滴管处于玻璃滴瓶的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住胶头滴管处于玻璃滴瓶的正上方。\n为完成抓起胶头滴管使其放入玻璃滴瓶中的任务应当:爪夹抓住胶头滴管下降，将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "time": 14.308319448492686 + }, + { + "action_description": "爪夹抓住胶头滴管略微下降。", + "annotations": { + "bbox_1769394172017": { + "instances": [ + { + "height": 0.212, + "id": "bbox_1769394172017_1769394680321_jj3jkevmf", + "width": 0.053000003234863514, + "x": 0.4738182051890994, + "y": 0.483109853108724 + } + ], + "type": "bbox" + }, + "bbox_1769394172217": { + "instances": [ + { + "height": 0.08533333333333341, + "id": "bbox_1769394172217_1769394673273_g886n2ofm", + "width": 0.060000003662109516, + "x": 0.45681820415150176, + "y": 0.6431098531087239 + } + ], + "type": "bbox" + }, + "point_1769394173202": { + "instances": [ + { + "id": "point_1769394173202_1769394664569_494aycn0k", + "x": 0.49981820677601363, + "y": 0.5057765197753906 + } + ], + "type": "point" + }, + "point_1769394173425": { + "instances": [ + { + "id": "point_1769394173425_1769394667385_rmrcsp1f9", + "x": 0.5178182078746465, + "y": 0.507109853108724 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住胶头滴管继续下降，将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "error_success_analysis": "爪夹胶头滴管略微下降，接触玻璃滴瓶。", + "frame": 455, + "progress": 90, + "progress_explanation": "当前爪夹胶头滴管略微下降，接触玻璃滴瓶，因此进度提升为90%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住胶头滴管接触玻璃滴瓶。\n为完成抓起胶头滴管使其放入玻璃滴瓶中的任务应当:爪夹抓住胶头滴管继续下降，将胶头滴管放入玻璃滴瓶中，爪夹张开。", + "time": 15.152899669837604 + }, + { + "action_description": "爪夹张开，胶头滴管放入玻璃滴瓶中。", + "annotations": { + "bbox_1769394172017": { + "instances": [ + { + "height": 0.0840000000000001, + "id": "bbox_1769394172017_1769394720897_10nmary8d", + "width": 0.053000003234863424, + "x": 0.45881820427357206, + "y": 0.6151098531087239 + } + ], + "type": "bbox" + }, + "bbox_1769394172217": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1769394172217_1769394700953_jorh9vfzh", + "width": 0.07500000457763693, + "x": 0.4418182032359743, + "y": 0.6191098531087239 + } + ], + "type": "bbox" + }, + "point_1769394173202": { + "instances": [ + { + "id": "point_1769394173202_1769394694913_1wws5qe6n", + "x": 0.45681820415150176, + "y": 0.507109853108724 + } + ], + "type": "point" + }, + "point_1769394173425": { + "instances": [ + { + "id": "point_1769394173425_1769394692313_91ds6dclo", + "x": 0.5598182104381232, + "y": 0.507109853108724 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，胶头滴管已被放入玻璃滴瓶中。", + "frame": 477, + "progress": 100, + "progress_explanation": "当前爪夹张开，胶头滴管放入玻璃滴瓶中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，胶头滴管已被放入玻璃滴瓶中。\n已完成抓起胶头滴管使其放入玻璃滴瓶中的任务。", + "time": 15.902074961307736 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769394172017", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769394172217", + "name": "玻璃滴瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769394173202", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769394173425", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-135625-put-rubber-tippen dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-135625-put-rubber-tippen dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..5b5594fbea1b22189d94b7d5ac2c2a32968d7161 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-135625-put-rubber-tippen dropper-glass dropping bottle-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,674 @@ +{ + "task_description": "抓起橡胶头滴管将其放入玻璃滴瓶中。\n准备移动：0%\n爪夹靠近橡胶头滴管：20%\n爪夹抓取橡胶头滴管：40%\n爪夹抓住橡胶头滴管接近玻璃滴瓶：60%\n爪夹抓住橡胶头滴管对准玻璃滴瓶：80%\n爪夹松开，橡胶头滴管落入玻璃滴瓶：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达橡胶头滴管正上方后下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触散橡胶头滴管。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取橡胶头滴管。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 1.3206572164948456, + "annotations": { + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768784701780_xbmt3g2ff", + "x": 0.6101110467461519, + "y": 0.7861295645239612, + "width": 0.03799999768066416, + "height": 0.04399999641927117 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768784718659_dcgzk4l29", + "x": 0.3901110601738854, + "y": 0.5120555206660546 + } + ] + }, + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768784720955_v7jzmbmoe", + "x": 0.6271110457085542, + "y": 0.5133888538908811 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。向爪夹方向的右下方移动，到达橡胶头滴管正上方后下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 78, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。\n\n", + "state_description": "当前爪夹张开，与橡胶头滴管的水平距离略微缩短。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取橡胶头滴管。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 2.6, + "annotations": { + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768784733908_hblqxm3ni", + "x": 0.6281110456475191, + "y": 0.513833291517473 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768784737396_9otlgjzpi", + "x": 0.3921110600518151, + "y": 0.5120555206660546 + } + ] + }, + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768784743620_e8yuhnv0q", + "x": 0.5601110497979095, + "y": 0.5827221815818537, + "width": 0.03799999768066433, + "height": 0.09599999218750063 + } + ] + } + } + }, + { + "time": 3.5319, + "frame": 106, + "progress": 15, + "action_description": "爪夹继续向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "state_description": "当前爪夹张开，与橡胶头滴管的水平距离进一步缩短。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹继续向爪夹方向的右下方移动，准备抓取橡胶头滴管。", + "progress_explanation": "当前爪夹在水平方向上更加接近橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为20%。\n", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上更加接近橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。向爪夹方向的右下方移动，到达橡胶头滴管正上方后下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768784756972_op4zsg9ir", + "x": 0.5411110509575774, + "y": 0.44198143986153654, + "width": 0.031999998046875075, + "height": 0.1439999882812509 + } + ] + }, + "bbox_1768784646748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646748_1768784775148_7nrb2xhvl", + "x": 0.5851110482720308, + "y": 0.31398145027820235, + "width": 0.044999997253418036, + "height": 0.05466666221788223 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768784789396_pedgsva79", + "x": 0.3901110601738854, + "y": 0.5113147675525092 + } + ] + }, + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768784791917_ga32hhn1b", + "x": 0.6271110457085542, + "y": 0.513981434002162 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动到橡胶头滴管的正上方。", + "correction_plan": "爪夹到达橡胶头滴管正上方后下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了橡胶头滴管的正上方，方便抓取。", + "frame": 134, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于橡胶头滴管的正上方，已接近橡胶头滴管，因此进度提升为20%。", + "state_description": "当前爪夹张开，爪夹已经移动到橡胶头滴管的正上方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:继续向下抓取橡胶头滴管，然后向爪夹方向的左边移动，直至玻璃滴瓶的正上方。", + "time": 4.466666666666667, + "annotations": { + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768784796355_y29hpf4lv", + "x": 0.629111045586484, + "y": 0.5105740246114888 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768784798621_kfxfc9eeh", + "x": 0.3921110600518151, + "y": 0.5145740242859681 + } + ] + }, + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768784804187_azj672pzu", + "x": 0.48511105437554597, + "y": 0.46390736174256497, + "width": 0.04499999725341812, + "height": 0.23199998111979317 + } + ] + }, + "bbox_1768784646748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646748_1768784815684_pzmzj3efx", + "x": 0.550111050408261, + "y": 0.21057404902554938, + "width": 0.09799999401855511, + "height": 0.117333323784723 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "爪夹下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了橡胶头滴管的正上方，方便抓取。", + "frame": 172, + "progress": 30, + "progress_explanation": "当前爪夹已悬空于橡胶头滴管的正上方，已接近橡胶头滴管，因此进度提升为30%。", + "state_description": "当前爪夹张开，于水平方向呈90度角，爪夹已经移动到橡胶头滴管的正上方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:继续向下抓取橡胶头滴管，然后向爪夹方向的左边移动，直至玻璃滴瓶的正上方。", + "time": 5.733333333333333, + "annotations": { + "bbox_1768784646748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646748_1768784830684_b73258r7k", + "x": 0.6021110472344331, + "y": 0.1039073910394376, + "width": 0.20999998718261798, + "height": 0.18799998470052207 + } + ] + }, + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768784851338_m7copweij", + "x": 0.4721110551690029, + "y": 0.4671666184760239, + "width": 0.0769999953002932, + "height": 0.2786666439887171 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768784861482_53sm1tc5s", + "x": 0.3891110602349206, + "y": 0.5124999481201215 + } + ] + }, + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768784863924_x6l7tv3mw", + "x": 0.6271110457085542, + "y": 0.5084999484456422 + } + ] + } + } + }, + { + "action_description": "合拢爪夹抓取橡胶头滴管。", + "correction_plan": "爪夹抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢，成功抓取到橡胶头滴管。", + "frame": 216, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于橡胶头滴管的正上方，已接近橡胶头滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到玻璃滴瓶。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:抬升爪夹，爪夹向爪夹方向的左边移动，直至玻璃滴瓶的正上方。", + "time": 7.2, + "annotations": { + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768784870195_9z32lbwyg", + "x": 0.5201110522393156, + "y": 0.5025740252625305 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768784873036_8ajgpcf00", + "x": 0.49711105364312413, + "y": 0.5039073584873569 + } + ] + }, + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768784879323_m5alejcj0", + "x": 0.49111105400933514, + "y": 0.47590736076600254, + "width": 0.028999998229980496, + "height": 0.2226666485460085 + } + ] + }, + "bbox_1768784646748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646748_1768784894170_727rb71n7", + "x": 0.5841110483330658, + "y": 0.10790739071391678, + "width": 0.21299998699951256, + "height": 0.1919999843750012 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，抓住橡胶头滴管向爪夹方向的右上方移动。", + "correction_plan": "爪夹继续抬升，然后向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹已经抓取到橡胶头滴管，抬升高度方便将橡胶头滴管放入玻璃滴瓶中。", + "frame": 274, + "progress": 50, + "progress_explanation": "当前爪夹已抓住橡胶头滴管，并在水平方向上逐渐接近玻璃滴瓶，因此进度提升为50%\n", + "state_description": "当前爪夹合拢，垂直于桌面，抓住橡胶头滴管处于玻璃滴瓶的右后方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹继续抬升，然后爪夹向爪夹方向的左边移动，直至玻璃滴瓶的正上方。", + "time": 9.133333333333333, + "annotations": { + "bbox_1768784646748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646748_1768784909562_plntn00ob", + "x": 0.4531110563286709, + "y": 0.24257404642138294, + "width": 0.07099999566650413, + "height": 0.10666665798611182 + } + ] + }, + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768784916682_noykmpqjt", + "x": 0.4951110537651945, + "y": 0.47457402754117617, + "width": 0.026999998352050802, + "height": 0.221333315321182 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768784932570_66bufcs90", + "x": 0.4961110537041593, + "y": 0.5025740252625305 + } + ] + }, + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768784935634_fbpzgd03k", + "x": 0.5211110521782805, + "y": 0.5025740252625305 + } + ] + } + } + }, + { + "time": 9.7851, + "frame": 294, + "progress": 55, + "action_description": "爪夹继续向爪夹方向的右上方抬升。", + "state_description": "当前爪夹合拢，胶头滴管与玻璃滴瓶的水平距离略微缩短。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向爪夹方向的左边移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "progress_explanation": "当前爪夹已抓住橡胶头滴管，并在水平方向上更加接近玻璃滴瓶，因此进度提升为50%\n", + "error_success_analysis": "爪夹已经抓取到橡胶头滴管，继续抬升高度方便将橡胶头滴管放入玻璃滴瓶中。", + "correction_plan": "爪夹向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768787052898_tj78egsre", + "x": 0.4922337899920759, + "y": 0.47730684761104925, + "width": 0.029361316932987956, + "height": 0.22107786535292231 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768787066018_7zk63qtq6", + "x": 0.4956880625724274, + "y": 0.514153158503203 + } + ] + }, + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768787071385_6akeqfbia", + "x": 0.5233222432152396, + "y": 0.5164560529339626 + } + ] + } + } + }, + { + "time": 10.2483, + "frame": 307, + "progress": 60, + "action_description": "爪夹抓住橡胶头滴管向爪夹方向的左侧移动。", + "state_description": "当前爪夹合拢，抓住橡胶头滴管处于玻璃滴瓶的左上方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向爪夹方向的右边移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "progress_explanation": "当前爪夹已抓住橡胶头滴管，并在水平方向上进一步接近玻璃滴瓶，因此进度提升为60%", + "error_success_analysis": "爪夹夹紧橡胶头滴管向爪夹方向的左侧移动，橡胶头滴管更加接近玻璃滴瓶。", + "correction_plan": "爪夹向爪夹方向的右边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768784940707_ksk2yd0v1", + "x": 0.5211110521782805, + "y": 0.5065740249370098 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768784943883_8hvo2d07d", + "x": 0.498111053582089, + "y": 0.5065740249370098 + } + ] + }, + "bbox_1768784646748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646748_1768784950938_uyt48ke5h", + "x": 0.491111054009335, + "y": 0.7039073422113166, + "width": 0.03299999798583997, + "height": 0.04666666286892394 + } + ] + }, + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768784956698_etxt6iup2", + "x": 0.49311105388726484, + "y": 0.47590736076600254, + "width": 0.026999998352050802, + "height": 0.2199999820963556 + } + ] + } + } + }, + { + "time": 10.7694, + "frame": 323, + "progress": 62, + "action_description": "爪夹抓住橡胶头滴管向爪夹方向的右侧略微移动。", + "state_description": "当前爪夹合拢，玻璃滴瓶的视野被爪夹挡住看不见。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向玻璃滴瓶的方向移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "progress_explanation": "当前爪夹移动了，尝试将橡胶头滴管对准玻璃滴瓶，因此进度提升为62%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管向爪夹方向的右侧略微移动，尝试将橡胶头滴管对准玻璃滴瓶。", + "correction_plan": "爪夹向玻璃滴瓶的方向移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "annotations": { + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768787927005_i1b2gjp6d", + "x": 0.4991110535210538, + "y": 0.5031666257188618 + } + ] + }, + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768787930333_tywhejz00", + "x": 0.5201110522393156, + "y": 0.5080555209915755 + } + ] + } + } + }, + { + "time": 11.8502, + "frame": 356, + "progress": 52, + "action_description": "爪夹夹紧橡胶头滴管向爪夹方向的左侧移动。", + "state_description": "当前爪夹合拢，橡胶头滴管位于玻璃滴瓶的左上方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向爪夹方向的右下方移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "progress_explanation": "当前橡胶头滴管在水平方向上远离了玻璃滴瓶，因此进度下降为52%。", + "error_success_analysis": "爪夹已抓住橡胶头滴管，向爪夹方向的左侧移动，在水平方向上远离了玻璃滴瓶。", + "correction_plan": "爪夹向爪夹方向的右下方移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "annotations": { + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768787841782_eeqjf4wu3", + "x": 0.49411105382622955, + "y": 0.4751666279975075, + "width": 0.026999998352050893, + "height": 0.22133331532118206 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768787864791_vcu2og4w4", + "x": 0.498111053582089, + "y": 0.5040555213170962 + } + ] + }, + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768787867454_vlfo38z2z", + "x": 0.5191110523003507, + "y": 0.5107221874412283 + } + ] + } + } + }, + { + "time": 15.44, + "frame": 463, + "progress": 80, + "action_description": "爪夹夹紧橡胶头滴管向爪夹方向的右侧移动。", + "state_description": "当前爪夹合拢，玻璃滴瓶的视野被爪夹挡住看不见。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹夹紧橡胶头滴管，向玻璃滴瓶的方向移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "progress_explanation": "当前爪夹已抓住橡胶头滴管，玻璃滴瓶的视野被挡住看不见，因此进度提升为80%。", + "error_success_analysis": "爪夹已抓住橡胶头滴管向爪夹方向的左侧移动。", + "correction_plan": "爪夹夹紧橡胶头滴管，向玻璃滴瓶的方向移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "annotations": { + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768785018707_s5w85kibs", + "x": 0.5211110521782805, + "y": 0.5099814343276827 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768785021387_jcpuvklwx", + "x": 0.498111053582089, + "y": 0.5059814346532036 + } + ] + }, + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768785027707_e41efzpu0", + "x": 0.5011110533989835, + "y": 0.47398143725737, + "width": 0.021999998657226703, + "height": 0.13599998893229254 + } + ] + } + } + }, + { + "time": 17.2928, + "frame": 519, + "progress": 100, + "action_description": "爪夹向爪夹方向的右后方移动。", + "state_description": "当前爪夹张开，橡胶头滴管已放入玻璃滴瓶中，已完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务。", + "progress_explanation": "当前橡胶头滴管已放入玻璃滴瓶中，因此进度提升为100%。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，橡胶头滴管成功放入玻璃滴瓶中。", + "correction_plan": "橡胶头滴管已放入玻璃滴瓶中，抓起橡胶头滴管将其放入玻璃滴瓶中的任务完成了。", + "annotations": { + "point_1768784648020": { + "type": "point", + "instances": [ + { + "id": "point_1768784648020_1768785042979_h8sd12dre", + "x": 0.5681110493096283, + "y": 0.5105740246114888 + } + ] + }, + "point_1768784647660": { + "type": "point", + "instances": [ + { + "id": "point_1768784647660_1768785047650_ghyiidv5m", + "x": 0.4471110566948817, + "y": 0.5119073578363154 + } + ] + }, + "bbox_1768784646748": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646748_1768785058819_kxjl74mrb", + "x": 0.38811106029595577, + "y": 0.45324069594395383, + "width": 0.0479999970703127, + "height": 0.0853333263888894 + } + ] + }, + "bbox_1768784646164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768784646164_1768785068642_7422ngh68", + "x": 0.4021110594414636, + "y": 0.42124069854812024, + "width": 0.030999998107910275, + "height": 0.05066666254340314 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768784646164", + "name": "橡胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768784646748", + "name": "玻璃滴瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768784647660", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768784648020", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-141559-put-rubber-tippen dropper-glass dropping bottle-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-141559-put-rubber-tippen dropper-glass dropping bottle-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f85a30c0b13aba6e3d8a429c14d4633d2928a820 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-141559-put-rubber-tippen dropper-glass dropping bottle-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,1018 @@ +{ + "task_description": "抓起橡胶头滴管使其落入玻璃滴瓶中:\n开始移动:0%\n爪夹靠近橡胶头滴管:20%\n爪夹抓取橡胶头滴管::40%\n爪夹抓住橡胶头滴管接近玻璃滴瓶:60%\n爪夹将橡胶头滴管放入玻璃滴瓶:80%\n爪夹松开，橡胶头滴管落入玻璃滴瓶:100%", + "progress_points": [ + { + "time": 1.2471013476647446, + "frame": 37, + "progress": 0, + "action_description": "爪夹保持打开状态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触橡胶头滴管。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取橡胶头滴管。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达橡胶头滴管的正上方后下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。\t", + "annotations": { + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768885741761_f56tf745d", + "x": 0.5625, + "y": 0.5466666666666666, + "width": 0.016999999999999994, + "height": 0.12400000000000008 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768885762500_zxzb95kpr", + "x": 0.41150000000000003, + "y": 0.5853333333333334, + "width": 0.03499999999999996, + "height": 0.0866666666666666 + } + ] + }, + "point_1768885628124": { + "type": "point", + "instances": [ + { + "id": "point_1768885628124_1768885773679_7oneghrw4", + "x": 0.22749999999999998, + "y": 0.28933333333333333 + } + ] + } + } + }, + { + "time": 2.429133, + "frame": 73, + "progress": 5, + "action_description": "爪夹向爪夹方向的右前方微调，并调整爪夹角度，使其接近于垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与橡胶头滴管的水平距离略微缩短。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取橡胶头滴管。", + "progress_explanation": "当前爪夹在水平方向上略微接近橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为5%。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达橡胶头滴管的正上方后下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。\t", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768885842419_79aw5nhi8", + "x": 0.40750000000000003, + "y": 0.584, + "width": 0.040000000000000036, + "height": 0.09066666666666674 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768885884876_ww4rl8l3e", + "x": 0.5625, + "y": 0.5493333333333333, + "width": 0.01799999999999997, + "height": 0.11866666666666663 + } + ] + } + } + }, + { + "time": 3.14792611158227, + "frame": 94, + "progress": 10, + "action_description": "爪夹继续向爪夹方向的右前方移动，并调整爪夹角度，使其接近于垂直桌面。", + "state_description": "当前爪夹张开，与橡胶头滴管的水平距离进一步缩短。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取橡胶头滴管。", + "progress_explanation": "当前爪夹在水平方向上更加接近橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达橡胶头滴管的正上方后下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768885909593_neslq24qd", + "x": 0.5605, + "y": 0.548, + "width": 0.020999999999999998, + "height": 0.11866666666666663 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768885916256_kenxk3w94", + "x": 0.4095, + "y": 0.5813333333333334, + "width": 0.039000000000000055, + "height": 0.09199999999999993 + } + ] + }, + "point_1768885627869": { + "type": "point", + "instances": [ + { + "id": "point_1768885627869_1768885988712_uu11g5ki1", + "x": 0.44186677396538715, + "y": 0.37346158529457607 + } + ] + } + } + }, + { + "time": 3.833933, + "frame": 115, + "progress": 15, + "action_description": "爪夹向爪夹方向的下方移动。", + "state_description": "当前爪夹张开，爪夹位于橡胶头滴管的左上方。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹向爪夹方向的右下方移动，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。", + "progress_explanation": "当前爪夹在水平方向上更加接近橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为15%。", + "error_success_analysis": "爪夹下降，水平方向上成功接近橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达橡胶头滴管的正上方后下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886001956_wv05yf11i", + "x": 0.4076665592621838, + "y": 0.5841349011330491, + "width": 0.03693623187945958, + "height": 0.08572853580334877 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886010603_863yxvrav", + "x": 0.5608835211325347, + "y": 0.5494786845316953, + "width": 0.017784111645665755, + "height": 0.11856074100463125 + } + ] + } + } + }, + { + "time": 5.0924, + "frame": 153, + "progress": -10, + "action_description": "爪夹继续下降并向爪夹方向的右方移动尝试抓取橡胶头滴管。", + "state_description": "当前爪夹张开，橡胶头滴管由竖直放置变为横向放置。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹竖直抬升，向爪夹方向的右方移动，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。", + "progress_explanation": "当前爪夹位于橡胶头滴管的左方进行了空抓，因此进度下降为-10%。", + "error_success_analysis": "爪夹下降，在橡胶头滴管的左方进行抓取，抓取橡胶头滴管失败。", + "correction_plan": "爪夹竖直抬升，向爪夹方向的右方移动，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886022194_92qzj4q8v", + "x": 0.5348913579581003, + "y": 0.5695428099324791, + "width": 0.08755254964020054, + "height": 0.08755254720341993 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886034180_o5gqsiekj", + "x": 0.41177058502656816, + "y": 0.5786628669328352, + "width": 0.034200214703203356, + "height": 0.0966726042037763 + } + ] + }, + "point_1768885627869": { + "type": "point", + "instances": [ + { + "id": "point_1768885627869_1768886038459_8bre4qgn9", + "x": 0.5075311861955376, + "y": 0.576838855532764 + } + ] + } + } + }, + { + "time": 5.506357451030928, + "frame": 165, + "progress": -20, + "action_description": "爪夹合拢。", + "state_description": "当前爪夹合拢，与橡胶头滴管的水平距离增加。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹竖直抬升，向爪夹方向的右方移动，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。", + "progress_explanation": "当前爪夹与橡胶头滴管的水平距离增加，因此进度下降为-20%。", + "error_success_analysis": "爪夹未抓取到橡胶头滴管，爪夹合拢，不方便抓取橡胶头滴管。", + "correction_plan": "爪夹竖直抬升，向爪夹方向的右方移动，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "point_1768885627869": { + "type": "point", + "instances": [ + { + "id": "point_1768885627869_1768886048183_zscn8dv1m", + "x": 0.5130032205480501, + "y": 0.5202945021305553 + } + ] + }, + "point_1768885628124": { + "type": "point", + "instances": [ + { + "id": "point_1768885628124_1768886051051_amg2iz4j1", + "x": 0.5348913579581003, + "y": 0.5294145591309115 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886058109_wiimd2pde", + "x": 0.5458354266631253, + "y": 0.5658947871323365, + "width": 0.082080515287688, + "height": 0.09302458140363375 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886063074_6bg4zppb1", + "x": 0.41040257643844014, + "y": 0.5823108897329778, + "width": 0.03693623187945958, + "height": 0.09120057000356248 + } + ] + } + } + }, + { + "time": 6.204533, + "frame": 186, + "progress": 4, + "action_description": "爪夹向爪夹方向的右上方移动。", + "state_description": "当前爪夹合拢，与橡胶头滴管的水平距离缩短。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹下降并张开，向爪夹方向的右下方移动，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。", + "progress_explanation": "当前爪夹位于橡胶头滴管的左上方，与橡胶头滴管的水平距离缩短，因此进度提升为4%。", + "error_success_analysis": "爪夹向爪夹方向的右上方移动，成功靠近橡胶头滴管，方便抓取。", + "correction_plan": "爪夹下降并张开，向爪夹方向的右下方移动，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886079174_75ssfc1mu", + "x": 0.40903456785031195, + "y": 0.582310889732978, + "width": 0.038304240467587736, + "height": 0.09302458140363364 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886090550_alijj28fh", + "x": 0.5745636070138161, + "y": 0.5567747301319803, + "width": 0.05472034352512534, + "height": 0.10761667260420373 + } + ] + } + } + }, + { + "time": 7.527869501546392, + "frame": 226, + "progress": 8, + "action_description": "爪夹继续抬升并张开爪夹。\n", + "state_description": "当前爪夹张开，与橡胶头滴管的水平距离变远。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹下降并张开，向爪夹方向的右下方移动，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。", + "progress_explanation": "当前爪夹在水平方向上虽然离橡胶头滴管较远，但是开始调整爪夹角度方便抓取，因此进度提升为8%。", + "error_success_analysis": "爪夹继续向上抬升并张开爪夹，方便爪夹下降抓取橡胶头滴管。", + "correction_plan": "爪夹下降，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886104162_1j1uhzzuh", + "x": 0.5677235640731755, + "y": 0.5531267073318378, + "width": 0.057456360701381645, + "height": 0.10944068400427512 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886108905_sovgsiagv", + "x": 0.40903456785031195, + "y": 0.582310889732978, + "width": 0.03693623187945958, + "height": 0.0893765586034912 + } + ] + } + } + }, + { + "time": 8.662933, + "frame": 260, + "progress": 14, + "action_description": "爪夹向爪夹方向的下方移动。", + "state_description": "当前爪夹张开，与橡胶头滴管的水平距离进一步缩短。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹向爪夹方向的下方移动，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。", + "progress_explanation": "当前爪夹位于橡胶头滴管的上分方便抓取，因此进度提升为14%。", + "error_success_analysis": "爪夹下降成功靠近了橡胶头滴管，方便抓取。", + "correction_plan": "爪夹继续下降，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886134520_6qhz3u5sv", + "x": 0.4049305420859276, + "y": 0.5841349011330491, + "width": 0.04514428340822833, + "height": 0.08755254720342004 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886139582_efth8c0is", + "x": 0.5677235640731755, + "y": 0.5567747301319803, + "width": 0.05472034352512534, + "height": 0.10579266120413257 + } + ] + } + } + }, + { + "time": 10.155533, + "frame": 305, + "progress": 3, + "action_description": "爪夹下降并合拢。", + "state_description": "当前爪夹合拢，爪夹并未抓取到橡胶头滴管。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹张开并向竖直上升，移动到橡胶头滴管的正上方后下降爪夹，重新抓取橡胶头滴管。", + "progress_explanation": "当前爪夹合拢，爪夹在没有抓取到橡胶头滴管就提前合拢爪夹，因此进度下降为3%。", + "error_success_analysis": "爪夹下降并提前合拢爪夹，抓取橡胶头滴管失败。", + "correction_plan": "重新抬升并张开爪夹，移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886151446_jbnrqjj43", + "x": 0.5704595812494317, + "y": 0.5658947871323365, + "width": 0.05335233493699718, + "height": 0.10032062700391885 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886163130_s5xxfb7xy", + "x": 0.41040257643844014, + "y": 0.5804868783329066, + "width": 0.03693623187945958, + "height": 0.08937655860349132 + } + ] + } + } + }, + { + "time": 12.38050353632454, + "frame": 371, + "progress": -15, + "action_description": "爪夹推动橡胶头滴管逆时针转动。", + "state_description": "当前爪夹合拢，爪夹推动橡胶头滴管，橡胶头滴管向左下方偏移。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹重新张开并向竖直上升，移动到橡胶头滴管的正上方后下降爪夹，重新抓取橡胶头滴管。", + "progress_explanation": "当前爪夹合拢，爪夹在没有抓取到橡胶头滴管就提前合拢爪夹，因此进度下降为-15%。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，推动橡胶头滴管逆时针转动，抓取橡胶头滴管失败。", + "correction_plan": "重新抬升并张开爪夹，移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "point_1768885628124": { + "type": "point", + "instances": [ + { + "id": "point_1768885628124_1768886176337_agvtwt2bs", + "x": 0.5485714438393816, + "y": 0.6315591975349015 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886184280_6jfvae4r9", + "x": 0.5567794953681504, + "y": 0.5658947871323364, + "width": 0.0725044551707911, + "height": 0.09302458140363387 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886196452_guzviumr9", + "x": 0.41040257643844014, + "y": 0.5804868783329066, + "width": 0.0396722490557158, + "height": 0.08755254720342004 + } + ] + } + } + }, + { + "time": 13.042841747468106, + "frame": 391, + "progress": 6, + "action_description": "爪夹向爪夹方向的右上方移动。", + "state_description": "当前爪夹合拢，与橡胶头滴管的水平距离增加。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹继续抬升并张开，向爪夹方向的右下方移动，直至移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。", + "progress_explanation": "当前爪夹虽然在水平方向上与橡胶头滴管的水平距离增加，但是开始抬升爪夹重新抓取橡胶头滴管，因此进度提升为6%。", + "error_success_analysis": "爪夹向爪夹方向的右上方移动，重新调整爪夹角度方便抓取橡胶头滴管。", + "correction_plan": "重新抬升并张开爪夹，移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886209370_n3kggen5d", + "x": 0.40903456785031195, + "y": 0.5804868783329066, + "width": 0.04104025764384396, + "height": 0.09120057000356259 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886215173_l9ktcojdf", + "x": 0.5690915726613035, + "y": 0.5585987415320516, + "width": 0.04924830917261289, + "height": 0.11126469540434628 + } + ] + } + } + }, + { + "time": 14.160641013644128, + "frame": 425, + "progress": 11, + "action_description": "爪夹继续抬升并张开爪夹。", + "state_description": "当前爪夹张开，爪夹位于橡胶头滴管的上方。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。", + "progress_explanation": "当前爪夹张开，重新调整爪夹角度方便抓取橡胶头滴管，因此进度提升为11%.", + "error_success_analysis": "爪夹张开，方便爪夹下降重新抓取橡胶头滴管。", + "correction_plan": "爪夹移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886260344_as7m20u64", + "x": 0.41040257643844014, + "y": 0.5859589125331204, + "width": 0.038304240467587736, + "height": 0.08572853580334877 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886266520_se77508r1", + "x": 0.5718275898375598, + "y": 0.5585987415320516, + "width": 0.04788030058448474, + "height": 0.10579266120413244 + } + ] + } + } + }, + { + "time": 15.070824913917525, + "frame": 452, + "progress": 16, + "action_description": "爪夹向爪夹方向的下方移动。", + "state_description": "当前爪夹张开，爪夹位于橡胶头滴管的上方。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹继续下降，合拢爪夹抓取橡胶头滴管。", + "progress_explanation": "当前爪夹与橡胶头滴管的水平距离缩短，因此进度提升为16%.", + "error_success_analysis": "爪夹下降，在水平方向上成功接近了橡胶头滴管，方便抓取。", + "correction_plan": "爪夹移动到橡胶头滴管的正上方后下降爪夹，抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886234888_3xdo1gbl2", + "x": 0.5677235640731755, + "y": 0.5585987415320516, + "width": 0.05061631776074096, + "height": 0.10761667260420373 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886245767_apat9ebrs", + "x": 0.40903456785031195, + "y": 0.5823108897329778, + "width": 0.03556822329133143, + "height": 0.08937655860349132 + } + ] + } + } + }, + { + "time": 15.850263026015263, + "frame": 476, + "progress": 20, + "action_description": "爪夹向爪夹方向的下方移动到橡胶头滴管的正上方。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到橡胶头滴管的上方。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹继续下降抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。", + "progress_explanation": "当前爪夹已悬空于橡胶头滴管正上方，已接近橡胶头滴管，因此进度提升为20%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了橡胶头滴管的正上方，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "下降爪抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "point_1768885627869": { + "type": "point", + "instances": [ + { + "id": "point_1768885627869_1768886282309_2kzuq7aga", + "x": 0.5704595812494317, + "y": 0.5567747301319803 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886287832_l4allbhfg", + "x": 0.5677235640731755, + "y": 0.562246764332194, + "width": 0.04788030058448465, + "height": 0.10396864980406129 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886296927_qunvmtqpy", + "x": 0.4213466451434652, + "y": 0.6333832089349728, + "width": 0.02736017176256267, + "height": 0.03648022800142504 + } + ] + } + } + }, + { + "time": 17.0332, + "frame": 511, + "progress": 40, + "action_description": "合拢爪夹抓取橡胶头滴管。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到橡胶头滴管。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹继续下降抓取橡胶头滴管。爪夹垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。", + "progress_explanation": "当前爪夹已悬空于橡胶头滴管正上方，已接近橡胶头滴管，因此进度提升为4%。\t", + "error_success_analysis": "爪夹合拢成功抓取到橡胶头滴管。", + "correction_plan": "爪夹夹紧橡胶头滴管垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶的正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886313448_o8vnwpi02", + "x": 0.4186106279672089, + "y": 0.6333832089349728, + "width": 0.028728180350690823, + "height": 0.03830423940149631 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886321764_ekkmor9n3", + "x": 0.573195598425688, + "y": 0.5731908327326215, + "width": 0.027360171762562578, + "height": 0.10396864980406129 + } + ] + } + } + }, + { + "time": 17.56, + "frame": 527, + "progress": 45, + "action_description": "爪夹夹紧橡胶头滴管向爪夹方向的右上方略微移动。", + "state_description": "当前爪夹合拢，橡胶头滴管呈竖直状态。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹夹紧橡胶头滴管垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于散热器正上方。", + "progress_explanation": "当前爪夹已抓住橡胶头滴管，并竖直抬升了，因此进度上升为45%。", + "error_success_analysis": "爪夹向爪夹方向的右上方略微抬升，方便爪夹将橡胶头滴管放入玻璃滴瓶中。", + "correction_plan": "爪夹夹紧橡胶头滴管继续垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于散热器正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886336663_owflp71ua", + "x": 0.6265479333626851, + "y": 0.4838142741291303, + "width": 0.02325614599817829, + "height": 0.10944068400427505 + } + ] + }, + "point_1768885627869": { + "type": "point", + "instances": [ + { + "id": "point_1768885627869_1768886342027_dlotlhvws", + "x": 0.6210758990101726, + "y": 0.474694217128774 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886350691_0p5v44hzp", + "x": 0.4240826623197214, + "y": 0.6315591975349015, + "width": 0.02325614599817829, + "height": 0.03830423940149631 + } + ] + } + } + }, + { + "time": 19.380366159004957, + "frame": 581, + "progress": 50, + "action_description": "爪夹夹紧橡胶头滴管向爪夹方向的左上方移动。", + "state_description": "当前爪夹合拢，抓住橡胶头滴管处于玻璃滴瓶方向的右上方。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹夹紧橡胶头滴管向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。", + "progress_explanation": "当前爪夹已抓住橡胶头滴管，与上一进度相比，橡胶头滴管与玻璃滴瓶的水平距离进一步缩短，因刺进度提升为50%。", + "error_success_analysis": "爪夹已经抓取到橡胶头滴管，并且在向着玻璃滴瓶的方向移动。", + "correction_plan": "爪夹夹紧橡胶头滴管向爪夹方向的左边移动，直至橡胶头滴管处于散热器正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886359937_6ybq6wc5o", + "x": 0.40903456785031195, + "y": 0.5841349011330491, + "width": 0.03967224905571589, + "height": 0.08572853580334877 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886366058_mqsaiyolw", + "x": 0.5800356413663287, + "y": 0.25398883772015274, + "width": 0.03146419752694705, + "height": 0.11673672960456001 + } + ] + }, + "point_1768885627869": { + "type": "point", + "instances": [ + { + "id": "point_1768885627869_1768886371262_ea6fg4xwr", + "x": 0.5923477186594819, + "y": 0.25216482632008147 + } + ] + } + } + }, + { + "time": 20.195005343541034, + "frame": 606, + "progress": 55, + "action_description": "爪夹夹紧橡胶头滴管继续向爪夹方向的左下方移动。", + "state_description": "当前爪夹合拢，抓住橡胶头滴管处于玻璃滴瓶方向的右上方。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹夹紧橡胶头滴管向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。", + "progress_explanation": "当前爪夹已抓住橡胶头滴管，与上一进度相比，橡胶头滴管与玻璃滴瓶的水平距离进一步缩短，因刺进度提升为55%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管向爪夹方向的左下方移动，水平方向上成功接近玻璃滴瓶。", + "correction_plan": "爪夹夹紧橡胶头滴管向爪夹方向的左下方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "point_1768885627869": { + "type": "point", + "instances": [ + { + "id": "point_1768885627869_1768886384756_2xivhdzwj", + "x": 0.5006911432548968, + "y": 0.3305973165231453 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886391085_f04fcs1yn", + "x": 0.5198432634886908, + "y": 0.3415413849235727, + "width": 0.025992163174434514, + "height": 0.11673672960456004 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886397574_m9rpixvqr", + "x": 0.40903456785031195, + "y": 0.5859589125331204, + "width": 0.038304240467587736, + "height": 0.08208051300320622 + } + ] + } + } + }, + { + "time": 21.042733, + "frame": 631, + "progress": 60, + "action_description": "爪夹夹紧橡胶头滴管继续向爪夹方向的左下方移动。", + "state_description": "当前爪夹合拢，橡胶头滴管与玻璃滴瓶的水平距离进一步缩短。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹夹紧橡胶头滴管向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。", + "progress_explanation": "当前橡胶头滴管与玻璃滴瓶的水平距离进一步缩短，因刺进度提升为60%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管向爪夹方向的左下方移动，水平方向上成功接近玻璃滴瓶。", + "correction_plan": "爪夹夹紧橡胶头滴管向爪夹方向的左下方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886408825_32jn5whyv", + "x": 0.41040257643844014, + "y": 0.5859589125331204, + "width": 0.0396722490557158, + "height": 0.0893765586034912 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886413533_dor7ug2ga", + "x": 0.42681867949597774, + "y": 0.5002303767297716, + "width": 0.010944068705025067, + "height": 0.03100819380121127 + } + ] + } + } + }, + { + "time": 21.95, + "frame": 659, + "progress": 58, + "action_description": "爪夹夹紧橡胶头滴管向爪夹方向的左后方略微移动。", + "state_description": "当前爪夹合拢，橡胶头滴管位于玻璃滴瓶的左后方。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹夹紧橡胶头滴管向爪夹方向的左前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。", + "progress_explanation": "当前橡胶头滴管与玻璃滴瓶的水平距离增加，因此进度下降为58%。", + "error_success_analysis": "爪夹夹紧橡胶头滴管向爪夹方向的左后方移动，在水平方向上偏离了玻璃滴瓶，不方便将橡胶头滴管放入玻璃滴瓶中。", + "correction_plan": "爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886421135_1frai9eej", + "x": 0.3953544819690306, + "y": 0.5531267073318378, + "width": 0.013680085881281334, + "height": 0.041952262201638744 + } + ] + }, + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886436119_yig7co9tj", + "x": 0.41040257643844014, + "y": 0.5877829239331915, + "width": 0.038304240467587736, + "height": 0.08390452440327761 + } + ] + } + } + }, + { + "time": 23.471866, + "frame": 704, + "progress": 70, + "action_description": "爪夹夹紧橡胶头滴管向爪夹方向的右前方略微移动。", + "state_description": "当前爪夹合拢，橡胶头滴管插入到玻璃滴瓶中。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹下降下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "progress_explanation": "当前橡胶头滴管已对准玻璃滴瓶，因此进度上升为70%。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，成功将橡胶头滴管插入到玻璃滴瓶中。", + "correction_plan": "爪夹下降下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886443506_j0t1aku2c", + "x": 0.40903456785031195, + "y": 0.5877829239331915, + "width": 0.03967224905571589, + "height": 0.08572853580334877 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886525216_iwsdnk2ro", + "x": 0.4172426193790807, + "y": 0.5795748630655504, + "width": 0.01368008588128138, + "height": 0.03830423940149631 + } + ] + } + } + }, + { + "time": 25.716448705396704, + "frame": 771, + "progress": 75, + "action_description": "爪夹夹紧橡胶头滴管略微向爪夹方向的右前方移动。", + "state_description": "当前爪夹合拢，橡胶头滴管已经插入到玻璃滴瓶中。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:爪夹下降下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "progress_explanation": "当前橡胶头滴管已对准玻璃滴瓶，并且向右前方略微抬升，因此进度上升为75%。", + "error_success_analysis": "当前爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，调整橡胶头滴管的方向，方便将橡胶头滴管放入玻璃滴瓶中。", + "correction_plan": "爪夹下降下降将橡胶头滴管放入玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886457996_uqb168qyl", + "x": 0.4076665592621838, + "y": 0.5829188920834075, + "width": 0.04377627482010027, + "height": 0.0893765586034912 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886531976_o3oacmo5w", + "x": 0.419978636555337, + "y": 0.5756442134989906, + "width": 0.015625, + "height": 0.046794917468234234 + } + ] + } + } + }, + { + "time": 26.486333, + "frame": 795, + "progress": 80, + "action_description": "爪夹下降将橡胶头滴管放入玻璃滴瓶中。", + "state_description": "当前爪夹合拢，橡胶头滴管已位于玻璃滴瓶中。\n为完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务应当:松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "progress_explanation": "当前橡胶头滴管位于玻璃滴瓶中，因此进度提升为80%。", + "error_success_analysis": "爪夹下降将橡胶头滴管成功放入玻璃滴瓶中。", + "correction_plan": "松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886464617_p58n38ai7", + "x": 0.41177058502656827, + "y": 0.5823108897329778, + "width": 0.034200214703203266, + "height": 0.08755254720342004 + } + ] + }, + "bbox_1768885626747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885626747_1768886499407_7oktvfbbi", + "x": 0.4240826623197214, + "y": 0.5886949305029836, + "width": 0.012312077293153223, + "height": 0.051072319201995 + } + ] + } + } + }, + { + "time": 28.039678972407014, + "frame": 841, + "progress": 100, + "action_description": "爪夹松开。", + "state_description": "当前爪夹张开，橡胶头滴管位于玻璃滴瓶中。已完成抓起橡胶头滴管使其落入玻璃滴瓶中的任务。", + "progress_explanation": "当前橡胶头滴管已落入玻璃滴瓶中，因此进度提升为100%。", + "error_success_analysis": "橡胶头滴管成功落入玻璃滴瓶。", + "correction_plan": "橡胶头滴管位于玻璃滴瓶中，所以抓起橡胶头滴管使其落入玻璃滴瓶中的任务完成了。", + "annotations": { + "bbox_1768885627023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768885627023_1768886481542_yn28wdnjd", + "x": 0.3980904991452869, + "y": 0.6078470493339753, + "width": 0.038304240467587736, + "height": 0.06748842180263624 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768885626747", + "name": "橡胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768885627023", + "name": "玻璃滴瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768885627869", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768885628124", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-143658-put-rubber-tippen dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-143658-put-rubber-tippen dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..8a84178db237c0e075cc6e1fcc8cad5e650a8189 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-143658-put-rubber-tippen dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,630 @@ +{ + "task_description": "抓起橡胶头滴管将其放入玻璃滴瓶中。\n准备移动：0%\n爪夹靠近橡胶头滴管：20%\n爪夹抓取橡胶头滴管：40%\n爪夹抓住橡胶头滴管接近玻璃滴瓶：60%\n爪夹抓住橡胶头滴管对准玻璃滴瓶：80%\n爪夹松开，橡胶头滴管落入玻璃滴瓶：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.10133333333333343, + "id": "bbox_1768785454757_1768785830325_4few2jtjo", + "width": 0.08099999999999996, + "x": 0.6743750000000001, + "y": 0.5201979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768785455117": { + "instances": [ + { + "height": 0.06133333333333327, + "id": "bbox_1768785455117_1768785884811_m4x2b0ovl", + "width": 0.03600000000000003, + "x": 0.676375, + "y": 0.40553125000000007 + } + ], + "type": "bbox" + }, + "point_1768785455997": { + "instances": [ + { + "id": "point_1768785455997_1768785892220_voez5gkf6", + "x": 0.40037500000000004, + "y": 0.5121979166666667 + } + ], + "type": "point" + }, + "point_1768785456173": { + "instances": [ + { + "id": "point_1768785456173_1768785895979_ys8kjh05e", + "x": 0.491375, + "y": 0.5041979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达橡胶头滴管正上方后下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触橡胶头滴管。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取橡胶头滴管。", + "time": 1.1596005289948452 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.09599999999999996, + "id": "bbox_1768785454757_1768785956708_jd2xgjx06", + "width": 0.08200000000000003, + "x": 0.6753750000000001, + "y": 0.5241979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768785455117": { + "instances": [ + { + "height": 0.05466666666666668, + "id": "bbox_1768785455117_1768785934484_yvma5nfnr", + "width": 0.03500000000000005, + "x": 0.6753750000000001, + "y": 0.40819791666666666 + } + ], + "type": "bbox" + }, + "point_1768785456173": { + "instances": [ + { + "id": "point_1768785456173_1768785927284_w7dvhvh9u", + "x": 0.647375, + "y": 0.5508645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。向爪夹方向的右下方移动，到达橡胶头滴管正上方后下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 79, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。\n", + "state_description": "当前爪夹张开，与橡胶头滴管的水平距离略微缩短。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取橡胶头滴管。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 2.632109137242268 + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动到橡胶头滴管的正上方。", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.03333333333333333, + "id": "bbox_1768785454757_1768785965692_4qt753xaa", + "width": 0.025999999999999978, + "x": 0.676375, + "y": 0.5188645833333333 + } + ], + "type": "bbox" + }, + "bbox_1768785455117": { + "instances": [ + { + "height": 0.0653333333333333, + "id": "bbox_1768785455117_1768785971556_vmjianl84", + "width": 0.038000000000000075, + "x": 0.673375, + "y": 0.39886458333333336 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹到达橡胶头滴管正上方后下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了橡胶头滴管的正上方，方便抓取。", + "frame": 99, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于橡胶头滴管的正上方，已接近橡胶头滴管，因此进度提升为20%。", + "state_description": "当前爪夹张开，爪夹已经移动到橡胶头滴管的正上方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:继续向下抓取橡胶头滴管，然后向爪夹方向的左前方移动，直至玻璃滴瓶的正上方。", + "time": 3.313733 + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.02933333333333336, + "id": "bbox_1768785454757_1768786003747_7vvyrfbao", + "width": 0.01799999999999997, + "x": 0.6793750000000001, + "y": 0.5228645833333333 + } + ], + "type": "bbox" + }, + "bbox_1768785455117": { + "instances": [ + { + "height": 0.036000000000000004, + "id": "bbox_1768785455117_1768786014283_ds2i9hp5g", + "width": 0.03299999999999992, + "x": 0.6833750000000001, + "y": 0.40019791666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，抓取橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了橡胶头滴管的正上方，方便抓取。", + "frame": 140, + "progress": 30, + "progress_explanation": "当前爪夹已悬空于橡胶头滴管的正上方，已接近橡胶头滴管，因此进度提升为30%。", + "state_description": "当前爪夹张开，于水平方向呈90度角，爪夹已经移动到橡胶头滴管的正上方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:继续向下抓取橡胶头滴管，然后向爪夹方向的左前方移动，直至玻璃滴瓶的正上方。", + "time": 4.666666666666667 + }, + { + "action_description": "合拢爪夹抓取橡胶头滴管。", + "annotations": { + "bbox_1768785455117": { + "instances": [ + { + "height": 0.02400000000000002, + "id": "bbox_1768785455117_1768786033331_7sk56rxke", + "width": 0.03500000000000005, + "x": 0.680375, + "y": 0.40019791666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢，成功抓取到橡胶头滴管。", + "frame": 176, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于橡胶头滴管的正上方，已接近橡胶头滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到橡胶头滴管。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:抬升爪夹，爪夹向爪夹方向的左前方移动，直至玻璃滴瓶的正上方。", + "time": 5.866666666666666 + }, + { + "action_description": "爪夹保持合拢，抓住橡胶头滴管向爪夹方向的右上方抬升。", + "annotations": { + "bbox_1768785455117": { + "instances": [ + { + "height": 0.06266666666666669, + "id": "bbox_1768785455117_1768786041571_lk1ebj7s1", + "width": 0.039999999999999945, + "x": 0.6743750000000001, + "y": 0.40019791666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹已经抓取到橡胶头滴管，抬升高度方便将橡胶头滴管放入玻璃滴瓶中。", + "frame": 220, + "progress": 45, + "progress_explanation": "当前爪夹已抓住橡胶头滴管，并在水平方向上逐渐接近玻璃滴瓶，因此进度提升为50%\n", + "state_description": "当前爪夹合拢，垂直于桌面，抓住橡胶头滴管处于玻璃滴瓶的右后方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹继续抬升，然后爪夹向爪夹方向的左前方移动，直至玻璃滴瓶的正上方。", + "time": 7.333333333333333 + }, + { + "action_description": "爪夹抓住橡胶头滴管向爪夹方向的左侧移动。", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.12400000000000003, + "id": "bbox_1768785454757_1768786050075_j5xab8wev", + "width": 0.038999999999999965, + "x": 0.6753750000000001, + "y": 0.29219791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧橡胶头滴管向玻璃滴瓶的方向移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧橡胶头滴管向爪夹方向的左侧移动，橡胶头滴管更加接近玻璃滴瓶。", + "frame": 249, + "progress": 50, + "progress_explanation": "当前爪夹已抓住橡胶头滴管，并在水平方向上进一步接近玻璃滴瓶，因此进度提升为50%", + "state_description": "当前爪夹合拢，橡胶头滴管与玻璃滴瓶的水平距离缩短。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向爪夹方向的右边移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "time": 8.3129 + }, + { + "action_description": "爪夹夹紧橡胶头滴管向爪夹方向的右下方移动。", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.08000000000000002, + "id": "bbox_1768785454757_1768786100963_opqsb9wqu", + "width": 0.026999999999999958, + "x": 0.6793750000000001, + "y": 0.34419791666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧橡胶头滴管向玻璃滴瓶的方向移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧橡胶头滴管向爪夹方向的右下方移动，橡胶头滴管更加接近玻璃滴瓶。", + "frame": 264, + "progress": 60, + "progress_explanation": "当前爪夹已抓住橡胶头滴管，并在水平方向上进一步接近玻璃滴瓶，因此进度提升为60%", + "state_description": "当前爪夹合拢，橡胶头滴管与玻璃滴瓶的水平距离进一步缩短。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向爪夹方向的右边移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "time": 8.798533 + }, + { + "action_description": "爪夹夹紧橡胶头滴管继续向爪夹方向的右下方移动。", + "annotations": { + "bbox_1768785455117": { + "instances": [ + { + "height": 0.05466666666666663, + "id": "bbox_1768785455117_1768786124099_c9d61m6m3", + "width": 0.03600000000000003, + "x": 0.6753750000000001, + "y": 0.4041979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧橡胶头滴管向爪夹方向的左前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧橡胶头滴管继续向爪夹方向的右下方移动，橡胶头滴管偏离了玻璃滴瓶，不方便抓取。", + "frame": 291, + "progress": 54, + "progress_explanation": "当前爪夹已抓住橡胶头滴管，并在水平方向上远离了玻璃滴瓶，因此进度下降为54%", + "state_description": "当前爪夹合拢，橡胶头滴管与玻璃滴瓶的水平距离增加。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向爪夹方向的左边移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "time": 9.712666 + }, + { + "action_description": "爪夹夹紧橡胶头滴管继续向爪夹方向的右下方移动。", + "annotations": { + "bbox_1768785455117": { + "instances": [ + { + "height": 0.05866666666666666, + "id": "bbox_1768785455117_1768786132059_vfmajttd7", + "width": 0.03399999999999999, + "x": 0.678375, + "y": 0.40553125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的左前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧橡胶头滴管继续向爪夹方向的右下方移动，橡胶头滴管偏离了玻璃滴瓶，不方便抓取。", + "frame": 301, + "progress": 38, + "progress_explanation": "当前爪夹已抓住橡胶头滴管，并在水平方向上远离了玻璃滴瓶，因此进度下降为38%", + "state_description": "当前爪夹合拢，橡胶头滴管与玻璃滴瓶的水平距离变远。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:抬升爪夹，爪夹向爪夹方向的左前方移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "time": 10.0269 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.017333331922743216, + "id": "bbox_1768785454757_1768785203228_ke44kpwn3", + "width": 0.009999999389648462, + "x": 0.6721110429619724, + "y": 0.5093888542164018 + } + ], + "type": "bbox" + }, + "bbox_1768785455117": { + "instances": [ + { + "height": 0.05466666666666663, + "id": "bbox_1768785455117_1768786146571_fuxpy575q", + "width": 0.03599999999999994, + "x": 0.6753750000000001, + "y": 0.40553125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至移动到橡胶头滴管的正上方后，下降爪夹抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹松开橡胶头滴管掉落在了桌子上，将橡胶头滴管放进玻璃滴瓶的任务失败。", + "frame": 318, + "progress": 17, + "progress_explanation": "当前橡胶头滴管掉落在了桌子上需要重新抓取，因此进度下降为38%。", + "state_description": "当前爪夹张开，橡胶头滴管掉落在了桌子上。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向爪夹方向的右前方移动，直至移动到橡胶头滴管的正上方后，下降爪夹抓取橡胶头滴管。", + "time": 10.6 + }, + { + "action_description": "爪夹向爪夹方向的右后方略微移动。", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.13066666666666665, + "id": "bbox_1768785454757_1768786160819_qmtzkfm3d", + "width": 0.02300000000000004, + "x": 0.622375, + "y": 0.49886458333333333 + } + ], + "type": "bbox" + }, + "bbox_1768785455117": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1768785455117_1768786169027_hfi6dtxmt", + "width": 0.028000000000000025, + "x": 0.672375, + "y": 0.40953125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左方移动，直至移动到橡胶头滴管的正上方后，下降爪夹抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，在水平方向上远离了橡胶头滴管不方便抓取。", + "frame": 346, + "progress": 13, + "progress_explanation": "当前爪夹与橡胶头滴管的水平距离增加，因此进度下降为13%。", + "state_description": "当前爪夹张开，橡胶头滴管完全掉落在桌子上并向爪夹方向的左方滚动了一段距离。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向爪夹方向的左方移动，直至移动到橡胶头滴管的正上方后，下降爪夹抓取橡胶头滴管。", + "time": 11.533333333333333 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度，使其接近于垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.12400000000000003, + "id": "bbox_1768785454757_1768786198588_teoqj4qz8", + "width": 0.021999999999999888, + "x": 0.615375, + "y": 0.5041979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，直至移动到橡胶头滴管的正上方后，下降爪夹抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 381, + "progress": 18, + "progress_explanation": "当前爪夹在水平方向上略微接近橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为18%。", + "state_description": "当前爪夹张开，与橡胶头滴管的水平距离略微缩短。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的左下方移动，准备抓取橡胶头滴管。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 12.704068017654638 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并调整爪夹角度，使其接近于垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1768785454757_1768786214867_sd88u4vb1", + "width": 0.017999999999999884, + "x": 0.6173750000000001, + "y": 0.4961979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，直至移动到橡胶头滴管的正上方后，下降爪夹抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 399, + "progress": 23, + "progress_explanation": "当前爪夹在水平方向上更加接近橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为23%。", + "state_description": "当前爪夹张开，与橡胶头滴管的水平距离进一步缩短。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的左下方移动，准备抓取橡胶头滴管。", + "time": 13.2835 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动到橡胶头滴管的上方。", + "correction_plan": "下降爪夹抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了橡胶头滴管的上方，方便抓取。", + "frame": 426, + "progress": 32, + "progress_explanation": "当前爪夹已悬空于橡胶头滴管的正上方，已接近橡胶头滴管，因此进度提升为32%。", + "state_description": "当前爪夹张开，爪夹位于橡胶头滴管的上方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:继续向下抓取橡胶头滴管，然后向爪夹方向的右前方移动，直至玻璃滴瓶的正上方。", + "time": 14.2 + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "合拢爪夹抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了橡胶头滴管的正上方，方便抓取。", + "frame": 454, + "progress": 35, + "progress_explanation": "当前爪夹已悬空于橡胶头滴管的正上方，已接近橡胶头滴管，因此进度提升为35%。", + "state_description": "当前爪夹张开，于水平方向呈90度角，爪夹已经移动到橡胶头滴管的正上方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:继续向下抓取橡胶头滴管，然后向爪夹方向的右前方移动，直至移动到玻璃滴瓶的正上方。", + "time": 15.133333333333333 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "下降爪夹并合拢爪夹抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，方便调整角度抓取橡胶头滴管。", + "frame": 493, + "progress": 37, + "progress_explanation": "当前爪夹的视野虽然被挡住了，但是其位置原本是挨着左侧玻璃滴瓶，但现在不见了，是被爪夹向爪夹方向的左前方推动了，因此进度提升为37%。", + "state_description": "当前爪夹张开，橡胶头滴管的视野被挡住了看不见。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:继续向下抓取橡胶头滴管，然后向爪夹方向的右前方移动，直至移动到玻璃滴瓶的正上方。", + "time": 16.466666666666665 + }, + { + "action_description": "爪夹向爪夹的左方略微移动。", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.09200000000000005, + "id": "bbox_1768785454757_1768786256099_qzkqie6pe", + "width": 0.021999999999999974, + "x": 0.604375, + "y": 0.5308645833333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，下降爪夹抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左方略微移动，橡胶头滴管从爪夹下方向爪夹方向的左方滚动，不方便抓取。", + "frame": 510, + "progress": 21, + "progress_explanation": "当前爪夹在水平方向上远离了橡胶头滴管，因此进度下降为21%。", + "state_description": "当前爪夹张开，橡胶头滴管位于爪夹的左下方。\n\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向爪夹方向的左下方移动，下降爪夹抓取橡胶头滴管。", + "time": 16.997166 + }, + { + "action_description": "爪夹向爪夹方向的左方移动并下降爪夹。", + "correction_plan": "下降爪夹抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了橡胶头滴管的正上方，方便抓取。", + "frame": 546, + "progress": 33, + "progress_explanation": "当前爪夹已悬空于橡胶头滴管的正上方，已接近橡胶头滴管，因此进度提升为33%。", + "state_description": "当前爪夹张开，于水平方向呈90度角，爪夹已经移动到橡胶头滴管的正上方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:继续向下抓取橡胶头滴管，然后向爪夹方向的右前方移动，直至移动到玻璃滴瓶的正上方。", + "time": 18.2 + }, + { + "action_description": "爪夹向爪夹方向的右后方移到并推动橡胶头滴管顺时针方向转动。", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.04400000000000001, + "id": "bbox_1768785454757_1768786279483_i8zhj0h8p", + "width": 0.020999999999999998, + "x": 0.616375, + "y": 0.5188645833333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抬升爪夹，向爪夹方向的左前方移到到橡胶头滴管的正上方，继续向下抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，推动橡胶头滴管的位置发生改变，不方便抓取橡胶头滴管。", + "frame": 580, + "progress": 27, + "progress_explanation": "当前爪夹位于橡胶头滴管的右后方，因此进度下降为27%", + "state_description": "当前爪夹张开，橡胶头滴管的位置向顺时针方向转动。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:抬升爪夹，向爪夹方向的左前方移到到橡胶头滴管的正上方，继续向下抓取橡胶头滴管。", + "time": 19.339633 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "爪夹下降抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，并且已经移动到了橡胶头滴管的正上方，方便抓取。", + "frame": 605, + "progress": 34, + "progress_explanation": "当前爪夹已悬空于橡胶头滴管的正上方，已接近橡胶头滴管，因此进度提升为34%。", + "state_description": "当前爪夹张开，于水平方向呈90度角，爪夹已经移动到橡胶头滴管的正上方。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:继续向下抓取橡胶头滴管，然后向爪夹方向的左边移动，直至玻璃滴瓶的正上方。", + "time": 20.154961575386597 + }, + { + "action_description": "合拢爪夹抓取橡胶头滴管并向爪夹方向的右上方抬升。", + "correction_plan": "爪夹夹紧橡胶头滴管向爪夹方向的右前方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧橡胶头滴管向爪夹方向的左侧移动，橡胶头滴管更加接近玻璃滴瓶。", + "frame": 700, + "progress": 46, + "progress_explanation": "当前爪夹已抓住橡胶头滴管，并在水平方向上进一步接近玻璃滴瓶，因此进度提升为46%", + "state_description": "当前爪夹合拢，虽然橡胶头滴管的视野被挡住了看不见，但是橡胶头滴管已不在桌子上，说明爪夹已经抓住橡胶头滴管。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向爪夹方向的左边移动，直至玻璃滴瓶的正上方。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "time": 23.333333333333332 + }, + { + "action_description": "调整爪夹角度并向爪夹方向的右上方抬升。", + "correction_plan": "爪夹下降将橡胶头滴管对准玻璃滴瓶。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "error_success_analysis": "爪夹夹紧橡胶头滴管向爪夹方向的右上方移动，水平方向上成功解决玻璃滴瓶。", + "frame": 718, + "progress": 70, + "progress_explanation": "当前橡胶头滴管鱼玻璃滴瓶的水平距离进一步缩短。因此进度提升为70%", + "state_description": "当前爪夹合拢，橡胶头滴管鱼玻璃滴瓶的水平距离进一步缩短。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹下降将橡胶头滴管对准玻璃滴瓶。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "time": 23.946259905800993 + }, + { + "action_description": "爪夹夹紧橡胶头滴管向爪夹方向的下方移动。", + "correction_plan": "爪夹下降将橡胶头滴管对准玻璃滴瓶。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "error_success_analysis": "爪夹下降，方便将橡胶头滴管放置在玻璃滴瓶中。", + "frame": 762, + "progress": 72, + "progress_explanation": "当前爪夹下降，橡胶头滴管的视野被挡住了看不见，不知道其是否放置在橡胶头滴管中。因此进度提升为72%。", + "state_description": "当前爪夹合拢，橡胶头滴管的视野被挡住了看不见，不知道其是否放置在橡胶头滴管中。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹下降将橡胶头滴管对准玻璃滴瓶。松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "time": 25.4 + }, + { + "action_description": "爪夹张开。", + "correction_plan": "松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "error_success_analysis": "爪夹张开，橡胶头滴管放入玻璃滴瓶中。", + "frame": 788, + "progress": 90, + "progress_explanation": "当前爪夹张开，玻璃滴瓶的视野被爪夹挡住，不知道其是否放置在玻璃滴瓶中。因此进度提升为90%", + "state_description": "当前爪夹张开，玻璃滴瓶的视野被爪夹挡住，不知道其是否放置在玻璃滴瓶中。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:松开爪夹，橡胶头滴管落入玻璃滴瓶中。", + "time": 26.266666666666666 + }, + { + "action_description": "爪夹完全张开。", + "annotations": { + "bbox_1768785454757": { + "instances": [ + { + "height": 0.07733333333333334, + "id": "bbox_1768785454757_1768786303923_fqig5g0yp", + "width": 0.021999999999999974, + "x": 0.630375, + "y": 0.3601979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": ":爪夹向爪夹方向的左下方移动，直至橡胶头滴管的正上方后下降爪夹抓取橡胶头滴管。抬升爪夹，爪夹夹紧橡胶头滴管向爪夹方向的右方移动，直至橡胶头滴管处于玻璃滴瓶正上方。下降将胶头滴管放入玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹张开，橡胶头滴管掉落在桌子上，所以抓起橡胶头滴管将其放入玻璃滴瓶中的任务失败了。", + "frame": 808, + "progress": 12, + "progress_explanation": "当前爪夹与橡胶头滴管的水平距离增加了，因此进度下降为70%。", + "state_description": "当前爪夹张开橡胶头滴管掉落在爪夹方向的左后方，说明爪夹并未将橡胶头滴管对准玻璃滴瓶。\n为完成抓起橡胶头滴管将其放入玻璃滴瓶中的任务应当:爪夹向爪夹方向的左下方移动，直至橡胶头滴管的正上方后下降爪夹抓取橡胶头滴管。", + "time": 26.928501173324744 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768785454757", + "name": "橡胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768785455117", + "name": "玻璃滴瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768785455997", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768785456173", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-143658-put-rubber-tippen dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-143658-put-rubber-tippen dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9d155dfc6fc554358b88dc1af8021c9db4c195eb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-143658-put-rubber-tippen dropper-glass dropping bottle-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,662 @@ +{ + "task_description": "抓起胶头滴管将其放入容量瓶中。\n准备移动：0%\n爪夹靠近胶头滴管：20%\n爪夹抓取胶头滴管：40%\n爪夹抓住胶头滴管接近容量瓶：60%\n爪夹抓住胶头滴管使其位于容量瓶的正上方：80%\n爪夹松开，胶头滴管落入容量瓶：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。\t", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.13199999999999992, + "id": "bbox_1768786171938_1768786413650_ywlxfcvmp", + "width": 0.028000000000000025, + "x": 0.517375, + "y": 0.6095312500000001 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.148, + "id": "bbox_1768786172161_1768786431641_wnuph8mh5", + "width": 0.04299999999999997, + "x": 0.4483750000000001, + "y": 0.36553125000000003 + } + ], + "type": "bbox" + }, + "point_1768786173121": { + "instances": [ + { + "id": "point_1768786173121_1768786439609_dso331of8", + "x": 0.166375, + "y": 0.24953125 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达胶头滴管正上方后下降，抓取胶头滴管后垂直上升，向爪夹方向的左前方移动，直至胶头滴管处于容量瓶的正上方。爪夹下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触胶头滴管。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取胶头滴管。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 1.2881443298969073 + }, + { + "action_description": "爪夹向爪夹方向的下方略微移动，并调整爪夹角度，使其接近于垂直桌面。\t\t", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.12666666666666657, + "id": "bbox_1768786171938_1768786450344_qpxlq5b6e", + "width": 0.02400000000000002, + "x": 0.520375, + "y": 0.6108645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.14933333333333335, + "id": "bbox_1768786172161_1768786455608_jaaycmqhx", + "width": 0.04400000000000004, + "x": 0.44737499999999997, + "y": 0.3668645833333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达胶头滴管正上方后下降，抓取胶头滴管后垂直上升，向爪夹方向的左前方移动，直至胶头滴管处于容量瓶的正上方。爪夹下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方略微移动，水平方向上逐渐接近胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 57, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上略微接近胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为5%。\n", + "state_description": "当前爪夹张开，与胶头滴管的水平距离略微缩短。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取胶头滴管。", + "time": 1.8984 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.13200000000000003, + "id": "bbox_1768786171938_1768786473200_7g49qpapr", + "width": 0.029999999999999895, + "x": 0.5173750000000001, + "y": 0.60953125 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.14933333333333335, + "id": "bbox_1768786172161_1768786464176_m7qixj96t", + "width": 0.04400000000000004, + "x": 0.44737499999999997, + "y": 0.3641979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达胶头滴管正上方后下降，抓取胶头滴管后垂直上升，向爪夹方向的左前方移动，直至胶头滴管处于容量瓶的正上方。爪夹下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 81, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近胶头滴管并调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与橡胶头滴管的水平距离略微缩短。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取胶头滴管。", + "time": 2.708350515463918 + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.1293333333333333, + "id": "bbox_1768786171938_1768786518936_eadm3kl9i", + "width": 0.028000000000000025, + "x": 0.516375, + "y": 0.6108645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.02933333333333336, + "id": "bbox_1768786172161_1768786528808_jivy5uzc5", + "width": 0.03799999999999999, + "x": 0.449375, + "y": 0.4828645833333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达胶头滴管正上方后下降，抓取胶头滴管后垂直上升，向爪夹方向的左前方移动，直至胶头滴管处于容量瓶的正上方。爪夹下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 104, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更加接近胶头滴管并调整爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与橡胶头滴管的水平距离进一步缩短。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取胶头滴管。", + "time": 3.470412371134021 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动到胶头滴管的正上方。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.12666666666666657, + "id": "bbox_1768786171938_1768786544672_cx7717irn", + "width": 0.025999999999999978, + "x": 0.519375, + "y": 0.6108645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.05200000000000002, + "id": "bbox_1768786172161_1768786537264_vpd3z4arh", + "width": 0.04400000000000004, + "x": 0.446375, + "y": 0.4588645833333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹到达胶头滴管正上方后下降，抓取胶头滴管后垂直上升，向爪夹方向的左边移动，直至胶头滴管处于容量瓶正上方。下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了胶头滴管的正上方，方便抓取。", + "frame": 136, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于胶头滴管的正上方，已接近橡胶头滴管，因此进度提升为20%。", + "state_description": "当前爪夹张开，爪夹已经移动到胶头滴管的正上方。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:继续向下抓取胶头滴管，然后向爪夹方向的左前方移动，直至玻璃滴瓶的正上方。", + "time": 4.533333333333333 + }, + { + "action_description": "下降爪夹抓取胶头滴管。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.10266666666666673, + "id": "bbox_1768786171938_1768786551465_m7kll69q9", + "width": 0.07000000000000002, + "x": 0.492375, + "y": 0.6201979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.04266666666666671, + "id": "bbox_1768786172161_1768786557304_zvncvu9w6", + "width": 0.039000000000000055, + "x": 0.45237499999999997, + "y": 0.4668645833333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧胶头滴管后垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于容量瓶正上方。下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢，成功抓取到胶头滴管。", + "frame": 162, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于胶头滴管的正上方，已接近胶头滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到胶头滴管。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:抬升爪夹，爪夹向爪夹方向的左前方移动，直至移动到容量瓶的正上方。", + "time": 5.4 + }, + { + "action_description": "爪夹夹紧胶头滴管竖直上升。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.08133333333333331, + "id": "bbox_1768786171938_1768786571968_w5018tnl1", + "width": 0.08999999999999994, + "x": 0.49037500000000006, + "y": 0.5321979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1768786172161_1768786565424_0plki06zf", + "width": 0.04500000000000002, + "x": 0.44737499999999997, + "y": 0.41353125 + } + ], + "type": "bbox" + }, + "point_1768786172929": { + "instances": [ + { + "id": "point_1768786172929_1768786582057_2v332poor", + "x": 0.564375, + "y": 0.5268645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续夹紧胶头滴管垂直上升，向爪夹方向的左边移动，直至橡胶头滴管处于容量瓶正上方。下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹竖直上升，胶头滴管在水平方向上略微接近容量瓶，方便将其放在容量瓶中。", + "frame": 194, + "progress": 45, + "progress_explanation": "当前胶头滴管与容量瓶的水平距离略微缩短，因此进度提升为45%。", + "state_description": "当前爪夹合拢，胶头滴管在水平方向上与容量瓶的距离略微缩短。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:抬升爪夹，爪夹向爪夹方向的左前方移动，直至移动到容量瓶的正上方。", + "time": 6.466666666666667 + }, + { + "action_description": "爪夹继续夹紧胶头滴管竖直上升。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.092, + "id": "bbox_1768786171938_1768786600072_0k91nfe97", + "width": 0.07100000000000009, + "x": 0.537375, + "y": 0.36153124999999997 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.148, + "id": "bbox_1768786172161_1768786591488_6ks12v1sa", + "width": 0.041999999999999996, + "x": 0.449375, + "y": 0.3628645833333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧胶头滴管向爪夹方向的左前方移动，直至橡胶头滴管处于容量瓶正上方。下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹继续竖直上升，胶头滴管在水平方向上略微接近容量瓶，方便将其放在容量瓶中。", + "frame": 242, + "progress": 50, + "progress_explanation": "当前胶头滴管的高度继续抬升，胶头滴管与容量瓶的水平距离进一步缩短，因此进度提升为50%。", + "state_description": "当前爪夹合拢，胶头滴管在水平方向上与容量瓶的距离略微缩短。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:抬升爪夹，爪夹向爪夹方向的左前方移动，直至移动到容量瓶的正上方。", + "time": 8.077422680412372 + }, + { + "action_description": "爪夹夹紧胶头滴管向爪夹方向的左上方移动。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1768786171938_1768786612489_m095lq0aq", + "width": 0.04699999999999997, + "x": 0.5543750000000001, + "y": 0.24153125 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.148, + "id": "bbox_1768786172161_1768786625009_hvq9xsxqm", + "width": 0.041999999999999996, + "x": 0.449375, + "y": 0.36553125000000003 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧胶头滴管继续向爪夹方向的左前方移动，直至橡胶头滴管处于容量瓶正上方。下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧胶头滴管向爪夹方向的左上方移动，胶头滴管在水平方向上更加接近容量瓶，方便将其放在容量瓶中。", + "frame": 258, + "progress": 55, + "progress_explanation": "当前胶头滴管的高度继续抬升，胶头滴管与容量瓶的水平距离进一步缩短，因此进度提升为55%。", + "state_description": "当前爪夹合拢，胶头滴管在水平方向上与容量瓶的距离进一步缩短。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:爪夹向爪夹方向的左前方移动，直至移动到容量瓶的正上方。", + "time": 8.6016 + }, + { + "action_description": "爪夹夹紧胶头滴管向爪夹方向的左方移动。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.07999999999999995, + "id": "bbox_1768786171938_1768786644841_eohpip2of", + "width": 0.03799999999999999, + "x": 0.538375, + "y": 0.21886458333333333 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.1493333333333333, + "id": "bbox_1768786172161_1768786634632_4arqfhz32", + "width": 0.04400000000000004, + "x": 0.44737499999999997, + "y": 0.3628645833333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧胶头滴管继续向爪夹方向的左下方移动，直至橡胶头滴管处于容量瓶正上方。下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧胶头滴管向爪夹方向的左方移动，胶头滴管在水平方向上更加接近容量瓶，方便将其放在容量瓶中。", + "frame": 272, + "progress": 60, + "progress_explanation": "当前胶头滴管与容量瓶的水平距离进一步缩短，因此进度提升为60%。", + "state_description": "当前爪夹合拢，胶头滴管在水平方向上与容量瓶的距离进一步缩短。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:爪夹向爪夹方向的左前方移动，直至移动到容量瓶的正上方。", + "time": 9.066666666666666 + }, + { + "action_description": "爪夹夹紧胶头滴管向爪夹方向的左下方移动。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.07866666026475748, + "id": "bbox_1768786171938_1768787919042_x0qp8y2hu", + "width": 0.026999998352050893, + "x": 0.5161110524834562, + "y": 0.2892407092903069 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.1413333218315982, + "id": "bbox_1768786172161_1768787914082_v1b2ocn8h", + "width": 0.04099999749755874, + "x": 0.4501110565117763, + "y": 0.36657403633023794 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧胶头滴管继续向爪夹方向的左前方移动，直至橡胶头滴管处于容量瓶正上方。下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧胶头滴管向爪夹方向的左下方移动，胶头滴管在水平方向上更加接近容量瓶，方便将其放在容量瓶中。", + "frame": 286, + "progress": 65, + "progress_explanation": "当前胶头滴管与容量瓶的水平距离进一步缩短，因此进度提升为65%。", + "state_description": "当前爪夹合拢，胶头滴管在水平方向上与容量瓶的距离进一步缩短。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:爪夹夹紧胶头滴管向爪夹方向的左前方移动，直至移动到容量瓶的正上方。", + "time": 9.545016111707165 + }, + { + "action_description": "爪夹夹紧胶头滴管向爪夹方向的左上方移动。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.04933333333333332, + "id": "bbox_1768786171938_1768786659232_ortwyx6po", + "width": 0.01700000000000008, + "x": 0.477375, + "y": 0.21753125 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.14800000000000005, + "id": "bbox_1768786172161_1768786666921_3r746a9u8", + "width": 0.04400000000000004, + "x": 0.450375, + "y": 0.3641979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧胶头滴管继续向爪夹方向的左下方移动，直至橡胶头滴管处于容量瓶正上方。下降将胶头滴管放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左上方移动，水平方向上远离胶头滴管，并使爪夹角度向垂直于桌面调整，方便将胶头滴管放入容量瓶中。", + "frame": 300, + "progress": 70, + "progress_explanation": "当前爪夹虽然与容量瓶的水平距离增加，但是爪夹开始调整角度方便将胶头滴管放入容量瓶中，因此进度提升为70%。", + "state_description": "当前爪夹合拢，胶头滴管在水平方向上与容量瓶的距离增加。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:爪夹夹紧胶头滴管向爪夹方向的左下方移动，直至移动到容量瓶的正上方。", + "time": 9.996 + }, + { + "action_description": "爪夹夹紧胶头滴管向爪夹方向的左下方移动。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.02933333333333333, + "id": "bbox_1768786171938_1768786680296_eexstdqq3", + "width": 0.009999999999999964, + "x": 0.46537500000000004, + "y": 0.24286458333333333 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1768786172161_1768786676304_64wk0401n", + "width": 0.041000000000000016, + "x": 0.449375, + "y": 0.36553125000000003 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降将胶头滴管放入容量瓶中，松开爪夹，胶头滴管落入容量瓶。", + "error_success_analysis": "爪夹夹紧胶头滴管向爪夹方向的左下方移动，胶头滴管在水平方向上更加接近容量瓶，方便将其放在容量瓶中。", + "frame": 313, + "progress": 75, + "progress_explanation": "当前胶头滴管与容量瓶的水平距离进一步缩短，因此进度提升为75%。", + "state_description": "当前爪夹合拢，胶头滴管在水平方向上与容量瓶的距离缩短。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:爪夹下降将胶头滴管放入玻璃滴瓶中，松开爪夹，胶头滴管落入容量瓶。", + "time": 10.437083570369653 + }, + { + "action_description": "爪夹夹紧胶头滴管向爪夹方向的下方移动。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.05066666666666665, + "id": "bbox_1768786171938_1768786689120_f92mmdnxy", + "width": 0.013999999999999967, + "x": 0.46637500000000004, + "y": 0.3028645833333333 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.148, + "id": "bbox_1768786172161_1768786696712_6ytjh7k3o", + "width": 0.04299999999999997, + "x": 0.449375, + "y": 0.3628645833333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续下降将胶头滴管放入容量瓶中，松开爪夹，胶头滴管落入容量瓶。", + "error_success_analysis": "爪夹夹紧胶头滴管向爪夹方向的下方移动，成功将胶头滴管移动到容量瓶的上方，方便将胶头滴管放入容量瓶中。", + "frame": 335, + "progress": 80, + "progress_explanation": "当前胶头滴管已悬空于容量瓶正上方，已接近容量瓶，因此进度提升为80%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，胶头滴管已经位于容量瓶的上方。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:爪夹下降将胶头滴管放入容量瓶中，松开爪夹，胶头滴管落入容量瓶。", + "time": 11.172 + }, + { + "action_description": "爪夹夹紧胶头滴管继续向爪夹方向的下方移动。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.050666666666666714, + "id": "bbox_1768786171938_1768786713113_vq06gbw2p", + "width": 0.009999999999999964, + "x": 0.471375, + "y": 0.31219791666666663 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.148, + "id": "bbox_1768786172161_1768786705040_2oz87ueu9", + "width": 0.04400000000000004, + "x": 0.44737499999999997, + "y": 0.3641979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续下降将胶头滴管放入玻璃滴瓶中，松开爪夹，胶头滴管落入容量瓶。", + "error_success_analysis": "爪夹夹紧胶头滴管向爪夹方向的下方移动，胶头滴管在水平方向上更加接近容量瓶，方便将其放在容量瓶中。", + "frame": 354, + "progress": 85, + "progress_explanation": "当前胶头滴管与容量瓶的水平距离进一步缩短，因此进度提升为85%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，胶头滴管已经位于容量瓶的右上方。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:爪夹下降将胶头滴管放入玻璃滴瓶中，松开爪夹，胶头滴管落入容量瓶。", + "time": 11.8 + }, + { + "action_description": "爪夹夹紧胶头滴管将其对准容量瓶。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.045333333333333316, + "id": "bbox_1768786171938_1768786721440_z8up4h7si", + "width": 0.009999999999999964, + "x": 0.467375, + "y": 0.32686458333333335 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.14533333333333337, + "id": "bbox_1768786172161_1768786727473_sc7zuohlk", + "width": 0.04499999999999993, + "x": 0.4473750000000001, + "y": 0.3641979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，胶头滴管落入容量瓶。", + "error_success_analysis": "爪夹夹紧胶头滴管并下降，将其成功对准容量瓶口，方便将其放在容量瓶中。", + "frame": 380, + "progress": 90, + "progress_explanation": "当前胶头滴管已经对准容量瓶，因此进度提升为90%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，胶头滴管已经对准容量瓶。\n为完成抓起胶头滴管将其放入容量瓶中的任务应当:爪夹下降将胶头滴管放入玻璃滴瓶中，松开爪夹，胶头滴管落入容量瓶。", + "time": 12.666666666666666 + }, + { + "action_description": "爪夹松开并向爪夹方向的后方略微移动。", + "annotations": { + "bbox_1768786171938": { + "instances": [ + { + "height": 0.03466666666666664, + "id": "bbox_1768786171938_1768786752288_o7867zavd", + "width": 0.015000000000000036, + "x": 0.460375, + "y": 0.3161979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768786172161": { + "instances": [ + { + "height": 0.1733333333333333, + "id": "bbox_1768786172161_1768786757879_2i917obw5", + "width": 0.046, + "x": 0.446375, + "y": 0.33753125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "胶头滴管位于容量瓶中，所以抓起胶头滴管将其放入容量瓶中的任务完成了。", + "error_success_analysis": "爪夹张开，胶头滴管成功放在容量瓶中。", + "frame": 438, + "progress": 100, + "progress_explanation": "胶头滴管已经放在容量瓶中，因此进度提升为100%。", + "state_description": "当前爪夹张开，胶头滴管已经放在容量瓶中，已完成抓起胶头滴管将其放入容量瓶中的任务。", + "time": 14.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768786171938", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768786172161", + "name": "容量瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768786172929", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768786173121", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-150539-put-red-rubber bulb brown dropper-brown-glass dropping bottle-good1/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-150539-put-red-rubber bulb brown dropper-brown-glass dropping bottle-good1/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..84ec5a3863d57f2ffc09c4b79b8ccf805c013f83 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-150539-put-red-rubber bulb brown dropper-brown-glass dropping bottle-good1/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,330 @@ +{ + "task_description": "抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中：\n准备移动：0%\n爪夹靠近红色橡胶球棕色滴管：20%\n爪夹抓取红色橡胶球棕色滴管：40%\n爪夹抓住红色橡胶球棕色滴管接近棕色玻璃滴瓶：60%\n爪夹抓住红色橡胶球棕色滴管将其对准棕色玻璃滴瓶：80%\n爪夹松开，红色橡胶球棕色滴管落入棕色玻璃滴瓶：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触红色橡胶球棕色滴管。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取红色橡胶球棕色滴管。\t", + "time": 1.2027487214078607, + "annotations": { + "point_1768786015354": { + "type": "point", + "instances": [ + { + "id": "point_1768786015354_1768786854600_f7q8sb4zb", + "x": 0.38133331298828127, + "y": 0.5217777709960937 + } + ] + }, + "point_1768786015514": { + "type": "point", + "instances": [ + { + "id": "point_1768786015514_1768786857416_wc5wceqao", + "x": 0.5163333129882812, + "y": 0.5271111043294271 + } + ] + }, + "bbox_1768786014058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768786014058_1768786866207_wrnq7szsf", + "x": 0.6723333129882814, + "y": 0.3964444376627604, + "width": 0.015625, + "height": 0.12400000000000003 + } + ] + }, + "bbox_1768786014434": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768786014434_1768786879375_drj5f26kx", + "x": 0.6093333129882812, + "y": 0.5564444376627604, + "width": 0.03500000000000005, + "height": 0.05466666666666668 + } + ] + } + } + }, + { + "time": 1.839999, + "frame": 55, + "progress": 10, + "action_description": "爪夹向爪夹方向的下方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "state_description": "当前爪夹张开，与红色橡胶球棕色滴管的水平距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取红色橡胶球棕色滴管。", + "progress_explanation": "当前爪夹在水平方向上略微接近红色橡胶球棕色滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹方向的下方略微移动，水平方向上逐渐接近红色橡胶球棕色滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768786014434": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768786014434_1768786889400_f591zjgvw", + "x": 0.6093333129882812, + "y": 0.559111104329427, + "width": 0.03600000000000012, + "height": 0.049333333333333465 + } + ] + }, + "bbox_1768786014058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768786014058_1768787084872_m4d7l8yvh", + "x": 0.6723333129882813, + "y": 0.3977777709960938, + "width": 0.016000000000000014, + "height": 0.12266666666666666 + } + ] + }, + "point_1768786015514": { + "type": "point", + "instances": [ + { + "id": "point_1768786015514_1768787244383_km5iaypmt", + "x": 0.5393333129882812, + "y": 0.4044444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上逐渐接近红色橡胶球棕色滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 73, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更加接近红色橡胶球棕色滴管并开始调整爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与红色橡胶球棕色滴管的水平距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取红色橡胶球棕色滴管。", + "time": 2.419243566768686 + }, + { + "action_description": "爪夹下降，并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "爪夹抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了红色橡胶球棕色滴管的正上方，方便抓取。", + "frame": 105, + "progress": 20, + "progress_explanation": "当前当前爪夹已悬空于红色橡胶球棕色滴管的正上方，已接近红色橡胶球棕色滴管，因此进度提升为20%。", + "state_description": "当前爪夹张开，移动到红色橡胶球棕色滴管的正上方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:下降爪夹抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左后方移动。", + "time": 3.512027071923325, + "annotations": { + "bbox_1768786014434": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768786014434_1768787322871_z1nfl0niz", + "x": 0.6123333129882813, + "y": 0.5791111043294271, + "width": 0.03099999999999996, + "height": 0.030666666666666606 + } + ] + } + } + }, + { + "action_description": "合拢爪夹抓取红色橡胶球棕色滴管。", + "correction_plan": "爪夹抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢，成功抓取到红色橡胶球棕色滴管。", + "frame": 140, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于红色橡胶球棕色滴管的正上方，已接近红色橡胶球棕色滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到红色橡胶球棕色滴管。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:抬升爪夹，爪夹向爪夹方向的左后方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 4.666666247181056, + "annotations": { + "bbox_1768786014434": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768786014434_1768787334631_9zkjmnyd0", + "x": 0.6093333129882812, + "y": 0.5657777709960938, + "width": 0.03200000000000003, + "height": 0.04400000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管后竖直上升。", + "correction_plan": "爪夹继续夹紧红色橡胶球棕色滴管并垂直上升，然后向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹竖直上升，红色橡胶球棕色滴管在水平方向上略微接近棕色玻璃滴瓶，方便将其放在棕色玻璃滴瓶中。", + "frame": 176, + "progress": 45, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离略微缩短，因此进度提升为45%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:抬升爪夹，爪夹向爪夹方向的左后方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 5.866666666666666, + "annotations": { + "bbox_1768786014434": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768786014434_1768787381382_81ttyfrr6", + "x": 0.6083333129882813, + "y": 0.5804444376627604, + "width": 0.03499999999999996, + "height": 0.03600000000000006 + } + ] + } + } + }, + { + "time": 6.542954906974872, + "frame": 196, + "progress": 50, + "action_description": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的左后方移动。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离逐渐缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左后方移动，直至移动到棕色玻璃滴瓶的正上方。", + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离进一步缩短，因此进度提升为50%。", + "error_success_analysis": "爪夹向爪夹方向的左后方抬升，红色橡胶球棕色滴管在水平方向上成功接近棕色玻璃滴瓶，方便将其放在棕色玻璃滴瓶中。", + "correction_plan": "爪夹继续向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。" + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管继续向爪夹方向的左后方移动。", + "correction_plan": "爪夹继续向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，红色橡胶球棕色滴管在水平方向上成功接近棕色玻璃滴瓶，方便将其放在棕色玻璃滴瓶中。", + "frame": 225, + "progress": 60, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离进一步缩短，因此进度提升为60%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左后方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 7.486826002812274, + "annotations": { + "bbox_1768786014058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768786014058_1768787393191_yf5ptl3kv", + "x": 0.6853333129882813, + "y": 0.4151111043294271, + "width": 0.015999999999999924, + "height": 0.02666666666666669 + } + ] + } + } + }, + { + "time": 8.852233257490333, + "frame": 266, + "progress": 70, + "action_description": "爪夹夹紧红色橡胶球棕色滴管继续向爪夹方向的左后方移动。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左后方移动，直至移动到棕色玻璃滴瓶的正上方。", + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离进一步缩短，因此进度提升为70%。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，红色橡胶球棕色滴管在水平方向上成功接近棕色玻璃滴瓶，方便将其放在棕色玻璃滴瓶中。", + "correction_plan": "爪夹继续向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "annotations": { + "bbox_1768786014058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768786014058_1768787408046_rxtdu76ma", + "x": 0.6533333129882812, + "y": 0.45644443766276044, + "width": 0.01200000000000001, + "height": 0.025333333333333326 + } + ] + } + } + }, + { + "time": 10.192439443057346, + "frame": 306, + "progress": 80, + "action_description": "爪夹下降将红色橡胶球棕色滴管对准玻璃滴瓶。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，胶头滴管已经对准棕色玻璃滴瓶的上方。\n为完成抓起胶头滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴滴瓶中，松开爪夹，红色橡胶球棕色滴管落入棕色玻璃滴瓶。", + "progress_explanation": "当前红色橡胶球棕色滴管已对准棕色玻璃滴瓶，已接近棕色玻璃滴瓶，因此进度提升为80%。", + "error_success_analysis": "爪夹下降将红色橡胶球棕色滴管对准玻璃滴瓶，方便将红色橡胶球棕色滴管放入棕色玻璃滴瓶中。", + "correction_plan": "爪夹继续下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹，红色橡胶球棕色滴管落入棕色玻璃瓶中。", + "annotations": { + "bbox_1768786014058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768786014058_1768787412542_cpykalu60", + "x": 0.6443333129882813, + "y": 0.4871111043294271, + "width": 0.010999999999999944, + "height": 0.027999999999999994 + } + ] + } + } + }, + { + "time": 10.810996144088275, + "frame": 324, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "当前爪夹张开，红色橡胶球棕色滴管已经放在棕色玻璃滴瓶中，已完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务。", + "progress_explanation": "红色橡胶球棕色滴管已经放在棕色玻璃滴瓶中，因此进度提升为100%。", + "error_success_analysis": "爪夹张开，红色橡胶球棕色滴管成功放在棕色玻璃滴瓶中。", + "correction_plan": "红色橡胶球棕色滴管位于棕色玻璃滴瓶中，所以抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务完成了。", + "annotations": { + "bbox_1768786014058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768786014058_1768787427798_msw8xbjk8", + "x": 0.6433333129882812, + "y": 0.5457777709960937, + "width": 0.008000000000000007, + "height": 0.018666666666666623 + } + ] + }, + "point_1768786015514": { + "type": "point", + "instances": [ + { + "id": "point_1768786015514_1768787432519_el7s2qd07", + "x": 0.6883333129882813, + "y": 0.5377777709960938 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768786014058", + "name": "红色橡胶球棕色滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1768786014434", + "name": "棕色玻璃滴瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768786015354", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768786015514", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-151712-put-red-rubber bulb brown dropper-brown-glass dropping bottle-mix/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-151712-put-red-rubber bulb brown dropper-brown-glass dropping bottle-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..ccf5d2cf39329668f95b8284596655212ab97797 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-151712-put-red-rubber bulb brown dropper-brown-glass dropping bottle-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,632 @@ +{ + "task_description": "抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中：\n准备移动：0%\n爪夹靠近红色橡胶球棕色滴管：20%\n爪夹抓取红色橡胶球棕色滴管：40%\n爪夹抓住红色橡胶球棕色滴管接近棕色玻璃滴瓶：60%\n爪夹抓住红色橡胶球棕色滴管将其对准棕色玻璃滴瓶：80%\n爪夹松开，红色橡胶球棕色滴管落入棕色玻璃滴瓶：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1768787345007_1768787632382_u5oll89md", + "width": 0.02399999999999993, + "x": 0.7733333129882813, + "y": 0.5057777709960938 + } + ], + "type": "bbox" + }, + "bbox_1768787345190": { + "instances": [ + { + "height": 0.05466666666666663, + "id": "bbox_1768787345190_1768787641310_9l6ey5r46", + "width": 0.040000000000000036, + "x": 0.6833333129882813, + "y": 0.5191111043294271 + } + ], + "type": "bbox" + }, + "point_1768787345895": { + "instances": [ + { + "id": "point_1768787345895_1768787654270_4fm30sy02", + "x": 0.4033333129882813, + "y": 0.5697777709960937 + } + ], + "type": "point" + }, + "point_1768787346078": { + "instances": [ + { + "id": "point_1768787346078_1768787659054_1527hhqs4", + "x": 0.5083333129882812, + "y": 0.5791111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触红色橡胶球棕色滴管。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取红色橡胶球棕色滴管。\t", + "time": 1.4158872598598204 + }, + { + "action_description": "爪夹向爪夹方向右前方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.13200000000000003, + "id": "bbox_1768787345007_1768787676118_hvbwerr0c", + "width": 0.026000000000000068, + "x": 0.7713333129882811, + "y": 0.5057777709960938 + } + ], + "type": "bbox" + }, + "bbox_1768787345190": { + "instances": [ + { + "height": 0.05466666666666668, + "id": "bbox_1768787345190_1768787709205_ze3xdia7h", + "width": 0.041000000000000106, + "x": 0.6833333129882811, + "y": 0.5164444376627605 + } + ], + "type": "bbox" + }, + "point_1768787346078": { + "instances": [ + { + "id": "point_1768787346078_1768787667446_crouswnwu", + "x": 0.5713333129882813, + "y": 0.4511111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方略微移动，水平方向上逐渐接近红色橡胶球棕色滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 80, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近红色橡胶球棕色滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与红色橡胶球棕色滴管的水平距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取红色橡胶球棕色滴管。", + "time": 2.6651999557361092 + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.12666666059027828, + "id": "bbox_1768787345007_1768787729165_jxsv1dz4l", + "width": 0.025999998901367238, + "x": 0.7733333140869141, + "y": 0.5151111104058155 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上逐渐接近红色橡胶球棕色滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 94, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更加接近红色橡胶球棕色滴管并开始调整爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与红色橡胶球棕色滴管的水平距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取红色橡胶球棕色滴管。", + "time": 3.142210257797965 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动到棕色玻璃滴瓶的正上方。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.07866666666666676, + "id": "bbox_1768787345007_1768787736093_dyn657xn5", + "width": 0.015000000000000036, + "x": 0.7843333129882812, + "y": 0.559111104329427 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抬升爪夹，向爪夹方向的右方移动，直至移动到红色橡胶球棕色滴管的正上方后下降爪夹，抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动到棕色玻璃滴瓶的上方，会导致抓取错误物体。", + "frame": 138, + "progress": -10, + "progress_explanation": "当前爪夹位于棕色玻璃滴瓶的上方，不是红色橡胶球棕色滴管的上方，因此进度下降为-10%。", + "state_description": "当前爪夹张开，爪夹位于棕色玻璃滴瓶的上方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:抬升爪夹，向爪夹方向的右方移动，直至移动到红色橡胶球棕色滴管的正上方后下降爪夹，抓取红色橡胶球棕色滴管。", + "time": 4.6 + }, + { + "action_description": "爪夹合拢抓取棕色玻璃滴瓶。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.0693333333333334, + "id": "bbox_1768787345007_1768787744685_yoanvzx3w", + "width": 0.015000000000000036, + "x": 0.7843333129882812, + "y": 0.5631111043294271 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，将棕色玻璃滴瓶放回到桌子上。抬升爪夹，向爪夹方向的右方移动，直至移动到红色橡胶球棕色滴管的正上方。下降爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢抓住棕色玻璃滴瓶，抓取到错误物体。", + "frame": 160, + "progress": -20, + "progress_explanation": "当前爪夹已经抓住棕色玻璃滴瓶，而不是红色橡胶球棕色滴管，因此进度下降为-20%。", + "state_description": "当前爪夹合拢，爪夹已经抓取到棕色玻璃滴瓶。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹下降，将棕色玻璃滴瓶放回到桌子上。抬升爪夹，向爪夹方向的右方移动，直至移动到红色橡胶球棕色滴管的正上方。", + "time": 5.333333333333333 + }, + { + "action_description": "爪夹夹紧棕色玻璃滴瓶向爪夹方向的右前方移动。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.09066666666666663, + "id": "bbox_1768787345007_1768787750133_t43darphx", + "width": 0.016999999999999994, + "x": 0.7803333129882812, + "y": 0.5431111043294271 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左后方移动，下降爪夹，将棕色玻璃滴瓶放回到桌子上。抬升爪夹，向爪夹方向的右方移动，直至移动到红色橡胶球棕色滴管的正上方。下降爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧棕色玻璃滴瓶向爪夹方向的右前方移动，爪夹移动了错误的物体。", + "frame": 184, + "progress": -30, + "progress_explanation": "当前爪夹已抓住棕色玻璃滴瓶并向右前方移动了一段距离，因此进度下降为-30%。", + "state_description": "当前爪夹合拢，爪夹抓住棕色玻璃滴瓶且向右前方移动了一段距离。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的左后方移动，下降爪夹，将棕色玻璃滴瓶放回到桌子上。", + "time": 6.133333333333334 + }, + { + "action_description": "爪夹夹紧棕色玻璃滴瓶略微下降。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.10533333268229181, + "id": "bbox_1768787345007_1768787763213_bxcjocjtj", + "width": 0.017000000122070258, + "x": 0.7803333129882812, + "y": 0.5351111043294271 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左后方移动，下降爪夹，将棕色玻璃滴瓶放回到桌子上。抬升爪夹，向爪夹方向的右方移动，直至移动到红色橡胶球棕色滴管的正上方。下降爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹抓住棕色玻璃滴瓶并下降，爪夹抓住错误物体移动。", + "frame": 215, + "progress": -35, + "progress_explanation": "当前爪夹抓住错误物体并下降，因此进度下降为-35%。", + "state_description": "当前爪夹合拢，爪夹抓住棕色玻璃滴瓶位于红色橡胶球棕色滴管的右上方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的左后方移动，下降爪夹，将棕色玻璃滴瓶放回到桌子上。", + "time": 7.15767732840077 + }, + { + "action_description": "爪夹夹紧棕色玻璃滴瓶向爪夹方向的左后方移动。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.0719999996744793, + "id": "bbox_1768787345007_1768787776117_zjpyvvmxp", + "width": 0.016000000000000014, + "x": 0.7833333129882812, + "y": 0.559111104329427 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左后方移动，下降爪夹，将棕色玻璃滴瓶放回到桌子上。抬升爪夹，向爪夹方向的右前方移动，直至移动到红色橡胶球棕色滴管的正上方。下降爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧棕色玻璃滴瓶向爪夹方向的左后方移动，方便将棕色玻璃滴瓶放回到原来的位置。", + "frame": 245, + "progress": -15, + "progress_explanation": "当前棕色玻璃滴瓶向原来的位置靠近，因此进度提升为-15%。", + "state_description": "当前爪夹合拢，棕色玻璃滴瓶位于红色橡胶球棕色滴管的左方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左后方移动，下降爪夹，将棕色玻璃滴瓶放回到桌子上。", + "time": 8.2 + }, + { + "action_description": "爪夹张开将棕色玻璃滴瓶放回到桌子上。", + "annotations": { + "bbox_1768787345190": { + "instances": [ + { + "height": 0.03466666384548643, + "id": "bbox_1768787345190_1768787710202_0oduqzh8p", + "width": 0.014999999084472648, + "x": 0.6771110426567967, + "y": 0.5403518237018372 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至移动到红色橡胶球棕色滴管的正上方。下降爪夹抓取红色橡胶球棕色滴管。下降爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹张开，棕色玻璃滴瓶成功落在桌子上。", + "frame": 279, + "progress": 14, + "progress_explanation": "当前棕色玻璃滴瓶已经位于桌子上，因此进度提升为14%。", + "state_description": "爪夹张开，棕色玻璃滴瓶位于桌子上。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的右前方移动，直至移动到红色橡胶球棕色滴管的正上方。下降爪夹抓取红色橡胶球棕色滴管。", + "time": 9.298066 + }, + { + "action_description": "爪夹向爪夹方向的右上方移动。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.07999999999999995, + "id": "bbox_1768787345007_1768787781613_ejxkt50qx", + "width": 0.016000000000000104, + "x": 0.7843333129882812, + "y": 0.5671111043294271 + } + ], + "type": "bbox" + }, + "bbox_1768787345190": { + "instances": [ + { + "height": 0.041333333333333284, + "id": "bbox_1768787345190_1768787805078_ixba29xpt", + "width": 0.025, + "x": 0.6793333129882813, + "y": 0.5377777709960938 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的右前方移动，直至移动到红色橡胶球棕色滴管的正上方。下降爪夹抓取红色橡胶球棕色滴管。下降爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上逐渐接近红色橡胶球棕色滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 288, + "progress": 18, + "progress_explanation": "当前爪夹在水平方向上更加接近红色橡胶球棕色滴管并开始调整爪夹角度方便抓取，因此进度提升为18%。", + "state_description": "当前爪夹张开，爪夹与红色橡胶球棕色滴管的水平距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的右前方移动，直至移动到红色橡胶球棕色滴管的正上方。下降爪夹抓取红色橡胶球棕色滴管。", + "time": 9.584499 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动到红色橡胶球棕色滴管的上方。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.021333333333333294, + "id": "bbox_1768787345007_1768787789973_7ojeykxxw", + "width": 0.012999999999999989, + "x": 0.7713333129882812, + "y": 0.5111111043294271 + } + ], + "type": "bbox" + }, + "bbox_1768787345190": { + "instances": [ + { + "height": 0.04933333333333323, + "id": "bbox_1768787345190_1768787813389_9cktdiane", + "width": 0.03499999999999996, + "x": 0.6813333129882813, + "y": 0.5351111043294272 + } + ], + "type": "bbox" + } + }, + "correction_plan": "下降爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。下降爪夹抓取红色橡胶球棕色滴管。下降爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动到红色橡胶球棕色滴管的上方，方便抓取。", + "frame": 314, + "progress": 20, + "progress_explanation": "当前爪夹位于红色橡胶球棕色滴管的上方，因此进度上升为20%。", + "state_description": "当前爪夹张开，爪夹位于棕色玻璃滴瓶的上方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:下降爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。\n", + "time": 10.466666666666667 + }, + { + "action_description": "爪夹下降并调整爪夹角度使其于桌面垂直。", + "annotations": { + "bbox_1768787345190": { + "instances": [ + { + "height": 0.054666666666666565, + "id": "bbox_1768787345190_1768787829205_i2ka77tkl", + "width": 0.041999999999999996, + "x": 0.6773333129882813, + "y": 0.5311111043294272 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。下降爪夹抓取红色橡胶球棕色滴管。下降爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹下降并调整爪夹角度使其于桌面垂直，方便抓取红色橡胶球棕色滴管。", + "frame": 348, + "progress": 30, + "progress_explanation": "当前爪夹已经位于红色橡胶球棕色滴管的上方，因此进度上升为30%。", + "state_description": "当前爪夹张开，爪夹位于棕色玻璃滴瓶的上方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:合拢爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。", + "time": 11.6 + }, + { + "action_description": "合拢爪夹抓取红色橡胶球棕色滴管。", + "annotations": { + "bbox_1768787345190": { + "instances": [ + { + "height": 0.05333333333333338, + "id": "bbox_1768787345190_1768787841085_9rn7bbtui", + "width": 0.03799999999999999, + "x": 0.6793333129882813, + "y": 0.5351111043294271 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧红色橡胶球棕色滴管后垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。下降爪夹抓取红色橡胶球棕色滴管。下降爪夹抓取红色橡胶球棕色滴管。爪夹垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到红色橡胶球棕色滴管。", + "frame": 389, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于红色橡胶球棕色滴管，已接近红色橡胶球棕色滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到红色橡胶球棕色滴管。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当：爪夹垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。", + "time": 12.955599 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管后竖直上升。", + "annotations": { + "bbox_1768787345190": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1768787345190_1768787850045_zxx7lx66b", + "width": 0.03600000000000003, + "x": 0.6793333129882813, + "y": 0.5324444376627604 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续夹紧红色橡胶球棕色滴管并垂直上升，然后向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹竖直上升，红色橡胶球棕色滴管在水平方向上略微接近棕色玻璃滴瓶，方便将其放在棕色玻璃滴瓶中。", + "frame": 407, + "progress": 45, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离略微缩短，因此进度提升为45%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:继续抬升爪夹，爪夹向爪夹方向的左后方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 13.567892636010235 + }, + { + "action_description": "爪夹继续夹紧红色橡胶球棕色滴管后竖直上升。", + "annotations": { + "bbox_1768787345190": { + "instances": [ + { + "height": 0.04933333333333335, + "id": "bbox_1768787345190_1768787857324_5kls5i8x8", + "width": 0.039999999999999945, + "x": 0.6773333129882813, + "y": 0.5351111043294271 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹继续竖直上升，方便爪夹调整角度将红色橡胶球棕色滴管放在棕色玻璃滴瓶中。", + "frame": 424, + "progress": 50, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离略微缩短，因此进度提升为50%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的左后方移动，直至移动到棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中。", + "time": 14.133333333333333 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的左方略微转动。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.040000000000000036, + "id": "bbox_1768787345007_1768787896388_ux8g4r7w0", + "width": 0.011999999999999922, + "x": 0.7603333129882813, + "y": 0.46577777099609374 + } + ], + "type": "bbox" + }, + "bbox_1768787345190": { + "instances": [ + { + "height": 0.04799999999999998, + "id": "bbox_1768787345190_1768787864941_6rd849ecl", + "width": 0.03799999999999999, + "x": 0.6793333129882813, + "y": 0.5324444376627604 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的左方略微转动，在水平方向上成功接近棕色玻璃滴瓶。", + "frame": 443, + "progress": 60, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离略微缩短，因此进度提升为60%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的左后方移动，直至移动到棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中。", + "time": 14.772175717591782 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的左后方移动。", + "annotations": { + "bbox_1768787345190": { + "instances": [ + { + "height": 0.05333333333333338, + "id": "bbox_1768787345190_1768787872132_iy3mk4wvs", + "width": 0.03700000000000001, + "x": 0.6803333129882813, + "y": 0.5297777709960937 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的左后方移动，在水平方向上更加接近棕色玻璃滴瓶。", + "frame": 474, + "progress": 70, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离进一步缩短，因此进度提升为70%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左后方移动，直至移动到棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中。", + "time": 15.789291774965784 + }, + { + "action_description": "爪夹继续夹紧红色橡胶球棕色滴管向爪夹方向的左后方移动。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.01866666514756954, + "id": "bbox_1768787345007_1768786326917_7tibm3urx", + "width": 0.009999999389648462, + "x": 0.766111037224668, + "y": 0.4467221926495612 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹继续夹紧红色橡胶球棕色滴管向爪夹方向的左后方移动，在水平方向上更加接近棕色玻璃滴瓶。", + "frame": 514, + "progress": 75, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离进一步缩短，因此进度提升为75%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左后方移动，直至移动到棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中。", + "time": 17.119899 + }, + { + "action_description": "爪夹继续夹紧红色橡胶球棕色滴管向爪夹方向的左后方移动到棕色玻璃滴瓶的正上方。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.018666666666666682, + "id": "bbox_1768787345007_1768788116556_lmky7drma", + "width": 0.013999999999999967, + "x": 0.7293333129882813, + "y": 0.46577777099609374 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹，红色橡胶球棕色滴管落入棕色玻璃瓶中。", + "error_success_analysis": "爪夹下降将红色橡胶球棕色滴管对准玻璃滴瓶，方便将红色橡胶球棕色滴管放入棕色玻璃滴瓶中。", + "frame": 555, + "progress": 80, + "progress_explanation": "当前红色橡胶球棕色滴管已对准棕色玻璃滴瓶，已接近棕色玻璃滴瓶，因此进度提升为80%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，胶头滴管已经对准棕色玻璃滴瓶的上方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴滴瓶中，松开爪夹，红色橡胶球棕色滴管落入棕色玻璃滴瓶。", + "time": 18.507999 + }, + { + "action_description": "爪夹张开并向爪夹方向的左后方抬升。", + "annotations": { + "bbox_1768787345007": { + "instances": [ + { + "height": 0.03466666666666658, + "id": "bbox_1768787345007_1768788097757_pyyxivyj7", + "width": 0.019000000000000038, + "x": 0.7043333129882813, + "y": 0.5191111043294271 + } + ], + "type": "bbox" + }, + "bbox_1768787345190": { + "instances": [ + { + "height": 0.03866666666666667, + "id": "bbox_1768787345190_1768788093380_ev9oefb00", + "width": 0.03300000000000001, + "x": 0.6793333129882813, + "y": 0.544 + } + ], + "type": "bbox" + }, + "point_1768787345895": { + "instances": [ + { + "id": "point_1768787345895_1768788105628_ibfbkdtea", + "x": 0.7553333129882812, + "y": 0.44711110432942713 + } + ], + "type": "point" + }, + "point_1768787346078": { + "instances": [ + { + "id": "point_1768787346078_1768788109676_qnhalss35", + "x": 0.8593333129882813, + "y": 0.5297777709960937 + } + ], + "type": "point" + } + }, + "correction_plan": "红色橡胶球棕色滴管位于棕色玻璃滴瓶中，所以抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务完成了。", + "error_success_analysis": "爪夹张开，红色橡胶球棕色滴管成功放在棕色玻璃滴瓶中。", + "frame": 600, + "progress": 100, + "progress_explanation": "红色橡胶球棕色滴管已经放在棕色玻璃滴瓶中，因此进度提升为100%。", + "state_description": "当前爪夹张开，红色橡胶球棕色滴管已经放在棕色玻璃滴瓶中，已完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务。", + "time": 20.006266 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768787345007", + "name": "红色橡胶球棕色滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768787345190", + "name": "棕色玻璃滴瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768787345895", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768787346078", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-151712-put-red-rubber bulb brown dropper-brown-glass dropping bottle-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-151712-put-red-rubber bulb brown dropper-brown-glass dropping bottle-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..2be656fceca90d4928cdbdb781f981c693bdb023 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-151712-put-red-rubber bulb brown dropper-brown-glass dropping bottle-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,508 @@ +{ + "task_description": "抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中：\n准备移动：0%\n爪夹靠近红色橡胶球棕色滴管：20%\n爪夹抓取红色橡胶球棕色滴管：40%\n爪夹抓住红色橡胶球棕色滴管接近棕色玻璃滴瓶：60%\n爪夹抓住红色橡胶球棕色滴管将其对准棕色玻璃滴瓶：80%\n爪夹松开，红色橡胶球棕色滴管落入棕色玻璃滴瓶：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.12133332345920209, + "id": "bbox_1768786979324_1768787152363_pytsw3wne", + "width": 0.027999998291015692, + "x": 0.5491110504692962, + "y": 0.6476110516267048 + } + ], + "type": "bbox" + }, + "bbox_1768786979556": { + "instances": [ + { + "height": 0.08933332606336866, + "id": "bbox_1768786979556_1768787163363_wlx3fla5k", + "width": 0.03399999792480486, + "x": 0.5871110481499604, + "y": 0.5062777297951067 + } + ], + "type": "bbox" + }, + "point_1768786980499": { + "instances": [ + { + "id": "point_1768786980499_1768787172123_qkwkpmirp", + "x": 0.3511110625542564, + "y": 0.37427774053729324 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的右前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触红色橡胶球棕色滴管。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取红色橡胶球棕色滴管。", + "time": 1.5578576864997156 + }, + { + "action_description": "爪夹向爪夹方向右前方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.12666665635850785, + "id": "bbox_1768786979324_1768787191699_s357m7vuw", + "width": 0.026999998352050893, + "x": 0.550111050408261, + "y": 0.6458332706027612 + } + ], + "type": "bbox" + }, + "bbox_1768786979556": { + "instances": [ + { + "height": 0.08666665961371584, + "id": "bbox_1768786979556_1768787184067_izuns1cip", + "width": 0.031999998046875165, + "x": 0.5871110481499604, + "y": 0.5058332819959894 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的右前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，水平方向上逐渐接近红色橡胶球棕色滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 70, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近红色橡胶球棕色滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与红色橡胶球棕色滴管的水平距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取红色橡胶球棕色滴管。", + "time": 2.3479 + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.12666665635850774, + "id": "bbox_1768786979324_1768787207347_bkc7e09tr", + "width": 0.027999998291015692, + "x": 0.5491110504692962, + "y": 0.6458332706027612 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的右前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上逐渐接近红色橡胶球棕色滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 96, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更加接近红色橡胶球棕色滴管并开始调整爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与红色橡胶球棕色滴管的水平距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取红色橡胶球棕色滴管。", + "time": 3.183374792689197 + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.11866665700954944, + "id": "bbox_1768786979324_1768787219131_8q2mtnhyu", + "width": 0.023999998535156396, + "x": 0.550111050408261, + "y": 0.6524999367268932 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的右前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，在水平方向上更加接近红色橡胶球棕色滴管，方便抓取。", + "frame": 109, + "progress": 18, + "progress_explanation": "当前爪夹位于红色橡胶球棕色滴管的右上方，在水平方向上接近红色橡胶球棕色滴管，因此进度提升为18%。", + "state_description": "当前爪夹张开，与红色橡胶球棕色滴管的水平距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的左方移动，准备抓取红色橡胶球棕色滴管。", + "time": 3.6326 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.10533332476128537, + "id": "bbox_1768786979324_1768787230803_eeu6epnq8", + "width": 0.023999998535156396, + "x": 0.550111050408261, + "y": 0.6658332689751573 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，向爪夹方向的左下方移动，直至红色橡胶球棕色滴管的正上方，下降爪夹准备抓取红色橡胶球棕色滴管。然后爪夹垂直上升，向爪夹方向的右前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢抓取红色橡胶球棕色滴管失败。", + "frame": 124, + "progress": 3, + "progress_explanation": "当前爪夹并未抓取到红色橡胶球棕色滴管，因此进度下降为3%。", + "state_description": "当前爪夹合拢，爪夹并未抓取到红色橡胶球棕色滴管。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹张开，向爪夹方向的左下方移动，直至红色橡胶球棕色滴管的正上方，下降爪夹准备抓取红色橡胶球棕色滴管。", + "time": 4.133333333333334 + }, + { + "action_description": "爪夹张开并垂直上升。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.12666665635850763, + "id": "bbox_1768786979324_1768787245179_c469kuooi", + "width": 0.028999998229980672, + "x": 0.5491110504692961, + "y": 0.6431666041531084 + } + ], + "type": "bbox" + }, + "bbox_1768786979556": { + "instances": [ + { + "height": 0.08533332638888952, + "id": "bbox_1768786979556_1768787284755_n59mqyqdu", + "width": 0.03599999780273455, + "x": 0.5851110482720306, + "y": 0.5084999484456422 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，向爪夹方向的左下方移动，直至红色橡胶球棕色滴管的正上方，下降爪夹准备抓取红色橡胶球棕色滴管。然后爪夹垂直上升，向爪夹方向的右前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹张开并垂直上升，方便爪夹向爪夹方向的左方移动并调整爪夹角度抓取红色橡胶球棕色滴管。", + "frame": 148, + "progress": 8, + "progress_explanation": "当前爪夹虽然在水平距离上与红色橡胶球棕色滴管的距离增加，但是方便爪夹调整角度抓取红色橡胶球棕色滴管，因此进度提升为8%。", + "state_description": "当前爪夹张开，爪夹与红色橡胶球棕色滴管的水平距离变远。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的左下方移动，直至红色橡胶球棕色滴管的正上方，下降爪夹准备抓取红色橡胶球棕色滴管。", + "time": 4.932066 + }, + { + "action_description": "爪夹继续张开并向爪夹方向的左下方移动。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.13066665603298694, + "id": "bbox_1768786979324_1768787264619_ccgydkbl1", + "width": 0.027999998291015783, + "x": 0.550111050408261, + "y": 0.6431666041531084 + } + ], + "type": "bbox" + }, + "bbox_1768786979556": { + "instances": [ + { + "height": 0.08399999316406308, + "id": "bbox_1768786979556_1768787273499_9hzs5jsk7", + "width": 0.03599999780273455, + "x": 0.5861110482109955, + "y": 0.5058332819959894 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，直至红色橡胶球棕色滴管的正上方，下降爪夹准备抓取红色橡胶球棕色滴管。然后爪夹垂直上升，向爪夹方向的右前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上成功接近红色橡胶球棕色滴管，方便抓取。", + "frame": 171, + "progress": 12, + "progress_explanation": "当前爪夹在水平方向上距离红色橡胶球棕色滴管较近，调整了爪夹角度方便抓取，因此进度提升为12%。", + "state_description": "当前爪夹张开，爪夹与红色橡胶球棕色滴管的水平距离缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左下方移动，直至红色橡胶球棕色滴管的正上方，下降爪夹准备抓取红色橡胶球棕色滴管。", + "time": 5.71045372852357 + }, + { + "action_description": "爪夹继续像爪夹方向的左下方移动到红色橡胶球棕色滴管的上方。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.1279999895833342, + "id": "bbox_1768786979324_1768787298850_qvg27n50y", + "width": 0.027999998291015783, + "x": 0.550111050408261, + "y": 0.6471666038275876 + } + ], + "type": "bbox" + } + }, + "correction_plan": "下降爪夹准备抓取红色橡胶球棕色滴管。然后爪夹垂直上升，向爪夹方向的右前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的左下方移动，并且成功移动到了红色橡胶球棕色滴管的正上方，方便抓取。", + "frame": 195, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于红色橡胶球棕色滴管的正上方，已接近红色橡胶球棕色滴管，方便抓取。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到红色橡胶球棕色滴管的上方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续下降抓取红色橡胶球棕色滴管。然后爪夹垂直上升，向爪夹方向的右前方移动。", + "time": 6.497333 + }, + { + "action_description": "爪夹下降并合拢爪夹抓取红色橡胶球棕色滴管。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.09199999251302143, + "id": "bbox_1768786979324_1768787311066_nda72q7lj", + "width": 0.02399999853515631, + "x": 0.5491110504692962, + "y": 0.6633147551827184 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直上升，向爪夹方向的右前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹下降并合拢，成功抓取到红色橡胶球棕色滴管。", + "frame": 220, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于红色橡胶球棕色滴管，已接近红色橡胶球棕色滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到红色橡胶球棕色滴管。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当：爪夹垂直上升，向爪夹方向的左后方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。", + "time": 7.333333333333333 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管后竖直上升。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.0986666586371534, + "id": "bbox_1768786979324_1768787323970_ptv3jm1u0", + "width": 0.030999998107910275, + "x": 0.5401110510186126, + "y": 0.5671666103380038 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹竖直上升，红色橡胶球棕色滴管在水平方向上略微接近棕色玻璃滴瓶，方便将其放在棕色玻璃滴瓶中。", + "frame": 249, + "progress": 45, + "progress_explanation": "当前红色橡胶球棕色滴管的高度上升了，方便爪夹调整角度将其放在棕色玻璃滴瓶中，因此进度提升为45%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管的高度上升了。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:继续抬升爪夹，爪夹向爪夹方向的右前方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 8.298866 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的右上方抬升。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.04399999641927111, + "id": "bbox_1768786979324_1768787329594_jok68rkd2", + "width": 0.015999999023437537, + "x": 0.636111045159238, + "y": 0.3724999595133497 + } + ], + "type": "bbox" + }, + "bbox_1768786979556": { + "instances": [ + { + "height": 0.08533332638888945, + "id": "bbox_1768786979556_1768787338250_ndkd272gr", + "width": 0.03499999786376966, + "x": 0.5871110481499604, + "y": 0.5044999487711631 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右上方移动，红色橡胶球棕色滴管在水平方向上成功接近棕色玻璃滴瓶。", + "frame": 280, + "progress": 50, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离略微缩短，因此进度提升为50%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的左下方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 9.333333333333334 + }, + { + "action_description": "爪夹下降，并夹紧红色橡胶球棕色滴管向爪夹方向的左下方移动。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.022666664822048748, + "id": "bbox_1768786979324_1768787354562_zjytgvli7", + "width": 0.011999999267578155, + "x": 0.6381110450371676, + "y": 0.3498332946913009 + } + ], + "type": "bbox" + }, + "bbox_1768786979556": { + "instances": [ + { + "height": 0.07999999348958392, + "id": "bbox_1768786979556_1768787346690_veow5iqlw", + "width": 0.03799999768066416, + "x": 0.5841110483330658, + "y": 0.5098332816704686 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，红色橡胶球棕色滴管在水平方向上成功接近棕色玻璃滴瓶。", + "frame": 302, + "progress": 60, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离进一步缩短，因此进度提升为60%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左下方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 10.0561 + }, + { + "action_description": "爪夹略微下降并向爪夹方向的左方略微移动。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.015999998697916774, + "id": "bbox_1768786979324_1768787360339_gafo9skmr", + "width": 0.010999999328613352, + "x": 0.6331110453423434, + "y": 0.36316662693956486 + } + ], + "type": "bbox" + }, + "bbox_1768786979556": { + "instances": [ + { + "height": 0.07999999348958386, + "id": "bbox_1768786979556_1768787364722_tnwmv21sk", + "width": 0.03299999798583997, + "x": 0.58911104802789, + "y": 0.5084999484456422 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹略微下降并向爪夹方向的左方略微移动，红色橡胶球棕色滴管在水平方向上成功接近棕色玻璃滴瓶。", + "frame": 328, + "progress": 70, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离进一步缩短，因此进度提升为70%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管水平方向上与棕色玻璃滴瓶的距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左下方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 10.92022903186054 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的下方移动。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.01999999837239598, + "id": "bbox_1768786979324_1768787382306_a7ya7u7j9", + "width": 0.011999999267578243, + "x": 0.6261110457695894, + "y": 0.4164999559326208 + } + ], + "type": "bbox" + }, + "bbox_1768786979556": { + "instances": [ + { + "height": 0.058666661892361444, + "id": "bbox_1768786979556_1768787369883_96b8egf70", + "width": 0.027999998291015692, + "x": 0.5911110479058198, + "y": 0.5364999461669966 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，红色橡胶球棕色滴管落入棕色玻璃瓶中。", + "error_success_analysis": "爪夹下降将红色橡胶球棕色滴管对准玻璃滴瓶，方便将红色橡胶球棕色滴管放入棕色玻璃滴瓶中。", + "frame": 355, + "progress": 80, + "progress_explanation": "当前红色橡胶球棕色滴管已对准棕色玻璃滴瓶，已接近棕色玻璃滴瓶，因此进度提升为80%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，胶头滴管已经对准棕色玻璃滴瓶。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:松开爪夹，红色橡胶球棕色滴管落入棕色玻璃滴瓶。", + "time": 11.833631114334768 + }, + { + "action_description": "爪夹张开并向爪夹方向的左后方移动。", + "annotations": { + "bbox_1768786979324": { + "instances": [ + { + "height": 0.02399999804687513, + "id": "bbox_1768786979324_1768787389491_s0c5odvuw", + "width": 0.012999999206542956, + "x": 0.5991110474175386, + "y": 0.4898332832980727 + } + ], + "type": "bbox" + }, + "bbox_1768786979556": { + "instances": [ + { + "height": 0.08266665993923669, + "id": "bbox_1768786979556_1768787395034_9rjr86pcz", + "width": 0.03399999792480486, + "x": 0.5871110481499604, + "y": 0.5071666152208159 + } + ], + "type": "bbox" + } + }, + "correction_plan": "红色橡胶球棕色滴管位于棕色玻璃滴瓶中，所以抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务完成了。", + "error_success_analysis": "爪夹张开，红色橡胶球棕色滴管成功放在棕色玻璃滴瓶中。", + "frame": 390, + "progress": 100, + "progress_explanation": "红色橡胶球棕色滴管已经放在棕色玻璃滴瓶中，因此进度提升为100%。", + "state_description": "当前爪夹张开，红色橡胶球棕色滴管已经放在棕色玻璃滴瓶中，已完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务。", + "time": 13 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768786979324", + "name": "红色橡胶球棕色滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768786979556", + "name": "棕色玻璃滴瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768786980311", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768786980499", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-153022-put-red-rubber bulb brown dropper-brown-glass dropping bottle-bad/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-153022-put-red-rubber bulb brown dropper-brown-glass dropping bottle-bad/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..41a426c726cef7ad88b47bd1c98b4b7ab61e8941 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-153022-put-red-rubber bulb brown dropper-brown-glass dropping bottle-bad/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,484 @@ +{ + "task_description": "抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中：\n准备移动：0%\n爪夹靠近红色橡胶球棕色滴瓶：20%\n爪夹抓取红色橡胶球棕色滴瓶：40%\n爪夹抓住红色橡胶球棕色滴管接近棕色玻璃滴瓶：60%\n爪夹抓住红色橡胶球棕色滴管将其对准棕色玻璃滴瓶：80%\n爪夹松开，红色橡胶球棕色滴管落入棕色玻璃滴瓶：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.12399999999999996, + "id": "bbox_1768784708558_1768784919285_fxkq2abqn", + "width": 0.016000000000000014, + "x": 0.6214999999999999, + "y": 0.6053333333333334 + } + ], + "type": "bbox" + }, + "bbox_1768784708742": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1768784708742_1768784925773_0uv07fknr", + "width": 0.03500000000000005, + "x": 0.5255, + "y": 0.5226666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "当前状态为爪夹打开，没有移动，没有接触红色橡胶球棕色滴管。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取红色橡胶球棕色滴管。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触红色橡胶球棕色滴管。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取红色橡胶球棕色滴管。", + "time": 1.2649710568987973 + }, + { + "action_description": "爪夹向爪夹方向右前方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.12266666666666666, + "id": "bbox_1768784708558_1768784950237_avh12ek1z", + "width": 0.016999999999999994, + "x": 0.6205, + "y": 0.6053333333333334 + } + ], + "type": "bbox" + }, + "bbox_1768784708742": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1768784708742_1768784938957_h4xr08br8", + "width": 0.03600000000000003, + "x": 0.5255, + "y": 0.5213333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达红色橡胶球棕色滴管正上方后下降，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，水平方向上逐渐接近红色橡胶球棕色滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 84, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近红色橡胶球棕色滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与红色橡胶球棕色滴管的水平距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取红色橡胶球棕色滴管。", + "time": 2.8 + }, + { + "action_description": "爪夹向爪夹方向右前方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.11733333333333344, + "id": "bbox_1768784708558_1768785084542_uv2a1zk52", + "width": 0.016999999999999994, + "x": 0.6225, + "y": 0.6186666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768784708742": { + "instances": [ + { + "height": 0.07866666666666676, + "id": "bbox_1768784708742_1768785074158_hwls3hc6g", + "width": 0.03499999999999996, + "x": 0.5265000000000001, + "y": 0.528 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左方移动，下降爪夹抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上逐渐接近红色橡胶球棕色滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 120, + "progress": 16, + "progress_explanation": "当前爪夹在水平方向上更加接近红色橡胶球棕色滴管并开始调整爪夹角度方便抓取，因此进度提升为16%。", + "state_description": "当前爪夹张开，与红色橡胶球棕色滴管的水平距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的左下方移动，准备抓取红色橡胶球棕色滴管。", + "time": 4 + }, + { + "action_description": "爪夹向爪夹方向的左方移动到红色橡胶球棕色滴管的上方。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.09333333333333324, + "id": "bbox_1768784708558_1768785092421_uglc0na3v", + "width": 0.015625, + "x": 0.6224999999999999, + "y": 0.6333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "下降爪夹抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色红橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左方移动到红色橡胶球棕色滴管的上方。并且成功移动到了红色橡胶球棕色滴管的正上方，方便抓取。", + "frame": 144, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于红色橡胶球棕色滴管的正上方，已接近红色橡胶球棕色滴管，方便抓取。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到红色橡胶球棕色滴管的上方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续下降抓取红色橡胶球棕色滴管。然后爪夹垂直上升，向爪夹方向的左前方移动", + "time": 4.8 + }, + { + "action_description": "合拢爪夹抓取红色橡胶球棕色滴管。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1768784708558_1768785103813_gzxkrx212", + "width": 0.03599999999999994, + "x": 0.6005, + "y": 0.6346666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768784708742": { + "instances": [ + { + "height": 0.08133333333333338, + "id": "bbox_1768784708742_1768785112373_xxcoy66ua", + "width": 0.03300000000000001, + "x": 0.5265, + "y": 0.532 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直上升，向爪夹方向的左前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢，成功抓取到红色橡胶球棕色滴管。", + "frame": 175, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于红色橡胶球棕色滴管，已接近红色橡胶球棕色滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到红色橡胶球棕色滴管。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当：爪夹垂直上升，向爪夹方向的左前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。", + "time": 5.841404427894927 + }, + { + "action_description": "爪夹向爪夹方向的左前方抬升并移动。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.08266666666666662, + "id": "bbox_1768784708558_1768785134589_spt1l91lq", + "width": 0.025999999999999978, + "x": 0.6125, + "y": 0.5026666666666667 + } + ], + "type": "bbox" + }, + "bbox_1768784708742": { + "instances": [ + { + "height": 0.08933333333333339, + "id": "bbox_1768784708742_1768785144557_cndoh0nyh", + "width": 0.03600000000000003, + "x": 0.5255, + "y": 0.524 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续保持合拢，向爪夹方向的左前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取红色橡胶球棕色滴管成功使其抬升并向棕色玻璃滴瓶的方向移动。", + "frame": 188, + "progress": 50, + "progress_explanation": "当前红色橡胶球棕色滴管已被抓取并成功开始抬升和移动，因此进度提升为50%\n", + "state_description": "当前爪夹合拢，抓紧红色橡胶球棕色滴管。红色橡胶球棕色滴管已被抬升至空中。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左前方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。", + "time": 6.254656488788659 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的左上方移动。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.05999999999999996, + "id": "bbox_1768784708558_1768785166205_cevj7s43c", + "width": 0.02999999999999998, + "x": 0.5655, + "y": 0.39333333333333337 + } + ], + "type": "bbox" + }, + "bbox_1768784708742": { + "instances": [ + { + "height": 0.08933333333333345, + "id": "bbox_1768784708742_1768785156301_149kddswc", + "width": 0.03700000000000001, + "x": 0.5255, + "y": 0.5226666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续保持合拢，向爪夹方向的左下方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左上方移动，红色橡胶球棕色滴管在水平方向上成功接近棕色玻璃滴瓶。", + "frame": 234, + "progress": 60, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离略微缩短，因此进度提升为60%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的左下方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 7.8 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的左下方移动。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.14799999999999994, + "id": "bbox_1768784708558_1768785178645_f7r0i3aga", + "width": 0.03600000000000012, + "x": 0.5534999999999999, + "y": 0.3586666649305557 + } + ], + "type": "bbox" + }, + "bbox_1768784708742": { + "instances": [ + { + "height": 0.09066666666666669, + "id": "bbox_1768784708742_1768785188838_eahx4bg65", + "width": 0.03500000000000005, + "x": 0.5265, + "y": 0.524 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续保持合拢，向爪夹方向的左下方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，红色橡胶球棕色滴管在水平方向上成功接近棕色玻璃滴瓶。", + "frame": 256, + "progress": 70, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离进一步缩短，因此进度提升为65%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左下方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 8.533333333333333 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的左下方移动。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.14133333333333334, + "id": "bbox_1768784708558_1768785213844_mbuloupki", + "width": 0.04499999999999993, + "x": 0.5505000000000001, + "y": 0.36666666666666664 + } + ], + "type": "bbox" + }, + "bbox_1768784708742": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1768784708742_1768785195605_m3nsk11ap", + "width": 0.03200000000000003, + "x": 0.5265000000000001, + "y": 0.5226666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续保持合拢，向爪夹方向的左下方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，红色橡胶球棕色滴管在水平方向上成功接近棕色玻璃滴瓶。", + "frame": 278, + "progress": 70, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离进一步缩短，因此进度提升为70%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离进一步缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左下方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 9.266666666666667 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的左侧略微移动。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.148, + "id": "bbox_1768784708558_1768785227190_asx4yhk87", + "width": 0.041000000000000016, + "x": 0.5445, + "y": 0.36533333333333334 + } + ], + "type": "bbox" + }, + "bbox_1768784708742": { + "instances": [ + { + "height": 0.08533333333333334, + "id": "bbox_1768784708742_1768785252804_hfk9nqm3i", + "width": 0.03600000000000003, + "x": 0.5255, + "y": 0.5253333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续保持合拢，向爪夹方向的左下方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将红色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左侧略微移动，红色橡胶球棕色滴管在水平方向上成功接近棕色玻璃滴瓶。", + "frame": 296, + "progress": 75, + "progress_explanation": "当前红色橡胶球棕色滴管与棕色玻璃滴瓶的水平距离进一步缩短，因此进度提升为75%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管在水平方向上与棕色玻璃滴瓶的距离略微缩短。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续向爪夹方向的左下方移动，直至移动到棕色玻璃滴瓶的正上方。", + "time": 9.866666666666667 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的左下方移动。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.10399999999999997, + "id": "bbox_1768784708558_1768785266596_0knvqkyyx", + "width": 0.027999999999999935, + "x": 0.5485, + "y": 0.41333333333333333 + } + ], + "type": "bbox" + }, + "bbox_1768784708742": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1768784708742_1768785262412_tv1kedkuy", + "width": 0.03399999999999999, + "x": 0.5275000000000001, + "y": 0.5386666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，红色橡胶球棕色滴管落入棕色玻璃瓶中。", + "error_success_analysis": "爪夹下降将红色橡胶球棕色滴管对准玻璃滴瓶，方便将红色橡胶球棕色滴管放入棕色玻璃滴瓶中。", + "frame": 340, + "progress": 80, + "progress_explanation": "当前红色橡胶球棕色滴管已对准棕色玻璃滴瓶，已接近棕色玻璃滴瓶，因此进度提升为80%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，胶头滴管已经对准棕色玻璃滴瓶的上方。\n为完成抓起胶头滴管将其放入棕色玻璃滴瓶中的任务应当:松开爪夹，红色橡胶球棕色滴管落入棕色玻璃滴瓶。", + "time": 11.333333333333334 + }, + { + "action_description": "爪夹夹紧红色橡胶球棕色滴管向爪夹方向的右侧移动。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.11200000000000004, + "id": "bbox_1768784708558_1768785283308_veo1jh9wu", + "width": 0.03400000000000007, + "x": 0.5765, + "y": 0.44133333333333336 + } + ], + "type": "bbox" + }, + "bbox_1768784708742": { + "instances": [ + { + "height": 0.05466666666666668, + "id": "bbox_1768784708742_1768785290803_2oqudenf2", + "width": 0.04299999999999997, + "x": 0.5355000000000001, + "y": 0.5533333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，将红色橡胶球棕色滴管摆正，使其竖直放置在棕色玻璃滴瓶的上方，松开爪夹，红色橡胶球棕色滴管落入棕色玻璃瓶中。", + "error_success_analysis": "爪夹向爪夹方向的右侧移动，使红色橡胶球棕色滴管向爪夹方向的右侧倾斜，不方便将其直立放置在棕色玻璃滴瓶上。", + "frame": 360, + "progress": 72, + "progress_explanation": "当前红色橡胶球棕色滴管向爪夹方向的右侧偏移，不是竖直放置在棕色滴瓶上，因此进度下降为72%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管与棕色玻璃滴瓶向爪夹的右侧倾斜。\n为完成抓起胶头滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的左侧移动，将红色橡胶球棕色滴管摆正，使其竖直放置在棕色玻璃滴瓶的上方，松开爪夹。", + "time": 12.012457297036082 + }, + { + "action_description": "爪夹继续夹紧红色橡胶球棕色滴管向爪夹方向的右侧移动。", + "correction_plan": "爪夹向爪夹方向的左侧移动，将红色橡胶球棕色滴管摆正，使其竖直放置在棕色玻璃滴瓶的上方，松开爪夹，红色橡胶球棕色滴管落入棕色玻璃瓶中。", + "error_success_analysis": "爪夹向爪夹方向的右侧移动，使红色橡胶球棕色滴管向爪夹方向的右侧倾斜，不方便将其直立放置在棕色玻璃滴瓶上。", + "frame": 373, + "progress": 62, + "progress_explanation": "当前红色橡胶球棕色滴管继续向爪夹方向的右侧偏移，不是竖直放置在棕色滴瓶上，因此进度下降为62%。", + "state_description": "当前爪夹合拢，红色橡胶球棕色滴管与棕色玻璃滴瓶继续向爪夹的右侧倾斜。\n为完成抓起胶头滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的左侧移动，将红色橡胶球棕色滴管摆正，使其竖直放置在棕色玻璃滴瓶的上方，松开爪夹。", + "time": 12.41707425537221 + }, + { + "action_description": "爪夹张开，并向爪夹方向的左后方移动。", + "annotations": { + "bbox_1768784708558": { + "instances": [ + { + "height": 0.030666666666666547, + "id": "bbox_1768784708558_1768785306300_iq866zjpb", + "width": 0.06700000000000017, + "x": 0.5804999999999999, + "y": 0.5333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至移动到红色橡胶球棕色滴管的正上方后下降爪夹，抓取红色橡胶球棕色滴管后垂直上升，向爪夹方向的左方移动，直至红色橡胶球棕色滴管处于棕色玻璃滴瓶的正上方。爪夹下降将色橡胶球棕色滴管放入棕色玻璃滴瓶中，松开爪夹。", + "error_success_analysis": "爪夹张开并向爪夹方向的左后方移动，红色橡胶球棕色滴管掉落在桌子上，抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务失败。", + "frame": 419, + "progress": 14, + "progress_explanation": "当前爪夹远离了红色橡胶球棕色滴管，并且红色橡胶球棕色滴管掉落在桌子上，因此进度下降为14%。", + "state_description": "当前爪夹张开，红色橡胶球棕色滴管横向掉落在桌子上。\n为完成抓起胶头滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹向爪夹方向的右前方移动，直至移动到红色橡胶球棕色滴管的正上方后下降爪夹，重新抓取红色橡胶球棕色滴管。", + "time": 13.96103122113402 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768784708558", + "name": "红色橡胶球棕色滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1768784708742", + "name": "棕色玻璃滴瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768784709582", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768784709773", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-154324-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-good/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-154324-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-good/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..0f3a42188d9c34f3141d9773da52d6580b00b254 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-154324-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-good/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,542 @@ +{ + "task_description": "抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中。\n准备移动：0%\n爪夹靠近带橡胶塞的橡胶头滴管：20%\n爪夹抓取带橡胶塞的橡胶头滴管：40%\n爪夹抓住带橡胶塞的橡胶头滴管接近碱式滴定管：60%\n爪夹抓住带橡胶塞的橡胶头滴管将其对准碱式滴定管：80%\n爪夹松开，带橡胶塞的橡胶头滴管落入碱式滴定管：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.09999999186197985, + "id": "bbox_1769048936226_1769049108743_3ftjawpsi", + "width": 0.08599999475097686, + "x": 0.5971110475396089, + "y": 0.637981423911017 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.08133332671441025, + "id": "bbox_1769048936449_1769049121158_sjaop3xnm", + "width": 0.03799999768066424, + "x": 0.445111056816952, + "y": 0.4833147698311548 + } + ], + "type": "bbox" + }, + "point_1769048937313": { + "instances": [ + { + "id": "point_1769048937313_1769049130820_pb27lm7h1", + "x": 0.24711106890191226, + "y": 0.4006481098919181 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触带橡胶塞的橡胶头滴管。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 1.3290947022233788 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.10266665831163262, + "id": "bbox_1769048936226_1769049147004_3a2ewizim", + "width": 0.08399999487304717, + "x": 0.5981110474785737, + "y": 0.6393147571358433 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.08133332671441025, + "id": "bbox_1769048936449_1769049141860_8w29as8zi", + "width": 0.03599999780273455, + "x": 0.4471110566948817, + "y": 0.4833147698311548 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，水平方向上逐渐接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 78, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近带橡胶塞的橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 2.6 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.09866665863715353, + "id": "bbox_1769048936226_1769049169364_aflt3z7bm", + "width": 0.08399999487304725, + "x": 0.5981110474785737, + "y": 0.6379814239110169 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.0853333263888894, + "id": "bbox_1769048936449_1769049188700_ajqdom1gn", + "width": 0.036999997741699354, + "x": 0.44411105687798724, + "y": 0.4819814366063284 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上更加接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 96, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上略微接近带橡胶塞的橡胶头滴管并调整了爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离进一步缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 3.188466 + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.09466665896267432, + "id": "bbox_1769048936226_1769049201999_vkhrf56gl", + "width": 0.08299999493408246, + "x": 0.6001110473565033, + "y": 0.6393147571358433 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的右下方移动，水平方向上更加接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 122, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上靠近带橡胶塞的橡胶头滴管并调整了爪夹角度方便抓取，因此进度提升为20%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离进一步缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 4.066666666666666 + }, + { + "action_description": "爪夹下降到带橡胶塞的橡胶头滴管的正上方。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.08933332606336866, + "id": "bbox_1769048936226_1769049219512_nb5ktta7p", + "width": 0.07399999548339879, + "x": 0.5991110474175385, + "y": 0.6486480897096281 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.051999995768229466, + "id": "bbox_1769048936449_1769049228272_t4mnbhq6e", + "width": 0.031999998046875075, + "x": 0.4491110565728115, + "y": 0.4833147698311548 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的左下方移动，并且成功移动到了带橡胶塞的橡胶头滴管的正上方，方便抓取。", + "frame": 158, + "progress": 30, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到带橡胶塞的橡胶头滴管的上方。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:爪夹继续下降抓取带橡胶塞的橡胶头滴管。然后爪夹垂直上升，向爪夹方向的左前方移动。", + "time": 5.266666666666667 + }, + { + "action_description": "合拢爪夹抓取带橡胶塞的橡胶头滴管。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.08266665993923657, + "id": "bbox_1769048936226_1769049241808_ng3jmjb85", + "width": 0.07399999548339879, + "x": 0.5971110475396089, + "y": 0.6553147558337602 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.05066666254340314, + "id": "bbox_1769048936449_1769049237136_if7o7xd49", + "width": 0.031999998046875075, + "x": 0.4491110565728115, + "y": 0.4833147698311548 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到橡胶塞的橡胶头滴管。", + "frame": 194, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到橡胶塞的橡胶头滴管。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的左前方移动，直至橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 6.466666666666667 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管竖直上升。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.09199999251302149, + "id": "bbox_1769048936226_1769049257668_ncln8esbn", + "width": 0.06399999609375015, + "x": 0.636111045159238, + "y": 0.4993147685290716 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.06799999446614637, + "id": "bbox_1769048936449_1769049267948_4z8m86j5i", + "width": 0.029999998168945385, + "x": 0.452111056389706, + "y": 0.5019814349787244 + } + ], + "type": "bbox" + }, + "point_1769048937313": { + "instances": [ + { + "id": "point_1769048937313_1769049277445_3svztg0yp", + "x": 0.6981110413750584, + "y": 0.5080555209915755 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续夹紧带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取带橡胶塞的橡胶头滴管成功使其抬升并向碱式滴定管的方向移动。", + "frame": 226, + "progress": 45, + "progress_explanation": "当前带橡胶塞的橡胶头滴管已被抓取并成功开始抬升和移动，因此进度提升为50%", + "state_description": "当前爪夹合拢，抓紧带橡胶塞的橡胶头滴管。带橡胶塞的橡胶头滴管已被抬升至空中。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 7.546666 + }, + { + "action_description": "爪夹向爪夹方向的左前方抬升并移动。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.09466665896267426, + "id": "bbox_1769048936226_1769049297212_057qno6f7", + "width": 0.05899999639892597, + "x": 0.5141110526055266, + "y": 0.18998146036934732 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.08533332638888952, + "id": "bbox_1769048936449_1769049288220_7mn2glv5t", + "width": 0.03499999786376966, + "x": 0.4461110567559169, + "y": 0.480648103381502 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取带橡胶塞的橡胶头滴管成功使其抬升并向碱式滴定管的方向移动。", + "frame": 272, + "progress": 60, + "progress_explanation": "当前带橡胶塞的橡胶头滴管已被抓取并成功向碱式滴定管的方向移动，因此进度提升为60%", + "state_description": "当前爪夹合拢，抓紧带橡胶塞的橡胶头滴管。带橡胶塞的橡胶头滴管已被抬升至空中。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 9.070263223872862 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左上方移动。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.08399999316406305, + "id": "bbox_1769048936226_1769049308605_170uqkxvf", + "width": 0.029999998168945385, + "x": 0.43311105754937396, + "y": 0.0779814694839299 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.08266665993923664, + "id": "bbox_1769048936449_1769049319049_lpnuhr1lo", + "width": 0.03599999780273437, + "x": 0.4441110568779873, + "y": 0.480648103381502 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左上方移动，成功将带橡胶塞的橡胶头滴管移动到碱式滴定管的上方，方便将其放在碱式滴定管中。", + "frame": 315, + "progress": 65, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管的水平距离缩短。因此进度上升为65%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管位于碱式滴定管的上方。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "time": 10.508733 + }, + { + "action_description": "爪夹下降并向爪夹方向的前方略微移动。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.0986666586371534, + "id": "bbox_1769048936226_1769049342049_9vl6tpc74", + "width": 0.03399999792480486, + "x": 0.4661110555352138, + "y": 0.17931479457073612 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.08666665961371584, + "id": "bbox_1769048936449_1769049337337_m3gcy7hvw", + "width": 0.03599999780273446, + "x": 0.4461110567559169, + "y": 0.480648103381502 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹下降并向爪夹方向的前方略微移动，带橡胶塞的橡胶头滴管成功靠近碱式滴定管。", + "frame": 353, + "progress": 70, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管距离进一步缩短。因此进度上升为70%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管与碱式滴定管的距离缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "time": 11.753933 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管继续下降。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.15999998697916776, + "id": "bbox_1769048936226_1769049356353_xklmacqtd", + "width": 0.020999998718261813, + "x": 0.46511105559624905, + "y": 0.22064812454035446 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.08399999316406308, + "id": "bbox_1769048936449_1769049366993_cnj5gaorv", + "width": 0.03299999798583997, + "x": 0.4461110567559169, + "y": 0.480648103381502 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹下降，带橡胶塞的橡胶头滴管更加靠近碱式滴定管，方便将其放在碱式滴定管中。", + "frame": 387, + "progress": 75, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管距离与上一进度相比缩短了。因此进度上升为75%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管与碱式滴定管的距离进一步缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "time": 12.885933 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管继续下降。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.14799998795573016, + "id": "bbox_1769048936226_1769049393485_45ehy6pxi", + "width": 0.015999999023437537, + "x": 0.46311105571831934, + "y": 0.33131478220094546 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.0813333267144103, + "id": "bbox_1769048936449_1769049383453_kzxbzgkfp", + "width": 0.03599999780273446, + "x": 0.4451110568169521, + "y": 0.48331476983115473 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹下降，带橡胶塞的橡胶头滴管更加靠近碱式滴定管，方便将其放在碱式滴定管中。", + "frame": 408, + "progress": 78, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管距离与上一进度相比缩短了。因此进度上升为78%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管与碱式滴定管的距离进一步缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续下降将带橡胶塞的橡胶头滴管将其对准碱式滴定管，松开爪夹，带橡胶塞的橡胶头滴管放在碱式滴定管中。", + "time": 13.6 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管继续下降。", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.013333332248263947, + "id": "bbox_1769048936226_1769049398797_vs0qj220d", + "width": 0.008999999450683572, + "x": 0.4691110553521084, + "y": 0.39664811021743895 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.04399999641927117, + "id": "bbox_1769048936449_1769049403686_6v966g9w5", + "width": 0.03299999798583988, + "x": 0.4491110565728115, + "y": 0.5179814336766412 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "error_success_analysis": "爪夹下降将带橡胶塞的橡胶头滴管对准碱式滴定管，方便将带橡胶塞的橡胶头滴管放入碱式滴定管中。", + "frame": 448, + "progress": 80, + "progress_explanation": "当前红色橡胶球棕色滴管已对准碱式滴定管，已接近碱式滴定管，因此进度提升为80%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，带橡胶塞的橡胶头滴管已经对准碱式滴定管。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "time": 14.933333333333334 + }, + { + "action_description": "爪夹松开并向爪夹方向的左后方移动。\n", + "annotations": { + "bbox_1769048936226": { + "instances": [ + { + "height": 0.046666662868923875, + "id": "bbox_1769048936226_1769049420181_1nihwtwxa", + "width": 0.011999999267578155, + "x": 0.45611105614556535, + "y": 0.4339814405125781 + } + ], + "type": "bbox" + }, + "bbox_1769048936449": { + "instances": [ + { + "height": 0.07599999381510465, + "id": "bbox_1769048936449_1769049414685_my2iz97ts", + "width": 0.031999998046875165, + "x": 0.4471110566948817, + "y": 0.4913147691801132 + } + ], + "type": "bbox" + } + }, + "correction_plan": "带橡胶塞的橡胶头滴管位于碱式滴定管中，所以抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务完成了。", + "error_success_analysis": "爪夹张开，带橡胶塞的橡胶头滴管成功放在碱式滴定管中。", + "frame": 529, + "progress": 100, + "progress_explanation": "带橡胶塞的橡胶头滴管已经放在碱式滴定管中，因此进度提升为100%。", + "state_description": "当前爪夹张开，带橡胶塞的橡胶头滴管已经放在碱式滴定管中，已完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务。", + "time": 17.62833897645018 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769048936226", + "name": "带橡胶塞的橡胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769048936449", + "name": "碱式滴定管" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769048937145", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769048937313", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-155734-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-155734-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..345ede7b1f00b5d3f3b4b6c467b4533249714a5a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-155734-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,1082 @@ +{ + "task_description": "抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中。\n准备移动：0%\n爪夹靠近带橡胶塞的橡胶头滴管：20%\n爪夹抓取带橡胶塞的橡胶头滴管：40%\n爪夹抓住带橡胶塞的橡胶头滴管接近碱式滴定管：60%\n爪夹抓住带橡胶塞的橡胶头滴管将其对准碱式滴定管：80%\n爪夹松开，带橡胶塞的橡胶头滴管落入碱式滴定管：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.058666661892361326, + "id": "bbox_1769054383861_1769060525348_2esxfpaup", + "width": 0.018624999816894583, + "x": 0.5971110475396089, + "y": 0.5563518020547036 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.06266666156684066, + "id": "bbox_1769054384148_1769060538147_9b0k5qcy2", + "width": 0.02599999841308609, + "x": 0.5731110490044525, + "y": 0.4923518072630365 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060552947_5050wp5nl", + "x": 0.3911110601128503, + "y": 0.5150184720850853 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060549067_djsm52z4p", + "x": 0.6241110458916597, + "y": 0.511018472410606 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触带橡胶塞的橡胶头滴管。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 1.5014046391752578 + }, + { + "action_description": "爪夹向爪夹方向右前方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.05333332899305591, + "id": "bbox_1769054383861_1769060571699_t9h449ep7", + "width": 0.029999998168945385, + "x": 0.5731110490044525, + "y": 0.557833277764219 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.07199999414062551, + "id": "bbox_1769054384148_1769060579403_bhbc7yhj8", + "width": 0.03999999755859385, + "x": 0.5471110505913666, + "y": 0.42316662205675276 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060560667_3okdughdy", + "x": 0.3921110600518151, + "y": 0.5138332813449478 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060563620_tuhtt08bf", + "x": 0.6261110457695894, + "y": 0.5124999481201215 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，水平方向上逐渐接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 94, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近带橡胶塞的橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 3.1333333333333333 + }, + { + "action_description": "爪夹继续向爪夹方向右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.07466666059027828, + "id": "bbox_1769054383861_1769060606531_7cnlxuz94", + "width": 0.043999997314453324, + "x": 0.5091110529107022, + "y": 0.49383328297255186 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.10933332443576467, + "id": "bbox_1769054384148_1769060592067_15ttulec7", + "width": 0.06199999621582055, + "x": 0.4481110566338466, + "y": 0.25383330250380026 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060611003_656y54ufr", + "x": 0.3991110596245691, + "y": 0.5151666145697742 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060613404_dfqaj6gmm", + "x": 0.6171110463189058, + "y": 0.517833281019427 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，爪夹下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的右下方移动，并且成功移动到了带橡胶塞的橡胶头滴管的正上方，方便抓取。", + "frame": 126, + "progress": 15, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，因此进度提升为20%。", + "state_description": "当前爪夹张开，爪夹已经移动到带橡胶塞的橡胶头滴管的上方。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:爪夹继续下降抓取带橡胶塞的橡胶头滴管。然后爪夹垂直上升，向爪夹方向的左前方移动。", + "time": 4.2 + }, + { + "action_description": "爪夹逐渐向里收缩，爪夹由张开逐渐变为合拢。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.06666666124131986, + "id": "bbox_1769054383861_1769060632411_2zpe2squb", + "width": 0.0509999968872072, + "x": 0.48811105419244055, + "y": 0.5218332806939062 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.11466665733507017, + "id": "bbox_1769054384148_1769060639115_vzocsjpjh", + "width": 0.06999999572753941, + "x": 0.4261110579766199, + "y": 0.2431666367051891 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060624643_6s6o73j0j", + "x": 0.4511110564507412, + "y": 0.5098332816704686 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060618283_g2xbmxmko", + "x": 0.5641110495537689, + "y": 0.5138332813449478 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹逐渐合拢，并且成功移动到了带橡胶塞的橡胶头滴管的正上方，方便抓取。", + "frame": 150, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到带橡胶塞的橡胶头滴管的上方。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:爪夹继续下降抓取带橡胶塞的橡胶头滴管。然后爪夹垂直上升，向爪夹方向的左前方移动。", + "time": 5 + }, + { + "action_description": "合拢爪夹抓取带橡胶塞的橡胶头滴管。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.08399999316406313, + "id": "bbox_1769054383861_1769060664595_z3x30be30", + "width": 0.015999999023437537, + "x": 0.5001110534600187, + "y": 0.49249994974772543 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.1053333247612854, + "id": "bbox_1769054384148_1769060654235_ln8kbkq0n", + "width": 0.05999999633789086, + "x": 0.43611105736626843, + "y": 0.25383330250380026 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060668412_1aaqcvg16", + "x": 0.4941110538262296, + "y": 0.5031666155463366 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060672083_2r8fmpr56", + "x": 0.5211110521782805, + "y": 0.5071666152208159 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到橡胶塞的橡胶头滴管。", + "frame": 188, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到橡胶塞的橡胶头滴管。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的左后方移动，直至橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 6.266666666666667 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管竖直上升。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.08266665993923669, + "id": "bbox_1769054383861_1769060688148_t9f2ys8tp", + "width": 0.010999999328613352, + "x": 0.5031110532769132, + "y": 0.49383328297255186 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.10399999153645903, + "id": "bbox_1769054384148_1769060696011_dtsw0ndy4", + "width": 0.06099999627685575, + "x": 0.43711105730523325, + "y": 0.26849996797689063 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060681731_eg6hyv331", + "x": 0.4941110538262296, + "y": 0.5031666155463366 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060678444_g2dk403dj", + "x": 0.5201110522393156, + "y": 0.5044999487711631 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧带橡胶塞的橡胶头滴管继续垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取带橡胶塞的橡胶头滴管成功使其抬升并向碱式滴定管的方向移动。", + "frame": 250, + "progress": 45, + "progress_explanation": "当前带橡胶塞的橡胶头滴管已被抓取并成功开始抬升和移动，因此进度提升为45%", + "state_description": "当前爪夹合拢，抓紧带橡胶塞的橡胶头滴管。带橡胶塞的橡胶头滴管已被抬升至空中。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 8.326825773773145 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左方略微移动。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.08399999316406308, + "id": "bbox_1769054383861_1769060719100_u1pg2926b", + "width": 0.04499999725341812, + "x": 0.5001110534600187, + "y": 0.49116661652289906 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.09333332573784787, + "id": "bbox_1769054384148_1769060708579_7pdsrgbyc", + "width": 0.05499999664306658, + "x": 0.46111105584038964, + "y": 0.2938332992485922 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060722771_ce0d3bco2", + "x": 0.4961110537041593, + "y": 0.5058332819959894 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060727556_lp9803vfb", + "x": 0.5201110522393156, + "y": 0.5071666152208159 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧带橡胶塞的橡胶头滴管继续垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹略微向爪夹方向的左方略微移动，尝试把带橡胶塞的橡胶头滴管从棕色玻璃滴瓶中成功抓取出来。", + "frame": 271, + "progress": 48, + "progress_explanation": "当前带橡胶塞的橡胶头滴管即将被爪夹从棕色玻璃滴瓶中抓取出来，因此进度提升为48%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管略微向左方倾斜。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 9.0472 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管略微抬升。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.08133332671441025, + "id": "bbox_1769054383861_1769060745348_16m5eks6x", + "width": 0.014999999084472648, + "x": 0.5021110533379484, + "y": 0.49249994974772543 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.09333332573784782, + "id": "bbox_1769054384148_1769060752531_xtmsos4fh", + "width": 0.05499999664306658, + "x": 0.45611105614556535, + "y": 0.2924999660237658 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060739684_si03xu2pe", + "x": 0.4961110537041593, + "y": 0.5058332819959894 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060736051_bku1t815p", + "x": 0.5211110521782805, + "y": 0.5058332819959894 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹略微抬升，带橡胶塞的橡胶头滴管成功被爪夹从棕色玻璃滴瓶中抓取出来，方便将其放在碱式滴定管。", + "frame": 316, + "progress": 50, + "progress_explanation": "当前带橡胶塞的橡胶头滴管已经被爪夹从棕色玻璃滴瓶中抓取出来，因此进度提示为50%", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管已经从棕色玻璃滴瓶中被抓取出来。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 10.523011202593224 + }, + { + "action_description": "爪夹张开使带橡胶塞的橡胶头滴管掉落。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.05999999511718794, + "id": "bbox_1769054383861_1769060773211_agxuaflfo", + "width": 0.04099999749755865, + "x": 0.49011105407037026, + "y": 0.5018332823215103 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.0986666586371534, + "id": "bbox_1769054384148_1769060767595_sls63z2tn", + "width": 0.05699999652099637, + "x": 0.4471110566948817, + "y": 0.28049996700032825 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060776515_3aot7iqiy", + "x": 0.46411105565728417, + "y": 0.5138332813449478 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060779459_2ftltygyy", + "x": 0.5521110502861907, + "y": 0.5098332816704686 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其与桌面垂直，爪夹向爪夹方向的下方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。下降爪夹抓取带橡胶塞的橡胶头滴灌，然后爪夹垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹张开，带橡胶塞的橡胶头滴管掉落在棕色玻璃滴瓶的上方，爪夹抓取带橡胶塞的橡胶头滴管失败。", + "frame": 338, + "progress": 8, + "progress_explanation": "当前带橡胶塞的橡胶头滴管位于棕色玻璃滴瓶的上方，抓取带橡胶塞的橡胶头滴灌失败，因此进度下降为8%。", + "state_description": "当前爪夹张开，带橡胶塞的橡胶头滴管掉落，带橡胶塞的橡胶头滴管位于棕色玻璃滴瓶的上方。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：调整爪夹角度，使其与桌面垂直，爪夹向爪夹方向的下方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 11.2827 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.05066666254340309, + "id": "bbox_1769054383861_1769060801771_88tf8evrg", + "width": 0.06599999597167985, + "x": 0.5951110476616792, + "y": 0.4324999546305376 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.0893333260633686, + "id": "bbox_1769054384148_1769060822395_zkxp2unzh", + "width": 0.046999997131347816, + "x": 0.5391110510796477, + "y": 0.2551666357286267 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060786980_q58n19x68", + "x": 0.452111056389706, + "y": 0.5124999481201215 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060784323_bygdvg1ys", + "x": 0.5671110493706635, + "y": 0.5098332816704686 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹在水平方向上远离了带橡胶塞的橡胶头滴管，不方便抓取。", + "frame": 361, + "progress": 5, + "progress_explanation": "当前爪夹与带橡胶塞的橡胶头滴管的水平距离增加，需要爪夹重新抓取，因此进度下降为5%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离增加。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 12.045085248093294 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.07066666091579907, + "id": "bbox_1769054383861_1769060851714_czjrmm6li", + "width": 0.055999996582031475, + "x": 0.5021110533379484, + "y": 0.4618332855767183 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.09466665896267426, + "id": "bbox_1769054384148_1769060844323_lwe9hucfg", + "width": 0.08999999450683624, + "x": 0.38611106041802606, + "y": 0.26049996862793223 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060855651_kzbscjc6o", + "x": 0.4501110565117763, + "y": 0.5098332816704686 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060858907_uzcj5hr19", + "x": 0.5661110494316987, + "y": 0.5098332816704686 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功移动到了带橡胶塞的橡胶头滴管的正上方，方便抓取。", + "frame": 408, + "progress": 13, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，因此进度提升为20%。", + "state_description": "当前爪夹张开，爪夹位于带橡胶塞的橡胶头滴管的上方。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:爪夹继续下降抓取带橡胶塞的橡胶头滴管。然后爪夹垂直上升，向爪夹方向的左前方移动。", + "time": 13.590462039028084 + }, + { + "action_description": "合拢爪夹重新抓取带橡胶塞的橡胶头滴管。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.07599999381510478, + "id": "bbox_1769054383861_1769060876403_j9s26o5rw", + "width": 0.038999997619629044, + "x": 0.5001110534600187, + "y": 0.48049995072428786 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.09199999251302149, + "id": "bbox_1769054384148_1769060890091_8y1jqazxa", + "width": 0.08999999450683624, + "x": 0.3781110609063073, + "y": 0.2778333005506754 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060868235_9bjv34zs2", + "x": 0.4961110537041593, + "y": 0.5058332819959894 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060865194_lxsp8hk4s", + "x": 0.5191110523003507, + "y": 0.5018332823215103 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹合拢重新抓取到橡胶塞的橡胶头滴管。", + "frame": 449, + "progress": 38, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹重新抓取到橡胶塞的橡胶头滴管。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的左后方移动，直至橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 14.964699 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左前方移动。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.07466666059027845, + "id": "bbox_1769054383861_1769060925667_mbgqd238r", + "width": 0.04199999743652354, + "x": 0.5001110534600187, + "y": 0.48049995072428786 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.07466666059027828, + "id": "bbox_1769054384148_1769060907459_75ps7q5gx", + "width": 0.05999999633789077, + "x": 0.4411110570610927, + "y": 0.3671666266140441 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060928859_7ipnttfyi", + "x": 0.4961110537041593, + "y": 0.5031666155463366 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060931891_o7qnur52q", + "x": 0.5191110523003507, + "y": 0.5031666155463366 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧带橡胶塞的橡胶头滴管继续向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取带橡胶塞的橡胶头滴管成功使其抬升并向碱式滴定管的方向移动。", + "frame": 503, + "progress": 52, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管的水平距离缩短，因此进度提升为52%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴灌与碱式滴定管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 16.7531 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左前方移动。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.07999999348958381, + "id": "bbox_1769054383861_1769060956635_enpe582zm", + "width": 0.036999997741699354, + "x": 0.47911105474175686, + "y": 0.48183328394911423 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.05199999576822953, + "id": "bbox_1769054384148_1769060962651_om0hmjpnb", + "width": 0.03999999755859394, + "x": 0.5541110501641204, + "y": 0.5364999461669967 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060948947_bvho40y75", + "x": 0.4961110537041593, + "y": 0.5044999487711631 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060944451_u7cj9pqqz", + "x": 0.5181110523613859, + "y": 0.5058332819959894 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的右方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，带橡胶塞的橡胶头滴管成功靠近了碱式滴定管。", + "frame": 532, + "progress": 60, + "progress_explanation": "当前带橡胶塞的橡胶头滴管处于碱式滴定管的左侧，两者的距离缩短，因此进度提升为60%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管处于碱式滴定管的左侧。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的右方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 17.73857868837936 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的右方移动。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.08533332638888945, + "id": "bbox_1769054383861_1769060990123_fk9tarbro", + "width": 0.05299999676513689, + "x": 0.48111105461968656, + "y": 0.48183328394911423 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769060995675_fi58ztkcn", + "x": 0.498111053582089, + "y": 0.5031666155463366 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769060999931_nssiqacw6", + "x": 0.5191110523003507, + "y": 0.5031666155463366 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "error_success_analysis": "爪夹下降将带橡胶塞的橡胶头滴管对准碱式滴定管，方便将带橡胶塞的橡胶头滴管放入碱式滴定管中。", + "frame": 578, + "progress": 80, + "progress_explanation": "当前红色橡胶球棕色滴管已对准碱式滴定管，已接近碱式滴定管，因此进度提升为80%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，带橡胶塞的橡胶头滴管已经对准碱式滴定管。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "time": 19.266666666666666 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左后方略微移动。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.07999999348958386, + "id": "bbox_1769054383861_1769061180674_vs90hppcl", + "width": 0.01899999884033212, + "x": 0.49711105364312413, + "y": 0.480648103381502 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.05733332866753506, + "id": "bbox_1769054384148_1769061192426_7ust59i2x", + "width": 0.043999997314453324, + "x": 0.5161110524834562, + "y": 0.4846481030559812 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769061184226_t1ntc4575", + "x": 0.4961110537041593, + "y": 0.5059814346532036 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769061187114_4nd0g418n", + "x": 0.5201110522393156, + "y": 0.5059814346532036 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左后方略微移动，带橡胶塞的橡胶头滴管在水平方向上偏离了碱式滴定管，不方便将其放在碱式滴定管中。", + "frame": 626, + "progress": 70, + "progress_explanation": "当前带橡胶塞的橡胶头滴管的位置略微偏离了碱式滴定管，因此进度下降为70%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管处于碱式滴定管的左下方。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的右前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 20.8559 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的右前方略微移动。", + "annotations": { + "bbox_1769054383861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054383861_1769061206634_2kfip6iv0", + "x": 0.5001110534600187, + "y": 0.4819814366063284, + "width": 0.013999999145507846, + "height": 0.0733333273654519 + } + ] + }, + "bbox_1769054384148": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769054384148_1769061200250_u3f40ku07", + "x": 0.48611105431451074, + "y": 0.4659814379084116, + "width": 0.05699999652099628, + "height": 0.07733332703993104 + } + ] + }, + "point_1769054384933": { + "type": "point", + "instances": [ + { + "id": "point_1769054384933_1769061212227_847nqfe7i", + "x": 0.4961110537041593, + "y": 0.5046481014283771 + } + ] + }, + "point_1769054385108": { + "type": "point", + "instances": [ + { + "id": "point_1769054385108_1769061215859_58p8n33w3", + "x": 0.5201110522393156, + "y": 0.5046481014283771 + } + ] + } + }, + "correction_plan": "爪夹向爪夹方向的前方略微移动，爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中。松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，使带橡胶塞的橡胶头滴管在水平方向上接近碱式滴定管，方便将其放在碱式滴定管中。", + "frame": 688, + "progress": 75, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管的水平距离缩短，因此进度提升为75%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴与碱式滴定管的水平距离缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:爪夹向爪夹方向的前方略微移动，爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中。", + "time": 22.94094856555122 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左前方略微移动。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.0733333333333333, + "id": "bbox_1769054383861_1769061582842_fyn0dcd6t", + "width": 0.020000312504882878, + "x": 0.4982812231441116, + "y": 0.48303125 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.08533333333333329, + "id": "bbox_1769054384148_1769061590362_59poylc92", + "width": 0.042000656260254045, + "x": 0.5132814575227738, + "y": 0.48303125 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769061570299_doe4760gg", + "x": 0.4952811762683792, + "y": 0.5083645833333333 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769061573051_31uwk9p2y", + "x": 0.5192815512742387, + "y": 0.50703125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中。松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "error_success_analysis": "爪夹向爪夹方向的左前方略微移动，使带橡胶塞的橡胶头滴管重新对准碱式滴定管，方便将其放在碱式滴定管中。", + "frame": 716, + "progress": 90, + "progress_explanation": "当前带橡胶塞的橡胶头滴管重新对准碱式滴定管，因此进度提升为90%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管重新对准碱式滴定管。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中。松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "time": 23.880399 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769054383861": { + "instances": [ + { + "height": 0.057333328667535176, + "id": "bbox_1769054383861_1769061249243_kne1ff4pi", + "width": 0.04799999707031262, + "x": 0.4961110537041593, + "y": 0.5019814349787244 + } + ], + "type": "bbox" + }, + "bbox_1769054384148": { + "instances": [ + { + "height": 0.08666665961371584, + "id": "bbox_1769054384148_1769061233651_pdxnqern5", + "width": 0.06699999591064473, + "x": 0.4941110538262296, + "y": 0.4886481027304604 + } + ], + "type": "bbox" + }, + "point_1769054384933": { + "instances": [ + { + "id": "point_1769054384933_1769061224227_v939apn9f", + "x": 0.44211105700005754, + "y": 0.5099814343276827 + } + ], + "type": "point" + }, + "point_1769054385108": { + "instances": [ + { + "id": "point_1769054385108_1769061221435_drf9h12t6", + "x": 0.5741110489434174, + "y": 0.5153147672269883 + } + ], + "type": "point" + } + }, + "correction_plan": "带橡胶塞的橡胶头滴管位于碱式滴定管中，所以抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务完成了。", + "error_success_analysis": "爪夹张开，带橡胶塞的橡胶头滴管成功放在碱式滴定管中。", + "frame": 739, + "progress": 100, + "progress_explanation": "带橡胶塞的橡胶头滴管已经放在碱式滴定管中，因此进度提升为100%。", + "state_description": "当前爪夹张开，带橡胶塞的橡胶头滴管已经放在碱式滴定管中，已完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务。", + "time": 24.64909278796684 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769054383861", + "name": "带橡胶塞的橡胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769054384148", + "name": "碱式滴定管" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769054384933", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769054385108", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-155734-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-155734-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..55f45a70d1251cf9447f433c9013f3dc88a44453 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-155734-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,1134 @@ +{ + "task_description": "抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中：\n准备移动：0%\n爪夹靠近带橡胶塞的橡胶头滴管：20%\n爪夹抓取带橡胶塞的橡胶头滴管：40%\n爪夹抓住带橡胶塞的橡胶头滴管接近碱式滴定管：60%\n爪夹抓住带橡胶塞的橡胶头滴管将其对准碱式滴定管：80%\n爪夹松开，带橡胶塞的橡胶头滴管落入碱式滴定管：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触带橡胶塞的橡胶头滴管。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 1.642061301949098, + "annotations": { + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065602258_ayn4vof0r", + "x": 0.7795, + "y": 0.7533333333333334, + "width": 0.011000000000000032, + "height": 0.023999999999999962 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065608106_fzxloen6w", + "x": 0.3895, + "y": 0.5093333333333334 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769065610954_6slgxye3r", + "x": 0.6275000000000001, + "y": 0.5093333333333334 + } + ] + } + } + }, + { + "time": 2.798399, + "frame": 84, + "progress": 5, + "action_description": "爪夹向爪夹方向的右后方移动。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右前方移动，准备抓取带橡胶塞的橡胶头滴管。", + "progress_explanation": "当前爪夹在水平方向上略微接近带橡胶塞的橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为5%。", + "error_success_analysis": "爪夹向爪夹方向的右后方略微移动，水平方向上逐渐接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "annotations": { + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769065620730_1ba5kj8w4", + "x": 0.6255, + "y": 0.512 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065623994_9k7rn99ti", + "x": 0.3905, + "y": 0.5146666666666666 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769065629586_swjwiekeo", + "x": 0.5685, + "y": 0.3186666666666667, + "width": 0.039999999999999945, + "height": 0.06133333333333327 + } + ] + }, + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065644898_zo0cric6u", + "x": 0.6255, + "y": 0.3973333333333333, + "width": 0.02999999999999998, + "height": 0.11333333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，水平方向上逐渐接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 102, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上更加接近带橡胶塞的橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 3.4, + "annotations": { + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065657234_932rsacwv", + "x": 0.5145000000000001, + "y": 0.364, + "width": 0.054000000000000006, + "height": 0.13466666666666668 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769065664442_l51the3e8", + "x": 0.4305, + "y": 0.2786666666666667, + "width": 0.04700000000000006, + "height": 0.06933333333333333 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065667682_s1x4n58mi", + "x": 0.3905, + "y": 0.5093333333333334 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769065671602_e082a0fiq", + "x": 0.6245, + "y": 0.5093333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向右下方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方略微移动，水平方向上逐渐接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 122, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更加接近带橡胶塞的橡胶头滴管并调整了爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，爪夹位于带橡胶塞的橡胶头滴管的后方。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的左前方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 4.066666666666666, + "annotations": { + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769065679394_cyb40ee1m", + "x": 0.6255, + "y": 0.5066666666666667 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065681810_hi5ortrao", + "x": 0.3905, + "y": 0.5106666666666667 + } + ] + }, + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065690418_7cuhjss38", + "x": 0.3955, + "y": 0.288, + "width": 0.09500000000000001, + "height": 0.24666666666666667 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769065702018_1e0uklp0c", + "x": 0.2225, + "y": 0.14533333333333334, + "width": 0.092, + "height": 0.12266666666666669 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动到红色橡胶球的正上方。", + "correction_plan": "下降爪夹抓取带橡胶塞的橡胶头滴管，爪夹垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动到带橡胶塞的橡胶头滴管的上方，方便抓取。", + "frame": 158, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，方便抓取。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到带橡胶塞的橡胶头滴管的上方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续下降抓取带橡胶塞的橡胶头滴管。然后爪夹垂直上升，向爪夹方向的左前方移动。", + "time": 5.266666666666667, + "annotations": { + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769065717898_x1diwuha5", + "x": 0.3245, + "y": 0.2866666666666667, + "width": 0.11900000000000004, + "height": 0.1506666666666667 + } + ] + }, + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065725234_1lxj9f65k", + "x": 0.5225000000000001, + "y": 0.5013333333333333, + "width": 0.06299999999999999, + "height": 0.256 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065734315_wy2qxi50x", + "x": 0.4335, + "y": 0.5146666666666666 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769065741290_uy3ecn631", + "x": 0.5795, + "y": 0.5106666666666667 + } + ] + } + } + }, + { + "action_description": "合拢爪夹抓取带橡胶塞的橡胶头滴管。", + "correction_plan": "爪夹夹紧带橡胶塞的橡胶头滴管并垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到橡胶塞的橡胶头滴管。", + "frame": 198, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到橡胶塞的橡胶头滴管。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的左前方移动，直至橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 6.6, + "annotations": { + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769065747138_61x9d9is5", + "x": 0.5195000000000001, + "y": 0.504 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065752146_kusqqoa67", + "x": 0.49750000000000005, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065760994_l2ctcdffb", + "x": 0.5055, + "y": 0.504, + "width": 0.01700000000000008, + "height": 0.11600000000000002 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769065768722_bnggeb443", + "x": 0.2745, + "y": 0.16133333333333333, + "width": 0.11000000000000001, + "height": 0.15333333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方抬升并移动。", + "correction_plan": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取带橡胶塞的橡胶头滴管成功使其抬升并向碱式滴定管的方向移动。", + "frame": 236, + "progress": 45, + "progress_explanation": "当前带橡胶塞的橡胶头滴管已被抓取并成功开始抬升和移动，因此进度提升为45%", + "state_description": "当前爪夹合拢，抓紧带橡胶塞的橡胶头滴管。带橡胶塞的橡胶头滴管已被抬升至空中。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 7.866666666666666, + "annotations": { + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769065784971_3736sihns", + "x": 0.3245, + "y": 0.42266666666666663, + "width": 0.05499999999999998, + "height": 0.06666666666666667 + } + ] + }, + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065798866_az1nuwfmt", + "x": 0.5045, + "y": 0.504, + "width": 0.01800000000000006, + "height": 0.11066666666666668 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065804866_ehl8o7uhv", + "x": 0.4995, + "y": 0.5026666666666667 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769065808058_ugusajw81", + "x": 0.5195000000000001, + "y": 0.504 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左前方移动。", + "correction_plan": "爪夹继续夹紧带橡胶塞的橡胶头滴管向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取带橡胶塞的橡胶头滴管成功使其抬升并向碱式滴定管的方向移动。", + "frame": 276, + "progress": 50, + "progress_explanation": "当前带橡胶塞的橡胶头滴管已被抓取并成功向碱式滴定管的方向移动，因此进度提升为50%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管与碱式滴定管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 9.2, + "annotations": { + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769065819842_xvnfuzcux", + "x": 0.5205, + "y": 0.5066666666666667 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065823346_cyioexj9c", + "x": 0.4955, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065831761_w96psoqi5", + "x": 0.49850000000000005, + "y": 0.5053333333333334, + "width": 0.025999999999999978, + "height": 0.11999999999999998 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769065850162_ti9hmexu4", + "x": 0.4795, + "y": 0.6213333333333334, + "width": 0.040000000000000036, + "height": 0.06933333333333327 + } + ] + } + } + }, + { + "time": 10.401599, + "frame": 312, + "progress": 13, + "action_description": "爪夹张开并向爪夹方向的左后方移动。", + "state_description": "当前爪夹张开，带橡胶塞的橡胶头滴管掉落在桌子上且爪夹与带橡胶塞的橡胶头滴管的距离较远。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的右前方移动，直至移动到带橡胶塞的橡胶头滴管的正上方后下降爪夹，抓取带橡胶塞的橡胶头滴管。", + "progress_explanation": "当前带橡胶塞的橡胶头滴管掉落在桌子上，且爪夹与带橡胶塞的橡胶头滴管的水平距离增加，因此进度下降为13%。", + "error_success_analysis": "爪夹张开且向爪夹方向的左后方移动，远离了掉落在桌子上的带橡胶塞的橡胶头滴管，不方便抓取。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至移动到带橡胶塞的橡胶头滴管的正上方后下降爪夹，抓取带橡胶塞的橡胶头滴管，爪夹垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "annotations": { + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769065865634_33wgsp23z", + "x": 0.40549999999999997, + "y": 0.49466666666666664, + "width": 0.06800000000000006, + "height": 0.06133333333333333 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065869162_r3q6njugc", + "x": 0.3955, + "y": 0.508 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769065871954_2qde5bfbi", + "x": 0.6185, + "y": 0.508 + } + ] + }, + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065880146_doen3ra8h", + "x": 0.4885, + "y": 0.45066666666666666, + "width": 0.11200000000000002, + "height": 0.07466666666666667 + } + ] + } + } + }, + { + "time": 11.2464, + "frame": 337, + "progress": 8, + "action_description": "爪夹向爪夹方向的右后方移动。", + "state_description": "当前爪夹张开，爪夹与带橡胶塞的橡胶头滴管的水平距离变远。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的左前方移动，直至移动到带橡胶塞的橡胶头滴管的正上方后下降爪夹，抓取带橡胶塞的橡胶头滴管。", + "progress_explanation": "当前爪夹在水平方向上距离带橡胶塞的橡胶头滴管更远，不方便抓取，因此进度下降为8%。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，水平方向上远离了带橡胶塞的橡胶头滴管，不方便抓取。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至移动到带橡胶塞的橡胶头滴管的正上方后下降爪夹，抓取带橡胶塞的橡胶头滴管。爪夹垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "annotations": { + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065895873_rks6bjyei", + "x": 0.35350000000000004, + "y": 0.2693333333333333, + "width": 0.12399999999999993, + "height": 0.07866666666666665 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769065914761_9l7pdvakg", + "x": 0.2615, + "y": 0.316, + "width": 0.073, + "height": 0.06799999999999998 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065919482_kpo06e0hc", + "x": 0.3955, + "y": 0.5106666666666667 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769065922506_df0nqxae4", + "x": 0.6214999999999999, + "y": 0.5133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至移动到带橡胶塞的橡胶头滴管的正上方后下降爪夹，抓取带橡胶塞的橡胶头滴管。爪夹垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左前方略微移动，水平方向上成功接近带橡胶塞的橡胶头滴管，并使爪夹向垂直于桌面调整，方便抓取。", + "frame": 377, + "progress": 11, + "progress_explanation": "当前爪夹在水平方向上略微接近带橡胶塞的橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为11%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的右前方移动，直至移动到带橡胶塞的橡胶头滴管的正上方后下降爪夹，抓取带橡胶塞的橡胶头滴管。", + "time": 12.58075334025949, + "annotations": { + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769065927601_62s3s0wy6", + "x": 0.6015, + "y": 0.5133333333333333 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065930563_r4f807ssd", + "x": 0.41550000000000004, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769065936193_xrugux0ki", + "x": 0.36750000000000005, + "y": 0.4080000000000001, + "width": 0.06499999999999999, + "height": 0.05599999999999993 + } + ] + }, + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065943770_3nr0f03g6", + "x": 0.4525, + "y": 0.316, + "width": 0.09499999999999993, + "height": 0.09733333333333327 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "继续调整爪夹角度，使其与桌面垂直。爪夹向爪夹方向的左前方移动，直至移动到带橡胶塞的橡胶头滴管的正上方后下降爪夹，抓取带橡胶塞的橡胶头滴管。爪夹垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近带橡胶塞的橡胶头滴管，并使爪夹向垂直于桌面调整，方便抓取。", + "frame": 409, + "progress": 18, + "progress_explanation": "当前爪夹在水平方向上略微接近带橡胶塞的橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为18%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的左前方移动，直至移动到带橡胶塞的橡胶头滴管的正上方后下降爪夹，抓取带橡胶塞的橡胶头滴管。", + "time": 13.649072164948453, + "annotations": { + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769065983505_en6kp6h03", + "x": 0.4505, + "y": 0.4066666666666666, + "width": 0.09100000000000001, + "height": 0.1733333333333333 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769065997114_n1t9bowc0", + "x": 0.44350000000000006, + "y": 0.5053333333333333 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769066000042_v4v4m872u", + "x": 0.5725, + "y": 0.508 + } + ] + } + } + }, + { + "time": 14.5464, + "frame": 436, + "progress": 25, + "action_description": "爪夹向爪夹方向的左前方移动。", + "state_description": "当前爪夹张开，爪夹与带橡胶塞的橡胶头滴管的水平距离变远。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的右后方移动，直至移动到带橡胶塞的橡胶头滴管的正上方后下降爪夹，抓取带橡胶塞的橡胶头滴管。", + "progress_explanation": "当前爪夹在水平方向上距离带橡胶塞的橡胶头滴管更远，不方便抓取，因此进度下降为25%。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上略微远离了带橡胶塞的橡胶头滴管，不方便抓取。", + "correction_plan": "爪夹向爪夹方向的右后方移动，直至移动到带橡胶塞的橡胶头滴管的正上方后下降爪夹，抓取带橡胶塞的橡胶头滴管。爪夹垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "annotations": { + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769066004842_xmujn8ff6", + "x": 0.5715, + "y": 0.5053333333333333 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769066007497_9hnehkifh", + "x": 0.4455, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769066016209_t8pzjq9a8", + "x": 0.5075000000000001, + "y": 0.47866666666666663, + "width": 0.10800000000000001, + "height": 0.23200000000000004 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769066032425_ltvz2pysa", + "x": 0.4175, + "y": 0.7173333333333333, + "width": 0.08100000000000004, + "height": 0.07733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右下方移动到红色橡胶球的正上方。", + "correction_plan": "合拢爪夹抓取带橡胶塞的橡胶头滴管。爪夹垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动到带橡胶塞的橡胶头滴管的上方，方便抓取。", + "frame": 456, + "progress": 30, + "progress_explanation": "当前爪夹已悬空于红色橡胶球的正上方，已接近带橡胶塞的橡胶头滴管，方便抓取。", + "state_description": "当前爪夹张开，爪夹已经移动到带橡胶塞的橡胶头滴管的上方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹合拢抓取带橡胶塞的橡胶头滴管。然后爪夹垂直上升，向爪夹方向的左前方移动。", + "time": 15.2, + "annotations": { + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769066044369_wz2qqcm6i", + "x": 0.4255, + "y": 0.48666666666666664, + "width": 0.1, + "height": 0.26133333333333336 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769066053425_vh3h7rsof", + "x": 0.4465, + "y": 0.5106666666666667 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769066058088_65zd3nqyw", + "x": 0.5725, + "y": 0.508 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769066069553_t0m5e0mbk", + "x": 0.3255, + "y": 0.768, + "width": 0.10499999999999998, + "height": 0.12533333333333338 + } + ] + } + } + }, + { + "time": 15.919199, + "frame": 478, + "progress": 38, + "action_description": "合拢爪夹抓取带橡胶塞的橡胶头滴管。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到橡胶塞的橡胶头滴管。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的左前方移动，直至橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "progress_explanation": "当前爪夹已悬空于带红色橡胶球的正上方，已接近带橡胶塞的橡胶头滴管，因此进度提升为40%。", + "error_success_analysis": "爪夹合拢成功抓取到橡胶塞的橡胶头滴管。", + "correction_plan": "爪夹夹紧带橡胶塞的橡胶头滴管并垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "annotations": { + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769066090200_4tpq2v6wr", + "x": 0.49749999999999994, + "y": 0.48533333333333334, + "width": 0.029000000000000005, + "height": 0.1666666666666667 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769066101168_x2mtsevlb", + "x": 0.49850000000000005, + "y": 0.5053333333333333 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769066103769_btg009e8n", + "x": 0.5185000000000001, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769066116569_10pv0l75j", + "x": 0.3215, + "y": 0.8573333333333333, + "width": 0.03300000000000001, + "height": 0.03866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方抬升并移动。", + "correction_plan": "爪夹向爪夹方向的左下方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取带橡胶塞的橡胶头滴管成功使其抬升并向碱式滴定管的方向移动。", + "frame": 504, + "progress": 48, + "progress_explanation": "当前带橡胶塞的橡胶头滴管已被抓取并成功向碱式滴定管的方向移动，因此进度提升为48%。", + "state_description": "当前爪夹合拢，抓紧带橡胶塞的橡胶头滴管。带橡胶塞的橡胶头滴管已被抬升至空中。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 16.8, + "annotations": { + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769066134593_vkgnc7x6a", + "x": 0.4925, + "y": 0.484, + "width": 0.03700000000000001, + "height": 0.20000000000000012 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769066148138_uh9prd5p3", + "x": 0.4965, + "y": 0.5066666666666667 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769066152449_tcxwccbx9", + "x": 0.5195000000000001, + "y": 0.5066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左后方移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，带橡胶塞的橡胶头滴管在水平方向上远离了碱式滴定管，不方便将其放在碱式滴定管中。", + "frame": 565, + "progress": 42, + "progress_explanation": "当前爪夹已抓住带橡胶塞的橡胶头滴管，并在水平方向上逐渐远离碱式滴定管，因此进度下降为42%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管与碱式滴定管的水平距离增加。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 18.82020618556701, + "annotations": { + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769066177585_l7q5vv0ey", + "x": 0.4985000000000001, + "y": 0.48133333333333334, + "width": 0.03099999999999987, + "height": 0.1773333333333334 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769066190561_zgdc1vnav", + "x": 0.39649999999999996, + "y": 0.49599999999999994, + "width": 0.041000000000000016, + "height": 0.06533333333333337 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769066197066_zm4tg6xqb", + "x": 0.49850000000000005, + "y": 0.5066666666666667 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769066205473_v8foo6sxj", + "x": 0.5195000000000001, + "y": 0.5053333333333333 + } + ] + } + } + }, + { + "time": 19.799999, + "frame": 594, + "progress": 60, + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左前方移动。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管与碱式滴定管的距离缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的左下方移动，下降爪夹将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管的水平距离缩短，因此进度上升为60%。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，带橡胶塞的橡胶头滴管在水平方向上接近了碱式滴定管，方便将其放在碱式滴定管中。", + "correction_plan": "爪夹向爪夹方向的左下方移动，下降爪夹将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "annotations": { + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769066215920_ls9clqls2", + "x": 0.49349999999999994, + "y": 0.4826666666666667, + "width": 0.03600000000000003, + "height": 0.2039999999999999 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769066230041_rnzfrbic6", + "x": 0.49850000000000005, + "y": 0.508 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769066232961_7dkfo57sj", + "x": 0.5195000000000001, + "y": 0.508 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左下方移动。", + "correction_plan": "爪夹继续向爪夹方向的左下方移动，下降爪夹将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，成功将带橡胶塞的橡胶头滴管移动到碱式滴定管的上方，方便将其放在碱式滴定管中。", + "frame": 610, + "progress": 65, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管的水平距离进一步缩短，因此进度上升为65%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管与碱式滴定管的距离更近。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的左下方移动，下降爪夹将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "time": 20.333333333333332, + "annotations": { + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769066248113_5myifu393", + "x": 0.49850000000000005, + "y": 0.48533333333333334, + "width": 0.026999999999999958, + "height": 0.12666666666666676 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769066260225_78ozwfwui", + "x": 0.49750000000000005, + "y": 0.508 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769066262921_128j44kkq", + "x": 0.5195000000000001, + "y": 0.5066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的右下方移动。", + "correction_plan": "爪夹松开，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "error_success_analysis": "爪夹下降将带橡胶塞的橡胶头滴管对准碱式滴定管，方便将带橡胶塞的橡胶头滴管放入碱式滴定管中。", + "frame": 680, + "progress": 80, + "progress_explanation": "当前红色橡胶球棕色滴管已对准碱式滴定管，已接近碱式滴定管，因此进度提升为80%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，带橡胶塞的橡胶头滴管已经对准碱式滴定管。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "time": 22.666666666666668, + "annotations": { + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769066281345_h1zejcwkh", + "x": 0.5195000000000001, + "y": 0.5066666666666667 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769066284729_gtitim77q", + "x": 0.49850000000000005, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769066291361_6c31mixdt", + "x": 0.4965, + "y": 0.484, + "width": 0.03200000000000003, + "height": 0.1680000000000001 + } + ] + } + } + }, + { + "time": 24.29072164948453, + "frame": 729, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "当前爪夹张开，带橡胶塞的橡胶头滴管落入碱式滴定管中，已完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务。", + "progress_explanation": "带橡胶塞的橡胶头滴管已经放在碱式滴定管中，因此进度提升为100%。", + "error_success_analysis": "爪夹张开，带橡胶塞的橡胶头滴管成功放在碱式滴定管中。", + "correction_plan": "带橡胶塞的橡胶头滴管位于碱式滴定管中，所以抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务完成了。", + "annotations": { + "bbox_1769065314532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314532_1769066304986_3ngsmctzj", + "x": 0.48249999999999993, + "y": 0.5373333333333333, + "width": 0.05600000000000005, + "height": 0.13866666666666666 + } + ] + }, + "point_1769065315739": { + "type": "point", + "instances": [ + { + "id": "point_1769065315739_1769066316698_ysjjtwf17", + "x": 0.46349999999999997, + "y": 0.5093333333333334 + } + ] + }, + "point_1769065315923": { + "type": "point", + "instances": [ + { + "id": "point_1769065315923_1769066319793_93w0f5us9", + "x": 0.5505, + "y": 0.504 + } + ] + }, + "bbox_1769065314955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065314955_1769066327241_3k1dhrtn6", + "x": 0.45750000000000013, + "y": 0.6333333333333334, + "width": 0.07499999999999991, + "height": 0.11999999999999993 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769065314532", + "name": "带橡胶塞的橡胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769065314955", + "name": "碱式滴定管", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769065315739", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769065315923", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-161806-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-161806-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..31870dcf493c80fc59faae0a1d5cf24a502ad26e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-161806-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,426 @@ +{ + "task_description": "抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中。\n爪夹靠近带橡胶塞的橡胶头滴管：20%\n爪夹抓取带橡胶塞的橡胶头滴管：40%\n爪夹抓住带橡胶塞的橡胶头滴管接近碱式滴定管：60%\n爪夹抓住带橡胶塞的橡胶头滴管将其对准碱式滴定管：80%\n爪夹松开，带橡胶塞的橡胶头滴管落入碱式滴定管：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1769070617895": { + "instances": [ + { + "height": 0.13466665570746617, + "id": "bbox_1769070617895_1769070831293_hww0olx64", + "width": 0.01899999884033221, + "x": 0.6581110438164645, + "y": 0.4702777428973191 + } + ], + "type": "bbox" + }, + "bbox_1769070618134": { + "instances": [ + { + "height": 0.06666666124131991, + "id": "bbox_1769070618134_1769070843245_6zya5k7zz", + "width": 0.04099999749755874, + "x": 0.5851110482720306, + "y": 0.4369444122766592 + } + ], + "type": "bbox" + }, + "point_1769070618974": { + "instances": [ + { + "id": "point_1769070618974_1769070851357_1fce3rulv", + "x": 0.48611105431451085, + "y": 0.5356110709138127 + } + ], + "type": "point" + }, + "point_1769070619150": { + "instances": [ + { + "id": "point_1769070619150_1769070857253_hjviaa3gy", + "x": 0.5771110487603119, + "y": 0.563611068635167 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触带橡胶塞的橡胶头滴管。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 1.3537164006620115 + }, + { + "action_description": "爪夹向爪夹方向的右下方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769070618134": { + "instances": [ + { + "height": 0.061333328342014326, + "id": "bbox_1769070618134_1769070869301_47d2xosiw", + "width": 0.038999997619629044, + "x": 0.5881110480889252, + "y": 0.4366481069622309 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，水平方向上逐渐接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 64, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近带橡胶塞的橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 2.1395 + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769070617895": { + "instances": [ + { + "height": 0.02799999772135434, + "id": "bbox_1769070617895_1769070890612_0ax95ejcr", + "width": 0.01699999896240243, + "x": 0.662111043572324, + "y": 0.4647962573407994 + } + ], + "type": "bbox" + }, + "bbox_1769070618134": { + "instances": [ + { + "height": 0.059999995117187885, + "id": "bbox_1769070618134_1769070880196_ynt3h3in7", + "width": 0.036999997741699354, + "x": 0.58911104802789, + "y": 0.43279625994496584 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的右下方移动，水平方向上更加接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 76, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更加接近带橡胶塞的橡胶头滴管并调整了爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的左下方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 2.533333333333333 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769070618134": { + "instances": [ + { + "height": 0.06266666156684071, + "id": "bbox_1769070618134_1769070902524_543zhd6m6", + "width": 0.03599999780273455, + "x": 0.5881110480889251, + "y": 0.436796259619445 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上更加接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 100, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上更加接近带橡胶塞的橡胶头滴管并调整了爪夹角度方便抓取，因此进度提升为20%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离更近。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续下降爪夹，准备抓取带橡胶塞的橡胶头滴管。", + "time": 3.3454 + }, + { + "action_description": "爪夹继续下降。", + "annotations": { + "bbox_1769070618134": { + "instances": [ + { + "height": 0.061333328342014326, + "id": "bbox_1769070618134_1769070913029_i1m8hsqjh", + "width": 0.03599999780273446, + "x": 0.5881110480889252, + "y": 0.43546292639461864 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹继续下降，在水平方向上更加接近带橡胶塞的橡胶头滴管，方便抓取。", + "frame": 120, + "progress": 25, + "progress_explanation": "当前带橡胶塞的橡胶头滴管被爪夹挡住看不见，但是爪夹已经向着带橡胶塞的橡胶头滴管的方向靠近，银进度提升为25%。", + "state_description": "当前爪夹张开，带橡胶塞的橡胶头滴管被爪夹挡住看不见。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续下降爪夹，准备抓取带橡胶塞的橡胶头滴管。", + "time": 4 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方略微移动并撞到了碱式滴定管。", + "annotations": { + "bbox_1769070617895": { + "instances": [ + { + "height": 0.051999995768229584, + "id": "bbox_1769070617895_1769070936413_kvzdjz9qs", + "width": 0.007999999511718769, + "x": 0.662111043572324, + "y": 0.5567962498538208 + } + ], + "type": "bbox" + }, + "bbox_1769070618134": { + "instances": [ + { + "height": 0.04799999609375026, + "id": "bbox_1769070618134_1769070924877_ukbwvs7si", + "width": 0.03799999768066416, + "x": 0.5231110520562102, + "y": 0.44346292574357704 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右后方移动，直至移动到带橡胶塞的橡胶头滴管的正上方，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左前方略微移动，水平方向上远离了带橡胶塞的橡胶头滴管，不方便抓取。", + "frame": 147, + "progress": 18, + "progress_explanation": "当前爪夹在在水平方向上离带橡胶塞的橡胶头滴管较远，并且碱式滴定管被爪夹撞倒了，因此进度下降为18%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管发水平距离增加，并且碱式滴定管被爪夹撞倒。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:爪夹向爪夹方向的右后方移动，直至移动到带橡胶塞的橡胶头滴管的正上方，准备抓取带橡胶塞的橡胶头滴管。", + "time": 4.914366 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动。", + "annotations": { + "bbox_1769070618134": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070618134_1769072734248_bk3ozuzkg", + "x": 0.5211110521782805, + "y": 0.4813888564950475, + "width": 0.06499999603271514, + "height": 0.0493333293185767 + } + ] + } + }, + "correction_plan": "爪夹下降抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，水平方向上更加接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 170, + "progress": 28, + "progress_explanation": "当前爪夹在水平方向上更加接近带橡胶塞的橡胶头滴管并调整了爪夹角度方便抓取，因此进度提升为28%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的下方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 5.669634772147847 + }, + { + "action_description": "合拢爪夹抓取带橡胶塞的橡胶头滴管。", + "annotations": { + "bbox_1769070618134": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070618134_1769072715184_cg74nimcg", + "x": 0.524111051995175, + "y": 0.4607962576663202, + "width": 0.06499999603271504, + "height": 0.05066666254340309 + } + ] + } + }, + "correction_plan": "爪夹抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到橡胶塞的橡胶头滴管。", + "frame": 191, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到橡胶塞的橡胶头滴管。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的左前方移动，直至橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 6.378339208782758 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管竖直上升。", + "annotations": { + "bbox_1769070617895": { + "instances": [ + { + "height": 0.051999995768229466, + "id": "bbox_1769070617895_1769070973037_iaftoqym8", + "width": 0.06599999597167994, + "x": 0.5231110520562101, + "y": 0.4594629244414938 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左下方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取带橡胶塞的橡胶头滴管成功使其抬升，方便将其向碱式滴定管的方向移动。", + "frame": 224, + "progress": 50, + "progress_explanation": "当前带橡胶塞的橡胶头滴管已被抓取并成功开始抬升和移动，因此进度提升为50%", + "state_description": "当前爪夹合拢，抓紧带橡胶塞的橡胶头滴管。带橡胶塞的橡胶头滴管已被抬升至空中。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 7.4688 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左前方移动。", + "annotations": { + "bbox_1769070617895": { + "instances": [ + { + "height": 0.05733332866753506, + "id": "bbox_1769070617895_1769070989997_6xjwh8r4n", + "width": 0.022999998596191507, + "x": 0.616111046379941, + "y": 0.33146293485815964 + } + ], + "type": "bbox" + }, + "point_1769070618974": { + "instances": [ + { + "id": "point_1769070618974_1769071000550_aonjnjp5c", + "x": 0.6201110461358004, + "y": 0.3538332943657801 + } + ], + "type": "point" + }, + "point_1769070619150": { + "instances": [ + { + "id": "point_1769070619150_1769071003709_tvnq22z0u", + "x": 0.629111045586484, + "y": 0.35783329404025926 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续夹紧带橡胶塞的橡胶头滴管向爪夹方向的左下方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，带橡胶塞的橡胶头滴管成功靠近了碱式滴定管。", + "frame": 282, + "progress": 60, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管的水平距离缩短，因此进度提升为60%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴灌与碱式滴定管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 9.4138 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左下方移动。", + "correction_plan": "爪夹继续夹紧带橡胶塞的橡胶头滴管向爪夹方向的左下方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，带橡胶塞的橡胶头滴管成功靠近了碱式滴定管。", + "frame": 304, + "progress": 70, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管的水平距离进一步缩短，因此进度提升为70%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴灌与碱式滴定管的水平距离进一步缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 10.133333333333333 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左后方移动。", + "annotations": { + "bbox_1769070618134": { + "instances": [ + { + "height": 0.046666662868923875, + "id": "bbox_1769070618134_1769071014973_spq9p3wd6", + "width": 0.01799999890136723, + "x": 0.5711110491265228, + "y": 0.4647962573407994 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，带橡胶塞的橡胶头滴管远离了碱式滴定管，不方便将其放在碱式滴定管中。", + "frame": 330, + "progress": 65, + "progress_explanation": "当前带橡胶塞的橡胶头滴管处于碱式滴定管的后方，带橡胶塞的橡胶头滴管与碱式滴定管的水平距离变远，因此进度下降为65%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴灌与碱式滴定管的水平距离增加。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 11.01646734499239 + }, + { + "action_description": "爪夹松开并向爪夹方向的后方移动。", + "annotations": { + "bbox_1769070617895": { + "instances": [ + { + "height": 0.047999996093750316, + "id": "bbox_1769070617895_1769071029357_9rwp6va1c", + "width": 0.04199999743652363, + "x": 0.4271110579155848, + "y": 0.4954629215118065 + } + ], + "type": "bbox" + }, + "bbox_1769070618134": { + "instances": [ + { + "height": 0.05333332899305591, + "id": "bbox_1769070618134_1769071021565_g5cnglpkf", + "width": 0.02399999853515631, + "x": 0.5661110494316987, + "y": 0.4554629247670146 + } + ], + "type": "bbox" + }, + "point_1769070619150": { + "instances": [ + { + "id": "point_1769070619150_1769071042997_kejaf6l6g", + "x": 0.5731110490044525, + "y": 0.5394629179310776 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，直至带橡胶塞的橡胶头滴管的正上方，下降爪夹抓取带橡胶塞的橡胶头滴管。爪夹垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹张开并向爪夹方向的后方移动。因为碱式滴定管已经被撞倒，所以带橡胶塞的橡胶头滴管放不进碱式滴定管中。", + "frame": 357, + "progress": 13, + "progress_explanation": "当前爪夹张开，带橡胶塞的橡胶头滴管掉落在桌子上，因此进度下降为13%。", + "state_description": "当前爪夹张开，带橡胶塞的橡胶头滴管掉落在桌子上。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的左下方移动，直至带橡胶塞的橡胶头滴管的正上方，下降爪夹抓取带橡胶塞的橡胶头滴管。", + "time": 11.9034 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769070617895", + "name": "带橡胶塞的橡胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769070618134", + "name": "碱式滴定管" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769070618974", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769070619150", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-161806-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-161806-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..6f7b31d9e0b8d081973f1ef2a1b30196b993e15d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-161806-put-red-rubber -tripped dropper with rubber stopper-alkaline burette-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,528 @@ +{ + "task_description": "抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中：\n准备移动：0%\n爪夹靠近带橡胶塞的橡胶头滴管：20%\n爪夹抓取带橡胶塞的橡胶头滴管：40%\n爪夹抓住带橡胶塞的橡胶头滴管接近碱式滴定管：60%\n爪夹抓住带橡胶塞的橡胶头滴管将其对准碱式滴定管：80%\n爪夹松开，带橡胶塞的橡胶头滴管落入碱式滴定管：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.12933332280816062, + "id": "bbox_1769075846760_1769078122401_j1glijuwu", + "width": 0.021999998657226703, + "x": 0.4681110554131435, + "y": 0.6778332679985948 + } + ], + "type": "bbox" + }, + "bbox_1769075847007": { + "instances": [ + { + "height": 0.08399999316406308, + "id": "bbox_1769075847007_1769078139097_d6ccvfmcr", + "width": 0.03399999792480486, + "x": 0.4701110552910732, + "y": 0.5018332823215103 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触带橡胶塞的橡胶头滴管。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 1.1856697696017238 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.13066665603298694, + "id": "bbox_1769075846760_1769078154920_x68pusnb7", + "width": 0.022999998596191507, + "x": 0.46711105547417875, + "y": 0.6778332679985948 + } + ], + "type": "bbox" + }, + "bbox_1769075847007": { + "instances": [ + { + "height": 0.08799999283854222, + "id": "bbox_1769075847007_1769078148681_al4b097lq", + "width": 0.02599999841308609, + "x": 0.4801110546807217, + "y": 0.5004999490966838 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带橡胶塞的橡胶头滴管的正上方后下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，水平方向上逐渐接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 76, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近带橡胶塞的橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离略微缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的右下方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 2.52979348094193 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动到带橡胶塞的橡胶头滴管的正上方。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.10666665798611182, + "id": "bbox_1769075846760_1769078171872_965vl2i12", + "width": 0.019999998779296924, + "x": 0.4691110553521084, + "y": 0.7004999328206435 + } + ], + "type": "bbox" + }, + "bbox_1769075847007": { + "instances": [ + { + "height": 0.01999999837239604, + "id": "bbox_1769075847007_1769078177200_akvfb4t0y", + "width": 0.007999999511718769, + "x": 0.498111053582089, + "y": 0.5631666106635245 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，抓取带橡胶塞的橡胶头滴管后垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上更加接近带橡胶塞的橡胶头滴管，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 105, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上更加接近带橡胶塞的橡胶头滴管并调整了爪夹角度方便抓取，因此进度提升为20%。", + "state_description": "当前与带橡胶塞的橡胶头滴管的水平距离更近。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续下降爪夹，准备抓取带橡胶塞的橡胶头滴管。", + "time": 3.4969068830037853 + }, + { + "action_description": "爪夹继续下降，并向垂直于桌面的角度调整。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.08533332638888934, + "id": "bbox_1769075846760_1769078186928_wcigsaq8g", + "width": 0.022999998596191507, + "x": 0.4661110555352138, + "y": 0.7231665976426923 + } + ], + "type": "bbox" + }, + "point_1769075847904": { + "instances": [ + { + "id": "point_1769075847904_1769078195385_ttahjzg1t", + "x": 0.5041110532158781, + "y": 0.7351665966661298 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹抓取带橡胶塞的橡胶头滴管，爪夹垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动到带橡胶塞的橡胶头滴管的上方，方便抓取。", + "frame": 122, + "progress": 25, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，方便抓取。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到带橡胶塞的橡胶头滴管的上方。\n为完成抓起红色橡胶球棕色滴管将其放入棕色玻璃滴瓶中的任务应当:爪夹继续下降抓取带橡胶塞的橡胶头滴管。然后爪夹垂直上升，向爪夹方向的左前方移动。", + "time": 4.066666666666666 + }, + { + "action_description": "合拢爪夹抓取带橡胶塞的橡胶头滴管。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.08533332638888945, + "id": "bbox_1769075846760_1769078216280_otmymdr9a", + "width": 0.02599999841308609, + "x": 0.44411105687798724, + "y": 0.7204999311930395 + } + ], + "type": "bbox" + }, + "point_1769075847904": { + "instances": [ + { + "id": "point_1769075847904_1769078207849_ovfwsmlku", + "x": 0.48111105461968656, + "y": 0.7351665966661298 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取带橡胶塞的橡胶头滴管后垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到橡胶塞的橡胶头滴管。", + "frame": 151, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于带橡胶塞的橡胶头滴管的正上方，已接近带橡胶塞的橡胶头滴管，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到橡胶塞的橡胶头滴管。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的左前方移动，直至橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 5.0403 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管竖直上升。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.08533332638888921, + "id": "bbox_1769075846760_1769078236505_l0fglzqha", + "width": 0.026999998352050802, + "x": 0.4551110562066006, + "y": 0.6351666048041501 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续夹紧带橡胶塞的橡胶头滴管后垂直上升。然后向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取带橡胶塞的橡胶头滴管成功使其抬升，方便将其向碱式滴定管的方向移动。", + "frame": 176, + "progress": 45, + "progress_explanation": "当前带橡胶塞的橡胶头滴管已被抓取并成功开始抬升和移动，因此进度提升为45%。", + "state_description": "当前爪夹合拢，抓紧带橡胶塞的橡胶头滴管。带橡胶塞的橡胶头滴管已被抬升至空中。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 5.866666666666666 + }, + { + "action_description": "爪夹向爪夹方向的右前方抬升并移动。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.06266666156684071, + "id": "bbox_1769075846760_1769078325304_rh2chrv18", + "width": 0.015999999023437537, + "x": 0.5431110508355071, + "y": 0.20316663996039713 + } + ], + "type": "bbox" + }, + "bbox_1769075847007": { + "instances": [ + { + "height": 0.08399999316406308, + "id": "bbox_1769075847007_1769078267048_0l6jse1au", + "width": 0.031999998046875075, + "x": 0.4711110552300381, + "y": 0.5018332823215103 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续夹紧带橡胶塞的橡胶头滴管向爪夹方向的左下方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右上方抬升，在水平方向上成功接近了带橡胶塞的橡胶头滴管。", + "frame": 233, + "progress": 60, + "progress_explanation": "当前带橡胶塞的橡胶头滴管位于碱式滴定管的右上方，在水平方向上接近了碱式滴定管，因此进度提升为45%", + "state_description": "当前爪夹合拢，抓紧带橡胶塞的橡胶头滴管。带橡胶塞的橡胶头滴管已被抬升至空中。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左前方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。", + "time": 7.7751 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左下方移动。", + "annotations": { + "bbox_1769075846760": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075846760_1769078338952_zl81q70kn", + "x": 0.48111105461968656, + "y": 0.26449996830241146, + "width": 0.020624999694824276, + "height": 0.09733332541232705 + } + ] + }, + "bbox_1769075847007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075847007_1769078281656_vq3fpz4eh", + "x": 0.47011105529107333, + "y": 0.5031666155463367, + "width": 0.03399999792480477, + "height": 0.08399999316406308 + } + ] + } + }, + "correction_plan": "爪夹继续夹紧带橡胶塞的橡胶头滴管向爪夹方向的左下方移动，直至带橡胶塞的橡胶头滴管处于碱式滴定管的正上方。爪夹下降将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，带橡胶塞的橡胶在水平方向上更加接近碱式滴定管，方便将其放在碱式滴定管中。", + "frame": 252, + "progress": 70, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管的水平距离进一步缩短，因此进度上升为70%。", + "state_description": "当前爪夹合拢，带橡胶塞的橡胶头滴管与碱式滴定管的距离更近。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹向爪夹方向的左下方移动，下降爪夹将带橡胶塞的橡胶头滴管放入碱式滴定管中，松开爪夹。", + "time": 8.4 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的下方移动。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.06533332801649347, + "id": "bbox_1769075846760_1769078350392_88tshgnxe", + "width": 0.011999999267578155, + "x": 0.4891110541314053, + "y": 0.3404999621175161 + } + ], + "type": "bbox" + }, + "bbox_1769075847007": { + "instances": [ + { + "height": 0.045333329644097614, + "id": "bbox_1769075847007_1769078355464_qk0gxegzv", + "width": 0.0249999984741212, + "x": 0.4821110545586514, + "y": 0.5418332790663022 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续下降爪夹，将带橡胶塞的橡胶头滴管对准碱式滴定管。松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，带橡胶塞的橡胶头滴管成功靠近了碱式滴定管。", + "frame": 275, + "progress": 72, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管的水平距离进一步缩短，因此进度提升为70%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，带橡胶塞的橡胶头滴管位于碱式滴定管的上方。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:继续下降爪夹，将带橡胶塞的橡胶头滴管对准碱式滴定管。松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "time": 9.1584 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管继续向爪夹方向的下方移动。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.061333328342014264, + "id": "bbox_1769075846760_1769078372488_ikjl5ktjr", + "width": 0.014999999084472738, + "x": 0.4841110544365811, + "y": 0.3551666275906065 + } + ], + "type": "bbox" + }, + "bbox_1769075847007": { + "instances": [ + { + "height": 0.03999999674479196, + "id": "bbox_1769075847007_1769078367992_lhi4vjuiv", + "width": 0.019999998779296924, + "x": 0.4871110542534757, + "y": 0.5471666119656078 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续下降爪夹，将带橡胶塞的橡胶头滴管对准碱式滴定管。松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，带橡胶塞的橡胶头滴管成功靠近了碱式滴定管。", + "frame": 294, + "progress": 75, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管的水平距离进一步缩短，因此进度提升为75%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，带橡胶塞的橡胶头滴管位于碱式滴定管的上方。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:继续下降爪夹，将带橡胶塞的橡胶头滴管对准碱式滴定管。松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "time": 9.8 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的前方移动。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.07199999414062551, + "id": "bbox_1769075846760_1769078382680_jrph1akto", + "width": 0.011999999267578155, + "x": 0.49011105407037026, + "y": 0.3418332953423425 + } + ], + "type": "bbox" + }, + "bbox_1769075847007": { + "instances": [ + { + "height": 0.035999997070312754, + "id": "bbox_1769075847007_1769078387783_vs9le1lz0", + "width": 0.019999998779296924, + "x": 0.4871110542534757, + "y": 0.5498332784152605 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续下降爪夹，将带橡胶塞的橡胶头滴管对准碱式滴定管。松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，带橡胶塞的橡胶头滴管成功靠近了碱式滴定管。", + "frame": 310, + "progress": 78, + "progress_explanation": "当前带橡胶塞的橡胶头滴管与碱式滴定管的水平距离进一步缩短，因此进度提升为78%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，带橡胶塞的橡胶头滴管位于碱式滴定管的上方。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:继续下降爪夹，将带橡胶塞的橡胶头滴管对准碱式滴定管。松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "time": 10.333333333333334 + }, + { + "action_description": "爪夹夹紧带橡胶塞的橡胶头滴管向爪夹方向的左下方移动。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.06266666156684071, + "id": "bbox_1769075846760_1769078400616_ldvaoxte1", + "width": 0.011999999267578243, + "x": 0.4821110545586514, + "y": 0.36316662693956486 + } + ], + "type": "bbox" + }, + "bbox_1769075847007": { + "instances": [ + { + "height": 0.02933333094618078, + "id": "bbox_1769075847007_1769078396624_q43v5e0ql", + "width": 0.019999998779296924, + "x": 0.48611105431451085, + "y": 0.5564999445393926 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "error_success_analysis": "爪夹下降将带橡胶塞的橡胶头滴管对准碱式滴定管，方便将带橡胶塞的橡胶头滴管放入碱式滴定管中。", + "frame": 342, + "progress": 80, + "progress_explanation": "当前红色橡胶球棕色滴管已对准碱式滴定管，已接近碱式滴定管，因此进度提升为80%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，带橡胶塞的橡胶头滴管已经对准碱式滴定管。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:松开爪夹，带橡胶塞的橡胶头滴管落入碱式滴定管中。", + "time": 11.4 + }, + { + "action_description": "爪夹张开并向爪夹方向的后方移动。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.07733332703993104, + "id": "bbox_1769075846760_1769078406527_h3d3d32wq", + "width": 0.014999999084472738, + "x": 0.4871110542534757, + "y": 0.3658332933892177 + } + ], + "type": "bbox" + }, + "bbox_1769075847007": { + "instances": [ + { + "height": 0.057333328667535176, + "id": "bbox_1769075847007_1769078417448_kqalki5ct", + "width": 0.021999998657226703, + "x": 0.4841110544365811, + "y": 0.5282036516761351 + } + ], + "type": "bbox" + }, + "point_1769075847904": { + "instances": [ + { + "id": "point_1769075847904_1769078421048_62pounc2k", + "x": 0.5041110532158781, + "y": 0.39753699564314815 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左后方移动，将带橡胶塞的橡胶头滴管完全展现出来，看其是否正确放置在碱式滴定管上。", + "error_success_analysis": "爪夹张开并向爪夹方向的后方移动，胶头滴管的下部分成功位于碱式滴定管的上方。", + "frame": 395, + "progress": 95, + "progress_explanation": "当前滴管的下半部分位于碱式滴定管的上方，因此进度提升为95%。", + "state_description": "当前爪夹张开，带橡胶塞的橡胶头滴管的视野被挡住看不见。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:爪夹向爪夹方向的左后方移动，将带橡胶塞的橡胶头滴管的视野完全展现出来。", + "time": 13.1652 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "annotations": { + "bbox_1769075846760": { + "instances": [ + { + "height": 0.15066665440538293, + "id": "bbox_1769075846760_1769078439168_w1f5gjm87", + "width": 0.021999998657226703, + "x": 0.478111054802792, + "y": 0.38583329176161363 + } + ], + "type": "bbox" + }, + "bbox_1769075847007": { + "instances": [ + { + "height": 0.07999999348958386, + "id": "bbox_1769075847007_1769078450415_7pv5ynlsl", + "width": 0.03999999755859385, + "x": 0.46711105547417875, + "y": 0.5084999484456422 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至带橡胶塞的橡胶头滴管的上方，下降爪夹重新抓取带橡胶塞的橡胶头滴管。爪夹夹紧带橡胶塞的橡胶头滴管后调整爪夹角度，将红色橡胶球处于爪夹上方。下降爪夹将带橡胶塞的橡胶头滴管放置在碱式滴定管中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，可以看见带橡胶塞的橡胶头滴管倒立放置在碱式滴定管中，所以抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务失败了。", + "frame": 448, + "progress": 12, + "progress_explanation": "当前带橡胶塞的橡胶头滴管倒立放置在碱式滴定管中，因此任务失败，进度下降为12%。", + "state_description": "当前爪夹张开，带橡胶塞的橡胶头滴管倒立放置在碱式滴定管中。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:爪夹向爪夹方向的右前方移动，直至带橡胶塞的橡胶头滴管的上方，下降爪夹重新抓取带橡胶塞的橡胶头滴管。", + "time": 14.9301 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769075846760", + "name": "带橡胶塞的橡胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769075847007", + "name": "碱式滴定管" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769075847736", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769075847904", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-165201-put-stopper-volumetric flask-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-165201-put-stopper-volumetric flask-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..8381fed6a76c4c824f70327d6561a4e7685356e7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-165201-put-stopper-volumetric flask-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,914 @@ +{ + "task_description": "抓起瓶塞将其放入容量瓶中：\n准备移动：0%\n爪夹靠近瓶塞：20%\n爪夹抓取瓶塞：40%\n爪夹抓起瓶塞使其靠近容量瓶;60%\n爪夹将瓶塞放进容量瓶：80%\n爪夹松开，瓶塞放在容量瓶上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.022666666666666658, + "id": "bbox_1769132890336_1769133160022_fq9jj22fo", + "width": 0.009999999999999964, + "x": 0.5825, + "y": 0.6866666666666668 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133165686_c6wafddvm", + "x": 0.3925, + "y": 0.516 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133169638_hd0v9m924", + "x": 0.6235, + "y": 0.5146666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的右后方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触瓶塞。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取瓶塞。", + "time": 1.363659793814433 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.02933333333333336, + "id": "bbox_1769132890336_1769133187141_lorg6wwvk", + "width": 0.019000000000000038, + "x": 0.47450000000000003, + "y": 0.436 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.06800000000000003, + "id": "bbox_1769132890543_1769133194878_qjmo7zrxl", + "width": 0.11999999999999984, + "x": 0.6675000000000002, + "y": 0.42800000000000005 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133180598_wm4dat953", + "x": 0.3915, + "y": 0.5133333333333333 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133177462_uew6mns2f", + "x": 0.6235, + "y": 0.5093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的右后方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方略微移动，水平方向上逐渐接近瓶塞，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 82, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近瓶塞并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离略微缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的左前方移动，准备抓取瓶塞。", + "time": 2.7333333333333334 + }, + { + "action_description": "爪夹下降并向爪夹方向的左方略微调整角度。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.042666666666666644, + "id": "bbox_1769132890336_1769133236677_r0nrt2rpg", + "width": 0.02400000000000002, + "x": 0.4795, + "y": 0.444 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.12400000000000003, + "id": "bbox_1769132890543_1769133225205_ai3wz64k8", + "width": 0.18199999999999994, + "x": 0.7325, + "y": 0.48133333333333334 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133239101_2nqggh0by", + "x": 0.3935, + "y": 0.5146666666666666 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133242693_yak7maof6", + "x": 0.6255, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的右后方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，水平方向上逐渐接近瓶塞，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 108, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更加接近带橡胶塞的橡胶头滴管并开始调整爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与带橡胶塞的橡胶头滴管的水平距离进一步缩短。\n为完成抓起带橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当:调整爪夹角度，使其垂直于桌面。继续向爪夹方向的左下方移动，准备抓取带橡胶塞的橡胶头滴管。", + "time": 3.6 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动到瓶塞的上方。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.05466666666666663, + "id": "bbox_1769132890336_1769133259901_v550qhjie", + "width": 0.03200000000000003, + "x": 0.4965, + "y": 0.46 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.17733333333333334, + "id": "bbox_1769132890543_1769133272629_wdctbad33", + "width": 0.19399999999999995, + "x": 0.7775000000000001, + "y": 0.5 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133252277_dbm7662ex", + "x": 0.3945, + "y": 0.516 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133249301_6pxjllymv", + "x": 0.6225, + "y": 0.5106666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "下降爪夹抓取瓶塞后垂直上升。然后向爪夹方向的右后方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动到瓶塞的上方，方便抓取。", + "frame": 134, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于瓶塞的正上方，已接近瓶塞，方便抓取。因此进度提升为20%。", + "state_description": "当前爪夹张开，爪夹已经移动到瓶塞的上方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹继续下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右后方移动。", + "time": 4.466666666666667 + }, + { + "action_description": "爪夹略微合拢并向爪夹方向的前方略微抬升。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1769132890336_1769133297277_q8s2ku8kw", + "width": 0.027000000000000045, + "x": 0.4965, + "y": 0.492 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.16400000000000006, + "id": "bbox_1769132890543_1769133285644_jjg1l2m26", + "width": 0.19300000000000006, + "x": 0.7665, + "y": 0.5266666666666667 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133301109_d0jsz7mfp", + "x": 0.4455, + "y": 0.5106666666666667 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133304205_38g1llz86", + "x": 0.5665, + "y": 0.5093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹抓取瓶塞后垂直上升。然后向爪夹方向的右后方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹略微合拢且向爪夹方向的前方略微移动，使瓶塞位于爪夹的中间，方便抓取瓶塞。", + "frame": 168, + "progress": 25, + "progress_explanation": "当前爪夹已悬空于瓶塞的正上方，已接近瓶塞，方便抓取。因此进度提升为25%。", + "state_description": "当前爪夹张开，瓶塞位于爪夹的中间。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹合拢抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右后方移动。", + "time": 5.6 + }, + { + "action_description": "爪夹向爪夹方向的左后方略微移动。\n", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1769132890336_1769135049747_biyc9gpdf", + "width": 0.028999999999999915, + "x": 0.5015000000000001, + "y": 0.4666666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.17600000000000005, + "id": "bbox_1769132890543_1769135059531_p5i1adwqh", + "width": 0.19499999999999992, + "x": 0.7765000000000001, + "y": 0.5066666666666666 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769135045939_l8141oqpw", + "x": 0.44350000000000006, + "y": 0.5066666666666667 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769135043531_cb00vft1l", + "x": 0.5685, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方略微移动，合拢爪夹抓取瓶塞后垂直上升。然后向爪夹方向的右后方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向抓紧方向的后方略微移动，在水平方向上远离了瓶塞，不方便抓取瓶塞。", + "frame": 191, + "progress": 22, + "progress_explanation": "当前爪夹与瓶塞的水平距离增加，因此进度下降为22%。", + "state_description": "当前爪夹张开，爪夹位于瓶塞的后方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹向爪夹方向的前方移动到瓶塞的正上方，合拢抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右后方移动。", + "time": 6.364 + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动到瓶塞的上方。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1769132890336_1769133336621_a18l9hvqz", + "width": 0.027999999999999935, + "x": 0.5065000000000001, + "y": 0.48000000000000004 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.17466666666666666, + "id": "bbox_1769132890543_1769133320700_czz59p7l5", + "width": 0.1920000000000001, + "x": 0.7785, + "y": 0.5133333333333333 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133314701_8in9pafx2", + "x": 0.44750000000000006, + "y": 0.5093333333333334 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133311077_g9bi0sd5o", + "x": 0.5675, + "y": 0.5106666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹抓取瓶塞后垂直上升。然后向爪夹方向的右后方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的前方略微移动，水平方向上成功靠近了容量瓶，方便抓取容量瓶。", + "frame": 204, + "progress": 30, + "progress_explanation": "当前爪夹位于瓶塞的上方，爪夹与瓶塞的水平距离缩短，因此就进度提升为30%", + "state_description": "当前爪夹张开，爪夹位于瓶塞的上方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹合拢抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右后方移动，直至移动到容量瓶的正上方。", + "time": 6.796047721941448 + }, + { + "action_description": "爪夹向爪夹方向的左下方略微移动。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.06400000000000006, + "id": "bbox_1769132890336_1769133346421_y2faa5hu5", + "width": 0.03099999999999996, + "x": 0.5165000000000001, + "y": 0.47200000000000003 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.19066666666666662, + "id": "bbox_1769132890543_1769133356661_l97bcgej3", + "width": 0.19300000000000006, + "x": 0.7985, + "y": 0.5133333333333334 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133365997_u1c1k05i2", + "x": 0.44750000000000006, + "y": 0.5146666666666666 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133369285_266ur52jy", + "x": 0.5675, + "y": 0.5093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹抓取瓶塞后垂直上升。然后向爪夹方向的右后方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方略微移动，瓶塞在水平方向上更加靠近爪夹右，方便抓取。", + "frame": 221, + "progress": 35, + "progress_explanation": "当前瓶塞更加靠近爪夹右，爪夹角度调整与桌面垂直，方便抓取瓶塞，因此进度提升为35%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，瓶塞更加靠近爪夹右。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹合拢抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右后方移动，直至移动到容量瓶的正上方。", + "time": 7.363 + }, + { + "action_description": "合拢爪夹抓取瓶塞。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.05733333333333342, + "id": "bbox_1769132890336_1769133387317_b0lfka8xj", + "width": 0.021999999999999974, + "x": 0.4995, + "y": 0.484 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.176, + "id": "bbox_1769132890543_1769133392596_17iqxpyg5", + "width": 0.19300000000000006, + "x": 0.7815000000000001, + "y": 0.5186666666666667 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133379860_v6pie7d7r", + "x": 0.4955, + "y": 0.5066666666666667 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133376245_og8wz4wii", + "x": 0.5225000000000001, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧瓶塞垂直上升，然后向爪夹方向的右后方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到容量瓶。", + "frame": 258, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于容量瓶的正上方，已接近容量瓶，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到瓶塞。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 8.6 + }, + { + "action_description": "爪夹夹紧瓶塞竖直上升。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.05999999999999996, + "id": "bbox_1769132890336_1769133417244_kf2tbomfz", + "width": 0.02400000000000002, + "x": 0.4965, + "y": 0.48000000000000004 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.14133333333333328, + "id": "bbox_1769132890543_1769133407708_o0a0boikg", + "width": 0.175, + "x": 0.7285, + "y": 0.5080000000000001 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133419932_4fwy6ifv3", + "x": 0.4955, + "y": 0.5026666666666667 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133422829_aiwqiyikn", + "x": 0.5215, + "y": 0.5053333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧瓶塞继续垂直上升，然后向爪夹方向的右后方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取瓶塞成功使其抬升并向容量瓶的方向移动。", + "frame": 297, + "progress": 45, + "progress_explanation": "当前瓶塞已被抓取并成功开始抬升和移动，因此进度提升为45%", + "state_description": "当前爪夹合拢，抓紧瓶塞。瓶塞已被抬升至空中。\n为完成抓起瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的右后方移动，直至瓶塞处于容量瓶的正上方。", + "time": 9.8975 + }, + { + "action_description": "爪夹向爪夹方向的右后方抬升并移动。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.05999999999999996, + "id": "bbox_1769132890336_1769133435596_xncd6opg1", + "width": 0.02300000000000004, + "x": 0.4995, + "y": 0.48000000000000004 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.08266666666666668, + "id": "bbox_1769132890543_1769133442420_zpzcgeir6", + "width": 0.11799999999999988, + "x": 0.5125000000000001, + "y": 0.38266666666666665 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133431100_fhe0ycoor", + "x": 0.4955, + "y": 0.504 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133427788_5dxndcmbr", + "x": 0.5225000000000001, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧瓶塞爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取瓶塞成功使其抬升并向容量瓶的方向移动。", + "frame": 349, + "progress": 50, + "progress_explanation": "当前瓶塞已被抓取并成功向容量瓶的方向移动，因此进度提升为50%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离略微缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 11.62130545390021 + }, + { + "action_description": "爪夹夹紧瓶塞向爪夹方向的右前方移动。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.05866666666666666, + "id": "bbox_1769132890336_1769133467324_x5z8jqk9k", + "width": 0.01899999999999995, + "x": 0.4995, + "y": 0.48000000000000004 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.08399999999999999, + "id": "bbox_1769132890543_1769133454684_gikmdregz", + "width": 0.06500000000000003, + "x": 0.4795, + "y": 0.43866666666666665 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133478860_p86ykfu9w", + "x": 0.49450000000000005, + "y": 0.5053333333333333 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133482444_ywv0bd4t1", + "x": 0.5225000000000001, + "y": 0.5053333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧瓶塞爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，瓶塞在水平方向上接近了容量瓶，方便将其放在容量瓶中。", + "frame": 384, + "progress": 60, + "progress_explanation": "当前瓶塞与容量瓶的水平距离缩短，因此进度上升为60%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离略微缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。", + "time": 12.78470751575588 + }, + { + "action_description": "爪夹夹紧瓶塞向爪夹方向的右后方略微移动。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.05466666666666668, + "id": "bbox_1769132890336_1769133498971_uzwb4s0nc", + "width": 0.01800000000000006, + "x": 0.5015, + "y": 0.484 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.09066666666666669, + "id": "bbox_1769132890543_1769133506100_zg7rf4mva", + "width": 0.07400000000000002, + "x": 0.4615, + "y": 0.4186666666666667 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133493996_kmrx3nlzu", + "x": 0.4955, + "y": 0.5066666666666667 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133487948_q1qhi5amd", + "x": 0.5205, + "y": 0.5066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧瓶塞爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，瓶塞在水平方向上远离了容量瓶，不方便将其放在容量瓶中。", + "frame": 406, + "progress": 58, + "progress_explanation": "当前瓶塞与容量瓶的水平距离增加，因此进度上升为60%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离略微增加。\n为完成抓起瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 13.542 + }, + { + "action_description": "爪夹夹紧瓶塞向爪夹方向的右下方略微移动。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.05466666666666668, + "id": "bbox_1769132890336_1769136350852_dovr5thgn", + "width": 0.02399999999999993, + "x": 0.49750000000000005, + "y": 0.4826666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.0973333333333334, + "id": "bbox_1769132890543_1769136357684_nxeu8uhtd", + "width": 0.08200000000000011, + "x": 0.4464999999999999, + "y": 0.42 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769136367779_tk3efq6ds", + "x": 0.4955, + "y": 0.504 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769136371276_x0auosec1", + "x": 0.5235000000000001, + "y": 0.5026666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧瓶塞爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，瓶塞在水平方向上接近了容量瓶，方便将其放在容量瓶中。", + "frame": 447, + "progress": 75, + "progress_explanation": "当前瓶塞与容量瓶的水平距离进一步缩短，方便将瓶塞放在容量瓶上，因此进度上升为60%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离进一步缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。", + "time": 14.911 + }, + { + "action_description": "爪夹夹紧瓶塞向爪夹方向的左方略微移动。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.05200000000000002, + "id": "bbox_1769132890336_1769133563363_7qly5jnih", + "width": 0.016000000000000014, + "x": 0.5025000000000001, + "y": 0.48533333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.10800000000000001, + "id": "bbox_1769132890543_1769133569291_pbkglz8vj", + "width": 0.07699999999999996, + "x": 0.45549999999999996, + "y": 0.4053333333333333 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133554891_89tfqibol", + "x": 0.4955, + "y": 0.5053333333333333 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133547795_qprq5d9xj", + "x": 0.5215, + "y": 0.5053333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪松开，瓶塞放在容量瓶上。", + "error_success_analysis": "爪夹向爪夹方向的左方略微移动到容量瓶的上方，成功将瓶塞放在容量瓶上。", + "frame": 462, + "progress": 80, + "progress_explanation": "当前瓶塞已经放在容量瓶上，因此就进度提升为80%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，瓶塞已经放在容量瓶上。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:松开爪夹，瓶塞放在容量瓶上。", + "time": 15.400773195876289 + }, + { + "action_description": "爪夹张开并向爪夹方向的左后方移动。", + "annotations": { + "bbox_1769132890336": { + "instances": [ + { + "height": 0.04933333333333335, + "id": "bbox_1769132890336_1769133606010_hzlkc0ctq", + "width": 0.029000000000000005, + "x": 0.5075000000000001, + "y": 0.4693333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769132890543": { + "instances": [ + { + "height": 0.11199999999999992, + "id": "bbox_1769132890543_1769133591523_bmu2scll2", + "width": 0.08700000000000001, + "x": 0.4545, + "y": 0.404 + } + ], + "type": "bbox" + }, + "point_1769132891279": { + "instances": [ + { + "id": "point_1769132891279_1769133608859_01ka4c4fb", + "x": 0.4415, + "y": 0.5133333333333333 + } + ], + "type": "point" + }, + "point_1769132891455": { + "instances": [ + { + "id": "point_1769132891455_1769133611371_ykii1s5lc", + "x": 0.5725, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "瓶塞放在容量瓶上，所以抓起瓶塞将其放入容量瓶上的任务完成了。", + "error_success_analysis": "爪夹张开并向爪夹方向的左后方移动，瓶塞成功放在容量瓶中。", + "frame": 496, + "progress": 100, + "progress_explanation": "当前瓶塞成功放入容量瓶中，因此进度提升为100%。", + "state_description": "当前爪夹张开，瓶塞成功放入容量瓶中。已完成\n抓起瓶塞将其放入容量瓶中的任务。", + "time": 16.522851845652788 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769132890336", + "name": "瓶塞" + }, + { + "color": "#FF9800", + "id": "bbox_1769132890543", + "name": "容量瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769132891279", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769132891455", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..7b383c97b980e71da032839633c45bc9d6c3a934 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,734 @@ +{ + "task_description": "抓起瓶塞将其放入容量瓶中：\n准备移动：0%\n爪夹靠近瓶塞：20%\n爪夹抓取瓶塞：40%\n爪夹抓起瓶塞使其靠近容量瓶;60%\n爪夹将瓶塞放进容量瓶：80%\n爪夹松开，瓶塞放在容量瓶上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1769139305874": { + "instances": [ + { + "height": 0.041333329969618283, + "id": "bbox_1769139305874_1769139509665_vc0ba3vpn", + "width": 0.014999999084472648, + "x": 0.46311105571831934, + "y": 0.6413888231291648 + } + ], + "type": "bbox" + }, + "bbox_1769139306066": { + "instances": [ + { + "height": 0.14799998795573016, + "id": "bbox_1769139306066_1769139515345_cat28r6g6", + "width": 0.04399999731445323, + "x": 0.5091110529107024, + "y": 0.4147221749086772 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触瓶塞。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取瓶塞。", + "time": 1.5335046197950226 + }, + { + "action_description": "爪夹向爪夹方向的右下方略微移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769139305874": { + "instances": [ + { + "height": 0.04399999641927117, + "id": "bbox_1769139305874_1769139542625_dhk1i0ckc", + "width": 0.015625, + "x": 0.46411105565728417, + "y": 0.6391666044786292 + } + ], + "type": "bbox" + }, + "bbox_1769139306066": { + "instances": [ + { + "height": 0.15333332085503576, + "id": "bbox_1769139306066_1769139529529_ph0eo2pyd", + "width": 0.04599999719238292, + "x": 0.5101110528496672, + "y": 0.4086481092408765 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方略微移动，水平方向上逐渐接近瓶塞，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 78, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上略微接近瓶塞并开始调整爪夹角度方便抓取，因此进度提升为5%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离略微缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取瓶塞。", + "time": 2.601 + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769139305874": { + "instances": [ + { + "height": 0.042666663194444725, + "id": "bbox_1769139305874_1769139556841_y7v7vic76", + "width": 0.014999999084472738, + "x": 0.46211105577935446, + "y": 0.6412406806444758 + } + ], + "type": "bbox" + }, + "bbox_1769139306066": { + "instances": [ + { + "height": 0.150666654405383, + "id": "bbox_1769139306066_1769139570305_khj1n3ayh", + "width": 0.03999999755859385, + "x": 0.5101110528496672, + "y": 0.4145740324239882 + } + ], + "type": "bbox" + }, + "point_1769139307001": { + "instances": [ + { + "id": "point_1769139307001_1769139559777_qpb86usxl", + "x": 0.44211105700005754, + "y": 0.5905740181010728 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的右下方移动，水平方向上逐渐接近瓶塞，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 116, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上逐渐接近瓶塞并调整了爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离进一步缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的左下方移动，准备抓取瓶塞。", + "time": 3.8666666666666667 + }, + { + "action_description": "爪夹下降，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769139305874": { + "instances": [ + { + "height": 0.045333329644097496, + "id": "bbox_1769139305874_1769139587608_ydzilr4xg", + "width": 0.015999999023437537, + "x": 0.46211105577935446, + "y": 0.6385740141948231 + } + ], + "type": "bbox" + }, + "bbox_1769139306066": { + "instances": [ + { + "height": 0.14799998795573016, + "id": "bbox_1769139306066_1769139577688_dk2wwg1bw", + "width": 0.040999997497558824, + "x": 0.5121110527275967, + "y": 0.41324069919916184 + } + ], + "type": "bbox" + }, + "point_1769139307001": { + "instances": [ + { + "id": "point_1769139307001_1769139597121_hkkt1dvrs", + "x": 0.4431110569390223, + "y": 0.6332406812955175 + } + ], + "type": "point" + }, + "point_1769139307161": { + "instances": [ + { + "id": "point_1769139307161_1769139603752_gk84x2o8g", + "x": 0.5361110512627532, + "y": 0.6439073470941287 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，在水平方向上逐渐接近瓶塞，方便抓取瓶塞。", + "frame": 154, + "progress": 15, + "progress_explanation": "当前爪夹位于瓶塞的上方，已悬空于瓶塞，方便抓取瓶塞，因此就进度提升为15%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离进一步缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:爪夹向爪夹方向的左方移动，直至移动到瓶塞的正上方，下降爪夹抓取瓶塞。", + "time": 5.133333333333334 + }, + { + "action_description": "爪夹向爪夹方向的左方略微调整角度。", + "annotations": { + "bbox_1769139305874": { + "instances": [ + { + "height": 0.041333329969618283, + "id": "bbox_1769139305874_1769139620520_fvbcl5w5v", + "width": 0.015999999023437537, + "x": 0.46111105584038964, + "y": 0.6425740138693022 + } + ], + "type": "bbox" + }, + "bbox_1769139306066": { + "instances": [ + { + "height": 0.15199998763020936, + "id": "bbox_1769139306066_1769139626431_6gqb06jub", + "width": 0.03599999780273437, + "x": 0.5141110526055266, + "y": 0.4105740327495091 + } + ], + "type": "bbox" + }, + "point_1769139307001": { + "instances": [ + { + "id": "point_1769139307001_1769139615208_ab2zi0c6u", + "x": 0.4471110566948817, + "y": 0.6399073474196495 + } + ], + "type": "point" + }, + "point_1769139307161": { + "instances": [ + { + "id": "point_1769139307161_1769139609760_dd3a3b3um", + "x": 0.5321110515068938, + "y": 0.6545740128927399 + } + ], + "type": "point" + } + }, + "correction_plan": "下降爪夹抓取瓶塞后垂直上升。然后向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向左方转动，在水平方向上逐渐接近瓶塞，方便抓取瓶塞。", + "frame": 206, + "progress": 16, + "progress_explanation": "当前爪夹位于瓶塞的上方，已悬空于瓶塞，方便抓取瓶塞，因此就进度提升为15%。", + "state_description": "当前爪夹张开，爪夹位于瓶塞的上方，爪夹左距离瓶塞更近。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:爪夹合拢抓取瓶塞后垂直上升，向爪夹方向的右前方移动。", + "time": 6.866666666666666 + }, + { + "action_description": "爪夹略微合拢并下降。", + "annotations": { + "bbox_1769139305874": { + "instances": [ + { + "height": 0.04666666286892394, + "id": "bbox_1769139305874_1769139769320_zgrqzbojx", + "width": 0.015999999023437537, + "x": 0.46211105577935446, + "y": 0.6399073474196495 + } + ], + "type": "bbox" + }, + "bbox_1769139306066": { + "instances": [ + { + "height": 0.15066665440538293, + "id": "bbox_1769139306066_1769139638176_ep9up2f9j", + "width": 0.03999999755859394, + "x": 0.5131110526665617, + "y": 0.4092406995246826 + } + ], + "type": "bbox" + }, + "point_1769139307001": { + "instances": [ + { + "id": "point_1769139307001_1769139761063_3w6qe0np0", + "x": 0.46311105571831934, + "y": 0.6425740138693022 + } + ], + "type": "point" + }, + "point_1769139307161": { + "instances": [ + { + "id": "point_1769139307161_1769139764296_c06dr7i7y", + "x": 0.5121110527275968, + "y": 0.6505740132182607 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，直至瓶塞位于爪夹的中间。合拢爪夹抓取瓶塞后垂直上升，然后向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹略微合拢并下降，水平方向上更加靠近了瓶塞，方便抓取。", + "frame": 250, + "progress": 18, + "progress_explanation": "当前爪夹左靠近了瓶塞，瓶塞与爪夹的水平距离缩短，因此进度提升为18%。", + "state_description": "当前爪夹张开，瓶塞更加靠近爪夹左，不处于爪夹的中间。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:爪夹向爪夹方向的左侧移动，使瓶塞处于爪夹中间。合拢爪夹抓取瓶塞。", + "time": 8.333333333333334 + }, + { + "action_description": "爪夹向爪夹方向的左方移动到瓶塞的正上方。", + "annotations": { + "bbox_1769139305874": { + "instances": [ + { + "height": 0.045333329644097496, + "id": "bbox_1769139305874_1769139776697_mt8jrp774", + "width": 0.009999999389648462, + "x": 0.46411105565728417, + "y": 0.6399073474196495 + } + ], + "type": "bbox" + }, + "bbox_1769139306066": { + "instances": [ + { + "height": 0.15066665440538293, + "id": "bbox_1769139306066_1769139789672_wb5fra9w3", + "width": 0.043999997314453324, + "x": 0.5091110529107022, + "y": 0.4105740327495091 + } + ], + "type": "bbox" + }, + "point_1769139307001": { + "instances": [ + { + "id": "point_1769139307001_1769139780256_87k7ibhn2", + "x": 0.4481110566338466, + "y": 0.6399073474196495 + } + ], + "type": "point" + }, + "point_1769139307161": { + "instances": [ + { + "id": "point_1769139307161_1769139783368_e00ax4juc", + "x": 0.4961110537041593, + "y": 0.645240680318955 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹抓取瓶塞后垂直上升，然后向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左方移动到瓶塞的上方，方便抓取。", + "frame": 270, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于瓶塞的正上方，已接近瓶塞，方便抓取。因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到瓶塞的上方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹继续下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右前方移动。", + "time": 8.993641332652844 + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "annotations": { + "bbox_1769139305874": { + "instances": [ + { + "height": 0.03999999674479184, + "id": "bbox_1769139305874_1769147284594_h26rmjniu", + "width": 0.019999998779297014, + "x": 0.4431110569390223, + "y": 0.6413888434742153 + } + ], + "type": "bbox" + }, + "bbox_1769139306066": { + "instances": [ + { + "height": 0.14933332118055662, + "id": "bbox_1769139306066_1769139802207_jkk5vw6z2", + "width": 0.03999999755859385, + "x": 0.5101110528496672, + "y": 0.41324069919916184 + } + ], + "type": "bbox" + }, + "point_1769139307001": { + "instances": [ + { + "id": "point_1769139307001_1769147289186_r49gu6lnq", + "x": 0.4511110564507412, + "y": 0.6493888428231736 + } + ], + "type": "point" + }, + "point_1769139307161": { + "instances": [ + { + "id": "point_1769139307161_1769147265659_jcfykulwa", + "x": 0.4941110538262296, + "y": 0.6480555095983472 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹抓取瓶塞后垂直上升，然后向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹继续下降并且爪夹滚动到了爪夹的左方，方便抓取瓶塞。", + "frame": 295, + "progress": 30, + "progress_explanation": "当前瓶塞滚动到了爪夹的左方，方便抓取瓶塞，因此进度提升为30%，", + "state_description": "当前爪夹张开，瓶塞滚动到了爪夹的左方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹合拢抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右前方移动。", + "time": 9.83487839312188 + }, + { + "action_description": "合拢爪夹抓取瓶塞。", + "annotations": { + "bbox_1769139305874": { + "instances": [ + { + "height": 0.02799999772135434, + "id": "bbox_1769139305874_1769139830703_etnyamps6", + "width": 0.012999999206542956, + "x": 0.46311105571831934, + "y": 0.6559073461175662 + } + ], + "type": "bbox" + }, + "bbox_1769139306066": { + "instances": [ + { + "height": 0.1466666547309038, + "id": "bbox_1769139306066_1769139840415_cwm5bo2zg", + "width": 0.04299999737548843, + "x": 0.5101110528496672, + "y": 0.4145740324239882 + } + ], + "type": "bbox" + }, + "point_1769139307161": { + "instances": [ + { + "id": "point_1769139307161_1769139824951_uh61bnyik", + "x": 0.4801110546807217, + "y": 0.6545740128927399 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取瓶塞后垂直上升，然后向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到瓶塞。", + "frame": 319, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到瓶塞，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到瓶塞。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 10.6335 + }, + { + "action_description": "爪夹夹紧瓶塞竖直上升。", + "annotations": { + "bbox_1769139305874": { + "instances": [ + { + "height": 0.030666664171007104, + "id": "bbox_1769139305874_1769139858688_ng7asnhl2", + "width": 0.014999999084472738, + "x": 0.45611105614556535, + "y": 0.5399073555576697 + } + ], + "type": "bbox" + }, + "bbox_1769139306066": { + "instances": [ + { + "height": 0.14933332118055662, + "id": "bbox_1769139306066_1769139852951_zppj4b1v9", + "width": 0.04599999719238301, + "x": 0.5071110530327726, + "y": 0.41324069919916184 + } + ], + "type": "bbox" + }, + "point_1769139307001": { + "instances": [ + { + "id": "point_1769139307001_1769139862471_uxfb85050", + "x": 0.46311105571831934, + "y": 0.5332406894335376 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧瓶塞向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取瓶塞成功使其抬升并向容量瓶的方向移动。", + "frame": 343, + "progress": 45, + "progress_explanation": "当前瓶塞已被抓取并成功开始抬升和移动，因此进度提升为45%。", + "state_description": "当前爪夹合拢，抓紧瓶塞。瓶塞已被抬升至空中。\n为完成抓起瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 11.4495 + }, + { + "action_description": "爪夹向爪夹方向的右前方抬升并移动。", + "annotations": { + "bbox_1769139306066": { + "instances": [ + { + "height": 0.15466665407986213, + "id": "bbox_1769139306066_1769139873607_x1q8ksrki", + "width": 0.046999997131347816, + "x": 0.5061110530938078, + "y": 0.4092406995246826 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧瓶塞向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取瓶塞成功使其抬升并向容量瓶的方向移动。", + "frame": 382, + "progress": 50, + "progress_explanation": "当前瓶塞已被抓取并成功向容量瓶的方向移动，因此进度提升为50%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离略微缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 12.733333333333333 + }, + { + "action_description": "爪夹下降，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769139306066": { + "instances": [ + { + "height": 0.15199998763020944, + "id": "bbox_1769139306066_1769139879631_mcav08pwd", + "width": 0.04399999731445323, + "x": 0.5081110529717374, + "y": 0.4132406991991618 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续夹紧瓶塞向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，瓶塞在水平方向上接近了容量瓶，方便将其放在容量瓶中。", + "frame": 404, + "progress": 55, + "progress_explanation": "当前瓶塞与容量瓶的水平距离缩短，因此进度上升为55%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离略微缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 13.466666666666667 + }, + { + "action_description": "爪夹夹紧瓶塞向爪夹方向的左下方移动。", + "annotations": { + "bbox_1769139306066": { + "instances": [ + { + "height": 0.14133332183159814, + "id": "bbox_1769139306066_1769139889918_aibhndmzz", + "width": 0.04399999731445323, + "x": 0.5081110529717374, + "y": 0.42257403177294667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续夹紧瓶塞向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，瓶塞在水平方向上接近了容量瓶，方便将其放在容量瓶中。", + "frame": 435, + "progress": 60, + "progress_explanation": "当前瓶塞与容量瓶的水平距离逐渐缩短，因此进度上升为60%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离进一步缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。", + "time": 14.5095 + }, + { + "action_description": "爪夹向爪夹方向的右上方抬升并移动。", + "annotations": { + "bbox_1769139306066": { + "instances": [ + { + "height": 0.1546666540798622, + "id": "bbox_1769139306066_1769139898935_3ge76vjsk", + "width": 0.04399999731445323, + "x": 0.5081110529717374, + "y": 0.41057403274950904 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续夹紧瓶塞向爪夹方向的右下方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左上方抬升并移动，在水平方向上远离容量瓶，不方便将瓶塞放入容量瓶中。", + "frame": 480, + "progress": 54, + "progress_explanation": "当前瓶塞在水平方向上离容量瓶较远，因此进度下降为54%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离变远。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右下方移动，直至瓶塞处于容量瓶的正上方。", + "time": 16.014 + }, + { + "action_description": "爪夹向爪夹方向的右下方略微移动并调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1769139306066": { + "instances": [ + { + "height": 0.15599998730468848, + "id": "bbox_1769139306066_1769139908550_gcx1gug4s", + "width": 0.04499999725341812, + "x": 0.5081110529717374, + "y": 0.4105740327495091 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续夹紧瓶塞向爪夹方向的右下方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方抬升并移动，在水平方向上略微接近了容量瓶，方便将瓶塞放入容量瓶中。", + "frame": 496, + "progress": 75, + "progress_explanation": "当前瓶塞与容量瓶的水平距离略微缩短，因此进度上升为75%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离略微缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。", + "time": 16.533333333333335 + }, + { + "action_description": "爪夹略微下降并调整爪夹角度使瓶塞位于容量瓶的上方 。", + "annotations": { + "bbox_1769139306066": { + "instances": [ + { + "height": 0.13066665603298694, + "id": "bbox_1769139306066_1769139914814_ooac6qz2m", + "width": 0.04599999719238301, + "x": 0.5071110530327726, + "y": 0.4332406975715578 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧瓶塞向爪夹方向的左下方移动，将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹下降并略微调整角度将瓶塞移动到容量瓶的上方，方便将瓶塞放入容量瓶中。", + "frame": 524, + "progress": 78, + "progress_explanation": "当前瓶塞位于容量瓶的上方，瓶塞与容量瓶的水平距离进一步缩短，因此进度上升为78%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离进一步缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹下降将瓶塞放入容量瓶中。", + "time": 17.466666666666665 + }, + { + "action_description": "爪夹继续夹紧瓶塞向爪夹方向的左下方移动。", + "annotations": { + "bbox_1769139306066": { + "instances": [ + { + "height": 0.05199999576822953, + "id": "bbox_1769139306066_1769139920182_l9gprdfe3", + "width": 0.04099999749755874, + "x": 0.511111052788632, + "y": 0.5132406910611417 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，瓶塞放在容量瓶上。", + "error_success_analysis": "爪夹向爪夹方向的左方略微移动到容量瓶的上方，成功将瓶塞放在容量瓶上。", + "frame": 598, + "progress": 80, + "progress_explanation": "当前瓶塞已经放在容量瓶上，因此就进度提升为80%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，瓶塞已经放在容量瓶上。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:松开爪夹，瓶塞放在容量瓶上。", + "time": 19.941 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769139305874": { + "instances": [ + { + "height": 0.03466666384548637, + "id": "bbox_1769139305874_1769139933758_jp0ddwz1u", + "width": 0.015999999023437537, + "x": 0.5221110521172453, + "y": 0.3825740350281547 + } + ], + "type": "bbox" + }, + "bbox_1769139306066": { + "instances": [ + { + "height": 0.05466666221788235, + "id": "bbox_1769139306066_1769139930062_40i392th6", + "width": 0.04499999725341812, + "x": 0.5071110530327726, + "y": 0.5105740246114888 + } + ], + "type": "bbox" + }, + "point_1769139307161": { + "instances": [ + { + "id": "point_1769139307161_1769139942230_tmbjx8jrv", + "x": 0.5421110508965422, + "y": 0.3892407011522867 + } + ], + "type": "point" + } + }, + "correction_plan": "瓶塞放在容量瓶上，所以抓起瓶塞将其放入容量瓶上的任务完成了。", + "error_success_analysis": "爪夹张开，瓶塞成功放在容量瓶中。", + "frame": 638, + "progress": 100, + "progress_explanation": "当前瓶塞成功放入容量瓶中，因此进度提升为100%。", + "state_description": "当前爪夹张开，瓶塞成功放入容量瓶中。已完成\n抓起瓶塞将其放入容量瓶中的任务。", + "time": 21.267 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769139305874", + "name": "瓶塞" + }, + { + "color": "#FF9800", + "id": "bbox_1769139306066", + "name": "容量瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769139307001", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769139307161", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..44f312dda29a25bca8cc64c61ca68e01f13363de --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,852 @@ +{ + "task_description": "抓起瓶塞将其放入容量瓶中：\n准备移动：0%\n爪夹靠近瓶塞：20%\n爪夹抓取瓶塞：40%\n爪夹抓起瓶塞使其靠近容量瓶;60%\n爪夹将瓶塞放进容量瓶：80%\n爪夹松开，瓶塞放在容量瓶上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.037333333333333364, + "id": "bbox_1769149692822_1769149991083_zqwft4bcc", + "width": 0.016999999999999994, + "x": 0.4455, + "y": 0.5946666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.15333333333333332, + "id": "bbox_1769149693109_1769149997179_gtgk4dmus", + "width": 0.04699999999999997, + "x": 0.5235000000000001, + "y": 0.46266666666666667 + } + ], + "type": "bbox" + }, + "point_1769149694429": { + "instances": [ + { + "id": "point_1769149694429_1769150012723_1c6l4p7kb", + "x": 0.3255, + "y": 0.24133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触瓶塞。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取瓶塞。", + "time": 1.1578459597168598 + }, + { + "action_description": "爪夹向爪夹方向的右下方略微移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.0413333333333334, + "id": "bbox_1769149692822_1769150022323_fn6x8wvt9", + "width": 0.015625, + "x": 0.44449999999999995, + "y": 0.5906666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.15466666666666676, + "id": "bbox_1769149693109_1769150032234_wptorqwmb", + "width": 0.051000000000000066, + "x": 0.5215, + "y": 0.45866666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方略微移动，水平方向上逐渐接近瓶塞，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 68, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上略微接近瓶塞并开始调整爪夹角度方便抓取，因此进度提升为5%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离略微缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取瓶塞。", + "time": 2.2666666666666666 + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.041333333333333284, + "id": "bbox_1769149692822_1769150054674_ho6cdokzl", + "width": 0.016999999999999994, + "x": 0.4455, + "y": 0.5933333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.1506666666666667, + "id": "bbox_1769149693109_1769150047530_ru4bogdra", + "width": 0.04799999999999995, + "x": 0.5235000000000001, + "y": 0.464 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的右下方移动，水平方向上逐渐接近瓶塞，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 102, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上逐渐接近瓶塞并调整了爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离进一步缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的左下方移动，准备抓取瓶塞。", + "time": 3.4 + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动到瓶塞的正上方。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.041333333333333284, + "id": "bbox_1769149692822_1769150066922_2sh60505r", + "width": 0.015000000000000036, + "x": 0.4455, + "y": 0.5920000000000001 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.156, + "id": "bbox_1769149693109_1769150074258_dwd306vs8", + "width": 0.04699999999999997, + "x": 0.5245, + "y": 0.46 + } + ], + "type": "bbox" + }, + "point_1769149694037": { + "instances": [ + { + "id": "point_1769149694037_1769150077922_5h0i8znyz", + "x": 0.41450000000000004, + "y": 0.5773333333333334 + } + ], + "type": "point" + }, + "point_1769149694429": { + "instances": [ + { + "id": "point_1769149694429_1769150081138_i6bcs9t6a", + "x": 0.4835, + "y": 0.596 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取瓶塞后垂直上升。然后向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左方移动到瓶塞的上方，方便抓取。", + "frame": 118, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于瓶塞的正上方，已接近瓶塞，方便抓取。因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到瓶塞的上方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹继续下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右方移动。", + "time": 3.926666 + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.03866666666666667, + "id": "bbox_1769149692822_1769150097914_snbj8ls8q", + "width": 0.014000000000000058, + "x": 0.4465, + "y": 0.5946666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1769149693109_1769150104794_34fykxgtl", + "width": 0.04500000000000002, + "x": 0.5255, + "y": 0.46266666666666667 + } + ], + "type": "bbox" + }, + "point_1769149694037": { + "instances": [ + { + "id": "point_1769149694037_1769150093226_ro5gaelc1", + "x": 0.4265, + "y": 0.5800000000000001 + } + ], + "type": "point" + }, + "point_1769149694429": { + "instances": [ + { + "id": "point_1769149694429_1769150089898_o56ox8prr", + "x": 0.4915, + "y": 0.5946666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的后方略微移动到瓶塞的正上方，爪夹下降，抓取瓶塞后垂直上升。然后向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的前方略微移动到瓶塞的前方，在水平方向上略微远离了瓶塞，不方便抓取。", + "frame": 128, + "progress": 17, + "progress_explanation": "当前爪夹位于瓶塞的前方，与瓶塞的水平距离略微变远，因此进度下降为18%。", + "state_description": "当前爪夹张开，爪夹位于瓶塞的前方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹向爪夹方向的后方移动到瓶塞的正上方，下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右方移动。", + "time": 4.281333 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.037333333333333364, + "id": "bbox_1769149692822_1769150118594_cj335o1j7", + "width": 0.016000000000000014, + "x": 0.4455, + "y": 0.5946666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.1506666666666667, + "id": "bbox_1769149693109_1769150112602_q2a4shq6d", + "width": 0.04699999999999997, + "x": 0.5245, + "y": 0.46266666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，然后向爪夹方向的后方移动到瓶塞的正上方，下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹在瓶塞的上方合拢，并未抓取到瓶塞。", + "frame": 153, + "progress": 13, + "progress_explanation": "当前爪夹并未抓取到瓶塞，因此进度下降为13%。", + "state_description": "当前爪夹合拢爪夹位于瓶塞的上方，并未抓取到瓶塞。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹张开，然后向爪夹方向的后方移动到瓶塞的正上方，下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右方移动。", + "time": 5.091999 + }, + { + "action_description": "爪夹略微下降并重新张开。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.03866666666666679, + "id": "bbox_1769149692822_1769150130650_ecik3yyyn", + "width": 0.016000000000000014, + "x": 0.4465, + "y": 0.5946666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.1506666666666667, + "id": "bbox_1769149693109_1769150142354_l8nq96vkz", + "width": 0.04799999999999986, + "x": 0.5245000000000001, + "y": 0.46266666666666667 + } + ], + "type": "bbox" + }, + "point_1769149694037": { + "instances": [ + { + "id": "point_1769149694037_1769150153211_6kj6pzcl6", + "x": 0.43550000000000005, + "y": 0.5733333333333334 + } + ], + "type": "point" + }, + "point_1769149694429": { + "instances": [ + { + "id": "point_1769149694429_1769150654983_lr9zbyvwm", + "x": 0.48333331298828125, + "y": 0.584888885498047 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的后方移动到瓶塞的正上方，下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹重新张开，方便爪夹重新调整角度重新抓取瓶塞。", + "frame": 195, + "progress": 18, + "progress_explanation": "当前爪夹重新张开，方便爪夹重新抓取瓶塞，因此进度提升为18%。", + "state_description": "当前爪夹张开，爪夹位于瓶塞的前方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹向爪夹方向的后方移动到瓶塞的正上方，下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右方移动。", + "time": 6.511797779304488 + }, + { + "action_description": "爪夹向爪夹方向的下方略微移动。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.037333333333333364, + "id": "bbox_1769149692822_1769150170530_pxw06r9n2", + "width": 0.016000000000000014, + "x": 0.4465, + "y": 0.5933333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.15466666666666662, + "id": "bbox_1769149693109_1769150176618_4wu5z9dgh", + "width": 0.04799999999999995, + "x": 0.5245, + "y": 0.4613333333333334 + } + ], + "type": "bbox" + }, + "point_1769149694037": { + "instances": [ + { + "id": "point_1769149694037_1769150703414_hxsjn6lq5", + "x": 0.43733331298828126, + "y": 0.572888885498047 + } + ], + "type": "point" + }, + "point_1769149694429": { + "instances": [ + { + "id": "point_1769149694429_1769150698710_qipuds9l9", + "x": 0.48033331298828125, + "y": 0.5795555521647135 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方略微移动到瓶塞的上方，方便抓取瓶塞。", + "frame": 224, + "progress": 16, + "progress_explanation": "当前爪夹已悬空于瓶塞的正上方，已接近瓶塞，方便抓取。因此进度提升为16%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到瓶塞的上方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹继续下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右前方移动。", + "time": 7.478120790644695 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动。", + "annotations": { + "bbox_1769149692822": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149692822_1769150213049_ood1vgvem", + "x": 0.4465, + "y": 0.5920000000000001, + "width": 0.016000000000000014, + "height": 0.04266666666666659 + } + ] + }, + "bbox_1769149693109": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149693109_1769150197761_5mnoyy0dt", + "x": 0.5255, + "y": 0.46, + "width": 0.046, + "height": 0.15333333333333338 + } + ] + }, + "point_1769149694037": { + "type": "point", + "instances": [ + { + "id": "point_1769149694037_1769150222369_wamuqeoif", + "x": 0.4265, + "y": 0.5813333333333334 + } + ] + }, + "point_1769149694429": { + "type": "point", + "instances": [ + { + "id": "point_1769149694429_1769153007082_24f0gkobo", + "x": 0.46749999999999997, + "y": 0.5946666666666667 + } + ] + } + }, + "correction_plan": "爪夹向爪夹方向的右侧移动，直至瓶塞位于爪夹的中间。合拢爪夹抓取瓶塞后垂直上升，然后向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上更加靠近了瓶塞，方便抓取。", + "frame": 244, + "progress": 19, + "progress_explanation": "当前爪夹右靠近了瓶塞，瓶塞与爪夹的水平距离缩短，因此进度提升为19%。", + "state_description": "当前爪夹张开，爪夹与瓶塞的水平距离缩短，瓶塞更加靠近爪夹右。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹向爪夹方向的右侧移动直至瓶塞处于爪夹的中间，合拢抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右方移动。", + "time": 8.131999 + }, + { + "action_description": "爪夹继续向爪夹方向的下方移动。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.04266666666666659, + "id": "bbox_1769149692822_1769150251514_x2cal1qsa", + "width": 0.016000000000000014, + "x": 0.4455, + "y": 0.5920000000000001 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.15600000000000006, + "id": "bbox_1769149693109_1769150256537_ntwhmwjnz", + "width": 0.046, + "x": 0.5235000000000001, + "y": 0.45866666666666667 + } + ], + "type": "bbox" + }, + "point_1769149694037": { + "instances": [ + { + "id": "point_1769149694037_1769150233266_lnknhn09h", + "x": 0.4285, + "y": 0.6013333333333333 + } + ], + "type": "point" + }, + "point_1769149694429": { + "instances": [ + { + "id": "point_1769149694429_1769150237458_c5c0w9x09", + "x": 0.47250000000000003, + "y": 0.612 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹抓取瓶塞后垂直上升，然后向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动到瓶塞的上方，方便抓取瓶塞。", + "frame": 322, + "progress": 25, + "progress_explanation": "当前爪夹已悬空于瓶塞的上方，已接近瓶塞，方便抓取。因此进度提升为25%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到瓶塞的上方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹继续下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右方移动。", + "time": 10.720962058247423 + }, + { + "action_description": "合拢爪夹抓取瓶塞。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.03200000000000003, + "id": "bbox_1769149692822_1769150283369_6jsj4kpmn", + "width": 0.01200000000000001, + "x": 0.4455, + "y": 0.6013333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.15333333333333327, + "id": "bbox_1769149693109_1769150269649_s4q6n1z1n", + "width": 0.046, + "x": 0.5235000000000001, + "y": 0.4613333333333333 + } + ], + "type": "bbox" + }, + "point_1769149694037": { + "instances": [ + { + "id": "point_1769149694037_1769150285913_7evuodqql", + "x": 0.4525, + "y": 0.6 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧瓶塞后垂直上升，然后向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到瓶塞。", + "frame": 352, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到瓶塞，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到瓶塞。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。", + "time": 11.729333 + }, + { + "action_description": "爪夹夹紧瓶塞竖直上升。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.030666666666666724, + "id": "bbox_1769149692822_1769150296529_b0keoyseg", + "width": 0.014999999999999947, + "x": 0.44750000000000006, + "y": 0.5626666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.15200000000000008, + "id": "bbox_1769149693109_1769150301528_shgipxvmn", + "width": 0.04799999999999995, + "x": 0.5235000000000001, + "y": 0.4613333333333333 + } + ], + "type": "bbox" + }, + "point_1769149694037": { + "instances": [ + { + "id": "point_1769149694037_1769150292321_dltuoyjl4", + "x": 0.45549999999999996, + "y": 0.56 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧瓶塞向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取瓶塞成功使其抬升并向容量瓶的方向移动。", + "frame": 385, + "progress": 45, + "progress_explanation": "当前瓶塞已被抓取并成功开始抬升和移动，因此进度提升为45%。", + "state_description": "当前爪夹合拢，抓紧瓶塞。瓶塞已被抬升至空中。\n为完成抓起瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。", + "time": 12.818666 + }, + { + "action_description": "爪夹向爪夹方向的右上方抬升并移动。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.021333333333333294, + "id": "bbox_1769149692822_1769150325977_zvoeqidwr", + "width": 0.015999999999999924, + "x": 0.4685, + "y": 0.4386666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.1493333333333334, + "id": "bbox_1769149693109_1769150317273_fuavtg9v4", + "width": 0.046, + "x": 0.5245, + "y": 0.464 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续保持合拢。爪夹向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取瓶塞成功使其抬升并向容量瓶的方向移动。", + "frame": 416, + "progress": 60, + "progress_explanation": "当前瓶塞在水平距离上更加靠近容量瓶，因此进度提升为60%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离略微缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。", + "time": 13.857333 + }, + { + "action_description": "爪夹调整角度，使瓶塞呈竖直状态。", + "annotations": { + "bbox_1769149693109": { + "instances": [ + { + "height": 0.1546666666666668, + "id": "bbox_1769149693109_1769150362440_imgnfyp0s", + "width": 0.046, + "x": 0.5255, + "y": 0.4613333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续保持合拢。爪夹向爪夹方向的下方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹调整角度使瓶塞在水平方向上更加靠近容量瓶，方便将瓶塞放在容量瓶上。", + "frame": 442, + "progress": 70, + "progress_explanation": "当前瓶塞呈竖直状态，方便爪夹将其竖直放置在容量瓶中。因此进度提升为70%。", + "state_description": "当前爪夹合拢，调整了爪夹角度使瓶塞呈竖直放置状态。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹下降直至瓶塞处于容量瓶的正上方。松开爪夹，瓶塞放入容量瓶中。", + "time": 14.733333333333333 + }, + { + "action_description": "爪夹夹紧瓶塞向爪夹方向的下方移动。", + "annotations": { + "bbox_1769149693109": { + "instances": [ + { + "height": 0.08933333333333339, + "id": "bbox_1769149693109_1769150374399_gb6lpjhit", + "width": 0.04899999999999993, + "x": 0.5225000000000001, + "y": 0.5253333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续夹紧瓶塞向爪夹方向的下方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹下降并略微调整角度将瓶塞移动到容量瓶的上方，方便将瓶塞放入容量瓶中。", + "frame": 466, + "progress": 75, + "progress_explanation": "当前瓶塞位于容量瓶的上方，瓶塞与容量瓶的水平距离进一步缩短，因此进度上升为75%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离进一步缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹下降将瓶塞放入容量瓶中。松开爪夹，瓶塞放入容量瓶中。", + "time": 15.533333333333333 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动。", + "annotations": { + "bbox_1769149693109": { + "instances": [ + { + "height": 0.06400000000000006, + "id": "bbox_1769149693109_1769150389279_ilmni8j9g", + "width": 0.046, + "x": 0.5235000000000001, + "y": 0.5506666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧瓶塞向容量瓶的方向靠近，直至到达容量瓶的正上方。松开爪夹，瓶塞放入容量瓶中。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，不方便将瓶塞放在容量瓶上。", + "frame": 506, + "progress": 73, + "progress_explanation": "当前爪夹的视野被挡住了看不见，但是爪夹的角度向爪夹的左方略微便宜，因此进度下降为73%。", + "state_description": "当前爪夹合拢，瓶塞的视野被爪夹挡住了看不见。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹夹紧瓶塞向容量瓶的方向靠近，直至到达容量瓶的正上方。松开爪夹，瓶塞放入容量瓶中。", + "time": 16.85841902216495 + }, + { + "action_description": "爪夹向爪夹方向的右方略微调整角度。", + "correction_plan": "爪夹夹紧瓶塞向容量瓶的方向靠近，直至到达容量瓶的正上方。松开爪夹，瓶塞放入容量瓶中。", + "error_success_analysis": "爪夹向爪夹方向的右方略微移动，在水平方向上略微接近了容量瓶，方便将瓶塞放在容量瓶上。", + "frame": 570, + "progress": 80, + "progress_explanation": "当前虽然瓶塞的视野被爪夹挡住了看不见，但是可以看出爪夹尝试夹紧瓶塞将其对准容量瓶，因此进度提升为80%。", + "state_description": "当前爪夹合拢，瓶塞的视野被爪夹挡住了看不见。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹夹紧瓶塞向容量瓶的方向靠近，直至到达容量瓶的正上方。松开爪夹，瓶塞放入容量瓶中。", + "time": 19, + "annotations": { + "bbox_1769149693109": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149693109_1769153989020_t8mdlgy60", + "x": 0.5245, + "y": 0.5613333333333334, + "width": 0.04800000000000004, + "height": 0.052000000000000074 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.027999999999999994, + "id": "bbox_1769149692822_1769150427216_ck9uj6klt", + "width": 0.010999999999999944, + "x": 0.5435000000000001, + "y": 0.43066666666666664 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.05333333333333338, + "id": "bbox_1769149693109_1769150433072_hgz2668nw", + "width": 0.046, + "x": 0.5245, + "y": 0.5626666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "瓶塞已经放在容量瓶上，所以抓起瓶塞将其放在容量瓶上的任务完成了。", + "error_success_analysis": "爪夹张开，瓶塞成功放在容量瓶上。", + "frame": 620, + "progress": 90, + "progress_explanation": "当前瓶塞已经被放在容量瓶上，因此进度提升为90%.", + "state_description": "当前爪夹张开，瓶塞位于容量瓶上。已完成抓起瓶塞将其放入容量瓶中的任务。", + "time": 20.671999 + }, + { + "action_description": "爪夹重新合拢抓取瓶塞。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.011999999999999981, + "id": "bbox_1769149692822_1769150445967_55l02amkb", + "width": 0.010999999999999944, + "x": 0.5485, + "y": 0.43200000000000005 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.04400000000000001, + "id": "bbox_1769149693109_1769150442496_o8k5yb93b", + "width": 0.04699999999999997, + "x": 0.5235000000000001, + "y": 0.5693333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，瓶塞放入容量瓶中。", + "error_success_analysis": "爪夹重新合拢抓取瓶塞，可能会进行下一步错误的操作，没有将其完全放置在容量瓶上。", + "frame": 650, + "progress": 85, + "progress_explanation": "当前爪夹重新抓取到瓶塞，没有将其完全放置在容量瓶上，因此进度下降为85%。", + "state_description": "当前爪夹合拢，重新抓取到瓶塞。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：松开爪夹，瓶塞放入容量瓶中。", + "time": 21.666666666666668 + }, + { + "action_description": "爪夹重新张开。", + "annotations": { + "bbox_1769149692822": { + "instances": [ + { + "height": 0.025333333333333385, + "id": "bbox_1769149692822_1769150454200_ue24a31nq", + "width": 0.008000000000000007, + "x": 0.5465, + "y": 0.4453333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769149693109": { + "instances": [ + { + "height": 0.0453333333333332, + "id": "bbox_1769149693109_1769150465455_hnuwn1092", + "width": 0.04800000000000004, + "x": 0.5235, + "y": 0.5706666666666668 + } + ], + "type": "bbox" + } + }, + "correction_plan": "瓶塞放在容量瓶上，所以抓起瓶塞将其放入容量瓶上的任务完成了。", + "error_success_analysis": "爪夹重新张开，瓶塞成功放在容量瓶中。", + "frame": 692, + "progress": 100, + "progress_explanation": "当前瓶塞成功放入容量瓶中，因此进度提升为100%。", + "state_description": "当前爪夹张开，瓶塞成功放入容量瓶中。已完成\n抓起瓶塞将其放入容量瓶中的任务。", + "time": 23.078666 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769149692822", + "name": "瓶塞" + }, + { + "color": "#FF9800", + "id": "bbox_1769149693109", + "name": "容量瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769149694037", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769149694429", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..abc03667401e22ee6afe214df0b0ac2e52dd72fa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-171243-put-stopper-volumetric flask-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,722 @@ +{ + "task_description": "抓起瓶塞将其放入容量瓶中：\n准备移动：0%\n爪夹靠近瓶塞：20%\n爪夹抓取瓶塞：40%\n爪夹抓起瓶塞使其靠近容量瓶;60%\n爪夹将瓶塞放进容量瓶：80%\n爪夹松开，瓶塞放在容量瓶上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触瓶塞。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取瓶塞。", + "time": 0.6307345360824743, + "annotations": { + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769155920584_rd06eteaf", + "x": 0.5305, + "y": 0.6, + "width": 0.011000000000000032, + "height": 0.03466666666666664 + } + ] + }, + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769155930511_182t18qtb", + "x": 0.38750000000000007, + "y": 0.3893333333333333, + "width": 0.05499999999999994, + "height": 0.15333333333333338 + } + ] + }, + "point_1769155482162": { + "type": "point", + "instances": [ + { + "id": "point_1769155482162_1769155939223_y8fqqegif", + "x": 0.2525, + "y": 0.356 + } + ] + } + } + }, + { + "time": 1.7319, + "frame": 52, + "progress": 5, + "action_description": "爪夹向爪夹方向的前方略微移动。", + "state_description": "当前爪夹张开，与瓶塞的水平距离略微缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取瓶塞。", + "progress_explanation": "当前爪夹在水平方向上略微接近瓶塞，因此进度提升为5%。", + "error_success_analysis": "爪夹向爪夹方向的前方略微移动，水平方向上逐渐接近瓶塞，方便抓取。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "annotations": { + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769155950487_t6jcuapy0", + "x": 0.5295, + "y": 0.6013333333333333, + "width": 0.011000000000000032, + "height": 0.03333333333333333 + } + ] + }, + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769155961799_khqqpqoes", + "x": 0.38750000000000007, + "y": 0.392, + "width": 0.05499999999999994, + "height": 0.15333333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右下方移动。并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上逐渐接近瓶塞，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 84, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近瓶塞并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离略微缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取瓶塞。", + "time": 2.8, + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769155982047_u82hkgnvx", + "x": 0.3895, + "y": 0.4186666666666667, + "width": 0.052000000000000005, + "height": 0.12533333333333332 + } + ] + }, + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769155990295_2bnpjzd49", + "x": 0.5305, + "y": 0.6013333333333333, + "width": 0.01200000000000001, + "height": 0.034666666666666755 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右下方移动到瓶塞的正上方。", + "correction_plan": "合拢爪夹抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动到瓶塞的上方，方便抓取。", + "frame": 117, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于瓶塞的上方，已接近瓶塞，方便抓取。因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到瓶塞的上方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹继续下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的左前方移动。", + "time": 3.8911469072164953, + "annotations": { + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769156008062_nuzx1zeto", + "x": 0.5295, + "y": 0.6066666666666667, + "width": 0.011000000000000032, + "height": 0.02666666666666669 + } + ] + }, + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156017318_fvssrv1x0", + "x": 0.40449999999999997, + "y": 0.464, + "width": 0.03500000000000005, + "height": 0.0773333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的后方合拢。", + "correction_plan": "爪夹重新张开，爪夹向瓶塞的方向移动，直至瓶塞的正上方，合拢爪夹抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的后方合拢，抓取瓶塞失败，需要重新抓取瓶塞。", + "frame": 152, + "progress": 16, + "progress_explanation": "当前爪夹合拢，爪夹并未抓取得到瓶塞，因此进度下降为16%。", + "state_description": "当前爪夹合拢，爪夹并未抓取到瓶塞。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹重新张开，爪夹向瓶塞的方向移动，直至瓶塞的正上方，下降爪夹抓取瓶塞。", + "time": 5.081456185567012, + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156025534_1rtuv97fg", + "x": 0.3974999999999999, + "y": 0.4706666666666667, + "width": 0.04400000000000008, + "height": 0.0733333333333332 + } + ] + } + } + }, + { + "time": 6.217034316686399, + "frame": 187, + "progress": 18, + "action_description": "爪夹重新张开并向上略微抬升。", + "state_description": "当前爪夹张开，爪夹在水平距离上与瓶塞的距离略微增加。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹向爪夹方向的前方略微移动到瓶塞的正上方，下降爪夹抓取瓶塞。", + "progress_explanation": "当前爪夹重新张开，虽然水平距离上与瓶塞的距离较远，但是方便重新调整方向抓取瓶塞，因此进度提升为18%。", + "error_success_analysis": "爪夹重新张开并向上略微抬升，虽然在水平方向上离瓶塞较远，但是方便爪夹向瓶塞的方向移动抓取瓶塞。", + "correction_plan": "爪夹向爪夹方向的前方略微移动到瓶塞的正上方，下降爪夹抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156041582_h784jlx9x", + "x": 0.3915, + "y": 0.42266666666666663, + "width": 0.04699999999999997, + "height": 0.12000000000000005 + } + ] + }, + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769156048023_sv7364hik", + "x": 0.5305, + "y": 0.6013333333333333, + "width": 0.010000000000000054, + "height": 0.03200000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右下方略微移动。", + "correction_plan": "爪夹向爪夹方向的左方略微移动到瓶塞的正上方，下降爪夹抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的右下方移动，水平方向上逐渐接近瓶塞，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 213, + "progress": 23, + "progress_explanation": "当前爪夹在水平方向上逐渐接近瓶塞并调整了爪夹角度方便抓取，因此进度提升为23%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离进一步缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:爪夹向爪夹方向的左方略微移动，直至移动到瓶塞的正上方，下降爪夹抓取瓶塞。", + "time": 7.0998067010309285, + "annotations": { + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769156061518_yms8pnyse", + "x": 0.5295, + "y": 0.6013333333333333, + "width": 0.011000000000000032, + "height": 0.03200000000000003 + } + ] + }, + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156069294_6lylrdoiw", + "x": 0.40049999999999997, + "y": 0.4706666666666667, + "width": 0.040000000000000036, + "height": 0.0706666666666667 + } + ] + }, + "point_1769155481978": { + "type": "point", + "instances": [ + { + "id": "point_1769155481978_1769156073287_3dv7ac35l", + "x": 0.5045, + "y": 0.6026666666666667 + } + ] + } + } + }, + { + "time": 7.643208762886598, + "frame": 229, + "progress": 25, + "action_description": "爪夹向爪夹的右方略微移动并调整爪夹角度使其垂直于桌面。", + "state_description": "当前爪夹张开，与瓶塞的水平距离进一步缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:下降爪夹抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。", + "progress_explanation": "当前爪夹在水平方向上逐渐接近瓶塞并调整了爪夹角度方便抓取，因此进度提升为25%。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，水平方向上逐渐接近瓶塞，并使爪夹角度向垂直于桌面调整，方便抓取。", + "correction_plan": "下降爪夹抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "annotations": { + "point_1769155481978": { + "type": "point", + "instances": [ + { + "id": "point_1769155481978_1769156078334_0jq22lms7", + "x": 0.48650000000000004, + "y": 0.6093333333333334 + } + ] + }, + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769156083118_q0eaa9l1q", + "x": 0.5295, + "y": 0.6013333333333333, + "width": 0.011000000000000032, + "height": 0.030666666666666724 + } + ] + }, + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156088974_4yeqwlbrr", + "x": 0.3975, + "y": 0.4613333333333333, + "width": 0.04200000000000004, + "height": 0.08000000000000007 + } + ] + } + } + }, + { + "action_description": "爪夹略微向里收缩。", + "correction_plan": "下降爪夹抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹略微向里收缩，水平方向上成功靠近瓶塞，方便抓取瓶塞。", + "frame": 260, + "progress": 27, + "progress_explanation": "当前瓶塞处于爪夹的中间，方便抓取瓶塞，因此进度提升为27%。", + "state_description": "当前爪夹张开，瓶塞位于爪夹的中间。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:下降爪夹抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 8.652384020618557, + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156099758_i844hchdk", + "x": 0.4035, + "y": 0.4613333333333333, + "width": 0.03700000000000001, + "height": 0.08133333333333338 + } + ] + }, + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769156105166_48ia2lsux", + "x": 0.5295, + "y": 0.6013333333333333, + "width": 0.01200000000000001, + "height": 0.034666666666666755 + } + ] + }, + "point_1769155481978": { + "type": "point", + "instances": [ + { + "id": "point_1769155481978_1769156112670_lfjqs3azn", + "x": 0.5115000000000001, + "y": 0.6106666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右方略微移动。", + "correction_plan": "爪夹向爪夹方向的左侧略微移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右侧略微移动，在水平方向上略微偏离了瓶塞，不方便抓取。", + "frame": 275, + "progress": 26, + "progress_explanation": "当前爪夹与瓶塞的水平距离略微增加，不方便抓取瓶塞，因此进度下降为26%。", + "state_description": "当前爪夹张开，爪夹在水平距离上与瓶塞的距离略微增加。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹向爪夹方向的左方略微移动到瓶塞的正上方，下降爪夹抓取瓶塞。", + "time": 9.169909793814433, + "annotations": { + "point_1769155481978": { + "type": "point", + "instances": [ + { + "id": "point_1769155481978_1769156117742_yc7alfx3d", + "x": 0.5125, + "y": 0.6133333333333334 + } + ] + }, + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769156123967_5l1m4rek8", + "x": 0.5315000000000001, + "y": 0.6026666666666667, + "width": 0.009999999999999964, + "height": 0.03199999999999991 + } + ] + }, + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156130694_vd3og7x4n", + "x": 0.40650000000000003, + "y": 0.4746666666666667, + "width": 0.03399999999999999, + "height": 0.06800000000000003 + } + ] + } + } + }, + { + "time": 10.1906, + "frame": 306, + "progress": 32, + "action_description": "爪夹向爪夹方向的左下方移动到瓶塞的正上方。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到瓶塞的上方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹继续下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的右方移动。", + "progress_explanation": "当前爪夹已悬空于瓶塞的正上方，已接近瓶塞，方便抓取。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动到瓶塞的上方，方便抓取。", + "correction_plan": "爪夹下降，抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156138751_0564cojq6", + "x": 0.4035, + "y": 0.48800000000000004, + "width": 0.03799999999999999, + "height": 0.05466666666666668 + } + ] + }, + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769156145790_x6o14dlyw", + "x": 0.5295, + "y": 0.6, + "width": 0.01200000000000001, + "height": 0.03466666666666664 + } + ] + }, + "point_1769155481978": { + "type": "point", + "instances": [ + { + "id": "point_1769155481978_1769156148926_o4f4g1b0q", + "x": 0.5005, + "y": 0.6173333333333333 + } + ] + } + } + }, + { + "action_description": "合拢爪夹抓取瓶塞。", + "correction_plan": "爪夹夹紧瓶塞后垂直上升，然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到瓶塞。", + "frame": 350, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到瓶塞，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到瓶塞。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 11.666666666666666, + "annotations": { + "point_1769155481978": { + "type": "point", + "instances": [ + { + "id": "point_1769155481978_1769156154238_uik2pmvcl", + "x": 0.5265, + "y": 0.6106666666666667 + } + ] + }, + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769156158806_bevv89bsw", + "x": 0.5295, + "y": 0.6066666666666667, + "width": 0.011000000000000032, + "height": 0.02666666666666669 + } + ] + }, + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156165878_f6zfpzwcz", + "x": 0.40049999999999997, + "y": 0.48533333333333334, + "width": 0.041999999999999996, + "height": 0.05600000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧瓶塞竖直上升。", + "correction_plan": "爪夹夹紧瓶塞向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取瓶塞成功使其抬升并向容量瓶的方向移动。", + "frame": 407, + "progress": 45, + "progress_explanation": "当前瓶塞已被抓取并成功开始抬升和移动，因此进度提升为45%。", + "state_description": "当前爪夹合拢，抓紧瓶塞。瓶塞已被抬升至空中。\n为完成抓起瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 13.568878865979382, + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156174791_lvao5687s", + "x": 0.3935, + "y": 0.4173333333333334, + "width": 0.048, + "height": 0.12400000000000003 + } + ] + }, + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769156183838_2k03286qe", + "x": 0.5385, + "y": 0.5266666666666667, + "width": 0.01200000000000001, + "height": 0.03866666666666667 + } + ] + }, + "point_1769155481978": { + "type": "point", + "instances": [ + { + "id": "point_1769155481978_1769156187071_mz6bjf4pc", + "x": 0.5385, + "y": 0.536 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左上方抬升并移动。", + "correction_plan": "爪夹继续保持合拢。爪夹向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧瓶塞向爪夹方向的左上方抬升，在水平方向上略微接近容量瓶，方便将瓶塞放在容量瓶上。", + "frame": 446, + "progress": 60, + "progress_explanation": "当前瓶塞在水平距离上更加靠近容量瓶，因此进度提升为60%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离略微缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左上方移动，直至瓶塞处于容量瓶的正上方。", + "time": 14.866666666666667, + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156196302_mwa5hparo", + "x": 0.3875, + "y": 0.388, + "width": 0.05600000000000005, + "height": 0.15333333333333338 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方调整爪夹角度。", + "correction_plan": "爪夹继续保持合拢。爪夹向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹夹紧瓶塞向爪夹方向的右方调整角度，在水平方向上略微接近容量瓶，方便将瓶塞放在容量瓶上。", + "frame": 518, + "progress": 65, + "progress_explanation": "当前瓶塞在水平距离上更加靠近容量瓶，因此进度提升为65%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离进一步缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右方移动，直至瓶塞处于容量瓶的正上方。", + "time": 17.27242268041237, + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156244549_kca33w1yn", + "x": 0.3875706481982317, + "y": 0.3960494793965542, + "width": 0.05536723545689028, + "height": 0.14613935969868178 + } + ] + } + } + }, + { + "time": 17.938332, + "frame": 538, + "progress": 70, + "action_description": "爪夹继续向爪夹方向的右方移动，推动了容量瓶的瓶盖。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离进一步缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向容量瓶的方向移动，直至瓶塞处于容量瓶的正上方。", + "progress_explanation": "当前瓶塞在水平距离上更加靠近容量瓶，因此进度提升为70%。", + "error_success_analysis": "爪夹夹紧瓶塞向爪夹方向的右方调整角度，在水平方向上略微接近容量瓶，方便将瓶塞放在容量瓶上。", + "correction_plan": "爪夹继续保持合拢。爪夹向容量瓶的方向移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156264877_v9s363hy3", + "x": 0.3875706481982318, + "y": 0.3959125181151425, + "width": 0.05536723545689024, + "height": 0.14764595103578143 + } + ] + } + } + }, + { + "action_description": "爪夹张开并略微向爪夹方向的后方移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，抓取瓶塞向容量瓶的方向移动，松开爪夹，瓶塞放在容量瓶上。", + "error_success_analysis": "爪夹张开并向爪夹方向的后方略微移动，不清楚瓶塞是否放在容量瓶上。", + "frame": 572, + "progress": 68, + "progress_explanation": "当前爪夹张开，容量瓶的视野被爪夹挡住了，不清楚是否放在容量瓶上，因此进度下降为68%。\n", + "state_description": "当前爪夹张开，瓶塞的视野被挡住了，不知道其是否放在容量瓶上。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹向爪夹方向的右前方移动，抓取瓶塞向容量瓶的方向移动，松开爪夹，瓶塞放在容量瓶上。", + "time": 19.066666666666666, + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156290884_8kf1b8fvh", + "x": 0.38644070461747887, + "y": 0.41248502282324034, + "width": 0.05536723545689024, + "height": 0.1295668549905838 + } + ] + } + } + }, + { + "time": 21.8872, + "frame": 657, + "progress": 80, + "action_description": "爪夹合拢并向爪夹方向的右前方移动。", + "state_description": "当前爪夹合拢，瓶塞的视野被挡住了，不知道其是否放在容量瓶上。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹向爪夹方向的右前方移动，抓取瓶塞向容量瓶的方向移动，松开爪夹，瓶塞放在容量瓶上。", + "progress_explanation": "当前爪夹合拢，容量瓶的视野被爪夹挡住了，但是爪夹推动瓶塞向爪夹的前方移动了，因此进度提升为80%。", + "error_success_analysis": "爪夹合拢并向爪夹方向的右前方移动，成功推动瓶塞向容量瓶的方向移动，方便将瓶塞放在容量瓶上。", + "correction_plan": "爪夹向爪夹方向的右前方移动，抓取瓶塞向容量瓶的方向移动，松开爪夹，瓶塞放在容量瓶上。", + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156305284_pyjyc20v1", + "x": 0.3909604789404903, + "y": 0.4167308627773364, + "width": 0.050847461133878814, + "height": 0.12655367231638415 + } + ] + } + } + }, + { + "time": 24.0207, + "frame": 721, + "progress": 100, + "action_description": "爪夹张开并向爪夹方向的左后方移动。", + "state_description": "当前爪夹张开，瓶塞成功放入容量瓶中。已完成\n抓起瓶塞将其放入容量瓶中的任务。", + "progress_explanation": "当前瓶塞成功放入容量瓶中，因此进度提升为100%。", + "error_success_analysis": "爪夹重新张开，瓶塞成功放在容量瓶中。", + "correction_plan": "瓶塞放在容量瓶上，所以抓起瓶塞将其放入容量瓶上的任务完成了。", + "annotations": { + "bbox_1769155481353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155481353_1769156313604_vi89m3z7i", + "x": 0.38644070461747887, + "y": 0.3928993354409428, + "width": 0.05536723545689024, + "height": 0.1491525423728813 + } + ] + }, + "bbox_1769155480922": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155480922_1769156318556_75ozd0tfc", + "x": 0.40564974549027755, + "y": 0.3778334220699447, + "width": 0.012429379388281526, + "height": 0.022598870056497175 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769155480922", + "name": "瓶塞", + "color": "#4CAF50" + }, + { + "id": "bbox_1769155481353", + "name": "容量瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769155481978", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769155482162", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-173037-put-stopper-volumetric flask-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-173037-put-stopper-volumetric flask-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e486b5bd322eaedc10a2a280298ec98269fb9f1c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-173037-put-stopper-volumetric flask-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,1006 @@ +{ + "task_description": "抓起瓶塞将其放入容量瓶中：\n准备移动：0%\n爪夹靠近瓶塞：20%\n爪夹抓取瓶塞：40%\n爪夹抓起瓶塞使其靠近容量瓶;60%\n爪夹将瓶塞放进容量瓶：80%\n爪夹松开，瓶塞放在容量瓶上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.030666666666666665, + "id": "bbox_1769161665982_1769161865597_8hwd4ldrx", + "width": 0.010000000000000054, + "x": 0.6345, + "y": 0.45733333333333337 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.11600000000000008, + "id": "bbox_1769161666237_1769161873676_s43kyzm4e", + "width": 0.07999999999999999, + "x": 0.5795, + "y": 0.3533333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触瓶塞。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取瓶塞。", + "time": 1.380755602649807 + }, + { + "action_description": "爪夹向爪夹方向的右下方略微移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.05999999999999996, + "id": "bbox_1769161665982_1769161905116_8nhb4la9y", + "width": 0.022000000000000065, + "x": 0.4465, + "y": 0.3066666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.1293333333333333, + "id": "bbox_1769161666237_1769161895924_ugqqrmvxl", + "width": 0.07799999999999999, + "x": 0.3375, + "y": 0.2626666666666667 + } + ], + "type": "bbox" + }, + "point_1769161666965": { + "instances": [ + { + "id": "point_1769161666965_1769161908108_g4d0ul5gc", + "x": 0.3915, + "y": 0.5146666666666666 + } + ], + "type": "point" + }, + "point_1769161667181": { + "instances": [ + { + "id": "point_1769161667181_1769161910684_nlkk82o8r", + "x": 0.6245, + "y": 0.5093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方略微移动，水平方向上逐渐接近瓶塞，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 80, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近瓶塞并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离略微缩短。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取瓶塞。", + "time": 2.6666666666666665 + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.11200000000000004, + "id": "bbox_1769161665982_1769161928667_y1zvaok2k", + "width": 0.04399999999999995, + "x": 0.41450000000000004, + "y": 0.45733333333333337 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.3293333333333334, + "id": "bbox_1769161666237_1769161934515_3f63nok4e", + "width": 0.338, + "x": 0.012500000000000002, + "y": 0.46799999999999997 + } + ], + "type": "bbox" + }, + "point_1769161666965": { + "instances": [ + { + "id": "point_1769161666965_1769161921011_zgcmj925e", + "x": 0.3935, + "y": 0.5173333333333333 + } + ], + "type": "point" + }, + "point_1769161667181": { + "instances": [ + { + "id": "point_1769161667181_1769161918356_2pjr57e0c", + "x": 0.6265000000000001, + "y": 0.5173333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的右下方移动，水平方向上逐渐接近瓶塞，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 116, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上逐渐接近瓶塞并调整了爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离进一步缩短。瓶塞更加靠近爪夹左。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的左方移动，使瓶塞位于爪夹的中间，准备抓取瓶塞。", + "time": 3.8666666666666667 + }, + { + "action_description": "爪夹向爪夹方向的左方移动到瓶塞的上方，并撞倒了容量瓶。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.11733333333333337, + "id": "bbox_1769161665982_1769161971012_23hv31cis", + "width": 0.039000000000000055, + "x": 0.5135, + "y": 0.48533333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.48400000000000004, + "id": "bbox_1769161666237_1769161960467_p6l08ydbp", + "width": 0.203, + "x": 0.1575, + "y": 0.05333333333333334 + } + ], + "type": "bbox" + }, + "point_1769161666965": { + "instances": [ + { + "id": "point_1769161666965_1769161973580_p04mjwlh9", + "x": 0.3945, + "y": 0.5093333333333334 + } + ], + "type": "point" + }, + "point_1769161667181": { + "instances": [ + { + "id": "point_1769161667181_1769161978876_0m409maug", + "x": 0.6255, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取瓶塞后垂直上升。然后向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左方移动到瓶塞的上方，方便抓取。", + "frame": 135, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于瓶塞的正上方，已接近瓶塞，方便抓取。因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到瓶塞的上方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹继续下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的左方移动。", + "time": 4.495876288659794 + }, + { + "action_description": "爪夹略微合拢使瓶塞位于爪夹爪夹。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.12000000000000005, + "id": "bbox_1769161665982_1769162003243_ahx7scr1r", + "width": 0.041999999999999996, + "x": 0.47850000000000004, + "y": 0.47200000000000003 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.348, + "id": "bbox_1769161666237_1769162011243_0efwgve27", + "width": 0.198, + "x": 0.009499999999999998, + "y": 0.03733333333333333 + } + ], + "type": "bbox" + }, + "point_1769161666965": { + "instances": [ + { + "id": "point_1769161666965_1769161996908_igeihv9ub", + "x": 0.4565, + "y": 0.516 + } + ], + "type": "point" + }, + "point_1769161667181": { + "instances": [ + { + "id": "point_1769161667181_1769161994252_4ghnq5igk", + "x": 0.5615, + "y": 0.516 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹抓取瓶塞后垂直上升。然后向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹略微合拢使瓶塞位于爪夹中间，方便合拢爪夹抓取瓶塞。", + "frame": 166, + "progress": 30, + "progress_explanation": "当前瓶塞位于爪夹的中间，方便抓取瓶塞，因此进度提升为30%。", + "state_description": "当前爪夹张开，瓶塞位于爪夹中间。容量瓶向左前方滚动了一段距离，水平方向上远离了瓶塞。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹合拢抓取瓶塞。然后爪夹垂直上升，向爪夹方向的左方移动。", + "time": 5.533333333333333 + }, + { + "action_description": "合拢爪夹抓取瓶塞。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.1213333333333333, + "id": "bbox_1769161665982_1769162052211_4qclzi6a7", + "width": 0.040000000000000036, + "x": 0.4915, + "y": 0.464 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.48799999999999993, + "id": "bbox_1769161666237_1769162027723_eopi1wthz", + "width": 0.119, + "x": 0.14750000000000002, + "y": 0.04533333333333334 + } + ], + "type": "bbox" + }, + "point_1769161666965": { + "instances": [ + { + "id": "point_1769161666965_1769162041747_wjajtmvmk", + "x": 0.4915, + "y": 0.508 + } + ], + "type": "point" + }, + "point_1769161667181": { + "instances": [ + { + "id": "point_1769161667181_1769162045867_4iibvpxcs", + "x": 0.5275000000000001, + "y": 0.5093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取瓶塞后垂直上升。然后向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到瓶塞。", + "frame": 191, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到瓶塞，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到瓶塞。容量瓶向右方滚动，水平方向上靠近了瓶塞。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。", + "time": 6.372525773195878 + }, + { + "action_description": "爪夹垂直上升。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.07733333333333334, + "id": "bbox_1769161665982_1769162061411_hhcsn81md", + "width": 0.04699999999999989, + "x": 0.5025000000000001, + "y": 0.4653333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.36666666666666675, + "id": "bbox_1769161666237_1769162076131_91ybofdox", + "width": 0.21799999999999992, + "x": 0.3015, + "y": 0.037333333333333336 + } + ], + "type": "bbox" + }, + "point_1769161666965": { + "instances": [ + { + "id": "point_1769161666965_1769162085019_bl98loapu", + "x": 0.5015, + "y": 0.5093333333333334 + } + ], + "type": "point" + }, + "point_1769161667181": { + "instances": [ + { + "id": "point_1769161667181_1769162087987_ahqrtsxxz", + "x": 0.5165, + "y": 0.5066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新张开，移动到瓶塞的正上方后，下降爪夹重新抓取瓶塞。爪夹抓取瓶塞后垂直上升。然后向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹略微垂直上升，瓶塞掉落在桌子上，爪夹抓取瓶塞失败。", + "frame": 214, + "progress": 25, + "progress_explanation": "当前瓶塞掉落在桌子上，爪夹并未成功抓取到瓶塞，因此进度下降为25%。", + "state_description": "当前爪夹合拢，瓶塞掉落在桌子上。容量瓶继续向爪夹方向的右方滚动，水平方向上进一步靠近了瓶塞。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹重新张开，移动到瓶塞的正上方后下降爪夹，合拢爪夹重新抓取瓶塞。", + "time": 7.133333333333334 + }, + { + "action_description": "爪夹重新张开并向爪夹方向的后方略微移动。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.09733333333333333, + "id": "bbox_1769161665982_1769162103467_wzqh14vqr", + "width": 0.046, + "x": 0.5045, + "y": 0.39866666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.4226666666666667, + "id": "bbox_1769161666237_1769162115603_r6p3n7t30", + "width": 0.11500000000000002, + "x": 0.1715, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + }, + "point_1769161666965": { + "instances": [ + { + "id": "point_1769161666965_1769162097699_1urwuucrx", + "x": 0.3925, + "y": 0.5146666666666666 + } + ], + "type": "point" + }, + "point_1769161667181": { + "instances": [ + { + "id": "point_1769161667181_1769162094907_gybal6eao", + "x": 0.6255, + "y": 0.5093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，到达带瓶塞的正上方后下降，抓取瓶塞后垂直上升。然后向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹重新张开，在水平方向上远离了瓶塞，不方便抓取瓶塞。", + "frame": 243, + "progress": 23, + "progress_explanation": "当前爪在水平方向上略微远离瓶塞，因此进度下降为23%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离变远。容量瓶向爪夹的左方滚动，与瓶塞的水平距离变远。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的前方移动到瓶塞的正上方，准备抓取瓶塞。", + "time": 8.1144 + }, + { + "action_description": "爪夹向爪夹方向的前方移动到瓶塞的正上方并略微合拢爪夹。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.09866666666666664, + "id": "bbox_1769161665982_1769162163058_ifixcwrjp", + "width": 0.04299999999999997, + "x": 0.4875, + "y": 0.492 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.46266666666666667, + "id": "bbox_1769161666237_1769162136210_c59jnso7q", + "width": 0.16299999999999995, + "x": 0.2675, + "y": 0.0026666666666666666 + } + ], + "type": "bbox" + }, + "point_1769161666965": { + "instances": [ + { + "id": "point_1769161666965_1769162151354_993k2fu92", + "x": 0.4265, + "y": 0.5133333333333333 + } + ], + "type": "point" + }, + "point_1769161667181": { + "instances": [ + { + "id": "point_1769161667181_1769162154675_kdqz1q38o", + "x": 0.5885, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取瓶塞后垂直上升。然后向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的前方移动到瓶塞的正上方，方便合拢爪夹抓取瓶塞。", + "frame": 270, + "progress": 26, + "progress_explanation": "当前瓶塞位于爪夹的中间，方便抓取瓶塞，因此进度提升为26%。", + "state_description": "当前爪夹张开，瓶塞位于爪夹中间。容量瓶向左前方滚动了一段距离，水平方向上接近了瓶塞。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹下降抓取瓶塞。然后爪夹垂直上升，向爪夹方向的左方移动。", + "time": 8.999329896907216 + }, + { + "action_description": "爪夹向爪夹方向的左方略微移动，并且爪夹推动瓶塞向爪夹的左方倾斜。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.09866666666666664, + "id": "bbox_1769161665982_1769162177658_9be040kg0", + "width": 0.046, + "x": 0.5255, + "y": 0.508 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.42133333333333334, + "id": "bbox_1769161666237_1769162187170_43pwhx0rr", + "width": 0.17400000000000002, + "x": 0.37249999999999994, + "y": 0.004 + } + ], + "type": "bbox" + }, + "point_1769161666965": { + "instances": [ + { + "id": "point_1769161666965_1769162205250_i6e0wvxwn", + "x": 0.4445, + "y": 0.516 + } + ], + "type": "point" + }, + "point_1769161667181": { + "instances": [ + { + "id": "point_1769161667181_1769162207618_bd0fmh8lm", + "x": 0.5695, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右方移动到瓶塞的正上方，准备抓取瓶塞。爪夹下降，抓取瓶塞后垂直上升。然后向爪夹方向的左方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，推动了瓶塞向爪夹的左方倾斜，水平方向上远离了瓶塞，不方便抓取。", + "frame": 300, + "progress": 22, + "progress_explanation": "当前爪在水平方向上远离瓶塞，瓶塞位于爪夹右的一侧，不方便抓取瓶塞，因此进度下降为23%。", + "state_description": "当前爪夹张开，与瓶塞的水平距离变远。爪夹右紧挨着瓶塞，瓶塞呈倾斜状态。\n为完成抓起瓶塞将其放入容量瓶中的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右方移动到瓶塞的正上方，准备抓取瓶塞。", + "time": 10.0156 + }, + { + "action_description": "爪夹向爪夹方向的右下方略微移动。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.08133333333333331, + "id": "bbox_1769161665982_1769162225225_6pxfn5g3n", + "width": 0.06900000000000003, + "x": 0.47850000000000004, + "y": 0.5066666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.30666666666666664, + "id": "bbox_1769161666237_1769162233489_mfeldh0xi", + "width": 0.18500000000000005, + "x": 0.2545, + "y": 0.0026666666666666666 + } + ], + "type": "bbox" + }, + "point_1769161666965": { + "instances": [ + { + "id": "point_1769161666965_1769162217338_e875dwldq", + "x": 0.4485, + "y": 0.512 + } + ], + "type": "point" + }, + "point_1769161667181": { + "instances": [ + { + "id": "point_1769161667181_1769162214593_971ien2f8", + "x": 0.5695, + "y": 0.516 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取瓶塞后垂直上升。然后向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，瓶塞滚动到了瓶塞的正上方，方便抓取瓶塞。", + "frame": 326, + "progress": 35, + "progress_explanation": "当前爪夹已悬空于瓶塞的正上方，已接近瓶塞，因此进度提升为35%。", + "state_description": "当前爪夹张开，瓶塞向爪夹的左下方滚动到爪夹的正下方。\n为完成抓起瓶塞其放入容量瓶中的任务应当:爪夹合拢抓取瓶塞。然后爪夹垂直上升，向爪夹方向的左前方移动。", + "time": 10.878 + }, + { + "action_description": "爪夹向爪夹方向的左下方略微移动并合拢爪夹抓取瓶塞。", + "annotations": { + "bbox_1769161665982": { + "instances": [ + { + "height": 0.10399999999999997, + "id": "bbox_1769161665982_1769162261058_g31e3dgf0", + "width": 0.021999999999999974, + "x": 0.4995, + "y": 0.49600000000000005 + } + ], + "type": "bbox" + }, + "bbox_1769161666237": { + "instances": [ + { + "height": 0.2666666666666667, + "id": "bbox_1769161666237_1769162251074_53xwe07si", + "width": 0.20400000000000001, + "x": 0.4605, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + }, + "point_1769161666965": { + "instances": [ + { + "id": "point_1769161666965_1769162254123_1baya9t62", + "x": 0.4925, + "y": 0.5053333333333333 + } + ], + "type": "point" + }, + "point_1769161667181": { + "instances": [ + { + "id": "point_1769161667181_1769162256754_01dtnpagf", + "x": 0.5275000000000001, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取瓶塞后垂直上升。然后向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方略微移动并合拢爪夹成功抓取到瓶塞。", + "frame": 365, + "progress": 41, + "progress_explanation": "当前爪夹重新抓取到瓶塞，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到瓶塞。\n为完成抓起橡胶塞的橡胶头滴管将其放入碱式滴定管中的任务应当：爪夹垂直上升，向爪夹方向的右前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 12.1716 + }, + { + "action_description": "爪夹夹紧瓶塞竖直上升。", + "correction_plan": "爪夹夹紧瓶塞向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取瓶塞成功使其抬升，方便将其向着容量瓶的方向移动。", + "frame": 383, + "progress": 45, + "progress_explanation": "当前瓶塞已被抓取并成功开始抬升和移动，因此进度提升为45%。", + "state_description": "当前爪夹合拢，抓紧瓶塞。瓶塞已被抬升至空中。\n为完成抓起瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左前方移动，直至瓶塞处于容量瓶的正上方。", + "time": 12.757680412371135, + "annotations": { + "bbox_1769161665982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161665982_1769389416007_tje5a0mpg", + "x": 0.499375, + "y": 0.5001979166666667, + "width": 0.021999999999999974, + "height": 0.09733333333333333 + } + ] + }, + "bbox_1769161666237": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161666237_1769389426054_q5ado9gj5", + "x": 0.388375, + "y": 0.04186458333333334, + "width": 0.14299999999999996, + "height": 0.3506666666666666 + } + ] + }, + "point_1769161666965": { + "type": "point", + "instances": [ + { + "id": "point_1769161666965_1769389438390_t00hldn8h", + "x": 0.491375, + "y": 0.5058645833333333 + } + ] + }, + "point_1769161667181": { + "type": "point", + "instances": [ + { + "id": "point_1769161667181_1769389444695_9mpf13fvy", + "x": 0.524375, + "y": 0.5071979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧瓶塞向爪夹方向的左上方抬升并移动。", + "correction_plan": "爪夹夹紧瓶塞向爪夹方向的右下方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取瓶塞成功使其抬升并向容量瓶的方向移动。", + "frame": 404, + "progress": 50, + "progress_explanation": "当前瓶塞在水平距离上更加靠近容量瓶，因此进度提升为50%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离略微缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右下方移动，直至瓶塞处于容量瓶的正上方。", + "time": 13.4652, + "annotations": { + "point_1769161667181": { + "type": "point", + "instances": [ + { + "id": "point_1769161667181_1769389520846_42syb06hk", + "x": 0.526375, + "y": 0.5091979166666667 + } + ] + }, + "point_1769161666965": { + "type": "point", + "instances": [ + { + "id": "point_1769161666965_1769389525830_4mwo2fhaf", + "x": 0.492375, + "y": 0.5051979166666667 + } + ] + }, + "bbox_1769161665982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161665982_1769389531862_y47x32pf0", + "x": 0.497375, + "y": 0.49719791666666674, + "width": 0.022000000000000065, + "height": 0.10266666666666661 + } + ] + }, + "bbox_1769161666237": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161666237_1769389553142_96kk4bnhi", + "x": 0.502375, + "y": 0.4011979166666667, + "width": 0.05999999999999996, + "height": 0.2066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧瓶塞继续向爪夹方向的左上方抬升并移动。", + "correction_plan": "爪夹夹紧瓶塞向爪夹方向的右下方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取瓶塞在水平方向上远离了容量瓶，不方便将其放在容量瓶上。", + "frame": 431, + "progress": 48, + "progress_explanation": "当前瓶塞在水平距离上远离了容量瓶，瓶塞位于容量瓶的左上方，因此进度下降为50%。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离略微增加。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的右下方移动，直至瓶塞处于容量瓶的正上方。", + "time": 14.351107782260987, + "annotations": { + "bbox_1769161666237": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161666237_1769389568590_epduzkzci", + "x": 0.584375546883545, + "y": 0.4825312500000001, + "width": 0.025000078126220782, + "height": 0.11466666666666642 + } + ] + }, + "bbox_1769161665982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161665982_1769389580862_hparmgp9b", + "x": 0.499375, + "y": 0.49986458333333333, + "width": 0.01799999999999997, + "height": 0.0973333333333334 + } + ] + }, + "point_1769161666965": { + "type": "point", + "instances": [ + { + "id": "point_1769161666965_1769389602662_vdprampnh", + "x": 0.49437500000000006, + "y": 0.5018645833333334 + } + ] + }, + "point_1769161667181": { + "type": "point", + "instances": [ + { + "id": "point_1769161667181_1769389605374_mv6dgm6sv", + "x": 0.525375, + "y": 0.5018645833333334 + } + ] + } + } + }, + { + "time": 15.6408, + "frame": 469, + "progress": 58, + "action_description": "爪夹夹紧容量瓶向爪夹方向的右下方移动。", + "state_description": "当前爪夹合拢，瓶塞与容量瓶的水平距离进一步缩短。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左下方移动，直至瓶塞处于容量瓶的正上方。", + "progress_explanation": "当前瓶塞位于容量瓶的右上方，在水平距离上更加靠近容量瓶，因此进度提升为50%。", + "error_success_analysis": "爪夹保持合拢，抓取瓶塞使其向容量瓶的方向移动。方便将其放在容量瓶上。", + "correction_plan": "爪夹夹紧瓶塞向爪夹方向的左下方移动，直至瓶塞处于容量瓶的正上方。爪夹下降将瓶塞放入容量瓶中，松开爪夹。", + "annotations": { + "bbox_1769161665982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161665982_1769389641145_tv0aljr5i", + "x": 0.5001110534600186, + "y": 0.49738885010670164, + "width": 0.01799999890136732, + "height": 0.09999999186197979 + } + ] + }, + "bbox_1769161666237": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161666237_1769389654193_6kesurdkw", + "x": 0.48111105461968656, + "y": 0.6667221696596541, + "width": 0.03799999768066416, + "height": 0.10399999153645906 + } + ] + }, + "point_1769161666965": { + "type": "point", + "instances": [ + { + "id": "point_1769161666965_1769389660353_r0nwm74a0", + "x": 0.4941110538262296, + "y": 0.5027221830060072 + } + ] + }, + "point_1769161667181": { + "type": "point", + "instances": [ + { + "id": "point_1769161667181_1769389663121_3xc66tuny", + "x": 0.5261110518731047, + "y": 0.5053888494556601 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧容量瓶向爪夹方向的左方移动到容量瓶的上方。", + "correction_plan": "爪夹夹紧瓶塞下降，将瓶塞放在桌子上。然后垂直上升，向爪夹方向的前方移动到容量瓶的正上方后下降爪夹抓取容量瓶。调整爪夹角度，夹紧容量瓶使其直立放置在桌子上。然后爪夹向爪夹方向的后方移动到瓶塞的上方，抓取瓶塞后竖直上升，向容量瓶的方向移动，下降爪夹将其放置在容量瓶上。", + "error_success_analysis": "爪夹夹紧容量瓶向爪夹方向的左方移动到容量瓶的上方，在水平方向上成功接近了容量瓶。", + "frame": 480, + "progress": 60, + "progress_explanation": "当前瓶塞位于容量瓶的正上方，在水平距离上接近了容量瓶，因此进度提升为60%。", + "state_description": "当前爪夹合拢，瓶塞位于容量瓶的上方，但是容量瓶倒在桌子上。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的下方移动，将瓶塞移动到容量瓶的正上方。", + "time": 15.987716543042836, + "annotations": { + "point_1769161667181": { + "type": "point", + "instances": [ + { + "id": "point_1769161667181_1769389612198_sma0q9eqx", + "x": 0.525375, + "y": 0.5051979166666667 + } + ] + }, + "point_1769161666965": { + "type": "point", + "instances": [ + { + "id": "point_1769161666965_1769389615182_uaopmwe99", + "x": 0.49437500000000006, + "y": 0.50253125 + } + ] + }, + "bbox_1769161665982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161665982_1769389620454_fsnehvw36", + "x": 0.500375, + "y": 0.5011979166666667, + "width": 0.020000000000000018, + "height": 0.09733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左下方移动并松开爪夹。", + "correction_plan": "爪夹向爪夹方向的右下方移动，直至容量瓶的正上方。调整爪夹角度，夹紧容量瓶使其直立放置在桌子上。然后爪夹向爪夹方向的左后方方移动到瓶塞的上方，抓取瓶塞后竖直上升，向爪夹方向的右方移动到容量瓶的正上方后，下降爪夹将其放置在容量瓶上。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动并松开了爪夹，瓶塞掉落在桌子上，抓起瓶塞将其放入容量瓶中的任务失败了。", + "frame": 524, + "progress": 12, + "progress_explanation": "当前瓶塞掉落在桌子上，未完成抓起瓶塞将其放入容量瓶中的任务，因此进度下降为12%。", + "state_description": "当前爪夹张开，瓶塞掉落在桌子上。瓶塞位于容量瓶的左方。\n为完成抓起带瓶塞将其放入容量瓶中的任务应当：爪夹下降，移动到瓶塞的正上方后合拢爪夹抓取瓶塞，夹紧瓶塞竖直上升。", + "time": 17.4636, + "annotations": { + "bbox_1769161665982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161665982_1769389635518_p28gn09n2", + "x": 0.464375, + "y": 0.5825312500000001, + "width": 0.041000000000000016, + "height": 0.03866666666666667 + } + ] + }, + "bbox_1769161666237": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161666237_1769389643326_3o05x9fm9", + "x": 0.5663750000000001, + "y": 0.38653125000000005, + "width": 0.04300000000000006, + "height": 0.228 + } + ] + }, + "point_1769161666965": { + "type": "point", + "instances": [ + { + "id": "point_1769161666965_1769389660822_ekv2khyph", + "x": 0.41237500000000005, + "y": 0.5158645833333334 + } + ] + }, + "point_1769161667181": { + "type": "point", + "instances": [ + { + "id": "point_1769161667181_1769389663662_lamu70dl9", + "x": 0.601375, + "y": 0.5118645833333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769161665982", + "name": "瓶塞" + }, + { + "color": "#FF9800", + "id": "bbox_1769161666237", + "name": "容量瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769161666965", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769161667181", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-174516-put-white-triangular ceramic-black-crucible holder-good/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-174516-put-white-triangular ceramic-black-crucible holder-good/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6a79cae9ff47deacc6501b5dd01363ac63b7dcb6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-174516-put-white-triangular ceramic-black-crucible holder-good/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,518 @@ +{ + "task_description": "抓起白色三角形陶瓷将其放在黑色坩埚支架上。\n准备移动：0%\n爪夹靠近白色三角形陶瓷：20%\n爪夹抓取白色三角形陶瓷：40%\n爪夹抓起白色三角形陶瓷使其靠近黑色坩埚支架;60%\n爪夹将白色三角形陶瓷放进黑色坩埚支架：80%\n爪夹松开，白色三角形陶瓷放在黑色坩埚支架上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.10266665831163262, + "id": "bbox_1769390833164_1769390978315_3dguigijv", + "width": 0.09699999407959022, + "x": 0.5061110530938078, + "y": 0.6407962430178838 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.21866664887152917, + "id": "bbox_1769390833387_1769390984771_hzb8a8zgb", + "width": 0.10699999346923868, + "x": 0.44011105712212784, + "y": 0.4341295931697922 + } + ], + "type": "bbox" + }, + "point_1769390834268": { + "instances": [ + { + "id": "point_1769390834268_1769391006339_grn86th6v", + "x": 0.11911107671441182, + "y": 0.3520555336868869 + } + ], + "type": "point" + }, + "point_1769390834476": { + "instances": [ + { + "id": "point_1769390834476_1769390993795_34bd2n6hv", + "x": 0.2581110682305256, + "y": 0.3581295993546876 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触白色三角形陶瓷。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取白色三角形陶瓷。", + "time": 1.330764569974227 + }, + { + "action_description": "爪夹向爪夹方向的右下方略微移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.10266665831163262, + "id": "bbox_1769390833164_1769391017026_drpp76z74", + "width": 0.0999999938964848, + "x": 0.5011110533989835, + "y": 0.6433147568103226 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.21599998242187646, + "id": "bbox_1769390833387_1769391028875_gnvgj0ij7", + "width": 0.11099999322509797, + "x": 0.43511105742730366, + "y": 0.4353147737374045 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方略微移动，水平方向上逐渐接近白色三角形陶瓷，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 71, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上略微接近白色三角形陶瓷并开始调整爪夹角度方便抓取，因此进度提升为5%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离略微缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取白色三角形陶瓷。", + "time": 2.355666 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.10399999153645893, + "id": "bbox_1769390833164_1769391070443_be5t119z3", + "width": 0.0989999939575199, + "x": 0.5071110530327726, + "y": 0.6406480903606698 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.20266665017361246, + "id": "bbox_1769390833387_1769391046666_arb30d285", + "width": 0.09699999407959012, + "x": 0.4511110564507412, + "y": 0.4473147727608421 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上更加接近白色三角形陶瓷，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 92, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上更加接近白色三角形陶瓷并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离进一步缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取白色三角形陶瓷。", + "time": 3.066666666666667 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.09599999218750063, + "id": "bbox_1769390833164_1769391080259_gf6omv4aq", + "width": 0.07399999548339879, + "x": 0.5231110520562101, + "y": 0.6459814232599753 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.03466666384548631, + "id": "bbox_1769390833387_1769391096955_ym2rlai1s", + "width": 0.015999999023437537, + "x": 0.4511110564507412, + "y": 0.5486480978476483 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上更加接近白色三角形陶瓷，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 112, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更加接近白色三角形陶瓷并开始调整爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离进一步缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取白色三角形陶瓷。", + "time": 3.743599 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动到白色三角形陶瓷的正上方。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.057333328667535, + "id": "bbox_1769390833164_1769391118699_9idswxyzs", + "width": 0.038999997619628954, + "x": 0.5431110508355071, + "y": 0.6886480864544201 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.08399999316406301, + "id": "bbox_1769390833387_1769391108298_iba8htx4v", + "width": 0.009999999389648462, + "x": 0.45611105614556546, + "y": 0.5526480975221275 + } + ], + "type": "bbox" + } + }, + "correction_plan": "下降爪夹抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，并且移动到了白色三角形陶瓷的正上方，方便抓取。", + "frame": 142, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于白色三角形陶瓷的正上方，已接近白色三角形陶瓷，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到白色三角形陶瓷的正上方。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：继续向下抓取白色三角形陶瓷，然后向爪夹方向的左上方抬升并移动，直至白色三角形陶瓷的上方。", + "time": 4.733333333333333 + }, + { + "action_description": "爪夹略微合拢并向爪夹方向的右前方略微移动。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.06533332801649354, + "id": "bbox_1769390833164_1769391134194_r4a7v2736", + "width": 0.04099999749755874, + "x": 0.5421110508965422, + "y": 0.6819814203302881 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.08666665961371578, + "id": "bbox_1769390833387_1769391156483_r4jf0zrad", + "width": 0.009999999389648462, + "x": 0.4531110563286709, + "y": 0.5619814300959123 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹发现的右前方略微移动使白色三角形陶瓷位于爪夹的正下方，方便抓取。", + "frame": 162, + "progress": 30, + "progress_explanation": "当前爪夹位于白色三角形陶瓷的正上方，已接近白色三角形陶瓷，因此进度提升为30%。", + "state_description": "当前爪夹张开，白色三角形陶瓷位于爪夹的爪中间。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：合拢爪夹抓取白色三角形陶瓷，然后夹紧白色三角形陶瓷竖直上升，向爪夹方向的左下方移动，直至移动到黑色锅坩支架的正上方。", + "time": 5.4 + }, + { + "action_description": "合拢爪夹抓取白色三角形陶瓷。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.05733332866753512, + "id": "bbox_1769390833164_1769391169978_5hfdxpkec", + "width": 0.036999997741699354, + "x": 0.5331110514458587, + "y": 0.6913147529040728 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.08266665993923657, + "id": "bbox_1769390833387_1769391164594_5jk1wtwgx", + "width": 0.00899999945068366, + "x": 0.4541110562676357, + "y": 0.5699814294448707 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到白色三角形陶瓷。", + "frame": 180, + "progress": 40, + "progress_explanation": "当前爪夹位于白色三角形陶瓷的正上方，已接近白色三角形陶瓷，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到白色三角形陶瓷。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹夹紧白色三角形陶瓷竖直上升，向爪夹方向的左前方移动，直至移动到黑色锅坩支架的正上方。", + "time": 5.984666 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷竖直上升。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.05599999544270868, + "id": "bbox_1769390833164_1769391176186_ubvwt45gg", + "width": 0.06099999627685575, + "x": 0.5421110508965422, + "y": 0.6553147558337602 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.1279999895833341, + "id": "bbox_1769390833387_1769391196185_a2mol8am2", + "width": 0.015999999023437537, + "x": 0.4511110564507412, + "y": 0.5246480998007732 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续夹紧白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取白色三角形陶瓷成功使其抬升并向黑色坩埚支架的方向移动。", + "frame": 196, + "progress": 45, + "progress_explanation": "当前白色三角形陶瓷已被抓取并成功开始抬升和移动，因此进度提升为45%。", + "state_description": "当前爪夹合拢，抓紧白色三角形陶瓷。白色三角形陶瓷已被抬升至空中。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左方移动，直至处于白色三角形陶瓷位于黑色坩埚支架的正上方。", + "time": 6.533333333333333 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的右方移动。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.06533332801649341, + "id": "bbox_1769390833164_1769391218674_noifo16nh", + "width": 0.08499999481201206, + "x": 0.5861110482109956, + "y": 0.6513147561592809 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.12666665635850768, + "id": "bbox_1769390833387_1769391204490_azd5x5l4x", + "width": 0.08799999462890655, + "x": 0.4541110562676357, + "y": 0.527314766250426 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，夹紧白色三角形陶瓷垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右方移动，水平方向上远离了黑色锅坩支架，不方便将其放在黑色锅坩支架上。", + "frame": 224, + "progress": 42, + "progress_explanation": "当前当前白色三角形陶瓷在水平距离上远离了黑色锅坩支架，因此进度下降为42%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离变远。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹继续保持合拢。爪夹垂直上升，向爪夹方向的左方移动，直至处于白色三角形陶瓷位于黑色坩埚支架的正上方。", + "time": 7.474466 + }, + { + "action_description": "爪夹向爪夹方向的左上方抬升并移动。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.08133332671441025, + "id": "bbox_1769390833164_1769391233530_f8o8bhbv7", + "width": 0.07099999566650413, + "x": 0.5511110503472259, + "y": 0.4086481092408765 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.21733331564670286, + "id": "bbox_1769390833387_1769391240626_7j818reoy", + "width": 0.10999999328613316, + "x": 0.439111057183163, + "y": 0.43264810728775166 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧白色三角形陶瓷向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取白色三角形陶瓷成功使其抬升并向黑色坩埚支架的方向移动。", + "frame": 244, + "progress": 60, + "progress_explanation": "当前白色三角形陶瓷在水平距离上更加靠近黑色坩埚支架，因此进度提升为60%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷与黑色坩埚支架的水平距离略微缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。", + "time": 8.133333333333333 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的左前方移动到黑色锅坩支架的上方。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.07599999381510465, + "id": "bbox_1769390833164_1769391259770_14aolzlcy", + "width": 0.08999999450683634, + "x": 0.4431110569390223, + "y": 0.3713147789457374 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.21599998242187646, + "id": "bbox_1769390833387_1769391255274_pxt9r9gaj", + "width": 0.10999999328613326, + "x": 0.43711105730523325, + "y": 0.4353147737374045 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧白色三角形陶瓷下降，松开爪夹，将白色三角形陶瓷放在黑色锅坩支架上。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功将白色三角形陶瓷移动到黑色锅坩支架的正上方。", + "frame": 262, + "progress": 70, + "progress_explanation": "当前白色三角形陶瓷位于黑色锅坩支架的正上方，因此进度提升为70%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷位于黑色锅坩支架的正上方。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹夹紧白色三角形陶瓷下降，松开爪夹，将白色三角形陶瓷放在黑色锅坩支架上。", + "time": 8.733333333333333 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷下降将其放在黑色锅坩支架上。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.0586666618923615, + "id": "bbox_1769390833164_1769391273642_h94722v3y", + "width": 0.08199999499511738, + "x": 0.4621110557793545, + "y": 0.4526481056601476 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.20399998339843897, + "id": "bbox_1769390833387_1769391282946_e15yfsdoo", + "width": 0.10499999359130899, + "x": 0.4431110569390223, + "y": 0.4513147724353212 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，白色三角形陶瓷位于黑色锅坩支架上。", + "error_success_analysis": "爪夹下降，将白色三角形陶瓷成功放在黑色锅坩支架上。", + "frame": 301, + "progress": 80, + "progress_explanation": "当前白色三角形陶瓷位于黑色锅坩支架上，因此进度提升为70%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷位于黑色锅坩支架上。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹松开，白色三角形陶瓷放在黑色锅坩支架上。", + "time": 10.046599 + }, + { + "action_description": "爪夹张开并向爪夹方向的右后方移动。", + "annotations": { + "bbox_1769390833164": { + "instances": [ + { + "height": 0.08933332606336866, + "id": "bbox_1769390833164_1769391303395_81mhdle35", + "width": 0.09199999438476594, + "x": 0.4461110567559169, + "y": 0.4353147737374045 + } + ], + "type": "bbox" + }, + "bbox_1769390833387": { + "instances": [ + { + "height": 0.21333331597222369, + "id": "bbox_1769390833387_1769391320338_jsyg475ak", + "width": 0.11099999322509806, + "x": 0.43711105730523325, + "y": 0.4419814398615365 + } + ], + "type": "bbox" + } + }, + "correction_plan": "白色三角形陶瓷已经位于黑色锅坩支架上，所以抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务完成了。", + "error_success_analysis": "爪夹张开，白色三角形陶瓷成功放在黑色锅坩支架上。", + "frame": 335, + "progress": 100, + "progress_explanation": "当前白色三角形陶瓷已经位于黑色锅坩支架上，因此进度提升为100%。", + "state_description": "当前爪夹张开，白色三角形陶瓷已经位于黑色锅坩支架上，已完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务。", + "time": 11.179866 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769390833164", + "name": "白色三角形陶瓷" + }, + { + "color": "#FF9800", + "id": "bbox_1769390833387", + "name": "黑色坩埚支架" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769390834268", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769390834476", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-174516-put-white-triangular ceramic-black-crucible holder-good/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-174516-put-white-triangular ceramic-black-crucible holder-good/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..b51b8acd3ab1d6789c0310d379f02434e2644d35 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-174516-put-white-triangular ceramic-black-crucible holder-good/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,992 @@ +{ + "task_description": "抓起白色三角形陶瓷将其放在黑色坩埚支架上。\n准备移动：0%\n爪夹靠近白色三角形陶瓷：20%\n爪夹抓取白色三角形陶瓷：40%\n爪夹抓起白色三角形陶瓷使其靠近黑色坩埚支架;60%\n爪夹将白色三角形陶瓷放进黑色坩埚支架：80%\n爪夹松开，白色三角形陶瓷放在黑色坩埚支架上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.09466665896267419, + "id": "bbox_1769390749527_1769397601457_ihn9u4sb2", + "width": 0.09299999432373082, + "x": 0.4891110541314053, + "y": 0.5990184652491484 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.22399998177083483, + "id": "bbox_1769390749742_1769397609993_tmjerh6j4", + "width": 0.10899999334716837, + "x": 0.3941110599297448, + "y": 0.4430184779444598 + } + ], + "type": "bbox" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769397622497_me63ynuen", + "x": 0.31211106493462737, + "y": 0.3616851512300495 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触白色三角形陶瓷。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取白色三角形陶瓷。", + "time": 1.4415102241336264 + }, + { + "action_description": "爪夹向爪夹方向的右下方略微移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.0986666586371534, + "id": "bbox_1769390749527_1769397632889_g8wxu2nge", + "width": 0.09499999420166053, + "x": 0.4871110542534757, + "y": 0.5963517987994956 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.22933331467014034, + "id": "bbox_1769390749742_1769397644241_7kd6hts6i", + "width": 0.10999999328613316, + "x": 0.39311105999078, + "y": 0.43901847826998064 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方略微移动，水平方向上逐渐接近白色三角形陶瓷，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 77, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上略微接近白色三角形陶瓷并开始调整爪夹角度方便抓取，因此进度提升为5%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离略微缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取白色三角形陶瓷。", + "time": 2.552 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.0986666586371534, + "id": "bbox_1769390749527_1769397681121_nbtbgmtz5", + "width": 0.0989999939575199, + "x": 0.48311105449761627, + "y": 0.5963517987994956 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.17199998600260535, + "id": "bbox_1769390749742_1769397661817_yxxtpq6u5", + "width": 0.11099999322509806, + "x": 0.3921110600518151, + "y": 0.4936851404878629 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上更加接近白色三角形陶瓷，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 104, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上更加接近白色三角形陶瓷并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离进一步缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取白色三角形陶瓷。", + "time": 3.4706978727865083 + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.0986666586371534, + "id": "bbox_1769390749527_1769397688777_4hzt8sk4e", + "width": 0.09499999420166043, + "x": 0.48611105431451085, + "y": 0.5963517987994956 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.150666654405383, + "id": "bbox_1769390749742_1769397697489_xueqn42qy", + "width": 0.10699999346923872, + "x": 0.39311105999078, + "y": 0.5203518049843908 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上更加接近白色三角形陶瓷，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 122, + "progress": 12, + "progress_explanation": "当前爪夹在水平方向上更加接近白色三角形陶瓷并开始调整爪夹角度方便抓取，因此进度提升为12%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离进一步缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取白色三角形陶瓷。", + "time": 4.066666666666666 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.08933332606336866, + "id": "bbox_1769390749527_1769397705705_689b5o9tz", + "width": 0.06299999615478535, + "x": 0.5071110530327727, + "y": 0.6030184649236275 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.015999998697916715, + "id": "bbox_1769390749742_1769397714114_3g97dqgoh", + "width": 0.009999999389648462, + "x": 0.4321110576104091, + "y": 0.6456851281180723 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上更加接近白色三角形陶瓷，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 153, + "progress": 15, + "progress_explanation": "当前爪夹位于白色三角形陶瓷的后方，在水平方向上更加接近白色三角形陶瓷并开始调整爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离进一步缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取白色三角形陶瓷。", + "time": 5.102405011678479 + }, + { + "action_description": "爪夹向爪夹方向的下方移动并调整爪夹角度。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.0839999931640629, + "id": "bbox_1769390749527_1769397722642_axzigf6p7", + "width": 0.048999997009277506, + "x": 0.5151110525444914, + "y": 0.6056851313732804 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹下降并调整爪夹角度，并且移动到了白色三角形陶瓷的上方，方便抓取。", + "frame": 184, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于白色三角形陶瓷的上方，已接近白色三角形陶瓷，因此进度提升为20%。", + "state_description": "当前爪夹张开，爪夹位于白色三角形陶瓷的上方。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:合拢爪夹抓取白色三角形陶瓷，然后爪夹竖直上升，向爪夹方向的左前方移动，直至移动到黑色锅坩支架的上方。", + "time": 6.1248 + }, + { + "action_description": "合拢爪夹抓取白色三角形陶瓷。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.08399999316406301, + "id": "bbox_1769390749527_1769397733889_h6n9pyz9b", + "width": 0.06399999609375033, + "x": 0.5121110527275967, + "y": 0.611018464272586 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到白色三角形陶瓷。", + "frame": 218, + "progress": 40, + "progress_explanation": "当前爪夹位于白色三角形陶瓷的正上方，已接近白色三角形陶瓷，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到白色三角形陶瓷。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹夹紧白色三角形陶瓷竖直上升，向爪夹方向的左前方移动，直至移动到黑色锅坩支架的正上方。", + "time": 7.266666666666667 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷竖直上升。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.030666664171007104, + "id": "bbox_1769390749527_1769397745889_zvrzl1ptn", + "width": 0.05299999676513689, + "x": 0.498111053582089, + "y": 0.6310184626449818 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.13066665603298694, + "id": "bbox_1769390749742_1769397755673_nvi7lkjfi", + "width": 0.0659999959716799, + "x": 0.3941110599297449, + "y": 0.537685136907134 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取白色三角形陶瓷成功抬升，方便其向向黑色坩埚支架的方向移动。", + "frame": 246, + "progress": 45, + "progress_explanation": "当前白色三角形陶瓷已被抓取并成功开始抬升和移动，因此进度提升为45%。", + "state_description": "当前爪夹合拢，抓紧白色三角形陶瓷。白色三角形陶瓷已被抬升至空中。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左前方移动，直至白色三角形陶瓷位于黑色坩埚支架的正上方。", + "time": 8.206367677897491 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的右方抬升并移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.035999997070312754, + "id": "bbox_1769390749527_1769397770073_ysqx756fw", + "width": 0.020999998718261813, + "x": 0.5821110484551362, + "y": 0.5710184675277941 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.14933332118055656, + "id": "bbox_1769390749742_1769397764425_9tvkoqeud", + "width": 0.10899999334716841, + "x": 0.39311105999078, + "y": 0.5163518053099116 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右上方抬升，水平方向上远离了黑色锅坩支架，不方便将其放在黑色锅坩支架上。", + "frame": 286, + "progress": 42, + "progress_explanation": "当前白色三角形陶瓷在水平距离上远离了黑色锅坩支架，因此进度下降为42%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离变远。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹爪夹方向的左上方移动，直至处于白色三角形陶瓷位于黑色坩埚支架的正上方。", + "time": 9.533333333333333 + }, + { + "action_description": "爪夹向爪夹方向的左上方抬升并移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.035999997070312754, + "id": "bbox_1769390749527_1769397777097_pqvcu61xo", + "width": 0.018999998840332034, + "x": 0.5311110515679289, + "y": 0.41235181377345265 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.22133331532118217, + "id": "bbox_1769390749742_1769397782817_4bz8o7x56", + "width": 0.10699999346923872, + "x": 0.39711105974663935, + "y": 0.4416851447196334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取白色三角形陶瓷成功使其抬升并向黑色坩埚支架的方向移动。", + "frame": 312, + "progress": 50, + "progress_explanation": "当前白色三角形陶瓷在水平距离上略微靠近黑色坩埚支架，因此进度提升为50%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷与黑色坩埚支架的水平距离略微缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。", + "time": 10.4 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的左方移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.04266666319444479, + "id": "bbox_1769390749527_1769397805609_kc9brmr4z", + "width": 0.0499999969482424, + "x": 0.44111105706109266, + "y": 0.4190184798975846 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.21999998209635568, + "id": "bbox_1769390749742_1769397797921_jiy75dg1b", + "width": 0.10499999359130899, + "x": 0.3971110597466394, + "y": 0.447018477618939 + } + ], + "type": "bbox" + }, + "point_1769390750551": { + "instances": [ + { + "id": "point_1769390750551_1769397823481_qt7u0j4pu", + "x": 0.44411105687798724, + "y": 0.4308703262638081 + } + ], + "type": "point" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769397826081_8jf5kwfgk", + "x": 0.4871110542534757, + "y": 0.4295369930389817 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功使白色三角形陶瓷靠近了黑色锅坩支架。", + "frame": 332, + "progress": 60, + "progress_explanation": "当前白色三角形陶瓷在水平距离上更加靠近黑色坩埚支架，因此进度提升为60%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷位于黑色锅坩支架的右上方。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹向爪夹方向的左下方移动，直至黑色锅坩支架的正上方后下降爪夹。", + "time": 11.076470590085966 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的右侧略微移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.05466666221788235, + "id": "bbox_1769390749527_1769397838249_9w6p31jox", + "width": 0.026999998352050893, + "x": 0.4801110546807217, + "y": 0.4310184789210222 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.22666664822048752, + "id": "bbox_1769390749742_1769397849304_41pqzsb3l", + "width": 0.10899999334716837, + "x": 0.3941110599297448, + "y": 0.440351811494807 + } + ], + "type": "bbox" + }, + "point_1769390750551": { + "instances": [ + { + "id": "point_1769390750551_1769397834392_nldp8ad88", + "x": 0.46311105571831934, + "y": 0.43901847826998064 + } + ], + "type": "point" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769397830792_t0pjqov2s", + "x": 0.5031110532769132, + "y": 0.4350184785955014 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右方移动，水平方向上略微远离黑色锅坩支架，不方便将白色三角形陶瓷放在黑色锅坩支架上。", + "frame": 352, + "progress": 58, + "progress_explanation": "当前白色三角形陶瓷在水平方向上略微远离了黑色锅坩支架，因此进度下降为58%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷的水平距离与黑色锅坩支架的略微变远。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹向爪夹方向的左下方移动，直至黑色锅坩支架的正上方后下降爪夹。", + "time": 11.746161269596609 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的左方移动到黑色锅坩支架的正上方。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.047999996093750316, + "id": "bbox_1769390749527_1769397871529_hftafe1o7", + "width": 0.05999999633789086, + "x": 0.4131110587700769, + "y": 0.42701847924654307 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.2119999827473972, + "id": "bbox_1769390749742_1769397860128_stseollf4", + "width": 0.10699999346923864, + "x": 0.3961110598076746, + "y": 0.4523518105182446 + } + ], + "type": "bbox" + }, + "point_1769390750551": { + "instances": [ + { + "id": "point_1769390750551_1769397879449_bmwaag1j7", + "x": 0.39811105968560423, + "y": 0.4363518118203278 + } + ], + "type": "point" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769397882104_kr2nd6xrp", + "x": 0.43911105718316296, + "y": 0.43901847826998064 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧白色三角形陶瓷下降，松开爪夹，将白色三角形陶瓷放在黑色锅坩支架上。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功将白色三角形陶瓷移动到黑色锅坩支架的正上方。", + "frame": 392, + "progress": 70, + "progress_explanation": "当前白色三角形陶瓷位于黑色锅坩支架的正上方，因此进度提升为70%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷位于黑色锅坩支架的正上方。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹夹紧白色三角形陶瓷下降，松开爪夹，将白色三角形陶瓷放在黑色锅坩支架上。", + "time": 13.061599 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的右下方移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.047999996093750316, + "id": "bbox_1769390749527_1769397898736_nzxk78cak", + "width": 0.08799999462890665, + "x": 0.406111059197323, + "y": 0.43768514504515427 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.20266665017361246, + "id": "bbox_1769390749742_1769397904513_walo9h9h5", + "width": 0.10899999334716837, + "x": 0.3951110598687097, + "y": 0.4630184763168558 + } + ], + "type": "bbox" + }, + "point_1769390750551": { + "instances": [ + { + "id": "point_1769390750551_1769397893576_1av0mlbex", + "x": 0.4001110595635339, + "y": 0.44435181116928624 + } + ], + "type": "point" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769397890945_gphs2i1xy", + "x": 0.4321110576104091, + "y": 0.4523518105182446 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直上升，向黑色锅坩支架的正上方移动，下降爪夹将白色三角形陶瓷放在黑色锅坩支架上。松开爪夹，将白色三角形陶瓷放在黑色锅坩支架上。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，使黑色锅坩支架向爪夹的右方倾斜，会导致黑色锅坩支架跌落在桌子上以至于任务失败。", + "frame": 426, + "progress": 65, + "progress_explanation": "当前白色三角形陶瓷虽然在黑色锅坩支架上，但是推动了黑色锅坩支架向爪夹的右方倾斜，因此进度下降为65%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷放在黑色锅坩支架上，并使黑色锅坩支架向爪夹的右方倾斜。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹竖直上升，向黑色锅坩支架的正上方移动，下降爪夹将白色三角形陶瓷放在黑色锅坩支架上。", + "time": 14.2 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷竖直上升。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.030666664171007104, + "id": "bbox_1769390749527_1769397921368_purtsrqdq", + "width": 0.02599999841308609, + "x": 0.4311110576714442, + "y": 0.4056851476493207 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.22933331467014048, + "id": "bbox_1769390749742_1769397915512_44fun6a2h", + "width": 0.10899999334716841, + "x": 0.3911110601128503, + "y": 0.4456851443941126 + } + ], + "type": "bbox" + }, + "point_1769390750551": { + "instances": [ + { + "id": "point_1769390750551_1769397924120_r3l2x9pdk", + "x": 0.4131110587700769, + "y": 0.4110184805486263 + } + ], + "type": "point" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769397926496_mc649dsrz", + "x": 0.4471110566948817, + "y": 0.4110184805486263 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧白色三角形陶瓷下降。松开爪夹，将白色三角形陶瓷放在黑色锅坩支架上。", + "error_success_analysis": "爪夹竖直上升，成功将白色三角形陶瓷重新移动到黑色锅坩支架的正上方。", + "frame": 449, + "progress": 68, + "progress_explanation": "当前白色三角形陶瓷重新位于黑色锅坩支架的上方，因此进度提升为68%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷位于黑色锅坩支架的正上方。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹夹紧白色三角形陶瓷下降，松开爪夹，将白色三角形陶瓷放在黑色锅坩支架上。", + "time": 14.95642563023518 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的右方移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.03466666384548637, + "id": "bbox_1769390749527_1769397939800_jmn5tk1rd", + "width": 0.06099999627685575, + "x": 0.4761110549248623, + "y": 0.39901848152518865 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.22266664854600837, + "id": "bbox_1769390749742_1769397950536_d75etlr1u", + "width": 0.10799999340820357, + "x": 0.39311105999078, + "y": 0.44701847761893904 + } + ], + "type": "bbox" + }, + "point_1769390750551": { + "instances": [ + { + "id": "point_1769390750551_1769397934921_qr0pzndpe", + "x": 0.4481110566338466, + "y": 0.4003518147500151 + } + ], + "type": "point" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769397932344_pk4kcy2i9", + "x": 0.4891110541314053, + "y": 0.40435181442449425 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右方移动，水平方向上略微远离黑色锅坩支架，不方便将白色三角形陶瓷放在黑色锅坩支架上。", + "frame": 497, + "progress": 59, + "progress_explanation": "当前白色三角形陶瓷在水平方向上略微远离了黑色锅坩支架，因此进度下降为59%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷的水平距离与黑色锅坩支架的略微变远。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹向爪夹方向的左下方移动，直至黑色锅坩支架的正上方后下降爪夹。", + "time": 16.5828173828125 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的左方移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.05733332866753512, + "id": "bbox_1769390749527_1769397991528_h4vue3m19", + "width": 0.023999998535156396, + "x": 0.46211105577935446, + "y": 0.4350184785955014 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.22399998177083477, + "id": "bbox_1769390749742_1769397971192_3c8yx804g", + "width": 0.10999999328613326, + "x": 0.3921110600518151, + "y": 0.4483518108437654 + } + ], + "type": "bbox" + }, + "point_1769390750551": { + "instances": [ + { + "id": "point_1769390750551_1769397984096_bzohf8yqb", + "x": 0.44111105706109266, + "y": 0.43768514504515427 + } + ], + "type": "point" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769397986984_g1xhexo8p", + "x": 0.478111054802792, + "y": 0.4416851447196334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功使白色三角形陶瓷靠近了黑色锅坩支架。", + "frame": 515, + "progress": 64, + "progress_explanation": "当前白色三角形陶瓷在水平距离上更加靠近黑色坩埚支架，因此进度提升为64%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷位于黑色锅坩支架的右上方。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹向爪夹方向的左下方移动，直至黑色锅坩支架的正上方后下降爪夹。", + "time": 17.168 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的右方移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.046666666666666676, + "id": "bbox_1769390749527_1769398672686_gglm2h9g5", + "width": 0.022000000000000065, + "x": 0.5053333129882812, + "y": 0.4266666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.22666666666666674, + "id": "bbox_1769390749742_1769398682213_qol4wz7xt", + "width": 0.10699999999999998, + "x": 0.3933333129882813, + "y": 0.448 + } + ], + "type": "bbox" + }, + "point_1769390750551": { + "instances": [ + { + "id": "point_1769390750551_1769398690238_o2qx0zmcz", + "x": 0.48033331298828125, + "y": 0.43200000000000005 + } + ], + "type": "point" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769398693974_mciswdx9t", + "x": 0.5213333129882812, + "y": 0.436 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右方移动，水平方向上远离了黑色锅坩支架，不方便将白色三角形陶瓷放在黑色锅坩支架上。", + "frame": 543, + "progress": 54, + "progress_explanation": "当前白色三角形陶瓷在水平方向上远离了黑色锅坩支架，因此进度下降为54%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷的水平距离与黑色锅坩支架的略微变远。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹向爪夹方向的左下方移动，直至黑色锅坩支架的正上方后下降爪夹。", + "time": 18.089621506523837 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的左方移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.05733332866753512, + "id": "bbox_1769390749527_1769398031208_co8h9l3qt", + "width": 0.04099999749755874, + "x": 0.45911105596245994, + "y": 0.440351811494807 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.22266664854600837, + "id": "bbox_1769390749742_1769398036848_4sp9i97l4", + "width": 0.10799999340820352, + "x": 0.39311105999078, + "y": 0.4496851440685918 + } + ], + "type": "bbox" + }, + "point_1769390750551": { + "instances": [ + { + "id": "point_1769390750551_1769398024600_5w8wb65y1", + "x": 0.44411105687798724, + "y": 0.4416851447196334 + } + ], + "type": "point" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769398021384_oe3r62c8l", + "x": 0.478111054802792, + "y": 0.4510184772934182 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功使白色三角形陶瓷靠近了黑色锅坩支架。", + "frame": 567, + "progress": 57, + "progress_explanation": "当前白色三角形陶瓷在水平距离上更加靠近黑色坩埚支架，因此进度提升为57%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷位于黑色锅坩支架的右方。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹向爪夹方向的左方移动，直至黑色锅坩支架的正上方后下降爪夹。", + "time": 18.902817382812497 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的左侧移动。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.06133333333333333, + "id": "bbox_1769390749527_1769398843796_jxlcr7955", + "width": 0.05600000000000005, + "x": 0.4335, + "y": 0.43200000000000005 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.22266666666666676, + "id": "bbox_1769390749742_1769398848932_mr5jro4v5", + "width": 0.10700000000000007, + "x": 0.3935, + "y": 0.4466666666666666 + } + ], + "type": "bbox" + }, + "point_1769390750551": { + "instances": [ + { + "id": "point_1769390750551_1769398835029_uyg2nrwch", + "x": 0.41550000000000004, + "y": 0.43733333333333335 + } + ], + "type": "point" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769398828597_gfs12jfns", + "x": 0.4485, + "y": 0.44000000000000006 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，白色三角形陶瓷落在黑色锅坩支架上。", + "error_success_analysis": "爪夹向爪夹方向的左侧略微移动，成功使白色三角形陶瓷一侧触碰到黑色锅坩支架上，方便将白色三角形陶瓷落在黑色锅坩支架上。", + "frame": 601, + "progress": 75, + "progress_explanation": "当前白色三角形陶瓷的水平距离更加靠近黑色锅坩支架，因此进度提升为75%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷的右侧已经触碰到黑色锅坩支架。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹张开，白色三角形陶瓷落在黑色锅坩支架上。", + "time": 20.026941094152704 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769390749527": { + "instances": [ + { + "height": 0.09733332541232702, + "id": "bbox_1769390749527_1769398063400_2sp3svirz", + "width": 0.09199999438476594, + "x": 0.4011110595024988, + "y": 0.4296851456961958 + } + ], + "type": "bbox" + }, + "bbox_1769390749742": { + "instances": [ + { + "height": 0.21999998209635555, + "id": "bbox_1769390749742_1769398049080_8mp50dwph", + "width": 0.1109999932250981, + "x": 0.3911110601128503, + "y": 0.4483518108437654 + } + ], + "type": "bbox" + }, + "point_1769390750551": { + "instances": [ + { + "id": "point_1769390750551_1769398076784_hqhsyvdcs", + "x": 0.40711105913628787, + "y": 0.4350184785955014 + } + ], + "type": "point" + }, + "point_1769390750767": { + "instances": [ + { + "id": "point_1769390750767_1769398079104_7nx4sikct", + "x": 0.45811105602349506, + "y": 0.43901847826998064 + } + ], + "type": "point" + } + }, + "correction_plan": "白色三角形陶瓷已经位于黑色锅坩支架上，所以抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务完成了。", + "error_success_analysis": "爪夹张开，白色三角形陶瓷成功放在黑色锅坩支架上。", + "frame": 623, + "progress": 100, + "progress_explanation": "当前白色三角形陶瓷已经位于黑色锅坩支架上，因此进度提升为100%。", + "state_description": "当前爪夹张开，白色三角形陶瓷已经位于黑色锅坩支架上，已完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务。", + "time": 20.76306791872207 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769390749527", + "name": "白色三角形陶瓷" + }, + { + "color": "#FF9800", + "id": "bbox_1769390749742", + "name": "黑色锅坩支架" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769390750551", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769390750767", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-175854-put-white-triangular ceramic-black-crucible holder-mix/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-175854-put-white-triangular ceramic-black-crucible holder-mix/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..492564c2a824d4a5a4acb3e4128126b51f9e73b2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-175854-put-white-triangular ceramic-black-crucible holder-mix/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,628 @@ +{ + "task_description": "抓起白色三角形陶瓷将其放在黑色坩埚支架上。\n准备移动：0%\n爪夹靠近白色三角形陶瓷：20%\n爪夹抓取白色三角形陶瓷：40%\n爪夹抓起白色三角形陶瓷使其靠近黑色坩埚支架;60%\n爪夹将白色三角形陶瓷放进黑色坩埚支架：80%\n爪夹松开，白色三角形陶瓷放在黑色坩埚支架上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1769408898459_1769409166794_8edbeg1qs", + "width": 0.10099999999999998, + "x": 0.4445, + "y": 0.6493333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.1946666666666666, + "id": "bbox_1769408898650_1769409172721_nmmi807cf", + "width": 0.10500000000000002, + "x": 0.3855, + "y": 0.3786666666666667 + } + ], + "type": "bbox" + }, + "point_1769408899650": { + "instances": [ + { + "id": "point_1769408899650_1769409181122_e05bbbm3t", + "x": 0.1945, + "y": 0.38266666666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触白色三角形陶瓷。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取白色三角形陶瓷。", + "time": 1.3890029435305251 + }, + { + "action_description": "爪夹向爪夹方向的右下方略微移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.09599999999999996, + "id": "bbox_1769408898459_1769409192961_st8kd6a79", + "width": 0.1, + "x": 0.4455, + "y": 0.648 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.19333333333333336, + "id": "bbox_1769408898650_1769409198841_hvwwznt9m", + "width": 0.10400000000000001, + "x": 0.3865, + "y": 0.37733333333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方略微移动，水平方向上逐渐接近白色三角形陶瓷，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 84, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近白色三角形陶瓷并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离略微缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取白色三角形陶瓷。", + "time": 2.8 + }, + { + "action_description": "爪夹继续向爪夹方向的右下方移动。并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.09866666655815971, + "id": "bbox_1769408898459_1769409227448_qx8wq9lf4", + "width": 0.07799999957275397, + "x": 0.4455000004272461, + "y": 0.6493333334418403 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1769408898650_1769409215608_0iiv0j81s", + "width": 0.07900000000000004, + "x": 0.39949999999999997, + "y": 0.37466666666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上更加接近白色三角形陶瓷，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 126, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更加接近白色三角形陶瓷并开始调整爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离进一步缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取白色三角形陶瓷。", + "time": 4.199312221881041 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.10266666666666673, + "id": "bbox_1769408898459_1769409234560_0wx4laj4c", + "width": 0.08299999999999992, + "x": 0.4635000000000001, + "y": 0.6479999999999999 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1769408898650_1769409246984_43z77ee00", + "width": 0.09000000000000004, + "x": 0.3915, + "y": 0.37733333333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达白色三角形陶瓷的正上方后下降，抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上更加接近白色三角形陶瓷，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 145, + "progress": 17, + "progress_explanation": "当前爪夹位于白色三角形陶瓷的左方，在水平方向上更加接近白色三角形陶瓷，因此进度提升为17%。", + "state_description": "当前爪夹张开，与白色三角形陶瓷的水平距离进一步缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取白色三角形陶瓷。", + "time": 4.8332474226804125 + }, + { + "action_description": "爪夹向爪夹方向的右方旋转并调整爪夹角度。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.09333333333333335, + "id": "bbox_1769408898459_1769409280425_6pvb4mmbu", + "width": 0.052000000000000046, + "x": 0.4875, + "y": 0.6533333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1769408898650_1769409268562_u1jch3j5q", + "width": 0.09199999999999994, + "x": 0.39050000000000007, + "y": 0.37866666666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右方移动到白色三角形陶瓷的正上方，下降爪夹抓取白色三角形陶瓷。然后爪夹垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右方旋转并调整爪夹角度使爪夹角度与桌面垂直，方便抓取白色三角形陶瓷。", + "frame": 167, + "progress": 18, + "progress_explanation": "当前爪夹位于白色三角形陶瓷的左方，在水平方向上更加接近白色三角形陶瓷并开始调整爪夹角度方便抓取，因此进度提升为18%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，与白色三角形陶瓷的水平距离进一步缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:爪夹向爪夹方向的右方移动，下降爪夹抓取白色三角形陶瓷。", + "time": 5.5695 + }, + { + "action_description": "合拢爪夹抓取白色三角形陶瓷。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.10000000000000012, + "id": "bbox_1769408898459_1769409292897_62nf661b2", + "width": 0.06200000000000001, + "x": 0.5035000000000001, + "y": 0.6639999999999999 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.12133333333333335, + "id": "bbox_1769408898650_1769409305529_hsx9r3jja", + "width": 0.094, + "x": 0.39150000000000007, + "y": 0.36666666666666664 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右方移动到白色三角形陶瓷的正上方，下降爪夹抓取白色三角形陶瓷。然后爪夹垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹合拢准备抓取白色三角形陶瓷，但是并未抓取到白色三角形陶瓷的右半部分。", + "frame": 210, + "progress": 21, + "progress_explanation": "当前爪夹位于白色三角形陶瓷的正上方，已接近白色三角形陶瓷，因此进度提升为21%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹准备抓取白色三角形陶瓷。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹向爪夹方向的右方移动到白色三角形陶瓷的正上方后，下降爪夹抓取白色三角形陶瓷。", + "time": 7 + }, + { + "action_description": "爪夹合拢并竖直上升。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.10266666666666673, + "id": "bbox_1769408898459_1769409328968_2wht6z4e0", + "width": 0.10499999999999998, + "x": 0.45949999999999996, + "y": 0.6613333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右方移动，直到白色三角形陶瓷的正上方，下降爪夹抓取白色三角形陶瓷。然后爪夹垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹合拢并竖直上升，抓取白色三角形陶瓷失败。", + "frame": 230, + "progress": 14, + "progress_explanation": "当前爪夹并未抓取到白色三角形陶瓷，因此进度下降为14%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷仍然在桌子上。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹张开，向爪夹方向的右方移动，直到白色三角形陶瓷的正上方后，下降爪夹抓取白色三角形陶瓷。", + "time": 7.666666666666667 + }, + { + "action_description": "爪夹下降并向爪夹方向的左方调整爪夹角度。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.09733333333333327, + "id": "bbox_1769408898459_1769409338760_y79ahfvbz", + "width": 0.08999999999999994, + "x": 0.46950000000000003, + "y": 0.668 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.08666666666666666, + "id": "bbox_1769408898650_1769409349192_wx9jjo1do", + "width": 0.085, + "x": 0.3965, + "y": 0.36933333333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "下降爪夹抓取白色三角形陶瓷后垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹下降并调整爪夹角度，并且移动到了白色三角形陶瓷的上方，方便抓取。", + "frame": 292, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于白色三角形陶瓷的上方，已接近白色三角形陶瓷，因此进度提升为20%。", + "state_description": "当前爪夹张开，爪夹位于白色三角形陶瓷的上方。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当:合拢爪夹抓取白色三角形陶瓷，然后爪夹竖直上升，向爪夹方向的左前方移动，直至移动到黑色锅坩支架的上方。", + "time": 9.727061855670103 + }, + { + "action_description": "爪夹合拢并向爪夹方向的左上方略微抬升。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.12400000000000008, + "id": "bbox_1769408898459_1769409370272_1uly4gve7", + "width": 0.09900000000000002, + "x": 0.45949999999999996, + "y": 0.6853333333333332 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.05466666666666668, + "id": "bbox_1769408898650_1769409359617_68usbhex0", + "width": 0.08000000000000007, + "x": 0.40149999999999997, + "y": 0.36666666666666664 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右下方移动，直到白色三角形陶瓷的正上方，下降爪夹抓取白色三角形陶瓷。然后爪夹垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹合拢并向爪夹方向的左上方抬升，抓取白色三角形陶瓷失败。", + "frame": 326, + "progress": 16, + "progress_explanation": "当前爪夹并未抓取到白色三角形陶瓷，因此进度下降为16%。", + "state_description": "当前爪夹合拢，，白色三角形陶瓷仍然在桌子上。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹张开，向爪夹方向的右方移动，直到白色三角形陶瓷的正上方后，下降爪夹抓取白色三角形陶瓷。", + "time": 10.866666666666667 + }, + { + "action_description": "爪夹重新张开并下降。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1769408898459_1769409387384_5ga94cs0w", + "width": 0.09799999999999995, + "x": 0.4605, + "y": 0.7026666666666668 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1769408898650_1769409394824_ebhpkj6ea", + "width": 0.08199999999999993, + "x": 0.4025, + "y": 0.36933333333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右下方移动，直到白色三角形陶瓷的正上方，下降爪夹抓取白色三角形陶瓷。然后爪夹垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹重新张开并略微下降，水平方向上成功接近白色三角形陶瓷。", + "frame": 398, + "progress": 23, + "progress_explanation": "当前爪夹位于白色三角形陶瓷的左上方，在水平方向上略微接近白色三角形陶瓷，因此进度提升为23%。", + "state_description": "当前爪夹张开，爪夹与白色三角形陶瓷的水平距离略微缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹向爪夹方向的右方移动，直到白色三角形陶瓷的正上方后，下降爪夹抓取白色三角形陶瓷。", + "time": 13.266666666666667 + }, + { + "action_description": "爪夹下降抓取到白色三角形陶瓷的左半部分。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.0706666666666667, + "id": "bbox_1769408898459_1769409409352_r2le0cpe6", + "width": 0.11000000000000006, + "x": 0.46849999999999997, + "y": 0.696 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.07733333333333328, + "id": "bbox_1769408898650_1769409403896_p914jm2jl", + "width": 0.08099999999999996, + "x": 0.4025, + "y": 0.36800000000000005 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直上升。然后向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到白色三角形陶瓷。", + "frame": 450, + "progress": 40, + "progress_explanation": "当前爪夹位于白色三角形陶瓷的左上方，已接近白色三角形陶瓷，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到白色三角形陶瓷。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹夹紧白色三角形陶瓷竖直上升，向爪夹方向的左前方移动，直至移动到黑色锅坩支架的正上方。", + "time": 15 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷竖直上升。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.05733333333333342, + "id": "bbox_1769408898459_1769409419256_of19a8ggi", + "width": 0.04299999999999997, + "x": 0.5155000000000001, + "y": 0.5573333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取白色三角形陶瓷成功使其抬升，方便其向黑色锅坩支架的方向移动。", + "frame": 480, + "progress": 45, + "progress_explanation": "当前白色三角形陶瓷已被抓取并成功开始抬升和移动，因此进度提升为45%。", + "state_description": "当前爪夹合拢，抓紧白色三角形陶瓷。白色三角形陶瓷已被抬升至空中。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左前方移动，直至白色三角形陶瓷位于黑色坩埚支架的正上方。", + "time": 16.003499 + }, + { + "action_description": "爪夹向爪夹方向的左上方抬升并移动。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.08400000000000002, + "id": "bbox_1769408898459_1769409442991_4g4q8fwrg", + "width": 0.014999999999999947, + "x": 0.49850000000000005, + "y": 0.19866666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.20933333333333337, + "id": "bbox_1769408898650_1769409434536_eefk0kf5d", + "width": 0.09100000000000005, + "x": 0.3934999999999999, + "y": 0.3626666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左前方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取白色三角形陶瓷成功使其抬升并向黑色坩埚支架的方向移动。", + "frame": 505, + "progress": 50, + "progress_explanation": "当前白色三角形陶瓷在水平距离上略微靠近黑色坩埚支架，因此进度提升为50%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷与黑色坩埚支架的水平距离略微缩短。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左下方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。", + "time": 16.826 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的左下方移动。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.10666666666666665, + "id": "bbox_1769408898459_1769409450040_0eqn8q0ou", + "width": 0.020999999999999998, + "x": 0.46749999999999997, + "y": 0.272 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.19866666666666674, + "id": "bbox_1769408898650_1769409455680_k01h7woj5", + "width": 0.09700000000000002, + "x": 0.38950000000000007, + "y": 0.37066666666666664 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功使白色三角形陶瓷靠近了黑色锅坩支架。", + "frame": 521, + "progress": 60, + "progress_explanation": "当前白色三角形陶瓷在水平距离上更加靠近黑色坩埚支架，因此进度提升为60%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷位于黑色锅坩支架的右上方。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹向爪夹方向的左下方移动，直至黑色锅坩支架的正上方后下降爪夹。", + "time": 17.37869366518001 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷下降并向爪夹方向的左侧略微移动。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.10133333333333336, + "id": "bbox_1769408898459_1769409480264_r6m1e0s0s", + "width": 0.041000000000000016, + "x": 0.4495, + "y": 0.308 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.20266666666666672, + "id": "bbox_1769408898650_1769409469488_tb077ceib", + "width": 0.09099999999999997, + "x": 0.39049999999999996, + "y": 0.37199999999999994 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左方移动，直至白色三角形陶瓷处于黑色坩埚支架的正上方。爪夹下降将白色三角形陶瓷放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹略微下降并向爪夹方向的左方移动，在水平方向上成功接近了黑色锅坩支架。", + "frame": 574, + "progress": 70, + "progress_explanation": "当前白色三角形陶瓷位于黑色锅坩支架的右方，在水平方向上接近黑色锅坩支架，因此进度提升为70%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷已经触碰到黑色锅坩支架。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹向爪夹方向的左方移动，直至黑色锅坩支架的正上方后下降爪夹。", + "time": 19.133333333333333 + }, + { + "action_description": "爪夹夹紧白色三角形陶瓷向爪夹方向的左下方移动。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1769408898459_1769409489880_b572ihope", + "width": 0.053000000000000026, + "x": 0.42349999999999993, + "y": 0.3333333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.20799999999999993, + "id": "bbox_1769408898650_1769409502392_dm75x9ugw", + "width": 0.09399999999999994, + "x": 0.3915, + "y": 0.36666666666666664 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，白色三角形陶瓷落在黑色锅坩支架上。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，白色三角形陶瓷的两个底角已经成功放在黑色锅坩支架上。", + "frame": 617, + "progress": 79, + "progress_explanation": "当前白色三角形陶瓷已经触碰到黑色锅坩支架，即将完全放在黑色锅坩支架，因此进度提升为79%。", + "state_description": "当前爪夹合拢，白色三角形陶瓷的两个底角已经触碰到黑色锅坩支架。\n为完成抓起白色三角形陶瓷将其放在黑色坩埚支架上任务应当：爪夹张开，白色三角形陶瓷落在黑色锅坩支架上。", + "time": 20.552405005386195 + }, + { + "action_description": "爪夹张开并向爪夹方向的左后方略微移动。", + "annotations": { + "bbox_1769408898459": { + "instances": [ + { + "height": 0.09733333333333333, + "id": "bbox_1769408898459_1769409533056_evn2c01bo", + "width": 0.07400000000000002, + "x": 0.4095, + "y": 0.35200000000000004 + } + ], + "type": "bbox" + }, + "bbox_1769408898650": { + "instances": [ + { + "height": 0.1973333333333334, + "id": "bbox_1769408898650_1769409521544_tzpemrk07", + "width": 0.094, + "x": 0.3895, + "y": 0.37733333333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "白色三角形陶瓷已经位于黑色锅坩支架上，所以抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务完成了。", + "error_success_analysis": "爪夹张开，白色三角形陶瓷成功放在黑色锅坩支架上。", + "frame": 656, + "progress": 100, + "progress_explanation": "当前白色三角形陶瓷已经位于黑色锅坩支架上，因此进度提升为100%。", + "state_description": "当前爪夹张开，白色三角形陶瓷已经位于黑色锅坩支架上，已完成抓起白色三角形陶瓷将其放在黑色坩埚支架上的任务。", + "time": 21.860652428066608 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769408898459", + "name": "白色三角形陶瓷" + }, + { + "color": "#FF9800", + "id": "bbox_1769408898650", + "name": "黑色锅坩支架" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769408899458", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769408899650", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-181655-put-white-triangular ceramic-black-crucible holder-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-181655-put-white-triangular ceramic-black-crucible holder-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..34a0cefb59505f0a7804f487222138212ab8fe03 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/20260114-movetable/20260113-songjiaqi/20260113-181655-put-white-triangular ceramic-black-crucible holder-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,370 @@ +{ + "task_description": "抓起纸杯将其放在黑色坩埚支架上。\n准备移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹抓起纸杯使其靠近黑色坩埚支架;60%\n爪夹将纸杯移动到黑色坩埚支架的上方：80%\n爪夹松开，纸杯放在黑色坩埚支架上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶状态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达纸杯的正上方后下降，抓取纸杯后垂直上升，向爪夹方向的左前方移动，直至纸杯处于黑色锅坩支架的正上方。下降爪夹将纸杯放入黑色锅坩支架上，松开爪夹。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触纸杯。\n为完成抓起纸杯将其放在黑色锅坩支架上的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动。准备抓取纸杯。", + "time": 1.4105752736234265, + "annotations": { + "bbox_1769412826522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826522_1769412943889_c8vmfffqo", + "x": 0.7691110370415626, + "y": 0.5652406868293712, + "width": 0.08499999481201206, + "height": 0.09733332541232696 + } + ] + }, + "bbox_1769412826731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826731_1769412953633_kkhsc3kic", + "x": 0.5481110505303313, + "y": 0.41590736564881464, + "width": 0.09099999444580113, + "height": 0.17866665212673727 + } + ] + }, + "point_1769412827673": { + "type": "point", + "instances": [ + { + "id": "point_1769412827673_1769412964289_uaopwgr8y", + "x": 0.5131110526665617, + "y": 0.6359073477451703 + } + ] + }, + "point_1769412827498": { + "type": "point", + "instances": [ + { + "id": "point_1769412827498_1769412966721_0l5nkrhjf", + "x": 0.3911110601128503, + "y": 0.6079073500238159 + } + ] + } + } + }, + { + "time": 2.358590606463522, + "frame": 71, + "progress": 10, + "action_description": "爪夹向爪夹方向的右下方略微移动。并调整爪夹角度，使其接近于垂直桌面。", + "state_description": "当前爪夹张开，与纸杯的水平距离略微缩短。\n为完成抓起纸杯将其放在黑色坩埚支架上的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取纸杯。", + "progress_explanation": "当前爪夹在水平方向上略微接近纸杯并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹方向的右下方略微移动，水平方向上逐渐接近纸杯，并使爪夹角度向垂直于桌面调整，方便抓取。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达纸杯的正上方后下降，抓取纸杯后垂直上升，向爪夹方向的左前方移动，直至纸杯处于黑色锅坩支架的正上方。下降爪夹将纸杯放入黑色锅坩支架上，松开爪夹。", + "annotations": { + "bbox_1769412826522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826522_1769412978041_62f0uzrpz", + "x": 0.7661110372246681, + "y": 0.5625740203797185, + "width": 0.08999999450683616, + "height": 0.09999999186197985 + } + ] + }, + "point_1769412827673": { + "type": "point", + "instances": [ + { + "id": "point_1769412827673_1769412985561_estvwondz", + "x": 0.6181110462578706, + "y": 0.5932406845507255 + } + ] + }, + "point_1769412827498": { + "type": "point", + "instances": [ + { + "id": "point_1769412827498_1769412993408_28qz3e1d1", + "x": 0.5031110532769132, + "y": 0.5305740229838849 + } + ] + }, + "bbox_1769412826731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826731_1769413000585_1de5vxcva", + "x": 0.5601110497979096, + "y": 0.41605552847855404, + "width": 0.0789999951782229, + "height": 0.11866665700954938 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右下方略微移动。并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。下降爪夹，抓取纸杯后垂直上升，向爪夹方向的左前方移动，直至纸杯处于黑色锅坩支架的正上方。下降爪夹将纸杯放入黑色锅坩支架上，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方略微移动，水平方向上逐渐接近纸杯，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 94, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更加接近纸杯并开始调整爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与纸杯的水平距离进一步缩短。\n为完成抓起纸杯将其放在黑色坩埚支架上的任务应当:调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右下方移动，准备抓取纸杯。", + "time": 3.1333333333333333, + "annotations": { + "bbox_1769412826731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826731_1769413011169_bpk29op3c", + "x": 0.5481110505303313, + "y": 0.41324069919916184, + "width": 0.08899999456787144, + "height": 0.1826666518012166 + } + ] + }, + "bbox_1769412826522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826522_1769413023680_w50xltj5a", + "x": 0.7721110368584572, + "y": 0.5652406868293712, + "width": 0.055999996582031475, + "height": 0.05599999544270868 + } + ] + } + } + }, + { + "time": 3.9294, + "frame": 118, + "progress": 20, + "action_description": "爪夹向爪夹方向的下方移动到纸杯的正上方。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到纸杯上方。\n为完成抓起纸杯将其放在黑色坩埚支架上的任务应当：继续向下抓取纸杯，然后向爪夹的左前方移动，直至黑色锅坩支架的正上方。", + "progress_explanation": "当前爪夹已悬空于纸杯的正上方，已接近纸杯，因此进度提升为20%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了纸杯的正上方，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "继续下降爪夹，抓取纸杯后垂直上升，向爪夹方向的左前方移动，直至纸杯处于黑色锅坩支架的正上方。下降爪夹将纸杯放入黑色锅坩支架上，松开爪夹。", + "annotations": { + "bbox_1769412826731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826731_1769413053032_zwslyz0yd", + "x": 0.5491110504692962, + "y": 0.41724069887364107, + "width": 0.08899999456787144, + "height": 0.1759999856770844 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左下方移动。", + "correction_plan": "继续下降爪夹，抓取纸杯后垂直上升，向爪夹方向的左前方移动，直至纸杯处于黑色锅坩支架的正上方。下降爪夹将纸杯放入黑色锅坩支架上，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，并且推动纸杯靠近爪夹右，方便抓取。\t", + "frame": 147, + "progress": 30, + "progress_explanation": "当前爪夹已悬空于纸杯的上方，已接近纸杯，因此进度提升为30%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，纸杯向爪夹的右方倾斜，纸杯与爪夹的水平距离缩短。\n为完成抓起纸杯使其放在黑色锅坩支架上的任务应当：继续向下抓取纸杯，然后向爪夹的左前方移动，直至黑色锅坩支架的正上方。", + "time": 4.900584696416922, + "annotations": { + "bbox_1769412826731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826731_1769413063560_jnkle2ec5", + "x": 0.5481110505303313, + "y": 0.41724069887364107, + "width": 0.08899999456787144, + "height": 0.17733331890191095 + } + ] + }, + "bbox_1769412826522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826522_1769413071472_as4jdmx0r", + "x": 0.8361110329522073, + "y": 0.6412406806444758, + "width": 0.050999996887207286, + "height": 0.06933332769097274 + } + ] + } + } + }, + { + "action_description": "合拢爪夹成功抓取到纸杯。", + "correction_plan": "垂直抬起爪夹，然后向爪夹方向的左前方移动，直至纸杯处于黑色锅坩支架的正上方。下降爪夹将纸杯放入黑色锅坩支架上，松开爪夹。", + "error_success_analysis": "爪夹合拢成功抓取到纸杯。", + "frame": 180, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于纸杯的上方，已接近纸杯，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到纸杯。\n为完成抓起纸杯使其放在黑色锅坩支架上的任务应当：垂直抬起爪夹，然后向爪夹的左前方移动，直至黑色锅坩支架的正上方。", + "time": 6, + "annotations": { + "bbox_1769412826522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826522_1769413081039_wjolb2lp4", + "x": 0.8191110339898049, + "y": 0.6799073441644414, + "width": 0.04099999749755874, + "height": 0.05599999544270868 + } + ] + }, + "bbox_1769412826731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826731_1769413085976_ppptrq1cs", + "x": 0.5491110504692962, + "y": 0.4159073656488147, + "width": 0.08899999456787144, + "height": 0.17199998600260524 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左上方抬升并移动。", + "correction_plan": "爪夹继续向爪夹方向的左前方移动，直至纸杯处于黑色坩埚支架的正上方。爪夹下降将纸杯放入黑色坩埚支架中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取纸杯使其抬升并向黑色坩埚支架的方向移动。", + "frame": 238, + "progress": 60, + "progress_explanation": "当前纸杯水平距离上靠近了黑色坩埚支架，因此进度提升为60%。", + "state_description": "当前爪夹合拢，纸杯与黑色坩埚支架的水平距离略微缩短。\n为完成抓起纸杯将其放在黑色坩埚支架上任务应当：爪夹继续保持合拢。爪夹向爪夹方向的左下方移动，直至纸杯处于黑色坩埚支架的正上方。", + "time": 7.933333333333334, + "annotations": { + "bbox_1769412826731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826731_1769413096960_kvr07j0ag", + "x": 0.5511110503472259, + "y": 0.42257403177294667, + "width": 0.08299999493408246, + "height": 0.1706666527777789 + } + ] + } + } + }, + { + "time": 8.986803890896827, + "frame": 270, + "progress": 80, + "action_description": "爪夹向爪夹方向的左方移动。", + "state_description": "当前爪夹合拢，纸杯位于黑色锅坩支架的上方。\n为完成抓起纸杯使其放在黑色锅坩支架的任务应当：松开爪夹，纸杯落在黑色锅坩支架上。", + "progress_explanation": "当前纸杯位于黑色锅坩支架的上方，因此进度提升为80%。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功将纸杯移动到黑色锅坩支架的上方。", + "correction_plan": "松开爪夹，纸杯落在黑色锅坩支架上。", + "annotations": { + "bbox_1769412826731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826731_1769413115504_ab0434uuh", + "x": 0.629111045586484, + "y": 0.5065740249370098, + "width": 0.00899999945068366, + "height": 0.026666664496527954 + } + ] + }, + "bbox_1769412826522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826522_1769413122752_w8q66o9fa", + "x": 0.6021110472344331, + "y": 0.4065740330750299, + "width": 0.04499999725341812, + "height": 0.11466665733507017 + } + ] + } + } + }, + { + "time": 10.0788, + "frame": 302, + "progress": 100, + "action_description": "爪夹张开并向爪夹方向的左后方移动。", + "state_description": "当前爪夹张开，纸杯已经位于黑色锅坩支架上，已完成抓起纸杯将其放在黑色坩埚支架上的任务。", + "progress_explanation": "当前纸杯已经位于黑色锅坩支架上，因此进度提升为100%。", + "error_success_analysis": "爪夹张开，纸杯成功放在黑色锅坩支架上。", + "correction_plan": "纸杯已经位于黑色锅坩支架上，所以抓起纸杯将其放在黑色坩埚支架上的任务完成了。", + "annotations": { + "bbox_1769412826522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826522_1769413134576_7dvcy7vcl", + "x": 0.5921110478447846, + "y": 0.42124069854812024, + "width": 0.03599999780273446, + "height": 0.059999995117187885 + } + ] + }, + "bbox_1769412826731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412826731_1769413140048_fcaquvwfz", + "x": 0.5981110474785737, + "y": 0.42257403177294667, + "width": 0.03799999768066424, + "height": 0.1133333241102438 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769412826522", + "name": "纸杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1769412826731", + "name": "黑色锅坩支架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769412827498", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769412827673", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-093624-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-093624-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e780b832ab27746d33530a736a03c2b2f0e26f3c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-093624-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,282 @@ +{ + "task_description": "抓起蓝色的笔将其落入黄色盒子。\n准备移动:0%\n爪夹靠近蓝色的笔:20%\n爪夹抓取蓝色的笔:40%\n爪夹抓住蓝色的笔接近黄色盒子:60%\n爪夹将蓝色的笔移动到黄色盒子的上方:80%\n爪夹松开，蓝色的笔落入黄色盒子:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1769415291855": { + "instances": [ + { + "height": 0.24799997981771008, + "id": "bbox_1769415291855_1769415484134_nzbgbmr5m", + "width": 0.06499999603271514, + "x": 0.6211110460747652, + "y": 0.4868703217065168 + } + ], + "type": "bbox" + }, + "bbox_1769415292087": { + "instances": [ + { + "height": 0.5746666199001773, + "id": "bbox_1769415292087_1769415502446_fo2srhbm1", + "width": 0.39399997595214986, + "x": 0.14611107506646268, + "y": 0.04953702396345834 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方方移动，到达蓝色的笔的正上方后下降，抓取蓝色的笔后垂直上升，向爪夹方向的左边移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触蓝色的笔。\n为完成抓起蓝色的笔将其落入黄色盒子的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取蓝色的笔。", + "time": 0.4663573023216011 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1769415291855": { + "instances": [ + { + "height": 0.1959999840494805, + "id": "bbox_1769415291855_1769415530574_9it4zyyfi", + "width": 0.05699999652099637, + "x": 0.6201110461358004, + "y": 0.5492406881314544 + } + ], + "type": "bbox" + }, + "bbox_1769415292087": { + "instances": [ + { + "height": 0.575999953125004, + "id": "bbox_1769415292087_1769415547014_w3l540fwf", + "width": 0.38199997668457175, + "x": 0.07911107915581791, + "y": 0.04524072914707608 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方方移动，到达蓝色的笔的正上方后下降，抓取蓝色的笔后垂直上升，向爪夹方向的左边移动，直至蓝色的笔处于黄色的盒子正上方。下降爪夹将蓝色的笔放入黄色的盒子中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近蓝色的笔，并使爪夹向垂直于桌面调整，方便抓取。", + "frame": 26, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近蓝色的笔并开始调整角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与蓝色的笔的水平距离略微缩短。\n为完成抓起蓝色的笔将其落入黄色盒子的任务应当：继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，准备抓取蓝色的笔。", + "time": 0.8666666666666667 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动到蓝色的笔的正上方。", + "annotations": { + "bbox_1769415291855": { + "instances": [ + { + "height": 0.14799998795573022, + "id": "bbox_1769415291855_1769415564206_9iom3752b", + "width": 0.04499999725341812, + "x": 0.62211104601373, + "y": 0.5852406852017672 + } + ], + "type": "bbox" + }, + "bbox_1769415292087": { + "instances": [ + { + "height": 0.5733332866753512, + "id": "bbox_1769415292087_1769415574957_szssu1yks", + "width": 0.4549999722290055, + "x": 0.07811107921685308, + "y": 0.04790739559672887 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹抓取蓝色的笔后垂直上升，向爪夹方向的左边移动，直至蓝色的笔处于黄色的盒子正上方。下降爪夹将蓝色的笔放入黄色的盒子中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，并且已经移动到了蓝色的笔的正上方，方便抓取。", + "frame": 37, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于蓝色的笔的正上方，已接近蓝色的笔，因此进度提升为20%。", + "state_description": "当前爪夹张开，爪夹已经移动到黄色盒子上方。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当:继续向下抓取散热器，然后向爪夹的左方移动，直至移动到黄色盒子的正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 1.221799 + }, + { + "action_description": "爪夹下降并合拢爪夹抓取蓝色的笔。", + "annotations": { + "bbox_1769415291855": { + "instances": [ + { + "height": 0.22399998177083483, + "id": "bbox_1769415291855_1769415592157_3p80njmyw", + "width": 0.12999999206543017, + "x": 0.6211110460747652, + "y": 0.5199073571852737 + } + ], + "type": "bbox" + }, + "bbox_1769415292087": { + "instances": [ + { + "height": 0.5773332863498303, + "id": "bbox_1769415292087_1769415607910_vrejzl1pk", + "width": 0.46399997167968915, + "x": 0.08011107909478278, + "y": 0.046574062371902474 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直上升，向爪夹方向的左边移动，直至蓝色的笔处于黄色的盒子正上方。下降爪夹将蓝色的笔放入黄色的盒子中，松开爪夹。", + "error_success_analysis": "爪夹下降并合拢爪夹成功抓取到蓝色的笔。", + "frame": 56, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于蓝色的笔的正上方，已接近蓝色的笔，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度，爪夹已经抓取到蓝色的笔。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当:垂直抬起爪夹，然后向爪夹的左侧移动，直至移动到黄色盒子的正上方。", + "time": 1.8666666666666667 + }, + { + "action_description": "爪夹保持合拢，夹紧蓝色的笔向爪夹方向的左侧移动。", + "annotations": { + "bbox_1769415291855": { + "instances": [ + { + "height": 0.04133332996961832, + "id": "bbox_1769415291855_1769415622349_tzr9cjeoj", + "width": 0.029999998168945385, + "x": 0.47911105474175686, + "y": 0.19324071710280624 + } + ], + "type": "bbox" + }, + "bbox_1769415292087": { + "instances": [ + { + "height": 0.49599995963542, + "id": "bbox_1769415292087_1769415631621_1jpfoe1ds", + "width": 0.4599999719238298, + "x": 0.08411107885064215, + "y": 0.12524072263665995 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧蓝色的笔向爪夹方向的左边移动，直至蓝色的笔处于黄色的盒子正上方。下降爪夹将蓝色的笔放入黄色的盒子中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，向爪夹的左上方移动，并且在水平方向上成功靠近了黄色盒子。", + "frame": 82, + "progress": 60, + "progress_explanation": "当前爪夹已抓住蓝色的笔，并且处于黄色盒子的右后方，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，蓝色的笔与黄色盒子的水平距离缩短。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当:爪夹向爪夹方向的左方移动，直至黄色盒子的正上方。松开爪夹，蓝色的笔落入黄色盒子。", + "time": 2.7333333333333334 + }, + { + "action_description": "爪夹保持合拢，夹紧蓝色的笔移动到黄色盒子的上方。", + "annotations": { + "bbox_1769415291855": { + "instances": [ + { + "height": 0.05599999544270871, + "id": "bbox_1769415291855_1769415644837_rv6qltpf8", + "width": 0.02999999816894545, + "x": 0.18311107280816202, + "y": 0.07324072686843044 + } + ], + "type": "bbox" + }, + "bbox_1769415292087": { + "instances": [ + { + "height": 0.5719999534505246, + "id": "bbox_1769415292087_1769415656077_b0t1xczey", + "width": 0.46799997143554845, + "x": 0.07811107921685306, + "y": 0.04790739559672887 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，蓝色的笔落入黄色盒子。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了黄色盒子的正上方。", + "frame": 102, + "progress": 80, + "progress_explanation": "当前蓝色的笔已经处于黄色盒子的上方，因此进度提升为80%。", + "state_description": "当前爪夹合拢，蓝色的笔处于黄色盒子的上方。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当:松开爪夹，蓝色的笔落入黄色盒子。", + "time": 3.386599 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769415291855": { + "instances": [ + { + "height": 0.16799998632812616, + "id": "bbox_1769415291855_1769415694405_ldrd4efzm", + "width": 0.10399999365234414, + "x": 0.288111066399471, + "y": 0.22790738094829255 + } + ], + "type": "bbox" + }, + "bbox_1769415292087": { + "instances": [ + { + "height": 0.5746666199001775, + "id": "bbox_1769415292087_1769415677325_e0hklx6iy", + "width": 0.46499997161865403, + "x": 0.07911107915581791, + "y": 0.04790739559672887 + } + ], + "type": "bbox" + } + }, + "correction_plan": "蓝色的笔落入黄色盒子，所以抓起蓝色的笔将其落入黄色盒子的任务完成了。", + "error_success_analysis": "爪夹张开，蓝色的笔成功落入黄色盒子。", + "frame": 111, + "progress": 100, + "progress_explanation": "当前蓝色的笔已经位于黄色盒子，因此进度提升为100%。", + "state_description": "当前爪夹张开，蓝色的笔落入黄色盒子。已完成抓起蓝色的笔将其落入黄色盒子的任务。", + "time": 3.691408 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769415291855", + "name": "蓝色的笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769415292087", + "name": "黄色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769415292775", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769415292934", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-095034-put-blue pen-yellow-box-mix2/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-095034-put-blue pen-yellow-box-mix2/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..10dc654441b6c1d44536dd5ea20fdc2a62e66b11 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-095034-put-blue pen-yellow-box-mix2/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,558 @@ +{ + "task_description": "抓起蓝色的笔使其落入黄色盒子。\n准备移动:0%\n爪夹靠近蓝色的笔:20%\n爪夹抓取蓝色的笔:40%\n爪夹抓住蓝色的笔接近黄色盒子:60%\n爪夹将蓝色的笔放入黄色盒子:80%\n爪夹松开，蓝色的笔落入黄色盒子:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达蓝色的笔的正上方后下降，抓取蓝色的笔后垂直上升，向爪夹方向的右前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触蓝色的笔。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取蓝色的笔。", + "time": 0, + "annotations": { + "bbox_1769415792837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415792837_1769417814884_2qvcax5ax", + "x": 0.5161110524834562, + "y": 0.5433147649483427, + "width": 0.057999996459961164, + "height": 0.1999999837239597 + } + ] + }, + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769417831212_2219zgquq", + "x": 0.5371110512017181, + "y": -0.0006851907808275732, + "width": 0.3259999801025403, + "height": 0.35333330457899537 + } + ] + }, + "point_1769415796333": { + "type": "point", + "instances": [ + { + "id": "point_1769415796333_1769417848100_whrc8xt9l", + "x": 0.5981110474785737, + "y": 0.6393147571358433 + } + ] + }, + "point_1769415796517": { + "type": "point", + "instances": [ + { + "id": "point_1769415796517_1769417851572_igstuauie", + "x": 0.7441110385674414, + "y": 0.6166480923137946 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达蓝色的笔的正上方后下降，抓取蓝色的笔后垂直上升，向爪夹方向的右前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上成功接近蓝色的笔，并使爪夹向垂直于桌面调整，方便抓取。", + "frame": 16, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近蓝色的笔并开始调整角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与蓝色的笔的水平距离略微缩短。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当：继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，准备抓取蓝色的笔。", + "time": 0.5478041455700791, + "annotations": { + "point_1769415796517": { + "type": "point", + "instances": [ + { + "id": "point_1769415796517_1769417859388_q0wgo2ras", + "x": 0.616111046379941, + "y": 0.5265740233094056 + } + ] + }, + "point_1769415796333": { + "type": "point", + "instances": [ + { + "id": "point_1769415796333_1769417862628_4oszroca0", + "x": 0.48611105431451085, + "y": 0.567907353279024 + } + ] + }, + "bbox_1769415792837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415792837_1769417868348_3e9ptq6wm", + "x": 0.5161110524834562, + "y": 0.5425740220073224, + "width": 0.05199999682617209, + "height": 0.14799998795573022 + } + ] + }, + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769417875356_in3vxc1ed", + "x": 0.5371110512017181, + "y": 0.00390739917745775, + "width": 0.3249999801635754, + "height": 0.34666663845486345 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左下方移动，并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右边移动，到达蓝色的笔的正上方后下降，抓取蓝色的笔后垂直上升，向爪夹方向的右前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上成功接近蓝色的笔，并使爪夹向垂直于桌面调整，方便抓取。", + "frame": 20, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更加接近蓝色的笔并开始调整角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与蓝色的笔的水平距离进一步缩短。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当：继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，准备抓取蓝色的笔。", + "time": 0.674133, + "annotations": { + "bbox_1769415792837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415792837_1769417891420_s1b80etad", + "x": 0.5171110524224211, + "y": 0.5505740213562809, + "width": 0.06099999627685575, + "height": 0.1959999840494805 + } + ] + }, + "point_1769415796333": { + "type": "point", + "instances": [ + { + "id": "point_1769415796333_1769417895236_cn4wpf6mp", + "x": 0.39311105999078, + "y": 0.5705740197286767 + } + ] + }, + "point_1769415796517": { + "type": "point", + "instances": [ + { + "id": "point_1769415796517_1769417897884_pm8iovs06", + "x": 0.4991110535210538, + "y": 0.5039073584873569 + } + ] + }, + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769417908004_2ro9oz5ae", + "x": 0.5361110512627532, + "y": -9.260049702144393e-05, + "width": 0.3249999801635754, + "height": 0.3546666378038218 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的左下方移动到排风扇的右上方。", + "correction_plan": "爪夹向爪夹方向的右后方移动，直至到达蓝色的笔的正上方，下降爪夹抓取蓝色的笔。然后爪夹垂直上升，向爪夹方向的右前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。\n", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，在水平方向上更加靠近排风扇，位于错误物体的上方。", + "frame": 30, + "progress": 7, + "progress_explanation": "当前爪夹更加靠近排风扇，与蓝色的笔的水平距离增加，因此进度下降为7%。", + "state_description": "当前爪夹张开，爪夹位于排风扇的右上方。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当：爪夹向爪夹方向的右后方移动，直至到达蓝色的笔的正上方，下降爪夹抓取蓝色的笔。\n", + "time": 0.9964386283553601, + "annotations": { + "bbox_1769415792837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415792837_1769417915500_2qr93ja0u", + "x": 0.5391110510796477, + "y": 0.601240683899684, + "width": 0.03799999768066416, + "height": 0.14133332183159814 + } + ] + }, + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769417927484_i1z0dt29x", + "x": 0.5371110512017181, + "y": 0.0025740659526313514, + "width": 0.3249999801635754, + "height": 0.3479999716796898 + } + ] + } + } + }, + { + "action_description": "爪夹抓住排风扇向爪夹方向的右方移动。", + "correction_plan": "爪夹垂直上升，向爪夹方向的右后方移动，直至到达蓝色的笔的正上方，下降爪夹抓取蓝色的笔。然后爪夹垂直上升，向爪夹方向的右前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右方移动，推动着排风扇和蓝色的笔向右方移动，不方便抓取。", + "frame": 36, + "progress": 5, + "progress_explanation": "当前爪夹张开，爪夹位于排风扇的上方而不是蓝色的笔的上方，因此进度下降为5%。", + "state_description": "当前爪夹张开，排风扇和蓝色的笔被爪夹推动着向爪夹方向的右方移动。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当：爪夹向爪夹方向的右后方移动，直至到达蓝色的笔的正上方，下降爪夹抓取蓝色的笔。\n", + "time": 1.186133, + "annotations": { + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769417937476_t8yxffa4g", + "x": 0.5391110510796477, + "y": 0.0012407327278049537, + "width": 0.3219999803466808, + "height": 0.3506666381293426 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右方移动并略微合拢爪夹。", + "correction_plan": "爪夹垂直上升，向爪夹方向的右后方移动，直至到达蓝色的笔的正上方，下降爪夹抓取蓝色的笔。然后爪夹垂直上升，向爪夹方向的右前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右方移动，推动着排风扇和蓝色的笔向右方移动，不方便抓取蓝色的笔。", + "frame": 55, + "progress": 4, + "progress_explanation": "当前爪夹张开，爪夹位于排风扇的上方而不是蓝色的笔的上方，因此进度下降为4%。", + "state_description": "当前爪夹张开，排风扇和蓝色的笔被爪夹推动着向爪夹方向的右方移动。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当：爪夹向爪夹方向的右后方移动，直至到达蓝色的笔的正上方，合拢爪夹抓取蓝色的笔。\n", + "time": 1.849723821103836, + "annotations": { + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769417964244_g20pr83yb", + "x": 0.5371110512017181, + "y": 0.0012407327278049537, + "width": 0.32299998028564564, + "height": 0.35199997135416894 + } + ] + } + } + }, + { + "action_description": "爪夹合拢并垂直上升。", + "correction_plan": "爪夹向蓝色的笔的方向移动，直至到达蓝色的笔的正上方，合拢爪夹抓取蓝色的笔。然后爪夹垂直上升，向爪夹方向的右前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。", + "error_success_analysis": "爪夹合拢并垂直上升，抓取蓝色的笔失败。", + "frame": 86, + "progress": 2, + "progress_explanation": "当前爪夹合拢，没有抓取到蓝色的笔，因此进度下降为2%。", + "state_description": "当前爪夹合拢，并未抓取到任何物体。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当：爪夹向蓝色的笔的方向移动，直至到达蓝色的笔的正上方，合拢爪夹抓取蓝色的笔。\n\n", + "time": 2.8701473505762407, + "annotations": { + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769417981851_xue3tgqed", + "x": 0.537111051201718, + "y": 0.0025740659526313514, + "width": 0.32399998022461063, + "height": 0.35199997135416905 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。", + "correction_plan": "爪夹向爪夹方向的左后方移动，直至到达蓝色的笔的正上方，合拢爪夹抓取蓝色的笔。然后爪夹垂直上升，向爪夹方向的右前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。\n", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上远离蓝色的笔，但是开始调整爪夹角度方便抓取蓝色的笔。", + "frame": 130, + "progress": 13, + "progress_explanation": "当前爪夹在水平方向上虽然离蓝色的笔较远，但是开始调整爪夹角度方便抓取，因此进度提升为13%。", + "state_description": "当前爪夹张开，与蓝色的笔的水平距离增加。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当：爪夹向爪夹方向的左后方移动，直至到达蓝色的笔的正上方，合拢爪夹抓取蓝色的笔。\n", + "time": 4.348002117398344, + "annotations": { + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769417994652_kldchuqce", + "x": 0.5361110512627532, + "y": 0.0012407327278049537, + "width": 0.3269999800415052, + "height": 0.35333330457899537 + } + ] + }, + "bbox_1769415792837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415792837_1769418005187_9c1t1fett", + "x": 0.6371110450982027, + "y": 0.541240688782496, + "width": 0.031999998046875165, + "height": 0.17999998535156378 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右方移动。", + "correction_plan": "爪夹向爪夹方向的左后方移动，直至到达蓝色的笔的正上方，合拢爪夹抓取蓝色的笔。然后爪夹垂直上升，向爪夹方向的右前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的右方移动，水平方向上远离了蓝色的笔，不方便抓取。", + "frame": 149, + "progress": 12, + "progress_explanation": "当前爪夹在水平方向上距离蓝色的笔更远，偏离了蓝色的笔，因此进度下降为12%。", + "state_description": "当前爪夹张开，与蓝色的笔的水平距离变远。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当：爪夹向爪夹方向的左后方移动，直至到达蓝色的笔的正上方，合拢爪夹抓取蓝色的笔。\n", + "time": 4.966399, + "annotations": { + "bbox_1769415792837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415792837_1769418024675_9m5owl0fl", + "x": 0.623111045952695, + "y": 0.5199073571852737, + "width": 0.04599999719238301, + "height": 0.20266665017361252 + } + ] + }, + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769418037515_lq9yebyr6", + "x": 0.5361110512627532, + "y": 0.0012407327278049537, + "width": 0.3249999801635754, + "height": 0.3479999716796898 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧移动到蓝色的笔的上方。", + "correction_plan": "合拢爪夹抓取蓝色的笔。然后爪夹垂直上升，向爪夹方向的右前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，并且已经移动到了蓝色的笔的上方，方便抓取。", + "frame": 170, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于蓝色的笔的上方，已接近蓝色的笔，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到蓝色的笔的上方。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当：继续向下抓取蓝色的笔，然后向爪夹的右上方移动，直至黄色盒子的正上方。", + "time": 5.676312056625352, + "annotations": { + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769418057395_oi4c3wuhb", + "x": 0.5381110511406828, + "y": 0.0012407327278049537, + "width": 0.3249999801635755, + "height": 0.3533333045789954 + } + ] + }, + "bbox_1769415792837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415792837_1769418074531_u4azxqkty", + "x": 0.6281110456475191, + "y": 0.5465740216818016, + "width": 0.03999999755859394, + "height": 0.17599998567708455 + } + ] + } + } + }, + { + "action_description": "合拢爪夹抓取到蓝色的笔。", + "correction_plan": "爪夹垂直上升，向爪夹方向的右前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。", + "error_success_analysis": "合拢爪夹成功抓取到蓝色的笔。", + "frame": 206, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于蓝色的笔的上方，已接近蓝色的笔，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到蓝色的笔。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当：垂直抬起爪夹，向爪夹方向的右前边移动，直至蓝色的笔处于黄色盒子正上方。", + "time": 6.869333, + "annotations": { + "bbox_1769415792837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415792837_1769418146010_xykrze3kj", + "x": 0.6481110444268161, + "y": 0.6225740154969064, + "width": 0.013999999145507846, + "height": 0.09999999186197985 + } + ] + }, + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769418152346_bi1lb9gh5", + "x": 0.5391110510796477, + "y": 0.0025740659526313514, + "width": 0.3219999803466808, + "height": 0.34933330490451625 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧蓝色的笔垂直抬升。", + "correction_plan": "爪夹向爪夹方向的前方移动，直至蓝色的笔处于黄色盒子正上方。下降爪夹将蓝色的笔放入黄色盒子中，松开爪夹。", + "error_success_analysis": "爪夹保持合拢，向黄色盒子的方向移动并抬升，并且在水平方向上成功靠近了黄色盒子。", + "frame": 218, + "progress": 60, + "progress_explanation": "当前爪夹已抓住蓝色的笔，并且处于黄色盒子的后方，因此进度提升为60%。", + "state_description": "当前爪夹合拢，蓝色的笔被抬升至空中，蓝色的笔与黄色盒子的水平距离缩短。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当:爪夹向爪夹方向的前方移动，直至黄色盒子的正上方。松开爪夹，蓝色的笔落入黄色盒子。", + "time": 7.270399, + "annotations": { + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769418167114_7hp0xryc0", + "x": 0.5361110512627532, + "y": 0.0012407327278049537, + "width": 0.3249999801635754, + "height": 0.3506666381293426 + } + ] + }, + "bbox_1769415792837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415792837_1769418174058_74sd7z8i2", + "x": 0.7131110404595311, + "y": 0.30924070766270284, + "width": 0.08999999450683624, + "height": 0.2653333117404531 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧蓝色的笔向爪夹方向的左上方移动到黄色盒子的上方。", + "correction_plan": "松开爪夹，蓝色的笔落入黄色盒子。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了黄色盒子的正上方。", + "frame": 236, + "progress": 80, + "progress_explanation": "当前蓝色的笔已经处于黄色盒子的上方，因此进度提升为80%。", + "state_description": "当前爪夹合拢，蓝色的笔处于黄色盒子的上方。\n为完成抓起蓝色的笔使其落入黄色盒子的任务应当:松开爪夹，蓝色的笔落入黄色盒子。", + "time": 7.866666666666666, + "annotations": { + "bbox_1769415792837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415792837_1769418194393_w00zbuy4n", + "x": 0.669111043145078, + "y": 0.0012407327278049537, + "width": 0.07399999548339871, + "height": 0.21866664887152923 + } + ] + }, + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769418204570_06cbu0msb", + "x": 0.5351110513237883, + "y": 0.0012407327278049537, + "width": 0.3269999800415051, + "height": 0.35333330457899537 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "蓝色的笔落入黄色盒子，所以抓起蓝色的笔将其落入黄色盒子的任务完成了。", + "error_success_analysis": "爪夹张开，蓝色的笔成功落入黄色盒子。", + "frame": 247, + "progress": 100, + "progress_explanation": "当前蓝色的笔已经位于黄色盒子，因此进度提升为100%。", + "state_description": "当前爪夹张开，蓝色的笔落入黄色盒子。已完成抓起蓝色的笔将其落入黄色盒子的任务。", + "time": 8.226133, + "annotations": { + "bbox_1769415792837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415792837_1769418217250_x85cutf91", + "x": 0.661111043633359, + "y": 0.07857405976773603, + "width": 0.01699999896240243, + "height": 0.1933333175998277 + } + ] + }, + "bbox_1769415793060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415793060_1769418228586_oiq85twpw", + "x": 0.537111051201718, + "y": 0.0012407327278049537, + "width": 0.3249999801635755, + "height": 0.351999971354169 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769415792837", + "name": "蓝色的笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769415793060", + "name": "黄色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769415796333", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769415796517", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-100937-put-blue pen-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-100937-put-blue pen-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..32c9797884da21e09146d264b827f5db47486001 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-100937-put-blue pen-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,1013 @@ +{ + "task_description": "将粉色笔放入箱子里:\n开始移动:0%\n爪夹靠近粉色笔:20%\n爪夹抓取粉色笔:40%\n爪夹抓住粉色笔接近箱子:60%\n爪夹将粉色笔移动至箱子上:80%\n爪夹松开，粉色笔落入箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向前下方移动，直至抵达粉色笔上方。\n\n然后下降，靠近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。\n\n为完成将粉色笔放入箱子里的任务应当:向前下方移动，直至抵达粉色笔上方。\n\n然后下降，靠近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "time": 0, + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769237849374_lopwvot3c", + "x": 0.32232202148437505, + "y": 0.32836158243815106, + "width": 0.13500000000000006, + "height": 0.07199999999999994 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769237852262_bx3ykww1i", + "x": 0.441322021484375, + "y": 0.37636158243815104, + "width": 0.08700000000000001, + "height": 0.11999999999999998 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769237856174_b8udo7png", + "x": 0.088322021484375, + "y": 0.4843615824381511, + "width": 0.3700000000000001, + "height": 0.49333333333333323 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769237884046_qefuesbhj", + "x": 0.457322021484375, + "y": 0.029694915771484375 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769237887342_pfeo4ldmw", + "x": 0.5763220214843751, + "y": 0.017694915771484375 + } + ] + } + } + }, + { + "action_description": "爪夹向前下方移动。", + "correction_plan": "爪夹向下方移动，靠近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "爪夹成功向前下方移动。", + "frame": 20, + "progress": 5, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近插座。因此进度提升为10%。", + "state_description": "当前爪夹略微接近粉色笔。\n\n为完成将粉色笔放入箱子里的任务应当:爪夹向下方移动，靠近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "time": 0.6763374879188144, + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769237944366_j25ovtan6", + "x": 0.319322021484375, + "y": 0.32836158243815106, + "width": 0.13800000000000007, + "height": 0.07200000000000001 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769237946534_c2ypa22vz", + "x": 0.441322021484375, + "y": 0.37502824910481775, + "width": 0.08700000000000001, + "height": 0.11999999999999998 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769237949494_3ldio5ut1", + "x": 0.08532202148437501, + "y": 0.48302824910481773, + "width": 0.36999999999999994, + "height": 0.4946666666666666 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769237952830_2xal6i5j8", + "x": 0.389322021484375, + "y": 0.24969491577148437 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769237956238_ris0t6k5d", + "x": 0.501322021484375, + "y": 0.23636158243815106 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹向上方微微升起，然后向爪夹的右后方微微移动至粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "", + "frame": 31, + "progress": -5, + "progress_explanation": "相比于上一进度，当前爪夹靠近透明胶带。因此进度下降为-5%。", + "state_description": "当前爪夹靠近透明胶带。\n\n为完成将粉色笔放入箱子里的任务应当:爪夹向上方微微升起，然后向爪夹的右后方微微移动至粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "time": 1.0445849105992266, + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238073542_4ydkq9ppu", + "x": 0.32432202148437506, + "y": 0.328361582438151, + "width": 0.13299999999999995, + "height": 0.0706666666666667 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238076326_01imskwdw", + "x": 0.47532202148437497, + "y": 0.356361582438151, + "width": 0.10200000000000005, + "height": 0.12400000000000003 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238079166_9qoa2jjag", + "x": 0.087322021484375, + "y": 0.48302824910481773, + "width": 0.368, + "height": 0.4880000000000001 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238081318_57l3oauzg", + "x": 0.43132202148437504, + "y": 0.4150282491048177 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "correction_plan": "爪夹上升，然后爪夹向爪夹的右边移动。直至粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "爪夹成功向爪甲的左边移动。", + "frame": 43, + "progress": -10, + "progress_explanation": "相比于上一进度，当前爪夹推动透明胶带远离粉色笔。因此进度下降为10%。", + "state_description": "当前爪夹远离粉色笔。\n\n为完成将粉色笔放入箱子里的任务应当:爪夹上升，然后爪夹向爪夹的右边移动。直至粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "time": 1.4441725394652063, + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238134494_5vueilkow", + "x": 0.3213220214843751, + "y": 0.3256949157714843, + "width": 0.13699999999999993, + "height": 0.07866666666666676 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238136670_3a3415882", + "x": 0.5703220214843749, + "y": 0.3296949157714844, + "width": 0.09499999999999993, + "height": 0.10399999999999997 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238154014_7fxhg668g", + "x": 0.08732202148437498, + "y": 0.48302824910481773, + "width": 0.37, + "height": 0.48533333333333334 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238155942_mvyuio2oj", + "x": 0.542322021484375, + "y": 0.42302824910481773 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769238159013_epk3o3p1d", + "x": 0.6133220214843751, + "y": 0.37636158243815104 + } + ] + } + } + }, + { + "time": 2.0064, + "frame": 60, + "progress": 10, + "action_description": "爪夹上升。", + "state_description": "当前爪夹处于透明胶带上方。\n\n为完成将粉色笔放入箱子里的任务应当:爪夹向爪夹的右边移动。直至粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "progress_explanation": "相比于上一进度，当前爪夹已垂上升。因此进度提升为10%。", + "error_success_analysis": "爪夹成功上升。", + "correction_plan": "爪夹向爪夹的右边移动。直至粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238222117_zl7fthv58", + "x": 0.31832202148437505, + "y": 0.3256949157714844, + "width": 0.13899999999999996, + "height": 0.07733333333333334 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238224326_z50gznea4", + "x": 0.579322021484375, + "y": 0.32436158243815105, + "width": 0.08700000000000001, + "height": 0.11466666666666665 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238226790_paox4lig3", + "x": 0.086322021484375, + "y": 0.48569491577148427, + "width": 0.372, + "height": 0.4906666666666667 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238228598_sdd6v2q8f", + "x": 0.565322021484375, + "y": 0.36702824910481774 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769238231182_6k21ptbne", + "x": 0.649322021484375, + "y": 0.3390282491048177 + } + ] + } + } + }, + { + "action_description": "爪夹微微下降。", + "correction_plan": "爪夹略微上升，然后爪夹向爪夹的右边移动。直至粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "爪夹成功微微下降。", + "frame": 69, + "progress": -15, + "progress_explanation": "相比于上一进度，当前爪夹略微靠近桌面。因此进度下降为-15%。", + "state_description": "当前爪夹略微靠近桌面。\n\n为完成将粉色笔放入箱子里的任务应当:爪夹略微上升，然后爪夹向爪夹的右边移动。直至粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "time": 2.3060282095682987, + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238269574_2f12embxg", + "x": 0.322322021484375, + "y": 0.32969491577148435, + "width": 0.135, + "height": 0.07466666666666667 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238271622_7dcgvg9ag", + "x": 0.579322021484375, + "y": 0.3256949157714844, + "width": 0.08800000000000008, + "height": 0.11199999999999997 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238274253_hkd40j6ht", + "x": 0.08932202148437501, + "y": 0.4843615824381511, + "width": 0.36600000000000005, + "height": 0.4986666666666667 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238277077_j2elwf724", + "x": 0.538322021484375, + "y": 0.42836158243815103 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769238279253_3tsolh99e", + "x": 0.616322021484375, + "y": 0.3990282491048177 + } + ] + } + } + }, + { + "time": 2.6676, + "frame": 80, + "progress": -20, + "action_description": "爪夹合拢。", + "state_description": "当前爪夹合拢。\n\n为完成将粉色笔放入箱子里的任务应当:爪夹张开，然后上升。\n\n之后向爪夹的右后方移动。直至抵达粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "progress_explanation": "相比于上一进度，当前爪夹已合拢。因此进度下降为-20%。", + "error_success_analysis": "爪夹成功合拢。", + "correction_plan": "爪夹张开，然后上升。\n\n之后向爪夹的右后方移动。直至抵达粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238330318_0s7rd2pdt", + "x": 0.323322021484375, + "y": 0.32836158243815106, + "width": 0.13099999999999995, + "height": 0.07600000000000004 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238334854_wf94lnnso", + "x": 0.5833220214843751, + "y": 0.332361582438151, + "width": 0.08199999999999993, + "height": 0.1066666666666667 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238358461_blx3810qj", + "x": 0.08632202148437501, + "y": 0.4830282491048178, + "width": 0.3690000000000001, + "height": 0.5066666666666666 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238361117_biwguq4kn", + "x": 0.573322021484375, + "y": 0.4110282491048177 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769238363405_cwgpl8g4s", + "x": 0.5853220214843751, + "y": 0.40836158243815107 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹向爪夹的右后方移动。直至抵达粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "爪夹成功张开。", + "frame": 110, + "progress": 15, + "progress_explanation": "相比与上一进度，当前爪夹已打开。因此进度提升为15%。", + "state_description": "爪夹成功张开。\n\n为完成将粉色笔放入箱子里的任务应当:爪夹向爪夹的右后方移动。直至抵达粉色笔上方。\n\n然后爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "time": 3.6614921270940726, + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238403398_t3ix5gchg", + "x": 0.322322021484375, + "y": 0.3270282491048177, + "width": 0.13400000000000004, + "height": 0.07733333333333334 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238405950_y5td4y9ki", + "x": 0.579322021484375, + "y": 0.32969491577148435, + "width": 0.088, + "height": 0.10800000000000001 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238409486_sgcepf5p1", + "x": 0.089322021484375, + "y": 0.4870282491048178, + "width": 0.37, + "height": 0.492 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238411789_nqaq2beso", + "x": 0.521322021484375, + "y": 0.43636158243815104 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769238414493_qaeg5ffed", + "x": 0.604322021484375, + "y": 0.404361582438151 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右后方移动。", + "correction_plan": "爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右后方移动。", + "frame": 122, + "progress": 20, + "progress_explanation": "相比于上一进度，当前爪夹已靠近粉色笔。因此进度提升为20%。", + "state_description": "当前爪夹靠近粉色笔。\n\n为完成将粉色笔放入箱子里的任务应当:爪夹下降，贴近粉色笔。\n\n合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "time": 4.076749859052835, + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238484910_ag0viiu57", + "x": 0.32232202148437505, + "y": 0.3256949157714844, + "width": 0.13200000000000003, + "height": 0.0786666666666667 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238487061_vfe6mlzn2", + "x": 0.582322021484375, + "y": 0.3230282491048177, + "width": 0.08200000000000003, + "height": 0.11333333333333334 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238489333_jxmqsvrey", + "x": 0.08532202148437501, + "y": 0.4843615824381511, + "width": 0.37000000000000005, + "height": 0.49066666666666664 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238492485_7w6xhu8u6", + "x": 0.35832202148437503, + "y": 0.2576949157714844 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769238495213_brdwge9tr", + "x": 0.460322021484375, + "y": 0.27369491577148436 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 139, + "progress": 30, + "progress_explanation": "相比于上一进度，当前爪夹已贴近粉色笔。因此进度提升为30%。", + "state_description": "当前爪夹已贴近粉色笔。\n\n为完成将粉色笔放入箱子里的任务应当:合拢爪夹，抓取粉色笔。\n\n爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "time": 4.625203467300257, + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238535117_hbvgjp7k0", + "x": 0.32232202148437505, + "y": 0.32836158243815106, + "width": 0.13599999999999995, + "height": 0.09066666666666669 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238537293_ahuozt1y0", + "x": 0.5813220214843751, + "y": 0.324361582438151, + "width": 0.08399999999999999, + "height": 0.11200000000000004 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238539661_y9f9oky3n", + "x": 0.085322021484375, + "y": 0.48436158243815103, + "width": 0.37200000000000005, + "height": 0.492 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238542077_1qylz2kso", + "x": 0.361322021484375, + "y": 0.3990282491048177 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769238551597_oirq8fce3", + "x": 0.472322021484375, + "y": 0.36569491577148433 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 159, + "progress": 40, + "progress_explanation": "相比于上一进度，当前爪夹已合拢抓取粉色笔。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将粉色笔放入箱子里的任务应当:爪夹保持合拢，垂直上升。\n\n然后在向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "time": 5.283347797197164, + "annotations": { + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238598389_dvzjzvyvt", + "x": 0.5813220214843751, + "y": 0.3230282491048177, + "width": 0.08399999999999999, + "height": 0.11333333333333334 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238602037_nhfra8knh", + "x": 0.08932202148437499, + "y": 0.4856949157714844, + "width": 0.36500000000000005, + "height": 0.5026666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹垂直上升。", + "correction_plan": "爪夹向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "爪夹成功垂直上升。", + "frame": 178, + "progress": 50, + "progress_explanation": "相比于上一进度，当前爪夹保持合拢，抓取粉色笔处于桌面上空。因此进度提升为50%。", + "state_description": "当前爪夹保持合拢垂直于桌面上空。\n\n为完成将粉色笔放入箱子里的任务应当:爪夹向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "time": 5.917986972454897, + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238625901_lv6rq8zm7", + "x": 0.346322021484375, + "y": 0.19236158243815105, + "width": 0.029000000000000005, + "height": 0.08000000000000002 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238627718_3umrvgfjm", + "x": 0.5813220214843751, + "y": 0.32302824910481776, + "width": 0.08499999999999996, + "height": 0.11199999999999992 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238630438_riz0l346n", + "x": 0.085322021484375, + "y": 0.4870282491048178, + "width": 0.374, + "height": 0.48399999999999993 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238634821_uysh4imp3", + "x": 0.346322021484375, + "y": 0.24436158243815104 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769238637797_4d13c3nza", + "x": 0.371322021484375, + "y": 0.24702824910481772 + } + ] + } + } + }, + { + "action_description": "爪夹向前方移动。", + "correction_plan": "爪夹继续向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "爪夹成功向前方移动。", + "frame": 186, + "progress": 60, + "progress_explanation": "相比于上一进度，当前爪夹抓取粉色笔接近箱子。因此进度提升为60%。", + "state_description": "当前爪夹接近箱子。\n\n为完成将粉色笔放入箱子里的任务应当:爪夹继续向爪夹的前方移动，直至抓取粉色笔抵达箱子上方。\n\n之后爪夹下降。\n\n松开爪夹，使粉色笔落入箱子中。", + "time": 6.207883879671392, + "annotations": { + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238682006_8xhm4l69m", + "x": 0.5803220214843751, + "y": 0.3256949157714844, + "width": 0.08599999999999994, + "height": 0.11066666666666668 + } + ] + }, + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238684214_9px9680ni", + "x": 0.22132202148437496, + "y": 0.3523615824381511, + "width": 0.10500000000000002, + "height": 0.09599999999999996 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238686405_uddhco7xy", + "x": 0.086322021484375, + "y": 0.4870282491048178, + "width": 0.371, + "height": 0.48933333333333345 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238689606_cesg8sqzf", + "x": 0.228322021484375, + "y": 0.3430282491048177 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769238692022_fyqvpzz0o", + "x": 0.271322021484375, + "y": 0.35769491577148443 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "松开爪夹，使粉色笔落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的前方移动。", + "frame": 203, + "progress": 80, + "progress_explanation": "相比于上一进度，当前爪夹已抓取粉色笔到达箱子上方，因此进度提升为80%。", + "state_description": "当前爪夹已抵达箱子上方。\n\n为完成将粉色笔放入箱子里的任务应当:松开爪夹，使粉色笔落入箱子中。", + "time": 6.756337487918814, + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238731197_rj6tms0v4", + "x": 0.203322021484375, + "y": 0.4803615824381511, + "width": 0.10500000000000002, + "height": 0.052000000000000074 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238732998_rmuui4cg3", + "x": 0.5783220214843751, + "y": 0.32302824910481776, + "width": 0.0879999999999999, + "height": 0.11333333333333329 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238736654_qb5u1gy2a", + "x": 0.085322021484375, + "y": 0.4816949157714844, + "width": 0.3710000000000001, + "height": 0.48933333333333334 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238739541_dc95ki93v", + "x": 0.211322021484375, + "y": 0.4776949157714844 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769238742101_kvj8oo9sk", + "x": 0.24332202148437498, + "y": 0.48702824910481773 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹成功打开。粉色笔成功落入箱子中。", + "frame": 228, + "progress": 100, + "progress_explanation": "相比于上一进度，当前爪夹打开。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 7.6, + "annotations": { + "bbox_1769237802894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237802894_1769238779077_x54yvavhs", + "x": 0.303322021484375, + "y": 0.6390282491048177, + "width": 0.11200000000000002, + "height": 0.1853333333333334 + } + ] + }, + "bbox_1769237803222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237803222_1769238780821_l3ifds2by", + "x": 0.5803220214843751, + "y": 0.32436158243815105, + "width": 0.08500000000000005, + "height": 0.11333333333333337 + } + ] + }, + "bbox_1769237807478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237807478_1769238783757_2g8ignp1e", + "x": 0.087322021484375, + "y": 0.48436158243815103, + "width": 0.369, + "height": 0.5026666666666667 + } + ] + }, + "point_1769237803902": { + "type": "point", + "instances": [ + { + "id": "point_1769237803902_1769238785605_1hsrclrly", + "x": 0.145322021484375, + "y": 0.48702824910481773 + } + ] + }, + "point_1769237804046": { + "type": "point", + "instances": [ + { + "id": "point_1769237804046_1769238787525_89mxw29pp", + "x": 0.289322021484375, + "y": 0.5256949157714844 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769237802894", + "name": "粉色笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769237803222", + "name": "透明胶带", + "color": "#FF9800" + }, + { + "id": "bbox_1769237807478", + "name": "箱子", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1769237803902", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769237804046", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-102823-put-connecting block-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-102823-put-connecting block-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..1674936ac9bae00b8bb881d5724e1a2299cfbf8e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-102823-put-connecting block-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,334 @@ +{ + "task_description": "将插座放入黄色箱子中:\n开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近箱子:60%\n爪夹将插座移动至箱子上:80%\n爪夹松开，插座落入箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768961441435": { + "instances": [ + { + "height": 0.15466666666666676, + "id": "bbox_1768961441435_1768961460635_g2b1jm22m", + "width": 0.08000000000000007, + "x": 0.564322021484375, + "y": 0.4414237263997396 + } + ], + "type": "bbox" + }, + "bbox_1768961441619": { + "instances": [ + { + "height": 0.47333333333333333, + "id": "bbox_1768961441619_1768961464083_3u4w8aqpy", + "width": 0.348, + "x": 0.175322021484375, + "y": 0.4374237263997396 + } + ], + "type": "bbox" + }, + "point_1768961442379": { + "instances": [ + { + "id": "point_1768961442379_1768961467443_8lgx0ytav", + "x": 0.667322021484375, + "y": 0.5547570597330729 + } + ], + "type": "point" + }, + "point_1768961442555": { + "instances": [ + { + "id": "point_1768961442555_1768961470099_t58gofu1p", + "x": 0.8413220214843751, + "y": 0.546757059733073 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向前下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。\n\n为完成将插座放入黄色箱子中的任务应当:爪夹向前下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 0 + }, + { + "action_description": "爪夹向当前爪夹方向的前下方移动。", + "annotations": { + "bbox_1768961441435": { + "instances": [ + { + "height": 0.11866666666666668, + "id": "bbox_1768961441435_1768961536579_1390kcpzs", + "width": 0.07800000000000003, + "x": 0.564322021484375, + "y": 0.4400903930664063 + } + ], + "type": "bbox" + }, + "bbox_1768961441619": { + "instances": [ + { + "height": 0.47866666666666663, + "id": "bbox_1768961441619_1768961557891_hgywiuw4q", + "width": 0.34699999999999986, + "x": 0.175322021484375, + "y": 0.4347570597330729 + } + ], + "type": "bbox" + }, + "point_1768961442379": { + "instances": [ + { + "id": "point_1768961442379_1768961560531_b1avl8747", + "x": 0.6013220214843751, + "y": 0.4387570597330729 + } + ], + "type": "point" + }, + "point_1768961442555": { + "instances": [ + { + "id": "point_1768961442555_1768961563059_ob8dh5b1c", + "x": 0.740322021484375, + "y": 0.4240903930664063 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向前下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的前下方移动。", + "frame": 20, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近插座。因此进度提升为10%。", + "state_description": "当前爪夹略微接近插座。\n\n为完成将插座放入黄色箱子中的任务应当:爪夹继续向前下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 0.6770457304976945 + }, + { + "action_description": "爪夹向爪夹方向的前下方移动。", + "annotations": { + "bbox_1768961441435": { + "instances": [ + { + "height": 0.09466666666666661, + "id": "bbox_1768961441435_1768961607452_0is512d90", + "width": 0.04799999999999995, + "x": 0.5683220214843752, + "y": 0.5000903930664063 + } + ], + "type": "bbox" + }, + "bbox_1768961441619": { + "instances": [ + { + "height": 0.4786666666666667, + "id": "bbox_1768961441619_1768961610707_1rz48qs7p", + "width": 0.3470000000000001, + "x": 0.176322021484375, + "y": 0.43475705973307294 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向前下方移动。", + "frame": 42, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近插座。因此进度提升为20%。", + "state_description": "当前爪夹靠近插座。\n\n为完成将插座放入黄色箱子中的任务应当:合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 1.404193433590478 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768961441435": { + "instances": [ + { + "height": 0.05466666666666668, + "id": "bbox_1768961441435_1768961659659_ge79esrrd", + "width": 0.04400000000000004, + "x": 0.578322021484375, + "y": 0.542757059733073 + } + ], + "type": "bbox" + }, + "bbox_1768961441619": { + "instances": [ + { + "height": 0.4786666666666667, + "id": "bbox_1768961441619_1768961673036_nkhamezk4", + "width": 0.3460000000000001, + "x": 0.17632202148437498, + "y": 0.43475705973307294 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功合拢，并抓取插座。", + "frame": 55, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取插座。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将插座放入黄色箱子中的任务应当:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 1.846805078951303 + }, + { + "action_description": "爪夹垂直上升。", + "annotations": { + "bbox_1768961441435": { + "instances": [ + { + "height": 0.16933333333333334, + "id": "bbox_1768961441435_1768961700603_coqhqbf0r", + "width": 0.041999999999999996, + "x": 0.615322021484375, + "y": 0.33209039306640625 + } + ], + "type": "bbox" + }, + "bbox_1768961441619": { + "instances": [ + { + "height": 0.476, + "id": "bbox_1768961441619_1768961710291_j8z112taj", + "width": 0.3459999999999999, + "x": 0.175322021484375, + "y": 0.43609039306640623 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功抓取插座并上升。", + "frame": 70, + "progress": 50, + "progress_explanation": "相比上一进度，当前爪夹已抓取插座并上升。因此进度提升为50%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n\n为完成将插座放入黄色箱子中的任务应当:爪夹向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 2.328935621219344 + }, + { + "action_description": "爪夹向当前爪夹方向的左边移动。", + "annotations": { + "bbox_1768961441435": { + "instances": [ + { + "height": 0.1586666666666668, + "id": "bbox_1768961441435_1768961755651_r0wqcdmf3", + "width": 0.08200000000000003, + "x": 0.452322021484375, + "y": 0.33609039306640626 + } + ], + "type": "bbox" + }, + "bbox_1768961441619": { + "instances": [ + { + "height": 0.47600000000000015, + "id": "bbox_1768961441619_1768961759300_qo82ku03p", + "width": 0.34800000000000003, + "x": 0.174322021484375, + "y": 0.4387570597330729 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 78, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹抓取插座已接近箱子。因此进度提升为60%。", + "state_description": "当前爪夹接近箱子。\n\n为完成将插座放入黄色箱子中的任务应当:爪夹继续向当前爪夹方向的左边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 2.589760340806973 + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "annotations": { + "bbox_1768961441619": { + "instances": [ + { + "height": 0.4773333333333334, + "id": "bbox_1768961441619_1768961814467_de49yc7bg", + "width": 0.33599999999999997, + "x": 0.174322021484375, + "y": 0.43609039306640623 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 88, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取插座抵达箱子正上方。因此进度提升为80%。", + "state_description": "当前爪夹处于箱子正上方。\n\n为完成将插座放入黄色箱子中的任务应当:松开爪夹，使插座落入箱子中。", + "time": 2.9291494292151268 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1768961441619": { + "instances": [ + { + "height": 0.4813333333333334, + "id": "bbox_1768961441619_1768961837796_6qv2rdq15", + "width": 0.3380000000000001, + "x": 0.175322021484375, + "y": 0.4334237263997396 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。", + "frame": 105, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，插座已落入箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 3.4947430799822308 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768961441435", + "name": "插座" + }, + { + "color": "#FF9800", + "id": "bbox_1768961441619", + "name": "箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768961442379", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768961442555", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-102823-put-connecting block-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-102823-put-connecting block-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..25dd63e4b5d3e622bd58aa9039685d531816bbfa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-102823-put-connecting block-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,378 @@ +{ + "task_description": "将插座放入黄色箱子中:\n开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近箱子:60%\n爪夹将插座移动至箱子上:80%\n爪夹松开，插座落入箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768964756950": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1768964756950_1768964782054_c501t2hm4", + "width": 0.11799999999999997, + "x": 0.480322021484375, + "y": 0.42675705973307293 + } + ], + "type": "bbox" + }, + "bbox_1768964757134": { + "instances": [ + { + "height": 0.276, + "id": "bbox_1768964757134_1768964785559_mtkxp8c8p", + "width": 0.30700000000000005, + "x": 0.338322021484375, + "y": -0.0012429402669270882 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。\n\n为完成将插座放入黄色箱子中的任务应当:爪夹向左下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 0 + }, + { + "action_description": "爪夹向当前爪夹方向的左下方移动。", + "annotations": { + "bbox_1768964756950": { + "instances": [ + { + "height": 0.13466666666666663, + "id": "bbox_1768964756950_1768964849054_2ugyc56wo", + "width": 0.11699999999999999, + "x": 0.48132202148437503, + "y": 0.42675705973307293 + } + ], + "type": "bbox" + }, + "bbox_1768964757134": { + "instances": [ + { + "height": 0.27599999999999997, + "id": "bbox_1768964757134_1768964846341_x1s61369b", + "width": 0.30600000000000005, + "x": 0.3403220214843749, + "y": 9.03930664062728e-05 + } + ], + "type": "bbox" + }, + "point_1768964757846": { + "instances": [ + { + "id": "point_1768964757846_1768964837230_8hncbxi7c", + "x": 0.546322021484375, + "y": 0.2374237263997396 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向左下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的左下方移动。", + "frame": 25, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近插座。因此进度提升为10%。", + "state_description": "当前爪夹略微接近插座。\n\n为完成将插座放入黄色箱子中的任务应当:爪夹继续向左下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 0.8257440780799472 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动。", + "annotations": { + "bbox_1768964756950": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1768964756950_1768964899870_wowthfzng", + "width": 0.11499999999999995, + "x": 0.48132202148437503, + "y": 0.4280903930664062 + } + ], + "type": "bbox" + }, + "bbox_1768964757134": { + "instances": [ + { + "height": 0.24133333333333337, + "id": "bbox_1768964757134_1768964903558_r6lyzxlys", + "width": 0.30799999999999994, + "x": 0.34032202148437507, + "y": 0.0014237263997395832 + } + ], + "type": "bbox" + }, + "point_1768964757846": { + "instances": [ + { + "id": "point_1768964757846_1768964893630_mm737jrtp", + "x": 0.521322021484375, + "y": 0.5360903930664063 + } + ], + "type": "point" + }, + "point_1768964758038": { + "instances": [ + { + "id": "point_1768964758038_1768964895958_inm2r4zd9", + "x": 0.561322021484375, + "y": 0.4467570597330729 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向左下方移动。", + "frame": 44, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近插座。因此进度提升为20%。", + "state_description": "当前爪夹靠近插座。\n\n为完成将插座放入黄色箱子中的任务应当:合拢爪夹，抓取插座。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 1.4704176657088133 + }, + { + "action_description": "合拢爪夹。", + "annotations": { + "bbox_1768964756950": { + "instances": [ + { + "height": 0.116, + "id": "bbox_1768964756950_1768964931534_jhetlncwl", + "width": 0.12300000000000014, + "x": 0.47932202148437497, + "y": 0.44409039306640624 + } + ], + "type": "bbox" + }, + "bbox_1768964757134": { + "instances": [ + { + "height": 0.24399999999999994, + "id": "bbox_1768964757134_1768964935694_1iq11h5za", + "width": 0.30600000000000005, + "x": 0.341322021484375, + "y": 0.002757059733072914 + } + ], + "type": "bbox" + }, + "point_1768964757846": { + "instances": [ + { + "id": "point_1768964757846_1768964939854_4kpbvlbjr", + "x": 0.523322021484375, + "y": 0.5280903930664063 + } + ], + "type": "point" + }, + "point_1768964758038": { + "instances": [ + { + "id": "point_1768964758038_1768964952566_ut76jbwah", + "x": 0.555322021484375, + "y": 0.4494237263997396 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功合拢，并抓取插座。", + "frame": 57, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取插座。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将插座放入黄色箱子中的任务应当:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 1.8848506863273697 + }, + { + "action_description": "爪夹垂直上升。", + "annotations": { + "bbox_1768964756950": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1768964756950_1768964994038_2mdvjqbv4", + "width": 0.121, + "x": 0.45032202148437506, + "y": 0.16809039306640627 + } + ], + "type": "bbox" + }, + "bbox_1768964757134": { + "instances": [ + { + "height": 0.22933333333333333, + "id": "bbox_1768964757134_1768965035022_ukgk6q5r2", + "width": 0.28200000000000003, + "x": 0.340322021484375, + "y": -0.0012429402669270834 + } + ], + "type": "bbox" + }, + "point_1768964757846": { + "instances": [ + { + "id": "point_1768964757846_1768965054286_qfrmx3s9g", + "x": 0.502322021484375, + "y": 0.2747570597330729 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功抓取插座并上升。", + "frame": 74, + "progress": 50, + "progress_explanation": "相比上一进度，当前爪夹已抓取插座并上升。因此进度提升为50%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n\n为完成将插座放入黄色箱子中的任务应当:爪夹向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 2.4650569151933497 + }, + { + "action_description": "爪夹向当前爪夹方向的右前边移动。", + "annotations": { + "bbox_1768964757134": { + "instances": [ + { + "height": 0.272, + "id": "bbox_1768964757134_1768965092678_u7f7gfnj9", + "width": 0.30500000000000005, + "x": 0.341322021484375, + "y": 0.0027570597330729167 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右前边移动。", + "frame": 82, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹抓取插座已接近箱子。因此进度提升为60%。", + "state_description": "当前爪夹接近箱子。\n\n为完成将插座放入黄色箱子中的任务应当:爪夹继续向当前爪夹方向的右前边移动，直至抵达箱子正上方。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 2.7183215389046893 + }, + { + "action_description": "爪夹向爪夹的右边移动。", + "annotations": { + "bbox_1768964757134": { + "instances": [ + { + "height": 0.27466666666666667, + "id": "bbox_1768964757134_1768965122894_5b9fu2dpd", + "width": 0.30500000000000005, + "x": 0.341322021484375, + "y": 0.0027570597330729167 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降。\n\n之后松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右边移动。", + "frame": 89, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取插座抵达箱子正上方。因此进度提升为80%。", + "state_description": "当前爪夹处于箱子正上方。\n\n为完成将插座放入黄色箱子中的任务应当:爪夹垂直下降。\n\n之后松开爪夹，使插座落入箱子中。", + "time": 2.980795785296442 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1768964756950": { + "instances": [ + { + "height": 0.04133333333333333, + "id": "bbox_1768964756950_1768965149462_eqwfjytx9", + "width": 0.06499999999999995, + "x": 0.476322021484375, + "y": -0.0012429402669270834 + } + ], + "type": "bbox" + }, + "bbox_1768964757134": { + "instances": [ + { + "height": 0.2786666666666667, + "id": "bbox_1768964757134_1768965160246_0c64g94lv", + "width": 0.30800000000000005, + "x": 0.34032202148437507, + "y": -0.0012429402669270882 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 113, + "progress": 90, + "progress_explanation": "相比上一进度，当前爪夹已贴近箱子。因此进度提升为90%。", + "state_description": "当前爪夹贴近箱子。\n\n为完成将插座放入黄色箱子中的任务应当:松开爪夹，使插座落入箱子中。", + "time": 3.7544040904510814 + }, + { + "action_description": "松开爪夹。", + "annotations": { + "bbox_1768964757134": { + "instances": [ + { + "height": 0.2773333333333334, + "id": "bbox_1768964757134_1768965192126_f9f03pep1", + "width": 0.30600000000000005, + "x": 0.34132202148437496, + "y": -0.0012429402669270867 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。", + "frame": 134, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，插座已落入箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 4.458940225502628 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768964756950", + "name": "插座" + }, + { + "color": "#FF9800", + "id": "bbox_1768964757134", + "name": "箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768964757846", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768964758038", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-103531-put-connecting block-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-103531-put-connecting block-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..516d6243d54bc3c46455da44a9a741be27b2b47f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-103531-put-connecting block-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,863 @@ +{ + "task_description": "将插座放入箱子中:\n开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近箱子:60%\n爪夹将插座移动至箱子上:80%\n爪夹松开，插座落入箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向爪夹的左下方移动。靠近插座。\n\n然后爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。\n\n为完成将插座放入箱子中的任务应当:爪夹向爪夹的左下方移动。靠近插座。\n\n然后爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 0, + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769156707942_a3rkb4ilj", + "x": 0.544322021484375, + "y": 0.2821920979817708, + "width": 0.10400000000000001, + "height": 0.08133333333333331 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769156721374_xm1b7se44", + "x": 0.47232202148437497, + "y": 0.3661920979817708, + "width": 0.11100000000000013, + "height": 0.11600000000000008 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769156736854_nx302ll9p", + "x": 0.003322021484375001, + "y": 0.032858764648437504, + "width": 0.41200000000000003, + "height": 0.44666666666666655 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左下方移动。", + "correction_plan": "爪夹向爪夹的左下方移动。靠近插座。\n\n然后爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的左下方移动。", + "frame": 36, + "progress": 5, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近插座。因此进度提升为5%。", + "state_description": "当前爪夹略微接近插座。\n\n为完成将插座放入箱子中的任务应当:爪夹继续向爪夹的左下方移动。靠近插座。\n\n然后爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 1.196936190492862, + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769156760278_5ktyu84o1", + "x": 0.543322021484375, + "y": 0.28352543131510427, + "width": 0.10700000000000012, + "height": 0.08133333333333331 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769156762798_cdel159hl", + "x": 0.4753220214843751, + "y": 0.3675254313151042, + "width": 0.1049999999999999, + "height": 0.11199999999999997 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769156767614_v0sgz9zlf", + "x": 0.003322021484375018, + "y": 0.03552543131510417, + "width": 0.42000000000000004, + "height": 0.44133333333333336 + } + ] + }, + "point_1769156671246": { + "type": "point", + "instances": [ + { + "id": "point_1769156671246_1769156778262_uxtuzftuf", + "x": 0.559322021484375, + "y": 0.1294237263997396 + } + ] + }, + "point_1769156671414": { + "type": "point", + "instances": [ + { + "id": "point_1769156671414_1769156780454_p5ctq2mjd", + "x": 0.638322021484375, + "y": 0.09475705973307291 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左下方移动。", + "correction_plan": "爪夹略微上升，然后向爪夹的右边移动。\n\n直至插座上方。\n\n然后下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向左下方移动。", + "frame": 47, + "progress": -5, + "progress_explanation": "相比上一进度，当前爪夹已靠近胶带。因此进度提升为-5%。", + "state_description": "当前爪夹靠近胶带。\n\n为完成将插座放入箱子中的任务应当:爪夹略微上升，然后向爪夹的右边移动。\n\n直至插座上方。\n\n然后下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 1.5522626348227588, + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769156860646_1a2tu2qzf", + "x": 0.580322021484375, + "y": 0.28809039306640627, + "width": 0.06900000000000003, + "height": 0.07733333333333328 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769156863230_l6t1g9bf9", + "x": 0.472322021484375, + "y": 0.3640903930664063, + "width": 0.11700000000000008, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769156866919_wkct5qxm5", + "x": 0.003322021484375032, + "y": 0.0320903930664062, + "width": 0.41600000000000004, + "height": 0.4453333333333333 + } + ] + }, + "point_1769156671246": { + "type": "point", + "instances": [ + { + "id": "point_1769156671246_1769156869486_2caghhxnx", + "x": 0.47832202148437497, + "y": 0.4814237263997396 + } + ] + }, + "point_1769156671414": { + "type": "point", + "instances": [ + { + "id": "point_1769156671414_1769156872222_gh7dltkec", + "x": 0.531322021484375, + "y": 0.4174237263997396 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右边移动。", + "correction_plan": "略微上升爪夹，然后向爪夹的右边移动。\n\n直至插座上方。\n\n然后下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右边移动。", + "frame": 61, + "progress": 10, + "progress_explanation": "相比上一代进度，当前爪夹略微靠近插座。因此进度提升为10%。", + "state_description": "当前爪夹因为之原因带着胶带也向右边移动。\n\n为完成将插座放入箱子中的任务应当:略微上升爪夹，然后向爪夹的右边移动。\n\n直至插座上方。\n\n然后下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 2.036111410080491, + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769156925782_7sg075eue", + "x": 0.559322021484375, + "y": 0.2614237263997396, + "width": 0.07000000000000002, + "height": 0.04799999999999995 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769156929390_e61e62dz5", + "x": 0.579322021484375, + "y": 0.3040903930664063, + "width": 0.09800000000000005, + "height": 0.10799999999999994 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769156933575_jb225lp0y", + "x": 0.00232202148437497, + "y": 0.03209039306640625, + "width": 0.41500000000000004, + "height": 0.4453333333333333 + } + ] + }, + "point_1769156671246": { + "type": "point", + "instances": [ + { + "id": "point_1769156671246_1769156936622_0keu7wzt3", + "x": 0.5703220214843749, + "y": 0.3814237263997396 + } + ] + }, + "point_1769156671414": { + "type": "point", + "instances": [ + { + "id": "point_1769156671414_1769156938527_8cln50wk6", + "x": 0.628322021484375, + "y": 0.33209039306640625 + } + ] + } + } + }, + { + "action_description": "爪夹略微上升。", + "correction_plan": "爪夹向爪夹的右边移动。\n\n直至插座上方。\n\n然后下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功略微上升。", + "frame": 77, + "progress": 15, + "progress_explanation": "相比上一进度，当前爪夹略微升起。因此进度提升为15%。", + "state_description": "当前爪夹略微升起。\n\n为完成将插座放入箱子中的任务应当:爪夹向爪夹的右边移动。\n\n直至插座上方。\n\n然后下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 2.5804412822454394, + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769156985247_wc44e1fvd", + "x": 0.553322021484375, + "y": 0.26009039306640624, + "width": 0.10599999999999996, + "height": 0.07200000000000001 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769156988671_loq92fqjw", + "x": 0.594322021484375, + "y": 0.3067570597330729, + "width": 0.10200000000000005, + "height": 0.10000000000000006 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769156992207_okmj1o0oc", + "x": 0.0033220214843749677, + "y": 0.033423726399739576, + "width": 0.41900000000000015, + "height": 0.444 + } + ] + }, + "point_1769156671246": { + "type": "point", + "instances": [ + { + "id": "point_1769156671246_1769156995335_pj88yplc8", + "x": 0.5883220214843751, + "y": 0.3000903930664062 + } + ] + }, + "point_1769156671414": { + "type": "point", + "instances": [ + { + "id": "point_1769156671414_1769156998094_kilm53k8h", + "x": 0.653322021484375, + "y": 0.2747570597330729 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹继续向爪夹的右边移动。\n\n直至插座上方。\n\n然后下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 95, + "progress": -10, + "progress_explanation": "相比于上一进度，当前爪夹已合拢。因此进度下降为-10%", + "state_description": "当前爪夹合拢。\n\n为完成将插座放入箱子中的任务应当:爪夹继续向爪夹的右边移动。\n\n直至插座上方。\n\n然后下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 3.162571839977397, + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769157035023_k6kmdwv80", + "x": 0.555322021484375, + "y": 0.26009039306640624, + "width": 0.09399999999999994, + "height": 0.07066666666666672 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769157037175_3r3shoduj", + "x": 0.5953220214843751, + "y": 0.3054237263997396, + "width": 0.1009999999999999, + "height": 0.10133333333333336 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769157040687_5bg56mbud", + "x": 0.0033220214843750163, + "y": 0.036090393066406254, + "width": 0.4149999999999999, + "height": 0.44266666666666654 + } + ] + }, + "point_1769156671246": { + "type": "point", + "instances": [ + { + "id": "point_1769156671246_1769157043399_79uuknhtw", + "x": 0.615322021484375, + "y": 0.3134237263997396 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹继续向爪夹方向的右前边移动。\n\n直至插座上方。\n\n然后下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功张开。", + "frame": 121, + "progress": 18, + "progress_explanation": "相比上一进度，爪夹已松开。因此进度提升为18%。", + "state_description": "当前爪夹松开。\n\n为完成将插座放入箱子中的任务应当:爪夹继续向爪夹方向的右前边移动。\n\n直至插座上方。\n\n然后下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 4.0319876080186345, + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769157091975_z8zybe225", + "x": 0.555322021484375, + "y": 0.2614237263997396, + "width": 0.11299999999999999, + "height": 0.07066666666666667 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769157094703_mz40w96ba", + "x": 0.596322021484375, + "y": 0.3054237263997396, + "width": 0.09900000000000002, + "height": 0.10133333333333336 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769157097895_96mrwwwzs", + "x": 0.0033220214843749816, + "y": 0.03342372639973953, + "width": 0.413, + "height": 0.44266666666666665 + } + ] + }, + "point_1769156671246": { + "type": "point", + "instances": [ + { + "id": "point_1769156671246_1769157101079_1lmtml7ka", + "x": 0.587322021484375, + "y": 0.31075705973307294 + } + ] + }, + "point_1769156671414": { + "type": "point", + "instances": [ + { + "id": "point_1769156671414_1769157104223_ytkx55rj7", + "x": 0.655322021484375, + "y": 0.28409039306640627 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动。", + "correction_plan": "下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右前方移动。", + "frame": 135, + "progress": 20, + "progress_explanation": "相比上一进度。当前爪夹已靠近插座。因此进度提升为20%。", + "state_description": "当前爪夹靠近插座。\n\n为完成将插座放入箱子中的任务应当:下降爪夹。\n\n爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 4.508276246162965, + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769157146151_fdsqtefq0", + "x": 0.5543220214843749, + "y": 0.2627570597330729, + "width": 0.10400000000000009, + "height": 0.068 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769157148239_83dj8nb7k", + "x": 0.595322021484375, + "y": 0.30809039306640623, + "width": 0.10099999999999998, + "height": 0.09866666666666664 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769157156791_021x9mv0e", + "x": 0.004322021484375013, + "y": 0.033423726399739576, + "width": 0.4130000000000001, + "height": 0.444 + } + ] + }, + "point_1769156671246": { + "type": "point", + "instances": [ + { + "id": "point_1769156671246_1769157166503_v2bf96o0h", + "x": 0.579322021484375, + "y": 0.28809039306640627 + } + ] + }, + "point_1769156671414": { + "type": "point", + "instances": [ + { + "id": "point_1769156671414_1769157168751_nypl53nhi", + "x": 0.6253220214843751, + "y": 0.22275705973307292 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功下降。", + "frame": 152, + "progress": 30, + "progress_explanation": "相比上一进度，当前爪夹贴近插座。因此进度提升为30%。", + "state_description": "当前爪夹下降。\n\n为完成将插座放入箱子中的任务应当:爪夹合拢。抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 5.067726392554717, + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769157205967_3hq6nygbv", + "x": 0.555322021484375, + "y": 0.2614237263997396, + "width": 0.1129999999999999, + "height": 0.0693333333333333 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769157208143_uelow7qc1", + "x": 0.5963220214843751, + "y": 0.30542372639973964, + "width": 0.10099999999999998, + "height": 0.10266666666666661 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769157212095_o8fxrbyhc", + "x": 0.0053220214843749825, + "y": 0.03342372639973961, + "width": 0.4130000000000001, + "height": 0.444 + } + ] + }, + "point_1769156671246": { + "type": "point", + "instances": [ + { + "id": "point_1769156671246_1769157216551_o9brjaoiy", + "x": 0.574322021484375, + "y": 0.33609039306640626 + } + ] + }, + "point_1769156671414": { + "type": "point", + "instances": [ + { + "id": "point_1769156671414_1769157223759_uv3z42td6", + "x": 0.608322021484375, + "y": 0.2534237263997396 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 166, + "progress": 40, + "progress_explanation": "相比于上一进度，当前爪夹已合拢，抓取插座。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将插座放入箱子中的任务应当:爪夹保持合拢，垂直上升。\n\n然后爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 5.528894756472242, + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769157260887_tge7jerip", + "x": 0.561322021484375, + "y": 0.26409039306640625, + "width": 0.10400000000000001, + "height": 0.07866666666666668 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769157263287_4jeuhwwel", + "x": 0.602322021484375, + "y": 0.3307570597330729, + "width": 0.10199999999999995, + "height": 0.10133333333333343 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769157266911_dvyqbtfhm", + "x": 0.005322021484375017, + "y": 0.03609039306640629, + "width": 0.41400000000000003, + "height": 0.4413333333333333 + } + ] + }, + "point_1769156671246": { + "type": "point", + "instances": [ + { + "id": "point_1769156671246_1769157270271_boqhm5d80", + "x": 0.574322021484375, + "y": 0.33342372639973955 + } + ] + }, + "point_1769156671414": { + "type": "point", + "instances": [ + { + "id": "point_1769156671414_1769157273087_n6oollzeb", + "x": 0.603322021484375, + "y": 0.2667570597330729 + } + ] + } + } + }, + { + "action_description": "爪夹上升。", + "correction_plan": "爪夹向爪夹方向的左前方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功上升。", + "frame": 176, + "progress": 50, + "progress_explanation": "相比于上一进度，当前爪夹抓取插座略微靠近箱子。因此进度提升为50%。", + "state_description": "当前爪夹保持合拢。\n\n为完成将插座放入箱子中的任务应当:爪夹向爪夹方向的前左方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 5.861540789461934, + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769157312479_kt69rmho2", + "x": 0.550322021484375, + "y": 0.08542372639973958, + "width": 0.10199999999999995, + "height": 0.128 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769157315103_sefl49i5a", + "x": 0.602322021484375, + "y": 0.32675705973307295, + "width": 0.10300000000000002, + "height": 0.10800000000000001 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769157317552_9o8v2cq0l", + "x": 0.0023220214843750033, + "y": 0.032090393066406264, + "width": 0.41600000000000004, + "height": 0.4453333333333333 + } + ] + }, + "point_1769156671246": { + "type": "point", + "instances": [ + { + "id": "point_1769156671246_1769157323487_7g2d2sii7", + "x": 0.560322021484375, + "y": 0.14942372639973958 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左前方移动。", + "correction_plan": "爪夹继续向爪夹方向的左前方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "error_success_analysis": "爪夹成功向左前方移动。", + "frame": 185, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹抓取插座靠近箱子。因此进度提升为60%。", + "state_description": "当前爪夹靠近箱子。\n\n为完成将插座放入箱子中的任务应当:爪夹继续向爪夹方向的左前方移动。直至抵达箱子上方。\n\n松开爪夹，使插座落入箱子中。", + "time": 6.163946273998016, + "annotations": { + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769157363679_f1ecgj0ic", + "x": 0.602322021484375, + "y": 0.3294237263997396, + "width": 0.09900000000000002, + "height": 0.10666666666666665 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769157366735_mnamhphx6", + "x": 0.004322021484374996, + "y": 0.032090393066406216, + "width": 0.4160000000000001, + "height": 0.44266666666666665 + } + ] + } + } + }, + { + "time": 6.658666, + "frame": 200, + "progress": 80, + "action_description": "爪夹向爪夹方向的左前方移动。", + "state_description": "当前爪夹处于箱子上方。\n\n为完成将插座放入箱子中的任务应当:松开爪夹，使插座落入箱子中。", + "progress_explanation": "相比上一进度，当前爪夹已抓取插座处于箱子上方。因此进度提升为80%。", + "error_success_analysis": "爪夹成功向爪夹的左前方移动。", + "correction_plan": "松开爪夹，使插座落入箱子中。", + "annotations": { + "bbox_1769156669766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669766_1769157391615_nubxq319q", + "x": 0.21932202148437502, + "y": -0.002576273600260415, + "width": 0.09700000000000002, + "height": 0.09733333333333334 + } + ] + }, + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769157394439_cgvweu8t3", + "x": 0.6013220214843751, + "y": 0.3294237263997396, + "width": 0.10400000000000001, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769157397471_wxs8ps0nz", + "x": 0.003322021484374972, + "y": 0.03342372639973956, + "width": 0.41500000000000004, + "height": 0.444 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹成功松开。", + "frame": 220, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹张开，插座落入箱子。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 7.333333, + "annotations": { + "bbox_1769156669934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156669934_1769157438575_av1pekn0t", + "x": 0.6003220214843751, + "y": 0.33075705973307296, + "width": 0.10400000000000001, + "height": 0.10266666666666661 + } + ] + }, + "bbox_1769156678190": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769156678190_1769157442039_zxqcjxrty", + "x": 0.005322021484374995, + "y": 0.03342372639973957, + "width": 0.41600000000000004, + "height": 0.44933333333333336 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769156669766", + "name": "插座", + "color": "#4CAF50" + }, + { + "id": "bbox_1769156669934", + "name": "胶带", + "color": "#FF9800" + }, + { + "id": "bbox_1769156678190", + "name": "箱子", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1769156671246", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769156671414", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-104852-put-connecting block-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-104852-put-connecting block-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..9610a1b09648892b806f3036171c574bc74d97f4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-104852-put-connecting block-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,859 @@ +{ + "task_description": "将插座放入黑色箱子中:\n开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近黑色箱子:60%\n爪夹将插座移动至黑色箱子上:80%\n爪夹松开，插座落入黑色箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向爪夹的右下边移动。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。\n\n为完成将插座放入黑色箱子中的任务应当:爪夹向爪夹的右下边移动。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "time": 0, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769161926019_7rd0nl4sz", + "x": 0.729322021484375, + "y": 0.4654237263997396, + "width": 0.10300000000000012, + "height": 0.16666666666666655 + } + ] + }, + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769161929363_o31zvleyp", + "x": 0.48432202148437503, + "y": 0.20542372639973958, + "width": 0.27799999999999986, + "height": 0.2546666666666666 + } + ] + }, + "bbox_1769161895435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161895435_1769161932531_ra3d86csy", + "x": 0.561322021484375, + "y": 0.5134237263997395, + "width": 0.12799999999999995, + "height": 0.16800000000000004 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769161935523_esqebb1nh", + "x": 0.376322021484375, + "y": 0.5200903930664063 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769161937451_5ud3snqju", + "x": 0.6173220214843751, + "y": 0.514757059733073 + } + ] + } + } + }, + { + "action_description": "当前爪夹上升。", + "correction_plan": "爪夹向爪夹的右下边移动。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "爪夹成功上升。", + "frame": 25, + "progress": 5, + "progress_explanation": "相比于上一进度，当前爪夹已上升。因此进度提升为5%。", + "state_description": "爪夹保持张开。\n\n为完成将插座放入黑色箱子中的任务应当:爪夹向爪夹的右下边移动。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "time": 0.8189176775901558, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769161980971_nipng0ota", + "x": 0.690322021484375, + "y": 0.8320903930664063, + "width": 0.046, + "height": 0.025333333333333385 + } + ] + }, + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769161990779_6xurkhr0e", + "x": 0.500322021484375, + "y": 0.4707570597330729, + "width": 0.21900000000000014, + "height": 0.23466666666666663 + } + ] + }, + "bbox_1769161895435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161895435_1769161994499_p3d13jdbu", + "x": 0.549322021484375, + "y": 0.7680903930664063, + "width": 0.09099999999999983, + "height": 0.07866666666666676 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769161996443_g33uoondw", + "x": 0.384322021484375, + "y": 0.518757059733073 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769161999011_9o8wqw6ff", + "x": 0.616322021484375, + "y": 0.506757059733073 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "爪夹应该略微抬起，然后向爪夹的右边移动。直至抵达插座上方。\n\n然后下降爪夹。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 54, + "progress": -5, + "progress_explanation": "相比上一进度，当前爪夹靠近胶带。因此进度下降为-5%。", + "state_description": "当前爪夹贴近胶带。\n\n为完成将插座放入黑色箱子中的任务应当:爪夹应该略微抬起，然后向爪夹的右边移动。直至抵达插座上方。\n\n然后下降爪夹。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "time": 1.798299081713867, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769162026275_zroym504w", + "x": 0.775322021484375, + "y": 0.3667570597330729, + "width": 0.12099999999999991, + "height": 0.2946666666666667 + } + ] + }, + "bbox_1769161895435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161895435_1769162033827_mciqxg239", + "x": 0.45832202148437506, + "y": 0.3787570597330729, + "width": 0.2679999999999999, + "height": 0.34933333333333333 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769162036427_234790q9y", + "x": 0.388322021484375, + "y": 0.5254237263997397 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769162039339_p78pyw0gp", + "x": 0.6133220214843751, + "y": 0.5027570597330729 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "correction_plan": "爪夹应该继续略微抬起，然后向爪夹的右边移动。直至抵达插座上方。\n\n然后下降爪夹。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 66, + "progress": -10, + "progress_explanation": "相比上一进度，当前爪夹拖着胶带向爪夹左边移动。因此进度下降为-10%。", + "state_description": "当前爪夹贴着桌面。\n\n为完成将插座放入黑色箱子中的任务应当:爪夹应该继续略微抬起，然后向爪夹的右边移动。直至抵达插座上方。\n\n然后下降爪夹。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "time": 2.202079134291187, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769162067395_clgw0z9pl", + "x": 0.8523220214843752, + "y": 0.5000903930664062, + "width": 0.08699999999999992, + "height": 0.18933333333333333 + } + ] + }, + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769162071987_enytui5er", + "x": 0.729322021484375, + "y": 9.039306640623949e-05, + "width": 0.26899999999999996, + "height": 0.37466666666666665 + } + ] + }, + "bbox_1769161895435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161895435_1769162074403_3sfb90om6", + "x": 0.573322021484375, + "y": 0.3547570597330729, + "width": 0.22399999999999992, + "height": 0.312 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769162076715_fqitxbvs9", + "x": 0.382322021484375, + "y": 0.518757059733073 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769162078547_p6ir8px28", + "x": 0.627322021484375, + "y": 0.5334237263997396 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹张开，然后略微抬起，然后向爪夹的右边移动。直至抵达插座上方。\n\n然后下降爪夹。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 100, + "progress": -15, + "progress_explanation": "相比于上一进度，当前爪夹合拢抓取胶带。因此进度下降为-15%。", + "state_description": "当前爪夹合拢。\n\n为完成将插座放入黑色箱子中的任务应当:爪夹张开，然后略微抬起，然后向爪夹的右边移动。直至抵达插座上方。\n\n然后下降爪夹。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "time": 3.3360997074870626, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769162118171_fksvvofze", + "x": 0.8673220214843751, + "y": 0.542757059733073, + "width": 0.08499999999999996, + "height": 0.17733333333333334 + } + ] + }, + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769162122315_n4lr4wokh", + "x": 0.8133220214843749, + "y": 0.0014237263997395832, + "width": 0.1849999999999999, + "height": 0.42 + } + ] + }, + "bbox_1769161895435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161895435_1769162124667_lks03qdmf", + "x": 0.48132202148437503, + "y": 0.3614237263997396, + "width": 0.26700000000000007, + "height": 0.32133333333333336 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769162126643_cfmbz8ae5", + "x": 0.47432202148437497, + "y": 0.510757059733073 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769162128460_u4r8myoqz", + "x": 0.523322021484375, + "y": 0.526757059733073 + } + ] + } + } + }, + { + "action_description": "爪夹上升。", + "correction_plan": "爪夹应该张开，然后向爪夹的右下方移动。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "爪夹成功上升。", + "frame": 125, + "progress": -20, + "progress_explanation": "相比上一进度，当前爪夹已抓取胶带垂直于桌面。因此进度下降为-20%。", + "state_description": "当前爪夹保持合拢。垂直于桌面上空。\n\n为完成将插座放入黑色箱子中的任务应当:爪夹应该张开，然后向爪夹的右下方移动。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "time": 4.178024072435517, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769162162771_60fqp8yff", + "x": 0.665322021484375, + "y": 0.662757059733073, + "width": 0.05899999999999998, + "height": 0.11600000000000002 + } + ] + }, + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769162166963_ufqoaypxj", + "x": 0.49332202148437504, + "y": 0.20809039306640625, + "width": 0.28200000000000014, + "height": 0.31599999999999995 + } + ] + }, + "bbox_1769161895435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161895435_1769162170907_t0sy9mopa", + "x": 0.47832202148437497, + "y": 0.3614237263997396, + "width": 0.271, + "height": 0.3173333333333333 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769162173651_qekltbj92", + "x": 0.47432202148437497, + "y": 0.5200903930664063 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769162176027_b7yfbipoc", + "x": 0.524322021484375, + "y": 0.5200903930664063 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "向爪夹的右下方移动。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "爪夹成功张开。", + "frame": 143, + "progress": 10, + "progress_explanation": "相比于上一进度，当前爪夹打开，胶带落下。因此进度提升为10%。", + "state_description": "当前爪夹打开。\n\n为完成将插座放入黑色箱子中的任务应当:爪夹向爪夹的右下方移动。靠近插座。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "time": 4.779398618827269, + "annotations": { + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769162233131_ftfr2e7ha", + "x": 0.4733220214843751, + "y": 0.16275705973307292, + "width": 0.29499999999999976, + "height": 0.3293333333333333 + } + ] + }, + "bbox_1769161895435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161895435_1769162235915_m0rp52qxn", + "x": 0.437322021484375, + "y": 0.5534237263997396, + "width": 0.11099999999999995, + "height": 0.1466666666666666 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769162238267_ywnfaql0s", + "x": 0.384322021484375, + "y": 0.5174237263997397 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769162240523_37zrfuerf", + "x": 0.619322021484375, + "y": 0.5080903930664062 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右下边移动。", + "correction_plan": "爪夹垂直下降。靠近爪夹。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "爪夹成功向右下边移动。", + "frame": 170, + "progress": 15, + "progress_explanation": "相比于上一进度，当前爪夹已处于插座上方。因此进度提升为15%。", + "state_description": "当前爪夹保持张开，处于插座上方。\n\n为完成将插座放入黑色箱子中的任务应当:爪夹垂直下降。靠近爪夹。\n\n合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "time": 5.655687243569537, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769162270715_c363g1gir", + "x": 0.468322021484375, + "y": 0.37075705973307294, + "width": 0.12700000000000006, + "height": 0.18800000000000003 + } + ] + }, + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769162273659_huuuxik3t", + "x": 0.14632202148437504, + "y": 9.039306640623579e-05, + "width": 0.36, + "height": 0.4226666666666666 + } + ] + }, + "bbox_1769161895435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161895435_1769162275803_kxq136hnz", + "x": 0.24132202148437498, + "y": 0.4920903930664063, + "width": 0.09700000000000006, + "height": 0.11733333333333332 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769162278091_lnj9rc7zz", + "x": 0.386322021484375, + "y": 0.518757059733073 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769162280187_71nb7o3no", + "x": 0.619322021484375, + "y": 0.5014237263997396 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "爪夹成功下降。", + "frame": 185, + "progress": 20, + "progress_explanation": "相比于上一进度，当前爪夹已靠近插座。因此进度提升为20%。", + "state_description": "当前爪夹靠近插座。\n\n为完成将插座放入黑色箱子中的任务应当:合拢爪夹，抓取插座。\n\n爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "time": 6.153969010579846, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769162322491_mr9bjieog", + "x": 0.407322021484375, + "y": 0.3080903930664063, + "width": 0.20800000000000002, + "height": 0.37999999999999984 + } + ] + }, + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769162327507_qiggslkm5", + "x": 0.00132202148437498, + "y": 9.039306640624135e-05, + "width": 0.304, + "height": 0.36933333333333335 + } + ] + }, + "bbox_1769161895435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161895435_1769162330212_syb14r23f", + "x": 0.054322021484375003, + "y": 0.45742372639973955, + "width": 0.12800000000000003, + "height": 0.22666666666666682 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769162332195_bd2u6s8mf", + "x": 0.383322021484375, + "y": 0.5134237263997395 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769162334123_75vgh8mzb", + "x": 0.6213220214843751, + "y": 0.5094237263997397 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹保持合拢，上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 198, + "progress": 40, + "progress_explanation": "相比于上一进度，当前爪夹合拢，抓取插座。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将插座放入黑色箱子中的任务应当:爪夹保持合拢，垂直上升。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "time": 6.6092954528478876, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769162379508_8rgxejkld", + "x": 0.40032202148437496, + "y": 0.2814237263997396, + "width": 0.19299999999999998, + "height": 0.39466666666666667 + } + ] + }, + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769162383964_5vavw8tok", + "x": 0.0013220214843749952, + "y": 0.0014237263997395704, + "width": 0.32300000000000006, + "height": 0.35866666666666663 + } + ] + }, + "bbox_1769161895435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161895435_1769162386604_3yxuy6jez", + "x": 0.062322021484375004, + "y": 0.4440903930664063, + "width": 0.131, + "height": 0.23600000000000002 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769162388819_1x9v3qciy", + "x": 0.401322021484375, + "y": 0.5320903930664063 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769162391731_pwpaag072", + "x": 0.590322021484375, + "y": 0.5320903930664063 + } + ] + } + } + }, + { + "action_description": "当前爪夹上升。", + "correction_plan": "爪夹向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "爪夹成功上升。", + "frame": 211, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹已抓取插座靠近箱子。因此进度提升为60%。", + "state_description": "当前爪夹抓取插座靠近黑色箱子。\n\n为完成将插座放入黑色箱子中的任务应当:爪夹向爪夹的前方移动。直至抵达黑色箱子上方。\n\n之后爪夹张开，插座落入黑色箱子里。", + "time": 7.030257635322115, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769162433187_kbs63gpvu", + "x": 0.399322021484375, + "y": 0.27742372639973956, + "width": 0.1949999999999999, + "height": 0.3973333333333333 + } + ] + }, + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769162437571_a6w3kkq3u", + "x": 0.228322021484375, + "y": 0.09075705973307291, + "width": 0.32199999999999995, + "height": 0.4720000000000001 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769162439939_rn90lw16a", + "x": 0.405322021484375, + "y": 0.526757059733073 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769162442163_70t0a47yi", + "x": 0.591322021484375, + "y": 0.5240903930664063 + } + ] + } + } + }, + { + "action_description": "爪夹向前方移动。", + "correction_plan": "爪夹张开，插座落入黑色箱子里。", + "error_success_analysis": "爪夹成功向前方移动。", + "frame": 227, + "progress": 80, + "progress_explanation": "相比于上一进度，当前爪夹抓取插座位于黑色插座上方。因此进度提升为80%。", + "state_description": "当前爪夹处于黑色箱子上方。\n\n为完成将插座放入黑色箱子中的任务应当:爪夹张开，插座落入黑色箱子里。", + "time": 7.580085792023145, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769162468403_dwh0h1ls4", + "x": 0.402322021484375, + "y": 0.2787570597330729, + "width": 0.19399999999999995, + "height": 0.39333333333333337 + } + ] + }, + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769162471059_cql2c1fi4", + "x": 0.387322021484375, + "y": 0.31075705973307294, + "width": 0.36500000000000005, + "height": 0.4240000000000001 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769162475059_i2atwno2a", + "x": 0.406322021484375, + "y": 0.5240903930664063 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769162476979_yjzzmk7ea", + "x": 0.590322021484375, + "y": 0.518757059733073 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。", + "frame": 250, + "progress": 100, + "progress_explanation": "相比于上一进度，当前爪夹打开。因此进度提升为100%。", + "state_description": "当前爪夹打开。", + "time": 8.333333, + "annotations": { + "bbox_1769161892971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161892971_1769162502028_5of4txd1z", + "x": 0.5203220214843751, + "y": 0.46809039306640626, + "width": 0.096, + "height": 0.13466666666666668 + } + ] + }, + "bbox_1769161893131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161893131_1769162504379_j2q0ddjhp", + "x": 0.376322021484375, + "y": 0.3120903930664063, + "width": 0.36199999999999993, + "height": 0.42933333333333334 + } + ] + }, + "point_1769161893795": { + "type": "point", + "instances": [ + { + "id": "point_1769161893795_1769162507659_x65nsbofd", + "x": 0.378322021484375, + "y": 0.5214237263997396 + } + ] + }, + "point_1769161893971": { + "type": "point", + "instances": [ + { + "id": "point_1769161893971_1769162509851_v14svtge6", + "x": 0.624322021484375, + "y": 0.5160903930664062 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769161892971", + "name": "插座", + "color": "#4CAF50" + }, + { + "id": "bbox_1769161893131", + "name": "黑色箱子", + "color": "#FF9800" + }, + { + "id": "bbox_1769161895435", + "name": "胶带", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1769161893795", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769161893971", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-110026-put-electric fan-yellow-box-good1/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-110026-put-electric fan-yellow-box-good1/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..296073a88ac3678affb43bece667d27f0bddb855 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-110026-put-electric fan-yellow-box-good1/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,332 @@ +{ + "task_description": "将风扇放入箱子中:\n开始移动:0%\n爪夹靠近风扇:20%\n爪夹抓取风扇:40%\n爪夹抓住风扇接近箱子:60%\n爪夹将风扇移动至箱子上:80%\n爪夹松开，风扇落入箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768967574792": { + "instances": [ + { + "height": 0.22, + "id": "bbox_1768967574792_1768967593960_p58zefo2f", + "width": 0.16699999999999998, + "x": 0.556322021484375, + "y": 0.27875705973307296 + } + ], + "type": "bbox" + }, + "bbox_1768967574992": { + "instances": [ + { + "height": 0.43333333333333335, + "id": "bbox_1768967574992_1768967613992_psi5i47d2", + "width": 0.402, + "x": 0.189322021484375, + "y": 0.0027570597330729345 + } + ], + "type": "bbox" + }, + "point_1768967575736": { + "instances": [ + { + "id": "point_1768967575736_1768967617464_js49mpr20", + "x": 0.6173220214843751, + "y": 0.4067570597330729 + } + ], + "type": "point" + }, + "point_1768967575928": { + "instances": [ + { + "id": "point_1768967575928_1768967619952_hl9d3y2sv", + "x": 0.798322021484375, + "y": 0.3947570597330729 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向前下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触风扇。\n\n为完成将风扇放入箱子中:爪夹向前下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "time": 0 + }, + { + "action_description": "爪夹向前下方移动。", + "annotations": { + "bbox_1768967574792": { + "instances": [ + { + "height": 0.18933333333333333, + "id": "bbox_1768967574792_1768967658688_n6p9z2yvc", + "width": 0.08099999999999988, + "x": 0.566322021484375, + "y": 0.28009039306640626 + } + ], + "type": "bbox" + }, + "bbox_1768967574992": { + "instances": [ + { + "height": 0.43733333333333335, + "id": "bbox_1768967574992_1768967674032_k7qr12zef", + "width": 0.39900000000000013, + "x": 0.19532202148437494, + "y": -0.0025762736002604165 + } + ], + "type": "bbox" + }, + "point_1768967575736": { + "instances": [ + { + "id": "point_1768967575736_1768967700153_m36ualaeu", + "x": 0.568322021484375, + "y": 0.3094237263997396 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向前下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的前下方移动。", + "frame": 24, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近风扇。因此进度提升为10%。", + "state_description": "当前爪夹略微接近风扇。\n\n为完成将风扇放入箱子中:爪夹继续向前下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "time": 0.802399 + }, + { + "action_description": "爪夹向爪夹方向的前下方移动。", + "annotations": { + "bbox_1768967574992": { + "instances": [ + { + "height": 0.436, + "id": "bbox_1768967574992_1768967719864_qh2fv1zdy", + "width": 0.3950000000000001, + "x": 0.19532202148437497, + "y": 0.0014237263997395823 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向前下方移动。", + "frame": 42, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近风扇。因此进度提升为20%。", + "state_description": "当前爪夹靠近风扇。\n\n为完成将风扇放入箱子中:合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "time": 1.412066 + }, + { + "action_description": "合拢爪夹。", + "annotations": { + "bbox_1768967574792": { + "instances": [ + { + "height": 0.1773333333333334, + "id": "bbox_1768967574792_1768967758784_vvr75rw3k", + "width": 0.06299999999999999, + "x": 0.656322021484375, + "y": 0.2960903930664062 + } + ], + "type": "bbox" + }, + "bbox_1768967574992": { + "instances": [ + { + "height": 0.436, + "id": "bbox_1768967574992_1768967748368_3ploxq9mh", + "width": 0.399, + "x": 0.191322021484375, + "y": 9.039306640624781e-05 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功合拢，并抓取风扇。", + "frame": 62, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取风扇。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将风扇放入箱子中:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "time": 2.0571819059084553 + }, + { + "action_description": "爪夹垂直上升。", + "annotations": { + "bbox_1768967574792": { + "instances": [ + { + "height": 0.2226666666666667, + "id": "bbox_1768967574792_1768967805552_8u95ct5tc", + "width": 0.06799999999999998, + "x": 0.5933220214843751, + "y": 0.09475705973307291 + } + ], + "type": "bbox" + }, + "bbox_1768967574992": { + "instances": [ + { + "height": 0.43599999999999994, + "id": "bbox_1768967574992_1768967812640_emp00wmve", + "width": 0.4010000000000001, + "x": 0.191322021484375, + "y": 0.0014237263997395832 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功抓取风扇并上升。", + "frame": 76, + "progress": 50, + "progress_explanation": "相比上一进度，当前爪夹已抓取风扇并上升。因此进度提升为50%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n\n为完成将风扇放入黄色箱子中的任务应当:爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "time": 2.5437798028156715 + }, + { + "action_description": "爪夹向当前爪夹的左边移动。", + "annotations": { + "bbox_1768967574992": { + "instances": [ + { + "height": 0.4346666666666667, + "id": "bbox_1768967574992_1768967837664_vytjq92ql", + "width": 0.40700000000000003, + "x": 0.196322021484375, + "y": 0.0027570597330729167 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 84, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹抓取风扇已接近箱子。因此进度提升为60%。", + "state_description": "当前爪夹接近箱子。\n\n为完成将风扇放入黄色箱子中的任务应当:爪夹继续向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后松开爪夹，使风扇落入箱子中。", + "time": 2.7951887162177336 + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "annotations": { + "bbox_1768967574792": { + "instances": [ + { + "height": 0.18000000000000002, + "id": "bbox_1768967574792_1768967907544_lvfyl35lx", + "width": 0.14300000000000002, + "x": 0.38232202148437505, + "y": 0.0014237263997395823 + } + ], + "type": "bbox" + }, + "bbox_1768967574992": { + "instances": [ + { + "height": 0.4093333333333333, + "id": "bbox_1768967574992_1768967887968_oxr9iti3o", + "width": 0.399, + "x": 0.191322021484375, + "y": -0.0012429402669270882 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 94, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取风扇抵达箱子正上方。因此进度提升为80%。", + "state_description": "当前爪夹处于箱子正上方。\n\n为完成将风扇放入黄色箱子中的任务应当:松开爪夹，使风扇落入箱子中。", + "time": 3.131752261578558 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1768967574992": { + "instances": [ + { + "height": 0.41333333333333333, + "id": "bbox_1768967574992_1768967932136_p45l6as3p", + "width": 0.394, + "x": 0.20932202148437495, + "y": 9.039306640627464e-05 + } + ], + "type": "bbox" + }, + "point_1768967575736": { + "instances": [ + { + "id": "point_1768967575736_1768967922072_7rttuu1wd", + "x": 0.309322021484375, + "y": 0.11609039306640626 + } + ], + "type": "point" + }, + "point_1768967575928": { + "instances": [ + { + "id": "point_1768967575928_1768967925809_8ynuk5v6l", + "x": 0.440322021484375, + "y": 0.05475705973307292 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。", + "frame": 107, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，风扇已落入箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 3.5696903687950527 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768967574792", + "name": "风扇" + }, + { + "color": "#FF9800", + "id": "bbox_1768967574992", + "name": "箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768967575736", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768967575928", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-110026-put-electric fan-yellow-box-good1/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-110026-put-electric fan-yellow-box-good1/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..d8bb3941def339c1a57af0f0143f537553d19ba1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-110026-put-electric fan-yellow-box-good1/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,374 @@ +{ + "task_description": "将风扇放入箱子中:\n开始移动:0%\n爪夹靠近风扇:20%\n爪夹抓取风扇:40%\n爪夹抓住风扇接近箱子:60%\n爪夹将风扇移动至箱子上:80%\n爪夹松开，风扇落入箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768975386847": { + "instances": [ + { + "height": 0.32533333333333336, + "id": "bbox_1768975386847_1768975420318_owcsh3m2n", + "width": 0.23500000000000004, + "x": 0.7223220214843751, + "y": 0.6440903930664063 + } + ], + "type": "bbox" + }, + "bbox_1768975387022": { + "instances": [ + { + "height": 0.7160000000000001, + "id": "bbox_1768975387022_1768975424582_p7v3dz7p0", + "width": 0.513, + "x": 0.253322021484375, + "y": 0.19742372639973957 + } + ], + "type": "bbox" + }, + "point_1768975387654": { + "instances": [ + { + "id": "point_1768975387654_1768975429942_5rqjagkkv", + "x": 0.218322021484375, + "y": 0.018757059733072914 + } + ], + "type": "point" + }, + "point_1768975387822": { + "instances": [ + { + "id": "point_1768975387822_1768975427478_psh3x4m13", + "x": 0.374322021484375, + "y": 0.013423726399739582 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触风扇。\n\n为完成将风扇放入箱子中:爪夹向右下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 0.010852058373016673 + }, + { + "action_description": "爪夹向右下方移动。", + "annotations": { + "bbox_1768975386847": { + "instances": [ + { + "height": 0.23466666666666663, + "id": "bbox_1768975386847_1768975494158_wd9el7w3q", + "width": 0.23499999999999996, + "x": 0.7183220214843751, + "y": 0.7360903930664063 + } + ], + "type": "bbox" + }, + "bbox_1768975387022": { + "instances": [ + { + "height": 0.7093333333333334, + "id": "bbox_1768975387022_1768975507350_5a80fqgsm", + "width": 0.5010000000000001, + "x": 0.267322021484375, + "y": 0.19609039306640627 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向右下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的右下方移动。", + "frame": 31, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近风扇。因此进度提升为10%。", + "state_description": "当前爪夹略微接近风扇。\n\n为完成将风扇放入箱子中:爪夹继续向右下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 1.0390306769297175 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动。", + "annotations": { + "bbox_1768975386847": { + "instances": [ + { + "height": 0.2973333333333334, + "id": "bbox_1768975386847_1768975551974_1uk4ff9rc", + "width": 0.23600000000000004, + "x": 0.7223220214843751, + "y": 0.6734237263997396 + } + ], + "type": "bbox" + }, + "bbox_1768975387022": { + "instances": [ + { + "height": 0.7200000000000001, + "id": "bbox_1768975387022_1768975546878_qbmlgv51c", + "width": 0.4780000000000001, + "x": 0.28932202148437497, + "y": 0.19475705973307292 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向右下方移动。", + "frame": 52, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近风扇。因此进度提升为20%。", + "state_description": "当前爪夹靠近风扇。\n\n为完成将风扇放入箱子中:合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 1.7400615532183774 + }, + { + "action_description": "合拢爪夹。", + "annotations": { + "bbox_1768975386847": { + "instances": [ + { + "height": 0.22000000000000008, + "id": "bbox_1768975386847_1768975592054_e3erihg97", + "width": 0.24799999999999994, + "x": 0.7463220214843751, + "y": 0.7547570597330729 + } + ], + "type": "bbox" + }, + "bbox_1768975387022": { + "instances": [ + { + "height": 0.712, + "id": "bbox_1768975387022_1768975595223_u5p5qvd4e", + "width": 0.4720000000000001, + "x": 0.295322021484375, + "y": 0.19609039306640627 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功合拢，并抓取风扇。", + "frame": 70, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取风扇。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将风扇放入箱子中:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 2.3476216460018824 + }, + { + "action_description": "爪夹垂直上升。", + "annotations": { + "bbox_1768975386847": { + "instances": [ + { + "height": 0.26, + "id": "bbox_1768975386847_1768975673927_8dth31r9i", + "width": 0.18599999999999994, + "x": 0.8143220214843749, + "y": 0.6880903930664063 + } + ], + "type": "bbox" + }, + "bbox_1768975387022": { + "instances": [ + { + "height": 0.716, + "id": "bbox_1768975387022_1768975687959_zdcpbadj9", + "width": 0.495, + "x": 0.263322021484375, + "y": 0.19609039306640627 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功抓取风扇并上升。", + "frame": 86, + "progress": 50, + "progress_explanation": "相比上一进度，当前爪夹已抓取风扇并上升。因此进度提升为50%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n\n为完成将风扇放入黄色箱子中的任务应当:爪夹向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 2.8570374161049754 + }, + { + "action_description": "爪夹向当前爪夹的左边移动。", + "annotations": { + "bbox_1768975386847": { + "instances": [ + { + "height": 0.5213333333333333, + "id": "bbox_1768975386847_1768975712014_jsbm2ycqu", + "width": 0.3280000000000001, + "x": 0.6703220214843749, + "y": 0.1387570597330729 + } + ], + "type": "bbox" + }, + "bbox_1768975387022": { + "instances": [ + { + "height": 0.7080000000000001, + "id": "bbox_1768975387022_1768975731470_48sx1ejin", + "width": 0.5069999999999999, + "x": 0.251322021484375, + "y": 0.1934237263997396 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 94, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹抓取风扇已接近箱子。因此进度提升为60%。", + "state_description": "当前爪夹接近箱子。\n\n为完成将风扇放入黄色箱子中的任务应当:爪夹继续向当前爪夹的左边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 3.1374497666204393 + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "annotations": { + "bbox_1768975386847": { + "instances": [ + { + "height": 0.32800000000000007, + "id": "bbox_1768975386847_1768975765047_12c6r91g2", + "width": 0.30700000000000005, + "x": 0.413322021484375, + "y": -0.0039096069335937365 + } + ], + "type": "bbox" + }, + "bbox_1768975387022": { + "instances": [ + { + "height": 0.7120000000000001, + "id": "bbox_1768975387022_1768975778031_qt8284loe", + "width": 0.514, + "x": 0.254322021484375, + "y": 0.19475705973307292 + } + ], + "type": "bbox" + } + }, + "correction_plan": "垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 102, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取风扇抵达箱子正上方。因此进度提升为80%。", + "state_description": "当前爪夹处于箱子正上方。\n\n为完成将风扇放入黄色箱子中的任务应当:垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 3.3851473429090992 + }, + { + "action_description": "爪夹保持合拢，垂直下降。", + "annotations": { + "bbox_1768975386847": { + "instances": [ + { + "height": 0.23866666666666678, + "id": "bbox_1768975386847_1768975797983_okcp3o175", + "width": 0.24300000000000002, + "x": 0.372322021484375, + "y": 0.25609039306640624 + } + ], + "type": "bbox" + }, + "bbox_1768975387022": { + "instances": [ + { + "height": 0.7080000000000001, + "id": "bbox_1768975387022_1768975801223_0ihvup0jr", + "width": 0.515, + "x": 0.253322021484375, + "y": 0.2027570597330729 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 113, + "progress": 90, + "progress_explanation": "相比上一进度，当前爪夹已贴近箱子。因此进度提升为90%。", + "state_description": "当前爪夹贴近箱子。\n\n为完成将风扇放入黄色箱子中的任务应当:松开爪夹，使风扇落入箱子中。", + "time": 3.759030476929718 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1768975386847": { + "instances": [ + { + "height": 0.18133333333333343, + "id": "bbox_1768975386847_1768975832559_8xuuzd6zy", + "width": 0.1959999999999999, + "x": 0.385322021484375, + "y": 0.4600903930664062 + } + ], + "type": "bbox" + }, + "bbox_1768975387022": { + "instances": [ + { + "height": 0.7120000000000001, + "id": "bbox_1768975387022_1768975835423_h6hs4hvx4", + "width": 0.5129999999999999, + "x": 0.24832202148437502, + "y": 0.20409039306640625 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。", + "frame": 136, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，风扇已落入箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 4.533333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768975386847", + "name": "风扇" + }, + { + "color": "#FF9800", + "id": "bbox_1768975387022", + "name": "箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768975387654", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768975387822", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-111458-put-electric fan-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-111458-put-electric fan-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..6bbfefe3ca4fda6541a1f45fb0c278c2a8208cb9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-111458-put-electric fan-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,1080 @@ +{ + "task_description": "将风扇放入箱子中:\n开始移动:0%\n爪夹靠近风扇:20%\n爪夹抓取风扇:40%\n爪夹抓住风扇接近箱子:60%\n爪夹将风扇移动至箱子上:80%\n爪夹松开，风扇落入箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.20000000000000012, + "id": "bbox_1769245283477_1769245307701_ex7iq2ir5", + "width": 0.15999999999999998, + "x": 0.449322021484375, + "y": 0.42924294026692705 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.44000000000000006, + "id": "bbox_1769245283613_1769245310165_ckd51iq6d", + "width": 0.29700000000000004, + "x": 0.070322021484375, + "y": 0.2505762736002604 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245327245_5aw28xmp8", + "x": 0.399322021484375, + "y": 0.013242940266927083 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245329933_j0vjwedj7", + "x": 0.529322021484375, + "y": 0.03857627360026042 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向前下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触风扇。\n\n为完成将风扇放入箱子中的任务应当:爪夹向前下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 0 + }, + { + "action_description": "爪夹向前下方移动。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.19866666666666669, + "id": "bbox_1769245283477_1769245356604_xdvkvxgm0", + "width": 0.1589999999999999, + "x": 0.45032202148437506, + "y": 0.4345762736002604 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.4426666666666668, + "id": "bbox_1769245283613_1769245353989_716sltyhr", + "width": 0.29500000000000004, + "x": 0.072322021484375, + "y": 0.2505762736002604 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245359413_09hamqt1p", + "x": 0.36632202148437504, + "y": 0.20924294026692708 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245362813_c4nael81e", + "x": 0.460322021484375, + "y": 0.2252429402669271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向前下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向前下方移动。", + "frame": 25, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近风扇。因此进度提升为10%。", + "state_description": "当前爪夹略微接近风扇。\n\n为完成将风扇放入箱子中的任务应当:爪夹继续向前下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 0.8470264146069084 + }, + { + "action_description": "爪夹向爪夹方向的前下方移动。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.21066666666666672, + "id": "bbox_1769245283477_1769245392029_cnw0zwplh", + "width": 0.16699999999999998, + "x": 0.460322021484375, + "y": 0.4705762736002604 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.43866666666666665, + "id": "bbox_1769245283613_1769245395765_2mj9adoxz", + "width": 0.295, + "x": 0.07132202148437501, + "y": 0.25324294026692706 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245398428_h0ixh6znu", + "x": 0.517322021484375, + "y": 0.4425762736002604 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245401061_9e63jkfwl", + "x": 0.614322021484375, + "y": 0.41857627360026045 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的前下方移动。", + "frame": 59, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近风扇。因此进度提升为20%。", + "state_description": "当前爪夹靠近风扇。\n\n为完成将风扇放入箱子中的任务应当:爪夹继续向下方移动，靠近风扇。\n\n合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 1.9700504434728876 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.20666666666666664, + "id": "bbox_1769245283477_1769245429493_4pwjdhx0t", + "width": 0.16499999999999995, + "x": 0.464322021484375, + "y": 0.48657627360026046 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.4413333333333334, + "id": "bbox_1769245283613_1769245432421_2onszaep5", + "width": 0.296, + "x": 0.07232202148437501, + "y": 0.2505762736002604 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245434564_tkqt55kot", + "x": 0.499322021484375, + "y": 0.5065762736002604 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245436813_1pdwag204", + "x": 0.590322021484375, + "y": 0.49057627360026046 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功下降。", + "frame": 69, + "progress": 30, + "progress_explanation": "相比上一进度，当前爪夹已贴近风扇。因此进度提升为30%。", + "state_description": "当前爪夹贴近风扇。\n\n为完成将风扇放入箱子中的任务应当:合拢爪夹，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 2.309912978524434 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.21866666666666656, + "id": "bbox_1769245283477_1769245461925_v829ob28i", + "width": 0.175, + "x": 0.449322021484375, + "y": 0.5132429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.4413333333333334, + "id": "bbox_1769245283613_1769245465053_4z7tr7dke", + "width": 0.29300000000000004, + "x": 0.072322021484375, + "y": 0.2505762736002604 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245467725_p848vs3u4", + "x": 0.535322021484375, + "y": 0.4985762736002604 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245470108_mi427abho", + "x": 0.544322021484375, + "y": 0.49990960693359376 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 93, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢，但未抓取到风扇。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将风扇放入箱子中的任务应当:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 3.0930744723388672 + }, + { + "action_description": "爪夹垂直上升。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.23066666666666677, + "id": "bbox_1769245283477_1769245497516_dd5sl3vxy", + "width": 0.17400000000000002, + "x": 0.449322021484375, + "y": 0.5052429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.4399999999999999, + "id": "bbox_1769245283613_1769245500484_xj3b95mpd", + "width": 0.29500000000000004, + "x": 0.072322021484375, + "y": 0.25190960693359377 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245502229_orb61yrob", + "x": 0.5773220214843751, + "y": 0.3292429402669271 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245504669_10u0idr1s", + "x": 0.598322021484375, + "y": 0.3279096069335938 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，然后爪夹下降，从新抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功垂直上升。", + "frame": 112, + "progress": -10, + "progress_explanation": "相比于上一进度，当前爪夹已上升，但未抓取到风扇。因此进度下降为-10%。", + "state_description": "当前爪夹处于风扇正上方。\n\n为完成将风扇放入箱子中的任务应当:爪夹张开，然后爪夹下降，从新抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 3.7432462785244347 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.22799999999999992, + "id": "bbox_1769245283477_1769245529005_ysdcvjvdu", + "width": 0.17699999999999996, + "x": 0.44732202148437505, + "y": 0.5052429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.44000000000000006, + "id": "bbox_1769245283613_1769245531133_2f1glssnd", + "width": 0.296, + "x": 0.071322021484375, + "y": 0.25324294026692706 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245532917_dv8i1umkq", + "x": 0.527322021484375, + "y": 0.3345762736002604 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245534820_8svoniboe", + "x": 0.641322021484375, + "y": 0.3279096069335938 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，从新抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功张开。", + "frame": 123, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹张开。因此进度提升10%。", + "state_description": "当前爪夹打开。\n\n为完成将风扇放入箱子中的任务应当:爪夹下降，从新抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 4.097885445534743 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.2, + "id": "bbox_1769245283477_1769245559772_s6zcowzja", + "width": 0.17599999999999988, + "x": 0.456322021484375, + "y": 0.5252429402669272 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.4386666666666668, + "id": "bbox_1769245283613_1769245557061_n6q0bya6z", + "width": 0.29700000000000004, + "x": 0.070322021484375, + "y": 0.25190960693359377 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245567476_jhcg5n8uf", + "x": 0.48832202148437504, + "y": 0.5932429402669271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹再次合拢，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功下降。", + "frame": 144, + "progress": 30, + "progress_explanation": "相比上一进度，当前爪夹再次贴近风扇。因此进度提升为30%。", + "state_description": "当前爪夹贴近风扇。\n\n为完成将风扇放入箱子中的任务应当:爪夹再次合拢，抓取风扇。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 4.792387147596599 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.1813333333333332, + "id": "bbox_1769245283477_1769245596180_1j20j704j", + "width": 0.1709999999999999, + "x": 0.45932202148437506, + "y": 0.5332429402669272 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.4399999999999999, + "id": "bbox_1769245283613_1769245600972_veymnqmdy", + "width": 0.298, + "x": 0.07032202148437501, + "y": 0.25190960693359377 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245598341_c2gd0rs60", + "x": 0.513322021484375, + "y": 0.5879096069335937 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 171, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹成功合拢。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将风扇放入箱子中的任务应当:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 5.693761697081135 + }, + { + "action_description": "爪夹竖直上升。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.21866666666666662, + "id": "bbox_1769245283477_1769245632372_twjbvm10x", + "width": 0.1700000000000001, + "x": 0.45632202148437495, + "y": 0.4719096069335938 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.4426666666666667, + "id": "bbox_1769245283613_1769245634788_02bgliyl5", + "width": 0.297, + "x": 0.071322021484375, + "y": 0.2505762736002604 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245637020_o0jftk7nt", + "x": 0.548322021484375, + "y": 0.4305762736002604 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245639548_zs4hcr9r1", + "x": 0.557322021484375, + "y": 0.4332429402669271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹再次张开，然后爪夹下降，第三次抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功竖直上升。但未抓取到风扇。", + "frame": 189, + "progress": -10, + "progress_explanation": "相比于上一进度，当前爪夹再次垂直于风扇上方。因此进度下降为-10%。", + "state_description": "当前爪夹垂直于风扇上方。\n\n为完成将风扇放入箱子中的任务应当:爪夹再次张开，然后爪夹下降，第三次抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 6.314380239349176 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.2204971720377605, + "id": "bbox_1769245283477_1769245662173_rus1pdz30", + "width": 0.1709999999999999, + "x": 0.456322021484375, + "y": 0.47324294026692715 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.43733333333333335, + "id": "bbox_1769245283613_1769245664220_x9jinbg6u", + "width": 0.296, + "x": 0.07132202148437501, + "y": 0.2545762736002604 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245666740_7qdk4so4n", + "x": 0.495322021484375, + "y": 0.43590960693359376 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245669053_7otgtgv29", + "x": 0.5973220214843751, + "y": 0.4252429402669271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹再次下降，从新抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功张开。", + "frame": 212, + "progress": 10, + "progress_explanation": "相比于上一进度，当前爪夹再次张开。因此进度提升为10%。", + "state_description": "当前爪夹打开。\n\n为完成将风扇放入箱子中的任务应当:爪夹再次下降，从新抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 7.0827651012048465 + }, + { + "action_description": "爪夹竖直下降。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.18799999999999997, + "id": "bbox_1769245283477_1769245702109_39l9axket", + "width": 0.1630000000000001, + "x": 0.457322021484375, + "y": 0.5092429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.44, + "id": "bbox_1769245283613_1769245707660_aaxn2q5vm", + "width": 0.29500000000000004, + "x": 0.072322021484375, + "y": 0.2505762736002604 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245704148_123mblufp", + "x": 0.473322021484375, + "y": 0.5812429402669271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹再次合拢，然后竖直上升。\n\n之后爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功竖直下降。", + "frame": 230, + "progress": 30, + "progress_explanation": "相比于上一进度，当前爪夹再次贴近风扇。因此进度提升为30%。", + "state_description": "当前爪夹再次贴近风扇。\n\n为完成将风扇放入箱子中的任务应当:爪夹再次合拢，然后竖直上升。\n\n之后爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 7.673830379555362 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.1773333333333333, + "id": "bbox_1769245283477_1769245734901_xvu880voq", + "width": 0.13999999999999985, + "x": 0.44532202148437505, + "y": 0.4972429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.44266666666666676, + "id": "bbox_1769245283613_1769245737276_s8y06o5rv", + "width": 0.29500000000000004, + "x": 0.073322021484375, + "y": 0.2505762736002604 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245742141_mojb2o3i6", + "x": 0.499322021484375, + "y": 0.5492429402669271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持笔直上升。\n\n然后爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 290, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹再次抓取风扇。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将风扇放入箱子中的任务应当:爪夹保持笔直上升。\n\n然后爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 9.653899062029588 + }, + { + "action_description": "爪夹笔直上升。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.20533333333333328, + "id": "bbox_1769245283477_1769245767172_jqtz0uo9s", + "width": 0.14800000000000005, + "x": 0.448322021484375, + "y": 0.5185762736002605 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.4426666666666666, + "id": "bbox_1769245283613_1769245769484_pfpc8apso", + "width": 0.2960000000000001, + "x": 0.071322021484375, + "y": 0.2505762736002604 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245772396_1xkh4rd0m", + "x": 0.541322021484375, + "y": 0.4865762736002604 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245774220_8m83d8gli", + "x": 0.555322021484375, + "y": 0.4852429402669271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，然后爪夹下降，第四次抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功笔直上升。但仍是未抓取到风扇。", + "frame": 316, + "progress": -10, + "progress_explanation": "相比于上一进度，当前爪夹已保持合拢再次垂直于风扇正上方。但未抓取到风扇。因此进度下降为-10%。", + "state_description": "当前爪夹保持合拢再次垂直于风扇正上方。\n\n为完成将风扇放入箱子中的任务应当:爪夹张开，然后爪夹下降，第四次抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 10.525720347596598 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.20133333333333325, + "id": "bbox_1769245283477_1769245805460_i12rx9dce", + "width": 0.14800000000000005, + "x": 0.448322021484375, + "y": 0.5199096069335938 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.43733333333333346, + "id": "bbox_1769245283613_1769245803277_0arhru9q6", + "width": 0.29700000000000004, + "x": 0.071322021484375, + "y": 0.25190960693359377 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245808332_ik4pml3x6", + "x": 0.48932202148437504, + "y": 0.49990960693359376 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245811020_hxhn10hzj", + "x": 0.5843220214843751, + "y": 0.4785762736002604 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，第四次抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功张开。", + "frame": 340, + "progress": 10, + "progress_explanation": "相比于上一进度，当前爪夹第四次张开。因此进度提升为10%。", + "state_description": "当前爪夹第四次打开。\n\n为完成将风扇放入箱子中的任务应当:爪夹下降，第四次抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 11.338435105328557 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.2013333333333333, + "id": "bbox_1769245283477_1769245835164_2tkdhbaem", + "width": 0.14500000000000002, + "x": 0.445322021484375, + "y": 0.5199096069335939 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.4413333333333334, + "id": "bbox_1769245283613_1769245837493_ut6eqv8vy", + "width": 0.29600000000000004, + "x": 0.072322021484375, + "y": 0.25190960693359377 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245844052_3hfd3wm0i", + "x": 0.483322021484375, + "y": 0.5799096069335937 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹第四次合拢，抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功下降。", + "frame": 353, + "progress": 30, + "progress_explanation": "相比上一进度，当前爪夹第四次贴近风扇。因此进度提升为30%。", + "state_description": "当前爪夹第四次下降。\n\n为完成将风扇放入箱子中的任务应当:爪夹第四次合拢，抓取风扇。\n\n之后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 11.766957432132683 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.22533333333333333, + "id": "bbox_1769245283477_1769245868708_4s8a4ogr9", + "width": 0.17100000000000004, + "x": 0.387322021484375, + "y": 0.4799096069335938 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.43866666666666665, + "id": "bbox_1769245283613_1769245886156_82gu6rd6x", + "width": 0.29500000000000004, + "x": 0.072322021484375, + "y": 0.2505762736002604 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 375, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹第四次合拢抓取风扇。因此及进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将风扇放入箱子中的任务应当:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 12.498666 + }, + { + "action_description": "爪夹保持合拢上升。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.1866666666666667, + "id": "bbox_1769245283477_1769245911788_rrb9ap7kq", + "width": 0.2039999999999999, + "x": 0.4403220214843751, + "y": 0.31190960693359376 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.43866666666666665, + "id": "bbox_1769245283613_1769245914252_2ql5w8ypk", + "width": 0.29600000000000004, + "x": 0.071322021484375, + "y": 0.25324294026692706 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245916332_ovfhctdik", + "x": 0.604322021484375, + "y": 0.3665762736002604 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245918821_3t9r73dnx", + "x": 0.626322021484375, + "y": 0.36524294026692705 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功保持合拢上升。", + "frame": 391, + "progress": 60, + "progress_explanation": "相比于上一进度，当前爪夹抓住风扇接近箱子。因此进度提升为60%。", + "state_description": "当前爪夹保持合拢，接近箱子。\n\n为完成将风扇放入箱子中的任务应当:爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风扇落入箱子中。", + "time": 13.022971148627526 + }, + { + "action_description": "爪夹向爪夹的右边移动。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1769245283477_1769245986505_38dkgiymn", + "width": 0.24500000000000005, + "x": 0.016322021484374998, + "y": 0.1972429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.4413333333333333, + "id": "bbox_1769245283613_1769245988977_3uwu9peq8", + "width": 0.29600000000000004, + "x": 0.07132202148437501, + "y": 0.2505762736002604 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769245991785_sluqisei5", + "x": 0.189322021484375, + "y": 0.26124294026692707 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769245994009_bpltrydzs", + "x": 0.205322021484375, + "y": 0.2639096069335938 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右边移动。", + "frame": 408, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取风扇处于箱子上方。因此进度提升为80%。", + "state_description": "当前爪夹处于箱子上方。\n\n为完成将风扇放入箱子中的任务应当:松开爪夹，使风扇落入箱子中。", + "time": 13.614036426978041 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769245283477": { + "instances": [ + { + "height": 0.18933333333333327, + "id": "bbox_1769245283477_1769246024177_8s0z2q0x4", + "width": 0.18299999999999997, + "x": 0.147322021484375, + "y": 0.4132429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769245283613": { + "instances": [ + { + "height": 0.4426666666666667, + "id": "bbox_1769245283613_1769246026377_m8mqp200m", + "width": 0.296, + "x": 0.077322021484375, + "y": 0.26124294026692707 + } + ], + "type": "bbox" + }, + "point_1769245285085": { + "instances": [ + { + "id": "point_1769245285085_1769246029209_qomp04yba", + "x": 0.175322021484375, + "y": 0.29057627360026045 + } + ], + "type": "point" + }, + "point_1769245285261": { + "instances": [ + { + "id": "point_1769245285261_1769246032809_scnlpd1rz", + "x": 0.271322021484375, + "y": 0.31190960693359376 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。风扇成功落入箱子中。", + "frame": 430, + "progress": 100, + "progress_explanation": "相比于上一进度，当前爪夹打开，风扇落下。因此进度提升为100%。", + "state_description": "当前风扇落下。", + "time": 14.333333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769245283477", + "name": "风扇" + }, + { + "color": "#FF9800", + "id": "bbox_1769245283613", + "name": "箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769245285085", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769245285261", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-111458-put-electric fan-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-111458-put-electric fan-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c68b46f8075ace82877c290328a56fb170a02468 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-111458-put-electric fan-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,941 @@ +{ + "task_description": "将风扇放入箱子中:\n开始移动:0%\n爪夹靠近风扇:20%\n爪夹抓取风扇:40%\n爪夹抓住风扇接近箱子:60%\n爪夹将风扇移动至箱子上:80%\n爪夹松开，风扇落入箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.16133333333333338, + "id": "bbox_1769391275278_1769391793614_zud0lnmfw", + "width": 0.17699999999999996, + "x": 0.6037457580566407, + "y": 0.34158191935221355 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.1546666666666668, + "id": "bbox_1769391275398_1769391795854_92tlh138g", + "width": 0.08599999999999994, + "x": 0.4247457580566407, + "y": 0.3882485860188802 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.3106666666666667, + "id": "bbox_1769391278358_1769391799621_dhk0brnv1", + "width": 0.31600000000000006, + "x": 0.2947457580566406, + "y": 0.0019886881510416668 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769391808165_f13n18xdr", + "x": 0.670322021484375, + "y": 0.28185310872395836 + } + ], + "type": "point" + }, + "point_1769391277286": { + "instances": [ + { + "id": "point_1769391277286_1769391810582_j7yf77e0l", + "x": 0.7383220214843751, + "y": 0.21118644205729167 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹上升。然后向爪夹的右下方移动。\n\n合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触风扇。\n\n为完成将风扇放入箱子中的任务应当:爪夹上升。然后向爪夹的右下方移动。\n\n合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 0.08122827548802956 + }, + { + "action_description": "爪夹上升。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.1666666666666666, + "id": "bbox_1769391275278_1769391866470_vnp6c0a4s", + "width": 0.17700000000000005, + "x": 0.6043220214843751, + "y": 0.33701694742838545 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.15333333333333338, + "id": "bbox_1769391275398_1769391868589_kdynukl6x", + "width": 0.09, + "x": 0.4223220214843749, + "y": 0.3876836140950521 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.3133333333333334, + "id": "bbox_1769391278358_1769391871349_fobw4dmcv", + "width": 0.319, + "x": 0.2933220214843751, + "y": 0.0010169474283854175 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769391875805_yw7qg8dbu", + "x": 0.7063220214843751, + "y": 0.12101694742838541 + } + ], + "type": "point" + }, + "point_1769391277286": { + "instances": [ + { + "id": "point_1769391277286_1769391878813_zn9896quu", + "x": 0.766322021484375, + "y": 0.05968361409505209 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右下方移动。\n\n合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功上升。", + "frame": 21, + "progress": -5, + "progress_explanation": "相比于上一进度，当前爪夹开始移动，略微远离风扇。因此进度下降为-5%。", + "state_description": "当前爪夹略微远离风扇。\n\n为完成将风扇放入箱子中的任务应当:爪夹向爪夹的右下方移动。\n\n合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 0.702266 + }, + { + "action_description": "爪夹向爪夹的右下方移动。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.156, + "id": "bbox_1769391275278_1769391911453_o3cx6g6nm", + "width": 0.1719999999999998, + "x": 0.6083220214843751, + "y": 0.3396836140950521 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1769391275398_1769391913861_sn5pzwl0g", + "width": 0.08899999999999988, + "x": 0.42232202148437503, + "y": 0.39035028076171874 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.308, + "id": "bbox_1769391278358_1769391917285_j3c6hdh6f", + "width": 0.30999999999999994, + "x": 0.292322021484375, + "y": 0.0023502807617187473 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769391919798_62cdu9328", + "x": 0.553322021484375, + "y": 0.29968361409505206 + } + ], + "type": "point" + }, + "point_1769391277286": { + "instances": [ + { + "id": "point_1769391277286_1769391923053_vaxu63rcm", + "x": 0.615322021484375, + "y": 0.2690169474283854 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹应该向爪夹的后方稍微移动，到达风扇的上方。\n\n然后下降，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功向右下移动。", + "frame": 45, + "progress": -10, + "progress_explanation": "相比上一进度，当前爪夹已贴近透明胶带。因此进度下降为-10%。", + "state_description": "当前爪夹靠近透明胶带。\n\n为完成将风扇放入箱子中的任务应当:爪夹应该向爪夹的后方稍微移动，到达风扇的上方。\n\n然后下降，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 1.5055924744571019 + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.1653333333333333, + "id": "bbox_1769391275278_1769391998885_i4uushnaf", + "width": 0.17599999999999988, + "x": 0.6063220214843751, + "y": 0.33835028076171875 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.14000000000000015, + "id": "bbox_1769391275398_1769392001430_yxwcmw55x", + "width": 0.11100000000000003, + "x": 0.386322021484375, + "y": 0.40368361409505205 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.316, + "id": "bbox_1769391278358_1769392004125_s47qxllwj", + "width": 0.317, + "x": 0.29532202148437503, + "y": 0.0023502807617187373 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769392017069_uh4ma8egt", + "x": 0.456322021484375, + "y": 0.46101694742838545 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹升起，然后向爪夹的右边移动，直至抵达风扇的上空。\n\n之后爪夹下降，合拢爪夹，抓取风扇。\n\n最后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 62, + "progress": -15, + "progress_explanation": "相比上一进度，当前爪夹贴着桌面远离风扇。因此进度下降为-15%。", + "state_description": "当前爪夹保持张开，贴着桌面。\n\n为完成将风扇放入箱子中的任务应当:爪夹升起，然后向爪夹的右边移动，直至抵达风扇的上空。\n\n之后爪夹下降，合拢爪夹，抓取风扇。\n\n最后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 2.064320972395246 + }, + { + "action_description": "爪夹向爪夹的左上方移动。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.1600000000000001, + "id": "bbox_1769391275278_1769392065950_zr4xf58d9", + "width": 0.18099999999999997, + "x": 0.6013220214843751, + "y": 0.3410169474283854 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.12133333333333342, + "id": "bbox_1769391275398_1769392068542_zg04xwh02", + "width": 0.14500000000000002, + "x": 0.332322021484375, + "y": 0.4503502807617188 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.316, + "id": "bbox_1769391278358_1769392071877_sybxrng03", + "width": 0.31799999999999995, + "x": 0.292322021484375, + "y": 0.0010169474283854192 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769392075222_nmhi3hsoo", + "x": 0.392322021484375, + "y": 0.5010169474283854 + } + ], + "type": "point" + }, + "point_1769391277286": { + "instances": [ + { + "id": "point_1769391277286_1769392077901_0nbgrs1ls", + "x": 0.43932202148437505, + "y": 0.41835028076171876 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹应该向爪夹的右后方移动。直至风扇上方。\n\n然后下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左上方移动。", + "frame": 79, + "progress": -20, + "progress_explanation": "相比上一进度，当前爪夹张开垂直于三脚架上方。因此进度下降为-20%。", + "state_description": "当前爪夹处于三脚架上方。\n\n为完成将风扇放入箱子中的任务应当:爪夹应该向爪夹的右后方移动。直至风扇上方。\n\n然后下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 2.623049470333391 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.16133333333333333, + "id": "bbox_1769391275278_1769392134077_5od58gpjr", + "width": 0.176, + "x": 0.604322021484375, + "y": 0.3396836140950521 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1769391275398_1769392136301_lmcegx5wu", + "width": 0.139, + "x": 0.33332202148437506, + "y": 0.4476836140950521 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.2546666666666666, + "id": "bbox_1769391278358_1769392140365_kkkic85kn", + "width": 0.31999999999999995, + "x": 0.29032202148437497, + "y": 0.0010169474283854118 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769392149989_r59qgnelj", + "x": 0.379322021484375, + "y": 0.5623502807617188 + } + ], + "type": "point" + }, + "point_1769391277286": { + "instances": [ + { + "id": "point_1769391277286_1769392152141_wvl8tzn35", + "x": 0.421322021484375, + "y": 0.48101694742838547 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹应当向上升起，然后向爪夹的右后方移动，直至到达风扇上方。\n\n然后下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功下降。", + "frame": 86, + "progress": -25, + "progress_explanation": "相比于上一进度，当前爪夹下降贴近三脚架。因此进度下降为-25%。", + "state_description": "当前爪夹下降。\n\n为完成将风扇放入箱子中的任务:爪夹应当向上升起，然后向爪夹的右后方移动，直至到达风扇上方。\n\n然后下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 2.8748707651787515 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.16666666666666666, + "id": "bbox_1769391275278_1769392187638_o0tiflhwp", + "width": 0.179, + "x": 0.602322021484375, + "y": 0.33701694742838545 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1769391275398_1769392190173_l2ba0klt3", + "width": 0.139, + "x": 0.354322021484375, + "y": 0.4276836140950521 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.3413333333333334, + "id": "bbox_1769391278358_1769392195909_v4fzd0jr0", + "width": 0.31500000000000006, + "x": 0.29632202148437503, + "y": 0.0010169474283854168 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769392198589_omj995d7z", + "x": 0.401322021484375, + "y": 0.5116836140950521 + } + ], + "type": "point" + }, + "point_1769391277286": { + "instances": [ + { + "id": "point_1769391277286_1769392203109_xg531vk00", + "x": 0.440322021484375, + "y": 0.4436836140950521 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹应该张开。\n\n然后爪夹上升，向爪夹的右后方移动，直到抵达风扇上方。\n\n然后下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 98, + "progress": -30, + "progress_explanation": "相比上一进度，当前爪夹合拢抓取三脚架。因此进度下降为-30%。", + "state_description": "当前爪夹合拢。\n\n为完成将风扇放入箱子中的任务:爪夹应该张开。\n\n然后爪夹上升，向爪夹的右后方移动，直到抵达风扇上方。\n\n然后下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 3.2762109538385444 + }, + { + "action_description": "爪夹保持合拢上升。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.16266666666666668, + "id": "bbox_1769391275278_1769392246237_2krjnrxj8", + "width": 0.17599999999999988, + "x": 0.604322021484375, + "y": 0.33835028076171875 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.11600000000000005, + "id": "bbox_1769391275398_1769392249317_l5w8kex94", + "width": 0.15500000000000003, + "x": 0.369322021484375, + "y": 0.22901694742838538 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.27333333333333343, + "id": "bbox_1769391278358_1769392252525_41ad39hil", + "width": 0.304, + "x": 0.29032202148437497, + "y": 0.0010169474283854175 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769392255413_53k1n9ztf", + "x": 0.43132202148437504, + "y": 0.3063502807617188 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹应该张开，使三脚架落在桌面。\n\n然后爪夹向爪夹的右后方移动，直到抵达风扇上方。\n\n然后下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功保持合拢并上升。", + "frame": 116, + "progress": -35, + "progress_explanation": "相比上一进度，当前爪夹已抓取三脚架垂直与桌面。因此进度下降为-35%", + "state_description": "当前爪夹抓取三脚架处于桌面上方。\n\n为完成将风扇放入箱子中的任务:爪夹应该张开，使三脚架落在桌面。\n\n然后爪夹向爪夹的右后方移动，直到抵达风扇上方。\n\n然后下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 3.874286529096277 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.1600000000000001, + "id": "bbox_1769391275278_1769392308277_ly226eory", + "width": 0.17700000000000013, + "x": 0.6053220214843749, + "y": 0.3396836140950521 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.14000000000000004, + "id": "bbox_1769391275398_1769392310557_rh2ffzmqg", + "width": 0.096, + "x": 0.40032202148437496, + "y": 0.34501694742838546 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.2893333333333333, + "id": "bbox_1769391278358_1769392313317_g4brps9wn", + "width": 0.30200000000000005, + "x": 0.291322021484375, + "y": 0.00101694742838541 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769392316421_qcjo4inb4", + "x": 0.42232202148437503, + "y": 0.32635028076171874 + } + ], + "type": "point" + }, + "point_1769391277286": { + "instances": [ + { + "id": "point_1769391277286_1769392324933_dwwbb5n0l", + "x": 0.47532202148437497, + "y": 0.23835028076171877 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右后方移动。直至到达风扇上方。\n\n然后下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功张开。", + "frame": 132, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹松开，三脚架掉落桌面。因此进度提升10%。", + "state_description": "当前爪夹打开。\n\n为完成将风扇放入箱子中的任务应该:爪夹向右后方移动。直至到达风扇上方。\n\n然后下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 4.4015373651787515 + }, + { + "action_description": "爪夹向爪夹的右后方移动。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.16133333333333333, + "id": "bbox_1769391275278_1769392361621_67s1p26ef", + "width": 0.179, + "x": 0.603322021484375, + "y": 0.3383502807617188 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.14000000000000004, + "id": "bbox_1769391275398_1769392363813_hq5knap1z", + "width": 0.096, + "x": 0.398322021484375, + "y": 0.34635028076171875 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.3146666666666667, + "id": "bbox_1769391278358_1769392367438_m36a39tw6", + "width": 0.321, + "x": 0.2913220214843751, + "y": -0.00031638590494789676 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769392370197_kiv4b4cud", + "x": 0.591322021484375, + "y": 0.19035028076171875 + } + ], + "type": "point" + }, + "point_1769391277286": { + "instances": [ + { + "id": "point_1769391277286_1769392373301_kap97jotr", + "x": 0.662322021484375, + "y": 0.15168361409505207 + } + ], + "type": "point" + } + }, + "correction_plan": "下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右后方移动。", + "frame": 150, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近风扇，垂直于风扇上方。因此进度提升为20%", + "state_description": "当前爪夹处于风扇正上方。\n\n为完成将风扇放入箱子中的任务应该:下降爪夹，合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 4.9838741095086485 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.15866666666666665, + "id": "bbox_1769391275278_1769392417213_69zf5ubyr", + "width": 0.17799999999999994, + "x": 0.6043220214843751, + "y": 0.3396836140950521 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.13599999999999995, + "id": "bbox_1769391275398_1769392419349_cbyexd6jn", + "width": 0.096, + "x": 0.399322021484375, + "y": 0.35035028076171876 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.31333333333333335, + "id": "bbox_1769391278358_1769392421974_40t65jv91", + "width": 0.3209999999999999, + "x": 0.28932202148437497, + "y": 0.0023502807617187425 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769392424925_er7ox1sos", + "x": 0.587322021484375, + "y": 0.40235028076171875 + } + ], + "type": "point" + }, + "point_1769391277286": { + "instances": [ + { + "id": "point_1769391277286_1769392431709_yavuz0973", + "x": 0.662322021484375, + "y": 0.3756836140950521 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功下降。", + "frame": 164, + "progress": 30, + "progress_explanation": "相比上一进度，当前爪夹已贴近风扇。因此进度提升为30%", + "state_description": "当前爪夹贴近风扇。\n\n为完成将风扇放入箱子中的任务应该:合拢爪夹，抓取风扇。\n\n之后爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 5.479647283735453 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.15466666666666667, + "id": "bbox_1769391275278_1769392472117_bzy3jtn3r", + "width": 0.1780000000000001, + "x": 0.6053220214843751, + "y": 0.32768361409505203 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.1373333333333333, + "id": "bbox_1769391275398_1769392474197_ltowwzrrq", + "width": 0.09500000000000001, + "x": 0.4003220214843749, + "y": 0.34901694742838546 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.32, + "id": "bbox_1769391278358_1769392477173_87ay8txss", + "width": 0.318, + "x": 0.291322021484375, + "y": 0.0010169474283854118 + } + ], + "type": "bbox" + }, + "point_1769391277102": { + "instances": [ + { + "id": "point_1769391277102_1769392479933_6jsh6aom6", + "x": 0.615322021484375, + "y": 0.3956836140950521 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 179, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取风扇。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将风扇放入箱子中的任务应该:爪夹保持合拢，向爪夹的前上方移动靠近箱子。直至抵达箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 5.9518122115705046 + }, + { + "action_description": "爪夹垂直上升。", + "annotations": { + "bbox_1769391275398": { + "instances": [ + { + "height": 0.13733333333333342, + "id": "bbox_1769391275398_1769392532862_dytmomoh4", + "width": 0.09499999999999997, + "x": 0.399322021484375, + "y": 0.35168361409505206 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.3173333333333333, + "id": "bbox_1769391278358_1769392535077_qcduh1hs2", + "width": 0.31800000000000006, + "x": 0.29232202148437497, + "y": -0.00031638590494792267 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的前方移动，直至箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功垂直上升。", + "frame": 192, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹已抓取风扇靠近箱子。因此进度提升为60%。", + "state_description": "当前爪夹靠近箱子。\n\n为完成将风扇放入箱子中的任务应该:爪夹向爪夹的前方移动，直至箱子上方。\n\n松开爪夹，风扇落入箱子中。", + "time": 6.416107723941638 + }, + { + "action_description": "爪夹向前方移动。", + "annotations": { + "bbox_1769391275398": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1769391275398_1769392557141_86vwbxoi5", + "width": 0.09700000000000011, + "x": 0.397322021484375, + "y": 0.3476836140950521 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.32133333333333336, + "id": "bbox_1769391278358_1769392555221_xymkdpiwk", + "width": 0.31700000000000006, + "x": 0.29432202148437503, + "y": 0.0010169474283854168 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，风扇落入箱子中。", + "error_success_analysis": "爪夹成功向前方移动。", + "frame": 203, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取风扇抵达箱子正上方。因此进度提升为80%。", + "state_description": "当前爪夹抓取风扇处于箱子正上方。\n\n为完成将风扇放入箱子中的任务应该:松开爪夹，风扇落入箱子中。", + "time": 6.770231419817927 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1769391275278": { + "instances": [ + { + "height": 0.09333333333333332, + "id": "bbox_1769391275278_1769392593837_w5cndbr3o", + "width": 0.10200000000000005, + "x": 0.339322021484375, + "y": 0.026350280761718747 + } + ], + "type": "bbox" + }, + "bbox_1769391275398": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1769391275398_1769392596205_1o1yr0dv5", + "width": 0.09300000000000001, + "x": 0.399322021484375, + "y": 0.3490169474283854 + } + ], + "type": "bbox" + }, + "bbox_1769391278358": { + "instances": [ + { + "height": 0.31066666666666676, + "id": "bbox_1769391278358_1769392598517_xtevr2qqs", + "width": 0.31499999999999995, + "x": 0.29132202148437497, + "y": 0.00235028076171875 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功松开。风扇成功落入箱子中。", + "frame": 229, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已打开，风扇已落下。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 7.633333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769391275278", + "name": "风扇" + }, + { + "color": "#FF9800", + "id": "bbox_1769391275398", + "name": "三脚架" + }, + { + "color": "#9C27B0", + "id": "bbox_1769391278358", + "name": "箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769391277102", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769391277286", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-111458-put-electric fan-yellow-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-111458-put-electric fan-yellow-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..85e9e5d0f430cdcaa7f848084db3063542227994 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-111458-put-electric fan-yellow-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,919 @@ +{ + "task_description": "将风扇放入箱子中:\n开始移动:0%\n爪夹靠近风扇:20%\n爪夹抓取风扇:40%\n爪夹抓住风扇接近箱子:60%\n爪夹将风扇移动至箱子上:80%\n爪夹松开，风扇落入箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.08399999999999999, + "id": "bbox_1769395436106_1769395472818_du2yig856", + "width": 0.041999999999999905, + "x": 0.35932202148437503, + "y": 0.6292429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.10266666666666661, + "id": "bbox_1769395436266_1769395475450_781vxcg1l", + "width": 0.09800000000000005, + "x": 0.508322021484375, + "y": 0.5932429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.27600000000000013, + "id": "bbox_1769395437698_1769395478387_cobpmrkqd", + "width": 0.289, + "x": 0.11532202148437501, + "y": 0.697242940266927 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769395481066_8rrk8c73n", + "x": 0.385322021484375, + "y": 0.5119096069335938 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769395483722_p9cyltetf", + "x": 0.615322021484375, + "y": 0.5079096069335938 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动，直至风扇的上方。\n\n然后爪夹下降。靠近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢上升。\n\n之后爪夹保持合拢向爪夹的左后方移动，直至抵达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触风扇。\n\n为完成将风扇放入箱子中的任务应当:爪夹向右前方移动，直至风扇的上方。\n\n然后爪夹下降。靠近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢上升。\n\n之后爪夹保持合拢向爪夹的左后方移动，直至抵达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹的前方移动。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.11333333333333329, + "id": "bbox_1769395436106_1769395528370_hii30f9xu", + "width": 0.083, + "x": 0.378322021484375, + "y": 0.5212429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.16266666666666668, + "id": "bbox_1769395436266_1769395531242_itij78swu", + "width": 0.12100000000000008, + "x": 0.603322021484375, + "y": 0.4425762736002604 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.272, + "id": "bbox_1769395437698_1769395593899_8z2xpymdq", + "width": 0.26300000000000007, + "x": 0.207322021484375, + "y": 0.7105762736002604 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769395537186_6d2q9wdmt", + "x": 0.381322021484375, + "y": 0.5159096069335938 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769395540138_9i8b83urs", + "x": 0.614322021484375, + "y": 0.5065762736002604 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右方移动，直至风扇的上方。\n\n然后爪夹下降。靠近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢上升。\n\n之后爪夹保持合拢向爪夹的左后方移动，直至抵达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向前方移动。", + "frame": 20, + "progress": 5, + "progress_explanation": "相比上一进度，当前爪夹略微接近风扇。因此进度提升为5%", + "state_description": "当前爪夹略微接近风扇。\n\n为完成将风扇放入箱子中的任务应当:爪夹向右方移动，直至风扇的上方。\n\n然后爪夹下降。靠近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢上升。\n\n之后爪夹保持合拢向爪夹的左后方移动，直至抵达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "time": 0.6525510481910941 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.3066666666666667, + "id": "bbox_1769395436106_1769395615594_ft17zdfag", + "width": 0.22300000000000003, + "x": 0.265322021484375, + "y": 0.3519096069335938 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.312, + "id": "bbox_1769395436266_1769395618490_fjolxj13v", + "width": 0.15199999999999986, + "x": 0.787322021484375, + "y": 0.2799096069335938 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.33733333333333326, + "id": "bbox_1769395437698_1769395622474_eud9lf02f", + "width": 0.43299999999999994, + "x": 0.063322021484375, + "y": 0.6385762736002605 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769395624106_9qajhg4ly", + "x": 0.385322021484375, + "y": 0.5252429402669271 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769395626378_lfypxyw37", + "x": 0.6213220214843751, + "y": 0.5132429402669271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹应当垂直上升。\n\n然后向爪夹的右边移动。直至移动至风扇的上方。\n\n然后垂直下降爪夹，靠近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 33, + "progress": -5, + "progress_explanation": "相比上一进度，当前爪夹已接近透明胶带。因此进度下降为-5%", + "state_description": "当前爪夹靠近透明胶带。\n\n为完成将风扇放入箱子中的任务:爪夹应当垂直上升。\n\n然后向爪夹的右边移动。直至移动至风扇的上方。\n\n然后垂直下降爪夹，靠近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "time": 1.103238354376661 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.3053333333333333, + "id": "bbox_1769395436106_1769395678178_amj72sett", + "width": 0.23900000000000005, + "x": 0.299322021484375, + "y": 0.37857627360026047 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.32399999999999995, + "id": "bbox_1769395436266_1769395680779_43msczs7r", + "width": 0.15199999999999977, + "x": 0.801322021484375, + "y": 0.24524294026692708 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.3666666666666668, + "id": "bbox_1769395437698_1769395683410_r06g6gr4n", + "width": 0.43500000000000016, + "x": 0.050322021484375, + "y": 0.6052429402669272 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769395685714_9xpee19lu", + "x": 0.45132202148437506, + "y": 0.5505762736002604 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769395687826_09ozh4kng", + "x": 0.555322021484375, + "y": 0.5492429402669271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹应当张开，垂直上升。\n\n然后向爪夹的右边移动。直至移动至风扇的上方。\n\n然后垂直下降爪夹，靠近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 45, + "progress": -10, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取透明胶带。因此进下降为-10%。", + "state_description": "当前爪夹合拢抓取透明胶带。\n\n为完成将风扇放入箱子中的任务:爪夹应当张开，垂直上升。\n\n然后向爪夹的右边移动。直至移动至风扇的上方。\n\n然后垂直下降爪夹，靠近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "time": 1.5095957615931561 + }, + { + "action_description": "爪夹保持合拢，垂直上升。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.3013333333333333, + "id": "bbox_1769395436106_1769395735482_h8hj14zqw", + "width": 0.238, + "x": 0.29832202148437503, + "y": 0.3772429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.20933333333333326, + "id": "bbox_1769395436266_1769395737674_kytlj4hhd", + "width": 0.1410000000000001, + "x": 0.622322021484375, + "y": 0.35724294026692704 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.3346666666666665, + "id": "bbox_1769395437698_1769395740786_6zb246w3c", + "width": 0.23399999999999993, + "x": 0.14332202148437503, + "y": 0.6465762736002605 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769395744658_pzzj6ijiy", + "x": 0.45932202148437506, + "y": 0.5585762736002605 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769395746666_nfuobiq5j", + "x": 0.5503220214843749, + "y": 0.5412429402669271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹应当张开。\n\n然后向爪夹的右边移动。直至移动至风扇的上方。\n\n然后垂直下降爪夹，靠近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功保持合拢垂直上升。", + "frame": 69, + "progress": -15, + "progress_explanation": "相比上一进度，当前爪夹已抓取透明胶带，垂直于桌面。因此进度下降为-15%。", + "state_description": "当前爪夹抓住透明胶带，于桌面上空。\n\n为完成将风扇放入箱子中的任务:爪夹应当张开。\n\n然后向爪夹的右边移动。直至移动至风扇的上方。\n\n然后垂直下降爪夹，靠近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "time": 2.285368993551919 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.16266666666666657, + "id": "bbox_1769395436106_1769395801394_aiyazq2o4", + "width": 0.121, + "x": 0.34132202148437496, + "y": 0.3692429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.21733333333333332, + "id": "bbox_1769395436266_1769395803722_qkn9f3zxi", + "width": 0.15599999999999997, + "x": 0.533322021484375, + "y": 0.31857627360026036 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.32133333333333336, + "id": "bbox_1769395437698_1769395806498_wxo1y3152", + "width": 0.27799999999999997, + "x": 0.09532202148437509, + "y": 0.6665762736002605 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769395808410_b87k2bwlx", + "x": 0.383322021484375, + "y": 0.5172429402669271 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769395810394_lpdlm0z9z", + "x": 0.611322021484375, + "y": 0.5132429402669271 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹的右下边移动。直至移动至风扇的上方。\n\n然后垂直下降爪夹，贴近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功松开。", + "frame": 81, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已打开，透明胶带已掉落桌面。因此进度提升为10%。", + "state_description": "当前爪夹张开。\n\n\n为完成将风扇放入箱子中的任务应当:向爪夹的右下边移动。直至移动至风扇的上方。\n\n然后垂直下降爪夹，贴近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "time": 2.7065030337581044 + }, + { + "action_description": "爪夹向爪夹的右下边移动。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.19333333333333336, + "id": "bbox_1769395436106_1769395848090_duwi04d4w", + "width": 0.12300000000000003, + "x": 0.150322021484375, + "y": 0.4545762736002604 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.3546666666666666, + "id": "bbox_1769395436266_1769395850866_wa8khyziu", + "width": 0.26499999999999996, + "x": 0.327322021484375, + "y": 0.26124294026692707 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.20533333333333334, + "id": "bbox_1769395437698_1769395853722_z4jmx5r0w", + "width": 0.279, + "x": 0.060322021484375, + "y": 0.7799096069335937 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769395856010_ulc9eycb6", + "x": 0.388322021484375, + "y": 0.5172429402669271 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769395858402_u2ehyxztf", + "x": 0.614322021484375, + "y": 0.5039096069335938 + } + ], + "type": "point" + } + }, + "correction_plan": "垂直下降爪夹，靠近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右下边移动。", + "frame": 88, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已抵达风扇上方，靠近风扇。因此进度提升为20%。", + "state_description": "当前爪夹靠近风扇。\n\n\n为完成将风扇放入箱子中的任务应当:垂直下降爪夹，贴近风扇。\n\n爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "time": 2.942929161593156 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.3306666666666666, + "id": "bbox_1769395436106_1769395901450_29p5fyne8", + "width": 0.21600000000000003, + "x": 0.105322021484375, + "y": 0.24124294026692708 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.5093333333333335, + "id": "bbox_1769395436266_1769395903962_bglumvbuu", + "width": 0.40199999999999997, + "x": 0.31632202148437505, + "y": 0.2252429402669271 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.29333333333333333, + "id": "bbox_1769395437698_1769395907058_je34rq0qd", + "width": 0.357, + "x": 0.04432202148437501, + "y": 0.6919096069335937 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769395910378_35p2jybzr", + "x": 0.378322021484375, + "y": 0.5532429402669271 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769395912250_rwnwm6ldx", + "x": 0.6213220214843751, + "y": 0.5239096069335938 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 105, + "progress": 30, + "progress_explanation": "相比上一进度，当前爪夹已贴近风扇。因此进度提升为30%。", + "state_description": "当前爪夹贴近风扇。\n\n为完成将风扇放入箱子中的任务应当:爪夹合拢，抓取风扇。\n\n爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "time": 3.4896645822117134 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.32133333333333336, + "id": "bbox_1769395436106_1769395959858_tzvnp02u7", + "width": 0.20599999999999996, + "x": 0.10132202148437501, + "y": 0.23990960693359373 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.5266666666666666, + "id": "bbox_1769395436266_1769395962195_5kzdmfpjm", + "width": 0.42799999999999994, + "x": 0.28532202148437497, + "y": 0.2025762736002604 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.2933333333333335, + "id": "bbox_1769395437698_1769395965570_n2lks11yd", + "width": 0.394, + "x": 0.035322021484375, + "y": 0.6719096069335937 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769395967098_9mteph64z", + "x": 0.420322021484375, + "y": 0.5399096069335937 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769395969490_c4zoi6mzn", + "x": 0.5763220214843751, + "y": 0.5319096069335937 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 141, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢，并且已抓取风扇。因此进度提升为40%。", + "state_description": "当前爪夹合拢，抓取风扇。\n\n为完成将风扇放入箱子中的任务应当:爪夹保持合拢，抓取风扇垂直上升。\n\n之后爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "time": 4.686571854376663 + }, + { + "action_description": "爪夹保持合拢垂直上升。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.14399999999999996, + "id": "bbox_1769395436106_1769396009986_tu3j70zoe", + "width": 0.11000000000000006, + "x": 0.281322021484375, + "y": 0.3599096069335938 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.5359999999999999, + "id": "bbox_1769395436266_1769396012514_bmky0kt8w", + "width": 0.43000000000000005, + "x": 0.289322021484375, + "y": 0.18790960693359376 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.3346666666666666, + "id": "bbox_1769395437698_1769396031106_kxxgnkbf8", + "width": 0.29900000000000004, + "x": 0.11732202148437501, + "y": 0.6399096069335938 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769396032602_13xsxivhu", + "x": 0.433322021484375, + "y": 0.5212429402669271 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769396034682_jppemdd5c", + "x": 0.5663220214843749, + "y": 0.5079096069335938 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功保持合拢垂直上升。", + "frame": 175, + "progress": 50, + "progress_explanation": "相比于上一进度，当前爪夹已抓取风扇升空，略微接近箱子。因此进度提升为50%。", + "state_description": "当前爪夹抓取风扇垂直于桌面上空。\n\n为完成将风扇放入箱子中的任务应当:爪夹保持合拢，向爪夹的左后方移动，直至到达箱子上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "time": 5.8317609110776925 + }, + { + "action_description": "爪夹向爪夹的左后方移动。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.10533333333333333, + "id": "bbox_1769395436106_1769396070410_i10jhqx4v", + "width": 0.08299999999999992, + "x": 0.5143220214843751, + "y": 0.26257627360026037 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.536, + "id": "bbox_1769395436266_1769396072890_fugtkd055", + "width": 0.43400000000000016, + "x": 0.287322021484375, + "y": 0.18790960693359376 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.3986666666666668, + "id": "bbox_1769395437698_1769396075442_7wht0drt1", + "width": 0.3259999999999999, + "x": 0.218322021484375, + "y": 0.39457627360026043 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769396077274_ljcfwpgys", + "x": 0.43032202148437504, + "y": 0.5212429402669271 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769396079346_g7z0rv1s9", + "x": 0.567322021484375, + "y": 0.5145762736002604 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续保持合拢，向爪夹的左后下方移动，直至到达箱子正上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左后方移动。", + "frame": 183, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹已抓取风扇靠近箱子。因此进度提升为60%。", + "state_description": "当前爪夹靠近箱子。\n\n为完成将风扇放入箱子中的任务应当:爪夹继续保持合拢，向爪夹的左后下方移动，直至到达箱子正上方。\n\n最后松开爪夹，使风扇落入箱子中。", + "time": 6.105128621386971 + }, + { + "action_description": "爪夹保持合拢，向爪夹方向的左后下方移动。", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.11733333333333333, + "id": "bbox_1769395436106_1769396136290_ehvmjzg43", + "width": 0.096, + "x": 0.669322021484375, + "y": 0.04257627360026042 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.5399999999999999, + "id": "bbox_1769395436266_1769396139314_7lsh8glbn", + "width": 0.4309999999999999, + "x": 0.290322021484375, + "y": 0.18390960693359376 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.8453333333333334, + "id": "bbox_1769395437698_1769396142394_64hddq83t", + "width": 0.6289999999999999, + "x": 0.163322021484375, + "y": 0.0012429402669270802 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769396145402_bx2a8c29c", + "x": 0.43532202148437504, + "y": 0.5385762736002604 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769396147690_l051urm8d", + "x": 0.5623220214843749, + "y": 0.5279096069335938 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使风扇落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左后下方移动。", + "frame": 199, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取风扇抵达箱子正上方。因此进度提升为80%。", + "state_description": "当前爪夹处于箱子正上方。\n\n为完成将风扇放入箱子中的任务应当:最后松开爪夹，使风扇落入箱子中。", + "time": 6.622 + }, + { + "action_description": "爪夹打开", + "annotations": { + "bbox_1769395436106": { + "instances": [ + { + "height": 0.12400000000000003, + "id": "bbox_1769395436106_1769396194314_1y6iy1fhv", + "width": 0.09900000000000002, + "x": 0.644322021484375, + "y": 0.02390960693359375 + } + ], + "type": "bbox" + }, + "bbox_1769395436266": { + "instances": [ + { + "height": 0.3266666666666667, + "id": "bbox_1769395436266_1769396197034_sg4egbg1b", + "width": 0.253, + "x": 0.345322021484375, + "y": 0.22790960693359377 + } + ], + "type": "bbox" + }, + "bbox_1769395437698": { + "instances": [ + { + "height": 0.852, + "id": "bbox_1769395437698_1769396200130_0fyb2m3ce", + "width": 0.616, + "x": 0.162322021484375, + "y": 0.0025762736002604165 + } + ], + "type": "bbox" + }, + "point_1769395441450": { + "instances": [ + { + "id": "point_1769395441450_1769396201994_948b1c7gf", + "x": 0.378322021484375, + "y": 0.5199096069335938 + } + ], + "type": "point" + }, + "point_1769395441618": { + "instances": [ + { + "id": "point_1769395441618_1769396203842_0ywtphwcy", + "x": 0.618322021484375, + "y": 0.5079096069335938 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功打开。风扇成功落至箱子中。", + "frame": 215, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已松开，风扇已落入箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。风扇落下。", + "time": 7.166667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769395436106", + "name": "透明胶带" + }, + { + "color": "#FF9800", + "id": "bbox_1769395436266", + "name": "风扇" + }, + { + "color": "#9C27B0", + "id": "bbox_1769395437698", + "name": "箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769395441450", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769395441618", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-113739-put-electric fan-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-113739-put-electric fan-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b2fb4d8014067ff17b89519794e6ee2bcba4450c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-113739-put-electric fan-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,704 @@ +{ + "task_description": "抓起电风扇使其放入黄色箱子中:\n开始移动:0%\n爪夹靠近电风扇:20%\n爪夹抓取电风扇:40%\n爪夹抓住电风扇接近黄色箱子:60%\n爪夹抓住电风扇位于黄色箱子的正上方:80%\n爪夹松开，将电风扇放入黄色箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达电风扇正上方，后下降，抓取电风扇后上升，向爪夹方向的左前方移动，直至处于黄色箱子正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰电风扇。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取电风扇。\n", + "time": 0.5849609619563443, + "annotations": { + "point_1769496870817": { + "type": "point", + "instances": [ + { + "id": "point_1769496870817_1769502541398_3cap8iql3", + "x": 0.3098181951793332, + "y": 0.21513257853190104 + } + ] + }, + "point_1769496870641": { + "type": "point", + "instances": [ + { + "id": "point_1769496870641_1769502556901_bctvmxyps", + "x": 0.19381818809925463, + "y": 0.17779924519856768 + } + ] + }, + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769502567910_7ru1u9g1k", + "x": 0.5188182079356817, + "y": 0.563132578531901, + "width": 0.38800002368164205, + "height": 0.39333333333333337 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769502585006_m49duyjs3", + "x": 0.27981819334827845, + "y": 0.40846591186523434, + "width": 0.14900000909423877, + "height": 0.19066666666666673 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "爪夹抬升，向爪夹方向的左前方移动，直至电风扇的正上方，后下降，抓取电风扇后上升，向爪夹方向的左前方移动，直至处于黄色箱子正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品电风扇。", + "frame": 33, + "progress": -10, + "progress_explanation": "当前爪夹在错误地点下降，触碰瓶子和马克笔而不是电风扇，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，爪夹左触碰瓶子，爪夹右触碰马克笔。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹抬升，向爪夹方向的左前方移动，直至电风扇的正上方。", + "time": 1.1024867883349727, + "annotations": { + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769502644342_lqzns25b4", + "x": 0.2808181934093135, + "y": 0.40846591186523434, + "width": 0.150000009155274, + "height": 0.18933333333333344 + } + ] + }, + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769502655734_opl9aycsq", + "x": 0.5178182078746465, + "y": 0.5631325785319011, + "width": 0.3900000238037123, + "height": 0.408 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧移动并抬升。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至电风扇的正上方，后下降，抓取电风扇后上升，向爪夹方向的左前方移动，直至处于黄色箱子正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动，在水平方向上接近电风扇。", + "frame": 59, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上接近电风扇，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近电风扇。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹向爪夹方向的左前方移动，直至电风扇的正上方。", + "time": 1.9564044018597098, + "annotations": { + "point_1769496870641": { + "type": "point", + "instances": [ + { + "id": "point_1769496870641_1769502675918_3x34g5g2c", + "x": 0.3098181951793332, + "y": 0.45913257853190104 + } + ] + }, + "point_1769496870817": { + "type": "point", + "instances": [ + { + "id": "point_1769496870817_1769502678254_wb7m0lu9u", + "x": 0.4128182014659546, + "y": 0.4777992451985677 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769502687125_381e42jlu", + "x": 0.42781820238148205, + "y": 0.44046591186523437, + "width": 0.1730000105590827, + "height": 0.23200000000000004 + } + ] + }, + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769502700142_47vswr56x", + "x": 0.5208182080577519, + "y": 0.567132578531901, + "width": 0.38800002368164205, + "height": 0.4080000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方略微移动。", + "correction_plan": "爪夹竖直下降，抓取电风扇后上升，向爪夹方向的左前移动，直至处于黄色箱子的正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方略微移动至电风扇正上方。", + "frame": 65, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于电风扇的正上方，已接近电风扇，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，处于电风扇的正上方。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹竖直下降，抓取电风扇后上升，向爪夹方向的左前移动，直至处于黄色箱子的正上方。", + "time": 2.1634147324111614, + "annotations": { + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769502717086_wwhg2jld3", + "x": 0.5218182081187871, + "y": 0.5657992451985677, + "width": 0.38600002355957164, + "height": 0.408 + } + ] + }, + "point_1769496870641": { + "type": "point", + "instances": [ + { + "id": "point_1769496870641_1769502730142_nh2y8zsjc", + "x": 0.37381819908558345, + "y": 0.5191325785319011 + } + ] + }, + "point_1769496870817": { + "type": "point", + "instances": [ + { + "id": "point_1769496870817_1769502735597_trln084uf", + "x": 0.4668182047618533, + "y": 0.551132578531901 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769502742294_sms6sza7y", + "x": 0.42381820213734145, + "y": 0.443132578531901, + "width": 0.17700001080322333, + "height": 0.22933333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧略微移动，后竖直下降。", + "correction_plan": "爪夹合拢，抓取电风扇，后上升，向爪夹方向的左前移动，直至处于黄色箱子的正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左侧略微移动，后下降，爪夹右接触电风扇。", + "frame": 75, + "progress": 30, + "progress_explanation": "当前爪夹向爪夹方向的左侧略微移动，后下降，爪夹右接触电风扇，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹右接触电风扇。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹合拢，抓取电风扇，后上升，向爪夹方向的左前移动，直至处于黄色箱子的正上方。", + "time": 2.5084319499969134, + "annotations": { + "point_1769496870641": { + "type": "point", + "instances": [ + { + "id": "point_1769496870641_1769502757870_78t9vtzye", + "x": 0.36381819847523184, + "y": 0.5644659118652344 + } + ] + }, + "point_1769496870817": { + "type": "point", + "instances": [ + { + "id": "point_1769496870817_1769502763197_t8mkrusry", + "x": 0.46181820445667754, + "y": 0.563132578531901 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769502801894_y0ljl6pwc", + "x": 0.42381820213734145, + "y": 0.44046591186523437, + "width": 0.17800001086425848, + "height": 0.23200000000000004 + } + ] + }, + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769502822101_f8awdklwa", + "x": 0.5188182079356817, + "y": 0.5671325785319009, + "width": 0.3890000237426771, + "height": 0.40400000000000014 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取电风扇。", + "correction_plan": "爪夹抓住电风扇上升，向爪夹方向的左前方移动，直至黄色箱子的正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在电风扇的正上方竖直下降，成功抓取到电风扇。", + "frame": 94, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到电风扇，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，电风扇已被抓取。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹抓住电风扇上升，向爪夹方向的左前方移动，直至黄色箱子的正上方。", + "time": 3.1208375112116236, + "annotations": { + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769502836726_xuikf5hbw", + "x": 0.5188182079356817, + "y": 0.567132578531901, + "width": 0.3890000237426771, + "height": 0.404 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769502854238_plxfqwsrl", + "x": 0.4158182016490602, + "y": 0.42979924519856777, + "width": 0.1650000100708014, + "height": 0.23066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹抓住电风扇上升。", + "correction_plan": "爪夹抓住电风扇向爪夹方向的左前方移动，直至黄色箱子的正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住电风扇上升，在垂直方向上接近黄色箱子。", + "frame": 116, + "progress": 45, + "progress_explanation": "当前爪夹抓住电风扇，在垂直方向上接近黄色箱子，因此进度提升至45%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住电风扇在垂直方向上接近黄色箱子。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹抓住电风扇向爪夹方向的左前方移动，直至黄色箱子的正上方。", + "time": 3.8539990985813475, + "annotations": { + "point_1769496870641": { + "type": "point", + "instances": [ + { + "id": "point_1769496870641_1769502859493_gsjk7tlgg", + "x": 0.32281819597279027, + "y": 0.41246591186523435 + } + ] + }, + "point_1769496870817": { + "type": "point", + "instances": [ + { + "id": "point_1769496870817_1769502862574_6etfprguv", + "x": 0.35881819817005606, + "y": 0.41113257853190105 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769502868870_lh9ao4qi7", + "x": 0.3218181959117551, + "y": 0.34179924519856775, + "width": 0.2140000130615242, + "height": 0.184 + } + ] + }, + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769502883982_bl6s1gcnh", + "x": 0.5178182078746465, + "y": 0.5657992451985677, + "width": 0.3930000239868178, + "height": 0.408 + } + ] + } + } + }, + { + "action_description": "爪夹张开，电风扇掉落至桌面。", + "correction_plan": "爪夹向爪夹方向的右侧略微移动，直至电风扇的正上方，后下降，抓取电风扇后上升，向爪夹方向的左前方移动，直至处于黄色箱子正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹张开，电风扇掉落至桌面。", + "frame": 134, + "progress": 17, + "progress_explanation": "当前爪夹张开，电风扇掉落至桌面，爪夹需要重新抓取电风扇，因此进度下降至17%。", + "state_description": "当前状态为爪夹张开，电风扇已掉落至桌面。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹向爪夹方向的右侧略微移动，直至电风扇的正上方。", + "time": 4.457779229356414, + "annotations": { + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769502897038_32vf4d0em", + "x": 0.5178182078746465, + "y": 0.567132578531901, + "width": 0.3920000239257826, + "height": 0.4053333333333333 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769502912302_fz1x9a1gj", + "x": 0.2868181937755245, + "y": 0.435132578531901, + "width": 0.14900000909423888, + "height": 0.2 + } + ] + }, + "point_1769496870641": { + "type": "point", + "instances": [ + { + "id": "point_1769496870641_1769502916246_vz99q1sqr", + "x": 0.2848181936534542, + "y": 0.4004659118652344 + } + ] + }, + "point_1769496870817": { + "type": "point", + "instances": [ + { + "id": "point_1769496870817_1769502919509_s84sfvgr9", + "x": 0.3958182004283569, + "y": 0.4244659118652344 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动，并下降。", + "correction_plan": "爪夹竖直下降，抓取电风扇后上升，向爪夹方向的左前移动，直至处于黄色箱子的正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方略微移动至电风扇正上方。", + "frame": 154, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于电风扇的正上方，已接近电风扇，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，处于电风扇的正上方。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹竖直下降，抓取电风扇后上升，向爪夹方向的左前移动，直至处于黄色箱子的正上方。", + "time": 5.139188234088275, + "annotations": { + "point_1769496870817": { + "type": "point", + "instances": [ + { + "id": "point_1769496870817_1769502931317_vbr5gmwq5", + "x": 0.31481819548450896, + "y": 0.5017992451985677 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769502937477_twoxdskhk", + "x": 0.2918181940807003, + "y": 0.4337992451985677, + "width": 0.14300000872802782, + "height": 0.20266666666666672 + } + ] + }, + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769502951606_w9bm4hi0k", + "x": 0.5168182078136112, + "y": 0.5697992451985676, + "width": 0.3930000239868178, + "height": 0.40133333333333343 + } + ] + } + } + }, + { + "action_description": "爪夹竖直下降。", + "correction_plan": "爪夹合拢，抓取电风扇，后上升，向爪夹方向的左前移动，直至处于黄色箱子的正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹竖直下降，爪夹右接触电风扇。", + "frame": 163, + "progress": 30, + "progress_explanation": "当前爪夹竖直下降，爪夹右接触电风扇，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹右接触电风扇。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹合拢，抓取电风扇，后上升，向爪夹方向的左前移动，直至处于黄色箱子的正上方。", + "time": 5.449703729915452, + "annotations": { + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769502965853_k2s4t482h", + "x": 0.5208182080577519, + "y": 0.567132578531901, + "width": 0.3870000236206068, + "height": 0.4026666666666667 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769502976822_hg7yaolqh", + "x": 0.2868181937755245, + "y": 0.42846591186523436, + "width": 0.14600000891113335, + "height": 0.20400000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取电风扇。", + "correction_plan": "爪夹抓住电风扇上升，向爪夹方向的左前方移动，直至黄色箱子的正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在电风扇的正上方竖直下降，成功抓取到电风扇。", + "frame": 183, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到电风扇，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，电风扇已被抓取。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹抓住电风扇上升，向爪夹方向的左前方移动，直至黄色箱子的正上方。", + "time": 6.113861873768026, + "annotations": { + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769502992262_cjr497yz8", + "x": 0.29481819426380573, + "y": 0.443132578531901, + "width": 0.13900000848388724, + "height": 0.20266666666666666 + } + ] + }, + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769503005590_nd5i2jhdg", + "x": 0.5188182079356817, + "y": 0.5697992451985676, + "width": 0.38800002368164205, + "height": 0.4026666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹抓住电风扇上升，向爪夹方向的左前方略微移动。", + "correction_plan": "爪夹抓住电风扇向爪夹方向的左前方移动，直至黄色箱子的正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧电风扇向爪夹方向的左前方略微移动，成功在水平方向上略微接近黄色箱子。", + "frame": 196, + "progress": 50, + "progress_explanation": "当前爪夹抓住电风扇，在水平方向上略微接近黄色箱子，因此进度提升至50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住电风扇在水平方向上略微接近黄色箱子。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹抓住电风扇向爪夹方向的左前方移动，直至黄色箱子的正上方。", + "time": 6.527882534870929, + "annotations": { + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769503021854_7by604rbz", + "x": 0.5198182079967169, + "y": 0.5684659118652343, + "width": 0.388000023681642, + "height": 0.404 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769503033870_kgudvamr4", + "x": 0.30681819499622776, + "y": 0.32979924519856774, + "width": 0.16700001019287164, + "height": 0.19066666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹抓住电风扇向爪夹方向的左前方移动。", + "correction_plan": "爪夹抓住电风扇向爪夹方向的左侧移动，直至黄色箱子的正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住电风扇向爪夹方向的左前方移动，在水平方向上接近黄色箱子。", + "frame": 218, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住电风扇，在水平方向上接近黄色箱子，因此进度提升至50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住电风扇在水平方向上接近黄色箱子。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹抓住电风扇向爪夹方向的左侧移动，直至黄色箱子的正上方。", + "time": 7.27829498311994, + "annotations": { + "point_1769496870641": { + "type": "point", + "instances": [ + { + "id": "point_1769496870641_1769503050565_y9mpd1skh", + "x": 0.37381819908558345, + "y": 0.6537992451985678 + } + ] + }, + "point_1769496870817": { + "type": "point", + "instances": [ + { + "id": "point_1769496870817_1769503052942_1v0fsmkpc", + "x": 0.3918182001842163, + "y": 0.6564659118652344 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769503066845_ulrp4yf60", + "x": 0.37581819920765375, + "y": 0.5457992451985677, + "width": 0.20500001251220784, + "height": 0.2546666666666667 + } + ] + }, + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769503086414_a5vgp5tlj", + "x": 0.5248182083018926, + "y": 0.5644659118652343, + "width": 0.3830000233764664, + "height": 0.40533333333333343 + } + ] + } + } + }, + { + "action_description": "爪夹抓住电风扇向爪夹方向的右侧略微移动，后爪夹张开，电风扇掉落进黑色箱子。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至电风扇的正上方，后下降，抓取电风扇后上升，向爪夹方向的左侧移动，直至处于黄色箱子正上方。下降将电风扇放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住电风扇向爪夹方向的右侧略微移动，后爪夹张开，电风扇掉落进黑色箱子。", + "frame": 236, + "progress": -30, + "progress_explanation": "当前爪夹张开，电风扇掉落进黑色箱子，因此进度降低到-30%。", + "state_description": "当前状态为爪夹张开，电风扇已经掉落进黑色箱子。\n为完成抓起电风扇使其放入黄色箱子中的任务应当:爪夹向爪夹方向的右前方移动，直至电风扇的正上方。", + "time": 7.864824253015718, + "annotations": { + "bbox_1769496869729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869729_1769503104534_4l0wk2xae", + "x": 0.5188182079356817, + "y": 0.5644659118652343, + "width": 0.38800002368164205, + "height": 0.40533333333333343 + } + ] + }, + "bbox_1769496869552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769496869552_1769503117454_u1mjnanvb", + "x": 0.21881818962513364, + "y": 0.7297992451985676, + "width": 0.2160000131835945, + "height": 0.26800000000000007 + } + ] + }, + "point_1769496870641": { + "type": "point", + "instances": [ + { + "id": "point_1769496870641_1769503124574_qfpwk8vip", + "x": 0.2778181932262081, + "y": 0.6484659118652344 + } + ] + }, + "point_1769496870817": { + "type": "point", + "instances": [ + { + "id": "point_1769496870817_1769503126821_d1lhbvxpi", + "x": 0.4118182014049195, + "y": 0.6644659118652344 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769496869552", + "name": "电风扇" + }, + { + "color": "#FF9800", + "id": "bbox_1769496869729", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769496870641", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769496870817", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133623-put-tripod-yellow-box-good2/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133623-put-tripod-yellow-box-good2/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f76224c17928f0a0871bdb8761e8fb3aada4fbd7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133623-put-tripod-yellow-box-good2/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,338 @@ +{ + "task_description": "将三脚架放入箱子中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近箱子:60%\n爪夹将三脚架移动至箱子上:80%\n爪夹松开，三脚架落入箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向前下方移动，靠近三脚架。\n\n合拢爪夹，抓取三脚架。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使三脚架落入箱子中。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触三脚架。\n\n为完成将三脚架放入箱子中的任务应当:爪夹向前下方移动，靠近三脚架。\n\n合拢爪夹，抓取三脚架。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使三脚架落入箱子中。", + "time": 0.06897542844238282, + "annotations": { + "bbox_1768978616081": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616081_1768978651457_l6cz4n1bx", + "x": 0.521322021484375, + "y": 0.3118870061238607, + "width": 0.0839999999999999, + "height": 0.17733333333333334 + } + ] + }, + "bbox_1768978616249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616249_1768978654705_q9ct4cbcs", + "x": 0.6253220214843751, + "y": 0.1476610158284505, + "width": 0.37300000000000005, + "height": 0.7119999999999999 + } + ] + }, + "point_1768978617137": { + "type": "point", + "instances": [ + { + "id": "point_1768978617137_1768978657665_m2f7rno6b", + "x": 0.211322021484375, + "y": 0.007661015828450521 + } + ] + }, + "point_1768978617329": { + "type": "point", + "instances": [ + { + "id": "point_1768978617329_1768978660833_d7yr856pu", + "x": 0.40032202148437496, + "y": 0.004994349161783855 + } + ] + } + } + }, + { + "action_description": "爪夹向前下方移动。", + "correction_plan": "爪夹继续向前下方移动，靠近三脚架。\n\n合拢爪夹，抓取三脚架。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风三脚架入箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的前下方移动。", + "frame": 35, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近三脚架。因此进度提升为10%。", + "state_description": "当前爪夹略微接近三脚架。\n\n为完成将三脚架放入箱子中的任务应当:爪夹继续向前下方移动，靠近三脚架。\n\n合拢爪夹，抓取三脚架。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风三脚架入箱子中。", + "time": 1.1583913191640323, + "annotations": { + "bbox_1768978616081": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616081_1768978695745_z8jtx5jnv", + "x": 0.521322021484375, + "y": 0.3039096069335938, + "width": 0.08200000000000003, + "height": 0.18266666666666662 + } + ] + }, + "bbox_1768978616249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616249_1768978699289_fby4jzwjp", + "x": 0.6223220214843751, + "y": 0.1505762736002604, + "width": 0.376, + "height": 0.7093333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前下方移动。", + "correction_plan": "合拢爪夹，抓取三脚架。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风三脚架入箱子中。", + "error_success_analysis": "爪夹成功向前下方移动。", + "frame": 54, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近三脚架。因此进度提升为20%。", + "state_description": "当前爪夹靠近三脚架。\n\n\n为完成将三脚架放入箱子中的任务应当:合拢爪夹，抓取三脚架。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风三脚架入箱子中。", + "time": 1.7841301985454754, + "annotations": { + "bbox_1768978616081": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616081_1768978737681_mp9bnj3ll", + "x": 0.522322021484375, + "y": 0.3612429402669271, + "width": 0.06299999999999999, + "height": 0.12533333333333332 + } + ] + }, + "bbox_1768978616249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616249_1768978751137_sp4njz05d", + "x": 0.6233220214843751, + "y": 0.15190960693359373, + "width": 0.376, + "height": 0.7080000000000002 + } + ] + } + } + }, + { + "action_description": "合拢爪夹。", + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风三脚架入箱子中。", + "error_success_analysis": "爪夹成功合拢，并抓取三脚架。", + "frame": 65, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取三脚架。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将三脚架放入箱子中的任务应当:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风三脚架入箱子中。", + "time": 2.171277994421764, + "annotations": { + "bbox_1768978616081": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616081_1768978788905_5151n0fbc", + "x": 0.548322021484375, + "y": 0.3959096069335937, + "width": 0.04500000000000002, + "height": 0.1066666666666667 + } + ] + }, + "bbox_1768978616249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616249_1768978793057_g8xo4zqnn", + "x": 0.622322021484375, + "y": 0.14524294026692708, + "width": 0.3759999999999999, + "height": 0.712 + } + ] + } + } + }, + { + "action_description": "爪夹垂直上升。", + "correction_plan": "爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风三脚架入箱子中。", + "error_success_analysis": "爪夹成功抓取三脚架并上升。", + "frame": 81, + "progress": 50, + "progress_explanation": "相比上一进度，当前爪夹已抓取三脚架并上升。因此进度提升为50%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n\n为完成将三脚架放入箱子中的任务应当:爪夹向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风三脚架入箱子中。", + "time": 2.711484221225888, + "annotations": { + "bbox_1768978616249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616249_1768978826537_a41jjt554", + "x": 0.625322021484375, + "y": 0.1492429402669271, + "width": 0.37299999999999994, + "height": 0.7093333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向当前爪夹方向的右前边移动。", + "correction_plan": "爪夹继续向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风三脚架入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右前边移动。", + "frame": 89, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹抓取三脚架已接近箱子。因此进度提升为60%。", + "state_description": "当前爪夹接近箱子。\n\n为完成将三脚架放入箱子中的任务应当:爪夹继续向当前爪夹的右边移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使风三脚架入箱子中。", + "time": 2.977085616071249, + "annotations": { + "bbox_1768978616249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616249_1768978883905_lbzx4raic", + "x": 0.621322021484375, + "y": 0.14924294026692705, + "width": 0.37699999999999995, + "height": 0.7093333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右边移动。", + "correction_plan": "爪夹垂直下降。\n\n之后松开爪夹，使三脚架落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右边移动。", + "frame": 94, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取三脚架抵达箱子正上方。因此进度提升为80%。", + "state_description": "当前爪夹处于箱子正上方。\n\n为完成将三脚架放入箱子中的任务应当:爪夹垂直下降。\n\n之后松开爪夹，使三脚架落入箱子中。", + "time": 3.1391474841124856, + "annotations": { + "bbox_1768978616249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616249_1768978917289_hju6wt3ij", + "x": 0.6253220214843751, + "y": 0.2719096069335938, + "width": 0.374, + "height": 0.5853333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "松开爪夹，使三脚架落入箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 103, + "progress": 90, + "progress_explanation": "相比上一进度，当前爪夹已贴近箱子。因此进度提升为90%。", + "state_description": "当前爪夹贴近箱子。\n\n为完成将三脚架放入箱子中的任务应当:松开爪夹，使三脚架落入箱子中。", + "time": 3.4317591902980524, + "annotations": { + "bbox_1768978616249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616249_1768978946961_ljvg074ut", + "x": 0.621322021484375, + "y": 0.21190960693359376, + "width": 0.3780000000000001, + "height": 0.6466666666666667 + } + ] + }, + "bbox_1768978616081": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616081_1768978971641_zbbrcwajc", + "x": 0.748322021484375, + "y": 0.3612429402669271, + "width": 0.17899999999999983, + "height": 0.20666666666666675 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。", + "frame": 121, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，三脚架已落入箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 4.034989476895991, + "annotations": { + "bbox_1768978616081": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616081_1768979001681_en49wuss1", + "x": 0.7443220214843751, + "y": 0.45724294026692713, + "width": 0.08799999999999981, + "height": 0.13466666666666657 + } + ] + }, + "bbox_1768978616249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768978616249_1768979015649_7g28yrfzq", + "x": 0.625322021484375, + "y": 0.19724294026692712, + "width": 0.374, + "height": 0.6586666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768978616081", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1768978616249", + "name": "箱子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768978617137", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768978617329", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133942-put-tripod-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133942-put-tripod-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b93bf88761b3c211eb35a01744520357772da934 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133942-put-tripod-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,702 @@ +{ + "task_description": "抓起三脚架使其放入黄色箱子中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近黄色箱子:60%\n爪夹抓住三脚架位于黄色箱子的正上方:80%\n爪夹松开，将三脚架放入黄色箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取三脚架。", + "time": 0.21526395158860995, + "annotations": { + "point_1769485049270": { + "type": "point", + "instances": [ + { + "id": "point_1769485049270_1769503162301_bi71ekdk6", + "x": 0.7548182223399793, + "y": 0.6244659118652344 + } + ] + }, + "point_1769485049022": { + "type": "point", + "instances": [ + { + "id": "point_1769485049022_1769503164261_bnpjdh81x", + "x": 0.6018182130015999, + "y": 0.6497992451985677 + } + ] + }, + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503169277_n92bhlxnq", + "x": 0.6348182150157602, + "y": 0.4471325785319011, + "width": 0.08800000537109413, + "height": 0.17199999999999996 + } + ] + }, + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503177477_7c719ftwd", + "x": 0.5518182099498419, + "y": 0.000465911865234375, + "width": 0.37500002288818496, + "height": 0.388 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方微调并下降，并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "爪夹继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的右前方移动直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上成功接近三脚架，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 19, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近三脚架，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与三脚架的水平距离略微缩短。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的右前方移动直至三脚架的正上方。", + "time": 0.6400406267703735, + "annotations": { + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503189414_foyv3scxf", + "x": 0.5508182098888067, + "y": 0.0017992451985677084, + "width": 0.3760000229492201, + "height": 0.3866666666666667 + } + ] + }, + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503197373_gur1k498l", + "x": 0.6328182148936898, + "y": 0.4471325785319011, + "width": 0.0890000054321292, + "height": 0.1653333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并下降，爪夹调整爪夹角度，使其垂直于桌面。", + "correction_plan": "爪夹略微抬升，向爪夹方向的右前方略微移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品三脚架。", + "frame": 28, + "progress": -10, + "progress_explanation": "当前爪夹在错误地点下降，触碰胶带而不是三脚架，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，在三脚架边缘下降，爪夹位于胶带的正上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹略微抬升，向爪夹方向的右前方略微移动，直至三脚架的正上方。", + "time": 0.9202124763583452, + "annotations": { + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503210534_qd07ukedh", + "x": 0.6388182152599008, + "y": 0.4471325785319011, + "width": 0.08500000518798867, + "height": 0.17199999999999996 + } + ] + }, + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503221398_bfmgnxhqm", + "x": 0.5508182098888067, + "y": 0.004465911865234375, + "width": 0.375000022888185, + "height": 0.3866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹略微合拢，抓取胶带。", + "correction_plan": "爪夹张开并抬升，向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢抓取到胶带。", + "frame": 32, + "progress": -20, + "progress_explanation": "与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近三脚架，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹一抓取到胶带。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开并抬升，向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 1.0738551035517492, + "annotations": { + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503237934_jxdoli4h9", + "x": 0.6298182147105844, + "y": 0.4524659118652344, + "width": 0.08800000537109405, + "height": 0.164 + } + ] + }, + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503245165_cwnqhtgii", + "x": 0.5518182099498419, + "y": -0.0008674214680989584, + "width": 0.37300002276611466, + "height": 0.39200000000000007 + } + ] + } + } + }, + { + "action_description": "爪夹抓住胶带向爪夹方向的左侧移动，后爪夹略微张开，胶带在桌面上。", + "correction_plan": "爪夹抬升，向爪夹方向的右前方移动，直至三脚架电脑正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住胶带向爪夹方向的左侧移动，后爪夹略微张开，胶带在桌面上，爪夹可以重新抓取三脚架。", + "frame": 57, + "progress": -10, + "progress_explanation": "当前爪夹张开，爪夹可以重新抓取三脚架，因此进度上升至-10%.", + "state_description": "当前状态为爪夹张开，三脚架在爪夹方向的右前方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抬升，向爪夹方向的右前方移动，直至三脚架电脑正上方。", + "time": 1.9143706523156645, + "annotations": { + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503261702_5bj56p1mq", + "x": 0.552818210010877, + "y": 0.003132578531901042, + "width": 0.3720000227050795, + "height": 0.39066666666666666 + } + ] + }, + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503267470_n499djp2g", + "x": 0.6308182147716195, + "y": 0.4551325785319011, + "width": 0.0890000054321292, + "height": 0.16666666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧略微移动，后下降合拢抓取胶带。", + "correction_plan": "爪夹张开并抬升，向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。", + "frame": 91, + "progress": -20, + "progress_explanation": "与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近三脚架，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹再次抓取到胶带。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开并抬升，向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 3.0169824474683278, + "annotations": { + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503274045_1h9uk09pw", + "x": 0.6318182148326547, + "y": 0.4551325785319011, + "width": 0.0890000054321292, + "height": 0.16533333333333336 + } + ] + }, + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503285477_r6y09wokq", + "x": 0.5508182098888067, + "y": 0.000465911865234375, + "width": 0.3740000228271498, + "height": 0.39066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹抓住胶带上升，然后向爪夹方向的右前方移动。", + "correction_plan": "爪夹张开，胶带掉落，爪夹向爪夹方向的左后方略微移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住胶带上升，然后向爪夹方向的右前方移动，在水平方向上接近黄色箱子。", + "frame": 121, + "progress": -30, + "progress_explanation": "当前爪夹抓住胶带，在水平方向上接近黄色箱子，因此进度下降至-30%.", + "state_description": "当前状态为爪夹合拢，爪夹抓住胶带在水平方向上接近黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开，胶带掉落，爪夹向爪夹方向的左后方略微移动，直至三脚架的正上方。", + "time": 4.029216226624871, + "annotations": { + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503295725_8s38cd0e2", + "x": 0.5508182098888067, + "y": 0.003132578531901042, + "width": 0.3760000229492201, + "height": 0.37866666666666665 + } + ] + }, + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503303878_5uanyeui0", + "x": 0.6318182148326547, + "y": 0.45779924519856774, + "width": 0.08600000524902374, + "height": 0.164 + } + ] + } + } + }, + { + "action_description": "爪夹张开，胶带掉落至桌面。", + "correction_plan": "爪夹向爪夹方向的左后方略微移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹张开，胶带掉落至桌面，爪夹可以重新抓取三脚架。", + "frame": 139, + "progress": 10, + "progress_explanation": "当前爪夹张开，胶带掉落至桌面，爪夹可以重新抓取三脚架，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，胶带已掉落至桌面。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹向爪夹方向的左后方略微移动，直至三脚架的正上方。", + "time": 4.625711132199263, + "annotations": { + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503309342_wk4nbvvi0", + "x": 0.6308182147716195, + "y": 0.4524659118652344, + "width": 0.09400000573730508, + "height": 0.16133333333333327 + } + ] + }, + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503316662_gzob63yba", + "x": 0.5548182101329473, + "y": 0.0017992451985677084, + "width": 0.3720000227050795, + "height": 0.36800000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方略微移动并下降。", + "correction_plan": "爪夹竖直下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左后方略微移动至三脚架的正上方。", + "frame": 146, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架的正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，处于三脚架的正上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹竖直下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子的正上方。", + "time": 4.860693973789174, + "annotations": { + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503325390_2mdjuzy9d", + "x": 0.552818210010877, + "y": 0.000465911865234375, + "width": 0.3700000225830092, + "height": 0.396 + } + ] + }, + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503335725_2ddc5g3fc", + "x": 0.6318182148326547, + "y": 0.4537992451985677, + "width": 0.100000006103516, + "height": 0.1666666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的左后方略微移动。", + "correction_plan": "爪夹向爪夹方向的后方略微移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的左后方略微移动，在垂直方向上略微远离三脚架。", + "frame": 154, + "progress": 10, + "progress_explanation": "当前爪夹张开，爪夹在垂直方向上略微远离三脚架，因此进度下降至10%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上略微远离三脚架。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹向爪夹方向的后方略微移动，直至三脚架的正上方。", + "time": 5.122790220177922, + "annotations": { + "point_1769485049022": { + "type": "point", + "instances": [ + { + "id": "point_1769485049022_1769503342077_k34h3jp6y", + "x": 0.6698182171519907, + "y": 0.33513257853190104 + } + ] + }, + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503347757_1secsmcfl", + "x": 0.6248182144054086, + "y": 0.443132578531901, + "width": 0.100000006103516, + "height": 0.1786666666666667 + } + ] + }, + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503358349_k2obinsn5", + "x": 0.5508182098888067, + "y": 0.0017992451985677084, + "width": 0.3760000229492201, + "height": 0.3613333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动，并下降。", + "correction_plan": "爪夹竖直下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动至三脚架正上方。", + "frame": 166, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架的正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，处于三脚架的正上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹竖直下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子的正上方。", + "time": 5.529491292160461, + "annotations": { + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503367022_lae29ensb", + "x": 0.5508182098888067, + "y": 0.004465911865234375, + "width": 0.3760000229492201, + "height": 0.38133333333333336 + } + ] + }, + "point_1769485049022": { + "type": "point", + "instances": [ + { + "id": "point_1769485049022_1769503370565_6dg7m2r64", + "x": 0.6228182142833383, + "y": 0.45779924519856774 + } + ] + }, + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503375325_8bgqnyjqf", + "x": 0.6318182148326547, + "y": 0.4551325785319011, + "width": 0.07000000427246125, + "height": 0.14933333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方略微移动，并下降。", + "correction_plan": "爪夹合拢抓取三脚架，后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹张开，爪夹仍位于三脚架的正上方，爪夹左右两侧接触桌面。", + "frame": 186, + "progress": 30, + "progress_explanation": "当前爪夹位于三脚架的正上方，爪夹左右两侧接触桌面，因此进度上升至30%.", + "state_description": "当前状态为爪夹张开，爪夹仍位于三脚架的正上方，爪夹左右两侧接触桌面。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹合拢抓取三脚架，后上升，向爪夹方向的前方移动。", + "time": 6.189250808932137, + "annotations": { + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503383054_appjujmjq", + "x": 0.6348182150157602, + "y": 0.4551325785319011, + "width": 0.06400000390625023, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503390893_pnfxcld0h", + "x": 0.5518182099498418, + "y": 0.0017992451985677084, + "width": 0.37200002270507965, + "height": 0.388 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取三脚架。", + "correction_plan": "爪夹抓住三脚架上升，向爪夹方向的前方移动，直至黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。", + "frame": 197, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，三脚架已被抓取。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架上升，向爪夹方向的前方移动，直至黄色箱子的正上方。", + "time": 6.559800674516229, + "annotations": { + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503408493_y3f6853ug", + "x": 0.5528182100108769, + "y": 0.0017992451985677084, + "width": 0.3720000227050796, + "height": 0.3866666666666667 + } + ] + }, + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503418245_2qx77hict", + "x": 0.6298182147105844, + "y": 0.44979924519856773, + "width": 0.03800000231933609, + "height": 0.17866666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架上升，向爪夹方向的前方略微移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的前方移动，直至黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧三脚架向爪夹方向的前方移动，成功在水平方向上接近黄色箱子。", + "frame": 220, + "progress": 50, + "progress_explanation": "当前爪夹抓住三脚架在水平方向上略微接近黄色箱子，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上略微接近黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架向爪夹方向的前方移动，直至黄色箱子的正上方。", + "time": 7.318976008883637, + "annotations": { + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503433485_jatjph79a", + "x": 0.7098182195933972, + "y": 0.3351325785319011, + "width": 0.053000003234863424, + "height": 0.21466666666666676 + } + ] + }, + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503446757_ohhrnapt8", + "x": 0.5508182098888068, + "y": 0.0017992451985677084, + "width": 0.37500002288818496, + "height": 0.36666666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的前方移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的前方移动，直至黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的前方移动，在水平方向上略微接近黄色箱子。", + "frame": 228, + "progress": 60, + "progress_explanation": "当前爪夹抓住三脚架在水平方向上略微接近黄色箱子，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上略微接近黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架向爪夹方向的前方移动，直至黄色箱子的正上方。", + "time": 7.599147858471608, + "annotations": { + "point_1769485049022": { + "type": "point", + "instances": [ + { + "id": "point_1769485049022_1769503462637_1vn3n47tf", + "x": 0.7728182234386123, + "y": 0.15913257853190105 + } + ] + }, + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503468597_08f7s5znf", + "x": 0.7458182217906629, + "y": 0.04179924519856771, + "width": 0.09000000549316445, + "height": 0.2426666666666667 + } + ] + }, + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503481421_nsn5tm5pt", + "x": 0.552818210010877, + "y": 0.0017992451985677084, + "width": 0.4070000248413102, + "height": 0.38133333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的前方移动并下降。", + "correction_plan": "", + "error_success_analysis": "爪夹抓住三脚架下降，，将三脚架放入黄色箱子中，爪夹张开。", + "frame": 245, + "progress": 80, + "progress_explanation": "当前爪夹抓住三脚架位于黄色箱子的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架处于黄色箱子的正上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架下降，，将三脚架放入黄色箱子中，爪夹张开。", + "time": 8.15045375604794, + "annotations": { + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503494966_uh2t7h988", + "x": 0.5518182099498419, + "y": 0.0017992451985677084, + "width": 0.3720000227050796, + "height": 0.37733333333333335 + } + ] + }, + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503510973_614zzu00g", + "x": 0.7678182231334365, + "y": -0.0008674214680989607, + "width": 0.04000000244140649, + "height": 0.14533333333333331 + } + ] + } + } + }, + { + "action_description": "爪夹张开，三脚架落入黄色箱子中。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架已落入黄色箱子中。", + "frame": 259, + "progress": 100, + "progress_explanation": "当前爪夹张开，三脚架放入黄色箱子中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，三脚架已落入黄色箱子中。\n已完成抓起三脚架使其放入黄色箱子中的任务。", + "time": 8.638495042426987, + "annotations": { + "bbox_1769485047790": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485047790_1769503522781_ctupwwyx9", + "x": 0.6568182163585337, + "y": 0.10046591186523439, + "width": 0.09200000561523476, + "height": 0.13733333333333334 + } + ] + }, + "point_1769485049022": { + "type": "point", + "instances": [ + { + "id": "point_1769485049022_1769503525813_2txp62jph", + "x": 0.7268182206309949, + "y": 0.01913257853190104 + } + ] + }, + "bbox_1769485048094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769485048094_1769503532965_n2q3kva6q", + "x": 0.5498182098277715, + "y": 0.000465911865234375, + "width": 0.37700002301025526, + "height": 0.3813333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769485047790", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769485048094", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769485049022", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769485049270", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133942-put-tripod-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133942-put-tripod-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..efec4cd51f241961c0dbaeb0baafd1c25d4f69a9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133942-put-tripod-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,648 @@ +{ + "task_description": "抓起三脚架使其放入黄色箱子中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近黄色箱子:60%\n爪夹抓住三脚架位于黄色箱子的正上方:80%\n爪夹松开，将三脚架放入黄色箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取三脚架。", + "time": 0.2694907611862819, + "annotations": { + "point_1769503561229": { + "type": "point", + "instances": [ + { + "id": "point_1769503561229_1769503574381_o0vp1jl3t", + "x": 0.42681820232044687, + "y": 0.10713257853190104 + } + ] + }, + "point_1769503560981": { + "type": "point", + "instances": [ + { + "id": "point_1769503560981_1769503577005_igpnbrhr8", + "x": 0.2448181912120478, + "y": 0.04313257853190104 + } + ] + }, + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503583141_0rloxqnha", + "x": 0.6748182174571665, + "y": 0.000465911865234375, + "width": 0.32200001965332153, + "height": 0.5093333333333333 + } + ] + }, + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503590621_gi6gq4kzj", + "x": 0.6718182172740611, + "y": 0.46846591186523434, + "width": 0.053000003234863514, + "height": 0.21600000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方微调并下降，并调整爪夹角度，使其接近于垂直桌面。", + "correction_plan": "爪夹继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的右前方移动直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上成功接近三脚架，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 16, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近三脚架，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与三脚架的水平距离略微缩短。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的右前方移动直至三脚架的正上方。", + "time": 0.5406248091746416, + "annotations": { + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503598293_mc64fs454", + "x": 0.6718182172740611, + "y": 0.46579924519856775, + "width": 0.05400000329589867, + "height": 0.22266666666666665 + } + ] + }, + "point_1769503561229": { + "type": "point", + "instances": [ + { + "id": "point_1769503561229_1769503601309_js0jfz401", + "x": 0.6418182154430063, + "y": 0.3617992451985677 + } + ] + }, + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503607653_nop92cl57", + "x": 0.6718182172740611, + "y": 0.0017992451985677084, + "width": 0.3260000198974621, + "height": 0.5093333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并下降，爪夹调整爪夹角度，使其垂直于桌面。", + "correction_plan": "爪夹略微抬升，向爪夹方向的右前方略微移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品三脚架。", + "frame": 26, + "progress": -10, + "progress_explanation": "当前爪夹在错误地点下降，触碰胶带而不是三脚架，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，在三脚架边缘下降，爪夹位于胶带的正上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹略微抬升，向爪夹方向的右前方略微移动，直至三脚架的正上方。", + "time": 0.8659856667606733, + "annotations": { + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503621949_10ft8qh8d", + "x": 0.6738182173961313, + "y": 0.0017992451985677084, + "width": 0.325000019836427, + "height": 0.5106666666666667 + } + ] + }, + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503637213_lola6djhr", + "x": 0.6698182171519907, + "y": 0.45779924519856774, + "width": 0.05600000341796898, + "height": 0.21466666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹略微合拢，抓取胶带。", + "correction_plan": "爪夹张开并抬升，向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢抓取到胶带。", + "frame": 31, + "progress": -20, + "progress_explanation": "与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近三脚架，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹一抓取到胶带。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开并抬升，向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 1.0467416987529132, + "annotations": { + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503646341_xpq7t8sgs", + "x": 0.6688182170909556, + "y": 0.46579924519856775, + "width": 0.05400000329589867, + "height": 0.21600000000000003 + } + ] + }, + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503654766_463rutla3", + "x": 0.6718182172740611, + "y": 0.000465911865234375, + "width": 0.325000019836427, + "height": 0.5093333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹抓住胶带向爪夹方向的左侧移动，后爪夹略微张开，胶带在桌面上。", + "correction_plan": "爪夹抬升，向爪夹方向的右前方移动，直至三脚架电脑正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住胶带向爪夹方向的左侧移动，后爪夹略微张开，胶带在桌面上，爪夹可以重新抓取三脚架。", + "frame": 48, + "progress": -10, + "progress_explanation": "当前爪夹张开，爪夹可以重新抓取三脚架，因此进度上升至-10%.", + "state_description": "当前状态为爪夹张开，三脚架在爪夹方向的右前方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抬升，向爪夹方向的右前方移动，直至三脚架电脑正上方。", + "time": 1.6161231995284684, + "annotations": { + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503667005_8p4i1hfwv", + "x": 0.6748182174571665, + "y": 0.000465911865234375, + "width": 0.32200001965332153, + "height": 0.5093333333333333 + } + ] + }, + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503679349_pdvs4jh5q", + "x": 0.6668182169688853, + "y": 0.46846591186523434, + "width": 0.05100000311279311, + "height": 0.21600000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧略微移动，后下降合拢抓取胶带。", + "correction_plan": "爪夹张开并抬升，向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。", + "frame": 83, + "progress": -20, + "progress_explanation": "与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近三脚架，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹再次抓取到胶带。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开并抬升，向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 2.7548862010795796, + "annotations": { + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503697357_zyvq9ogi8", + "x": 0.6738182173961313, + "y": 0.000465911865234375, + "width": 0.325000019836427, + "height": 0.5093333333333333 + } + ] + }, + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503704253_iqyacnirx", + "x": 0.6668182169688853, + "y": 0.46846591186523434, + "width": 0.05200000317382827, + "height": 0.21600000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹抓住胶带上升，然后向爪夹方向的右前方移动。", + "correction_plan": "爪夹张开，胶带掉落，爪夹向爪夹方向的左后方略微移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住胶带上升，然后向爪夹方向的右前方移动，在水平方向上接近黄色箱子。", + "frame": 121, + "progress": -30, + "progress_explanation": "当前爪夹抓住胶带，在水平方向上接近黄色箱子，因此进度下降至-30%.", + "state_description": "当前状态为爪夹合拢，爪夹抓住胶带在水平方向上接近黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开，胶带掉落，爪夹向爪夹方向的左后方略微移动，直至三脚架的正上方。", + "time": 4.020178425025259, + "annotations": { + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503717445_3qmduyeaf", + "x": 0.670818217213026, + "y": -0.0008674214680989584, + "width": 0.3260000198974621, + "height": 0.5106666666666667 + } + ] + }, + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503726117_wgqbga2g6", + "x": 0.6668182169688853, + "y": 0.46713257853190104, + "width": 0.053000003234863424, + "height": 0.21600000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹张开，胶带掉落至桌面。", + "correction_plan": "爪夹向爪夹方向的左后方略微移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹张开，胶带掉落至桌面，爪夹可以重新抓取三脚架。", + "frame": 136, + "progress": 10, + "progress_explanation": "当前爪夹张开，胶带掉落至桌面，爪夹可以重新抓取三脚架，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，胶带已掉落至桌面。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹向爪夹方向的左后方略微移动，直至三脚架的正上方。", + "time": 4.535333116203142, + "annotations": { + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503745014_u83iwm8q9", + "x": 0.6438182155650767, + "y": 0.0017992451985677084, + "width": 0.3540000216064465, + "height": 0.5093333333333334 + } + ] + }, + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503755181_ytwp3rmyv", + "x": 0.6708182172130259, + "y": 0.46713257853190104, + "width": 0.04700000286865249, + "height": 0.21866666666666662 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方略微移动并下降。", + "correction_plan": "爪夹竖直下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左后方略微移动至三脚架的正上方。", + "frame": 148, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架的正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，处于三脚架的正上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹竖直下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子的正上方。", + "time": 4.942034188185683, + "annotations": { + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503762221_wtkp67uxv", + "x": 0.6658182169078501, + "y": 0.4644659118652344, + "width": 0.05600000341796889, + "height": 0.2226666666666667 + } + ] + }, + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503769349_6mwa5inf4", + "x": 0.6478182158092173, + "y": -0.0008674214680989584, + "width": 0.34900002130127084, + "height": 0.512 + } + ] + } + } + }, + { + "action_description": "爪夹略微抬升，向爪夹方向的左后方略微移动。", + "correction_plan": "爪夹向爪夹方向的后方略微移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的左后方略微移动，在垂直方向上略微远离三脚架。", + "frame": 162, + "progress": 10, + "progress_explanation": "当前爪夹张开，爪夹在垂直方向上略微远离三脚架，因此进度下降至10%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上略微远离三脚架。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹向爪夹方向的后方略微移动，直至三脚架的正上方。", + "time": 5.402962069765894, + "annotations": { + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503777885_qmyf8mclz", + "x": 0.6708182172130259, + "y": 0.000465911865234375, + "width": 0.3270000199584972, + "height": 0.508 + } + ] + }, + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503784581_56rddeuqx", + "x": 0.6658182169078501, + "y": 0.46579924519856775, + "width": 0.05500000335693374, + "height": 0.21866666666666662 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动，并下降。", + "correction_plan": "爪夹竖直下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动至三脚架正上方。", + "frame": 176, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架的正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，处于三脚架的正上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹竖直下降，抓取三脚架后上升，向爪夹方向的前方移动，直至处于黄色箱子的正上方。", + "time": 5.854852149746494, + "annotations": { + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503796997_9c0r5ck7i", + "x": 0.6568182163585337, + "y": 0.0017992451985677084, + "width": 0.34100002081298947, + "height": 0.512 + } + ] + }, + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503803317_w6ppa3yaq", + "x": 0.6668182169688853, + "y": 0.4697992451985677, + "width": 0.05600000341796898, + "height": 0.21466666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方略微移动，并下降。", + "correction_plan": "爪夹合拢抓取三脚架，后上升，向爪夹方向的前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹张开，爪夹仍位于三脚架的正上方，爪夹左右两侧接触桌面。", + "frame": 186, + "progress": 30, + "progress_explanation": "当前爪夹位于三脚架的正上方，爪夹左右两侧接触桌面，因此进度上升至30%.", + "state_description": "当前状态为爪夹张开，爪夹仍位于三脚架的正上方，爪夹左右两侧接触桌面。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹合拢抓取三脚架，后上升，向爪夹方向的前方移动。", + "time": 6.189250808932137, + "annotations": { + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503809941_rg7riz92d", + "x": 0.6658182169078501, + "y": 0.4777992451985677, + "width": 0.05400000329589858, + "height": 0.20400000000000004 + } + ] + }, + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503818597_ks1bsb8q5", + "x": 0.6688182170909556, + "y": -0.0008674214680989584, + "width": 0.32800002001953243, + "height": 0.5106666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取三脚架。", + "correction_plan": "爪夹抓住三脚架上升，向爪夹方向的前方移动，直至黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。", + "frame": 199, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，三脚架已被抓取。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架上升，向爪夹方向的前方移动，直至黄色箱子的正上方。", + "time": 6.632103087313125, + "annotations": { + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503825789_dylk6edgt", + "x": 0.6668182169688853, + "y": 0.000465911865234375, + "width": 0.3300000201416028, + "height": 0.5106666666666667 + } + ] + }, + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503832205_5k1q3hnzd", + "x": 0.6128182136729866, + "y": 0.4551325785319011, + "width": 0.09200000561523476, + "height": 0.16133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架上升，向爪夹方向的前方略微移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的前方移动，直至黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧三脚架向爪夹方向的前方移动，成功在水平方向上接近黄色箱子。", + "frame": 221, + "progress": 50, + "progress_explanation": "当前爪夹抓住三脚架在水平方向上略微接近黄色箱子，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上略微接近黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架向爪夹方向的前方移动，直至黄色箱子的正上方。", + "time": 7.3732028184813085, + "annotations": { + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503838630_8y7t32qa4", + "x": 0.7348182211192762, + "y": 0.11779924519856771, + "width": 0.10400000634765671, + "height": 0.21200000000000005 + } + ] + }, + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503848758_g85winkeh", + "x": 0.6638182167857798, + "y": 0.0017992451985677084, + "width": 0.3330000203247082, + "height": 0.508 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的前方移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的前方移动，直至黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的前方移动，在水平方向上略微接近黄色箱子。", + "frame": 236, + "progress": 60, + "progress_explanation": "当前爪夹抓住三脚架在水平方向上略微接近黄色箱子，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上略微接近黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架向爪夹方向的前方移动，直至黄色箱子的正上方。", + "time": 7.861244104860355, + "annotations": { + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503857885_x72s1179f", + "x": 0.6738182173961313, + "y": 0.000465911865234375, + "width": 0.325000019836427, + "height": 0.512 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的前方移动并下降。", + "correction_plan": "爪夹抓住三脚架下降，将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架下降，，将三脚架放入黄色箱子中，爪夹张开。", + "frame": 243, + "progress": 80, + "progress_explanation": "当前爪夹抓住三脚架位于黄色箱子的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架处于黄色箱子的正上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架下降，将三脚架放入黄色箱子中，爪夹张开。", + "time": 8.10526474804988, + "annotations": { + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503869133_j5zpsklo7", + "x": 0.6718182172740611, + "y": 0.0017992451985677084, + "width": 0.3270000199584973, + "height": 0.5066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹张开，三脚架落入黄色箱子中。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架已落入黄色箱子中。", + "frame": 257, + "progress": 100, + "progress_explanation": "当前爪夹张开，三脚架放入黄色箱子中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，三脚架已落入黄色箱子中。\n已完成抓起三脚架使其放入黄色箱子中的任务。", + "time": 8.557154828030479, + "annotations": { + "bbox_1769503548901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548901_1769503883869_qecqqf8pj", + "x": 0.6698182171519907, + "y": 0.000465911865234375, + "width": 0.3280000200195324, + "height": 0.5053333333333333 + } + ] + }, + "bbox_1769503548677": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503548677_1769503888717_s478g35zq", + "x": 0.8598182287486711, + "y": 0.15779924519856772, + "width": 0.05600000341796889, + "height": 0.17066666666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769503548677", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1769503548901", + "name": "黄色箱子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769503560981", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769503561229", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133942-put-tripod-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133942-put-tripod-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f960947be89c1abd30b2cc15640313b899f87319 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-133942-put-tripod-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,580 @@ +{ + "task_description": "抓起三脚架使其放入黄色箱子中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近黄色箱子:60%\n爪夹抓住三脚架位于黄色箱子的正上方:80%\n爪夹松开，将三脚架放入黄色箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达三脚架正上方，后下降，抓取三脚架后上升，向爪夹方向的右侧移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取三脚架。", + "time": 0.29029986448306777, + "annotations": { + "point_1769490348459": { + "type": "point", + "instances": [ + { + "id": "point_1769490348459_1769503904862_w0ofgzv4s", + "x": 0.42681820232044687, + "y": 0.008465911865234375 + } + ] + }, + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769503912173_lrjaesq3b", + "x": 0.21081818913685235, + "y": 0.2417992451985677, + "width": 0.5300000323486348, + "height": 0.7293333333333334 + } + ] + }, + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769503926454_fvktqbtkt", + "x": 0.7498182220348035, + "y": 0.6764659118652344, + "width": 0.14400000878906302, + "height": 0.25333333333333324 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并下降。调整爪夹角度，使其垂直于桌面。", + "correction_plan": "爪夹继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右后方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右侧移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近三脚架。", + "frame": 39, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上接近三脚架，因此进度上升至5%.", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近三脚架。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹继续调整爪夹角度，使其垂直于桌面。爪夹向爪夹方向的右后方移动，直至三脚架的正上方。", + "time": 1.2861762158062313, + "annotations": { + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769503945661_e1vwr9hvu", + "x": 0.7508182220958387, + "y": 0.6777992451985677, + "width": 0.14200000866699264, + "height": 0.256 + } + ] + }, + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769503959133_e7vxwfuqb", + "x": 0.20781818895374687, + "y": 0.23513257853190106, + "width": 0.532000032470705, + "height": 0.7346666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降，爪夹调整爪夹角度，使其垂直于桌面。", + "correction_plan": "爪夹抬升，向爪夹方向的右前方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右侧移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品三脚架。", + "frame": 55, + "progress": -10, + "progress_explanation": "当前爪夹在错误地点下降，触碰桌面而不是三脚架，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，爪夹左右接触桌面。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抬升，向爪夹方向的右前方移动，直至三脚架的正上方。", + "time": 1.849062849162802, + "annotations": { + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769503974701_q74cudgq0", + "x": 0.20481818877064137, + "y": 0.2537992451985677, + "width": 0.5300000323486348, + "height": 0.72 + } + ] + }, + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769503989789_u075ggjk5", + "x": 0.7518182221568739, + "y": 0.6817992451985677, + "width": 0.1400000085449224, + "height": 0.24800000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，爪夹抓取白色药瓶。", + "correction_plan": "爪夹张开并抬升，向爪夹方向的右后方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右侧移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。", + "frame": 73, + "progress": -20, + "progress_explanation": "当前爪夹已抓住白色药瓶，爪夹需要多一次张开爪夹的动作才能接近三脚架，，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，白色药瓶已被抓住。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开并抬升，向爪夹方向的右后方移动，直至三脚架的正上方。", + "time": 2.4335989684177024, + "annotations": { + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504001517_wdbhct5pz", + "x": 0.7538182222789442, + "y": 0.6804659118652343, + "width": 0.1400000085449224, + "height": 0.25333333333333335 + } + ] + }, + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504007797_a43csmh09", + "x": 0.19481818816028978, + "y": 0.2537992451985677, + "width": 0.5180000316162128, + "height": 0.716 + } + ] + } + } + }, + { + "action_description": "爪夹抓住白色药瓶上升，向爪夹方向的后方移动。", + "correction_plan": "爪夹张开，向爪夹方向的右后方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右侧移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住白色药瓶上升，向爪夹方向的后方移动，在水平方向上接近黄色箱子。", + "frame": 91, + "progress": -30, + "progress_explanation": "当前爪夹抓住白色药瓶，在水平方向上接近黄色箱子，因此进度下降为-30%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住白色药瓶在水平方向上接近黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开，向爪夹方向的右后方移动，直至三脚架的正上方。", + "time": 3.0289598306217673, + "annotations": { + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504026885_77lvt915n", + "x": 0.16981818663441078, + "y": 0.26713257853190103, + "width": 0.5370000327758809, + "height": 0.7026666666666668 + } + ] + }, + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504039149_tp8c3ejln", + "x": 0.7498182220348035, + "y": 0.6777992451985677, + "width": 0.14100000860595746, + "height": 0.25333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹抓住白色药瓶，向爪夹方向的后方移动。", + "correction_plan": "爪夹张开，爪夹向爪夹方向的右后方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右侧移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住白色药瓶，向爪夹方向的后方移动，在水平方向上更接近黄色箱子。", + "frame": 112, + "progress": -40, + "progress_explanation": "较上一阶段相比，爪夹抓住白色药瓶在水平方向上更接近黄色箱子。", + "state_description": "当前状态为爪夹合拢，爪夹抓住白色药瓶在水平方向上更接近黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开，爪夹向爪夹方向的右后方移动，直至三脚架的正上方。", + "time": 3.7217433793683155, + "annotations": { + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504055309_5si59v9s5", + "x": 0.7508182220958387, + "y": 0.6804659118652343, + "width": 0.1400000085449223, + "height": 0.25066666666666676 + } + ] + }, + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504066109_s15d5yhkp", + "x": 0.16781818651234048, + "y": 0.26979924519856774, + "width": 0.5430000331420919, + "height": 0.704 + } + ] + } + } + }, + { + "action_description": "爪夹张开，白色药瓶掉落至桌面。", + "correction_plan": "爪夹向爪夹方向的右后方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右侧移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹张开，白色药瓶掉落，爪夹可以重新抓取三脚架。", + "frame": 126, + "progress": 10, + "progress_explanation": "当前爪夹张开，白色药瓶掉落，爪夹可以重新抓取三脚架，因此进度下降至10%。", + "state_description": "当前状态为爪夹张开，白色药瓶已掉落至桌面。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹向爪夹方向的右后方移动，直至三脚架的正上方。", + "time": 4.1980320691315685, + "annotations": { + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504077309_r8r5o1rvh", + "x": 0.16881818657337563, + "y": 0.2657992451985677, + "width": 0.5400000329589865, + "height": 0.7066666666666668 + } + ] + }, + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504088821_gz7i4b0kz", + "x": 0.7528182222179091, + "y": 0.6817992451985677, + "width": 0.14100000860595757, + "height": 0.25199999999999984 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "correction_plan": "爪夹竖直下降，抓取三脚架，后上升，向爪夹方向的左侧移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动至三脚架的正上方。", + "frame": 161, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架的正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近三脚架。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹竖直下降，抓取三脚架，后上升，向爪夹方向的左侧移动，直至处于黄色箱子的正上方。", + "time": 5.36710430764137, + "annotations": { + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504110941_o8bmbjdnw", + "x": 0.7498182220348035, + "y": 0.6857992451985677, + "width": 0.13300000811767623, + "height": 0.24533333333333332 + } + ] + }, + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504123405_ryzv65zjl", + "x": 0.18581818761097335, + "y": 0.26713257853190103, + "width": 0.5190000316772481, + "height": 0.7026666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹略微抬升，后合拢进行空抓。", + "correction_plan": "爪夹张开，竖直下降，重新抓取三脚架，后上升，向爪夹方向的左侧移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方，下降抓取三脚架时，爪夹抬升，爪夹进行空抓。", + "frame": 185, + "progress": -20, + "progress_explanation": "当前爪夹合拢，爪夹需要多一次张开爪夹的动作才能接近三脚架，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹己经进行空抓动作。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开，竖直下降，重新抓取三脚架。", + "time": 6.157310542930401, + "annotations": { + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504135654_eydh72i6d", + "x": 0.18781818773304368, + "y": 0.2685871276855469, + "width": 0.5240000319824238, + "height": 0.7026666666666667 + } + ] + }, + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504147925_oujxkwqw4", + "x": 0.7498182220348035, + "y": 0.6232537943522135, + "width": 0.17200001049804747, + "height": 0.30800000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹竖直下降，抓取三脚架，后上升，向爪夹方向的左侧移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动至三脚架的正上方。", + "frame": 211, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架的正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹位于三脚架的正上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹竖直下降，抓取三脚架，后上升，向爪夹方向的左侧移动，直至处于黄色箱子的正上方。", + "time": 7.044939464761916, + "annotations": { + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504156805_lo0itttfi", + "x": 0.7498182220348035, + "y": 0.6657992451985677, + "width": 0.15400000939941466, + "height": 0.26533333333333337 + } + ] + }, + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504167765_h9aruvp8v", + "x": 0.18581818761097335, + "y": 0.26713257853190103, + "width": 0.5330000325317402, + "height": 0.7026666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，后合拢抓取三脚架。", + "correction_plan": "爪夹抓住三脚架上升，然后向爪夹方向的左侧移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方竖直下降，成功抓取到三脚架。", + "frame": 249, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到三脚架，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，三脚架已被抓取。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架上升，然后向爪夹方向的左侧移动。", + "time": 8.3114343898142, + "annotations": { + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504181789_ws07fgq6a", + "x": 0.1678181865123405, + "y": 0.26179924519856773, + "width": 0.5560000339355489, + "height": 0.7093333333333334 + } + ] + }, + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504192261_6rri9k74j", + "x": 0.7558182224010145, + "y": 0.6844659118652344, + "width": 0.19000001159668037, + "height": 0.25333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架上升，然后向爪夹方向的左侧略微移动，", + "correction_plan": "爪夹抓住三脚架向爪夹方向的左侧移动，直至黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧三脚架向爪夹方向的左侧移动，成功在水平方向上接近黄色箱子。", + "frame": 267, + "progress": 50, + "progress_explanation": "当前爪夹已抓住三脚架，并在水平方向上略微接近黄色箱子，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上略微接近黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架向爪夹方向的左侧移动，直至黄色箱子的正上方。", + "time": 8.8959705090691, + "annotations": { + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504198677_mly9k14yi", + "x": 0.7498182220348035, + "y": 0.6737992451985677, + "width": 0.21600001318359457, + "height": 0.26933333333333337 + } + ] + }, + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504205677_v0zf3c2er", + "x": 0.18081818730579755, + "y": 0.26579924519856774, + "width": 0.5420000330810567, + "height": 0.7040000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的左侧移动。", + "correction_plan": "爪夹抓住三脚架向爪夹方向的右侧移动，直至黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的左侧移动，在水平方向上接近黄色箱子。", + "frame": 275, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住三脚架在水平方向上接近黄色箱子，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架在水平方向上接近黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架向爪夹方向的右侧移动，直至黄色箱子的正上方。", + "time": 9.166589082798222, + "annotations": { + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504219389_93rh3rhej", + "x": 0.1668181864513053, + "y": 0.27113257853190104, + "width": 0.5400000329589865, + "height": 0.6973333333333334 + } + ] + }, + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504230389_kq8luziq1", + "x": 0.47781820543324, + "y": 0.1884659118652344, + "width": 0.10300000628662156, + "height": 0.3106666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹抓住三脚架向爪夹方向的右侧移动并下降。", + "correction_plan": "爪夹抓住三脚架下降，将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住三脚架向爪夹方向的右侧移动至黄色箱子的正上方。", + "frame": 293, + "progress": 80, + "progress_explanation": "当前爪夹抓住三脚架位于黄色箱子的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住三脚架位于黄色箱子的正上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抓住三脚架下降，将三脚架放入黄色箱子中，爪夹张开。", + "time": 9.751125202053121, + "annotations": { + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504242829_2l4mvnud4", + "x": 0.4138182015269899, + "y": 0.24979924519856772, + "width": 0.05400000329589858, + "height": 0.272 + } + ] + }, + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504255533_xrg0qnkza", + "x": 0.16681818645130533, + "y": 0.275132578531901, + "width": 0.5400000329589864, + "height": 0.6986666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开，三脚架落入黄色箱子中。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，三脚架已落入黄色箱子中。", + "frame": 315, + "progress": 100, + "progress_explanation": "当前爪夹张开，三脚架落入黄色箱子中，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，三脚架已落入黄色箱子中。\n已完成抓起三脚架使其放入黄色箱子中的任务。", + "time": 10.498032465545496, + "annotations": { + "bbox_1769490346779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346779_1769504269885_2jahrzo6c", + "x": 0.16981818663441078, + "y": 0.27113257853190104, + "width": 0.5360000327148458, + "height": 0.7040000000000001 + } + ] + }, + "bbox_1769490346459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769490346459_1769504283677_fomtehna9", + "x": 0.4058182010387085, + "y": 0.41113257853190105, + "width": 0.11600000708007858, + "height": 0.1733333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769490346459", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769490346779", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769490348219", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769490348459", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-140151-put-tripod-yellow-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-140151-put-tripod-yellow-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e107de899e606dfad05ce21027ba1aff6bdb082a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-140151-put-tripod-yellow-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,518 @@ +{ + "task_description": "抓起三脚架使其放入黄色箱子中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近黄色箱子:60%\n爪夹抓住三脚架位于黄色箱子的正上方:80%\n爪夹松开，将三脚架放入黄色箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达三脚架正上方，后下降，抓取三脚架后上升，向爪夹方向的右前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取三脚架。", + "time": 0.33483285574157434, + "annotations": { + "point_1769502489709": { + "type": "point", + "instances": [ + { + "id": "point_1769502489709_1769504298485_ng152afwi", + "x": 0.35081819768177475, + "y": 0.16713257853190105 + } + ] + }, + "point_1769502489886": { + "type": "point", + "instances": [ + { + "id": "point_1769502489886_1769504301149_u87u5jy6s", + "x": 0.5058182071422246, + "y": 0.22046591186523437 + } + ] + }, + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504309549_5w08363gg", + "x": 0.5058182071422246, + "y": 0.3604659118652344, + "width": 0.09000000549316436, + "height": 0.15466666666666662 + } + ] + }, + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504317941_p8f1u3a2o", + "x": 0.764818222950331, + "y": -0.0008674214680989584, + "width": 0.2340000142822274, + "height": 0.4426666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并下降。", + "correction_plan": "爪夹抬升，向爪夹方向的左后方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品三脚架。", + "frame": 30, + "progress": -10, + "progress_explanation": "爪夹在错误地点下降，触碰瓶子而不是三脚架，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，爪夹左触碰瓶子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抬升，向爪夹方向的左后方移动，直至三脚架的正上方。", + "time": 0.9913964991162801, + "annotations": { + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504328245_d9si2xcbb", + "x": 0.7638182228892958, + "y": 0.000465911865234375, + "width": 0.23300001422119224, + "height": 0.5 + } + ] + }, + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504338309_zp1vmoewm", + "x": 0.5318182087291387, + "y": 0.3804659118652344, + "width": 0.06500000396728538, + "height": 0.1373333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹推动瓶子向爪夹方向的左后方移动。", + "correction_plan": "爪夹抬升，向爪夹方向的左后方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹推动瓶子向爪夹方向的左后方移动，爪夹距三脚架的水平距离缩短。", + "frame": 41, + "progress": -7, + "progress_explanation": "当前爪夹左仍接触瓶子，但爪夹距三脚架的水平距离缩短，因此进度提升至-7%。", + "state_description": "当前状态为爪夹张开，爪夹左仍接触瓶子，爪夹距三脚架的水平距离缩短。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抬升，向爪夹方向的左后方移动，直至三脚架的正上方。", + "time": 1.3757264367014737, + "annotations": { + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504343645_a9ougdk85", + "x": 0.42681820232044687, + "y": 0.4177992451985677, + "width": 0.10600000646972693, + "height": 0.15200000000000008 + } + ] + }, + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504355197_kodjb1orv", + "x": 0.7428182216075575, + "y": 0.0017992451985677084, + "width": 0.2550000155639657, + "height": 0.4066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹抬升，向爪夹方向的左后方移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，在水平方向上成功接近三脚架。", + "frame": 54, + "progress": 10, + "progress_explanation": "当前爪夹在水平上接近三脚架，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平上接近三脚架。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹向爪夹方向的左前方移动，直至三脚架的正上方。", + "time": 1.8080976164848166, + "annotations": { + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504371653_g9keur6zu", + "x": 0.7578182225230848, + "y": 0.003132578531901042, + "width": 0.23900001458740325, + "height": 0.39866666666666667 + } + ] + }, + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504388997_vt5hwguvl", + "x": 0.42481820219837657, + "y": 0.42179924519856776, + "width": 0.10300000628662147, + "height": 0.15199999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "爪夹向爪夹方向的前方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上更接近三脚架。", + "frame": 63, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上更接近三脚架，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上更接近三脚架。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹向爪夹方向的前方移动，直至三脚架的正上方。", + "time": 2.0883381959740204, + "annotations": { + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504393925_xv9246j9v", + "x": 0.4178182017711305, + "y": 0.41513257853190105, + "width": 0.11400000695800819, + "height": 0.1666666666666667 + } + ] + }, + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504399741_86em98z78", + "x": 0.7488182219737685, + "y": 0.000465911865234375, + "width": 0.25000001525878995, + "height": 0.4066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "爪夹竖直下降，抓取三脚架后上升，向爪夹方向的右前方移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动至三脚架正上方。", + "frame": 68, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于三脚架的正上方，已接近三脚架，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，处于三脚架的正上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹竖直下降，抓取三脚架后上升，向爪夹方向的右前方移动，直至处于黄色箱子的正上方。", + "time": 2.2805031647666167, + "annotations": { + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504413469_f2v7qxw8m", + "x": 0.7518182221568739, + "y": 0.000465911865234375, + "width": 0.24600001501464924, + "height": 0.40800000000000003 + } + ] + }, + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504419604_mw9gb76jx", + "x": 0.4308182025645875, + "y": 0.42046591186523435, + "width": 0.10500000640869178, + "height": 0.1666666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹左接触三脚架，推动三脚架向爪夹方向的右侧移动。", + "correction_plan": "爪夹合拢，抓取三脚架，后上升，向爪夹方向的右前方移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹左接触三脚架，推动三脚架向爪夹方向的右侧移动。", + "frame": 78, + "progress": 30, + "progress_explanation": "当前爪夹张开，爪夹左接触三脚架，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹左接触三脚架。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹合拢，抓取三脚架，后上升，向爪夹方向的右前方移动，直至处于黄色箱子的正上方。", + "time": 2.60878498645397, + "annotations": { + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504425581_mx4dkh3qi", + "x": 0.5538182100719122, + "y": 0.49913257853190107, + "width": 0.15500000946044984, + "height": 0.07999999999999995 + } + ] + }, + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504432757_eofv3shag", + "x": 0.7498182220348035, + "y": -0.0008674214680989584, + "width": 0.2490000151977548, + "height": 0.4026666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹略微抬升，后合拢空抓。", + "correction_plan": "爪夹张开，竖直下降，重新抓取三脚架，后上升，向爪夹方向的右前方移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在三脚架的正上方，略微抬升，后合拢空抓。", + "frame": 114, + "progress": -20, + "progress_explanation": "当前爪夹合拢，爪夹已经进行空抓，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹已经进行空抓。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开，竖直下降，重新抓取三脚架。", + "time": 3.8098160414077, + "annotations": { + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504439532_t57c170f0", + "x": 0.7518182221568739, + "y": 0.0017992451985677084, + "width": 0.2470000150756845, + "height": 0.3946666666666667 + } + ] + }, + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504451325_crzgyhiu3", + "x": 0.5568182102550178, + "y": 0.48979924519856766, + "width": 0.1850000112915046, + "height": 0.0933333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹抬升，后爪夹张开。", + "correction_plan": "爪夹下降，抓取三脚架，后上升，向爪夹方向的右前方移动，直至处于黄色箱子的正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹张开，爪夹悬空在三脚架上方。", + "frame": 142, + "progress": 5, + "progress_explanation": "当前爪夹张开，爪夹悬空在三脚架上方，因此进度提升为5%。", + "state_description": "当前状态为爪夹张开，爪夹悬空在三脚架上方。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹下降，抓取三脚架，后上升，向爪夹方向的右前方移动，直至处于黄色箱子的正上方。", + "time": 4.730606516872226, + "annotations": { + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504466677_ggytj7201", + "x": 0.5568182102550177, + "y": 0.4924659118652344, + "width": 0.1850000112915046, + "height": 0.07733333333333334 + } + ] + }, + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504479693_fkw1soutg", + "x": 0.7478182219127333, + "y": 0.0017992451985677084, + "width": 0.25100001531982513, + "height": 0.38533333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动，并下降。", + "correction_plan": "爪夹抬升，向爪夹方向的前方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品。", + "frame": 162, + "progress": -10, + "progress_explanation": "当前爪夹在错误地点下降，触碰白色勺子而不是三脚架，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，爪夹右触碰白色勺子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹抬升，向爪夹方向的前方移动，直至三脚架的正上方。", + "time": 5.411190781346007, + "annotations": { + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504491501_3bl0z90tr", + "x": 0.7488182219737685, + "y": 0.0017992451985677084, + "width": 0.25000001525878995, + "height": 0.39733333333333337 + } + ] + }, + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504498461_96x8d2l8s", + "x": 0.5598182104381232, + "y": 0.4937992451985677, + "width": 0.18100001104736388, + "height": 0.06933333333333327 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取白色勺子。", + "correction_plan": "爪夹张开并抬升，向爪夹方向的前方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢抓取白色勺子。", + "frame": 173, + "progress": -20, + "progress_explanation": "与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近三脚架，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住白色勺子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开并抬升，向爪夹方向的前方移动，直至三脚架的正上方。", + "time": 5.763493224132434, + "annotations": { + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504510677_n30t142jj", + "x": 0.5748182113536505, + "y": 0.49246591186523436, + "width": 0.16800001025390693, + "height": 0.07066666666666664 + } + ] + }, + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504520213_dy7eormdh", + "x": 0.7508182220958387, + "y": -0.0008674214680989584, + "width": 0.24700001507568442, + "height": 0.404 + } + ] + } + } + }, + { + "action_description": "爪夹抓住白色勺子上升。", + "correction_plan": "爪夹张开，爪夹向爪夹方向的前发移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住白色勺子上升，在垂直方向上接近黄色箱子。", + "frame": 190, + "progress": -30, + "progress_explanation": "当前爪夹抓住白色勺子在垂直方向上接近黄色箱子，因此进度下降为-30%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住白色勺子在垂直方向上接近黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹张开，爪夹向爪夹方向的前发移动，直至三脚架的正上方。", + "time": 6.347995004209916, + "annotations": { + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504540973_7hzdk03p7", + "x": 0.7488182219737685, + "y": 0.0017992451985676778, + "width": 0.2490000151977548, + "height": 0.39466666666666667 + } + ] + }, + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504555701_dca95l3z1", + "x": 0.5678182109264045, + "y": 0.4711325785319011, + "width": 0.169000010314942, + "height": 0.05599999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹抓住白色勺子，向爪夹方向的右前方移动，爪夹张开，白色勺子掉落进黄色箱子。", + "correction_plan": "爪夹向爪夹方向的左后方移动，直至三脚架的正上方，后下降，抓取三脚架后上升，向爪夹方向的右前方移动，直至处于黄色箱子正上方。下降将三脚架放入黄色箱子中，爪夹张开。", + "error_success_analysis": "爪夹抓住白色勺子，向爪夹方向的右前方移动，然后爪夹张开，白色勺子掉落进黄色箱子。", + "frame": 226, + "progress": -50, + "progress_explanation": "当前爪夹张开，白色勺子已掉落进黄色箱子，因此进度下降至-50%。", + "state_description": "当前状态为爪夹张开，白色勺子已掉落进黄色箱子。\n为完成抓起三脚架使其放入黄色箱子中的任务应当:爪夹向爪夹方向的左后方移动，直至三脚架的正上方。", + "time": 7.525005438064571, + "annotations": { + "bbox_1769502488646": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488646_1769504566524_18vfd8yvd", + "x": 0.552818210010877, + "y": 0.435132578531901, + "width": 0.17900001092529366, + "height": 0.1013333333333333 + } + ] + }, + "bbox_1769502488870": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502488870_1769504577894_8g79bk4mr", + "x": 0.7488182219737685, + "y": 0.000465911865234375, + "width": 0.25000001525878995, + "height": 0.4026666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769502488646", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769502488870", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769502489709", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769502489886", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-142303-put-plastic bottle-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-142303-put-plastic bottle-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f9811d8e76d59560bb8df8c053fce181aba958 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-142303-put-plastic bottle-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,494 @@ +{ + "task_description": "将瓶子放入黑色箱子中:\n开始移动:0%\n爪夹靠近瓶子:20%\n爪夹抓取瓶子:40%\n爪夹抓住瓶子接近黑色箱子:60%\n爪夹将瓶子移动至黑色箱子上:80%\n爪夹松开，瓶子落入黑色箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768982066164": { + "instances": [ + { + "height": 0.17333333333333337, + "id": "bbox_1768982066164_1768982089532_vm0hm3g75", + "width": 0.15399999999999991, + "x": 0.6813220214843752, + "y": 0.26409039306640625 + } + ], + "type": "bbox" + }, + "bbox_1768982066332": { + "instances": [ + { + "height": 0.6226666666666668, + "id": "bbox_1768982066332_1768982093076_ps4iy18yn", + "width": 0.5449999999999999, + "x": 0.280322021484375, + "y": 0.3547570597330729 + } + ], + "type": "bbox" + }, + "point_1768982066956": { + "instances": [ + { + "id": "point_1768982066956_1768982104196_9h4gnah85", + "x": 0.778322021484375, + "y": 0.006757059733072917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右下方移动，靠近瓶子。\n\n合拢爪夹，抓取瓶子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触瓶子。\n\n为完成将瓶子放入黑色箱子中的任务应当:爪夹向右下方移动，靠近瓶子。\n\n合拢爪夹，抓取瓶子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "time": 0.04540270973265343 + }, + { + "action_description": "爪夹向右下方移动。", + "annotations": { + "bbox_1768982066164": { + "instances": [ + { + "height": 0.17200000000000004, + "id": "bbox_1768982066164_1768982134003_nhoa0enkc", + "width": 0.14899999999999985, + "x": 0.684322021484375, + "y": 0.26409039306640625 + } + ], + "type": "bbox" + }, + "bbox_1768982066332": { + "instances": [ + { + "height": 0.6186666666666666, + "id": "bbox_1768982066332_1768982150619_m4wwen7sy", + "width": 0.5450000000000002, + "x": 0.28132202148437496, + "y": 0.35209039306640627 + } + ], + "type": "bbox" + }, + "point_1768982066956": { + "instances": [ + { + "id": "point_1768982066956_1768982136571_g4rxursmg", + "x": 0.743322021484375, + "y": 0.037423726399739586 + } + ], + "type": "point" + }, + "point_1768982067092": { + "instances": [ + { + "id": "point_1768982067092_1768982145868_9g1wdrmwt", + "x": 0.819322021484375, + "y": 0.01209039306640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向右下方移动，靠近瓶子。\n\n合拢爪夹，抓取瓶子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向右下方移动。", + "frame": 33, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近瓶子。因此进度提升为10%。", + "state_description": "当前爪夹略微接近瓶子。\n\n为完成将瓶子放入黑色箱子中的任务应当:爪夹继续向右下方移动，靠近瓶子。\n\n合拢爪夹，抓取瓶子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "time": 1.1142687726192515 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动。", + "annotations": { + "bbox_1768982066164": { + "instances": [ + { + "height": 0.16933333333333336, + "id": "bbox_1768982066164_1768982187668_t19lpik3h", + "width": 0.13799999999999998, + "x": 0.739322021484375, + "y": 0.2734237263997396 + } + ], + "type": "bbox" + }, + "bbox_1768982066332": { + "instances": [ + { + "height": 0.624, + "id": "bbox_1768982066332_1768982200492_d41j4ufhr", + "width": 0.5399999999999998, + "x": 0.285322021484375, + "y": 0.3494237263997396 + } + ], + "type": "bbox" + }, + "point_1768982066956": { + "instances": [ + { + "id": "point_1768982066956_1768982194308_2qkl4vrau", + "x": 0.719322021484375, + "y": 0.32809039306640625 + } + ], + "type": "point" + }, + "point_1768982067092": { + "instances": [ + { + "id": "point_1768982067092_1768982196796_vl3eyzqeg", + "x": 0.801322021484375, + "y": 0.3040903930664063 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取瓶子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的右下方移动。", + "frame": 54, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近瓶子。因此进度提升为20%。", + "state_description": "当前爪夹靠近瓶子。\n\n为完成将瓶子放入黑色箱子中的任务应当:合拢爪夹，抓取瓶子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "time": 1.8136502705573954 + }, + { + "action_description": "合拢爪夹。", + "annotations": { + "bbox_1768982066164": { + "instances": [ + { + "height": 0.16933333333333334, + "id": "bbox_1768982066164_1768982245148_u60bcwbno", + "width": 0.1530000000000001, + "x": 0.719322021484375, + "y": 0.2814237263997396 + } + ], + "type": "bbox" + }, + "bbox_1768982066332": { + "instances": [ + { + "height": 0.6186666666666667, + "id": "bbox_1768982066332_1768982262452_ap31om1js", + "width": 0.5419999999999999, + "x": 0.282322021484375, + "y": 0.3520903930664063 + } + ], + "type": "bbox" + }, + "point_1768982066956": { + "instances": [ + { + "id": "point_1768982066956_1768982239164_grosl52gz", + "x": 0.732322021484375, + "y": 0.32809039306640625 + } + ], + "type": "point" + }, + "point_1768982067092": { + "instances": [ + { + "id": "point_1768982067092_1768982241972_63ynq63pf", + "x": 0.791322021484375, + "y": 0.3014237263997396 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "error_success_analysis": "爪夹成功合拢，并抓取瓶子。", + "frame": 64, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取瓶子。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将瓶子放入黑色箱子中的任务应当:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "time": 2.1215540746811072 + }, + { + "action_description": "爪夹垂直上升。", + "annotations": { + "bbox_1768982066164": { + "instances": [ + { + "height": 0.24133333333333334, + "id": "bbox_1768982066164_1768982283876_6duysmujg", + "width": 0.1780000000000001, + "x": 0.715322021484375, + "y": 0.04275705973307291 + } + ], + "type": "bbox" + }, + "bbox_1768982066332": { + "instances": [ + { + "height": 0.6186666666666666, + "id": "bbox_1768982066332_1768982300284_jy5ennb84", + "width": 0.5439999999999998, + "x": 0.283322021484375, + "y": 0.35209039306640627 + } + ], + "type": "bbox" + }, + "point_1768982066956": { + "instances": [ + { + "id": "point_1768982066956_1768982286324_stpekuzn7", + "x": 0.736322021484375, + "y": 0.10542372639973958 + } + ], + "type": "point" + }, + "point_1768982067092": { + "instances": [ + { + "id": "point_1768982067092_1768982294756_c23viistk", + "x": 0.802322021484375, + "y": 0.058757059733072915 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "error_success_analysis": "爪夹成功抓取瓶子并上升。", + "frame": 72, + "progress": 50, + "progress_explanation": "相比上一进度，当前爪夹已抓取瓶子并上升。因此进度提升为50%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n\n为完成将瓶子放入黑色箱子中的任务应当:爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "time": 2.403066124165643 + }, + { + "action_description": "爪夹向当前爪夹的左边移动。", + "annotations": { + "bbox_1768982066164": { + "instances": [ + { + "height": 0.2773333333333333, + "id": "bbox_1768982066164_1768982329940_0g0wzv2v1", + "width": 0.24200000000000016, + "x": 0.548322021484375, + "y": 0.05209039306640626 + } + ], + "type": "bbox" + }, + "bbox_1768982066332": { + "instances": [ + { + "height": 0.6186666666666668, + "id": "bbox_1768982066332_1768982332964_cpbkg1mq2", + "width": 0.542, + "x": 0.282322021484375, + "y": 0.35342372639973957 + } + ], + "type": "bbox" + }, + "point_1768982066956": { + "instances": [ + { + "id": "point_1768982066956_1768982337508_48adgjt3z", + "x": 0.5893220214843751, + "y": 0.14009039306640625 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 78, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹抓取瓶子已接近黑色箱子。因此进度提升为60%。", + "state_description": "当前爪夹接近黑色箱子。\n\n为完成将瓶子放入黑色箱子中的任务应当:爪夹继续向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使瓶子落入黑色箱子中。", + "time": 2.5878084066398697 + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "annotations": { + "bbox_1768982066164": { + "instances": [ + { + "height": 0.2306666666666666, + "id": "bbox_1768982066164_1768982367140_n5qbv4h25", + "width": 0.267, + "x": 0.461322021484375, + "y": 0.23875705973307293 + } + ], + "type": "bbox" + }, + "bbox_1768982066332": { + "instances": [ + { + "height": 0.6066666666666667, + "id": "bbox_1768982066332_1768982380701_orc4dpv53", + "width": 0.5469999999999999, + "x": 0.281322021484375, + "y": 0.36275705973307293 + } + ], + "type": "bbox" + }, + "point_1768982066956": { + "instances": [ + { + "id": "point_1768982066956_1768982371532_wnju00vj4", + "x": 0.503322021484375, + "y": 0.33342372639973955 + } + ], + "type": "point" + }, + "point_1768982067092": { + "instances": [ + { + "id": "point_1768982067092_1768982375892_5w147lftl", + "x": 0.520322021484375, + "y": 0.25475705973307294 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降。\n\n之后松开爪夹，使瓶子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 86, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取瓶子抵达黑色箱子正上方。因此进度提升为80%。", + "state_description": "当前爪夹处于黑色箱子正上方。\n\n为完成将瓶子放入黑色箱子中的任务应当:爪夹垂直下降。\n之后松开爪夹，使瓶子落入黑色箱子中。", + "time": 2.882516333443994 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1768982066164": { + "instances": [ + { + "height": 0.11733333333333337, + "id": "bbox_1768982066164_1768982412772_yrf3pzpnf", + "width": 0.24799999999999991, + "x": 0.4323220214843751, + "y": 0.46942372639973956 + } + ], + "type": "bbox" + }, + "bbox_1768982066332": { + "instances": [ + { + "height": 0.58, + "id": "bbox_1768982066332_1768982415708_bz3w6dk64", + "width": 0.542, + "x": 0.28532202148437497, + "y": 0.3907570597330729 + } + ], + "type": "bbox" + }, + "point_1768982066956": { + "instances": [ + { + "id": "point_1768982066956_1768982418428_d1dq3uiiy", + "x": 0.464322021484375, + "y": 0.5574237263997397 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使瓶子落入黑色箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 98, + "progress": 90, + "progress_explanation": "相比上一进度，当前爪夹已贴近黑色箱子。因此进度提升为90%。", + "state_description": "当前爪夹贴近黑色箱子。\n\n为完成将瓶子放入黑色箱子中的任务应当:松开爪夹，使瓶子落入黑色箱子中。", + "time": 3.2607981499388385 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1768982066164": { + "instances": [ + { + "height": 0.16533333333333336, + "id": "bbox_1768982066164_1768982448100_l1gsqd3vo", + "width": 0.23499999999999993, + "x": 0.379322021484375, + "y": 0.5894237263997396 + } + ], + "type": "bbox" + }, + "bbox_1768982066332": { + "instances": [ + { + "height": 0.5840000000000001, + "id": "bbox_1768982066332_1768982456908_z3pnldcm6", + "width": 0.5430000000000001, + "x": 0.281322021484375, + "y": 0.3854237263997396 + } + ], + "type": "bbox" + }, + "point_1768982066956": { + "instances": [ + { + "id": "point_1768982066956_1768982450772_m7agt8ne4", + "x": 0.44732202148437505, + "y": 0.5334237263997396 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。", + "frame": 128, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，瓶子已落入黑色箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 4.266667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768982066164", + "name": "瓶子" + }, + { + "color": "#FF9800", + "id": "bbox_1768982066332", + "name": "黑色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768982066956", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768982067092", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-145719-put-plastic bottle-yellow and black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-145719-put-plastic bottle-yellow and black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..019e130a47e3beb82c8d4e88fa12796965747790 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-145719-put-plastic bottle-yellow and black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,609 @@ +{ + "task_description": "将勺子和胶带放入黑色箱子里:\n开始移动:0%\n爪夹靠近胶带，勺子:20%\n爪夹抓取勺子，胶带:40%\n爪夹抓住勺子，胶带接近黑色箱子:60%\n爪夹将勺子，胶带移动至黑色箱子上:80%\n爪夹松开，胶带，勺子落入黑色箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向下方移动。靠近胶带。\n\n然后爪夹推着胶带向爪夹的右边移动，接近勺子。\n\n然后爪夹上升，向爪夹的右边略微移动。\n\n之后下降爪夹，合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触勺子。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:爪夹向下方移动。靠近胶带。\n\n然后爪夹推着胶带向爪夹的右边移动，接近勺子。\n\n然后爪夹上升，向爪夹的右边略微移动。\n\n之后下降爪夹，合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "time": 0, + "annotations": { + "bbox_1769149858800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858800_1769149897545_iw9uoptsl", + "x": 0.8073220214843749, + "y": 0.45875705973307296, + "width": 0.13800000000000026, + "height": 0.41733333333333333 + } + ] + }, + "bbox_1769149858985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858985_1769149899721_nlv2y2v0b", + "x": 0.4823220214843751, + "y": 0.4707570597330729, + "width": 0.13499999999999987, + "height": 0.1746666666666666 + } + ] + }, + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769149902665_69hkm22z8", + "x": 0.389322021484375, + "y": 9.039306640624689e-05, + "width": 0.364, + "height": 0.36799999999999994 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "爪夹继续向下方移动。靠近胶带。\n\n然后爪夹推着胶带向爪夹的右边移动，接近勺子。\n\n然后爪夹上升，向爪夹的右边略微移动。\n\n之后下降爪夹，合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "error_success_analysis": "爪夹成功向下方移动。", + "frame": 20, + "progress": 5, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近瓶子。因此进度提升为10%。", + "state_description": "当前爪夹略微接近胶带。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:爪夹继续向下方移动。靠近胶带。\n\n然后爪夹推着胶带向爪夹的右边移动，接近勺子。\n\n然后爪夹上升，向爪夹的右边略微移动。\n\n之后下降爪夹，合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "time": 0.667803489449098, + "annotations": { + "bbox_1769149858800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858800_1769149975401_sxp3xmcu0", + "x": 0.807322021484375, + "y": 0.4587570597330729, + "width": 0.14000000000000012, + "height": 0.4133333333333334 + } + ] + }, + "bbox_1769149858985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858985_1769149977953_o1ou27pkh", + "x": 0.483322021484375, + "y": 0.4747570597330729, + "width": 0.13400000000000006, + "height": 0.16933333333333334 + } + ] + }, + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769149981201_qvfba77nw", + "x": 0.388322021484375, + "y": 0.0027570597330729167, + "width": 0.3640000000000001, + "height": 0.3693333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹推着胶带向爪夹的右边移动，接近勺子。\n\n然后爪夹上升，向爪夹的右边略微移动。\n\n之后下降爪夹，合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "error_success_analysis": "爪夹成功向下方移动。", + "frame": 37, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已贴近胶带。因此进度提升为10%。", + "state_description": "当前爪夹贴近胶带。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:爪夹推着胶带向爪夹的右边移动，接近勺子。\n\n然后爪夹上升，向爪夹的右边略微移动。\n\n之后下降爪夹，合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "time": 1.2174942110985825, + "annotations": { + "point_1769149861561": { + "type": "point", + "instances": [ + { + "id": "point_1769149861561_1769150033473_i1ohddoeb", + "x": 0.44332202148437505, + "y": 0.506757059733073 + } + ] + }, + "bbox_1769149858800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858800_1769150046961_5fv8q4r8c", + "x": 0.8063220214843749, + "y": 0.45875705973307296, + "width": 0.1410000000000001, + "height": 0.41733333333333333 + } + ] + }, + "bbox_1769149858985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858985_1769150048985_1u5z91jrb", + "x": 0.483322021484375, + "y": 0.4667570597330729, + "width": 0.13400000000000006, + "height": 0.16400000000000006 + } + ] + }, + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769150052042_l4n907q7o", + "x": 0.389322021484375, + "y": 0.0014237263997395758, + "width": 0.364, + "height": 0.35733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右边推动。", + "correction_plan": "爪夹上升，向爪夹的右边略微移动。\n\n之后下降爪夹，合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "error_success_analysis": "爪夹成功向爪夹的右边推动。", + "frame": 70, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹，胶带，已接近勺子。因此进度提升为20%。", + "state_description": "当前爪夹推动胶带接近勺子。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:爪夹上升，向爪夹的右边略微移动。\n\n之后下降爪夹，合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "time": 2.325741633778995, + "annotations": { + "bbox_1769149858800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858800_1769150098457_5mkb8f8aq", + "x": 0.8093220214843748, + "y": 0.46142372639973955, + "width": 0.13900000000000007, + "height": 0.416 + } + ] + }, + "bbox_1769149858985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858985_1769150101793_j6gviq17j", + "x": 0.659322021484375, + "y": 0.42675705973307293, + "width": 0.14299999999999996, + "height": 0.17733333333333334 + } + ] + }, + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769150114145_32peypg23", + "x": 0.388322021484375, + "y": 9.039306640621173e-05, + "width": 0.3650000000000001, + "height": 0.26799999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹略微上升，向爪夹的右边略微移动。\n\n之后下降爪夹，合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 96, + "progress": -5, + "progress_explanation": "相比上一进度，当前爪夹已合拢。因此进度下降为-5%。", + "state_description": "当前爪夹合拢。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:爪夹略微上升，向爪夹的右边略微移动。\n\n之后下降爪夹，合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "time": 3.2034735925418816, + "annotations": { + "bbox_1769149858800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858800_1769150170865_rv2rp43ft", + "x": 0.7523220214843749, + "y": 0.47209039306640627, + "width": 0.22299999999999986, + "height": 0.36133333333333334 + } + ] + }, + "bbox_1769149858985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858985_1769150173305_uckx25snn", + "x": 0.699322021484375, + "y": 0.4454237263997396, + "width": 0.13100000000000014, + "height": 0.17199999999999996 + } + ] + }, + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769150181241_fck36qpdj", + "x": 0.389322021484375, + "y": 9.039306640624135e-05, + "width": 0.3629999999999999, + "height": 0.28666666666666674 + } + ] + } + } + }, + { + "action_description": "爪夹向左上边移动。", + "correction_plan": "爪夹张开，然后向爪夹的右下方移动。\n\n合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "error_success_analysis": "爪夹成功向左上边移动。", + "frame": 118, + "progress": -10, + "progress_explanation": "相比上一进度，当前爪夹处于桌面上方。因此进度下降为-10%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:爪夹张开，然后向爪夹的右下方移动。\n\n合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "time": 3.930483901820232, + "annotations": { + "bbox_1769149858800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858800_1769150231529_0kzwuazk8", + "x": 0.754322021484375, + "y": 0.474757059733073, + "width": 0.22200000000000006, + "height": 0.3573333333333334 + } + ] + }, + "bbox_1769149858985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858985_1769150233889_o60d2jlgy", + "x": 0.6883220214843749, + "y": 0.44409039306640624, + "width": 0.14299999999999996, + "height": 0.17200000000000001 + } + ] + }, + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769150236786_zbo33mxlz", + "x": 0.44632202148437494, + "y": 9.039306640623765e-05, + "width": 0.306, + "height": 0.3653333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹向右边移动，直至抵达胶带，勺子上方。\n\n然后爪夹下降。\n\n合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "error_success_analysis": "爪夹成功张开。", + "frame": 128, + "progress": 25, + "progress_explanation": "相比上一进度，当前爪夹已张开。因此进度提升为25%。", + "state_description": "当前爪夹张开。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:爪夹向右边移动，直至抵达胶带，勺子上方。\n\n然后爪夹下降。\n\n合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "time": 4.27625709769652, + "annotations": { + "bbox_1769149858800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858800_1769150305657_nfdjdnl27", + "x": 0.753322021484375, + "y": 0.4734237263997396, + "width": 0.22400000000000003, + "height": 0.3559999999999999 + } + ] + }, + "bbox_1769149858985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858985_1769150308041_wloxd59zu", + "x": 0.6873220214843749, + "y": 0.44409039306640624, + "width": 0.1450000000000001, + "height": 0.17733333333333345 + } + ] + }, + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769150310609_s3p8c4td7", + "x": 0.44132202148437505, + "y": 0.0014237263997396296, + "width": 0.31099999999999994, + "height": 0.37066666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹向右下移动。", + "correction_plan": "合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "error_success_analysis": "爪夹成功向右下移动。", + "frame": 145, + "progress": 30, + "progress_explanation": "相比于上一进度，当前爪夹已贴近勺子，胶带。因此进度提升为30%。", + "state_description": "当前爪夹贴近勺子，胶带。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "time": 4.843679778108892, + "annotations": { + "bbox_1769149858800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858800_1769150360385_ls4fir7ai", + "x": 0.751322021484375, + "y": 0.47209039306640627, + "width": 0.225, + "height": 0.36000000000000004 + } + ] + }, + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769150365633_c88fj3cov", + "x": 0.386322021484375, + "y": 9.039306640621451e-05, + "width": 0.3650000000000001, + "height": 0.3666666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹推着胶带，勺子向爪夹的左边移动。", + "correction_plan": "合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "error_success_analysis": "爪夹成功推着胶带，勺子向左边移动。", + "frame": 169, + "progress": 35, + "progress_explanation": "相比上一进度，当前爪夹贴着胶带，勺子。因此进度提升为35%。", + "state_description": "当前爪夹贴着勺子，胶带。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:合拢爪夹。抓取胶带和勺子。\n\n垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "time": 5.623885963675903, + "annotations": { + "bbox_1769149858800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858800_1769150404090_anxpzqu0z", + "x": 0.652322021484375, + "y": 0.29342372639973957, + "width": 0.19700000000000006, + "height": 0.32133333333333336 + } + ] + }, + "bbox_1769149858985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858985_1769150406801_1z0dm2hgr", + "x": 0.597322021484375, + "y": 0.40142372639973956, + "width": 0.13200000000000012, + "height": 0.12933333333333336 + } + ] + }, + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769150409178_bau8i84db", + "x": 0.38432202148437505, + "y": 0.002757059733072901, + "width": 0.36899999999999994, + "height": 0.24000000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 195, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢。抓取勺子，胶带。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:爪夹垂直上升，向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "time": 6.510483901820232, + "annotations": { + "bbox_1769149858800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858800_1769150467761_y7vaskoro", + "x": 0.6083220214843751, + "y": 0.27609039306640626, + "width": 0.20100000000000015, + "height": 0.2933333333333332 + } + ] + }, + "bbox_1769149858985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858985_1769150470081_i93wqoxg5", + "x": 0.561322021484375, + "y": 0.42142372639973963, + "width": 0.08800000000000008, + "height": 0.07599999999999991 + } + ] + }, + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769150473098_ywr451mxm", + "x": 0.38232202148437494, + "y": 9.039306640623579e-05, + "width": 0.3719999999999999, + "height": 0.2346666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹垂直上升。", + "correction_plan": "爪夹向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "error_success_analysis": "爪夹成功垂直上升。", + "frame": 210, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹已接近黑色箱子。因此进度提升为60%。", + "state_description": "当前爪夹保持合拢，抓取勺子，胶带处于桌面上空。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:爪夹向爪夹的左前边移动，直至抵达黑色箱子上方。\n\n松开爪夹，使胶带和勺子落入黑色箱子里。", + "time": 7.0158447265624995, + "annotations": { + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769150532210_bd8qfm2s6", + "x": 0.391322021484375, + "y": 9.039306640625429e-05, + "width": 0.3629999999999999, + "height": 0.36533333333333334 + } + ] + } + } + }, + { + "time": 7.592133386356314, + "frame": 228, + "progress": 80, + "action_description": "爪夹向爪夹的左前边移动。", + "state_description": "当前爪夹处于黑色箱子上方。\n\n为完成将勺子和胶带放入黑色箱子里的任务应当:松开爪夹，使胶带和勺子落入黑色箱子里。", + "progress_explanation": "相比上一进度，当前爪夹已抓取勺子，胶带抵达黑色箱子上方。一次进度提升为80%。", + "error_success_analysis": "爪夹成功向爪夹的左前边移动。", + "correction_plan": "松开爪夹，使胶带和勺子落入黑色箱子里。", + "annotations": { + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769150559457_70uyqd97h", + "x": 0.38232202148437505, + "y": 0.0014237263997395832, + "width": 0.37299999999999994, + "height": 0.36666666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。勺子、胶带成功落入黑色箱子中。", + "frame": 258, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹张开。胶带，勺子落入黑色箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 8.6, + "annotations": { + "bbox_1769149858800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858800_1769150593074_10r708bl9", + "x": 0.5773220214843751, + "y": 0.06809039306640625, + "width": 0.08200000000000003, + "height": 0.13333333333333336 + } + ] + }, + "bbox_1769149858985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149858985_1769150595753_d4h8x4uvo", + "x": 0.5393220214843749, + "y": 0.042757059733072915, + "width": 0.051000000000000156, + "height": 0.16266666666666663 + } + ] + }, + "bbox_1769149860801": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769149860801_1769150599194_y6fdvs1mi", + "x": 0.384322021484375, + "y": 0.00142372639973955, + "width": 0.3700000000000001, + "height": 0.36933333333333335 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769149858800", + "name": "勺子", + "color": "#4CAF50" + }, + { + "id": "bbox_1769149858985", + "name": "胶带", + "color": "#FF9800" + }, + { + "id": "bbox_1769149860801", + "name": "黑色箱子", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1769149861561", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769149861753", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-151353-put-spoon-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-151353-put-spoon-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..3d8e1fbee4f5a75957534c61ec860cc03257ab52 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-151353-put-spoon-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,412 @@ +{ + "task_description": "将勺子放入黑色箱子中:\n开始移动:0%\n爪夹靠近勺子:20%\n爪夹抓取勺子:40%\n爪夹抓住勺子接近黑色箱子:60%\n爪夹将勺子移动至黑色箱子上:80%\n爪夹松开，勺子落入黑色箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768984440910": { + "instances": [ + { + "height": 0.15466666666666667, + "id": "bbox_1768984440910_1768984475622_u7qi0tg2o", + "width": 0.09400000000000004, + "x": 0.267322021484375, + "y": 0.2006553751627604 + } + ], + "type": "bbox" + }, + "bbox_1768984441070": { + "instances": [ + { + "height": 0.30933333333333324, + "id": "bbox_1768984441070_1768984478541_7gje91k23", + "width": 0.348, + "x": 0.3333220214843751, + "y": 0.005988708496093749 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向前下方移动，靠近勺子。\n\n合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹向前下方移动，靠近勺子。\n\n合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 0 + }, + { + "action_description": "爪夹向前下方移动。", + "annotations": { + "bbox_1768984440910": { + "instances": [ + { + "height": 0.15200000000000005, + "id": "bbox_1768984440910_1768984528190_60e29f5ca", + "width": 0.09299999999999997, + "x": 0.268322021484375, + "y": 0.20142372639973957 + } + ], + "type": "bbox" + }, + "bbox_1768984441070": { + "instances": [ + { + "height": 0.3106666666666667, + "id": "bbox_1768984441070_1768984531590_4fbw3jdc9", + "width": 0.346, + "x": 0.33332202148437495, + "y": 0.009423726399739586 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向前下方移动，靠近勺子。\n\n合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向前下方移动。", + "frame": 22, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近勺子。因此进度提升为10%。", + "state_description": "当前爪夹略微接近勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹继续向前下方移动，靠近勺子。\n\n合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 0.7223518544619845 + }, + { + "action_description": "爪夹向爪夹方向的前下方移动。", + "annotations": { + "bbox_1768984440910": { + "instances": [ + { + "height": 0.1653333333333334, + "id": "bbox_1768984440910_1768984627070_u4sg836tj", + "width": 0.09099999999999997, + "x": 0.270322021484375, + "y": 0.1934237263997396 + } + ], + "type": "bbox" + }, + "bbox_1768984441070": { + "instances": [ + { + "height": 0.3106666666666667, + "id": "bbox_1768984441070_1768984630902_321h6a1a7", + "width": 0.261, + "x": 0.41932202148437503, + "y": 0.004090393066406251 + } + ], + "type": "bbox" + }, + "point_1768984442654": { + "instances": [ + { + "id": "point_1768984442654_1768984621558_aup9slwjz", + "x": 0.280322021484375, + "y": 0.3774237263997396 + } + ], + "type": "point" + }, + "point_1768984442814": { + "instances": [ + { + "id": "point_1768984442814_1768984624030_d2angfdpm", + "x": 0.340322021484375, + "y": 0.30809039306640623 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的前下方移动。", + "frame": 55, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近勺子。因此进度提升为20%。", + "state_description": "当前爪夹靠近勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 1.8462693802351802 + }, + { + "action_description": "合拢爪夹。", + "annotations": { + "bbox_1768984440910": { + "instances": [ + { + "height": 0.08400000000000005, + "id": "bbox_1768984440910_1768984666030_ryme7mwmx", + "width": 0.077, + "x": 0.29332202148437503, + "y": 0.2987570597330729 + } + ], + "type": "bbox" + }, + "bbox_1768984441070": { + "instances": [ + { + "height": 0.31200000000000006, + "id": "bbox_1768984441070_1768984691078_bgvopwsnh", + "width": 0.278, + "x": 0.40432202148437496, + "y": 0.006757059733072917 + } + ], + "type": "bbox" + }, + "point_1768984442654": { + "instances": [ + { + "id": "point_1768984442654_1768984680366_l3g7yqa22", + "x": 0.31232202148437505, + "y": 0.35209039306640627 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功合拢，并抓取勺子。", + "frame": 68, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取勺子。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 2.2683312359052836 + }, + { + "action_description": "爪夹垂直上升。", + "annotations": { + "bbox_1768984440910": { + "instances": [ + { + "height": 0.11599999999999998, + "id": "bbox_1768984440910_1768984730550_jv5r87fnb", + "width": 0.10799999999999992, + "x": 0.29732202148437503, + "y": 0.11342372639973958 + } + ], + "type": "bbox" + }, + "bbox_1768984441070": { + "instances": [ + { + "height": 0.2946666666666667, + "id": "bbox_1768984441070_1768984736254_6ytieys8e", + "width": 0.30599999999999994, + "x": 0.374322021484375, + "y": 0.02409039306640625 + } + ], + "type": "bbox" + }, + "point_1768984442654": { + "instances": [ + { + "id": "point_1768984442654_1768984741622_1zurddias", + "x": 0.31632202148437505, + "y": 0.1747570597330729 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功抓取勺子并上升。", + "frame": 91, + "progress": 50, + "progress_explanation": "相比上一进度，当前爪夹已抓取勺子并上升。因此进度提升为50%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 3.0318363905444587 + }, + { + "action_description": "爪夹向当前爪夹的右边移动。", + "annotations": { + "bbox_1768984441070": { + "instances": [ + { + "height": 0.3106666666666667, + "id": "bbox_1768984441070_1768984773758_feaavp548", + "width": 0.34800000000000003, + "x": 0.332322021484375, + "y": 0.005423726399739583 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右边移动。", + "frame": 97, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹抓取勺子已接近黑色箱子。因此进度提升为60%。", + "state_description": "当前爪夹接近黑色箱子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹继续向当前爪夹的右边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 3.240496184358891 + }, + { + "action_description": "爪夹向爪夹的右边移动。", + "annotations": { + "bbox_1768984440910": { + "instances": [ + { + "height": 0.07333333333333333, + "id": "bbox_1768984440910_1768984793886_cqncv59o3", + "width": 0.10499999999999998, + "x": 0.473322021484375, + "y": -0.0012429402669270834 + } + ], + "type": "bbox" + }, + "bbox_1768984441070": { + "instances": [ + { + "height": 0.3173333333333333, + "id": "bbox_1768984441070_1768984805030_iewoxlarj", + "width": 0.34499999999999986, + "x": 0.335322021484375, + "y": 0.0014237263997395832 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降。\n\n然后松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右边移动。", + "frame": 102, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取勺子抵达黑色箱子正上方。因此进度提升为80%。", + "state_description": "当前爪夹处于黑色箱子正上方。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹垂直下降。\n\n然后松开爪夹，使勺子落入黑色箱子中。", + "time": 3.392248761678479 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1768984440910": { + "instances": [ + { + "height": 0.08666666666666666, + "id": "bbox_1768984440910_1768984835215_oh8952mvw", + "width": 0.096, + "x": 0.469322021484375, + "y": 0.03209039306640625 + } + ], + "type": "bbox" + }, + "bbox_1768984441070": { + "instances": [ + { + "height": 0.31999999999999995, + "id": "bbox_1768984441070_1768984838630_x945y4f7z", + "width": 0.34600000000000003, + "x": 0.335322021484375, + "y": 0.00409039306640625 + } + ], + "type": "bbox" + }, + "point_1768984442654": { + "instances": [ + { + "id": "point_1768984442654_1768984830822_6y39qw37f", + "x": 0.476322021484375, + "y": 0.06542372639973958 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 111, + "progress": 90, + "progress_explanation": "相比上一进度，当前爪夹已贴近黑色箱子。因此进度提升为90%。", + "state_description": "当前爪夹贴近黑色箱子。\n\n为完成将勺子放入黑色箱子中的任务应当:松开爪夹，使勺子落入黑色箱子中。", + "time": 3.705238452400129 + }, + { + "action_description": "松开爪夹。", + "annotations": { + "bbox_1768984440910": { + "instances": [ + { + "height": 0.07733333333333332, + "id": "bbox_1768984440910_1768984866975_xqximuqwu", + "width": 0.1749999999999999, + "x": 0.396322021484375, + "y": 0.09209039306640626 + } + ], + "type": "bbox" + }, + "bbox_1768984441070": { + "instances": [ + { + "height": 0.31466666666666665, + "id": "bbox_1768984441070_1768984870662_gclhv2316", + "width": 0.34900000000000003, + "x": 0.33232202148437506, + "y": 0.0014237263997395832 + } + ], + "type": "bbox" + }, + "point_1768984442654": { + "instances": [ + { + "id": "point_1768984442654_1768984884286_w53l9jarh", + "x": 0.44332202148437505, + "y": 0.06942372639973958 + } + ], + "type": "point" + }, + "point_1768984442814": { + "instances": [ + { + "id": "point_1768984442814_1768984886870_burxl0y3x", + "x": 0.512322021484375, + "y": 0.06275705973307293 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。", + "frame": 138, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，勺子已落入黑色箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 4.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768984440910", + "name": "勺子" + }, + { + "color": "#FF9800", + "id": "bbox_1768984441070", + "name": "黑色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768984442654", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768984442814", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-151353-put-spoon-yellow and black-box-good/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-151353-put-spoon-yellow and black-box-good/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..9a3d4dbabf8ed1796c33b3aed3775e370428fd67 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-151353-put-spoon-yellow and black-box-good/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,394 @@ +{ + "task_description": "将勺子放入黑色箱子中:\n开始移动:0%\n爪夹靠近勺子:20%\n爪夹抓取勺子:40%\n爪夹抓住勺子接近黑色箱子:60%\n爪夹将勺子移动至黑色箱子上:80%\n爪夹松开，勺子落入黑色箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768985663143": { + "instances": [ + { + "height": 0.2306666666666666, + "id": "bbox_1768985663143_1768987399848_l6k1a3orh", + "width": 0.17799999999999994, + "x": 0.745322021484375, + "y": 0.7625536727905274 + } + ], + "type": "bbox" + }, + "bbox_1768985663311": { + "instances": [ + { + "height": 0.596, + "id": "bbox_1768985663311_1768987402800_8q5gsvpig", + "width": 0.5399999999999999, + "x": 0.365322021484375, + "y": 0.18766101582845052 + } + ], + "type": "bbox" + }, + "point_1768985664031": { + "instances": [ + { + "id": "point_1768985664031_1768987405984_7gv8c1ja5", + "x": 0.17832202148437498, + "y": 0.006327682495117187 + } + ], + "type": "point" + }, + "point_1768985664198": { + "instances": [ + { + "id": "point_1768985664198_1768987409240_iqj035i27", + "x": 0.403322021484375, + "y": 0.010327682495117186 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右下方移动，靠近勺子。\n\n合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹向右下方移动，靠近勺子。\n\n合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 0 + }, + { + "action_description": "爪夹向右下方移动。", + "annotations": { + "bbox_1768985663143": { + "instances": [ + { + "height": 0.22800000000000012, + "id": "bbox_1768985663143_1768987482680_st4amrpz3", + "width": 0.17999999999999988, + "x": 0.744322021484375, + "y": 0.7627570597330728 + } + ], + "type": "bbox" + }, + "bbox_1768985663311": { + "instances": [ + { + "height": 0.5973333333333334, + "id": "bbox_1768985663311_1768987485136_7qhz3ln74", + "width": 0.534, + "x": 0.36932202148437504, + "y": 0.18675705973307288 + } + ], + "type": "bbox" + }, + "point_1768985664031": { + "instances": [ + { + "id": "point_1768985664031_1768987476824_09q7d48vy", + "x": 0.521322021484375, + "y": 0.17742372639973958 + } + ], + "type": "point" + }, + "point_1768985664198": { + "instances": [ + { + "id": "point_1768985664198_1768987479136_yu31kw06b", + "x": 0.6873220214843749, + "y": 0.3174237263997396 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向右下方移动，靠近勺子。\n\n合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向右下方移动。", + "frame": 20, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近勺子。因此进度提升为10%。", + "state_description": "当前爪夹略微接近勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹继续向右下方移动，靠近勺子。\n\n合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 0.6711584346810566 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动。", + "annotations": { + "bbox_1768985663143": { + "instances": [ + { + "height": 0.041333333333333284, + "id": "bbox_1768985663143_1768987524352_ajmus164b", + "width": 0.15599999999999997, + "x": 0.731322021484375, + "y": 0.9427570597330729 + } + ], + "type": "bbox" + }, + "bbox_1768985663311": { + "instances": [ + { + "height": 0.5613333333333335, + "id": "bbox_1768985663311_1768987518592_89ogh6i6c", + "width": 0.5130000000000001, + "x": 0.39232202148437495, + "y": 0.19209039306640627 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的右下方移动。", + "frame": 40, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近勺子。因此进度提升为20%。", + "state_description": "当前爪夹靠近勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 1.3253852388047682 + }, + { + "action_description": "合拢爪夹。", + "annotations": { + "bbox_1768985663143": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1768985663143_1768987560120_t6w360wj4", + "width": 0.192, + "x": 0.618322021484375, + "y": 0.890757059733073 + } + ], + "type": "bbox" + }, + "bbox_1768985663311": { + "instances": [ + { + "height": 0.41333333333333316, + "id": "bbox_1768985663311_1768987556248_qajurci83", + "width": 0.5120000000000002, + "x": 0.392322021484375, + "y": 0.1894237263997396 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功合拢，并抓取勺子。", + "frame": 54, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取勺子。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 1.7837357542686856 + }, + { + "action_description": "爪夹垂直上升。", + "annotations": { + "bbox_1768985663143": { + "instances": [ + { + "height": 0.30399999999999994, + "id": "bbox_1768985663143_1768987594648_5akrfn557", + "width": 0.253, + "x": 0.6313220214843751, + "y": 0.6240903930664063 + } + ], + "type": "bbox" + }, + "bbox_1768985663311": { + "instances": [ + { + "height": 0.5413333333333333, + "id": "bbox_1768985663311_1768987598177_qgacnid2e", + "width": 0.39799999999999996, + "x": 0.4123220214843751, + "y": 0.18809039306640626 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功抓取勺子并上升。", + "frame": 72, + "progress": 50, + "progress_explanation": "相比上一进度，当前爪夹已抓取勺子并上升。因此进度提升为50%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 2.4066223522068295 + }, + { + "action_description": "爪夹向当前爪夹的左边移动。", + "annotations": { + "bbox_1768985663143": { + "instances": [ + { + "height": 0.5586666666666666, + "id": "bbox_1768985663143_1768987670768_hs08qumnu", + "width": 0.36899999999999994, + "x": 0.5723220214843752, + "y": 0.05742372639973959 + } + ], + "type": "bbox" + }, + "bbox_1768985663311": { + "instances": [ + { + "height": 0.5946666666666668, + "id": "bbox_1768985663311_1768987676616_i5wogfwjq", + "width": 0.5420000000000001, + "x": 0.363322021484375, + "y": 0.18942372639973962 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 75, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹抓取勺子已接近黑色箱子。因此进度提升为60%。", + "state_description": "当前爪夹接近黑色箱子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹继续向当前爪夹的左边移动，直至抵达黑色箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入黑色箱子中。", + "time": 2.5163130738563146 + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "annotations": { + "bbox_1768985663143": { + "instances": [ + { + "height": 0.428, + "id": "bbox_1768985663143_1768987725385_gpku9363m", + "width": 0.183, + "x": 0.502322021484375, + "y": 0.0014237263997395832 + } + ], + "type": "bbox" + }, + "bbox_1768985663311": { + "instances": [ + { + "height": 0.6, + "id": "bbox_1768985663311_1768987728392_idqsdqtei", + "width": 0.5370000000000001, + "x": 0.368322021484375, + "y": 0.18409039306640623 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降。\n\n然后松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 81, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取勺子抵达黑色箱子正上方。因此进度提升为80%。", + "state_description": "当前爪夹处于黑色箱子正上方。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹垂直下降。\n\n然后松开爪夹，使勺子落入黑色箱子中。", + "time": 2.6847666821037373 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1768985663143": { + "instances": [ + { + "height": 0.24133333333333332, + "id": "bbox_1768985663143_1768987762632_bc9tb8vr8", + "width": 0.14300000000000007, + "x": 0.500322021484375, + "y": 0.2747570597330729 + } + ], + "type": "bbox" + }, + "bbox_1768985663311": { + "instances": [ + { + "height": 0.5933333333333333, + "id": "bbox_1768985663311_1768987778424_ue1t7n33q", + "width": 0.5379999999999999, + "x": 0.367322021484375, + "y": 0.19209039306640627 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 91, + "progress": 90, + "progress_explanation": "相比上一进度，当前爪夹已贴近黑色箱子。因此进度提升为90%。", + "state_description": "当前爪夹贴近黑色箱子。\n\n为完成将勺子放入黑色箱子中的任务应当:松开爪夹，使勺子落入黑色箱子中。", + "time": 3.0177563728253864 + }, + { + "action_description": "松开爪夹。", + "annotations": { + "bbox_1768985663143": { + "instances": [ + { + "height": 0.3066666666666667, + "id": "bbox_1768985663143_1768987805536_sogcf49hp", + "width": 0.12000000000000002, + "x": 0.611322021484375, + "y": 0.32675705973307284 + } + ], + "type": "bbox" + }, + "bbox_1768985663311": { + "instances": [ + { + "height": 0.564, + "id": "bbox_1768985663311_1768987808017_4a6t6ylmj", + "width": 0.5349999999999999, + "x": 0.367322021484375, + "y": 0.21609039306640626 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。", + "frame": 114, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，勺子已落入黑色箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 3.8 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768985663143", + "name": "勺子" + }, + { + "color": "#FF9800", + "id": "bbox_1768985663311", + "name": "黑色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768985664031", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768985664198", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-152604-put-spoon-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-152604-put-spoon-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..55ecd7d511bb171da8fa561e257999e22791861c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-152604-put-spoon-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,1481 @@ +{ + "task_description": "将勺子放入黑色箱子中:\n开始移动:0%\n爪夹靠近勺子:20%\n爪夹抓取勺子:40%\n爪夹抓住勺子接近黑色箱子:60%\n爪夹将勺子移动至黑色箱子上:80%\n爪夹松开，勺子落入黑色箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.07599999999999998, + "id": "bbox_1769074088784_1769137278534_ylfp815ss", + "width": 0.12500000000000006, + "x": 0.3983220214843749, + "y": 0.4018757019042969 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.23066666666666666, + "id": "bbox_1769074088952_1769137280774_q17vbqkn7", + "width": 0.09200000000000008, + "x": 0.5623220214843749, + "y": 0.27120903523763024 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4053333333333333, + "id": "bbox_1769074098767_1769137284254_agbr3ad6o", + "width": 0.38900000000000007, + "x": 0.15332202148437502, + "y": 0.5658757019042968 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769137298310_3t8akpd37", + "x": 0.397322021484375, + "y": 0.05520903523763021 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769137312886_tn3baur3y", + "x": 0.516322021484375, + "y": 0.041875701904296875 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前下方移动。\n\n合拢爪夹，抓取勺子。\n\n爪夹保持合拢。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹向爪夹方向的前下方移动。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 0 + }, + { + "action_description": "爪夹向前下方移动。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.07733333333333334, + "id": "bbox_1769074088784_1769137364902_za4mf7w5e", + "width": 0.123, + "x": 0.399322021484375, + "y": 0.40054236857096354 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.23200000000000004, + "id": "bbox_1769074088952_1769137367206_ezlrlve9m", + "width": 0.09499999999999993, + "x": 0.559322021484375, + "y": 0.2698757019042969 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4066666666666666, + "id": "bbox_1769074098767_1769137369942_jgkbnlhyb", + "width": 0.393, + "x": 0.15032202148437498, + "y": 0.5645423685709635 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769137371966_hrfheaobg", + "x": 0.47832202148437497, + "y": 0.27654236857096354 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769137374894_rio7c5605", + "x": 0.583322021484375, + "y": 0.2605423685709635 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的前下方移动。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向前下方移动。", + "frame": 27, + "progress": 5, + "progress_explanation": "相比上一进度，当前爪夹略微接近勺子。因此进度提升为5%。", + "state_description": "当前爪夹略微接近勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹继续向爪夹方向的前下方移动。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 0.891130918803107 + }, + { + "action_description": "爪夹向前下方移动。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.08266666666666668, + "id": "bbox_1769074088784_1769137424702_2a2ypucj0", + "width": 0.12100000000000004, + "x": 0.40032202148437496, + "y": 0.4005423685709636 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.22133333333333333, + "id": "bbox_1769074088952_1769137427646_owc2h4gl0", + "width": 0.08700000000000001, + "x": 0.5663220214843749, + "y": 0.28054236857096354 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4066666666666666, + "id": "bbox_1769074098767_1769137441854_p851o82xo", + "width": 0.38999999999999996, + "x": 0.15032202148437498, + "y": 0.5658757019042969 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769137435806_155vwgylm", + "x": 0.465322021484375, + "y": 0.46854236857096354 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769137438494_o9lz74xbz", + "x": 0.531322021484375, + "y": 0.4192090352376302 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹上升。\n\n然后向爪夹的左边移动。\n\n之后垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向前下方移动。", + "frame": 42, + "progress": -5, + "progress_explanation": "相比上一进度，当前爪夹已靠近三脚架。因此进度下降为-5%。", + "state_description": "当前爪夹靠近三脚架。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹上升。\n\n然后向爪夹的左边移动。\n\n之后垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 1.4151515239577463 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.1306666666666666, + "id": "bbox_1769074088784_1769137493518_74kroiu2w", + "width": 0.092, + "x": 0.42732202148437504, + "y": 0.35120903523763025 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.2253333333333333, + "id": "bbox_1769074088952_1769137495782_jvvpmsrd0", + "width": 0.088, + "x": 0.5663220214843749, + "y": 0.2752090352376302 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.41199999999999987, + "id": "bbox_1769074098767_1769137499287_196xlopi9", + "width": 0.396, + "x": 0.14732202148437498, + "y": 0.5672090352376302 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769137503174_4kwts9sum", + "x": 0.487322021484375, + "y": 0.4485423685709636 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769137505398_otxhswkzo", + "x": 0.514322021484375, + "y": 0.44187570190429687 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，然后垂直上升，之后向爪夹的左边移动。直至移动抵达勺子上方。\n\n垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 59, + "progress": -15, + "progress_explanation": "相比上一进度，当前爪夹合拢抓取三脚架。因此进度下降为-15%", + "state_description": "当前爪夹合拢。\n\n为完成将勺子放入黑色箱子中的任务应当:松开爪夹，然后垂直上升，之后向爪夹的左边移动。直至移动抵达勺子上方。\n\n垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 1.979481406431973 + }, + { + "action_description": "爪夹上升。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.10266666666666661, + "id": "bbox_1769074088784_1769137553646_5p3dja2q7", + "width": 0.05200000000000009, + "x": 0.401322021484375, + "y": 0.36854236857096356 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.2333333333333334, + "id": "bbox_1769074088952_1769137556094_11td00vhg", + "width": 0.09299999999999997, + "x": 0.559322021484375, + "y": 0.2698757019042969 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4146666666666667, + "id": "bbox_1769074098767_1769137558406_qrka6jmmq", + "width": 0.38999999999999996, + "x": 0.150322021484375, + "y": 0.5685423685709635 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769137561558_lx33gfwlw", + "x": 0.421322021484375, + "y": 0.4458757019042969 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769137564174_n0nbrgxhq", + "x": 0.456322021484375, + "y": 0.4432090352376302 + } + ], + "type": "point" + } + }, + "correction_plan": "继续松开爪夹，然后向爪夹的左边移动。直至移动抵达勺子上方。\n\n垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功上升。", + "frame": 92, + "progress": -20, + "progress_explanation": "相比上一进度，当前爪夹已抓取三脚架处于黑色箱子侧上方。因此进度下降为-20%", + "state_description": "当前爪夹保持合拢处于黑色箱子侧上方。\n\n为完成将勺子放入黑色箱子中的任务应当:继续松开爪夹，然后向爪夹的左边移动。直至移动抵达勺子上方。\n\n垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 3.067831894060839 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.1386666666666668, + "id": "bbox_1769074088784_1769137616302_bagnmat3b", + "width": 0.04499999999999997, + "x": 0.35132202148437497, + "y": 0.4485423685709635 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.22933333333333342, + "id": "bbox_1769074088952_1769137618910_fwo7slc74", + "width": 0.08999999999999994, + "x": 0.563322021484375, + "y": 0.27120903523763024 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4093333333333333, + "id": "bbox_1769074098767_1769137621542_6uo6kx3xh", + "width": 0.39299999999999996, + "x": 0.14832202148437498, + "y": 0.5712090352376303 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769137624646_gk5a8ucdc", + "x": 0.376322021484375, + "y": 0.4458757019042969 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769137627302_btdo0437t", + "x": 0.491322021484375, + "y": 0.44054236857096357 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹的左边移动。直至移动抵达勺子上方。\n\n垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功张开。", + "frame": 116, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已张开。因此进度提升为10%。", + "state_description": "当前爪夹张开，三脚架落下。\n\n为完成将勺子放入黑色箱子中的任务应当:向爪夹的左边移动。直至移动抵达勺子上方。\n\n垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 3.8740174404525916 + }, + { + "action_description": "爪夹向爪夹的右边移动。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.1373333333333333, + "id": "bbox_1769074088784_1769137677390_mlverep36", + "width": 0.04500000000000002, + "x": 0.34932202148437497, + "y": 0.4498757019042969 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.22933333333333333, + "id": "bbox_1769074088952_1769137680182_i0phbqg0d", + "width": 0.09400000000000004, + "x": 0.560322021484375, + "y": 0.2698757019042969 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4146666666666666, + "id": "bbox_1769074098767_1769137683359_7bbqq72b3", + "width": 0.39, + "x": 0.149322021484375, + "y": 0.5672090352376301 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769137721422_tywl54gzo", + "x": 0.247322021484375, + "y": 0.3885423685709635 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769137724350_q1ib92jk2", + "x": 0.343322021484375, + "y": 0.41254236857096355 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左边移动。直至移动抵达勺子上方。\n\n垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹的右边移动。", + "frame": 140, + "progress": -25, + "progress_explanation": "相比上一进度，当前爪夹远离勺子。因此进度下降为-25%。", + "state_description": "当前爪夹保持张开，垂直于三脚架上空。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹向爪夹的左边移动。直至移动抵达勺子上方。\n\n垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 4.653330135297953 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.06800000000000003, + "id": "bbox_1769074088784_1769137748102_2j39nc51z", + "width": 0.03199999999999999, + "x": 0.373322021484375, + "y": 0.5232090352376303 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.228, + "id": "bbox_1769074088952_1769137750415_7sgy3hi9s", + "width": 0.09299999999999997, + "x": 0.560322021484375, + "y": 0.2738757019042969 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4106666666666667, + "id": "bbox_1769074098767_1769137753422_1akvxaksb", + "width": 0.394, + "x": 0.14932202148437498, + "y": 0.5685423685709636 + } + ], + "type": "bbox" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769137760318_jnpxfpx3s", + "x": 0.43032202148437504, + "y": 0.5592090352376302 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹上升，向爪夹的左边移动。直至抵达勺子上方。\n\n垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功下降。", + "frame": 147, + "progress": -30, + "progress_explanation": "相比上一进度，当前爪夹已下降贴近三脚架。因此进度下降为-30%。", + "state_description": "当前爪夹下降。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹上升，向爪夹的左边移动。直至抵达勺子上方。\n\n垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 4.895185799215478 + }, + { + "action_description": "爪夹向当前爪夹的左边移动。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.09066666666666658, + "id": "bbox_1769074088784_1769137802902_5nj0dm51v", + "width": 0.12800000000000003, + "x": 0.393322021484375, + "y": 0.4538757019042969 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.20666666666666672, + "id": "bbox_1769074088952_1769137805350_bj2691uc2", + "width": 0.08900000000000015, + "x": 0.5733220214843749, + "y": 0.29387570190429685 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4080000000000001, + "id": "bbox_1769074098767_1769137808078_gdt6cplo4", + "width": 0.394, + "x": 0.14632202148437498, + "y": 0.5805423685709635 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769137798974_rhjcvx16w", + "x": 0.47432202148437497, + "y": 0.5605423685709636 + } + ], + "type": "point" + } + }, + "correction_plan": "上升爪夹。然后向爪夹的左边继续移动。直至抵达勺子上方。\n\n然后爪夹垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向当前爪夹的左边移动。", + "frame": 165, + "progress": 15, + "progress_explanation": "相比上一进度，当前爪夹略微靠近勺子。因此进度提升为15%。", + "state_description": "当前爪夹贴着三脚架，处于勺子右边。\n\n为完成将勺子放入黑色箱子中的任务应当:上升爪夹。然后向爪夹的左边继续移动。直至抵达勺子上方。\n\n然后爪夹垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 5.513261384782488 + }, + { + "action_description": "上升爪夹。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.051999999999999956, + "id": "bbox_1769074088784_1769137851047_11ucjjfyq", + "width": 0.13099999999999992, + "x": 0.392322021484375, + "y": 0.4632090352376303 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.13200000000000003, + "id": "bbox_1769074088952_1769137857423_dq9ie1zxm", + "width": 0.07400000000000011, + "x": 0.587322021484375, + "y": 0.3712090352376302 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.39333333333333337, + "id": "bbox_1769074098767_1769137861703_hkppukvv5", + "width": 0.39, + "x": 0.148322021484375, + "y": 0.5818757019042968 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769137853870_x48suuc88", + "x": 0.487322021484375, + "y": 0.4738757019042969 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左边继续移动。直至抵达勺子上方。\n\n然后爪夹垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功上升爪夹。", + "frame": 176, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近勺子。因此进度提升为20%。", + "state_description": "当前爪夹靠近勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹向爪夹的左边继续移动。直至抵达勺子上方。\n\n然后爪夹垂直下降。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 5.8626084548855815 + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.0519999999999999, + "id": "bbox_1769074088784_1769137911318_heyqqdmfx", + "width": 0.13599999999999998, + "x": 0.391322021484375, + "y": 0.4658757019042969 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.22799999999999995, + "id": "bbox_1769074088952_1769137914407_dxdgr16vh", + "width": 0.1, + "x": 0.5583220214843749, + "y": 0.2725423685709636 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.404, + "id": "bbox_1769074098767_1769137918807_3l7j9pvdh", + "width": 0.38999999999999996, + "x": 0.147322021484375, + "y": 0.5805423685709635 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769137921822_fb9j0lopz", + "x": 0.563322021484375, + "y": 0.4472090352376302 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769137924887_oo7y3vt7t", + "x": 0.642322021484375, + "y": 0.42187570190429685 + } + ], + "type": "point" + } + }, + "correction_plan": "垂直下降爪夹。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向左边移动。", + "frame": 182, + "progress": 25, + "progress_explanation": "相比上一进度，当前爪夹抵达勺子上方。因此进度提升为25%。", + "state_description": "当前爪夹处于勺子上方。\n\n为完成将勺子放入黑色箱子中的任务应当:垂直下降爪夹。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 6.077591267256715 + }, + { + "action_description": "垂直下降爪夹。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.0519999999999999, + "id": "bbox_1769074088784_1769137984479_zz37wz9mi", + "width": 0.13300000000000006, + "x": 0.392322021484375, + "y": 0.4645423685709636 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.2306666666666666, + "id": "bbox_1769074088952_1769137986999_4hwgpv39t", + "width": 0.09400000000000013, + "x": 0.5603220214843749, + "y": 0.2712090352376302 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.40399999999999997, + "id": "bbox_1769074098767_1769137989599_434jnmqbt", + "width": 0.38999999999999996, + "x": 0.148322021484375, + "y": 0.5805423685709636 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769137991495_y3o1wl6f0", + "x": 0.5503220214843749, + "y": 0.47920903523763025 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769137994031_sdlbbirek", + "x": 0.628322021484375, + "y": 0.4538757019042969 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取勺子。\n\n向爪夹的右上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 191, + "progress": 30, + "progress_explanation": "相比与上一进度，当前爪夹已贴近勺子。因此进度提升为30%。", + "state_description": "当前爪夹贴近勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:合拢爪夹，抓取勺子。\n\n向爪夹的右上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 6.359756208493829 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.05600000000000011, + "id": "bbox_1769074088784_1769138036327_8r2fci0el", + "width": 0.133, + "x": 0.391322021484375, + "y": 0.46454236857096354 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.24000000000000005, + "id": "bbox_1769074088952_1769138039319_dtqtonvzy", + "width": 0.092, + "x": 0.568322021484375, + "y": 0.2632090352376302 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4, + "id": "bbox_1769074098767_1769138042664_mxpw6d8z1", + "width": 0.392, + "x": 0.14832202148437498, + "y": 0.5818757019042968 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769138045295_zicbmy8dw", + "x": 0.5843220214843751, + "y": 0.45920903523763024 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769138047359_qgnj3jz99", + "x": 0.6013220214843751, + "y": 0.45520903523763023 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹的右上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 204, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已抓取勺子。因此进度提升为40%。", + "state_description": "当前爪夹合拢，抓取勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹保持合拢，向爪夹的右上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 6.789721833236098 + }, + { + "action_description": "爪夹向爪夹的右上边移动。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.050666666666666714, + "id": "bbox_1769074088784_1769138090663_vrcsefnzy", + "width": 0.13499999999999995, + "x": 0.390322021484375, + "y": 0.46454236857096354 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.19600000000000004, + "id": "bbox_1769074088952_1769138093311_5iegi6ql8", + "width": 0.10400000000000009, + "x": 0.47932202148437497, + "y": 0.2578757019042969 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4013333333333333, + "id": "bbox_1769074098767_1769138102079_8zxpt96ia", + "width": 0.38899999999999996, + "x": 0.148322021484375, + "y": 0.5832090352376302 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769138095951_80pbv6smh", + "x": 0.477322021484375, + "y": 0.37787570190429687 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769138098191_i0xhgxp9c", + "x": 0.49332202148437504, + "y": 0.37787570190429687 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，继续向爪夹的右前方移动。\n\n直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向右上方移动。", + "frame": 232, + "progress": 45, + "progress_explanation": "相比上一进度，当前爪夹抓取勺子，略微接近黑色箱子。因此进度提升为45%。", + "state_description": "当前爪夹保持合拢，略微靠近黑色箱子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹保持合拢，继续向爪夹的右前方移动。\n\n直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 7.730271637359809 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.04666666666666662, + "id": "bbox_1769074088784_1769138151999_e7expxz4g", + "width": 0.07800000000000011, + "x": 0.44232202148437494, + "y": 0.4698757019042969 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.15466666666666656, + "id": "bbox_1769074088952_1769138154263_w42k0dxbr", + "width": 0.139, + "x": 0.341322021484375, + "y": 0.35654236857096355 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4053333333333332, + "id": "bbox_1769074098767_1769138157447_4xu92x8q6", + "width": 0.387, + "x": 0.150322021484375, + "y": 0.5805423685709636 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769138159215_2fepqgtwz", + "x": 0.334322021484375, + "y": 0.42854236857096356 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769138161295_ot8cyq1fx", + "x": 0.352322021484375, + "y": 0.43387570190429686 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动。\n\n直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪甲方向的右前方移动。", + "frame": 251, + "progress": 50, + "progress_explanation": "相比上一进度，当前爪夹抓取勺子靠近黑色箱子。因此进度提升为50%。", + "state_description": "当前爪夹保持合拢靠近黑色盒子。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹向爪夹方向的前方移动。\n\n直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 8.361783648700014 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.057333333333333354, + "id": "bbox_1769074088784_1769138219296_00j73slqz", + "width": 0.129, + "x": 0.393322021484375, + "y": 0.45520903523763023 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.11199999999999997, + "id": "bbox_1769074088952_1769138221783_btwt58270", + "width": 0.24400000000000008, + "x": 0.22132202148437502, + "y": 0.4938757019042968 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4013333333333333, + "id": "bbox_1769074098767_1769138224167_801epx613", + "width": 0.393, + "x": 0.147322021484375, + "y": 0.5832090352376302 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769138226791_06kiot2eu", + "x": 0.293322021484375, + "y": 0.4365423685709635 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769138229599_roepvkseh", + "x": 0.407322021484375, + "y": 0.4525423685709635 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向后略微移动。\n\n然后竖直下降爪夹。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功张开。", + "frame": 277, + "progress": -35, + "progress_explanation": "相比上一进度，当前爪夹松开，勺子掉落。因此进度下降-35%。", + "state_description": "当前爪夹松开。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹向后略微移动。\n\n然后竖直下降爪夹。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 9.235151323957748 + }, + { + "action_description": "爪夹向爪夹的后方略微移动。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.05866666666666672, + "id": "bbox_1769074088784_1769138276367_amfp4mq02", + "width": 0.12899999999999995, + "x": 0.392322021484375, + "y": 0.45654236857096353 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.11066666666666673, + "id": "bbox_1769074088952_1769138278543_1xweodl1d", + "width": 0.24300000000000002, + "x": 0.22132202148437502, + "y": 0.4965423685709635 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.3906666666666666, + "id": "bbox_1769074098767_1769138281647_su9c5u1jz", + "width": 0.38899999999999996, + "x": 0.147322021484375, + "y": 0.5832090352376302 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769138283815_tq1nqcoey", + "x": 0.263322021484375, + "y": 0.34854236857096355 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769138288047_yrrpq9jyt", + "x": 0.372322021484375, + "y": 0.3845423685709636 + } + ], + "type": "point" + } + }, + "correction_plan": "竖直下降爪夹。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹后方略微移动。", + "frame": 297, + "progress": 55, + "progress_explanation": "相比上一进度，当前爪夹再次处于勺子上方。因此进度提升为55%。", + "state_description": "当前爪夹保持张开，爪夹从新处于勺子上方。\n\n为完成将勺子放入黑色箱子中的任务应当:竖直下降爪夹。\n\n合拢爪夹，抓取勺子。\n\n向爪夹的右前上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 9.905333 + }, + { + "action_description": "爪夹竖直下降。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.06266666666666663, + "id": "bbox_1769074088784_1769138336719_0kjzgyjig", + "width": 0.13400000000000004, + "x": 0.391322021484375, + "y": 0.45520903523763023 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1769074088952_1769138346015_l32nftxeb", + "width": 0.2410000000000001, + "x": 0.22232202148437494, + "y": 0.4885423685709636 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.39733333333333337, + "id": "bbox_1769074098767_1769138348951_trvv98vjj", + "width": 0.386, + "x": 0.15032202148437498, + "y": 0.5805423685709634 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769138352207_7l4z571sg", + "x": 0.273322021484375, + "y": 0.5698757019042968 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769138357887_my6ewhgzd", + "x": 0.384322021484375, + "y": 0.589875701904297 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取勺子。\n\n向爪夹的上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功竖直下降。", + "frame": 316, + "progress": 58, + "progress_explanation": "相比上一进度，当前爪夹从新贴近勺子。因此进度提升为58%。", + "state_description": "当前爪夹贴近勺子。\n\n为完成将勺子放入黑色箱子中的任务应当:合拢爪夹，抓取勺子。\n\n向爪夹的上方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 10.530933 + }, + { + "action_description": "爪夹合并。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.06266666666666663, + "id": "bbox_1769074088784_1769138436087_hvcekspyw", + "width": 0.12200000000000003, + "x": 0.39832202148437496, + "y": 0.4498757019042969 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.16400000000000006, + "id": "bbox_1769074088952_1769138439719_1wrh2rooj", + "width": 0.22800000000000004, + "x": 0.224322021484375, + "y": 0.4472090352376302 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.39999999999999986, + "id": "bbox_1769074098767_1769138442319_v74710p5q", + "width": 0.39699999999999996, + "x": 0.144322021484375, + "y": 0.5805423685709636 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的上方移动。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功合并。", + "frame": 336, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹合并，抓取勺子。因此进度提升为60%。", + "state_description": "当前爪夹合并。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹向爪夹方向的上方移动。\n\n然后向爪夹的前方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 11.208666 + }, + { + "action_description": "爪夹笔直上升。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.06266666666666663, + "id": "bbox_1769074088784_1769138504951_6dn4vhxjb", + "width": 0.13199999999999998, + "x": 0.392322021484375, + "y": 0.45520903523763023 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.14933333333333335, + "id": "bbox_1769074088952_1769138502223_639e8uu7i", + "width": 0.275, + "x": 0.163322021484375, + "y": 0.3072090352376302 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.39599999999999996, + "id": "bbox_1769074098767_1769138498167_z3re0ksrw", + "width": 0.45200000000000007, + "x": 0.103322021484375, + "y": 0.5805423685709635 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769138494887_emt0k5iia", + "x": 0.260322021484375, + "y": 0.3885423685709635 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769138492216_5bmpi586e", + "x": 0.297322021484375, + "y": 0.41387570190429684 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的前方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功笔直上升。", + "frame": 347, + "progress": 70, + "progress_explanation": "相比上一进度，当前爪夹抓取勺子，靠近黑色箱子。因此进度提升为70%。", + "state_description": "当前爪夹保持合拢。\n\n为完成将勺子放入黑色箱子中的任务应当:爪夹向爪夹的前方移动。直至抵达黑色箱子上方。\n\n松开爪夹，使勺子落入黑色箱子中。", + "time": 11.559652982720634 + }, + { + "action_description": "爪夹向爪夹的前方移动。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.057333333333333354, + "id": "bbox_1769074088784_1769138547631_ub0zqzn90", + "width": 0.12200000000000007, + "x": 0.399322021484375, + "y": 0.45520903523763023 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.19600000000000004, + "id": "bbox_1769074088952_1769138551160_fg98ewmug", + "width": 0.30399999999999994, + "x": 0.196322021484375, + "y": 0.48854236857096356 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.39333333333333337, + "id": "bbox_1769074098767_1769138555248_4h93fqexp", + "width": 0.3890000000000001, + "x": 0.146322021484375, + "y": 0.5845423685709635 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769138559295_256kbf7lm", + "x": 0.30632202148437504, + "y": 0.5832090352376302 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769138561351_fzy6k2oio", + "x": 0.352322021484375, + "y": 0.5885423685709636 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功向爪夹的前方移动。", + "frame": 366, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹抓取勺子，抵达黑色箱子上方。因此进度提升为80%。", + "state_description": "当前爪夹处于黑色箱子上方。\n\n为完成将勺子放入黑色箱子中的任务应当:松开爪夹，使勺子落入黑色箱子中。", + "time": 12.204601419834036 + }, + { + "action_description": "爪夹打开。", + "annotations": { + "bbox_1769074088784": { + "instances": [ + { + "height": 0.061333333333333385, + "id": "bbox_1769074088784_1769138605799_dc9wnnhbf", + "width": 0.13200000000000012, + "x": 0.391322021484375, + "y": 0.45520903523763023 + } + ], + "type": "bbox" + }, + "bbox_1769074088952": { + "instances": [ + { + "height": 0.32266666666666677, + "id": "bbox_1769074088952_1769138608719_m1l5cldmx", + "width": 0.10400000000000005, + "x": 0.4073220214843749, + "y": 0.6472090352376302 + } + ], + "type": "bbox" + }, + "bbox_1769074098767": { + "instances": [ + { + "height": 0.4093333333333334, + "id": "bbox_1769074098767_1769138611791_gun73abxm", + "width": 0.39300000000000007, + "x": 0.14732202148437498, + "y": 0.5792090352376302 + } + ], + "type": "bbox" + }, + "point_1769074089831": { + "instances": [ + { + "id": "point_1769074089831_1769138614263_alw9jxyfz", + "x": 0.261322021484375, + "y": 0.6085423685709636 + } + ], + "type": "point" + }, + "point_1769074090007": { + "instances": [ + { + "id": "point_1769074090007_1769138616447_9hbjf1fvt", + "x": 0.401322021484375, + "y": 0.6272090352376303 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功打开。", + "frame": 391, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹打开，勺子落入黑色箱子中。因此进度提升为100%。", + "state_description": "当前爪夹打开。", + "time": 13.033333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769074088784", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1769074088952", + "name": "勺子" + }, + { + "color": "#ffdd00", + "id": "bbox_1769074098767", + "name": "黑色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769074089831", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769074090007", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-160641-put-spoon-yellow and black-box-bad2/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-160641-put-spoon-yellow and black-box-bad2/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..66cb00d173ef4086f5d8584de0be11a26af809fb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-160641-put-spoon-yellow and black-box-bad2/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,1018 @@ +{ + "task_description": "将勺子放入箱子里:\n开始移动:0%\n爪夹靠近勺子:20%\n爪夹抓取勺子:40%\n爪夹抓住勺子接近箱子:60%\n爪夹将勺子移动至箱子上:80%\n爪夹松开，勺子落入箱子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向前下方移动，靠近勺子。\n\n合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触勺子。\n\n为完成将勺子放入箱子中的任务应当:爪夹向前下方移动，靠近勺子。\n\n合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 0, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769072270604_tr7xhkm34", + "x": 0.49732202148437504, + "y": 0.4640903930664063, + "width": 0.13900000000000007, + "height": 0.0573333333333333 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769072274876_iv406nyfa", + "x": 0.507322021484375, + "y": 0.5054237263997395, + "width": 0.05600000000000005, + "height": 0.16266666666666663 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769072278132_5mes5pkt5", + "x": 0.34732202148437497, + "y": 0.48542372639973963, + "width": 0.09, + "height": 0.3186666666666666 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769072281644_rkzkcwe4i", + "x": 0.11332202148437501, + "y": 0.0027570597330729167, + "width": 0.3629999999999999, + "height": 0.40000000000000013 + } + ] + }, + "point_1769072226453": { + "type": "point", + "instances": [ + { + "id": "point_1769072226453_1769072286164_2qoftvbhq", + "x": 0.539322021484375, + "y": 0.5880903930664062 + } + ] + }, + "point_1769072226620": { + "type": "point", + "instances": [ + { + "id": "point_1769072226620_1769072288636_jzpxi73hf", + "x": 0.703322021484375, + "y": 0.5440903930664063 + } + ] + } + } + }, + { + "action_description": "爪夹向前下方移动。", + "correction_plan": "爪夹从新上升，然后爪夹向当前爪夹的左边移动。直至抵达勺子上方。\n\n然后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功向前下方移动。\n\n爪夹没有去抓取勺子，反而去抓取三脚架。", + "frame": 47, + "progress": -5, + "progress_explanation": "相比上一进度，当前爪夹接近三脚架。因此进度下降为-5%。", + "state_description": "当前爪夹靠近三脚架。\n\n为完成将勺子放入箱子中的任务应当:爪夹上升，然后爪夹向当前爪夹的左边移动。直至抵达勺子上方。\n\n然后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 1.5816930426337485, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769072345605_zrb2yzjtk", + "x": 0.538322021484375, + "y": 0.4779886983235677, + "width": 0.06500000000000003, + "height": 0.03866666666666667 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769072358628_tgmpvptwc", + "x": 0.506322021484375, + "y": 0.5059886983235676, + "width": 0.05800000000000009, + "height": 0.24799999999999997 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769072361045_j6xeohdz3", + "x": 0.34632202148437496, + "y": 0.48598869832356767, + "width": 0.09200000000000008, + "height": 0.32000000000000006 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769072364149_72a3z1xlq", + "x": 0.110322021484375, + "y": -0.0006779683430989373, + "width": 0.36600000000000005, + "height": 0.4026666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "松开爪夹，垂直上升。\n\n然后向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 77, + "progress": -10, + "progress_explanation": "相比上一进度，当前爪夹已合拢。因此进度下降为-10%。", + "state_description": "当前爪夹合拢。\n\n为完成将勺子放入箱子中的任务应当:松开爪夹，垂直上升。\n\n然后向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 2.570902690056429, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769072435565_r8amf6u1u", + "x": 0.49632202148437504, + "y": 0.47665536499023436, + "width": 0.11199999999999992, + "height": 0.04400000000000001 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769072439917_rh58asu14", + "x": 0.5073220214843751, + "y": 0.503322031656901, + "width": 0.054999999999999896, + "height": 0.2506666666666666 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769072442541_reyktglg3", + "x": 0.345322021484375, + "y": 0.4859886983235677, + "width": 0.09300000000000001, + "height": 0.3213333333333333 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769072445557_gi2ov7uzd", + "x": 0.111322021484375, + "y": -0.000677968343098941, + "width": 0.36500000000000005, + "height": 0.4013333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹上升。", + "correction_plan": "继续松开爪夹。\n\n然后向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功上升。", + "frame": 103, + "progress": -15, + "progress_explanation": "相比上一进度，当前爪夹保持合拢上升。因此进度下降为-15%。", + "state_description": "当前爪夹保持合拢上升。\n\n为完成将勺子放入箱子中的任务应当:继续松开爪夹。\n\n然后向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 3.4398030560358106, + "annotations": { + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769072524221_q8g1j73kj", + "x": 0.526322021484375, + "y": 0.6153220316569011, + "width": 0.026999999999999958, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769072527613_0aoy6vof3", + "x": 0.34732202148437497, + "y": 0.48598869832356767, + "width": 0.09200000000000004, + "height": 0.31866666666666676 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769072539381_r5aj8burc", + "x": 0.11232202148437498, + "y": 0.0019886983235676797, + "width": 0.36399999999999993, + "height": 0.4 + } + ] + }, + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769072544205_5c9xu39u4", + "x": 0.622322021484375, + "y": 0.46598869832356776, + "width": 0.014999999999999947, + "height": 0.031999999999999966 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "爪夹向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功松开爪夹。", + "frame": 126, + "progress": 5, + "progress_explanation": "相比上一进度，当前爪夹张开垂直于桌面。因此进度提升为5%。", + "state_description": "当前爪夹张开。\n\n为完成将勺子放入箱子中的任务应当:向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 4.1883941405718925, + "annotations": { + "point_1769072226453": { + "type": "point", + "instances": [ + { + "id": "point_1769072226453_1769072587821_aw3uaakq3", + "x": 0.4713220214843751, + "y": 0.4259886983235677 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769072595605_w4yxvwgt9", + "x": 0.525322021484375, + "y": 0.5859886983235677, + "width": 0.029000000000000005, + "height": 0.1693333333333334 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769072601117_mrtdr6ayd", + "x": 0.345322021484375, + "y": 0.4833220316569011, + "width": 0.094, + "height": 0.32533333333333325 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769072604093_m3gxqb403", + "x": 0.10932202148437505, + "y": 0.00198869832356773, + "width": 0.36900000000000005, + "height": 0.3986666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "爪夹垂直上升，然后向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 149, + "progress": -20, + "progress_explanation": "相比上一进度，当前爪夹已接近刷子。因此进度下降为-20%。", + "state_description": "当前爪夹靠近刷子。\n\n为完成将勺子放入箱子中的任务应当:爪夹垂直上升，然后向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 4.9637206209842635, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769072658629_5lg5vuszv", + "x": 0.533322021484375, + "y": 0.46465536499023435, + "width": 0.10100000000000006, + "height": 0.05466666666666668 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769072662245_st28zuv6m", + "x": 0.34532202148437496, + "y": 0.4859886983235677, + "width": 0.09300000000000015, + "height": 0.3213333333333334 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769072664861_pgvybb2q9", + "x": 0.109322021484375, + "y": 0.0006553649902343972, + "width": 0.36499999999999994, + "height": 0.4 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹继续垂直上升，松开爪夹。\n\n然后向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 169, + "progress": -25, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取刷子。因此进度下降为-25%。", + "state_description": "当前爪夹合拢。\n\n为完成将勺子放入箱子中的任务应当:爪夹继续垂直上升，松开爪夹。\n\n然后向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 5.618737819953337, + "annotations": { + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769072711029_at6himcu0", + "x": 0.11132202148437498, + "y": 0.0019886983235677318, + "width": 0.364, + "height": 0.3946666666666668 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769072714733_fca4lnq6r", + "x": 0.511322021484375, + "y": 0.6659886983235678, + "width": 0.02999999999999998, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769072717869_6sydgynez", + "x": 0.347322021484375, + "y": 0.487322031656901, + "width": 0.092, + "height": 0.31733333333333336 + } + ] + }, + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769072721117_vkxs8ro8t", + "x": 0.529322021484375, + "y": 0.4646553649902344, + "width": 0.10299999999999994, + "height": 0.047999999999999925 + } + ] + } + } + }, + { + "action_description": "爪夹垂直上升。", + "correction_plan": "松开爪夹。\n\n然后向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功垂直上升。", + "frame": 194, + "progress": -30, + "progress_explanation": "相比上一进度，当前爪夹已抓取刷子垂直上升。因此进度下降为-30%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n\n为完成将勺子放入箱子中的任务应当:松开爪夹。\n\n然后向爪夹的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 6.474270487994573, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769072769749_y4ihzaodr", + "x": 0.6173220214843751, + "y": 0.45932203165690105, + "width": 0.01899999999999995, + "height": 0.04400000000000001 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769072774702_p3aghnuon", + "x": 0.346322021484375, + "y": 0.48465536499023437, + "width": 0.09300000000000001, + "height": 0.32000000000000006 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769072787189_k72iqo6cn", + "x": 0.111322021484375, + "y": 0.0006553649902343676, + "width": 0.358, + "height": 0.4 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "松开爪夹，然后爪夹向爪夹方向的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的前方移动。", + "frame": 207, + "progress": -35, + "progress_explanation": "相比上一进度，当前爪夹已抓取刷子靠近箱子。因此进度下降为-35%。", + "state_description": "当前爪夹抓取刷子接近箱子。\n\n为完成将勺子放入箱子中的任务应当:松开爪夹，然后爪夹向爪夹方向的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 6.915404519953336, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769072836869_0g88yz96t", + "x": 0.5973220214843751, + "y": 0.4686553649902344, + "width": 0.038999999999999965, + "height": 0.03733333333333331 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769072846269_2ctdp7n3l", + "x": 0.346322021484375, + "y": 0.487322031656901, + "width": 0.09200000000000004, + "height": 0.3226666666666667 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769072848726_t2cau9199", + "x": 0.11032202148437502, + "y": 0.0006553649902343935, + "width": 0.378, + "height": 0.40266666666666673 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "爪夹向爪夹方向的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功张开。", + "frame": 227, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已松开刷子，刷子已掉落至桌子上。因此进度提升为10%。", + "state_description": "当前爪夹张开。\n\n为完成将勺子放入箱子中的任务应当:爪夹向爪夹方向的左后方移动。直至抵达勺子上方。\n\n之后下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 7.557054020984265, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769072895789_rrxwny5cp", + "x": 0.591322021484375, + "y": 0.4686553649902344, + "width": 0.04500000000000002, + "height": 0.04133333333333334 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769072898597_4f81curd3", + "x": 0.315322021484375, + "y": 0.47532203165690107, + "width": 0.13799999999999998, + "height": 0.35866666666666663 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769072905453_pm5ptwn6n", + "x": 0.108322021484375, + "y": 0.0019886983235677083, + "width": 0.379, + "height": 0.4053333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左边移动。", + "correction_plan": "爪夹垂直下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 249, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近勺子。因此进度提升为20%。", + "state_description": "当前爪夹处于勺子上方。\n\n为完成将勺子放入箱子中的任务应当:爪夹垂直下降，合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 8.311633, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769072933069_pst7w6j80", + "x": 0.5003220214843751, + "y": 0.46465536499023435, + "width": 0.13699999999999993, + "height": 0.0573333333333333 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769072936581_uado083j6", + "x": 0.49332202148437504, + "y": 0.08732203165690104, + "width": 0.05, + "height": 0.264 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769072939742_701khe7m4", + "x": 0.34732202148437497, + "y": 0.5753220316569011, + "width": 0.09300000000000001, + "height": 0.2319999999999999 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769072941813_dzi5w3cpr", + "x": 0.10832202148437506, + "y": 0.0006553649902343657, + "width": 0.37000000000000005, + "height": 0.3813333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 279, + "progress": 30, + "progress_explanation": "相比上一进度，当前爪夹已贴近勺子。因此进度提升为30%。", + "state_description": "当前爪夹贴近勺子。\n\n为完成将勺子放入箱子中的任务应当:合拢爪夹，抓取勺子。\n\n然后爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 9.2971, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769072988782_e19vm1vjj", + "x": 0.496322021484375, + "y": 0.46598869832356776, + "width": 0.13900000000000007, + "height": 0.0586666666666666 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769072998390_bzkj3sk0y", + "x": 0.49732202148437493, + "y": 0.08465536499023438, + "width": 0.04800000000000004, + "height": 0.232 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769073000926_au586laxr", + "x": 0.347322021484375, + "y": 0.659322031656901, + "width": 0.083, + "height": 0.14666666666666675 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769073005006_geu5j1iaq", + "x": 0.11232202148437498, + "y": 0.0006553649902343712, + "width": 0.366, + "height": 0.40266666666666673 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 305, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取勺子。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将勺子放入箱子中的任务应当:爪夹保持合拢垂直上升。\n\n爪夹向当前爪夹的前方移动，直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 10.165866, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769073062918_6aykdcn4x", + "x": 0.495322021484375, + "y": 0.4619886983235677, + "width": 0.14000000000000004, + "height": 0.05866666666666666 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769073078398_hp83ogklg", + "x": 0.495322021484375, + "y": 0.08865536499023438, + "width": 0.051000000000000066, + "height": 0.22799999999999992 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769073087542_b79bog4l2", + "x": 0.397322021484375, + "y": 0.639322031656901, + "width": 0.09300000000000001, + "height": 0.1426666666666667 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769073098406_x03yv3itm", + "x": 0.11232202148437502, + "y": 0.0006553649902343676, + "width": 0.36700000000000005, + "height": 0.4026666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢垂直上升。", + "correction_plan": "爪夹向前方移动。直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功垂直上升。", + "frame": 330, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹已抓取勺子靠近箱子。因此进度提升为60%。", + "state_description": "当前爪夹抓取勺子垂直于桌面。\n\n为完成将勺子放入箱子中的任务应当:爪夹向前方移动。直至抵达箱子上方。\n\n之后垂直下降，松开爪夹，使勺子落入箱子中。", + "time": 11.0087, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769073179110_3t08h5xcw", + "x": 0.49732202148437504, + "y": 0.46598869832356776, + "width": 0.13800000000000007, + "height": 0.060000000000000026 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769073190814_qjkesrnt3", + "x": 0.49732202148437504, + "y": 0.0886553649902344, + "width": 0.046, + "height": 0.2293333333333333 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769073209422_pipqxd0as", + "x": 0.398322021484375, + "y": 0.45932203165690105, + "width": 0.04900000000000002, + "height": 0.11866666666666668 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769073213590_p73nhcb7x", + "x": 0.10832202148437502, + "y": 0.0019886983235676984, + "width": 0.36900000000000005, + "height": 0.404 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动。", + "correction_plan": "爪夹垂直下降。\n\n松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的前方移动。", + "frame": 344, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹抓取勺子处于箱子上方。因此进度提升为80%。", + "state_description": "当前爪夹处于向子正上方。\n\n为完成将勺子放入箱子中的任务应当:爪夹垂直下降。\n\n松开爪夹，使勺子落入箱子中。", + "time": 11.4755, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769073244966_lvmxfn3cl", + "x": 0.49832202148437493, + "y": 0.46332203165690106, + "width": 0.1370000000000001, + "height": 0.057333333333333354 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769073247574_nkpyb7etm", + "x": 0.4973220214843751, + "y": 0.0886553649902344, + "width": 0.04599999999999982, + "height": 0.22666666666666668 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769073251198_8me4wslg9", + "x": 0.325322021484375, + "y": 0.043322031656901044, + "width": 0.03399999999999999, + "height": 0.15733333333333333 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769073254150_dgwe58zgu", + "x": 0.11032202148437506, + "y": 0.001988698323567695, + "width": 0.36700000000000005, + "height": 0.4013333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "松开爪夹，使勺子落入箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 359, + "progress": 90, + "progress_explanation": "相比上一进度，当前爪夹已贴近箱子。因此进度提升为90%。", + "state_description": "当前爪夹贴近箱子。\n\n为完成将勺子放入箱子中的任务应当:松开爪夹，使勺子落入箱子中。", + "time": 11.9812, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769073314134_pwnp9iba0", + "x": 0.498322021484375, + "y": 0.4646553649902344, + "width": 0.137, + "height": 0.05866666666666654 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769073316846_elq0ri9e9", + "x": 0.49632202148437504, + "y": 0.08998869832356772, + "width": 0.046, + "height": 0.22533333333333339 + } + ] + }, + "bbox_1769072225284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225284_1769073320286_8q19erx0i", + "x": 0.334322021484375, + "y": 0.07532203165690105, + "width": 0.046, + "height": 0.14400000000000004 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769073323606_ikm8b6d7c", + "x": 0.11232202148437498, + "y": 0.0006553649902343935, + "width": 0.366, + "height": 0.4066666666666667 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹成功松开。", + "frame": 389, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，勺子已落入箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 12.966667, + "annotations": { + "bbox_1769072220388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220388_1769073380366_apx33n2p1", + "x": 0.49732202148437493, + "y": 0.4673220316569011, + "width": 0.14000000000000004, + "height": 0.0519999999999999 + } + ] + }, + "bbox_1769072220556": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072220556_1769073383207_o0irdekmj", + "x": 0.49732202148437504, + "y": 0.0939886983235677, + "width": 0.04499999999999993, + "height": 0.2213333333333333 + } + ] + }, + "bbox_1769072225460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769072225460_1769073389294_08d50ag3j", + "x": 0.110322021484375, + "y": 0.0019886983235677083, + "width": 0.368, + "height": 0.396 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769072220388", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1769072220556", + "name": "刷子", + "color": "#FF9800" + }, + { + "id": "bbox_1769072225284", + "name": "勺子", + "color": "#f78de0" + }, + { + "id": "bbox_1769072225460", + "name": "箱子", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1769072226453", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769072226620", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-161313-put-paper tape-yellow and black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-161313-put-paper tape-yellow and black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ceed69aee38c455e1dba46819a6ecb3673ae109d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-161313-put-paper tape-yellow and black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,534 @@ +{ + "task_description": "将胶带放入黑色盒子中:\n开始移动:0%\n爪夹靠近胶带:20%\n爪夹抓取胶带:40%\n爪夹抓住胶带接近黑色盒子:60%\n爪夹将胶带移动至黑色盒子上:80%\n爪夹松开，胶带落入黑色盒子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹垂直上升。\n\n然后向爪夹方向的左前下方移动，靠近胶带。\n\n合拢爪夹，抓取胶带。\n\n然后爪夹保持合拢，向前上方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触胶带。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹垂直上升。\n\n然后向爪夹方向的左前下方移动，靠近胶带。\n\n合拢爪夹，抓取胶带。\n\n然后爪夹保持合拢，向前上方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 0, + "annotations": { + "point_1769044399625": { + "type": "point", + "instances": [ + { + "id": "point_1769044399625_1769044559706_pvdsjvqd3", + "x": 0.433322021484375, + "y": 0.1507570597330729 + } + ] + }, + "point_1769044399929": { + "type": "point", + "instances": [ + { + "id": "point_1769044399929_1769044563065_6ihua3dqs", + "x": 0.540322021484375, + "y": 0.1507570597330729 + } + ] + }, + "bbox_1769044398161": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398161_1769044566049_lfebdiin5", + "x": 0.517322021484375, + "y": 0.3934237263997396, + "width": 0.10100000000000006, + "height": 0.13066666666666674 + } + ] + }, + "bbox_1769044398337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398337_1769044568817_7k553o110", + "x": 0.5063220214843749, + "y": 0.5867570597330729, + "width": 0.382, + "height": 0.3866666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹垂直上升。", + "correction_plan": "爪夹向爪夹方向的左前下方移动，靠近胶带。\n\n合拢爪夹，抓取胶带。\n\n然后爪夹保持合拢，向前上方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功垂直上升。", + "frame": 27, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已开始移动。因此进度提升为10%。", + "state_description": "当前爪夹保持张开，垂直于桌面。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹向爪夹方向的左前下方移动，靠近胶带。\n\n合拢爪夹，抓取胶带。\n\n然后爪夹保持合拢，向前上方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 0.8950281223710838, + "annotations": { + "bbox_1769044398161": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398161_1769044603298_huglgvgg3", + "x": 0.519322021484375, + "y": 0.3947570597330729, + "width": 0.09699999999999998, + "height": 0.12666666666666668 + } + ] + }, + "bbox_1769044398337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398337_1769044605626_pmb1k5bnz", + "x": 0.505322021484375, + "y": 0.5840903930664062, + "width": 0.38499999999999995, + "height": 0.39466666666666667 + } + ] + }, + "point_1769044399625": { + "type": "point", + "instances": [ + { + "id": "point_1769044399625_1769044609089_vw16y1co7", + "x": 0.42732202148437504, + "y": 0.07342372639973958 + } + ] + }, + "point_1769044399929": { + "type": "point", + "instances": [ + { + "id": "point_1769044399929_1769044611633_l0mxjrkj3", + "x": 0.5543220214843749, + "y": 0.060090393066406254 + } + ] + } + } + }, + { + "action_description": "爪夹向左下方移动。", + "correction_plan": "爪夹垂直下降。\n\n合拢爪夹，抓取胶带。\n\n然后爪夹保持合拢，向前上方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向左下方移动。", + "frame": 42, + "progress": 15, + "progress_explanation": "相比上一进度，并略微接近胶带。因此进度提升为15%。", + "state_description": "当前爪夹略微接近胶带。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹垂直下降。\n\n合拢爪夹，抓取胶带。\n\n然后爪夹保持合拢，向前上方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 1.3904920120618054, + "annotations": { + "bbox_1769044398161": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398161_1769044647666_im8r3qobo", + "x": 0.518322021484375, + "y": 0.39342372639973955, + "width": 0.09799999999999995, + "height": 0.12800000000000006 + } + ] + }, + "bbox_1769044398337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398337_1769044650546_lnxmylct5", + "x": 0.506322021484375, + "y": 0.5854237263997396, + "width": 0.38099999999999995, + "height": 0.3879999999999999 + } + ] + }, + "point_1769044399625": { + "type": "point", + "instances": [ + { + "id": "point_1769044399625_1769044653353_vrus7dvzg", + "x": 0.5973220214843751, + "y": 0.32809039306640625 + } + ] + }, + "point_1769044399929": { + "type": "point", + "instances": [ + { + "id": "point_1769044399929_1769044655786_dwxq94a17", + "x": 0.681322021484375, + "y": 0.2814237263997396 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢爪夹，抓取胶带。\n\n然后爪夹保持合拢，向前上方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 62, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已靠近胶带。因此进度提升为20%。", + "state_description": "当前爪夹靠近胶带。\n\n为完成将胶带放入黑色盒子中的任务应当:合拢爪夹，抓取胶带。\n\n然后爪夹保持合拢，向前上方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 2.0511105316494347, + "annotations": { + "bbox_1769044398161": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398161_1769044698018_sot7r266u", + "x": 0.519322021484375, + "y": 0.38809039306640625, + "width": 0.09800000000000005, + "height": 0.136 + } + ] + }, + "bbox_1769044398337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398337_1769044701882_m36rzms69", + "x": 0.505322021484375, + "y": 0.5867570597330729, + "width": 0.38400000000000006, + "height": 0.388 + } + ] + }, + "point_1769044399625": { + "type": "point", + "instances": [ + { + "id": "point_1769044399625_1769044704618_1gg1byqpr", + "x": 0.5623220214843749, + "y": 0.4800903930664063 + } + ] + }, + "point_1769044399929": { + "type": "point", + "instances": [ + { + "id": "point_1769044399929_1769044707482_zatwhrz7r", + "x": 0.628322021484375, + "y": 0.4467570597330729 + } + ] + } + } + }, + { + "action_description": "合拢爪夹。", + "correction_plan": "爪夹保持合拢，向前上方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功合拢，并抓取胶带。", + "frame": 83, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取胶带。因此进度提升为40%。", + "state_description": "当前爪夹合拢。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹保持合拢，向前上方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 2.779014270824692, + "annotations": { + "bbox_1769044398161": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398161_1769044743946_aco2hg1sd", + "x": 0.531322021484375, + "y": 0.4094237263997396, + "width": 0.09799999999999995, + "height": 0.13599999999999995 + } + ] + }, + "bbox_1769044398337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398337_1769044747202_0wx0982bq", + "x": 0.504322021484375, + "y": 0.5854237263997395, + "width": 0.384, + "height": 0.3906666666666668 + } + ] + }, + "point_1769044399625": { + "type": "point", + "instances": [ + { + "id": "point_1769044399625_1769044749274_rh5cryfr4", + "x": 0.6093220214843751, + "y": 0.46409039306640626 + } + ] + }, + "point_1769044399929": { + "type": "point", + "instances": [ + { + "id": "point_1769044399929_1769044752586_z9yusq6mz", + "x": 0.629322021484375, + "y": 0.45075705973307295 + } + ] + } + } + }, + { + "action_description": "爪夹向当前爪夹的前上方移动。", + "correction_plan": "爪夹保持合拢，继续向前方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向爪夹的前上方移动。", + "frame": 115, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹抓取胶带已接近黑色盒子。因此进度提升为60%。", + "state_description": "当前爪夹接近黑色盒子。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹保持合拢，继续向前方移动。直至抵达黑色盒子上方。\n\n然后垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 3.843344107938095, + "annotations": { + "bbox_1769044398161": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398161_1769044781842_bmyqwaw7e", + "x": 0.607322021484375, + "y": 0.31875705973307294, + "width": 0.14499999999999993, + "height": 0.10133333333333336 + } + ] + }, + "point_1769044399625": { + "type": "point", + "instances": [ + { + "id": "point_1769044399625_1769044784202_5tvha3lc3", + "x": 0.7143220214843751, + "y": 0.33475705973307296 + } + ] + }, + "point_1769044399929": { + "type": "point", + "instances": [ + { + "id": "point_1769044399929_1769044786586_82cto9svc", + "x": 0.744322021484375, + "y": 0.3174237263997396 + } + ] + }, + "bbox_1769044398337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398337_1769044791507_r9wx20piv", + "x": 0.503322021484375, + "y": 0.5867570597330728, + "width": 0.38200000000000023, + "height": 0.3866666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "爪夹保持合拢，垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向爪夹方向的前方移动。", + "frame": 126, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取胶带抵达黑色盒子正上方。因此进度提升为80%。", + "state_description": "当前爪夹处于黑色盒子正上方。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹保持合拢，垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 4.192003882164898, + "annotations": { + "bbox_1769044398337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398337_1769044862266_nkggvzuj0", + "x": 0.503322021484375, + "y": 0.5867570597330729, + "width": 0.3860000000000001, + "height": 0.3853333333333333 + } + ] + }, + "bbox_1769044398161": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398161_1769044864458_pulp935cq", + "x": 0.725322021484375, + "y": 0.4320903930664063, + "width": 0.1830000000000001, + "height": 0.1306666666666666 + } + ] + }, + "point_1769044399625": { + "type": "point", + "instances": [ + { + "id": "point_1769044399625_1769044867162_2o0ece51j", + "x": 0.854322021484375, + "y": 0.4454237263997396 + } + ] + }, + "point_1769044399929": { + "type": "point", + "instances": [ + { + "id": "point_1769044399929_1769044869466_69w0hvag0", + "x": 0.8833220214843751, + "y": 0.4294237263997396 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 148, + "progress": 90, + "progress_explanation": "相比上一进度，当前爪夹已贴近黑色盒子。因此进度提升为90%。", + "state_description": "当前爪夹贴近黑色盒子。\n\n为完成将胶带放入黑色盒子中的任务应当:松开爪夹，使胶带落入黑色盒子中。", + "time": 4.932141297628815, + "annotations": { + "bbox_1769044398161": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398161_1769044909690_hhe922lv7", + "x": 0.631322021484375, + "y": 0.654757059733073, + "width": 0.12599999999999997, + "height": 0.15066666666666664 + } + ] + }, + "point_1769044399625": { + "type": "point", + "instances": [ + { + "id": "point_1769044399625_1769044911810_kbmfs91tu", + "x": 0.728322021484375, + "y": 0.7067570597330729 + } + ] + }, + "point_1769044399929": { + "type": "point", + "instances": [ + { + "id": "point_1769044399929_1769044914074_7pqexwe03", + "x": 0.753322021484375, + "y": 0.6894237263997396 + } + ] + }, + "bbox_1769044398337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398337_1769044917066_bbrr1jufa", + "x": 0.507322021484375, + "y": 0.5840903930664063, + "width": 0.38500000000000006, + "height": 0.39333333333333326 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。", + "frame": 178, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，胶带已落入黑色盒子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 5.933333, + "annotations": { + "bbox_1769044398161": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398161_1769044943970_qsb5j072a", + "x": 0.644322021484375, + "y": 0.7080903930664062, + "width": 0.1160000000000001, + "height": 0.15866666666666684 + } + ] + }, + "bbox_1769044398337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769044398337_1769044946698_qksr1kt6e", + "x": 0.503322021484375, + "y": 0.5854237263997396, + "width": 0.38900000000000007, + "height": 0.3866666666666666 + } + ] + }, + "point_1769044399625": { + "type": "point", + "instances": [ + { + "id": "point_1769044399625_1769044948786_duinknuzh", + "x": 0.686322021484375, + "y": 0.7387570597330729 + } + ] + }, + "point_1769044399929": { + "type": "point", + "instances": [ + { + "id": "point_1769044399929_1769044951178_aon6yn1jl", + "x": 0.769322021484375, + "y": 0.6840903930664062 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769044398161", + "name": "胶带", + "color": "#4CAF50" + }, + { + "id": "bbox_1769044398337", + "name": "黑色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769044399625", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769044399929", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-162507-put-paper tape-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-162507-put-paper tape-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..2dfd071c0c0db78c817bc3f0224196cca804bfe6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-162507-put-paper tape-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,1500 @@ +{ + "task_description": "将胶带放入黑色盒子中:\n开始移动:0%\n爪夹靠近胶带:30%\n爪夹抓取胶带:50%\n爪夹抓住胶带接近黑色盒子:70%\n爪夹将胶带移动至黑色盒子上:80%\n爪夹松开，胶带落入黑色盒子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向爪夹的右前方移动。抵达胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触胶带。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹向爪夹的右前方移动。抵达胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 0, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769065756793_zkei888sq", + "x": 0.213322021484375, + "y": 0.31055367279052726, + "width": 0.10000000000000005, + "height": 0.12133333333333342 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769065759345_c6uwioszh", + "x": 0.29532202148437503, + "y": 0.5183276824951172, + "width": 0.07899999999999996, + "height": 0.14666666666666656 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769065761658_rf94s1nbg", + "x": 0.34732202148437497, + "y": 0.5676610158284505, + "width": 0.14500000000000007, + "height": 0.2413333333333334 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769065764425_wrbvk30ly", + "x": 0.536322021484375, + "y": 0.5516610158284506, + "width": 0.39399999999999996, + "height": 0.4266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动。", + "correction_plan": "爪夹向爪夹的右边移动。抵达胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向爪夹的右前方移动。", + "frame": 24, + "progress": 5, + "progress_explanation": "相比上一进度，当前爪夹略微接近胶带。因此进度提升为5%。", + "state_description": "当前爪夹略微接近胶带。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹向爪夹的右边移动。抵达胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 0.7988355116993698, + "annotations": { + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769065831217_kd3gxmkvo", + "x": 0.31432202148437505, + "y": 0.1867570597330729 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769065833729_brhlgjph6", + "x": 0.43532202148437504, + "y": 0.20542372639973958 + } + ] + }, + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769065837753_3am9r510c", + "x": 0.214322021484375, + "y": 0.3094237263997396, + "width": 0.09899999999999998, + "height": 0.12399999999999996 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769065840625_i4rtxhmme", + "x": 0.295322021484375, + "y": 0.518757059733073, + "width": 0.07900000000000004, + "height": 0.14533333333333326 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769065843393_sj4zo5a3b", + "x": 0.34532202148437496, + "y": 0.5680903930664062, + "width": 0.14900000000000002, + "height": 0.23866666666666667 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769065846114_9zb1maama", + "x": 0.531322021484375, + "y": 0.558757059733073, + "width": 0.39700000000000013, + "height": 0.4253333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前下方移动。", + "correction_plan": "爪夹应当向爪夹的右后方升起移动。抵达胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向爪夹的前下方移动。\n\n爪夹移动方向错误，应当向爪夹的右边移动，却向爪夹前下方移动。", + "frame": 42, + "progress": -5, + "progress_explanation": "相比上一进度，当前爪夹贴近插座。因此进度下降-5%。", + "state_description": "当前爪夹贴近插座。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹向爪夹的右后方升起移动。抵达胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 1.3884574890189574, + "annotations": { + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769065955809_mzf3p6rgn", + "x": 0.31832202148437505, + "y": 0.5840903930664062 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769065963498_ag57k44ke", + "x": 0.424322021484375, + "y": 0.6067570597330729 + } + ] + }, + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769065967561_k0yuqniko", + "x": 0.213322021484375, + "y": 0.3094237263997396, + "width": 0.09900000000000002, + "height": 0.1213333333333333 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769065970817_rc0vdptit", + "x": 0.29632202148437503, + "y": 0.5214237263997396, + "width": 0.06400000000000002, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769065974322_5ouqx3rnd", + "x": 0.347322021484375, + "y": 0.5734237263997397, + "width": 0.14900000000000002, + "height": 0.23333333333333334 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769065977913_uamdn29ol", + "x": 0.537322021484375, + "y": 0.5560903930664064, + "width": 0.39400000000000013, + "height": 0.432 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹升起张开，并且向爪夹的右后方移动。抵达胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 67, + "progress": -10, + "progress_explanation": "相比上一进度，当前爪夹已合拢。因此进度下降为-10%。", + "state_description": "当前爪夹合拢。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹张开，并且向爪夹的右后方移动。抵达胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 2.221618978709679, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066025850_yrczr81wi", + "x": 0.21332202148437496, + "y": 0.3094237263997396, + "width": 0.10000000000000002, + "height": 0.12400000000000003 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066028833_k455u5xe5", + "x": 0.303322021484375, + "y": 0.534757059733073, + "width": 0.06400000000000002, + "height": 0.1333333333333334 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066031178_mtihstja6", + "x": 0.33932202148437496, + "y": 0.5694237263997395, + "width": 0.15600000000000008, + "height": 0.23866666666666678 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066035586_wsgzvsfyl", + "x": 0.536322021484375, + "y": 0.5547570597330729, + "width": 0.3949999999999999, + "height": 0.43600000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹垂直上升。", + "correction_plan": "爪夹张开。\n\n爪夹向爪夹的右后方移动。直至胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功垂直上升。", + "frame": 84, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已升空。因此进度提升为10%。", + "state_description": "当前爪夹处于插座上方。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹张开。\n\n爪夹向爪夹的右后方移动。直至胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 2.811240956029266, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066096666_k0u1m9bvt", + "x": 0.21232202148437498, + "y": 0.31075705973307294, + "width": 0.10199999999999998, + "height": 0.12266666666666666 + } + ] + }, + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066100010_y546r1cqg", + "x": 0.323322021484375, + "y": 0.4400903930664063 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066103034_3p5jbcc3a", + "x": 0.332322021484375, + "y": 0.4414237263997396 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066106690_ru1g59eve", + "x": 0.30332202148437504, + "y": 0.5200903930664063, + "width": 0.07999999999999999, + "height": 0.1426666666666667 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066109962_b9hzfxii3", + "x": 0.343322021484375, + "y": 0.5694237263997395, + "width": 0.15200000000000005, + "height": 0.23600000000000018 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066114282_x950scxu5", + "x": 0.5263220214843749, + "y": 0.5547570597330729, + "width": 0.4040000000000002, + "height": 0.4413333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "爪夹向爪夹的右后方移动。直至胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功松开。", + "frame": 101, + "progress": 15, + "progress_explanation": "相比上一进度，当前爪夹张开。因此进度提升为15%。", + "state_description": "当前爪夹张开。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹向爪夹的右后方移动。直至胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 3.3624093261323593, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066170337_eyvw9stbu", + "x": 0.213322021484375, + "y": 0.31075705973307294, + "width": 0.09900000000000002, + "height": 0.12400000000000003 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066173075_fd9lwr12i", + "x": 0.301322021484375, + "y": 0.5200903930664063, + "width": 0.08000000000000003, + "height": 0.14266666666666677 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066175834_5rkg1l3v0", + "x": 0.344322021484375, + "y": 0.5680903930664062, + "width": 0.15199999999999997, + "height": 0.23999999999999996 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066178722_dkb0lkevh", + "x": 0.528322021484375, + "y": 0.5534237263997396, + "width": 0.4040000000000001, + "height": 0.4266666666666667 + } + ] + }, + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066181234_8lc1ur9iy", + "x": 0.275322021484375, + "y": 0.4187570597330729 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066184082_3aj042xxa", + "x": 0.388322021484375, + "y": 0.4654237263997396 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左方移动，并垂直下降。", + "correction_plan": "爪夹垂直上升。\n\n然后爪夹向爪夹的右后方移动。直至胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向左方移动，并且垂直下降。\n\n爪夹并没有向右后方移动。\n\n却向瓶子方向下降。", + "frame": 127, + "progress": -15, + "progress_explanation": "相比上一进度，当前爪夹已贴近瓶子。因此进度下降为-15%。", + "state_description": "当前爪夹贴近瓶子。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹垂直上升。\n\n然后爪夹向爪夹的右后方移动。直至胶带上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 4.246842292111742, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066230466_9e62owtps", + "x": 0.213322021484375, + "y": 0.31075705973307294, + "width": 0.09900000000000002, + "height": 0.12133333333333335 + } + ] + }, + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066237258_gm8f2mu8q", + "x": 0.380322021484375, + "y": 0.6334237263997395 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066243370_h6vpo6w8d", + "x": 0.49332202148437504, + "y": 0.638757059733073 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066247810_9ayo33l2h", + "x": 0.30232202148437504, + "y": 0.522757059733073, + "width": 0.06999999999999998, + "height": 0.14000000000000004 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066250538_tn0g2d8j9", + "x": 0.34732202148437497, + "y": 0.6000903930664063, + "width": 0.13699999999999996, + "height": 0.2159999999999999 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066255515_l2wsxc2vu", + "x": 0.528322021484375, + "y": 0.5534237263997396, + "width": 0.4000000000000002, + "height": 0.41999999999999993 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "松开爪夹，然后向爪夹的右后上方移动。直至胶带的正上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功合拢。\n\n但是爪夹没有垂直上升。", + "frame": 147, + "progress": -20, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取瓶子。因此进度下降为-20%。", + "state_description": "当前爪夹合拢。\n\n为完成将胶带放入黑色盒子中的任务应当:松开\n爪夹，然后向爪夹的右后上方移动。至胶带的正上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 4.913371483864318, + "annotations": { + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066313066_6n3cdbqit", + "x": 0.397322021484375, + "y": 0.6267570597330729 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066316698_e21oo7r4u", + "x": 0.527322021484375, + "y": 0.554757059733073, + "width": 0.40599999999999986, + "height": 0.42666666666666664 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066319226_ojziiweoz", + "x": 0.358322021484375, + "y": 0.5894237263997396, + "width": 0.11000000000000006, + "height": 0.2293333333333333 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066322554_juufcya9h", + "x": 0.30032202148437503, + "y": 0.5200903930664063, + "width": 0.07999999999999999, + "height": 0.1466666666666666 + } + ] + }, + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066325274_ubnspak37", + "x": 0.21532202148437501, + "y": 0.30942372639973953, + "width": 0.09900000000000002, + "height": 0.12133333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹垂直上升。", + "correction_plan": "松开爪夹。\n\n爪夹向爪夹的右后方移动。直至胶带的正上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功垂直上升。", + "frame": 159, + "progress": -25, + "progress_explanation": "相比上一进度，当前爪夹已抓取瓶子垂直于桌面。因此进度下降为-25%。", + "state_description": "当前爪夹保持合拢。\n\n为完成将胶带放入黑色盒子中的任务应当:松开爪夹。\n\n爪夹向爪夹的右后方移动。直至胶带的正上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 5.31072542510143, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066373242_27pjkw050", + "x": 0.212322021484375, + "y": 0.3094237263997396, + "width": 0.1, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066376243_k20p9i4df", + "x": 0.30232202148437504, + "y": 0.5174237263997397, + "width": 0.08199999999999999, + "height": 0.14266666666666664 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066379754_vfauq921s", + "x": 0.324322021484375, + "y": 0.46409039306640626, + "width": 0.14700000000000008, + "height": 0.2746666666666668 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066384466_4wglfepxe", + "x": 0.531322021484375, + "y": 0.5560903930664064, + "width": 0.4009999999999999, + "height": 0.4346666666666667 + } + ] + }, + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066387106_1m6xgcxv2", + "x": 0.376322021484375, + "y": 0.5160903930664062 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066389274_nnmo5htr0", + "x": 0.456322021484375, + "y": 0.5440903930664063 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "correction_plan": "爪夹松开。\n\n爪夹向爪夹的右后方移动。直至胶带的正上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 170, + "progress": -30, + "progress_explanation": "相比上一进度，当前爪夹已抓取瓶子略微靠近黑子盒子。因此进度下降为-30%。", + "state_description": "当前爪夹抓取瓶子略微接近黑色盒子。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹松开。\n\n爪夹向爪夹的右后方移动。直至胶带的正上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 5.682443628194215, + "annotations": { + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066447730_7trte3cxz", + "x": 0.514322021484375, + "y": 0.5240903930664063 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066450090_obmokn94w", + "x": 0.591322021484375, + "y": 0.5387570597330729 + } + ] + }, + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066452955_3xymey54v", + "x": 0.21232202148437498, + "y": 0.30809039306640623, + "width": 0.09999999999999998, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066455602_dmuq99a8a", + "x": 0.30232202148437504, + "y": 0.5214237263997396, + "width": 0.08100000000000004, + "height": 0.1413333333333334 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066458946_gos8e3cd9", + "x": 0.48032202148437503, + "y": 0.4534237263997396, + "width": 0.10899999999999999, + "height": 0.296 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066462042_oticljg4x", + "x": 0.5323220214843751, + "y": 0.5547570597330729, + "width": 0.399, + "height": 0.43333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "爪夹向爪夹的右后方移动。直至胶带的正上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功张开。", + "frame": 192, + "progress": 20, + "progress_explanation": "相比上一进度，当前爪夹已张开，瓶子已落在桌面上。因此进度提升为20%。", + "state_description": "当前爪夹张开，瓶子落在桌面上。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹向爪夹的右后方移动。直至胶带的正上方。\n\n然后垂直下降，靠近爪夹。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 6.387426427163287, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066531450_ehcmsqyew", + "x": 0.21232202148437498, + "y": 0.31075705973307294, + "width": 0.10300000000000005, + "height": 0.12400000000000003 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066533700_5g14j5ox4", + "x": 0.30132202148437504, + "y": 0.518757059733073, + "width": 0.08299999999999996, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066536882_sfurpel3i", + "x": 0.4403220214843751, + "y": 0.5507570597330729, + "width": 0.183, + "height": 0.09866666666666664 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066541867_dm9tr77vr", + "x": 0.529322021484375, + "y": 0.5520903930664062, + "width": 0.40700000000000003, + "height": 0.436 + } + ] + }, + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066545018_r4s7vir2s", + "x": 0.487322021484375, + "y": 0.5347570597330729 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066547682_r79aa9ixu", + "x": 0.6053220214843751, + "y": 0.5387570597330729 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右后方移动。", + "correction_plan": "爪夹向后下方移动。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向爪夹方向的右后方移动。", + "frame": 215, + "progress": 30, + "progress_explanation": "相比上一进度，当前爪夹已抵达胶带侧上方。因此进度提升为30%。", + "state_description": "当前爪夹保持张开，靠近胶带，处于胶带侧上方。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹向后下方移动。\n\n爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 7.1564985714931835, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066604090_9lkes2drw", + "x": 0.213322021484375, + "y": 0.31075705973307294, + "width": 0.10099999999999998, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066606619_3ctd44e39", + "x": 0.30232202148437504, + "y": 0.5200903930664063, + "width": 0.08099999999999996, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066609011_hzqvgpjtw", + "x": 0.440322021484375, + "y": 0.5507570597330729, + "width": 0.18199999999999994, + "height": 0.09866666666666687 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066612539_e25mvexbg", + "x": 0.533322021484375, + "y": 0.5547570597330728, + "width": 0.402, + "height": 0.4160000000000001 + } + ] + }, + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066657996_jou3frxvc", + "x": 0.175322021484375, + "y": 0.33609039306640626 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066661107_dk4ftddpx", + "x": 0.275322021484375, + "y": 0.3934237263997396 + } + ] + } + } + }, + { + "action_description": "爪夹向后下方移动。", + "correction_plan": "爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向后下方移动。", + "frame": 244, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹已贴近胶带。因此进度提升为40%。", + "state_description": "当前爪夹贴近胶带。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹合拢，抓取胶带。\n\n爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 8.117838751905555, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066679747_9lpkgrq27", + "x": 0.21332202148437504, + "y": 0.3454237263997396, + "width": 0.09600000000000002, + "height": 0.0866666666666666 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066688339_smheo9wst", + "x": 0.295322021484375, + "y": 0.4387570597330729 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066692963_infuvessx", + "x": 0.30132202148437504, + "y": 0.518757059733073, + "width": 0.08299999999999992, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066695035_o2pegsh4l", + "x": 0.440322021484375, + "y": 0.5520903930664063, + "width": 0.183, + "height": 0.09733333333333327 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066698507_c823xvmb5", + "x": 0.532322021484375, + "y": 0.550757059733073, + "width": 0.404, + "height": 0.4266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 260, + "progress": 50, + "progress_explanation": "相比上一进度，当前爪夹已抓取胶带。因此进度提升为50%。", + "state_description": "当前爪夹合拢。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹保持合拢，抓取胶带上升。\n\n之后向爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 8.669007122008647, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066751659_uyl8urldq", + "x": 0.203322021484375, + "y": 0.3987570597330729, + "width": 0.083, + "height": 0.04933333333333329 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066755099_psd228q91", + "x": 0.30232202148437504, + "y": 0.518757059733073, + "width": 0.08199999999999993, + "height": 0.14533333333333337 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066757995_0nczmue1h", + "x": 0.441322021484375, + "y": 0.5494237263997396, + "width": 0.183, + "height": 0.10266666666666673 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066761867_yqoq0nkfc", + "x": 0.533322021484375, + "y": 0.5560903930664064, + "width": 0.4039999999999999, + "height": 0.4213333333333331 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066769155_xqsr8j96m", + "x": 0.282322021484375, + "y": 0.4147570597330729 + } + ] + }, + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066773642_da2v17pza", + "x": 0.258322021484375, + "y": 0.3987570597330729 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升起。", + "correction_plan": "爪夹向当前爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功垂直升起。", + "frame": 293, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹已抓取胶带上升。因此进度提升为60%。", + "state_description": "当前爪夹抓取胶带，垂直于桌面上。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹向当前爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 9.758525993142667, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066841899_olpsauci3", + "x": 0.108322021484375, + "y": 0.27742372639973956, + "width": 0.13500000000000006, + "height": 0.12266666666666663 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066844851_gvqn9a2po", + "x": 0.302322021484375, + "y": 0.518757059733073, + "width": 0.081, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066847627_elwq9w19a", + "x": 0.44232202148437505, + "y": 0.5507570597330729, + "width": 0.17799999999999994, + "height": 0.10133333333333336 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066850091_nb0nynotj", + "x": 0.527322021484375, + "y": 0.5534237263997395, + "width": 0.41100000000000014, + "height": 0.42933333333333334 + } + ] + }, + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066886939_otj1l3bi5", + "x": 0.205322021484375, + "y": 0.33609039306640626 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066890107_sp16l0cyp", + "x": 0.22932202148437503, + "y": 0.3560903930664063 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左前方移动。", + "correction_plan": "爪夹继续向当前爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向左前方移动。", + "frame": 309, + "progress": 70, + "progress_explanation": "相比上一进度，当前爪夹已抓取胶带接近黑色方块。因此进度提升为70%。", + "state_description": "当前爪夹保持合拢，抓取胶带靠近黑色盒子。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹继续向当前爪夹方向的左前方移动。直至抵达黑色盒子上方。\n\n然后爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 10.284058625101428, + "annotations": { + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066898267_0v4izqwrr", + "x": 0.527322021484375, + "y": 0.5174237263997397 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066900747_9rczb05vm", + "x": 0.555322021484375, + "y": 0.518757059733073 + } + ] + }, + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066903459_9m6ftpali", + "x": 0.4063220214843749, + "y": 0.4934237263997396, + "width": 0.1470000000000001, + "height": 0.11199999999999997 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066905603_phctv76aa", + "x": 0.30232202148437504, + "y": 0.5174237263997397, + "width": 0.08199999999999999, + "height": 0.14533333333333337 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066910132_ym3o9o2uj", + "x": 0.44232202148437494, + "y": 0.5534237263997395, + "width": 0.18200000000000002, + "height": 0.09600000000000003 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066914051_jmhsgjaus", + "x": 0.532322021484375, + "y": 0.5560903930664064, + "width": 0.4030000000000002, + "height": 0.4346666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹继续向左前方移动。", + "correction_plan": "爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向左前方移动。", + "frame": 322, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取胶带垂直于黑色胶带上方。因此进度提升为80%。", + "state_description": "当前爪夹处于黑色盒子上方。\n\n为完成将胶带放入黑色盒子中的任务应当:爪夹垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 10.717533, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769066975635_fvoxvbh3e", + "x": 0.665322021484375, + "y": 0.5800903930664062, + "width": 0.14799999999999996, + "height": 0.12400000000000008 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769066978539_xdkcz9wyx", + "x": 0.30232202148437504, + "y": 0.518757059733073, + "width": 0.07999999999999999, + "height": 0.14399999999999996 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769066981291_s0me7a4wp", + "x": 0.440322021484375, + "y": 0.5480903930664063, + "width": 0.18500000000000005, + "height": 0.11066666666666673 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769066984539_lev9xu711", + "x": 0.530322021484375, + "y": 0.5494237263997396, + "width": 0.4059999999999998, + "height": 0.4213333333333334 + } + ] + }, + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769066987515_a5gb1zf3k", + "x": 0.781322021484375, + "y": 0.6094237263997396 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769066990667_1njito7hd", + "x": 0.810322021484375, + "y": 0.5987570597330729 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "松开爪夹，使勺子落入黑色箱子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 343, + "progress": 90, + "progress_explanation": "相比上一进度，当前爪夹已贴近黑色箱子。因此进度提升为90%。", + "state_description": "当前爪夹贴近黑色箱子。\n\n为完成将勺子放入黑色箱子中的任务应当:松开爪夹，使勺子落入黑色箱子中。", + "time": 11.424848972524112, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769067046844_vrxbfnp8o", + "x": 0.655322021484375, + "y": 0.6400903930664062, + "width": 0.13200000000000003, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769067049092_8ruogezyt", + "x": 0.303322021484375, + "y": 0.518757059733073, + "width": 0.07899999999999996, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769067051403_0y9zo9scj", + "x": 0.44232202148437494, + "y": 0.5494237263997396, + "width": 0.18200000000000002, + "height": 0.0986666666666667 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769067054083_4zkahtlpt", + "x": 0.531322021484375, + "y": 0.5534237263997395, + "width": 0.40499999999999997, + "height": 0.4173333333333334 + } + ] + }, + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769067056427_2t4eutjvd", + "x": 0.764322021484375, + "y": 0.6840903930664062 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769067058987_ltbo9jaf9", + "x": 0.784322021484375, + "y": 0.6720903930664063 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹成功张开。", + "frame": 373, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，勺子已落入黑色箱子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 12.433333, + "annotations": { + "bbox_1769065670609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670609_1769067120284_06im17ho7", + "x": 0.7553220214843751, + "y": 0.7134237263997396, + "width": 0.12099999999999991, + "height": 0.15466666666666667 + } + ] + }, + "bbox_1769065670793": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065670793_1769067122452_hxg3g3qxx", + "x": 0.30232202148437504, + "y": 0.5200903930664063, + "width": 0.08000000000000003, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1769065688281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688281_1769067124955_6nc7b8m78", + "x": 0.44132202148437505, + "y": 0.5494237263997396, + "width": 0.18199999999999994, + "height": 0.1013333333333333 + } + ] + }, + "bbox_1769065688425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065688425_1769067128787_0sl3nh39r", + "x": 0.530322021484375, + "y": 0.5494237263997396, + "width": 0.4069999999999999, + "height": 0.4413333333333334 + } + ] + }, + "point_1769065671529": { + "type": "point", + "instances": [ + { + "id": "point_1769065671529_1769067131236_akvn0n8br", + "x": 0.715322021484375, + "y": 0.7120903930664062 + } + ] + }, + "point_1769065671705": { + "type": "point", + "instances": [ + { + "id": "point_1769065671705_1769067133708_vbu8b3c22", + "x": 0.817322021484375, + "y": 0.6574237263997397 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769065670609", + "name": "胶带", + "color": "#4CAF50" + }, + { + "id": "bbox_1769065670793", + "name": "插座", + "color": "#FF9800" + }, + { + "id": "bbox_1769065688281", + "name": "瓶子", + "color": "#ff6bfa" + }, + { + "id": "bbox_1769065688425", + "name": "黑色盒子", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1769065671529", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769065671705", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-164523-put-paper tape-yellow and black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-164523-put-paper tape-yellow and black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a905a6ebfbf55864b27bebf3295801225a23fd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-164523-put-paper tape-yellow and black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,860 @@ +{ + "task_description": "将插座放入黑色盒子中:\n开始移动:0%\n爪夹靠近插座:20%\n爪夹处于插座正上方:40%\n爪夹再次靠近插座:50%\n爪夹抓取插座:60%\n爪夹抓住插座接近黑色盒子:80%\n爪夹将插座移动至黑色盒子上:90%\n爪夹松开，插座落入黑色盒子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向爪夹方向的左下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。\n\n为完成将插座放入黑色盒子中的任务应当:爪夹向爪夹方向的左下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 0, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769051534854_l36jnxoy3", + "x": 0.4853220214843749, + "y": 0.29767231241861974, + "width": 0.09100000000000011, + "height": 0.12133333333333335 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769051538269_un3k1bysu", + "x": 0.173322021484375, + "y": 0.3883389790852865, + "width": 0.421, + "height": 0.512 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769051548149_5negzvurj", + "x": 0.452322021484375, + "y": 0.04567231241861979 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769051551893_exj3n8lfk", + "x": 0.568322021484375, + "y": 0.04567231241861979 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左下移动。", + "correction_plan": "爪夹继续向爪夹方向的左下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向爪夹方向的左下方移动。", + "frame": 21, + "progress": 5, + "progress_explanation": "相比上一进度，当前爪夹已开始移动，并略微接近插座。因此进度提升为10%。", + "state_description": "当前爪夹张开，略微接近插座。\n\n为完成将插座放入黑色盒子中的任务应当:爪夹继续向爪夹方向的左下方移动，靠近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 0.7151259543781713, + "annotations": { + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769051584061_f82xzdrbg", + "x": 0.174322021484375, + "y": 0.3870056457519531, + "width": 0.4200000000000001, + "height": 0.516 + } + ] + }, + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769051586397_kgiki5bz1", + "x": 0.4873220214843751, + "y": 0.29900564575195315, + "width": 0.08999999999999994, + "height": 0.12133333333333335 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769051588445_6hjgxrxtk", + "x": 0.5843220214843751, + "y": 0.24433897908528646 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769051591349_qkux2i7ih", + "x": 0.668322021484375, + "y": 0.2056723124186198 + } + ] + } + } + }, + { + "action_description": "爪夹向左下方移动。", + "correction_plan": "爪夹向爪夹的右边微动调整爪夹位置。使爪夹贴近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向左下方移动。", + "frame": 29, + "progress": 10, + "progress_explanation": "相比上一进度，当前爪夹已靠近插座。因此进度提升为20%。", + "state_description": "当前爪夹靠近插座。\n\n为完成将插座放入黑色盒子中的任务应当:爪夹向爪夹的右边微动调整爪夹位置。使爪夹贴近插座。\n\n合拢爪夹，抓取插座。\n\n然后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 0.9556757739658001, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769051623806_8p88zqhxc", + "x": 0.48532202148437503, + "y": 0.29767231241861986, + "width": 0.083, + "height": 0.128 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769051627942_b6nkc0cqe", + "x": 0.17132202148437498, + "y": 0.3830056457519531, + "width": 0.42200000000000026, + "height": 0.528 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769051638501_bpqpwccdr", + "x": 0.575322021484375, + "y": 0.3736723124186198 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769051641557_txpohasgx", + "x": 0.647322021484375, + "y": 0.35100564575195314 + } + ] + } + } + }, + { + "action_description": "爪夹向右边移动。", + "correction_plan": "爪夹微微抬起，并向爪夹的后方微微调整位置。\n\n然后合拢爪夹，抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功向右边移动。但是爪夹应该微微移动调整位置。爪夹却大幅移动。需从新调整爪夹位置。", + "frame": 43, + "progress": 15, + "progress_explanation": "相比上一进度，当前爪夹已贴近插座。因此进度提升未15%。", + "state_description": "当前爪夹贴近插座。\n\n为完成将插座放入黑色盒子中的任务应当:爪夹微微抬起，并向爪夹的后方微微调整位置。\n\n然后合拢爪夹，抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 1.446397405924563, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769051672894_h45b1e4i6", + "x": 0.413322021484375, + "y": 0.3096723124186198, + "width": 0.09699999999999993, + "height": 0.1066666666666667 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769051675918_axdzehxbr", + "x": 0.374322021484375, + "y": 0.4096723124186198 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769051693901_4hqvew9r4", + "x": 0.44232202148437505, + "y": 0.43500564575195316 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769051698614_r8y6ygzqu", + "x": 0.172322021484375, + "y": 0.38433897908528647, + "width": 0.422, + "height": 0.5106666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹微微抬起，向后稍微移动，调整爪夹位置。", + "correction_plan": "合拢爪夹，抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功微微抬起，并向后稍微移动。", + "frame": 68, + "progress": 20, + "progress_explanation": "当前爪夹再次贴近插座。因此进度提升为20%。", + "state_description": "当前爪夹处于插座正上方。\n\n为完成将插座放入黑色盒子中的任务应当:合拢爪夹，抓取插座。\n\n之后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 2.2738887853060064, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769051742046_i9rfqsv5y", + "x": 0.4123220214843751, + "y": 0.28700564575195314, + "width": 0.07399999999999993, + "height": 0.10933333333333325 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769051744718_buhsmudmk", + "x": 0.17232202148437498, + "y": 0.38433897908528647, + "width": 0.421, + "height": 0.5226666666666666 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769051747046_7ktuz756t", + "x": 0.394322021484375, + "y": 0.32433897908528647 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769051749398_khy69omzu", + "x": 0.483322021484375, + "y": 0.3376723124186198 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 88, + "progress": 25, + "progress_explanation": "相比上一进度，当前爪夹已合拢，抓取插座。因此进度提升为25%。", + "state_description": "当前爪夹合拢。\n\n为完成将插座放入黑色盒子中的任务应当:爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 2.937806287367862, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769051786686_8uuyeo5pr", + "x": 0.4073220214843751, + "y": 0.2736723124186197, + "width": 0.06899999999999995, + "height": 0.11866666666666666 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769051790238_29y6c4n2d", + "x": 0.171322021484375, + "y": 0.38433897908528647, + "width": 0.4210000000000001, + "height": 0.5173333333333334 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769051794462_332k79y9l", + "x": 0.40832202148437496, + "y": 0.32033897908528647 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769051797094_t5godzhml", + "x": 0.482322021484375, + "y": 0.32033897908528647 + } + ] + } + } + }, + { + "action_description": "爪夹垂直上升。", + "correction_plan": "爪夹向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功垂直上升。但是却抓住了两个物体。", + "frame": 113, + "progress": 30, + "progress_explanation": "相比上一进度，当前爪夹已抓取插座，垂直于空中。因此进度提升为30%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n\n为完成将插座放入黑色盒子中的任务应当:爪夹向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 3.7652976667493054, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769051829102_qy8uwy4ve", + "x": 0.429322021484375, + "y": 0.25633897908528647, + "width": 0.08400000000000007, + "height": 0.092 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769051831678_qmapqc19h", + "x": 0.172322021484375, + "y": 0.38433897908528647, + "width": 0.422, + "height": 0.5199999999999999 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769051833774_yaza6z7jw", + "x": 0.42332202148437503, + "y": 0.24033897908528648 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769051836094_9rkipxdtr", + "x": 0.515322021484375, + "y": 0.24567231241861978 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "爪夹从新下降，靠近插座。\n\n然后合拢爪夹，抓取插座。\n\n后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功张开。", + "frame": 131, + "progress": 35, + "progress_explanation": "相比上一进度，当前爪夹张开，两件物体掉落。因此进度提升为35%。", + "state_description": "当前爪夹张开。\n\n为完成将插座放入黑色盒子中的任务应当:爪夹从新下降，靠近插座。\n\n然后合拢爪夹，抓取插座。\n\n后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 4.35223922654312, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769051882646_nb2nzqcvy", + "x": 0.480322021484375, + "y": 0.3830056457519531, + "width": 0.08400000000000007, + "height": 0.10933333333333337 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769051885118_636r5gp24", + "x": 0.17232202148437503, + "y": 0.3870056457519532, + "width": 0.42300000000000004, + "height": 0.5213333333333333 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769051887302_w5tsb8m1q", + "x": 0.449322021484375, + "y": 0.3030056457519531 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769051889470_oitpiyzst", + "x": 0.5543220214843749, + "y": 0.2856723124186198 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "爪夹继续垂直下降。贴近插座。\n\n然后合拢爪夹，抓取插座。\n\n后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功垂直下降。", + "frame": 183, + "progress": 40, + "progress_explanation": "相比上一进度，当前爪夹略微下降，接近插座。因此进度提升为40%。", + "state_description": "当前爪夹处于插座的正上方，黑色盒子的侧上方。\n\n为完成将插座放入黑色盒子中的任务应当:爪夹继续垂直下降。贴近插座。\n\n然后合拢爪夹，抓取插座。\n\n后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 6.103999, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769051920790_ol49dpgcm", + "x": 0.4783220214843751, + "y": 0.38567231241861977, + "width": 0.08499999999999988, + "height": 0.10800000000000007 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769051923214_qjt5hc349", + "x": 0.173322021484375, + "y": 0.3843389790852864, + "width": 0.42300000000000004, + "height": 0.5146666666666667 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769051925702_eialjl622", + "x": 0.517322021484375, + "y": 0.3963389790852865 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769051928270_3fhk9ay1i", + "x": 0.604322021484375, + "y": 0.36967231241861975 + } + ] + } + } + }, + { + "action_description": "垂直下降。", + "correction_plan": "合拢爪夹，抓取插座。\n\n后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功贴近插座。", + "frame": 202, + "progress": 50, + "progress_explanation": "相比上一进度，当前爪夹已贴近插座。因此进度提升为50%。", + "state_description": "当前爪夹贴近插座。\n\n为完成将插座放入黑色盒子中的任务应当:合拢爪夹，抓取插座。\n\n后爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 6.719999, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769051957126_kru9xbi48", + "x": 0.4833220214843751, + "y": 0.38433897908528647, + "width": 0.08099999999999996, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769051959287_az2qnci9s", + "x": 0.171322021484375, + "y": 0.38433897908528647, + "width": 0.42300000000000004, + "height": 0.5186666666666666 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769051961742_qdnsmjkoy", + "x": 0.486322021484375, + "y": 0.4576723124186198 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769051965262_6ppga3exk", + "x": 0.565322021484375, + "y": 0.4510056457519532 + } + ] + } + } + }, + { + "action_description": "合拢爪夹。", + "correction_plan": "爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 215, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹已合拢抓取插座。因此进度提升为60%。", + "state_description": "当前爪夹合拢。\n\n为完成将插座放入黑色盒子中的任务应当:爪夹保持合拢，垂直上升。\n\n之后向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 7.152239126543118, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769051992486_652ti7vtg", + "x": 0.4993220214843749, + "y": 0.3923389790852864, + "width": 0.07400000000000011, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769051995518_gwkv9wnez", + "x": 0.173322021484375, + "y": 0.38433897908528647, + "width": 0.42200000000000004, + "height": 0.5186666666666666 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769051997646_3cw55z7dq", + "x": 0.499322021484375, + "y": 0.4656723124186198 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769052004686_s93ena7rl", + "x": 0.559322021484375, + "y": 0.43367231241861975 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，垂直上升。", + "correction_plan": "爪夹向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功保持合拢，并且垂直上升。", + "frame": 229, + "progress": 70, + "progress_explanation": "相比上一进度，当前爪夹已抓取插座垂直升起。因此进度提升为70%。", + "state_description": "当前爪夹抓取插座，垂直于桌面。\n\n为完成将插座放入黑色盒子中的任务应当:爪夹向爪夹方向的前方偏右一点移动，直至抵达黑色盒子上方。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 7.623716772934873, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769052040166_kxuf6c2sw", + "x": 0.483322021484375, + "y": 0.24033897908528648, + "width": 0.07300000000000013, + "height": 0.13599999999999995 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769052042326_vsbu1nza8", + "x": 0.174322021484375, + "y": 0.3870056457519531, + "width": 0.41999999999999993, + "height": 0.52 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769052044326_jmebcxwgq", + "x": 0.48032202148437503, + "y": 0.30833897908528646 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769052046302_qewr4wjnb", + "x": 0.5503220214843749, + "y": 0.2923389790852865 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。", + "correction_plan": "爪夹保持合拢，垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪甲成功向右前方移动。", + "frame": 240, + "progress": 80, + "progress_explanation": "相比上一进度，当前爪夹已抓取插座接近黑色盒子。因此进度提升为80%。", + "state_description": "当前爪夹抓取垂直接近黑色盒子。\n\n为完成将插座放入黑色盒子中的任务应当:爪夹保持合拢，垂直下降。\n\n松开爪夹，使胶带落入黑色盒子中。", + "time": 7.998666, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769052073374_oygoerlkn", + "x": 0.43532202148437504, + "y": 0.36300564575195315, + "width": 0.08400000000000007, + "height": 0.15200000000000002 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769052076038_9fz7ta27m", + "x": 0.43132202148437504, + "y": 0.44033897908528646 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769052078014_q13q8zned", + "x": 0.520322021484375, + "y": 0.43100564575195316 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769052084686_n75g1dqdq", + "x": 0.17032202148437497, + "y": 0.38567231241861977, + "width": 0.426, + "height": 0.5173333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢垂直下降。", + "correction_plan": "松开爪夹，使胶带落入黑色盒子中。", + "error_success_analysis": "爪夹成功保持合拢下降。", + "frame": 249, + "progress": 90, + "progress_explanation": "相比上一进度，当前爪夹已抓取插座处于黑色盒子正上方。因此进度提升为90%。", + "state_description": "当前爪夹处于黑色盒子正上方。\n\n为完成将插座放入黑色盒子中的任务应当:松开爪夹，使胶带落入黑色盒子中。", + "time": 8.306878260563739, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769052110710_pyn64h6fg", + "x": 0.40532202148437496, + "y": 0.49767231241861976, + "width": 0.07200000000000006, + "height": 0.14266666666666664 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769052113326_8oorw3e3a", + "x": 0.17432202148437498, + "y": 0.3870056457519532, + "width": 0.4200000000000001, + "height": 0.5146666666666667 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769052116118_kj44sueci", + "x": 0.407322021484375, + "y": 0.5683389790852864 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹成功松开。", + "frame": 280, + "progress": 100, + "progress_explanation": "相比上一进度，当前爪夹已张开，插座已落入黑色盒子中。因此进度提升为100%。", + "state_description": "当前爪夹张开。", + "time": 9.333333, + "annotations": { + "bbox_1769051476165": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476165_1769052144550_biaslbi8h", + "x": 0.391322021484375, + "y": 0.5443389790852865, + "width": 0.07399999999999998, + "height": 0.15466666666666667 + } + ] + }, + "bbox_1769051476325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051476325_1769052147062_60p5xsh57", + "x": 0.172322021484375, + "y": 0.38567231241861977, + "width": 0.42400000000000004, + "height": 0.5226666666666667 + } + ] + }, + "point_1769051477093": { + "type": "point", + "instances": [ + { + "id": "point_1769051477093_1769052149518_c6hvec5xa", + "x": 0.387322021484375, + "y": 0.5710056457519531 + } + ] + }, + "point_1769051477261": { + "type": "point", + "instances": [ + { + "id": "point_1769051477261_1769052158614_j7x0l3ul3", + "x": 0.487322021484375, + "y": 0.5750056457519531 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769051476165", + "name": "插座", + "color": "#4CAF50" + }, + { + "id": "bbox_1769051476325", + "name": "黑色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769051477093", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769051477261", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-171408-put-transparent tape-yellow and black-box-good2/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-171408-put-transparent tape-yellow and black-box-good2/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..17f1efe4e282dd1383479494cf038c21570b1be4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-171408-put-transparent tape-yellow and black-box-good2/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,358 @@ +{ + "task_description": "把透明胶带放进黄黑色的盒子里\n开始移动0%\n爪夹靠近透明胶带20%\n爪夹抓取透明胶带40%\n爪夹抓取透明胶带接近黄黑色的盒子60%\n爪夹将透明胶带放入黄黑色的盒子80%\n爪夹松开，透明胶带落入黄黑色的盒子100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触透明胶带。\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "time": 0.33572166958762883, + "annotations": { + "bbox_1768873882781": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768873882781_1768878640194_8784hchrw", + "x": 0.5985000000000001, + "y": 0.25333333333333335, + "width": 0.08599999999999985, + "height": 0.0973333333333333 + } + ] + }, + "bbox_1768873884189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768873884189_1768878652557_wuxlncjd7", + "x": 0.0045, + "y": 0.12666666666666665, + "width": 0.41100000000000003, + "height": 0.42933333333333334 + } + ] + }, + "point_1768873907454": { + "type": "point", + "instances": [ + { + "id": "point_1768873907454_1768878662442_tbmw9xtql", + "x": 0.7375, + "y": 0.028 + } + ] + }, + "point_1768873914546": { + "type": "point", + "instances": [ + { + "id": "point_1768873914546_1768878665254_z6zhckw6n", + "x": 0.8055, + "y": 0.0026666666666666666 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右前方向移动并调整爪夹角度", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向前移动靠近透明胶带并略微调整爪夹角度", + "frame": 28, + "progress": 10, + "progress_explanation": "爪夹开始向右前方向移动，靠近透明胶带，进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的后侧上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "time": 0.9333333333333333, + "annotations": { + "point_1768873914546": { + "type": "point", + "instances": [ + { + "id": "point_1768873914546_1768878670132_gpu39583w", + "x": 0.6755, + "y": 0.11333333333333333 + } + ] + }, + "point_1768873907454": { + "type": "point", + "instances": [ + { + "id": "point_1768873907454_1768878673688_at5rheawo", + "x": 0.6045, + "y": 0.14400000000000002 + } + ] + }, + "bbox_1768873884189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768873884189_1768878680103_cnvcnuuno", + "x": 0.006500000000000001, + "y": 0.12533333333333335, + "width": 0.40800000000000003, + "height": 0.43466666666666665 + } + ] + }, + "bbox_1768873882781": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768873882781_1768878694590_065u7cu2z", + "x": 0.5985, + "y": 0.256, + "width": 0.08399999999999999, + "height": 0.09333333333333335 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右下方移动并调整爪夹方向", + "correction_plan": "张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的前下方移动桌子上的透明胶带在张开的爪夹中间", + "frame": 40, + "progress": 20, + "progress_explanation": "爪夹下落靠近下方的透明胶带，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上透明胶带两侧\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹做闭合抓取透明胶带的动作", + "time": 1.3333333333333333, + "annotations": { + "bbox_1768873882781": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768873882781_1768878707698_0drcg1tjs", + "x": 0.5995, + "y": 0.2506666666666667, + "width": 0.08399999999999999, + "height": 0.10266666666666664 + } + ] + }, + "bbox_1768873884189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768873884189_1768878729800_35tgyidhp", + "x": 0.0045, + "y": 0.128, + "width": 0.40800000000000003, + "height": 0.4306666666666667 + } + ] + }, + "point_1768873907454": { + "type": "point", + "instances": [ + { + "id": "point_1768873907454_1768878739318_67k8khba8", + "x": 0.5745, + "y": 0.348 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取透明胶带的动作", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的透明胶带", + "frame": 73, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的透明胶带，胶带提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的透明胶带\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "time": 2.433333333333333, + "annotations": { + "point_1768873907454": { + "type": "point", + "instances": [ + { + "id": "point_1768873907454_1768878744869_hbcdmxq98", + "x": 0.5975, + "y": 0.336 + } + ] + }, + "bbox_1768873884189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768873884189_1768878755981_a6ugmh72r", + "x": 0.0034999999999999975, + "y": 0.12533333333333335, + "width": 0.414, + "height": 0.43466666666666665 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "correction_plan": "抓取透明胶带的爪夹继续向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升", + "frame": 84, + "progress": 50, + "progress_explanation": "爪夹抓取透明胶带向上抬升靠近黄黑色的盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带在黄黑色的盒子的右侧上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的左前方向移动至黄黑色的盒子的上方", + "time": 2.8, + "annotations": { + "point_1768873907454": { + "type": "point", + "instances": [ + { + "id": "point_1768873907454_1768878771000_xdyecw6p5", + "x": 0.6005, + "y": 0.07600000000000001 + } + ] + }, + "bbox_1768873884189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768873884189_1768878780408_h4cwrk18v", + "x": 0.0035000000000000005, + "y": 0.12533333333333335, + "width": 0.4120000000000001, + "height": 0.4319999999999999 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的左前方向移动", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的左前方向移动至黄黑色的盒子上方", + "frame": 104, + "progress": 60, + "progress_explanation": "爪夹向左移动至黄黑色的盒子上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于黄黑色的盒子的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的下方下落将抓取的透明胶带放进黄黑色的盒子里", + "time": 3.466666666666667, + "annotations": { + "point_1768873907454": { + "type": "point", + "instances": [ + { + "id": "point_1768873907454_1768878793539_yutxpp8nf", + "x": 0.3725, + "y": 0.013333333333333334 + } + ] + }, + "bbox_1768873884189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768873884189_1768878800033_nv2sofn1a", + "x": 0.0055, + "y": 0.128, + "width": 0.4109999999999999, + "height": 0.43200000000000005 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的左下方向下落", + "correction_plan": "抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的左下方向移动将抓取的透明胶带放入黄黑色的盒子", + "frame": 118, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的透明胶带放在黄黑色的盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于黄黑色的盒子中\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "time": 3.933333333333333, + "annotations": { + "point_1768873907454": { + "type": "point", + "instances": [ + { + "id": "point_1768873907454_1768878812864_mk9r54vfs", + "x": 0.23450000000000001, + "y": 0.32133333333333336 + } + ] + }, + "bbox_1768873884189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768873884189_1768878818961_np8ar35q0", + "x": 0.006500000000000001, + "y": 0.11733333333333333, + "width": 0.409, + "height": 0.444 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹由闭合重新张开", + "correction_plan": "已完成把透明胶带放进黄黑色的盒子里的任务", + "error_success_analysis": "抓取透明胶带的爪夹重新张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "frame": 149, + "progress": 100, + "progress_explanation": "爪夹张开，透明胶带落入黄黑色的盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄黑色的盒子中的透明胶带上方\n把透明胶带放进黄黑色的盒子里已完成", + "time": 4.966959060309279, + "annotations": { + "point_1768873907454": { + "type": "point", + "instances": [ + { + "id": "point_1768873907454_1768878833733_nezscshiy", + "x": 0.2165, + "y": 0.35200000000000004 + } + ] + }, + "bbox_1768873884189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768873884189_1768878841122_ez3spcnyf", + "x": 0.0035000000000000005, + "y": 0.116, + "width": 0.409, + "height": 0.4426666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768873882781", + "name": "透明胶带", + "color": "#4CAF50" + }, + { + "id": "bbox_1768873884189", + "name": "黄黑色的盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768873907454", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768873914546", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-173418-put-transparent tape-yellow and black-box-mix2/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-173418-put-transparent tape-yellow and black-box-mix2/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e0aa4431fff372926ce66a788cae245c8f581530 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-173418-put-transparent tape-yellow and black-box-mix2/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,890 @@ +{ + "task_description": "把透明胶带放进黄黑色的盒子里\n开始移动0%\n爪夹靠近透明胶带20%\n爪夹抓取透明胶带40%\n爪夹抓取透明胶带接近黄黑色的盒子60%\n爪夹将透明胶带放入黄黑色的盒子80%\n爪夹松开，透明胶带落入黄黑色的盒子100%", + "progress_points": [ + { + "time": 0.241966, + "frame": 7, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动", + "state_description": "爪夹当前处于打开状态，没有移动和接触透明胶带。\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768887894942_d8ca3nm8v", + "x": 0.6165, + "y": 0.2826666666666667, + "width": 0.11100000000000003, + "height": 0.14133333333333334 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768887925000_ydldtpqw4", + "x": 0.006500000000000001, + "y": 0.17333333333333334, + "width": 0.45899999999999996, + "height": 0.5813333333333334 + } + ] + }, + "point_1768879959295": { + "type": "point", + "instances": [ + { + "id": "point_1768879959295_1768887943324_epm06szy3", + "x": 0.20950000000000002, + "y": 0.14800000000000002 + } + ] + }, + "point_1768879962427": { + "type": "point", + "instances": [ + { + "id": "point_1768879962427_1768887946309_9tpd1iynj", + "x": 0.3605, + "y": 0.16266666666666665 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右前方向移动并调整爪夹角度", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向右前方向移动靠近透明胶带并略微调整爪夹角度", + "frame": 27, + "progress": 15, + "progress_explanation": "爪夹开始向右前方向移动，靠近透明胶带，进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的后侧上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右方移动至透明胶带的上方", + "time": 0.8877491201030928, + "annotations": { + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768887974273_jfrtimt6s", + "x": 0.0195, + "y": 0.16933333333333334, + "width": 0.442, + "height": 0.5826666666666666 + } + ] + }, + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768887982368_b0unb4p1f", + "x": 0.6125, + "y": 0.2706666666666667, + "width": 0.12599999999999997, + "height": 0.15866666666666665 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左下方向移动", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升后并向爪夹方向的右侧移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向右移动没有避开下方的黄色箱子下落", + "frame": 49, + "progress": 5, + "progress_explanation": "爪夹向左移动远离了抓取物透明胶带，角度降低为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的左侧\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向右侧移动至透明胶带的上方", + "time": 1.6214260788659793, + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768887990112_72m8v9cix", + "x": 0.5785, + "y": 0.3093333333333333, + "width": 0.11299999999999999, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888003523_x88xdt0m4", + "x": 0.0055, + "y": 0.23733333333333334, + "width": 0.373, + "height": 0.5239999999999999 + } + ] + } + } + }, + { + "time": 2.035365, + "frame": 61, + "progress": -10, + "action_description": "张开的爪夹向爪夹方向的上方抬升", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上黄黑色的盒子的侧边上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "progress_explanation": "爪夹向上抬升远离抓取物透明胶带，进度降低为-10%", + "error_success_analysis": "爪夹没有向右前方向移动至透明胶带的上方", + "correction_plan": "张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "annotations": { + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888011688_ztfzo4kp9", + "x": 0.0025, + "y": 0.18266666666666667, + "width": 0.388, + "height": 0.5853333333333333 + } + ] + }, + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888019250_9xnku2og8", + "x": 0.5765, + "y": 0.3093333333333333, + "width": 0.11400000000000006, + "height": 0.14800000000000005 + } + ] + } + } + }, + { + "time": 2.208367645876289, + "frame": 66, + "progress": -15, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上黄黑色的盒子的两侧\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右前方向移动至透明胶带的上方", + "progress_explanation": "爪夹在黄黑色的盒子侧边下落，偏离抓取物透明胶带，胶带降低为-15%", + "error_success_analysis": "张开的爪夹在黄黑色的盒子的上方下落", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888037624_msch5n9lu", + "x": 0.5795, + "y": 0.312, + "width": 0.11100000000000003, + "height": 0.14533333333333337 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888052988_247viux8n", + "x": 0.0015, + "y": 0.21600000000000003, + "width": 0.4050000000000001, + "height": 0.5506666666666666 + } + ] + } + } + }, + { + "time": 2.732799, + "frame": 82, + "progress": -20, + "action_description": "张开的爪夹向爪夹方向的右侧移动", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上黄黑色的盒子的两侧\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右前方向移动至透明胶带的上方", + "progress_explanation": "爪夹拖动黄黑色的盒子向右移动，进度降低为-20%", + "error_success_analysis": "张开的爪夹将错误的目标物向右拖动", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888067467_dq30lu4dp", + "x": 0.5805, + "y": 0.30933333333333335, + "width": 0.11200000000000002, + "height": 0.14399999999999996 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888079181_55k6di462", + "x": 0.0865, + "y": 0.20800000000000002, + "width": 0.4860000000000001, + "height": 0.5599999999999999 + } + ] + } + } + }, + { + "time": 3.102866, + "frame": 93, + "progress": -10, + "action_description": "张开的爪夹向爪夹方向的上方竖直向上抬升", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上黄黑色的盒子的侧边上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "progress_explanation": "爪夹向上抬升靠近透明胶带的上方，进度提升为-10%", + "error_success_analysis": "张开的爪夹向爪夹方向的上方靠近透明胶带上方抬升", + "correction_plan": "张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888102456_7506mn1cp", + "x": 0.5785, + "y": 0.31200000000000006, + "width": 0.11399999999999996, + "height": 0.14399999999999996 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888113387_w1wk5dhf7", + "x": 0.0745, + "y": 0.14, + "width": 0.493, + "height": 0.6293333333333334 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右前方向移动并下落", + "correction_plan": "张开的爪夹继续向爪夹方向的右前方向移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的右前方向靠近抓取物透明胶带移动", + "frame": 111, + "progress": 15, + "progress_explanation": "爪夹向右前方向移动靠近抓取物透明胶带，进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上的透明胶带的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹继续向爪夹方向的右前方向移动至透明胶带的侧边上方", + "time": 3.7050686417525776, + "annotations": { + "point_1768879959295": { + "type": "point", + "instances": [ + { + "id": "point_1768879959295_1768888128245_nn65kphxw", + "x": 0.5625, + "y": 0.3453333333333333 + } + ] + }, + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888139175_lgt0saryi", + "x": 0.5785, + "y": 0.3026666666666667, + "width": 0.11299999999999999, + "height": 0.15200000000000002 + } + ] + } + } + }, + { + "action_description": "张开的爪夹闭合并向爪夹方向的上方抬升", + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的右侧移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹没有靠近抓取物透明胶带做闭合抓取的动作", + "frame": 138, + "progress": 10, + "progress_explanation": "爪夹在透明胶带上方闭合，进度降低为10%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上的透明胶带的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：闭合的爪夹重新张开并向爪夹方向的右侧移动至透明胶带的侧边上方", + "time": 4.6, + "annotations": { + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888150158_02muhl964", + "x": 0.0155, + "y": 0.14, + "width": 0.549, + "height": 0.6306666666666667 + } + ] + }, + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888158292_vodf7ws8e", + "x": 0.5825, + "y": 0.3026666666666667, + "width": 0.10899999999999999, + "height": 0.15333333333333332 + } + ] + } + } + }, + { + "action_description": "闭合的爪夹向爪夹方向的上方抬升", + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的右侧移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "在透明胶带上方的爪夹没有重新张开", + "frame": 151, + "progress": -5, + "progress_explanation": "爪夹向上移动远离了抓取物透明胶带，进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上透明胶带的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：闭合的爪夹重新张开并向爪夹方向的下方移动靠近透明胶带", + "time": 5.033333333333333, + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888164758_4576qmzey", + "x": 0.5815, + "y": 0.30400000000000005, + "width": 0.10999999999999996, + "height": 0.15199999999999997 + } + ] + }, + "point_1768879959295": { + "type": "point", + "instances": [ + { + "id": "point_1768879959295_1768888167744_vw28og2gg", + "x": 0.5585, + "y": 0.12533333333333335 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888175140_vt5ax0ly5", + "x": 0.0685, + "y": 0.15066666666666667, + "width": 0.49700000000000005, + "height": 0.616 + } + ] + } + } + }, + { + "time": 5.252099, + "frame": 158, + "progress": 5, + "action_description": "闭合的爪夹重新张开", + "state_description": "爪夹当前的状态为爪夹张开，位于透明胶带的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的下方移动靠近或触及下方的透明胶带", + "progress_explanation": "在透明胶带上方闭合的爪夹重新张开，靠近透明胶带，进度提升为5%", + "error_success_analysis": "在透明胶带上方闭合的爪夹重新张开", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888192176_lo901j2x7", + "x": 0.5784999999999999, + "y": 0.30933333333333335, + "width": 0.11300000000000007, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888204549_jl8hhy318", + "x": 0.0245, + "y": 0.15466666666666667, + "width": 0.5389999999999999, + "height": 0.6186666666666667 + } + ] + }, + "point_1768879959295": { + "type": "point", + "instances": [ + { + "id": "point_1768879959295_1768888216515_n3oabhw87", + "x": 0.5935, + "y": 0.13866666666666666 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左下方向下落", + "correction_plan": "张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的左下方向下落触及下方的抓取物透明胶带", + "frame": 175, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的透明胶带，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于透明胶带的侧边两侧\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹做闭合抓取透明胶带的动作", + "time": 5.833333333333333, + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888228696_xpp9omyb5", + "x": 0.5825, + "y": 0.30533333333333335, + "width": 0.10999999999999996, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888235827_puc9ug7qg", + "x": 0.0625, + "y": 0.168, + "width": 0.505, + "height": 0.5746666666666668 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取透明胶带的动作", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的透明胶带", + "frame": 219, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的透明胶带，胶带提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的透明胶带\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "time": 7.3, + "annotations": { + "point_1768879962427": { + "type": "point", + "instances": [ + { + "id": "point_1768879962427_1768888256831_7iee6ewd6", + "x": 0.6265000000000001, + "y": 0.3453333333333333 + } + ] + }, + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888261780_316x52ofy", + "x": 0.5915, + "y": 0.2946666666666667, + "width": 0.11000000000000006, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888271940_t9murk3cg", + "x": 0.0675, + "y": 0.15466666666666665, + "width": 0.49000000000000005, + "height": 0.5786666666666667 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "correction_plan": "抓取透明胶带的爪夹继续向爪夹方向的后侧方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升", + "frame": 237, + "progress": 50, + "progress_explanation": "爪夹抓取透明胶带向上抬升靠近黄黑色的盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带在黄黑色的盒子的前侧上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的左后方向移动至黄黑色的盒子的上方", + "time": 7.9, + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888290332_4rf7ailiy", + "x": 0.4765, + "y": 0.021333333333333333, + "width": 0.133, + "height": 0.18533333333333335 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888298022_1is47uf5x", + "x": 0.0355, + "y": 0.14533333333333334, + "width": 0.5269999999999999, + "height": 0.6013333333333333 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的左侧移动后抓取透明胶带的爪夹张开", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹抓取透明胶带张开，抓取的透明胶带掉在桌子上", + "frame": 274, + "progress": 10, + "progress_explanation": "抓取透明胶带的爪夹张开，抓取的透明胶带落在桌子上，进度降低为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的透明胶带的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的下方竖直下落靠近或触及透明胶带", + "time": 9.133333333333333, + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888333554_esc6mu9c3", + "x": 0.46349999999999997, + "y": 0.23066666666666666, + "width": 0.10500000000000007, + "height": 0.13066666666666665 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888341222_uowrkyuc1", + "x": 0.0495, + "y": 0.14533333333333334, + "width": 0.511, + "height": 0.6 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方下落", + "correction_plan": "张开的爪夹继续向爪夹方向的下方靠近或触及透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方靠近透明胶带移动", + "frame": 307, + "progress": 15, + "progress_explanation": "爪夹向下移动靠近透明胶带，进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的透明胶带的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹继续向爪夹方向的下方靠近或触及透明胶带", + "time": 10.234793574742268, + "annotations": { + "point_1768879959295": { + "type": "point", + "instances": [ + { + "id": "point_1768879959295_1768888355641_c9n5rmt2l", + "x": 0.5105000000000001, + "y": 0.2573333333333333 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888361374_01stqbhha", + "x": 0.0495, + "y": 0.14933333333333335, + "width": 0.5, + "height": 0.5866666666666667 + } + ] + }, + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888370704_2au2lobq8", + "x": 0.4715, + "y": 0.22000000000000003, + "width": 0.096, + "height": 0.14533333333333334 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的上方抬升", + "correction_plan": "张开的爪夹继续向爪夹方向的下方靠近或触及透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向上朝远离透明胶带的方向移动", + "frame": 322, + "progress": 10, + "progress_explanation": "爪夹向上移动远离下方的透明胶带，进度降低为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的透明胶带的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹继续向爪夹方向的下方靠近或触及透明胶带", + "time": 10.733333333333333, + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888377373_70ij2xc2q", + "x": 0.46749999999999997, + "y": 0.22666666666666666, + "width": 0.10300000000000002, + "height": 0.13466666666666666 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888385672_k34tb3h74", + "x": 0.0015, + "y": 0.18000000000000002, + "width": 0.495, + "height": 0.568 + } + ] + }, + "point_1768879959295": { + "type": "point", + "instances": [ + { + "id": "point_1768879959295_1768888390266_ja2ujmy4a", + "x": 0.45149999999999996, + "y": 0.10266666666666667 + } + ] + } + } + }, + { + "time": 11.500533, + "frame": 345, + "progress": 20, + "action_description": "张开的爪夹向爪夹方向的右下方向移动", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于透明胶带的侧边两侧\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹做闭合抓取透明胶带的动作", + "progress_explanation": "爪夹向下移动靠近下方的透明胶带，进度提升为20%", + "error_success_analysis": "张开的爪夹向爪夹方向的右下方向下落触及下方的抓取物透明胶带", + "correction_plan": "张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "annotations": { + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888399723_18bv7o7a6", + "x": 0.4585, + "y": 0.22666666666666666, + "width": 0.10899999999999999, + "height": 0.14 + } + ] + }, + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888409804_822o1yz2s", + "x": 0.0035000000000000005, + "y": 0.18000000000000002, + "width": 0.495, + "height": 0.6093333333333334 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取透明胶带的动作", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的透明胶带", + "frame": 367, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的透明胶带，胶带提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的透明胶带\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "time": 12.230394902577318, + "annotations": { + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888443298_jvg4ep3j2", + "x": 0.0035000000000000005, + "y": 0.17866666666666667, + "width": 0.49400000000000005, + "height": 0.5906666666666668 + } + ] + }, + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888449318_id3zxazdp", + "x": 0.4685, + "y": 0.23466666666666666, + "width": 0.11099999999999995, + "height": 0.12133333333333332 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "correction_plan": "抓取透明胶带的爪夹继续向爪夹方向的后侧方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升", + "frame": 379, + "progress": 50, + "progress_explanation": "爪夹抓取透明胶带向上抬升靠近黄黑色的盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带在黄黑色的盒子的前侧上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的左后方向移动至黄黑色的盒子的上方", + "time": 12.626580460309277, + "annotations": { + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888461445_mwiqvw7hw", + "x": 0.0025, + "y": 0.1733333333333333, + "width": 0.4959999999999999, + "height": 0.6453333333333335 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的左后方向移动", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的左后方向移动至黄黑色的盒子上方", + "frame": 388, + "progress": 60, + "progress_explanation": "爪夹向后移动至黄黑色的盒子上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于黄黑色的盒子的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的下方下落将抓取的透明胶带放进黄黑色的盒子里", + "time": 12.949398322164948, + "annotations": { + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888495120_k5f285e0n", + "x": 0.0025, + "y": 0.16266666666666665, + "width": 0.493, + "height": 0.6333333333333333 + } + ] + } + } + }, + { + "time": 13.535899, + "frame": 406, + "progress": 80, + "action_description": "抓取透明胶带的爪夹向爪夹方向的左下方向下落", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于黄黑色的盒子中\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "progress_explanation": "爪夹向下落将抓取的透明胶带放在黄黑色的盒子中，进度提升为80%", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的左下方向移动将抓取的透明胶带放入黄黑色的盒子", + "correction_plan": "抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "annotations": { + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888504228_oowbkpewa", + "x": 0.0045, + "y": 0.17333333333333334, + "width": 0.492, + "height": 0.6240000000000001 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹由闭合重新张开", + "correction_plan": "已完成把透明胶带放进黄黑色的盒子里的任务", + "error_success_analysis": "抓取透明胶带的爪夹重新张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "frame": 414, + "progress": 100, + "progress_explanation": "爪夹张开，透明胶带落入黄黑色的盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄黑色的盒子中的透明胶带上方\n把透明胶带放进黄黑色的盒子里已完成", + "time": 13.815137133505154, + "annotations": { + "bbox_1768879955872": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879955872_1768888535172_otfyomtfl", + "x": 0.0045, + "y": 0.17466666666666666, + "width": 0.49400000000000005, + "height": 0.6226666666666667 + } + ] + }, + "bbox_1768879952863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768879952863_1768888545548_bfvopuwr1", + "x": 0.23850000000000002, + "y": 0.36933333333333335, + "width": 0.11099999999999999, + "height": 0.14400000000000002 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768879952863", + "name": "透明胶带", + "color": "#4CAF50" + }, + { + "id": "bbox_1768879955872", + "name": "黄黑色的盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768879959295", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768879962427", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-175250-put-transparent tape-yellow and black-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-175250-put-transparent tape-yellow and black-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e0fbe59841996efbb85286ff465ca57ad1224a83 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-175250-put-transparent tape-yellow and black-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,944 @@ +{ + "task_description": "把透明胶带放进黄黑色的盒子里\n开始移动0%\n爪夹靠近透明胶带20%\n爪夹抓取透明胶带40%\n爪夹抓取透明胶带接近黄黑色的盒子60%\n爪夹将透明胶带放入黄黑色的盒子80%\n爪夹松开，透明胶带落入黄黑色的盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触透明胶带。\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "time": 0.43333333333333335, + "annotations": { + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967070263_19fmnq7lw", + "x": 0.2905, + "y": 0.45333333333333337, + "width": 0.09400000000000004, + "height": 0.12399999999999996 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967080179_fy3r5paub", + "x": 0.15350000000000003, + "y": 0.576, + "width": 0.387, + "height": 0.41600000000000015 + } + ] + }, + "point_1768960044657": { + "type": "point", + "instances": [ + { + "id": "point_1768960044657_1768967105043_hmgfevofh", + "x": 0.36150000000000004, + "y": 0.03066666666666667 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方调整爪夹角度并略微向爪夹的前方移动", + "correction_plan": "张开的爪夹继续调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右方移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹调整爪夹角度并略微向前移动", + "frame": 26, + "progress": 5, + "progress_explanation": "爪夹开始调整角度，角度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上黄色胶带的后侧上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹继续调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右方移动至透明胶带的上方", + "time": 0.8671821128865979, + "annotations": { + "point_1768960044657": { + "type": "point", + "instances": [ + { + "id": "point_1768960044657_1768967109605_ejiyj0r2l", + "x": 0.3255, + "y": 0.20133333333333334 + } + ] + }, + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967112135_pwlvz2uxm", + "x": 0.4265, + "y": 0.224 + } + ] + }, + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967118811_avjq2spzz", + "x": 0.28650000000000003, + "y": 0.44933333333333336, + "width": 0.098, + "height": 0.12666666666666668 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967127167_xqlqfwx9s", + "x": 0.14150000000000001, + "y": 0.572, + "width": 0.40099999999999997, + "height": 0.39333333333333337 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左侧移动并竖直下落", + "correction_plan": "张开的爪夹竖直向上抬升并向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向下移动靠近黄色胶带，远离抓取物透明胶带", + "frame": 41, + "progress": -3, + "progress_explanation": "爪夹向下靠近黄色胶带，进度见降低为-3%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上黄色胶带的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹竖直向上抬升并向爪夹方向的右前方向移动至透明胶带的上方", + "time": 1.3723367417525774, + "annotations": { + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967137052_d20kkcar7", + "x": 0.1505, + "y": 0.5706666666666667, + "width": 0.38500000000000006, + "height": 0.4026666666666666 + } + ] + }, + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967150597_poxvgby8r", + "x": 0.28850000000000003, + "y": 0.45066666666666666, + "width": 0.09499999999999997, + "height": 0.12266666666666666 + } + ] + }, + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967158715_m73mx6lta", + "x": 0.4845, + "y": 0.3626666666666667 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的前方移动", + "correction_plan": "张开的爪夹竖直向上抬升并向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "位于桌子上黄色胶带两侧的爪夹向爪夹方向的前方移动，爪夹偏离了抓取物透明胶带", + "frame": 74, + "progress": -5, + "progress_explanation": "爪夹将黄色胶带向前移动，进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上黄色胶带的两侧\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹竖直向上抬升并向爪夹方向的右前方向移动至透明胶带的上方", + "time": 2.466666666666667, + "annotations": { + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967164566_r7scrl6fs", + "x": 0.4835, + "y": 0.5146666666666666 + } + ] + }, + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967177656_1pswraykl", + "x": 0.2865, + "y": 0.456, + "width": 0.09400000000000004, + "height": 0.12533333333333338 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967186922_g83jy83ky", + "x": 0.14950000000000002, + "y": 0.5693333333333334, + "width": 0.37700000000000006, + "height": 0.408 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取黄色胶带的动作", + "correction_plan": "抓取黄色胶带的爪夹重新张开并向爪夹方向的上方抬升并向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，抓取爪夹中间的黄色胶带，未抓取目标物透明胶带", + "frame": 100, + "progress": -8, + "progress_explanation": "爪夹抓取桌子上的黄色胶带，进度降低为-8%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的黄色胶带\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取黄色胶带的爪夹重新张开并向爪夹方向的上方抬升", + "time": 3.3333333333333335, + "annotations": { + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967202064_nti5zodsu", + "x": 0.2555, + "y": 0.48800000000000004, + "width": 0.09299999999999997, + "height": 0.11333333333333329 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967211031_wv28g78zr", + "x": 0.14650000000000002, + "y": 0.572, + "width": 0.395, + "height": 0.40266666666666673 + } + ] + } + } + }, + { + "action_description": "抓取黄色胶带的爪夹向爪夹方向的上方竖直向上抬升", + "correction_plan": "抓取黄色胶带的爪夹重新张开并向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取黄色胶带的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升，爪夹没有抓取目标物透明胶带", + "frame": 112, + "progress": -10, + "progress_explanation": "爪夹抓取黄色胶带向上抬升靠近黄黑色的盒子上方，进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取黄色胶带在黄黑色的盒子的后侧上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取黄色胶带的爪夹重新张开并向爪夹方向的右前方向移动至透明胶带的上方", + "time": 3.723999, + "annotations": { + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967224000_olw0ey8g3", + "x": 0.4665, + "y": 0.4013333333333334 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967229782_2z86lldfj", + "x": 0.14650000000000002, + "y": 0.5800000000000001, + "width": 0.394, + "height": 0.39333333333333326 + } + ] + }, + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967234447_xumieh1v2", + "x": 0.2505, + "y": 0.492, + "width": 0.09900000000000002, + "height": 0.10800000000000001 + } + ] + } + } + }, + { + "action_description": "抓取黄色胶带的爪夹向爪夹方向的左侧方向移动", + "correction_plan": "抓取黄色胶带的爪夹重新张开并向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取黄色胶带的爪夹向爪夹方向的左侧方向靠近黄色盒子移动，偏移抓取物透明胶带和黄黑色的盒子", + "frame": 131, + "progress": -15, + "progress_explanation": "爪夹向左移动靠近左侧的黄色盒子，进度降低为-15%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取黄色胶带位于黄色的盒子的右侧上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取黄色胶带的爪夹张开，并向爪夹方向的右前方向移动至透明胶带的上方", + "time": 4.3527490520618555, + "annotations": { + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967240196_d58xul7a3", + "x": 0.6325000000000001, + "y": 0.34933333333333333 + } + ] + }, + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967246124_ni96ljwg8", + "x": 0.2505, + "y": 0.49333333333333335, + "width": 0.09900000000000002, + "height": 0.10799999999999994 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967250802_2d7kzj5vp", + "x": 0.15350000000000003, + "y": 0.5760000000000001, + "width": 0.378, + "height": 0.39199999999999996 + } + ] + } + } + }, + { + "action_description": "抓取黄色胶带的爪夹重现张开", + "correction_plan": "张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取黄色胶带的爪夹张开，抓取的错误目标物黄色胶带落在桌子上", + "frame": 161, + "progress": 8, + "progress_explanation": "爪夹张开，抓取的错误目标物掉落，进度提升为8%", + "state_description": "爪夹当前的状态为爪夹张开，位于透明胶带的左侧上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "time": 5.366666666666666, + "annotations": { + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967259284_333fmsrfp", + "x": 0.1575, + "y": 0.5800000000000001, + "width": 0.382, + "height": 0.3893333333333333 + } + ] + }, + "point_1768960044657": { + "type": "point", + "instances": [ + { + "id": "point_1768960044657_1768967261778_c3n6msmql", + "x": 0.5695, + "y": 0.372 + } + ] + }, + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967264068_dtdkk18yj", + "x": 0.6745, + "y": 0.3266666666666667 + } + ] + }, + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967270086_q0bkpnb9o", + "x": 0.2545, + "y": 0.4906666666666667, + "width": 0.09500000000000001, + "height": 0.10933333333333331 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左下方向移动", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的左下方向移动至透明胶带上方", + "frame": 187, + "progress": 10, + "progress_explanation": "爪夹向右移动靠近透明胶带，进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于透明胶带的侧边上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带", + "time": 6.221821178865979, + "annotations": { + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967292383_2jr9oci9i", + "x": 0.2555, + "y": 0.4906666666666667, + "width": 0.094, + "height": 0.10933333333333331 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967301988_td48wv0ra", + "x": 0.14350000000000002, + "y": 0.5786666666666667, + "width": 0.39099999999999996, + "height": 0.4 + } + ] + }, + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967305816_k1f5vug1z", + "x": 0.3715, + "y": 0.5053333333333333 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "correction_plan": "张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方向下落触及下方的抓取物透明胶带", + "frame": 205, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的透明胶带，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于透明胶带的侧边两侧\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹做闭合抓取透明胶带的动作", + "time": 6.844845221134022, + "annotations": { + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967314874_fyr7dd2z9", + "x": 0.1605, + "y": 0.5653333333333334, + "width": 0.37500000000000006, + "height": 0.41733333333333333 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取透明胶带的动作", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的透明胶带", + "frame": 224, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的透明胶带，胶带提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的透明胶带\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "time": 7.466666666666667, + "annotations": { + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967323072_nu1v2z83h", + "x": 0.15050000000000002, + "y": 0.5733333333333334, + "width": 0.384, + "height": 0.39866666666666667 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "correction_plan": "抓取透明胶带的爪夹继续向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升", + "frame": 245, + "progress": 50, + "progress_explanation": "爪夹抓取透明胶带向上抬升靠近黄黑色的盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带在黄黑色的盒子的后侧上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的前方移动至黄黑色的盒子的上方", + "time": 8.2, + "annotations": { + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967330476_t9287j2pm", + "x": 0.1615, + "y": 0.5773333333333334, + "width": 0.366, + "height": 0.388 + } + ] + }, + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967333519_5xgjm7s2x", + "x": 0.41150000000000003, + "y": 0.48666666666666664 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹重新张开", + "correction_plan": "张开的爪夹向爪夹方向的左后方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹抓取透明胶带张开，抓取的透明胶带掉在桌子上", + "frame": 276, + "progress": 10, + "progress_explanation": "抓取透明胶带的爪夹张开，抓取的透明胶带落在桌子上，进度降低为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的透明胶带的右上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的左后方向移动至透明胶带的上方", + "time": 9.211999, + "annotations": { + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967337773_21v7ezuyb", + "x": 0.4605, + "y": 0.468 + } + ] + }, + "point_1768960044657": { + "type": "point", + "instances": [ + { + "id": "point_1768960044657_1768967340178_shii9nr3v", + "x": 0.35350000000000004, + "y": 0.46 + } + ] + }, + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967346166_ld7wpn30e", + "x": 0.4505, + "y": 0.35333333333333333, + "width": 0.09000000000000004, + "height": 0.11600000000000002 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967351228_dtfut1gz9", + "x": 0.1595, + "y": 0.5853333333333333, + "width": 0.371, + "height": 0.37866666666666676 + } + ] + } + } + }, + { + "action_description": "张开的爪夹略微合拢并向爪夹方向的左后方向移动", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向左后方向移动至桌子上透明胶带的上方", + "frame": 305, + "progress": 15, + "progress_explanation": "爪夹向左后靠近透明胶带，进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的透明胶带的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的下方竖直下落靠近或触及透明胶带", + "time": 10.178865771649484, + "annotations": { + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967358776_paasz3vkz", + "x": 0.1605, + "y": 0.5773333333333334, + "width": 0.369, + "height": 0.3853333333333333 + } + ] + }, + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967363932_mracc59gj", + "x": 0.4495, + "y": 0.35333333333333333, + "width": 0.08899999999999997, + "height": 0.11866666666666668 + } + ] + }, + "point_1768960044657": { + "type": "point", + "instances": [ + { + "id": "point_1768960044657_1768967366656_czxpd9sx9", + "x": 0.4535, + "y": 0.3546666666666667 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方向下落", + "correction_plan": "张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方向下落触及下方的抓取物透明胶带", + "frame": 324, + "progress": 17, + "progress_explanation": "爪夹向下移动靠近下方的透明胶带，进度提升为17%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于透明胶带的侧边两侧\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹做闭合抓取透明胶带的动作", + "time": 10.78505132628866, + "annotations": { + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967371796_moygya2ya", + "x": 0.5985, + "y": 0.37866666666666665 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967378076_ffew2watx", + "x": 0.15250000000000002, + "y": 0.5826666666666667, + "width": 0.379, + "height": 0.384 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的上方略微抬升并向右侧略微移动", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向上抬升并向右略微移动避开左侧爪夹触及的黄色盒子", + "frame": 361, + "progress": 19, + "progress_explanation": "爪夹向右移动靠近透明胶带侧边上方，进度提升为19%", + "state_description": "爪夹当前的状态为爪夹张开，位于透明胶带的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的下方移动靠近或触及下方的透明胶带", + "time": 12.033333333333333, + "annotations": { + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967395524_m5lr1j7m7", + "x": 0.4525, + "y": 0.356, + "width": 0.08499999999999996, + "height": 0.11600000000000002 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967403404_x6zczrbur", + "x": 0.14550000000000002, + "y": 0.5813333333333334, + "width": 0.38899999999999996, + "height": 0.3853333333333333 + } + ] + }, + "point_1768960044657": { + "type": "point", + "instances": [ + { + "id": "point_1768960044657_1768967406002_mjhqjryi0", + "x": 0.4215, + "y": 0.348 + } + ] + }, + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967408100_wyylvfij7", + "x": 0.5165, + "y": 0.35866666666666663 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "correction_plan": "张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方向下落触及下方的抓取物透明胶带", + "frame": 377, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的透明胶带，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于透明胶带的侧边两侧\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹做闭合抓取透明胶带的动作", + "time": 12.569931014948454, + "annotations": { + "point_1768960044657": { + "type": "point", + "instances": [ + { + "id": "point_1768960044657_1768967413668_ifwt057xn", + "x": 0.4125, + "y": 0.42 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967418436_6isxp9po4", + "x": 0.1555, + "y": 0.5866666666666667, + "width": 0.37200000000000005, + "height": 0.37999999999999995 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取透明胶带的动作", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的透明胶带", + "frame": 429, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的透明胶带，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的透明胶带\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "time": 14.287456753092783, + "annotations": { + "point_1768960044657": { + "type": "point", + "instances": [ + { + "id": "point_1768960044657_1768967428930_h1fn8lgk3", + "x": 0.4405, + "y": 0.43200000000000005 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967439852_yw9rsvc27", + "x": 0.1595, + "y": 0.5813333333333334, + "width": 0.36500000000000005, + "height": 0.384 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "correction_plan": "抓取透明胶带的爪夹继续向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升", + "frame": 437, + "progress": 50, + "progress_explanation": "爪夹抓取透明胶带向上抬升靠近黄黑色的盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带在黄黑色的盒子的后侧上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的右前方向移动至黄黑色的盒子的上方", + "time": 14.566666666666666, + "annotations": { + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967448960_ng4fb58vj", + "x": 0.1605, + "y": 0.588, + "width": 0.372, + "height": 0.37999999999999995 + } + ] + }, + "point_1768960044657": { + "type": "point", + "instances": [ + { + "id": "point_1768960044657_1768967451266_wfmokb7h9", + "x": 0.3975, + "y": 0.4 + } + ] + }, + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967459297_ehs3iqz8k", + "x": 0.3915, + "y": 0.32933333333333337, + "width": 0.11299999999999999, + "height": 0.128 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的左后方向移动", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向左侧移动远离了需要放入的黄黑色的盒子", + "frame": 457, + "progress": -30, + "progress_explanation": "爪夹向左靠近黄色箱子上方，进度降低为-30%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带在黄色盒子的上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：抓取透明胶带的爪夹向爪夹方向的右前方向移动至黄黑色的盒子的上方", + "time": 15.230412060309279, + "annotations": { + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967466836_a2stgme1i", + "x": 0.6595, + "y": 0.22666666666666666, + "width": 0.11400000000000006, + "height": 0.12133333333333332 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967477585_4jrnmvt80", + "x": 0.1615, + "y": 0.5826666666666667, + "width": 0.367, + "height": 0.3853333333333333 + } + ] + }, + "point_1768960044657": { + "type": "point", + "instances": [ + { + "id": "point_1768960044657_1768967480458_2ka153a7y", + "x": 0.6715, + "y": 0.32933333333333337 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹由闭合重新张开", + "correction_plan": "张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入黄黑色的盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取透明胶带的爪夹在黄色盒子的上方张开，没有移动至黄黑色的盒子的上方", + "frame": 469, + "progress": -50, + "progress_explanation": "爪夹张开，透明胶带落入黄色的盒子中，进度降低为-50%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄色的盒子中的透明胶带上方\n为了完成把透明胶带放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "time": 15.617697275773194, + "annotations": { + "point_1768960044657": { + "type": "point", + "instances": [ + { + "id": "point_1768960044657_1768967485908_cqb1lmxbg", + "x": 0.6265000000000001, + "y": 0.348 + } + ] + }, + "point_1768960126992": { + "type": "point", + "instances": [ + { + "id": "point_1768960126992_1768967488466_c1rdz50rf", + "x": 0.7215, + "y": 0.3106666666666667 + } + ] + }, + "bbox_1768960039524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960039524_1768967495688_phg3pkoi0", + "x": 0.1595, + "y": 0.5853333333333333, + "width": 0.37, + "height": 0.388 + } + ] + }, + "bbox_1768960038010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768960038010_1768967500742_ybv4vcud3", + "x": 0.5795, + "y": 0.5266666666666667, + "width": 0.08399999999999999, + "height": 0.12533333333333327 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768960038010", + "name": "透明胶带" + }, + { + "color": "#FF9800", + "id": "bbox_1768960039524", + "name": "黄黑色的盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768960044657", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768960126992", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-181932-put-thermally conductive silicone grease-yellow and black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-181932-put-thermally conductive silicone grease-yellow and black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..a65bf5f1621c65ec50541aac311da51c3c73df60 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-181932-put-thermally conductive silicone grease-yellow and black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,428 @@ +{ + "task_description": "把导热硅脂放到黄黑相间的盒子里\n开始移动0%\n爪夹靠近导热硅脂20%\n爪夹抓取导热硅脂40%\n爪夹抓取导热硅脂接近黄黑相间的盒子60%\n爪夹将导热硅脂放入黄黑相间的盒子80%\n爪夹松开，导热硅脂落入黄黑相间的盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "", + "frame": 11, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触导热硅脂。\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至桌子上导热硅脂的上方", + "time": 0.35555558333333326, + "annotations": { + "bbox_1769069182498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069182498_1769070574797_auslhyz7f", + "x": 0.3245, + "y": 0.5573333333333333, + "width": 0.041000000000000016, + "height": 0.06800000000000009 + } + ] + }, + "bbox_1769069190021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069190021_1769070580099_av1vj7kp5", + "x": 0.5065000000000001, + "y": 0.568, + "width": 0.413, + "height": 0.4093333333333334 + } + ] + }, + "point_1769069191762": { + "type": "point", + "instances": [ + { + "id": "point_1769069191762_1769070583052_c4kgss6l9", + "x": 0.35550000000000004, + "y": 0.08666666666666667 + } + ] + }, + "point_1769069196116": { + "type": "point", + "instances": [ + { + "id": "point_1769069196116_1769070586209_ijg3bftp5", + "x": 0.47050000000000003, + "y": 0.07600000000000001 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右前方向移动下落并调整爪夹角度使其垂直于桌面", + "correction_plan": "张开的爪夹向爪夹方向的右前方向移动至桌子上导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的右侧移动并向前移动后下落调整张开的爪夹的角度", + "frame": 26, + "progress": 10, + "progress_explanation": "爪夹开始向前移动靠近导热硅脂，进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上导热硅脂的右后侧的上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹向爪夹方向的右前方向移动至桌子上导热硅脂的上方", + "time": 0.8516796531007752, + "annotations": { + "point_1769069196116": { + "type": "point", + "instances": [ + { + "id": "point_1769069196116_1769070596741_i1h7w1v7y", + "x": 0.41850000000000004, + "y": 0.49733333333333335 + } + ] + }, + "point_1769069191762": { + "type": "point", + "instances": [ + { + "id": "point_1769069191762_1769070599644_fxtco5fxp", + "x": 0.3145, + "y": 0.4906666666666667 + } + ] + }, + "bbox_1769069182498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069182498_1769070605061_6gvvv6t8v", + "x": 0.3235, + "y": 0.5586666666666668, + "width": 0.039000000000000014, + "height": 0.06399999999999993 + } + ] + }, + "bbox_1769069190021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069190021_1769070613963_inwl764pt", + "x": 0.5105000000000001, + "y": 0.5706666666666667, + "width": 0.417, + "height": 0.4253333333333333 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右下方向下落", + "correction_plan": "张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "张开的爪夹在导热硅脂的上方向右下方向下落靠近下方的抓取物", + "frame": 41, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的导热硅脂，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的爪夹位于桌子上导热硅脂的两侧\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹做闭合抓取导热硅脂的动作", + "time": 1.3696, + "annotations": { + "bbox_1769069182498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069182498_1769070622850_644azw6tx", + "x": 0.3255, + "y": 0.56, + "width": 0.03700000000000001, + "height": 0.06266666666666663 + } + ] + }, + "point_1769069196116": { + "type": "point", + "instances": [ + { + "id": "point_1769069196116_1769070625982_y2r10fhg1", + "x": 0.4025, + "y": 0.5973333333333334 + } + ] + }, + "bbox_1769069190021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069190021_1769070633268_rf5s5b9lw", + "x": 0.5115000000000001, + "y": 0.5666666666666667, + "width": 0.4039999999999999, + "height": 0.4253333333333334 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取导热硅脂的动作", + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的导热硅脂", + "frame": 62, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的导热硅脂，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的导热硅脂\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升", + "time": 2.066666666666667, + "annotations": { + "bbox_1769069190021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069190021_1769070647480_2tb8cg8nl", + "x": 0.5165, + "y": 0.5746666666666668, + "width": 0.41000000000000003, + "height": 0.41599999999999987 + } + ] + }, + "point_1769069191762": { + "type": "point", + "instances": [ + { + "id": "point_1769069191762_1769070653551_g7n59907m", + "x": 0.3735, + "y": 0.5933333333333334 + } + ] + }, + "bbox_1769069182498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069182498_1769070706360_suwcplqcz", + "x": 0.3335, + "y": 0.5626666666666666, + "width": 0.039000000000000014, + "height": 0.05733333333333342 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的上方向上抬升", + "correction_plan": "抓取导热硅脂的爪夹继续向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的上方靠近黄黑相间的盒子上方抬升", + "frame": 71, + "progress": 50, + "progress_explanation": "爪夹抓取导热硅脂向上抬升靠近黄黑相间的盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂在黄黑相间的盒子的右后方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取导热硅脂的爪夹继续向爪夹方向的左前方移动至黄黑相间的盒子的上方", + "time": 2.3565893313953485, + "annotations": { + "bbox_1769069182498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069182498_1769070710622_9lvm6vvaz", + "x": 0.2965, + "y": 0.5053333333333333, + "width": 0.053000000000000026, + "height": 0.1 + } + ] + }, + "bbox_1769069190021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069190021_1769070715771_81il5d08w", + "x": 0.5115000000000001, + "y": 0.5733333333333334, + "width": 0.4130000000000001, + "height": 0.4080000000000001 + } + ] + }, + "point_1769069191762": { + "type": "point", + "instances": [ + { + "id": "point_1769069191762_1769070721346_tua8nsus6", + "x": 0.2985, + "y": 0.5519999999999999 + } + ] + }, + "point_1769069196116": { + "type": "point", + "instances": [ + { + "id": "point_1769069196116_1769070723785_grvrjnv36", + "x": 0.3525, + "y": 0.5519999999999999 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的左前方向移动", + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的左前移动至黄黑相间的盒子的上方", + "frame": 77, + "progress": 60, + "progress_explanation": "爪夹向左移动至黄黑相间的盒子的上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于黄黑相间的盒子的上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取导热硅脂的爪夹继续向爪夹方向的下方下落将抓取的导热硅脂放进黄黑相间的盒子里", + "time": 2.568533, + "annotations": { + "point_1769069191762": { + "type": "point", + "instances": [ + { + "id": "point_1769069191762_1769070729241_rpshgeemq", + "x": 0.6045, + "y": 0.6386666666666667 + } + ] + }, + "bbox_1769069190021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069190021_1769070734414_j0k6kqocl", + "x": 0.5135, + "y": 0.5693333333333334, + "width": 0.417, + "height": 0.41866666666666663 + } + ] + }, + "bbox_1769069182498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069182498_1769070739443_h2mer5mey", + "x": 0.5975, + "y": 0.5800000000000001, + "width": 0.051999999999999956, + "height": 0.09066666666666663 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的左下方向下落", + "correction_plan": "抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的左下前方向移动并下落将抓取的导热硅脂放入黄黑相间的盒子中", + "frame": 81, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的导热硅脂放在黄黑相间的盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于黄黑相间的盒子中\n为了完成把瓶盖放在黄黑相间的盒子里的任务：抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "time": 2.712144914728682, + "annotations": { + "bbox_1769069182498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069182498_1769070744993_fwweium08", + "x": 0.6495, + "y": 0.6493333333333333, + "width": 0.041999999999999996, + "height": 0.0733333333333333 + } + ] + }, + "point_1769069191762": { + "type": "point", + "instances": [ + { + "id": "point_1769069191762_1769070748423_sgm7h53xq", + "x": 0.6485000000000001, + "y": 0.6946666666666667 + } + ] + }, + "bbox_1769069190021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069190021_1769070756787_tk33pagh7", + "x": 0.5145000000000001, + "y": 0.5706666666666667, + "width": 0.4079999999999999, + "height": 0.4106666666666667 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的的爪夹由闭合重新张开", + "correction_plan": "已完成把导热硅脂放到黄黑相间的盒子里的任务", + "error_success_analysis": "抓取导热硅脂的爪夹重新张开，抓取的导热硅脂落入下方的黄黑相间的盒子里", + "frame": 111, + "progress": 100, + "progress_explanation": "爪夹张开，导热硅脂落入黄黑相间的盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄黑相间的盒子上方\n把导热硅脂放到黄黑相间的盒子里已完成", + "time": 3.687855585271318, + "annotations": { + "bbox_1769069190021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069190021_1769070772413_u2kshy09a", + "x": 0.5085, + "y": 0.5760000000000001, + "width": 0.4240000000000001, + "height": 0.4093333333333334 + } + ] + }, + "bbox_1769069182498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069182498_1769070777569_oxl6nrucb", + "x": 0.5415, + "y": 0.7453333333333333, + "width": 0.052000000000000046, + "height": 0.06400000000000006 + } + ] + }, + "point_1769069191762": { + "type": "point", + "instances": [ + { + "id": "point_1769069191762_1769070780388_lteee3kay", + "x": 0.6165, + "y": 0.7106666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769069182498", + "name": "导热硅脂" + }, + { + "color": "#FF9800", + "id": "bbox_1769069190021", + "name": "黄黑相间的盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769069191762", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769069196116", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-182856-put-thermally conductive silicone grease-yellow and black-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-182856-put-thermally conductive silicone grease-yellow and black-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..69650c36097ac267f38222d774d95e3385e4a5d2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-182856-put-thermally conductive silicone grease-yellow and black-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json @@ -0,0 +1,530 @@ +{ + "task_description": "把导热硅脂放到黄黑相间的盒子里\n开始移动0%\n爪夹靠近导热硅脂20%\n爪夹抓取导热硅脂40%\n爪夹抓取导热硅脂接近黄黑相间的盒子60%\n爪夹将导热硅脂放入黄黑相间的盒子80%\n爪夹松开，导热硅脂落入黄黑相间的盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触导热硅脂。\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至桌子上导热硅脂的上方", + "time": 0.19499999999999998, + "annotations": { + "bbox_1769070916823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070916823_1769074173286_yijdo2v4z", + "x": 0.6535, + "y": 0.32266666666666666, + "width": 0.04299999999999997, + "height": 0.0706666666666667 + } + ] + }, + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074178686_jzuuoc071", + "x": 0.3195, + "y": 0.29600000000000004, + "width": 0.499, + "height": 0.5666666666666667 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右侧移动并略微调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并调整爪夹角度垂直于桌面，后张开的爪夹向爪夹方向的左后方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹向右下移动后爪夹碰到了错误的抓取物黑色风扇，偏离左侧的导热硅脂", + "frame": 20, + "progress": -10, + "progress_explanation": "爪夹向右下移动靠近错误的抓取物风扇，进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上风扇的上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并调整爪夹角度垂直于桌面", + "time": 0.6666666666666666, + "annotations": { + "bbox_1769070916823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070916823_1769074198104_dvj2bhw8q", + "x": 0.6535, + "y": 0.3253333333333333, + "width": 0.04400000000000004, + "height": 0.064 + } + ] + }, + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074208820_wz3l1hy70", + "x": 0.3215, + "y": 0.29733333333333334, + "width": 0.4950000000000001, + "height": 0.5666666666666667 + } + ] + }, + "point_1769070919240": { + "type": "point", + "instances": [ + { + "id": "point_1769070919240_1769074222109_0ltk77bpa", + "x": 0.6845, + "y": 0.268 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左侧移动", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并调整爪夹角度垂直于桌面，后张开的爪夹向爪夹方向的后方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹向左靠近导热硅脂移动", + "frame": 39, + "progress": -5, + "progress_explanation": "爪夹向左移动靠近左侧的导热硅脂，进度提升为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上导热硅脂的前方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并调整爪夹角度垂直于桌面", + "time": 1.3, + "annotations": { + "bbox_1769070916823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070916823_1769074236090_29onexlcl", + "x": 0.6515000000000001, + "y": 0.336, + "width": 0.03799999999999999, + "height": 0.06533333333333337 + } + ] + }, + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074241276_u1kalejpm", + "x": 0.3195, + "y": 0.29866666666666664, + "width": 0.49399999999999994, + "height": 0.5693333333333332 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取的动作", + "correction_plan": "抓取黑色风扇的爪夹重新张开并向爪夹方向的左后方向移动至桌子上导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹没有向后移动至抓取物导热硅脂方向闭合，在黑色风扇上方闭合抓取错误的黑色风扇", + "frame": 75, + "progress": -15, + "progress_explanation": "爪夹闭合抓取错误的抓取物黑色风扇，因此进度降低为-15%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的黑色风扇\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取黑色风扇的爪夹重新张开并向爪夹方向的左后方向移动至桌子上导热硅脂的上方", + "time": 2.5, + "annotations": { + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074259407_feuii6z0c", + "x": 0.3175, + "y": 0.2986666666666667, + "width": 0.49700000000000005, + "height": 0.5706666666666668 + } + ] + }, + "bbox_1769070916823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070916823_1769074277593_lxqekucgv", + "x": 0.6475000000000001, + "y": 0.34400000000000003, + "width": 0.038999999999999965, + "height": 0.06666666666666667 + } + ] + } + } + }, + { + "action_description": "抓取黑色风扇的爪夹向爪夹方向的上方抬升并向爪夹方向的左侧移动", + "correction_plan": "抓取黑色风扇的爪夹重新张开并向爪夹方向的右后方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹抓取错误的抓取物黑色风扇向上抬升，偏离正确的抓取物导热硅脂", + "frame": 105, + "progress": -20, + "progress_explanation": "爪夹抓取错误的抓取物向上抬升靠近黄黑相间的盒子上方，因此进度降低为-20%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取黑色风扇位于桌子上黄黑相间的盒子的后侧上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取黑色风扇的爪夹重新张开并向爪夹方向的右后方向移动至导热硅脂的上方", + "time": 3.504999999999999, + "annotations": { + "bbox_1769070916823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070916823_1769074283611_p9rqxu3nf", + "x": 0.6435000000000001, + "y": 0.34, + "width": 0.04299999999999997, + "height": 0.06933333333333333 + } + ] + }, + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074288334_ipba0t4h8", + "x": 0.3215, + "y": 0.29600000000000004, + "width": 0.49399999999999994, + "height": 0.5746666666666668 + } + ] + }, + "point_1769070919240": { + "type": "point", + "instances": [ + { + "id": "point_1769070919240_1769074304991_bly9fmii8", + "x": 0.5305, + "y": 0.09200000000000001 + } + ] + } + } + }, + { + "time": 4.37819, + "frame": 131, + "progress": 5, + "action_description": "抓取黑色风扇的爪夹重新张开", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上导热硅脂的左前方向的上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面", + "progress_explanation": "抓取黑色风扇的爪夹张开，张开的爪夹靠近导热硅脂，因此进度提升为5%", + "error_success_analysis": "抓取错误的抓取物的爪夹重新张开", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的右后方向移动至桌子上导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "annotations": { + "point_1769070919240": { + "type": "point", + "instances": [ + { + "id": "point_1769070919240_1769074308936_vqur0b3ht", + "x": 0.5125, + "y": 0.10533333333333333 + } + ] + }, + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074315317_gjs7qs5xo", + "x": 0.3215, + "y": 0.2946666666666667, + "width": 0.492, + "height": 0.5733333333333331 + } + ] + }, + "bbox_1769070916823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070916823_1769074329223_f66p708e3", + "x": 0.6455, + "y": 0.3413333333333333, + "width": 0.041000000000000016, + "height": 0.07066666666666664 + } + ] + } + } + }, + { + "time": 5.200052, + "frame": 156, + "progress": 10, + "action_description": "张开的爪夹向爪夹方向右后方向移动", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上导热硅脂的上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹向爪夹方向的下方下落靠近或触及下方的导热硅脂", + "progress_explanation": "爪夹向后移动靠近导热硅脂，进度提升为10%", + "error_success_analysis": "张开的爪夹向爪夹方向的右后方向移动至抓取的导热硅脂的上方", + "correction_plan": "张开的爪夹向爪夹方向的下方下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "annotations": { + "bbox_1769070916823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070916823_1769074335117_vmfgwbp2e", + "x": 0.6445000000000001, + "y": 0.3453333333333333, + "width": 0.041000000000000016, + "height": 0.06266666666666669 + } + ] + }, + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074343929_slydw8p9b", + "x": 0.3175, + "y": 0.29733333333333334, + "width": 0.495, + "height": 0.5706666666666665 + } + ] + }, + "point_1769070919240": { + "type": "point", + "instances": [ + { + "id": "point_1769070919240_1769074352555_9o4m6p3sj", + "x": 0.6365000000000001, + "y": 0.15866666666666665 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方向下落并调整爪夹角度垂直于桌面", + "correction_plan": "张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "张开的爪夹在导热硅脂的上方向右下方向下落靠近下方的抓取物", + "frame": 171, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的导热硅脂，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的爪夹位于桌子上导热硅脂的两侧\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹做闭合抓取导热硅脂的动作", + "time": 5.7, + "annotations": { + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074363146_7oxh576gs", + "x": 0.3185, + "y": 0.2986666666666667, + "width": 0.49499999999999994, + "height": 0.5720000000000002 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取导热硅脂的动作", + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的导热硅脂", + "frame": 212, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的导热硅脂，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的导热硅脂\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升", + "time": 7.066666666666666, + "annotations": { + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074385306_v58l2nppi", + "x": 0.3195, + "y": 0.3, + "width": 0.493, + "height": 0.5693333333333334 + } + ] + } + } + }, + { + "time": 7.564173, + "frame": 227, + "progress": 50, + "action_description": "抓取导热硅脂的爪夹向爪夹方向的上方向上抬升", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂在黄黑相间的盒子的右侧上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取导热硅脂的爪夹继续向爪夹方向的左侧方向移动至黄黑相间的盒子的上方", + "progress_explanation": "爪夹抓取导热硅脂向上抬升靠近黄黑相间的盒子上方，进度提升为50%", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的上方靠近黄黑相间的盒子上方抬升", + "correction_plan": "抓取导热硅脂的爪夹继续向爪夹方向的左侧方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "annotations": { + "point_1769070919240": { + "type": "point", + "instances": [ + { + "id": "point_1769070919240_1769074398310_jxhdxnf8u", + "x": 0.6605000000000001, + "y": 0.1 + } + ] + }, + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074405574_fadzd8v11", + "x": 0.3205, + "y": 0.2973333333333334, + "width": 0.491, + "height": 0.576 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的左侧方向移动并略微下落", + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的左侧移动至黄黑相间的盒子的上方后略微下落", + "frame": 243, + "progress": 60, + "progress_explanation": "爪夹向左移动至黄黑相间的盒子的上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于黄黑相间的盒子的上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取导热硅脂的爪夹继续向爪夹方向的下方下落将抓取的导热硅脂放进黄黑相间的盒子里", + "time": 8.094999999999999, + "annotations": { + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074424300_i95sb7myy", + "x": 0.3185, + "y": 0.3, + "width": 0.49499999999999994, + "height": 0.5693333333333335 + } + ] + }, + "point_1769070919240": { + "type": "point", + "instances": [ + { + "id": "point_1769070919240_1769074433201_jtu14yx03", + "x": 0.5315000000000001, + "y": 0.2546666666666667 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的下方向下落", + "correction_plan": "抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的下方下落将抓取的导热硅脂放入黄黑相间的盒子中", + "frame": 265, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的导热硅脂放在黄黑相间的盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于黄黑相间的盒子中\n为了完成把瓶盖放在黄黑相间的盒子里的任务：抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "time": 8.844999999999999, + "annotations": { + "point_1769070919240": { + "type": "point", + "instances": [ + { + "id": "point_1769070919240_1769074440036_v53klvzx9", + "x": 0.48150000000000004, + "y": 0.45066666666666666 + } + ] + }, + "bbox_1769070916823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070916823_1769074444595_kbsqjg55v", + "x": 0.4615, + "y": 0.3893333333333333, + "width": 0.04399999999999995, + "height": 0.07733333333333334 + } + ] + }, + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074449451_tb6bcxbyf", + "x": 0.32249999999999995, + "y": 0.28933333333333333, + "width": 0.493, + "height": 0.5800000000000001 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的的爪夹由闭合重新张开", + "correction_plan": "已完成把导热硅脂放到黄黑相间的盒子里的任务", + "error_success_analysis": "抓取导热硅脂的爪夹重新张开，抓取的导热硅脂落入下方的黄黑相间的盒子里", + "frame": 278, + "progress": 100, + "progress_explanation": "爪夹张开，导热硅脂落入黄黑相间的盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄黑相间的盒子上方\n把导热硅脂放到黄黑相间的盒子里已完成", + "time": 9.274999999999999, + "annotations": { + "bbox_1769070916823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070916823_1769074467223_1y2t7a5sm", + "x": 0.47750000000000004, + "y": 0.42, + "width": 0.04500000000000002, + "height": 0.07333333333333338 + } + ] + }, + "bbox_1769070918391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070918391_1769074476611_6g47by342", + "x": 0.3225, + "y": 0.3066666666666667, + "width": 0.4870000000000001, + "height": 0.5626666666666668 + } + ] + }, + "point_1769070919240": { + "type": "point", + "instances": [ + { + "id": "point_1769070919240_1769074479909_gnenfu93t", + "x": 0.4645, + "y": 0.47200000000000003 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769070916823", + "name": "导热硅脂", + "color": "#4CAF50" + }, + { + "id": "bbox_1769070918391", + "name": "黄黑相间的盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769070919240", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769070930074", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-184930-put-thermally conductive silicone grease-yellow and black-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-184930-put-thermally conductive silicone grease-yellow and black-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..99a61e234c39f08c63034c92706736cf2943c2b5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260107-guoyijia/20260107-184930-put-thermally conductive silicone grease-yellow and black-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,638 @@ +{ + "task_description": "把导热硅脂放到黄黑相间的盒子里\n开始移动0%\n爪夹靠近导热硅脂20%\n爪夹抓取导热硅脂40%\n爪夹抓取导热硅脂接近黄黑相间的盒子60%\n爪夹将导热硅脂放入黄黑相间的盒子80%\n爪夹松开，导热硅脂落入黄黑相间的盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1769075257457": { + "instances": [ + { + "height": 0.06593406593406594, + "id": "bbox_1769075257457_1769075681177_jeznboslq", + "width": 0.042124542124542065, + "x": 0.6794871794871795, + "y": 0.2954822954822955 + } + ], + "type": "bbox" + }, + "bbox_1769075262759": { + "instances": [ + { + "height": 0.2612942612942613, + "id": "bbox_1769075262759_1769075677340_awr4xd2hy", + "width": 0.3315018315018315, + "x": 0.3186813186813187, + "y": 0.029304029304029304 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触导热硅脂。\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至桌子上导热硅脂的上方", + "time": 0.3333333333333333 + }, + { + "action_description": "张开的爪夹向爪夹方向的前方移动并略微下落", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "张开的爪夹向前方移动靠近导热硅脂上方", + "frame": 20, + "progress": 5, + "progress_explanation": "爪夹开始向前移动靠近导热硅脂，因此进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上导热硅脂的左后侧的上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面", + "time": 0.6666666666666666, + "annotations": { + "bbox_1769075262759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075262759_1769132898159_13ck5y62r", + "x": 0.3168498168498169, + "y": 0.029304029304029304, + "width": 0.33699633699633696, + "height": 0.26373626373626374 + } + ] + }, + "bbox_1769075257457": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075257457_1769132902293_gx4bjxzlt", + "x": 0.684981684981685, + "y": 0.29304029304029305, + "width": 0.03663003663003659, + "height": 0.06837606837606837 + } + ] + }, + "point_1769075270308": { + "type": "point", + "instances": [ + { + "id": "point_1769075270308_1769132905524_3c9cudzvq", + "x": 0.5311355311355312, + "y": 0.017094017094017096 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左下方向移动并下落", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并调整爪夹角度垂直于桌面，后张开的爪夹向爪夹方向的右侧移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹没有向靠近右侧的导热硅脂移动并下落", + "frame": 37, + "progress": -5, + "progress_explanation": "爪夹向左下移动远离了右侧的抓取物导热硅脂，因此进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上黑色刷子的上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并调整爪夹角度垂直于桌面", + "time": 1.240721692268041, + "annotations": { + "point_1769075270308": { + "type": "point", + "instances": [ + { + "id": "point_1769075270308_1769132789701_0xlc2fuxr", + "x": 0.41391941391941395, + "y": 0.46153846153846156 + } + ] + }, + "point_1769075275121": { + "type": "point", + "instances": [ + { + "id": "point_1769075275121_1769132792955_ie3n026n9", + "x": 0.4652014652014652, + "y": 0.38827838827838834 + } + ] + }, + "bbox_1769075257457": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075257457_1769132798309_7oro8ca65", + "x": 0.6794871794871795, + "y": 0.2905982905982906, + "width": 0.042124542124542065, + "height": 0.06837606837606837 + } + ] + }, + "bbox_1769075262759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075262759_1769132804637_i64z4w6wn", + "x": 0.3186813186813187, + "y": 0.03418803418803419, + "width": 0.3241758241758242, + "height": 0.2588522588522589 + } + ] + } + } + }, + { + "action_description": "张开的爪夹闭合做抓取的动作", + "correction_plan": "抓取黑色刷子的爪夹重新张开并向爪夹方向的上方抬升后向爪夹坊向的右侧移动至桌子上导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹没有向右移动至正确的抓取物导热硅脂做抓取动作", + "frame": 56, + "progress": -10, + "progress_explanation": "抓取闭合抓取错误的目标物黑色刷子，因此进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于张开的爪夹中间的黑色刷子\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取黑色刷子的爪夹重新张开并向爪夹方向的上方抬升", + "time": 1.8785224015463922, + "annotations": { + "bbox_1769075257457": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075257457_1769132772677_359q3nwim", + "x": 0.6813186813186813, + "y": 0.2979242979242979, + "width": 0.042124542124542065, + "height": 0.0561660561660562 + } + ] + }, + "bbox_1769075262759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075262759_1769132779289_tm2jbbpvr", + "x": 0.3168498168498169, + "y": 0.029304029304029304, + "width": 0.326007326007326, + "height": 0.2661782661782662 + } + ] + }, + "point_1769075270308": { + "type": "point", + "instances": [ + { + "id": "point_1769075270308_1769132783219_k2mmvjmzr", + "x": 0.44139194139194143, + "y": 0.4346764346764347 + } + ] + } + } + }, + { + "action_description": "抓取黑色刷子的爪夹向爪夹方向的右侧略微移动", + "correction_plan": "抓取黑色刷子的爪夹重新张开并向爪夹方向的上方抬升后向爪夹坊向的右侧移动至桌子上导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹抓取错误的目标物靠近黄黑相间的盒子，远离正确的目标物导热硅脂", + "frame": 61, + "progress": -12, + "progress_explanation": "抓取黑色刷子的爪夹向右移动靠近黄黑相间的盒子，因此进度降低为-12%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的黑色刷子\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取黑色刷子的爪夹重新张开并向爪夹方向的上方抬升", + "time": 2.039666, + "annotations": { + "point_1769075270308": { + "type": "point", + "instances": [ + { + "id": "point_1769075270308_1769132752671_qq7qwrj5t", + "x": 0.5036630036630036, + "y": 0.4468864468864469 + } + ] + }, + "bbox_1769075262759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075262759_1769132760845_z22e6ndfs", + "x": 0.3131868131868132, + "y": 0.03418803418803419, + "width": 0.33882783882783885, + "height": 0.2588522588522589 + } + ] + }, + "bbox_1769075257457": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075257457_1769132766601_5mzr4tzl7", + "x": 0.684981684981685, + "y": 0.2905982905982906, + "width": 0.03663003663003659, + "height": 0.0634920634920635 + } + ] + } + } + }, + { + "action_description": "抓取黑色刷子的爪夹向爪夹方向的上方竖直向上抬升", + "correction_plan": "抓取黑色刷子的爪夹重新张开并向爪夹方向的右侧移动至桌子上导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹抓取错误的目标物向上抬升靠近黑相间的盒子上方，偏离正确的目标物导热硅脂", + "frame": 77, + "progress": -15, + "progress_explanation": "爪夹抓取黑色刷子抬升靠近黄黑相间的盒子上方，因此进度降低为-15%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取黑色刷子在黄黑相间的盒子的后侧上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取黑色刷子的爪夹重新张开并向爪夹方向的上方抬升", + "time": 2.5661512912371136, + "annotations": { + "point_1769075270308": { + "type": "point", + "instances": [ + { + "id": "point_1769075270308_1769133173248_tw78gjay6", + "x": 0.5769230769230769, + "y": 0.029304029304029304 + } + ] + }, + "bbox_1769075257457": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075257457_1769133179070_r2b66h598", + "x": 0.6813186813186813, + "y": 0.2905982905982906, + "width": 0.04029304029304024, + "height": 0.06593406593406594 + } + ] + }, + "bbox_1769075262759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075262759_1769133184772_gdqdx8kba", + "x": 0.31501831501831506, + "y": 0.026862026862026864, + "width": 0.34065934065934067, + "height": 0.2686202686202686 + } + ] + } + } + }, + { + "action_description": "抓取黑色刷子的爪夹重新张开", + "correction_plan": "张开的爪夹向爪夹方向的右侧移动至桌子上导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "抓取错误目标物的爪夹重新张开，抓取的黑色刷子掉落", + "frame": 105, + "progress": 5, + "progress_explanation": "爪夹张开，靠近右侧的抓取物导热硅脂，因此进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上导热硅脂的左侧上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹向爪夹方向的右侧移动至桌子上导热硅脂的上方", + "time": 3.5029210829896904, + "annotations": { + "bbox_1769075262759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075262759_1769133416716_wuf2buc4n", + "x": 0.31501831501831506, + "y": 0.03418803418803419, + "width": 0.33516483516483514, + "height": 0.2661782661782662 + } + ] + }, + "bbox_1769075257457": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075257457_1769133421505_50n5w0uab", + "x": 0.6776556776556777, + "y": 0.2954822954822955, + "width": 0.04395604395604398, + "height": 0.06105006105006107 + } + ] + }, + "point_1769075270308": { + "type": "point", + "instances": [ + { + "id": "point_1769075270308_1769133425252_ajk1mbo1i", + "x": 0.543956043956044, + "y": 0.026862026862026864 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方移动并略微调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并调整爪夹角度垂直于桌面，张开的爪夹向爪夹方向的右后方向移动至桌子上导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹向下方的错误抓取物透明胶带下落", + "frame": 121, + "progress": -20, + "progress_explanation": "爪夹向下靠近错误的抓取物透明胶带，因此进度降低为-20%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并调整爪夹角度垂直于桌面", + "time": 4.033333333333333, + "annotations": { + "bbox_1769075257457": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075257457_1769133933195_o9nhyfnow", + "x": 0.6831501831501832, + "y": 0.2979242979242979, + "width": 0.03663003663003659, + "height": 0.058608058608058636 + } + ] + }, + "bbox_1769075262759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075262759_1769133939245_eaxaamwdi", + "x": 0.31501831501831506, + "y": 0.03663003663003663, + "width": 0.3241758241758242, + "height": 0.25641025641025644 + } + ] + }, + "point_1769075270308": { + "type": "point", + "instances": [ + { + "id": "point_1769075270308_1769133942081_x8vs5qe9i", + "x": 0.5457875457875458, + "y": 0.3418803418803419 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左侧方向移动", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右前方向移动至桌子上导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹向左朝远离抓取物导热硅脂的方向移动", + "frame": 138, + "progress": -23, + "progress_explanation": "爪夹向左移动远离左侧的导热硅脂，因此进度降低为-23%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右前方向移动至桌子上导热硅脂的上方", + "time": 4.6, + "annotations": { + "point_1769075270308": { + "type": "point", + "instances": [ + { + "id": "point_1769075270308_1769133949886_jhs30zxv2", + "x": 0.5714285714285714, + "y": 0.4371184371184372 + } + ] + }, + "point_1769075275121": { + "type": "point", + "instances": [ + { + "id": "point_1769075275121_1769133952485_yg9j9bz26", + "x": 0.6208791208791209, + "y": 0.380952380952381 + } + ] + }, + "bbox_1769075262759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075262759_1769133959399_k5j3wsq20", + "x": 0.3186813186813187, + "y": 0.029304029304029304, + "width": 0.3241758241758242, + "height": 0.2612942612942613 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右侧移动", + "annotations": { + "bbox_1769075262759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075262759_1769075666553_prhn26w72", + "x": 0.3131868131868132, + "y": 0.026862026862026864, + "width": 0.34065934065934067, + "height": 0.2686202686202686 + } + ] + }, + "point_1769075270308": { + "type": "point", + "instances": [ + { + "id": "point_1769075270308_1769075660844_as2xct3np", + "x": 0.673992673992674, + "y": 0.32967032967032966 + } + ] + }, + "point_1769075275121": { + "type": "point", + "instances": [ + { + "id": "point_1769075275121_1769134159350_zfnkja1ka", + "x": 0.7380952380952381, + "y": 0.2881562881562882 + } + ] + } + }, + "correction_plan": "张开的爪夹继续向爪夹方向的右侧移动至桌子上导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹向右侧靠近抓取物导热硅脂移动", + "frame": 160, + "progress": 15, + "progress_explanation": "爪夹向右移动靠近导热硅脂，因此进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上导热硅脂的左上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹继续向爪夹方向的右侧移动至桌子上导热硅脂的上方", + "time": 5.336 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方向下落", + "annotations": { + "bbox_1769075257457": { + "instances": [ + { + "height": 0.06837606837606837, + "id": "bbox_1769075257457_1769075654262_5a9fmxbkh", + "width": 0.04029304029304024, + "x": 0.6813186813186813, + "y": 0.29304029304029305 + } + ], + "type": "bbox" + }, + "bbox_1769075262759": { + "instances": [ + { + "height": 0.2588522588522589, + "id": "bbox_1769075262759_1769075649621_9k6786yo4", + "width": 0.32783882783882784, + "x": 0.3186813186813187, + "y": 0.029304029304029304 + } + ], + "type": "bbox" + }, + "point_1769075270308": { + "instances": [ + { + "id": "point_1769075270308_1769075656647_vw4bu5w33", + "x": 0.6538461538461539, + "y": 0.35653235653235654 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "张开的爪夹在导热硅脂的上方向右下方向下落靠近下方的抓取物", + "frame": 167, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的导热硅脂，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的爪夹位于桌子上导热硅脂的两侧\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹做闭合抓取导热硅脂的动作", + "time": 5.566666666666666 + }, + { + "action_description": "张开的爪夹做闭合抓取导热硅脂的动作", + "annotations": { + "bbox_1769075262759": { + "instances": [ + { + "height": 0.26129426129426137, + "id": "bbox_1769075262759_1769075639849_itxkl0zln", + "width": 0.33516483516483514, + "x": 0.31501831501831506, + "y": 0.026862026862026864 + } + ], + "type": "bbox" + }, + "point_1769075270308": { + "instances": [ + { + "id": "point_1769075270308_1769075633289_jaqirb5ry", + "x": 0.673992673992674, + "y": 0.358974358974359 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的导热硅脂", + "frame": 192, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的导热硅脂，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的导热硅脂\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升", + "time": 6.4 + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的上方向上抬升", + "annotations": { + "bbox_1769075262759": { + "instances": [ + { + "height": 0.26129426129426137, + "id": "bbox_1769075262759_1769075621671_sdtnbujnd", + "width": 0.3461538461538462, + "x": 0.31135531135531136, + "y": 0.026862026862026864 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取导热硅脂的爪夹继续向爪夹方向的左前方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的上方靠近黄黑相间的盒子上方抬升", + "frame": 207, + "progress": 50, + "progress_explanation": "爪夹抓取导热硅脂向上抬升靠近黄黑相间的盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂在黄黑相间的盒子的右侧上方\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取导热硅脂的爪夹继续向爪夹方向的左前方向移动至黄黑相间的盒子的上方", + "time": 6.891237351030928 + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的前方移动", + "correction_plan": "抓取导热硅脂的爪夹继续向爪夹方向左侧移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "爪夹向前移动靠近前方的黄黑相间的盒子的上方", + "frame": 241, + "progress": 55, + "progress_explanation": "爪夹向前移动靠近前方的黄黑相间的盒子，因此进度提升为55%", + "state_description": "爪夹当前的状态为爪夹抓取导热硅脂闭合，暂未出现在画面中\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：抓取导热硅脂的爪夹继续向爪夹方向左侧移动至黄黑相间的盒子的上方", + "time": 8.017354228350516, + "annotations": { + "bbox_1769075262759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075262759_1769134264204_rlx9d61pg", + "x": 0.3168498168498169, + "y": 0.029304029304029304, + "width": 0.3315018315018315, + "height": 0.26373626373626374 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的爪夹重新张开", + "correction_plan": "张开的爪夹向爪夹方向的下方移动靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至黄黑相间的盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入黄黑相间的盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的黄黑相间的盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹没有向左移动至黄黑相间的盒子上方做张开动作", + "frame": 262, + "progress": -30, + "progress_explanation": "爪夹抓取导热硅脂张开，抓取的导热硅脂掉落，因此进度降低为-35%", + "state_description": "爪夹当前暂未出现在画面中\n为了完成把导热硅脂放在黄黑相间的盒子里的任务：张开的爪夹向爪夹方向的下方移动靠近或触及下方的导热硅脂", + "time": 8.734880026288659, + "annotations": { + "bbox_1769075262759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769075262759_1769134648055_wgs07lutb", + "x": 0.3168498168498169, + "y": 0.026862026862026864, + "width": 0.33699633699633696, + "height": 0.2686202686202686 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769075257457", + "name": "导热硅脂" + }, + { + "color": "#FF9800", + "id": "bbox_1769075262759", + "name": "黄黑相间的盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769075270308", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769075275121", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-094133-put-thermally conductive silicone grease-white-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-094133-put-thermally conductive silicone grease-white-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..f19b5a1c88b868d3970a873472c9e665307f3490 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-094133-put-thermally conductive silicone grease-white-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,254 @@ +{ + "task_description": "把导热硅脂放在白色盒子里\n开始移动0%\n爪夹靠近导热硅脂20%\n爪夹抓取导热硅脂40%\n爪夹抓取导热硅脂接近白色盒子60%\n爪夹将导热硅脂放入白色盒子80%\n爪夹松开，导热硅脂落入白色盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1768893622310": { + "instances": [ + { + "height": 0.05333333333333338, + "id": "bbox_1768893622310_1768895329947_acqku43bg", + "width": 0.03799999999999999, + "x": 0.34550000000000003, + "y": 0.588 + } + ], + "type": "bbox" + }, + "bbox_1768893624321": { + "instances": [ + { + "height": 0.396, + "id": "bbox_1768893624321_1768895336963_bkt6c0rlp", + "width": 0.49800000000000005, + "x": 0.05450000000000001, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + }, + "point_1768893629891": { + "instances": [ + { + "id": "point_1768893629891_1768895340393_nk7nqar3s", + "x": 0.5545, + "y": 0.6173333333333333 + } + ], + "type": "point" + }, + "point_1768893634145": { + "instances": [ + { + "id": "point_1768893634145_1768895342830_q157pkyhi", + "x": 0.7065, + "y": 0.5813333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的左前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触导热硅脂。\n为了完成把导热硅脂放在白色盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的左前方向移动至导热硅脂的上方", + "time": 0.3261340206185567 + }, + { + "action_description": "张开的爪夹向爪夹方向的左下方向移动并调整爪夹角度使其垂直于桌面", + "annotations": { + "bbox_1768893624321": { + "instances": [ + { + "height": 0.39466666666666667, + "id": "bbox_1768893624321_1768895359836_n7x0rwdqu", + "width": 0.497, + "x": 0.05750000000000001, + "y": 0.0026666666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的左前方向靠近抓取物导热硅脂移动，并调整爪夹的角度", + "frame": 32, + "progress": 10, + "progress_explanation": "爪夹开始向左前方向移动靠近导热硅脂，进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上导热硅脂的上方\n为了完成把导热硅脂放在白色盒子里的任务：张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂", + "time": 1.0547938144329898 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1768893624321": { + "instances": [ + { + "height": 0.39733333333333337, + "id": "bbox_1768893624321_1768895369364_27811cgqs", + "width": 0.496, + "x": 0.05650000000000001, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹在导热硅脂的上方竖直下落靠近下方的抓取物", + "frame": 50, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的导热硅脂，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的爪夹位于桌子上导热硅脂的两侧\n为了完成把导热硅脂放在白色盒子里的任务：张开的爪夹做闭合抓取导热硅脂的动作", + "time": 1.6659278350515465 + }, + { + "action_description": "张开的爪夹做闭合抓取导热硅脂的动作", + "annotations": { + "bbox_1768893624321": { + "instances": [ + { + "height": 0.39333333333333337, + "id": "bbox_1768893624321_1768895424265_i2n4ufwsc", + "width": 0.49400000000000005, + "x": 0.0595, + "y": 0.0026666666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的导热硅脂", + "frame": 84, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的导热硅脂，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的导热硅脂\n为了完成把导热硅脂放在白色盒子里的任务：抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升", + "time": 2.8 + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升", + "annotations": { + "bbox_1768893624321": { + "instances": [ + { + "height": 0.4, + "id": "bbox_1768893624321_1768895443582_tee2ekfai", + "width": 0.499, + "x": 0.05550000000000001, + "y": 0 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取导热硅脂的爪夹继续向爪夹方向的前方移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的上方靠近白色盒子上方抬升", + "frame": 101, + "progress": 50, + "progress_explanation": "爪夹抓取导热硅脂向上抬升靠近白色盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂在白色盒子的后侧上方\n为了完成把导热硅脂放在白色盒子里的任务：抓取导热硅脂的爪夹继续向爪夹方向的前方移动至白色盒子的上方", + "time": 3.382097186700767 + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的上前方移动", + "annotations": { + "bbox_1768893624321": { + "instances": [ + { + "height": 0.37333333333333335, + "id": "bbox_1768893624321_1768895453198_fz5scrmje", + "width": 0.497, + "x": 0.05750000000000001, + "y": 0 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的前方移动至白色盒子的上方", + "frame": 113, + "progress": 60, + "progress_explanation": "爪夹向前移动至白色盒子的上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于白色盒子的上方\n为了完成把导热硅脂放在白色盒子里的任务：抓取导热硅脂的爪夹继续向爪夹方向的下方下落将抓取的导热硅脂放进白色盒子里", + "time": 3.7666666666666666 + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的下前方向下落", + "annotations": { + "bbox_1768893624321": { + "instances": [ + { + "height": 0.3946666666666667, + "id": "bbox_1768893624321_1768895461989_sap9ly4bv", + "width": 0.49800000000000005, + "x": 0.05550000000000001, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的下前方向移动将抓取的导热硅脂放入白色盒子中", + "frame": 128, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的导热硅脂放在白色盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于白色盒子中\n为了完成把瓶盖放在白色盒子里的任务：抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "time": 4.266666666666667 + }, + { + "action_description": "抓取导热硅脂的的爪夹由闭合重新张开", + "annotations": { + "bbox_1768893624321": { + "instances": [ + { + "height": 0.39866666666666667, + "id": "bbox_1768893624321_1768895471066_e2rtz9zn7", + "width": 0.496, + "x": 0.058499999999999996, + "y": 0 + } + ], + "type": "bbox" + } + }, + "correction_plan": "已完成把导热硅脂放在白色盒子里的任务", + "error_success_analysis": "抓取导热硅脂的爪夹重新张开，抓取的导热硅脂落入下方的白色盒子里", + "frame": 152, + "progress": 100, + "progress_explanation": "爪夹张开，导热硅脂落入白色盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于白色盒子中的导热硅脂上方\n把导热硅脂放在白色盒子里已完成", + "time": 5.080051546391752 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768893622310", + "name": "导热硅脂" + }, + { + "color": "#FF9800", + "id": "bbox_1768893624321", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768893629891", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768893634145", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-095048-put-thermally conductive silicone grease-white-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-095048-put-thermally conductive silicone grease-white-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..c2324eb594f8403ddb21058b7f8345e4cdc0bfed --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-095048-put-thermally conductive silicone grease-white-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,698 @@ +{ + "task_description": "把导热硅脂放进白色盒子里\n开始移动0%\n爪夹靠近导热硅脂20%\n爪夹抓取导热硅脂40%\n爪夹抓取导热硅脂接近白色盒子60%\n爪夹将导热硅脂放入白色盒子80%\n爪夹松开，导热硅脂落入白色盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1768895732840": { + "instances": [ + { + "height": 0.06666666666666667, + "id": "bbox_1768895732840_1768900818055_5zy8xaoky", + "width": 0.04400000000000004, + "x": 0.4805, + "y": 0.6666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768895733950": { + "instances": [ + { + "height": 0.4999999999999999, + "id": "bbox_1768895733950_1768900822837_zzn5xpa0j", + "width": 0.33899999999999997, + "x": 0.0625, + "y": 0.12000000000000001 + } + ], + "type": "bbox" + }, + "point_1768895743106": { + "instances": [ + { + "id": "point_1768895743106_1768900833759_a9m7sf3sk", + "x": 0.42350000000000004, + "y": 0.08666666666666667 + } + ], + "type": "point" + }, + "point_1768895747875": { + "instances": [ + { + "id": "point_1768895747875_1768900836487_ds34ba6xu", + "x": 0.5415, + "y": 0.08533333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触导热硅胶。\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至导热硅脂的上方", + "time": 0.61333335 + }, + { + "action_description": "张开的爪夹向爪夹方向的左前方向移动并下落，调整爪夹方向垂直于桌面", + "annotations": { + "bbox_1768895732840": { + "instances": [ + { + "height": 0.06533333333333337, + "id": "bbox_1768895732840_1768900857195_q9pv8azyz", + "width": 0.040000000000000036, + "x": 0.48250000000000004, + "y": 0.6666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768895733950": { + "instances": [ + { + "height": 0.4853333333333334, + "id": "bbox_1768895733950_1768900852492_7frj4okhh", + "width": 0.336, + "x": 0.0605, + "y": 0.12266666666666667 + } + ], + "type": "bbox" + }, + "point_1768895743106": { + "instances": [ + { + "id": "point_1768895743106_1768900845069_qz420tbeu", + "x": 0.48250000000000004, + "y": 0.452 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "爪夹向下移动靠近透明胶带，偏离抓取物导热硅脂", + "frame": 46, + "progress": -10, + "progress_explanation": "爪夹向下移动靠近透明胶带，进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的透明胶带上方\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右前方向移动至导热硅脂的上方", + "time": 1.5491409355670103 + }, + { + "action_description": "张开的爪夹做闭合抓取的动作", + "annotations": { + "bbox_1768895732840": { + "instances": [ + { + "height": 0.06399999999999993, + "id": "bbox_1768895732840_1768900863405_ymn86322c", + "width": 0.04200000000000008, + "x": 0.4805, + "y": 0.6693333333333334 + } + ], + "type": "bbox" + }, + "bbox_1768895733950": { + "instances": [ + { + "height": 0.4946666666666667, + "id": "bbox_1768895733950_1768900870081_r0ojiijuo", + "width": 0.33499999999999996, + "x": 0.0635, + "y": 0.12000000000000001 + } + ], + "type": "bbox" + }, + "point_1768895743106": { + "instances": [ + { + "id": "point_1768895743106_1768900888289_x9uce6e42", + "x": 0.5195000000000001, + "y": 0.44000000000000006 + } + ], + "type": "point" + }, + "point_1768895747875": { + "instances": [ + { + "id": "point_1768895747875_1768900891393_58yznlikf", + "x": 0.5235000000000001, + "y": 0.4346666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的上方抬升，张开的爪夹向爪夹方向的右前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "爪夹没有向前移动至导热硅脂的方向闭合", + "frame": 76, + "progress": -15, + "progress_explanation": "爪夹在透明胶带上方闭合，进度降低为-15%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上的透明胶带上方\n为了完成把导热硅脂放进白色盒子里的任务：闭合的爪夹重新张开并向爪夹方向的上方抬升", + "time": 2.533333333333333 + }, + { + "action_description": "闭合的爪夹向爪夹方向的上方抬升并重新张开，调整爪夹角度", + "annotations": { + "bbox_1768895732840": { + "instances": [ + { + "height": 0.06400000000000006, + "id": "bbox_1768895732840_1768900923280_qtc6mboef", + "width": 0.039999999999999945, + "x": 0.48150000000000004, + "y": 0.6679999999999999 + } + ], + "type": "bbox" + }, + "bbox_1768895733950": { + "instances": [ + { + "height": 0.492, + "id": "bbox_1768895733950_1768900909262_d79jlz9cf", + "width": 0.334, + "x": 0.06349999999999999, + "y": 0.12000000000000001 + } + ], + "type": "bbox" + }, + "point_1768895743106": { + "instances": [ + { + "id": "point_1768895743106_1768900897445_l2fkttlo2", + "x": 0.4875, + "y": 0.32933333333333337 + } + ], + "type": "point" + }, + "point_1768895747875": { + "instances": [ + { + "id": "point_1768895747875_1768900895275_oyksruzp0", + "x": 0.5955, + "y": 0.31466666666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至导热硅胶的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "闭合的爪夹向上抬升后重新张开", + "frame": 111, + "progress": 5, + "progress_explanation": "爪夹重新张开靠近导热硅脂，进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的透明胶带上方\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至导热硅胶的上方", + "time": 3.698969172680412 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方调整爪夹角度", + "annotations": { + "bbox_1768895732840": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1768895732840_1768900958395_grv5qe1sv", + "width": 0.040000000000000036, + "x": 0.48250000000000004, + "y": 0.6653333333333333 + } + ], + "type": "bbox" + }, + "bbox_1768895733950": { + "instances": [ + { + "height": 0.48933333333333334, + "id": "bbox_1768895733950_1768900946543_yrk52lg1h", + "width": 0.33399999999999996, + "x": 0.0635, + "y": 0.12266666666666667 + } + ], + "type": "bbox" + }, + "point_1768895743106": { + "instances": [ + { + "id": "point_1768895743106_1768900939564_78btincyl", + "x": 0.4685, + "y": 0.396 + } + ], + "type": "point" + }, + "point_1768895747875": { + "instances": [ + { + "id": "point_1768895747875_1768900936569_5tmq61yt5", + "x": 0.5575, + "y": 0.37866666666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的上方竖直向上抬升，后张开的爪夹向爪夹方向的右前方向移动至导热硅胶的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向下调整爪夹角度没有避开下方的黄色盒子", + "frame": 159, + "progress": -10, + "progress_explanation": "爪夹向下调整后靠近下方的黄色盒子，进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的黄色盒子的上方\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹向爪夹方向的上方竖直向上抬升", + "time": 5.3 + }, + { + "action_description": "张开的爪夹向爪夹方向的上方抬升", + "annotations": { + "bbox_1768895732840": { + "instances": [ + { + "height": 0.06533333333333337, + "id": "bbox_1768895732840_1768900965229_o7vbz7qxn", + "width": 0.041000000000000016, + "x": 0.48150000000000004, + "y": 0.6679999999999999 + } + ], + "type": "bbox" + }, + "bbox_1768895733950": { + "instances": [ + { + "height": 0.4946666666666667, + "id": "bbox_1768895733950_1768900971281_bwidubqbl", + "width": 0.33199999999999996, + "x": 0.0655, + "y": 0.12000000000000001 + } + ], + "type": "bbox" + }, + "point_1768895743106": { + "instances": [ + { + "id": "point_1768895743106_1768900980943_wjz2gj3hu", + "x": 0.4525, + "y": 0.3706666666666667 + } + ], + "type": "point" + }, + "point_1768895747875": { + "instances": [ + { + "id": "point_1768895747875_1768900983501_ljgwu1kwi", + "x": 0.5755, + "y": 0.3426666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的右前方向移动至导热硅胶的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的上方抬升", + "frame": 167, + "progress": 10, + "progress_explanation": "爪夹向上抬升靠近导热硅脂上方，进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的导热硅脂的后侧上方\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹向爪夹方向的右前方向移动至导热硅胶的上方", + "time": 5.570584343814433 + }, + { + "action_description": "张开的爪夹向爪夹方向的下前方向移动", + "annotations": { + "bbox_1768895733950": { + "instances": [ + { + "height": 0.49066666666666675, + "id": "bbox_1768895733950_1768900997963_wbjr00n41", + "width": 0.33, + "x": 0.0635, + "y": 0.12266666666666667 + } + ], + "type": "bbox" + }, + "point_1768895743106": { + "instances": [ + { + "id": "point_1768895743106_1768900990321_ojr8pc706", + "x": 0.3995, + "y": 0.728 + } + ], + "type": "point" + }, + "point_1768895747875": { + "instances": [ + { + "id": "point_1768895747875_1768900987587_qv6q5e1qw", + "x": 0.5065000000000001, + "y": 0.7186666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的后侧略微移动靠近或触及导热硅胶，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向前方靠近导热硅脂移动并下落", + "frame": 184, + "progress": 15, + "progress_explanation": "爪夹向前方移动靠近导热硅脂，进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的导热硅脂的后侧上方\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹向爪夹方向的右前方向移动至导热硅胶的上方", + "time": 6.133333333333334 + }, + { + "action_description": "张开的爪夹向爪夹方向的左后方向略微移动", + "annotations": { + "bbox_1768895733950": { + "instances": [ + { + "height": 0.49333333333333335, + "id": "bbox_1768895733950_1768901012735_qwwgdkv6e", + "width": 0.331, + "x": 0.0655, + "y": 0.12266666666666667 + } + ], + "type": "bbox" + }, + "point_1768895743106": { + "instances": [ + { + "id": "point_1768895743106_1768901083325_83ncovfvs", + "x": 0.4335, + "y": 0.7066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向左后靠近导热硅脂移动", + "frame": 202, + "progress": 20, + "progress_explanation": "爪夹向后移动靠近导热硅脂，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的导热硅脂的上方\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹做闭合抓取导热硅胶的动作", + "time": 6.733333333333333 + }, + { + "action_description": "张开的爪夹做闭合抓取的动作", + "annotations": { + "bbox_1768895733950": { + "instances": [ + { + "height": 0.492, + "id": "bbox_1768895733950_1768901032843_aixu4clrk", + "width": 0.338, + "x": 0.058499999999999996, + "y": 0.12000000000000001 + } + ], + "type": "bbox" + } + }, + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的后侧移动至导热硅脂的两侧，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "爪夹没有向后移动至导热硅脂的上方后闭合抓取", + "frame": 231, + "progress": 13, + "progress_explanation": "爪夹在导热硅脂前方闭合，进度降低为13%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上的导热硅脂的前方\n为了完成把导热硅脂放进白色盒子里的任务：闭合的爪夹重新张开并向爪夹方向的后侧移动至导热硅脂的上方", + "time": 7.703466 + }, + { + "action_description": "闭合的爪夹重新张开并向爪夹方向的上方抬升", + "annotations": { + "bbox_1768895733950": { + "instances": [ + { + "height": 0.49600000000000005, + "id": "bbox_1768895733950_1768901042719_gif86xulr", + "width": 0.33100000000000007, + "x": 0.0645, + "y": 0.11866666666666667 + } + ], + "type": "bbox" + }, + "point_1768895743106": { + "instances": [ + { + "id": "point_1768895743106_1768901050046_06cy1u5tr", + "x": 0.42750000000000005, + "y": 0.6866666666666668 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的后方移动至导热硅脂的上方，后张开的爪夹向爪夹方向的下方竖直下落靠近或触及导热硅胶，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "爪夹重新张开并向上方抬升至抓取物的导热硅脂的上方", + "frame": 261, + "progress": 15, + "progress_explanation": "爪夹重新张开向上移动靠近导热硅脂上方，进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的导热硅脂的前上方\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹向爪夹方向的后方移动至导热硅脂的上方", + "time": 8.7 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1768895733950": { + "instances": [ + { + "height": 0.49333333333333335, + "id": "bbox_1768895733950_1768901060026_16emagep2", + "width": 0.33399999999999996, + "x": 0.0635, + "y": 0.12133333333333333 + } + ], + "type": "bbox" + }, + "point_1768895743106": { + "instances": [ + { + "id": "point_1768895743106_1768901074289_3cxcy66yt", + "x": 0.4285, + "y": 0.6786666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹在导热硅脂的上方竖直下落靠近下方的抓取物导热硅脂", + "frame": 276, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的导热硅脂，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的爪夹位于桌子上导热硅脂的两侧\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹做闭合抓取导热硅脂的动作", + "time": 9.2 + }, + { + "action_description": "张开的爪夹做闭合抓取导热硅胶的动作", + "annotations": { + "bbox_1768895733950": { + "instances": [ + { + "height": 0.49733333333333335, + "id": "bbox_1768895733950_1768901093693_s51bwx5bf", + "width": 0.336, + "x": 0.0615, + "y": 0.11466666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的导热硅胶", + "frame": 301, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的导热硅胶，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的导热硅胶\n为了完成把导热硅脂放进白色盒子里的任务：抓取导热硅胶的爪夹向爪夹方向的上方竖直向上抬升", + "time": 10.047285496391753 + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的上方天生并向爪夹方向的右后方向移动", + "annotations": { + "bbox_1768895732840": { + "instances": [ + { + "height": 0.08400000000000005, + "id": "bbox_1768895732840_1768901105897_y13kmhrht", + "width": 0.050999999999999976, + "x": 0.23450000000000001, + "y": 0.256 + } + ], + "type": "bbox" + }, + "bbox_1768895733950": { + "instances": [ + { + "height": 0.49733333333333335, + "id": "bbox_1768895733950_1768901101748_wxciduksw", + "width": 0.333, + "x": 0.0645, + "y": 0.11466666666666667 + } + ], + "type": "bbox" + }, + "point_1768895747875": { + "instances": [ + { + "id": "point_1768895747875_1768901110649_luupgfbuf", + "x": 0.2875, + "y": 0.308 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的右后方移动至白色盒子的上方", + "frame": 317, + "progress": 60, + "progress_explanation": "爪夹向后移动至白色盒子的上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于白色盒子的上方\n为了完成把导热硅脂放进白色盒子里的任务：抓取导热硅脂的爪夹继续向爪夹方向的下方下落将抓取的导热硅脂放进白色盒子里", + "time": 10.5784195314433 + }, + { + "action_description": "抓取瓶盖的爪夹向爪夹方向的下方下落", + "annotations": { + "bbox_1768895732840": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1768895732840_1768901119773_z18bho7a0", + "width": 0.038999999999999965, + "x": 0.2615, + "y": 0.33066666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768895733950": { + "instances": [ + { + "height": 0.49333333333333335, + "id": "bbox_1768895733950_1768901125199_8m89b5k5b", + "width": 0.333, + "x": 0.0655, + "y": 0.11866666666666667 + } + ], + "type": "bbox" + }, + "point_1768895747875": { + "instances": [ + { + "id": "point_1768895747875_1768901115069_wws6dpovp", + "x": 0.3025, + "y": 0.372 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的下方移动将抓取的导热硅脂放入白色盒子中", + "frame": 331, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的导热硅脂放在白色盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于白色盒子中\n为了完成把导热硅脂放进白色盒子里的任务：抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "time": 11.046323324226805 + }, + { + "action_description": "抓取导热硅脂的爪夹由闭合重新张开", + "annotations": { + "bbox_1768895732840": { + "instances": [ + { + "height": 0.057333333333333354, + "id": "bbox_1768895732840_1768901137609_wb3g03rak", + "width": 0.03600000000000003, + "x": 0.2505, + "y": 0.37866666666666665 + } + ], + "type": "bbox" + }, + "bbox_1768895733950": { + "instances": [ + { + "height": 0.49066666666666664, + "id": "bbox_1768895733950_1768901144253_59of5k0s6", + "width": 0.3350000000000001, + "x": 0.0625, + "y": 0.12133333333333333 + } + ], + "type": "bbox" + }, + "point_1768895743106": { + "instances": [ + { + "id": "point_1768895743106_1768901161361_yo5eebj3i", + "x": 0.23450000000000001, + "y": 0.364 + } + ], + "type": "point" + }, + "point_1768895747875": { + "instances": [ + { + "id": "point_1768895747875_1768901163817_jlgatqc82", + "x": 0.3045, + "y": 0.404 + } + ], + "type": "point" + } + }, + "correction_plan": "已完成把导热硅脂放进白色盒子里的任务", + "error_success_analysis": "抓取导热硅脂的爪夹重新张开，抓取的导热硅脂落入下方的白色盒子中", + "frame": 356, + "progress": 100, + "progress_explanation": "爪夹张开，导热硅脂落入白色的盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于白色盒子中的导热硅脂上方\n把导热硅脂放进白色盒子里已完成", + "time": 11.86831647371134 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768895732840", + "name": "导热硅脂" + }, + { + "color": "#FF9800", + "id": "bbox_1768895733950", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768895743106", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768895747875", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-100930-put-thermally conductive silicone grease-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-100930-put-thermally conductive silicone grease-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3624aa61688bee0ee28539f9c02ab723eccbbffe --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-100930-put-thermally conductive silicone grease-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,662 @@ +{ + "task_description": "把导热硅脂放进白色盒子里\n开始移动0%\n爪夹靠近导热硅脂20%\n爪夹抓取导热硅脂40%\n爪夹抓取导热硅脂接近白色盒子60%\n爪夹将导热硅脂放入白色盒子80%\n爪夹松开，导热硅脂落入白色盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1768972482859": { + "instances": [ + { + "height": 0.26266666666666666, + "id": "bbox_1768972482859_1768975618867_ixrmwydeg", + "width": 0.29800000000000004, + "x": 0.4265, + "y": 0.356 + } + ], + "type": "bbox" + }, + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975629854_rvm9drwnr", + "x": 0.3855, + "y": 0.5186666666666667 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975632933_ixgwdkpgd", + "x": 0.6145, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的左前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触导热硅胶。\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的左前方向移动至导热硅脂的上方", + "time": 0.25341923556701035 + }, + { + "action_description": "张开的爪夹向爪夹方向的左下方向移动并调整爪夹角度", + "annotations": { + "bbox_1768972478781": { + "instances": [ + { + "height": 0.11999999999999998, + "id": "bbox_1768972478781_1768975657796_q5le9vn3o", + "width": 0.09399999999999994, + "x": 0.6895, + "y": 0.07600000000000001 + } + ], + "type": "bbox" + }, + "bbox_1768972482859": { + "instances": [ + { + "height": 0.6013333333333333, + "id": "bbox_1768972482859_1768975645052_gpzqf67je", + "width": 0.1879999999999999, + "x": 0.8085000000000001, + "y": 0.02 + } + ], + "type": "bbox" + }, + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975638771_4wrfyrab0", + "x": 0.3885, + "y": 0.516 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975636577_q01n9fiup", + "x": 0.6245, + "y": 0.5253333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹方向使其垂直于桌面并向爪夹方向的上方抬升，后张开的爪夹向爪夹方向的右前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "爪夹没有向前靠近导热硅脂方向移动靠近抓取物导热硅脂", + "frame": 39, + "progress": -5, + "progress_explanation": "爪夹向下靠近错误的抓取物，进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的导热硅脂的左后侧\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的上方抬升", + "time": 1.3086956086956523 + }, + { + "action_description": "张开的爪夹向爪夹方向的右侧方向移动后向上略微抬升", + "annotations": { + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975664701_wnz5taqen", + "x": 0.3885, + "y": 0.5146666666666666 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975666523_fd0qm7k4w", + "x": 0.6145, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹方向使其垂直于桌面并向爪夹方向的上方抬升，后张开的爪夹向爪夹方向的前方移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹没有向右前方向移动靠近正确的目标物导热硅脂", + "frame": 56, + "progress": -10, + "progress_explanation": "爪夹向右移动靠近错误的抓取物风扇，进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的风扇上方\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹向爪夹方向的前方移动至导热硅脂的上方", + "time": 1.8666666666666667 + }, + { + "action_description": "张开的爪夹向爪夹方向的前方略微移动并做闭合抓取的动作", + "annotations": { + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975674213_zv4oao7lk", + "x": 0.4875, + "y": 0.5 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975671853_i133zvwv2", + "x": 0.5045, + "y": 0.5026666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "闭合的爪夹重新张开并调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的前方移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹没有向前移动至导热硅脂处做闭合抓取的动作", + "frame": 85, + "progress": -15, + "progress_explanation": "爪夹在桌子上的黑色风扇上方闭合，进度降低为-15%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上的黑色风扇上方\n为了完成把导热硅脂放进白色盒子里的任务：闭合的爪夹重新张开并调整爪夹角度使其垂直于桌面", + "time": 2.818642518041237 + }, + { + "action_description": "闭合的爪夹向爪夹方向的上方竖直向上抬升", + "annotations": { + "bbox_1768972478781": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1768972478781_1768975698433_v3f6xa5vj", + "width": 0.041000000000000016, + "x": 0.43150000000000005, + "y": 0.41600000000000004 + } + ], + "type": "bbox" + }, + "bbox_1768972482859": { + "instances": [ + { + "height": 0.388, + "id": "bbox_1768972482859_1768975689722_qzjhfk3ow", + "width": 0.3430000000000001, + "x": 0.5235000000000001, + "y": 0.20266666666666666 + } + ], + "type": "bbox" + }, + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975681681_ydy595akm", + "x": 0.4915, + "y": 0.5053333333333333 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975683827_7vkdy7s0y", + "x": 0.5025000000000001, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的左前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "闭合的爪夹向上抬升远离错误的抓取物黑色风扇，靠近桌子上导热硅脂的上方", + "frame": 132, + "progress": 5, + "progress_explanation": "爪夹向上移动靠近导热硅脂的上方，进度提升为5%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上导热硅脂的后侧上方\n为了完成把导热硅脂放进白色盒子里的任务：闭合的爪夹重新张开并向爪夹方向的左前方向移动至导热硅脂的上方", + "time": 4.411563427319588 + }, + { + "action_description": "闭合的爪夹重新张开", + "annotations": { + "bbox_1768972478781": { + "instances": [ + { + "height": 0.05466666666666663, + "id": "bbox_1768972478781_1768975704063_4ld2bhpod", + "width": 0.03799999999999999, + "x": 0.3745, + "y": 0.468 + } + ], + "type": "bbox" + }, + "bbox_1768972482859": { + "instances": [ + { + "height": 0.38400000000000006, + "id": "bbox_1768972482859_1768975708245_owsqlbri8", + "width": 0.33499999999999996, + "x": 0.46950000000000003, + "y": 0.252 + } + ], + "type": "bbox" + }, + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975717005_q7bnr4v0a", + "x": 0.3865, + "y": 0.5173333333333333 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975719317_4tp96bdrv", + "x": 0.6125, + "y": 0.5213333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的左前方向移动至导热硅脂的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "闭合的爪夹重新张开", + "frame": 144, + "progress": 8, + "progress_explanation": "爪夹重新张开靠近导热硅脂，进度提升为8%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的导热硅脂的右后侧上方\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的左前方向移动至导热硅脂的上方", + "time": 4.798550565217392 + }, + { + "action_description": "张开的爪夹向爪夹方向的左下方向移动", + "annotations": { + "bbox_1768972478781": { + "instances": [ + { + "height": 0.08400000000000005, + "id": "bbox_1768972478781_1768975746807_vkzyhhitf", + "width": 0.06200000000000001, + "x": 0.4495, + "y": 0.48133333333333334 + } + ], + "type": "bbox" + }, + "bbox_1768972482859": { + "instances": [ + { + "height": 0.6386666666666668, + "id": "bbox_1768972482859_1768975731483_q1fn3pzh7", + "width": 0.346, + "x": 0.5995, + "y": 0.17066666666666666 + } + ], + "type": "bbox" + }, + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975725225_ejmfqrfoy", + "x": 0.3895, + "y": 0.5186666666666667 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975723127_rcqp3vzse", + "x": 0.6165, + "y": 0.516 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的左下方向移动至抓取物的导热硅脂上方", + "frame": 162, + "progress": 10, + "progress_explanation": "爪夹向左下方移动靠近左前方向的导热硅脂，因此进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的导热硅脂的上方\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的导热硅脂", + "time": 5.397933 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1768972478781": { + "instances": [ + { + "height": 0.11066666666666662, + "id": "bbox_1768972478781_1768975752835_zpeq5g623", + "width": 0.08700000000000001, + "x": 0.5115000000000001, + "y": 0.49600000000000005 + } + ], + "type": "bbox" + }, + "bbox_1768972482859": { + "instances": [ + { + "height": 0.7893333333333334, + "id": "bbox_1768972482859_1768975758877_7f4ody2p3", + "width": 0.29400000000000004, + "x": 0.7024999999999999, + "y": 0.11866666666666667 + } + ], + "type": "bbox" + }, + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975770211_kx8ghdiu8", + "x": 0.3845, + "y": 0.524 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975772461_y805z0quj", + "x": 0.6115, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向下靠近导热硅脂移动", + "frame": 179, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近导热硅脂，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的导热硅脂的上方\n为了完成把导热硅脂放进白色盒子里的任务：张开的爪夹做闭合抓取导热硅胶的动作", + "time": 5.979866 + }, + { + "action_description": "张开的爪夹做闭合抓取导热硅脂的动作", + "annotations": { + "bbox_1768972478781": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1768972478781_1768975810332_ci80m5to1", + "width": 0.096, + "x": 0.4505, + "y": 0.456 + } + ], + "type": "bbox" + }, + "bbox_1768972482859": { + "instances": [ + { + "height": 0.8333333333333334, + "id": "bbox_1768972482859_1768975817468_93mi49kmx", + "width": 0.2739999999999999, + "x": 0.7155, + "y": 0.07200000000000001 + } + ], + "type": "bbox" + }, + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975795567_cbxzk6o2h", + "x": 0.4495, + "y": 0.5093333333333334 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975806040_xwmxnuj40", + "x": 0.5475000000000001, + "y": 0.49733333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的导热硅脂", + "frame": 202, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的导热硅脂，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的导热硅脂\n为了完成把导热硅脂放进白色盒子里的任务：抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升", + "time": 6.733333333333333 + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升", + "annotations": { + "bbox_1768972478781": { + "instances": [ + { + "height": 0.128, + "id": "bbox_1768972478781_1768975856097_375cp2qkc", + "width": 0.096, + "x": 0.4495, + "y": 0.4613333333333333 + } + ], + "type": "bbox" + }, + "bbox_1768972482859": { + "instances": [ + { + "height": 0.5640000000000001, + "id": "bbox_1768972482859_1768975842783_73bkg99gq", + "width": 0.43100000000000016, + "x": 0.5195, + "y": 0.11333333333333334 + } + ], + "type": "bbox" + }, + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975862347_krdeipu9c", + "x": 0.4535, + "y": 0.504 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975865321_ef3vvpa9j", + "x": 0.5465, + "y": 0.5013333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取导热硅脂的爪夹继续向爪夹方向的右前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向爪夹方向的上方靠近白色盒子上方抬升", + "frame": 227, + "progress": 50, + "progress_explanation": "爪夹抓取导热硅脂向上抬升靠近白色盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂在白色盒子的左上方\n为了完成把导热硅脂放在白色盒子里的任务：抓取导热硅脂的爪夹继续向爪夹方向的右前方向移动至白色盒子的上方", + "time": 7.555099 + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的右后方向移动", + "annotations": { + "bbox_1768972482859": { + "instances": [ + { + "height": 0.5746666666666667, + "id": "bbox_1768972482859_1768975878797_lbg6sm8cs", + "width": 0.392, + "x": 0.1575, + "y": 0.031999999999999994 + } + ], + "type": "bbox" + }, + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975871553_1u34c8cwm", + "x": 0.4485, + "y": 0.5026666666666667 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975868956_vqemxacrm", + "x": 0.5475000000000001, + "y": 0.49733333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的左前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹向右后远离白色盒子的方向移动", + "frame": 249, + "progress": -30, + "progress_explanation": "爪夹向右后移动靠近黄色盒子上方，因此进度降低为-30%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于黄色盒子的上方\n为了完成把导热硅脂放在白色盒子里的任务：抓取导热硅脂的爪夹向爪夹方向的左前方向移动至白色盒子的上方", + "time": 8.290429277835052 + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1768972478781": { + "instances": [ + { + "height": 0.12666666666666662, + "id": "bbox_1768972478781_1768975893179_54tzi6s91", + "width": 0.088, + "x": 0.4545, + "y": 0.464 + } + ], + "type": "bbox" + }, + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975898318_lom6v1gle", + "x": 0.4505, + "y": 0.5053333333333333 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975900378_hh1la7ko4", + "x": 0.5455, + "y": 0.4986666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取导热硅脂的爪夹向爪夹方向的上方抬升将抓取的导热硅脂移出黄色盒子中，抓取导热硅脂的爪夹向爪夹方向的左前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "抓取导热硅脂的爪夹没有向爪夹方向的前方移动靠近要放入的白色盒子的上方", + "frame": 279, + "progress": -35, + "progress_explanation": "爪夹向下将导热硅脂放进黄色盒子中，进度降低为-35%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于黄色盒子中\n为了完成把导热硅脂放在白色盒子里的任务：抓取导热硅脂的爪夹向爪夹方向的上方抬升将抓取的导热硅脂移出黄色盒子中", + "time": 9.310933 + }, + { + "action_description": "抓取导热硅脂的的爪夹由闭合重新张开", + "annotations": { + "bbox_1768972478781": { + "instances": [ + { + "height": 0.13199999999999998, + "id": "bbox_1768972478781_1768975912968_dq87hf9el", + "width": 0.07999999999999999, + "x": 0.4335, + "y": 0.4733333333333334 + } + ], + "type": "bbox" + }, + "point_1768972484333": { + "instances": [ + { + "id": "point_1768972484333_1768975905405_eygik6xd7", + "x": 0.3865, + "y": 0.516 + } + ], + "type": "point" + }, + "point_1768972489019": { + "instances": [ + { + "id": "point_1768972489019_1768975903424_fyy7pj3xz", + "x": 0.6134999999999999, + "y": 0.5053333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹下落靠近或触及下方的导热硅脂，张开的爪夹做闭合抓取导热硅脂的动作，抓取导热硅脂的爪夹向爪夹方向的上方竖直向上抬升将抓取的导热硅脂移出黄色盒子中并向爪夹方向的左前方向移动至白色盒子的上方，抓取导热硅脂的爪夹向爪夹方向的下方竖直下落将抓取的导热硅脂放入白色盒子中，抓取导热硅脂的爪夹张开，抓取的导热硅脂落入下方的白色盒子中", + "error_success_analysis": "爪夹抓取导热硅脂在黄色盒子中张开，没有移动至正确的白色盒子中", + "frame": 296, + "progress": -50, + "progress_explanation": "爪夹张开，导热硅脂落进黄色盒子中，进度降低为-50%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄色盒子中的导热硅脂上方\n为了完成把导热硅脂放在白色盒子里的任务：张开的爪夹下落靠近或触及下方的导热硅脂", + "time": 9.866666666666667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768972478781", + "name": "导热硅脂" + }, + { + "color": "#FF9800", + "id": "bbox_1768972482859", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768972484333", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768972489019", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-101805-put-transparent tape-white-box-good/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-101805-put-transparent tape-white-box-good/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..f1fce938c9778686c6d6c079ff98d180816be7e5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-101805-put-transparent tape-white-box-good/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,394 @@ +{ + "task_description": "把透明胶带放进白色盒子里\n开始移动0%\n爪夹靠近透明胶带20%\n爪夹抓取透明胶带40%\n爪夹抓取透明胶带接近白色盒子60%\n爪夹将透明胶带放入白色盒子80%\n爪夹松开，透明胶带落入白色盒子100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1768976004906": { + "instances": [ + { + "height": 0.14533333333333337, + "id": "bbox_1768976004906_1768977662724_m3hrfb4h3", + "width": 0.11399999999999996, + "x": 0.7315, + "y": 0.25866666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768976005469": { + "instances": [ + { + "height": 0.7226666666666667, + "id": "bbox_1768976005469_1768977668459_ekmwb5lb1", + "width": 0.6539999999999999, + "x": 0.15150000000000002, + "y": 0.232 + } + ], + "type": "bbox" + }, + "point_1768976012002": { + "instances": [ + { + "id": "point_1768976012002_1768977676844_r6lsnrqp6", + "x": 0.35150000000000003, + "y": 0.32933333333333337 + } + ], + "type": "point" + }, + "point_1768976015952": { + "instances": [ + { + "id": "point_1768976015952_1768977678841_0a60fglkl", + "x": 0.48950000000000005, + "y": 0.36800000000000005 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后侧移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触透明胶带。\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "time": 0.8719072164948454 + }, + { + "action_description": "张开的爪夹向爪夹方向的上方抬升并略微调整爪夹角度", + "annotations": { + "bbox_1768976004906": { + "instances": [ + { + "height": 0.1466666666666667, + "id": "bbox_1768976004906_1768977686918_8mvfep0mg", + "width": 0.11500000000000003, + "x": 0.7295, + "y": 0.26399999999999996 + } + ], + "type": "bbox" + }, + "bbox_1768976005469": { + "instances": [ + { + "height": 0.7293333333333333, + "id": "bbox_1768976005469_1768977696890_6cxdfplf2", + "width": 0.6539999999999999, + "x": 0.15250000000000002, + "y": 0.22800000000000004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后侧移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向上抬升靠近透明胶带上方并略微调整爪夹角度", + "frame": 48, + "progress": 5, + "progress_explanation": "爪夹开始向上抬升，靠近透明胶带上方，进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的左后侧上方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "time": 1.6 + }, + { + "action_description": "张开的爪夹向爪夹方向的前方移动", + "annotations": { + "bbox_1768976004906": { + "instances": [ + { + "height": 0.14533333333333334, + "id": "bbox_1768976004906_1768977711328_draj39roe", + "width": 0.11399999999999996, + "x": 0.7315, + "y": 0.26266666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768976005469": { + "instances": [ + { + "height": 0.724, + "id": "bbox_1768976005469_1768977723898_d1mo036oc", + "width": 0.666, + "x": 0.1395, + "y": 0.22666666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后侧移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向前移动至抓取物透明胶带的上方", + "frame": 73, + "progress": 10, + "progress_explanation": "爪夹向前移动靠近前方的透明胶带，进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的侧边上方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带", + "time": 2.4229381443298967 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方下落并调整爪夹角度", + "annotations": { + "bbox_1768976004906": { + "instances": [ + { + "height": 0.14933333333333337, + "id": "bbox_1768976004906_1768977747509_5jg7n7dmp", + "width": 0.11699999999999991, + "x": 0.7295, + "y": 0.26 + } + ], + "type": "bbox" + }, + "bbox_1768976005469": { + "instances": [ + { + "height": 0.7213333333333334, + "id": "bbox_1768976005469_1768977736252_0q6z9vqcs", + "width": 0.6559999999999999, + "x": 0.15150000000000002, + "y": 0.22666666666666668 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后侧移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方移动，桌子上的透明胶带在张开的爪夹中间", + "frame": 104, + "progress": 20, + "progress_explanation": "爪夹下落靠近下方的透明胶带，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上透明胶带两侧\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹做闭合抓取透明胶带的动作", + "time": 3.466666666666667 + }, + { + "action_description": "张开的爪夹做闭合抓取透明胶带的动作", + "annotations": { + "bbox_1768976004906": { + "instances": [ + { + "height": 0.1506666666666667, + "id": "bbox_1768976004906_1768977764646_tehbogpxr", + "width": 0.12599999999999997, + "x": 0.7215, + "y": 0.25866666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768976005469": { + "instances": [ + { + "height": 0.728, + "id": "bbox_1768976005469_1768977775418_x7nayjsiu", + "width": 0.6529999999999999, + "x": 0.1535, + "y": 0.22666666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后侧移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的透明胶带", + "frame": 141, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的透明胶带，胶带提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的透明胶带\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "time": 4.683762886597939 + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的后侧上方抬升", + "annotations": { + "bbox_1768976004906": { + "instances": [ + { + "height": 0.16, + "id": "bbox_1768976004906_1768977812270_7zwkx1syz", + "width": 0.183, + "x": 0.6555, + "y": 0.014666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768976005469": { + "instances": [ + { + "height": 0.7213333333333334, + "id": "bbox_1768976005469_1768977797688_ersn39w88", + "width": 0.6539999999999999, + "x": 0.15150000000000002, + "y": 0.22933333333333333 + } + ], + "type": "bbox" + }, + "point_1768976015952": { + "instances": [ + { + "id": "point_1768976015952_1768977788486_kxx8x18s2", + "x": 0.7555, + "y": 0.05466666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的左后侧移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的上方靠近白色盒子上方抬升并略微向后靠近白色盒子上方移动", + "frame": 174, + "progress": 50, + "progress_explanation": "爪夹抓取透明胶带向上抬升靠近白色盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带在白色盒子的右侧上方\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的后方移动至白色盒子的上方", + "time": 5.814175257731958 + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的左后方向移动并略微下落", + "annotations": { + "bbox_1768976004906": { + "instances": [ + { + "height": 0.20266666666666666, + "id": "bbox_1768976004906_1768977820288_6wd8iu5jv", + "width": 0.15899999999999997, + "x": 0.3745, + "y": 0.3173333333333333 + } + ], + "type": "bbox" + }, + "bbox_1768976005469": { + "instances": [ + { + "height": 0.7266666666666667, + "id": "bbox_1768976005469_1768977832144_p981kmwu3", + "width": 0.655, + "x": 0.15250000000000002, + "y": 0.22400000000000003 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的左后方向移动至白色盒子上方", + "frame": 189, + "progress": 60, + "progress_explanation": "爪夹向左后移动至白色盒子上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于白色盒子的上方\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的下方下落将抓取的透明胶带放进白色盒子里", + "time": 6.3155 + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的下方下落", + "annotations": { + "bbox_1768976004906": { + "instances": [ + { + "height": 0.16133333333333333, + "id": "bbox_1768976004906_1768977847992_vf9xhu21g", + "width": 0.13399999999999998, + "x": 0.4085, + "y": 0.456 + } + ], + "type": "bbox" + }, + "bbox_1768976005469": { + "instances": [ + { + "height": 0.7306666666666666, + "id": "bbox_1768976005469_1768977853806_168s4leei", + "width": 0.6539999999999999, + "x": 0.15150000000000002, + "y": 0.22266666666666668 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的下方移动将抓取的透明胶带放入白色盒子", + "frame": 210, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的透明胶带放在白色盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于白色盒子中\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "time": 7 + }, + { + "action_description": "抓取透明胶带的爪夹由闭合重新张开", + "annotations": { + "bbox_1768976004906": { + "instances": [ + { + "height": 0.15999999999999998, + "id": "bbox_1768976004906_1768977867242_65rykowfd", + "width": 0.11900000000000004, + "x": 0.4385, + "y": 0.48000000000000004 + } + ], + "type": "bbox" + }, + "bbox_1768976005469": { + "instances": [ + { + "height": 0.7440000000000001, + "id": "bbox_1768976005469_1768977875226_5e6twmw1z", + "width": 0.6539999999999999, + "x": 0.15150000000000002, + "y": 0.20800000000000002 + } + ], + "type": "bbox" + }, + "point_1768976012002": { + "instances": [ + { + "id": "point_1768976012002_1768977890753_wbyul2tw8", + "x": 0.3705, + "y": 0.5333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "已完成把透明胶带放进白色盒子里的任务", + "error_success_analysis": "抓取透明胶带的爪夹重新张开，抓取的透明胶带落入下方的白色盒子中", + "frame": 241, + "progress": 100, + "progress_explanation": "爪夹张开，透明胶带落入白色盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于白色盒子中的透明胶带上方\n把透明胶带放进白色盒子里已完成", + "time": 8.023999 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768976004906", + "name": "透明胶带" + }, + { + "color": "#FF9800", + "id": "bbox_1768976005469", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768976012002", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768976015952", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-101805-put-transparent tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-101805-put-transparent tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..889e85e0a7cfb2c9242811a56450855354360a9d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-101805-put-transparent tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,414 @@ +{ + "task_description": "把透明胶带放进白色盒子里\n开始移动0%\n爪夹靠近透明胶带20%\n爪夹抓取透明胶带40%\n爪夹抓取透明胶带接近白色盒子60%\n爪夹将透明胶带放入白色盒子80%\n爪夹松开，透明胶带落入白色盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1768978172602": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1768978172602_1768978795456_qb2zdi5ve", + "width": 0.07699999999999996, + "x": 0.5865, + "y": 0.7293333333333333 + } + ], + "type": "bbox" + }, + "bbox_1768978183913": { + "instances": [ + { + "height": 0.27599999999999997, + "id": "bbox_1768978183913_1768978801284_u1ra3aexo", + "width": 0.21399999999999997, + "x": 0.5205, + "y": 0.4013333333333334 + } + ], + "type": "bbox" + }, + "point_1768978185741": { + "instances": [ + { + "id": "point_1768978185741_1768978808294_vvfs6ot74", + "x": 0.3875, + "y": 0.5173333333333333 + } + ], + "type": "point" + }, + "point_1768978188482": { + "instances": [ + { + "id": "point_1768978188482_1768978810377_kubogqyjm", + "x": 0.6134999999999999, + "y": 0.5066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触透明胶带。\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "time": 0.25608247422680414 + }, + { + "action_description": "张开的爪夹向爪夹方向的右下方向移动", + "annotations": { + "bbox_1768978172602": { + "instances": [ + { + "height": 0.1506666666666667, + "id": "bbox_1768978172602_1768978829141_8967ctwk1", + "width": 0.11700000000000008, + "x": 0.5055, + "y": 0.48133333333333334 + } + ], + "type": "bbox" + }, + "bbox_1768978183913": { + "instances": [ + { + "height": 0.364, + "id": "bbox_1768978183913_1768978822401_igb91ahsn", + "width": 0.40800000000000003, + "x": 0.34550000000000003, + "y": 0 + } + ], + "type": "bbox" + }, + "point_1768978185741": { + "instances": [ + { + "id": "point_1768978185741_1768978817071_g8qoifmm4", + "x": 0.3835, + "y": 0.516 + } + ], + "type": "point" + }, + "point_1768978188482": { + "instances": [ + { + "id": "point_1768978188482_1768978814369_4ojgukeya", + "x": 0.6134999999999999, + "y": 0.5186666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的下方下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向右下靠近抓取物透明胶带上方移动", + "frame": 33, + "progress": 10, + "progress_explanation": "爪夹开始向右下移动，靠近透明胶带上方，进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的上方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的下方下落靠近或触及下方的透明胶带", + "time": 1.1096907216494847 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落并调整爪夹角度", + "annotations": { + "bbox_1768978172602": { + "instances": [ + { + "height": 0.3146666666666666, + "id": "bbox_1768978172602_1768978835650_cmbh5w0yx", + "width": 0.23699999999999993, + "x": 0.49750000000000005, + "y": 0.404 + } + ], + "type": "bbox" + }, + "point_1768978185741": { + "instances": [ + { + "id": "point_1768978185741_1768978843246_o7rpdk0g2", + "x": 0.3835, + "y": 0.5213333333333333 + } + ], + "type": "point" + }, + "point_1768978188482": { + "instances": [ + { + "id": "point_1768978188482_1768978846057_mf02zm6ts", + "x": 0.6255, + "y": 0.532 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方移动，桌子上的透明胶带在张开的爪夹中间", + "frame": 61, + "progress": 20, + "progress_explanation": "爪夹下落靠近下方的透明胶带，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上透明胶带侧边两侧\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹做闭合抓取透明胶带的动作", + "time": 2.030399 + }, + { + "action_description": "张开的爪夹做闭合抓取透明胶带的动作", + "annotations": { + "bbox_1768978172602": { + "instances": [ + { + "height": 0.3293333333333333, + "id": "bbox_1768978172602_1768978858300_xip804dg0", + "width": 0.25199999999999995, + "x": 0.4525, + "y": 0.3893333333333333 + } + ], + "type": "bbox" + }, + "point_1768978185741": { + "instances": [ + { + "id": "point_1768978185741_1768978850191_r5hkglfo7", + "x": 0.4575, + "y": 0.5053333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的透明胶带", + "frame": 99, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的透明胶带，胶带提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的透明胶带\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "time": 3.3142268041237113 + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的上方抬升", + "annotations": { + "bbox_1768978172602": { + "instances": [ + { + "height": 0.31333333333333335, + "id": "bbox_1768978172602_1768978869999_ul7yiyf3x", + "width": 0.251, + "x": 0.4545, + "y": 0.38933333333333336 + } + ], + "type": "bbox" + }, + "bbox_1768978183913": { + "instances": [ + { + "height": 0.4146666666666667, + "id": "bbox_1768978183913_1768978879622_566uogob4", + "width": 0.32199999999999995, + "x": 0.38150000000000006, + "y": 0.13333333333333333 + } + ], + "type": "bbox" + }, + "point_1768978185741": { + "instances": [ + { + "id": "point_1768978185741_1768978891687_mibgchjd2", + "x": 0.45949999999999996, + "y": 0.504 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的前方移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的上方靠近白色盒子上方抬升", + "frame": 129, + "progress": 50, + "progress_explanation": "爪夹抓取透明胶带向上抬升靠近白色盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带在白色盒子的右侧上方\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的前方移动至白色盒子的上方", + "time": 4.294020618556701 + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的前方移动并略微下落", + "annotations": { + "bbox_1768978172602": { + "instances": [ + { + "height": 0.3093333333333333, + "id": "bbox_1768978172602_1768978919984_66w42i4ug", + "width": 0.24699999999999997, + "x": 0.4575, + "y": 0.39066666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768978183913": { + "instances": [ + { + "height": 0.5493333333333333, + "id": "bbox_1768978183913_1768978904367_i7e0mevjq", + "width": 0.38200000000000006, + "x": 0.3445, + "y": 0.21466666666666667 + } + ], + "type": "bbox" + }, + "point_1768978185741": { + "instances": [ + { + "id": "point_1768978185741_1768978899191_0fm9dg5zq", + "x": 0.4585, + "y": 0.5026666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的前方移动至白色盒子上方", + "frame": 157, + "progress": 60, + "progress_explanation": "爪夹向前移动至白色盒子上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于白色盒子的上方\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的下方下落将抓取的透明胶带放进白色盒子里", + "time": 5.2344 + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的下方下落", + "annotations": { + "bbox_1768978172602": { + "instances": [ + { + "height": 0.3173333333333334, + "id": "bbox_1768978172602_1768978932784_tkti16ycv", + "width": 0.24799999999999994, + "x": 0.4575, + "y": 0.3853333333333333 + } + ], + "type": "bbox" + }, + "bbox_1768978183913": { + "instances": [ + { + "height": 0.764, + "id": "bbox_1768978183913_1768978943731_hdfol1eue", + "width": 0.5509999999999999, + "x": 0.2685, + "y": 0.005333333333333333 + } + ], + "type": "bbox" + }, + "point_1768978185741": { + "instances": [ + { + "id": "point_1768978185741_1768978948344_41viqwmy9", + "x": 0.4605, + "y": 0.5013333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的下方移动将抓取的透明胶带放入白色盒子", + "frame": 185, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的透明胶带放在白色盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于白色盒子中\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "time": 6.1632 + }, + { + "action_description": "抓取透明胶带的爪夹由闭合重新张开", + "annotations": { + "bbox_1768978172602": { + "instances": [ + { + "height": 0.17733333333333334, + "id": "bbox_1768978172602_1768978971324_i2qn4d33f", + "width": 0.14099999999999993, + "x": 0.4325000000000001, + "y": 0.484 + } + ], + "type": "bbox" + }, + "bbox_1768978183913": { + "instances": [ + { + "height": 0.7680000000000001, + "id": "bbox_1768978183913_1768978959603_gcx01ceci", + "width": 0.5359999999999999, + "x": 0.27749999999999997, + "y": 0.002666666666666666 + } + ], + "type": "bbox" + }, + "point_1768978185741": { + "instances": [ + { + "id": "point_1768978185741_1768978952112_xyv4s813c", + "x": 0.3845, + "y": 0.5146666666666666 + } + ], + "type": "point" + }, + "point_1768978188482": { + "instances": [ + { + "id": "point_1768978188482_1768978953780_c9n092pil", + "x": 0.6134999999999999, + "y": 0.504 + } + ], + "type": "point" + } + }, + "correction_plan": "已完成把透明胶带放进白色盒子里的任务", + "error_success_analysis": "抓取透明胶带的爪夹重新张开，抓取的透明胶带落入下方的白色盒子中", + "frame": 205, + "progress": 100, + "progress_explanation": "爪夹张开，透明胶带落入白色盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于白色盒子中的透明胶带上方\n把透明胶带放进白色盒子里已完成", + "time": 6.8256 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768978172602", + "name": "透明胶带" + }, + { + "color": "#FF9800", + "id": "bbox_1768978183913", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768978185741", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768978188482", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-103114-put-transparent tape-white-box-mix/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-103114-put-transparent tape-white-box-mix/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..83577701bb2554ca38a34c7dc847d6ec2b5bf9b5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-103114-put-transparent tape-white-box-mix/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,706 @@ +{ + "task_description": "把透明胶带放进白色盒子里\n开始移动0%\n爪夹靠近透明胶带20%\n爪夹抓取透明胶带40%\n爪夹抓取透明胶带接近白色盒子60%\n爪夹将透明胶带放入白色盒子80%\n爪夹松开，透明胶带落入白色盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1769056355334": { + "instances": [ + { + "height": 0.117181314330958, + "id": "bbox_1769056355334_1769056822582_cswvl3dk9", + "width": 0.09976247030878857, + "x": 0.45605700712589076, + "y": 0.38638163103721296 + } + ], + "type": "bbox" + }, + "bbox_1769056356896": { + "instances": [ + { + "height": 0.36737925574030084, + "id": "bbox_1769056356896_1769056833051_hwd96kah6", + "width": 0.40142517814726836, + "x": 0.34916864608076004, + "y": 0 + } + ], + "type": "bbox" + }, + "point_1769056361178": { + "instances": [ + { + "id": "point_1769056361178_1769056849970_ipx4m1zba", + "x": 0.7315914489311164, + "y": 0.012668250197941409 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的前方向移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触透明胶带。\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的前方移动至透明胶带的上方", + "time": 0.282133 + }, + { + "action_description": "张开的爪夹向爪夹方向的前方移动后下落并调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并调整爪夹角度使其垂直于桌面，张开的爪夹向爪夹方向的后侧移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的前方靠近透明胶带移动并下落调整爪夹角度", + "frame": 53, + "progress": 15, + "progress_explanation": "爪夹向前移动靠近前下方的透明胶带，因此进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的左前方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹向爪夹方向的上方抬升并调整爪夹角度使其垂直于桌面", + "time": 1.7724226469072166, + "annotations": { + "bbox_1769056355334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056355334_1769061712069_5zcebzwqa", + "x": 0.4535, + "y": 0.38533333333333336, + "width": 0.10300000000000002, + "height": 0.11600000000000002 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061718340_ezdydovf5", + "x": 0.35250000000000004, + "y": 0.0013333333333333335, + "width": 0.396, + "height": 0.36800000000000005 + } + ] + }, + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769061727028_kzuurfwhh", + "x": 0.41850000000000004, + "y": 0.42133333333333334 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右侧移动并合并爪夹", + "correction_plan": "闭合爪夹重新张开，并向爪夹方向的上方竖直向上抬升，调整爪夹角度使其垂直于桌面，张开的爪夹向爪夹方向的左后侧移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹没有向后移动至透明胶带处做闭合抓取的动作", + "frame": 98, + "progress": 10, + "progress_explanation": "在透明胶带左前方爪夹向右闭合，进度降低为10%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上透明胶带的前方\n为了完成把透明胶带放进白色盒子里的任务：闭合爪夹重新张开，并向爪夹方向的上方竖直向上抬升", + "time": 3.2666666666666666, + "annotations": { + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769061734695_gnlv4m9pl", + "x": 0.43950000000000006, + "y": 0.40800000000000003 + } + ] + }, + "bbox_1769056355334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056355334_1769061740519_7aapj50lh", + "x": 0.4525, + "y": 0.3893333333333333, + "width": 0.10400000000000001, + "height": 0.11733333333333337 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061790547_ispnj5gw4", + "x": 0.34950000000000003, + "y": 0, + "width": 0.40300000000000014, + "height": 0.36933333333333335 + } + ] + } + } + }, + { + "action_description": "闭合的爪夹向爪夹方向的上方竖直向上抬升后向右略微移动", + "correction_plan": "张开的爪夹向爪夹方向的下方移动使爪夹重新出现在画面中，张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的前方移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "爪夹向上抬升远离抓取物透明胶带", + "frame": 250, + "progress": -3, + "progress_explanation": "爪夹向上抬升移动远离桌子上的透明胶带，进度降低为-3%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上方，未全部出现在画面中\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹向爪夹方向的下方移动使爪夹重新出现在画面中", + "time": 8.316752420103093, + "annotations": { + "bbox_1769056355334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056355334_1769061807534_mgdq6c0zj", + "x": 0.4645, + "y": 0.388, + "width": 0.09799999999999995, + "height": 0.11866666666666668 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061813855_u7preahj0", + "x": 0.34750000000000003, + "y": 0.008, + "width": 0.4029999999999999, + "height": 0.36133333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左下方向移动", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右前方向移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "爪夹向左前方向下落至桌子上的黑色刷子的上方，偏移抓取物透明胶带", + "frame": 299, + "progress": -5, + "progress_explanation": "爪夹向下移动靠近错误的抓取物黑色刷子，进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上的黑色刷子上方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右前方向移动至透明胶带的侧边上方", + "time": 9.971013557216494, + "annotations": { + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061823055_y82yx1syv", + "x": 0.34750000000000003, + "y": 0.005333333333333333, + "width": 0.41999999999999993, + "height": 0.3546666666666667 + } + ] + }, + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769061829377_7l40zeqcz", + "x": 0.4445, + "y": 0.6226666666666667 + } + ] + }, + "point_1769056365648": { + "type": "point", + "instances": [ + { + "id": "point_1769056365648_1769061831429_k18bhfzxb", + "x": 0.4685, + "y": 0.524 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取黑色刷子的动作", + "correction_plan": "抓取黑色刷子的爪夹张开，并向爪夹方向的上方抬升，张开的爪夹向爪夹方向的右前方向移动至桌子上透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹闭合抓取爪夹中间的黑色刷子，没有向右前移动至正确的抓取物透明胶带", + "frame": 340, + "progress": -10, + "progress_explanation": "爪夹闭合抓取黑色刷子，进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的黑色刷子\n为了完成把透明胶带放进白色盒子里的任务：抓取黑色刷子的爪夹张开，并向爪夹方向的上方抬升", + "time": 11.338233, + "annotations": { + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769061837761_dlgymzqon", + "x": 0.4655, + "y": 0.6013333333333333 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061843686_bcgjr6q62", + "x": 0.34750000000000003, + "y": 0.004, + "width": 0.4290000000000001, + "height": 0.372 + } + ] + } + } + }, + { + "action_description": "抓取黑色刷子的爪夹向爪夹方向的上方抬升", + "correction_plan": "抓取黑色刷子的爪夹重新张开，并调整爪夹角度使其垂直于桌面，张开的爪夹向爪夹方向的前方移动至桌子上透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "爪夹抓取错误的抓取物黑色刷子向上抬升", + "frame": 365, + "progress": -15, + "progress_explanation": "爪夹抓取黑色刷子抬升靠近白色盒子盒子上方，进度降低为-15%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取黑色刷子位于桌子的上方\n为了完成把透明胶带放进白色盒子里的任务：抓取黑色刷子的爪夹重新张开，并调整爪夹角度使其垂直于桌面", + "time": 12.152456814948454, + "annotations": { + "bbox_1769056355334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056355334_1769061850893_kz56n6aul", + "x": 0.4625, + "y": 0.392, + "width": 0.10200000000000005, + "height": 0.11600000000000002 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061873347_0lc4n2w62", + "x": 0.3465, + "y": 0.004, + "width": 0.402, + "height": 0.3626666666666667 + } + ] + } + } + }, + { + "action_description": "抓取黑色刷子的爪夹重新张开", + "correction_plan": "张开的爪夹调整爪夹角度垂直于桌面，张开的爪夹向爪夹方向的右前方向移动至桌子上透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取错误目标物的爪夹张开，黑色刷子重新落在桌子上", + "frame": 388, + "progress": 5, + "progress_explanation": "爪夹重新张开，靠近下方的透明胶带，进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子的上方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹调整爪夹角度垂直于桌面", + "time": 12.942866, + "annotations": { + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769061882134_u9cnsrtc9", + "x": 0.49750000000000005, + "y": 0.03333333333333333 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061888337_s8dronxbl", + "x": 0.3465, + "y": 0.010666666666666666, + "width": 0.403, + "height": 0.35866666666666663 + } + ] + }, + "bbox_1769056355334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056355334_1769061893570_av3e506lm", + "x": 0.4615, + "y": 0.39066666666666666, + "width": 0.10099999999999998, + "height": 0.1213333333333333 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方移动并略微调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的左后方向移动至桌子上透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方靠近透明胶带移动", + "frame": 402, + "progress": 10, + "progress_explanation": "张开的爪夹向下靠近下方的透明胶带，进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的上前方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹向爪夹方向的左后方向移动至桌子上透明胶带的侧边上方", + "time": 13.383699, + "annotations": { + "bbox_1769056355334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056355334_1769061899708_e5p2m2hx1", + "x": 0.4655, + "y": 0.39066666666666666, + "width": 0.09799999999999995, + "height": 0.11866666666666668 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061909753_6lj1u4y3g", + "x": 0.35050000000000003, + "y": 0.0013333333333333333, + "width": 0.4, + "height": 0.3693333333333334 + } + ] + }, + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769061918740_ktj9oqrw4", + "x": 0.47350000000000003, + "y": 0.3346666666666667 + } + ] + }, + "point_1769056365648": { + "type": "point", + "instances": [ + { + "id": "point_1769056365648_1769061921283_7dbd22gx2", + "x": 0.5225000000000001, + "y": 0.2706666666666667 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的上方略微抬升并向爪夹方向的左侧移动并下落", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "爪夹向爪夹方向的左侧移动避开右侧抓取触及的黄色箱子并向下靠近透明胶带移动", + "frame": 428, + "progress": 18, + "progress_explanation": "爪夹向左略微移动避开右侧的黄色盒子下落靠近下方的透明胶带，进度提升为18%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的上方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带", + "time": 14.265366, + "annotations": { + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769061927169_0vk7xx8sb", + "x": 0.4505, + "y": 0.30400000000000005 + } + ] + }, + "bbox_1769056355334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056355334_1769061932832_wv9bde4yt", + "x": 0.46449999999999997, + "y": 0.39066666666666666, + "width": 0.09900000000000002, + "height": 0.11866666666666668 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061942241_9ghwl5f9f", + "x": 0.3465, + "y": 0.0026666666666666666, + "width": 0.403, + "height": 0.36666666666666664 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方移动", + "correction_plan": "张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "透明胶带上方的爪夹下落后透明胶带的侧边在爪夹中间", + "frame": 442, + "progress": 20, + "progress_explanation": "爪夹下落靠近下方的透明胶带，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上透明胶带的侧边两侧\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹做闭合抓取透明胶带的动作", + "time": 14.723833, + "annotations": { + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061955782_wpjoc8igv", + "x": 0.34550000000000003, + "y": 0.0026666666666666666, + "width": 0.392, + "height": 0.36666666666666664 + } + ] + }, + "bbox_1769056355334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056355334_1769061961740_ffg6qxhz2", + "x": 0.46950000000000003, + "y": 0.39066666666666666, + "width": 0.09299999999999997, + "height": 0.11866666666666668 + } + ] + }, + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769061964788_1e1rgmsna", + "x": 0.4385, + "y": 0.48000000000000004 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取透明胶带的动作", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的透明胶带", + "frame": 472, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的透明胶带，胶带提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的透明胶带\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "time": 15.728933, + "annotations": { + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769061968764_fwrsiemv5", + "x": 0.47250000000000003, + "y": 0.4746666666666667 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061976162_p6nqygdsa", + "x": 0.35050000000000003, + "y": 0.005333333333333333, + "width": 0.38699999999999996, + "height": 0.364 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的上方抬升", + "correction_plan": "抓取透明胶带的爪夹继续向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的上方靠近白色盒子上方抬升", + "frame": 483, + "progress": 50, + "progress_explanation": "爪夹抓取透明胶带向上抬升靠近白色盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带在白色盒子的左后侧的上方\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的右前方向移动至白色盒子的上方", + "time": 16.097233372680414, + "annotations": { + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769061991074_hns4vxmgy", + "x": 0.47350000000000003, + "y": 0.04933333333333333 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769061998716_y2b9peeqg", + "x": 0.34750000000000003, + "y": 0.006666666666666667, + "width": 0.4040000000000001, + "height": 0.3613333333333334 + } + ] + }, + "bbox_1769056355334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056355334_1769062058636_m5r6yb6ss", + "x": 0.4565, + "y": 0.004, + "width": 0.11200000000000002, + "height": 0.12666666666666665 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的右前方向移动", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的右前方向移动至白色盒子上方", + "frame": 492, + "progress": 60, + "progress_explanation": "爪夹向右前移动至白色盒子上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于白色盒子的上方\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的下方下落将抓取的透明胶带放进白色盒子里", + "time": 16.416633, + "annotations": { + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769062006052_tpv5z5x72", + "x": 0.3505, + "y": 0.004, + "width": 0.399, + "height": 0.3626666666666667 + } + ] + }, + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769062015296_bjri0sj1s", + "x": 0.5695, + "y": 0.034666666666666665 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的下方下落", + "correction_plan": "抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的下方移动将抓取的透明胶带放入白色盒子", + "frame": 506, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的透明胶带放在白色盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于白色盒子中\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "time": 16.875099, + "annotations": { + "point_1769056361178": { + "type": "point", + "instances": [ + { + "id": "point_1769056361178_1769062023472_hklv3j9ua", + "x": 0.5545, + "y": 0.16533333333333333 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769062030781_a2k1c6hbp", + "x": 0.34450000000000003, + "y": 0.004, + "width": 0.40499999999999997, + "height": 0.36666666666666675 + } + ] + }, + "bbox_1769056355334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056355334_1769062043961_5j4jhv42t", + "x": 0.5445, + "y": 0.1, + "width": 0.10099999999999998, + "height": 0.11733333333333335 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹由闭合重新张开", + "correction_plan": "已完成把透明胶带放进白色盒子里的任务", + "error_success_analysis": "抓取透明胶带的爪夹重新张开，抓取的透明胶带落入下方白色盒子中", + "frame": 516, + "progress": 100, + "progress_explanation": "爪夹张开，透明胶带落入白色盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于白色盒子的上方\n把透明胶带放进白色盒子里已完成", + "time": 17.206133695360826, + "annotations": { + "point_1769056365648": { + "type": "point", + "instances": [ + { + "id": "point_1769056365648_1769062069354_zwecmmu0b", + "x": 0.5975, + "y": 0.14133333333333334 + } + ] + }, + "bbox_1769056356896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769056356896_1769062076488_q9bjxez8g", + "x": 0.3505, + "y": 0, + "width": 0.40099999999999997, + "height": 0.36666666666666664 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769056355334", + "name": "透明胶带" + }, + { + "color": "#FF9800", + "id": "bbox_1769056356896", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769056361178", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769056365648", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-105822-put-transparent tape-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-105822-put-transparent tape-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..184d27ef07796ef16e3019363a4751cec1885847 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-105822-put-transparent tape-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,596 @@ +{ + "task_description": "把透明胶带放进白色盒子里\n开始移动0%\n爪夹靠近透明胶带20%\n爪夹抓取透明胶带40%\n爪夹抓取透明胶带接近白色盒子60%\n爪夹将透明胶带放入白色盒子80%\n爪夹松开，透明胶带落入白色盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触透明胶带。\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至透明胶带的上方", + "time": 0.39130585206185564, + "annotations": { + "bbox_1769062898392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062898392_1769066373428_ge6xnmtm2", + "x": 0.7975000000000001, + "y": 0.412, + "width": 0.09999999999999991, + "height": 0.128 + } + ] + }, + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066382766_l6j9n39gt", + "x": 0.1835, + "y": 0.004, + "width": 0.449, + "height": 0.43200000000000005 + } + ] + }, + "point_1769062905252": { + "type": "point", + "instances": [ + { + "id": "point_1769062905252_1769066393538_i9zh2jqx0", + "x": 0.5545, + "y": 0.6573333333333333 + } + ] + }, + "point_1769062908168": { + "type": "point", + "instances": [ + { + "id": "point_1769062908168_1769066395766_xdky6rn2z", + "x": 0.6895, + "y": 0.6253333333333334 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹上方微微抬升并向爪夹方向的右前方向略微移动调整爪夹方向", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，张开的爪夹向爪夹方向的右前方向移动至桌子上透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "", + "frame": 33, + "progress": 5, + "progress_explanation": "爪夹向", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的左后侧的上方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面", + "time": 1.1, + "annotations": { + "point_1769062905252": { + "type": "point", + "instances": [ + { + "id": "point_1769062905252_1769066401148_5ug6kgxeb", + "x": 0.6235, + "y": 0.30400000000000005 + } + ] + }, + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066409711_ukky2ed6k", + "x": 0.1815, + "y": 0.0013333333333333333, + "width": 0.45400000000000007, + "height": 0.43600000000000005 + } + ] + }, + "bbox_1769062898392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062898392_1769066417400_ofbfwuzv9", + "x": 0.8035, + "y": 0.412, + "width": 0.09100000000000001, + "height": 0.128 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向右前方向移动并下落后调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向后右后方向移动至桌子上透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "爪夹没有向右下方移动至桌子上抓取物透明胶带的上方", + "frame": 62, + "progress": -5, + "progress_explanation": "爪夹向下落靠近桌子上的彩笔，因此进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的左侧\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹向爪夹方向的上方抬升", + "time": 2.066666666666667, + "annotations": { + "bbox_1769062898392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062898392_1769066437146_3olsa7so3", + "x": 0.8015000000000001, + "y": 0.4146666666666667, + "width": 0.09499999999999993, + "height": 0.12133333333333335 + } + ] + }, + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066450057_oowsl9vdx", + "x": 0.17850000000000002, + "y": 0.0026666666666666666, + "width": 0.45599999999999996, + "height": 0.4346666666666667 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方略微移动并做闭合抓取的动作", + "correction_plan": "闭合的爪夹向爪夹方向的上方抬升并重新张开爪夹，张开的爪夹向爪夹方向的右后方向移动至桌子上透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "爪夹没有向右后方向靠近透明胶带移动后做抓取动作", + "frame": 105, + "progress": -10, + "progress_explanation": "爪夹在错误的目标物彩笔上方闭合，因此进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上透明胶带的左侧\n为了完成把透明胶带放进白色盒子里的任务：闭合的爪夹向爪夹方向的上方抬升并重新张开", + "time": 3.5, + "annotations": { + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066459210_ycz4ec7x8", + "x": 0.1805, + "y": 0, + "width": 0.453, + "height": 0.436 + } + ] + }, + "bbox_1769062898392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062898392_1769066466490_hv3edu1r8", + "x": 0.7994999999999999, + "y": 0.41200000000000003, + "width": 0.09900000000000002, + "height": 0.12533333333333332 + } + ] + } + } + }, + { + "action_description": "闭合的爪夹向方向的上方抬升", + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的右前方向移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "闭合的爪夹向上抬升后靠近爪夹右侧下方的透明胶带的上方", + "frame": 120, + "progress": -3, + "progress_explanation": "爪夹向上抬升靠近桌子上透明胶带的上方，进度提升为-3%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上透明胶带的左后侧的上方\n为了完成把透明胶带放进白色盒子里的任务：闭合的爪夹重新张开并向爪夹方向的右前方向移动至透明胶带的侧边上方", + "time": 4, + "annotations": { + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066481942_oesfbum6q", + "x": 0.1805, + "y": 0, + "width": 0.453, + "height": 0.43733333333333335 + } + ] + } + } + }, + { + "action_description": "闭合的爪夹重新张开", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，张开的张开向爪夹方向的右前方向移动至桌子上透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "闭合的爪夹在透明胶带的左后方重新张开", + "frame": 141, + "progress": 2, + "progress_explanation": "爪夹重新张开靠近透明胶带，进度提升为2%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的左后侧的上方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面", + "time": 4.7, + "annotations": { + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066491630_i3r8r3300", + "x": 0.1825, + "y": 0, + "width": 0.45199999999999996, + "height": 0.44000000000000006 + } + ] + }, + "point_1769062905252": { + "type": "point", + "instances": [ + { + "id": "point_1769062905252_1769066496586_gel0ci9jt", + "x": 0.7045, + "y": 0.31333333333333335 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下前方向下落并调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的上方竖直向上抬升，张开的爪夹向爪夹方向的右侧移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "爪夹向下落至透明胶带的左侧，没有向右移动至透明胶带上方", + "frame": 162, + "progress": -5, + "progress_explanation": "爪夹向下落至透明胶带的左侧的桌面上，因此进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的左侧\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹向爪夹方向的上方竖直向上抬升", + "time": 5.4, + "annotations": { + "bbox_1769062898392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062898392_1769066506098_7gl8nkb3a", + "x": 0.8025, + "y": 0.41333333333333333, + "width": 0.09399999999999994, + "height": 0.13333333333333328 + } + ] + }, + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066510851_6ga7x1377", + "x": 0.1805, + "y": 0.004, + "width": 0.454, + "height": 0.4346666666666667 + } + ] + } + } + }, + { + "action_description": "张卡的爪夹做闭合抓取的动作", + "correction_plan": "闭合的爪夹重新张开并向爪夹方向右侧移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹没有向右移动至抓取物透明胶带的方向做闭合抓取动作", + "frame": 207, + "progress": -10, + "progress_explanation": "张开的爪夹在桌面上闭合，进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹闭合，位于透明胶带左侧的桌面上\n为了完成把透明胶带放进白色盒子里的任务：闭合的爪夹重新张开并向爪夹方向右侧移动至透明胶带的侧边上方", + "time": 6.9, + "annotations": { + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066518898_7u7u2n5zk", + "x": 0.1825, + "y": 0.006666666666666667, + "width": 0.45, + "height": 0.4333333333333334 + } + ] + }, + "bbox_1769062898392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062898392_1769066523302_n8qirdfjn", + "x": 0.8005000000000001, + "y": 0.416, + "width": 0.09699999999999989, + "height": 0.12133333333333342 + } + ] + } + } + }, + { + "action_description": "闭合的爪夹向爪夹方向的上方抬升", + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的右前方向移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "闭合的爪夹向上抬升后靠近爪夹右侧下方的透明胶带的上方", + "frame": 226, + "progress": -2, + "progress_explanation": "爪夹向上抬升靠近抓取物透明胶带的上方，进度提升为-2%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上透明胶带的左后侧的上方\n为了完成把透明胶带放进白色盒子里的任务：闭合的爪夹重新张开并向爪夹方向的右前方向移动至透明胶带的侧边上方", + "time": 7.533333333333333, + "annotations": { + "bbox_1769062898392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062898392_1769066546476_6osxqosr7", + "x": 0.8045, + "y": 0.4106666666666666, + "width": 0.09299999999999997, + "height": 0.12266666666666672 + } + ] + }, + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066557798_jgxrdpb31", + "x": 0.1845, + "y": 0.009333333333333334, + "width": 0.449, + "height": 0.42933333333333334 + } + ] + } + } + }, + { + "action_description": "闭合的爪夹重新张开", + "correction_plan": "张开的爪夹向爪夹方向右侧移动至透明胶带的侧边上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "闭合的爪夹在透明胶带的左侧重新张开", + "frame": 254, + "progress": 3, + "progress_explanation": "爪夹重新张开靠近透明胶带，进度提升为3%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的左侧上方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹向爪夹方向右侧移动至透明胶带的侧边上方", + "time": 8.453100994186046, + "annotations": { + "point_1769062905252": { + "type": "point", + "instances": [ + { + "id": "point_1769062905252_1769066565718_zomem2pur", + "x": 0.6895, + "y": 0.4013333333333334 + } + ] + }, + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066571120_pcpovzgv4", + "x": 0.1815, + "y": 0.004, + "width": 0.45099999999999996, + "height": 0.43600000000000005 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右侧方向移动", + "correction_plan": "张开的爪夹向爪夹方向的下方下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹向右移动至抓取物透明胶带的上方", + "frame": 265, + "progress": 15, + "progress_explanation": "爪夹向右靠近右侧的透明胶带，进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上透明胶带的上方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹向爪夹方向的下方下落靠近或触及下方的透明胶带", + "time": 8.833333333333334, + "annotations": { + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066581962_li2l7fq54", + "x": 0.1815, + "y": 0.004, + "width": 0.45199999999999996, + "height": 0.43600000000000005 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方下落", + "correction_plan": "张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "爪夹下落后透明胶带侧边在张开的两侧爪夹中间", + "frame": 279, + "progress": 20, + "progress_explanation": "爪夹下落靠近下方的透明胶带，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上透明胶带的两侧\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹做闭合抓取透明胶带的动作", + "time": 9.3, + "annotations": { + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066593248_nd2bnmbf9", + "x": 0.1835, + "y": 0.0026666666666666666, + "width": 0.45, + "height": 0.43733333333333335 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取透明胶带的动作", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的透明胶带", + "frame": 309, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的透明胶带，胶带提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的透明胶带\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升", + "time": 10.3, + "annotations": { + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066599840_ab9v2nhi9", + "x": 0.1825, + "y": 0.0013333333333333333, + "width": 0.45099999999999996, + "height": 0.43600000000000005 + } + ] + } + } + }, + { + "time": 10.6315810314433, + "frame": 319, + "progress": 50, + "action_description": "抓取透明胶带的爪夹向爪夹方向的上方抬升", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带在白色盒子的右后侧的上方\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的左前方向移动至白色盒子的上方", + "progress_explanation": "爪夹抓取透明胶带向上抬升靠近白色盒子上方，进度提升为50%", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的上方靠近白色盒子上方抬升", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的左前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "annotations": { + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066607964_ahbq8e4yr", + "x": 0.1825, + "y": 0.004, + "width": 0.45, + "height": 0.4306666666666667 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的左后方向移动", + "correction_plan": "抓取透明胶带的爪夹继续向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹没有向左前方向靠近白色盒子移动", + "frame": 338, + "progress": -20, + "progress_explanation": "爪夹向左后移动至黄色盒子上方，进度降低为-20%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于黄色盒子的上方\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹继续向爪夹方向的右前方向移动至白色盒子的上方", + "time": 11.26828207886598, + "annotations": { + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066620608_r15o1h0qf", + "x": 0.1815, + "y": 0.005333333333333333, + "width": 0.45, + "height": 0.43200000000000005 + } + ] + }, + "bbox_1769062898392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062898392_1769066627404_vdrwcatou", + "x": 0.3335, + "y": 0.5733333333333334, + "width": 0.12999999999999998, + "height": 0.16400000000000006 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹向爪夹方向的下方下落", + "correction_plan": "抓取透明胶带的爪夹向爪夹方向的上方抬升出箱子后向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹向爪夹方向的下方移动将抓取的透明胶带放入错误的黄色盒子中", + "frame": 357, + "progress": -25, + "progress_explanation": "爪夹向下落将抓取的透明胶带放在错误的黄色盒子中，进度降低为-25%%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取透明胶带位于黄色盒子中\n为了完成把透明胶带放进白色盒子里的任务：抓取透明胶带的爪夹向爪夹方向的上方抬升出箱子后向爪夹方向的右前方向移动至白色盒子的上方", + "time": 11.89171852113402, + "annotations": { + "bbox_1769062898392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062898392_1769066646444_gtpcwovoj", + "x": 0.36950000000000005, + "y": 0.6533333333333334, + "width": 0.10899999999999999, + "height": 0.13733333333333325 + } + ] + }, + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066661524_fa25sq61h", + "x": 0.1805, + "y": 0.0013333333333333333, + "width": 0.45100000000000007, + "height": 0.43733333333333335 + } + ] + } + } + }, + { + "action_description": "抓取透明胶带的爪夹由闭合重新张开", + "correction_plan": "张开的爪夹向爪夹方向的下方下落靠近或触及下方的透明胶带，张开的爪夹做闭合抓取透明胶带的动作，抓取透明胶带的爪夹向爪夹方向的上方竖直向上抬升使抓取的透明胶带移出黄色盒子并向爪夹方向的右前方向移动至白色盒子的上方，抓取透明胶带的爪夹向爪夹方向的下方竖直下落将抓取的透明胶带放入白色盒子中，抓取透明胶带的爪夹张开，抓取的透明胶带落入下方的白色盒子中", + "error_success_analysis": "抓取透明胶带的爪夹重新张开，抓取的透明胶带落入错误的黄色箱子，远离正确的白色箱子", + "frame": 368, + "progress": -30, + "progress_explanation": "爪夹张开，透明胶带落入黄色盒子中，远离白色盒子，进度降低为-30%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄色盒子中透明胶带的上方\n为了完成把透明胶带放进白色盒子里的任务：张开的爪夹向爪夹方向的下方下落靠近或触及下方的透明胶带", + "time": 12.263127465463917, + "annotations": { + "bbox_1769062900008": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769062900008_1769066671061_23q02slv5", + "x": 0.1805, + "y": 0.004, + "width": 0.45200000000000007, + "height": 0.4333333333333334 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769062898392", + "name": "透明胶带", + "color": "#4CAF50" + }, + { + "id": "bbox_1769062900008", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769062905252", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769062908168", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-110745-put-brush-yellow and black-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-110745-put-brush-yellow and black-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a512ac9f4f467d16bdd68666618d36aa2201e4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-110745-put-brush-yellow and black-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,522 @@ +{ + "task_description": "把刷子放进黄黑色的盒子里\n开始移动0%\n爪夹靠近刷子20%\n爪夹抓取刷子40%\n爪夹抓取刷子接近黄黑色的盒子60%\n爪夹将刷子放入黄黑色的盒子80%\n爪夹松开，刷子落入黄黑色的盒子100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1769066901826": { + "instances": [ + { + "height": 0.25466666666666665, + "id": "bbox_1769066901826_1769068653858_nwwaejh05", + "width": 0.22199999999999998, + "x": 0.36550000000000005, + "y": 0.464 + } + ], + "type": "bbox" + }, + "point_1769066939072": { + "instances": [ + { + "id": "point_1769066939072_1769068655989_9lhsukm9d", + "x": 0.3825, + "y": 0.5173333333333333 + } + ], + "type": "point" + }, + "point_1769066946481": { + "instances": [ + { + "id": "point_1769066946481_1769068658373_va09yx2s5", + "x": 0.6125, + "y": 0.504 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "", + "frame": 11, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触刷子。\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至刷子的上方", + "time": 0.351566 + }, + { + "action_description": "张开的爪夹向爪夹方向的前方移动", + "annotations": { + "bbox_1769066900100": { + "instances": [ + { + "height": 0.11333333333333341, + "id": "bbox_1769066900100_1769068667317_x01es2yic", + "width": 0.1, + "x": 0.5585, + "y": 0.628 + } + ], + "type": "bbox" + }, + "bbox_1769066901826": { + "instances": [ + { + "height": 0.33066666666666666, + "id": "bbox_1769066901826_1769068672046_e0lvrq9ab", + "width": 0.24100000000000005, + "x": 0.3025, + "y": 0.3773333333333334 + } + ], + "type": "bbox" + }, + "point_1769066939072": { + "instances": [ + { + "id": "point_1769066939072_1769068681564_i8lfm2p3s", + "x": 0.3845, + "y": 0.5093333333333334 + } + ], + "type": "point" + }, + "point_1769066946481": { + "instances": [ + { + "id": "point_1769066946481_1769068683489_cp313ex9o", + "x": 0.6115, + "y": 0.5053333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的右前方向移动至桌子上刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的前方靠近刷子移动", + "frame": 37, + "progress": 5, + "progress_explanation": "爪夹向前方移动靠近刷子，进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的左后侧的上方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的右前方向移动至桌子上刷子的上方", + "time": 1.2333333333333334 + }, + { + "action_description": "张开的爪夹向爪夹方向的右下方向移动", + "annotations": { + "bbox_1769066900100": { + "instances": [ + { + "height": 0.14933333333333335, + "id": "bbox_1769066900100_1769068711115_5m6vbqmw6", + "width": 0.15900000000000009, + "x": 0.45549999999999996, + "y": 0.512 + } + ], + "type": "bbox" + }, + "bbox_1769066901826": { + "instances": [ + { + "height": 0.4960000000000001, + "id": "bbox_1769066901826_1769068697817_x64qqmv1f", + "width": 0.29700000000000004, + "x": 0.1305, + "y": 0.16933333333333334 + } + ], + "type": "bbox" + }, + "point_1769066939072": { + "instances": [ + { + "id": "point_1769066939072_1769068691449_wlhq1h5j6", + "x": 0.3865, + "y": 0.512 + } + ], + "type": "point" + }, + "point_1769066946481": { + "instances": [ + { + "id": "point_1769066946481_1769068688898_pb7ksi5hi", + "x": 0.6134999999999999, + "y": 0.5146666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向爪夹方向的右前方向移动至抓取物刷子的上方", + "frame": 52, + "progress": 15, + "progress_explanation": "爪夹向右移动靠近刷子上方，进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的上方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子", + "time": 1.7333333333333334 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1769066900100": { + "instances": [ + { + "height": 0.3426666666666666, + "id": "bbox_1769066900100_1769068719851_772uhwzyo", + "width": 0.318, + "x": 0.3765, + "y": 0.3626666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769066901826": { + "instances": [ + { + "height": 0.7360000000000001, + "id": "bbox_1769066901826_1769068728807_kbzlu0xzb", + "width": 0.30399999999999994, + "x": 0.0015, + "y": 0.006666666666666667 + } + ], + "type": "bbox" + }, + "point_1769066939072": { + "instances": [ + { + "id": "point_1769066939072_1769068735943_n4kmgp39q", + "x": 0.3835, + "y": 0.5186666666666667 + } + ], + "type": "point" + }, + "point_1769066946481": { + "instances": [ + { + "id": "point_1769066946481_1769068739271_m9bp13myf", + "x": 0.6155, + "y": 0.5093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方向下落触及下方的抓取物刷子", + "frame": 70, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的刷子，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于刷子的两侧\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹做闭合抓取刷子的动作", + "time": 2.3333333333333335 + }, + { + "action_description": "张开的爪夹做闭合抓取刷子的动作", + "annotations": { + "bbox_1769066900100": { + "instances": [ + { + "height": 0.5613333333333334, + "id": "bbox_1769066900100_1769068751245_si5vf94q5", + "width": 0.07399999999999993, + "x": 0.4565, + "y": 0.3 + } + ], + "type": "bbox" + }, + "bbox_1769066901826": { + "instances": [ + { + "height": 0.7173333333333333, + "id": "bbox_1769066901826_1769068758835_szoi9h47f", + "width": 0.308, + "x": 0.0035000000000000005, + "y": 0 + } + ], + "type": "bbox" + }, + "point_1769066939072": { + "instances": [ + { + "id": "point_1769066939072_1769068744569_f5enaywei", + "x": 0.4685, + "y": 0.5053333333333333 + } + ], + "type": "point" + }, + "point_1769066946481": { + "instances": [ + { + "id": "point_1769066946481_1769068742492_dxfpolig5", + "x": 0.5265, + "y": 0.504 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的刷子", + "frame": 108, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的刷子，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的刷子\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的的爪夹向爪夹方向的上方竖直向上抬升", + "time": 3.6 + }, + { + "action_description": "抓取刷子的爪夹向爪夹方向的上方竖直向上抬升", + "annotations": { + "bbox_1769066900100": { + "instances": [ + { + "height": 0.4613333333333333, + "id": "bbox_1769066900100_1769068783927_fuaulhwgq", + "width": 0.05700000000000003, + "x": 0.46749999999999997, + "y": 0.3106666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769066901826": { + "instances": [ + { + "height": 0.5626666666666668, + "id": "bbox_1769066901826_1769068771113_d6qjew3e3", + "width": 0.318, + "x": 0.0865, + "y": 0.07333333333333333 + } + ], + "type": "bbox" + }, + "point_1769066939072": { + "instances": [ + { + "id": "point_1769066939072_1769068786508_yke5xhfb5", + "x": 0.4715, + "y": 0.5026666666666667 + } + ], + "type": "point" + }, + "point_1769066946481": { + "instances": [ + { + "id": "point_1769066946481_1769068789014_crbudqvqo", + "x": 0.5215, + "y": 0.49733333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取刷子的爪夹继续向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取刷子的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升", + "frame": 124, + "progress": 50, + "progress_explanation": "爪夹抓取刷子向上抬升靠近黄黑色的盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取刷子在黄黑色的盒子的右后侧的上方\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的爪夹继续向爪夹方向的左前方向移动至黄黑色的盒子的上方", + "time": 4.133333333333334 + }, + { + "action_description": "抓取刷子的爪夹向爪夹方向的左前方向移动", + "annotations": { + "bbox_1769066900100": { + "instances": [ + { + "height": 0.4653333333333333, + "id": "bbox_1769066900100_1769068811681_nm9vgfom6", + "width": 0.05600000000000005, + "x": 0.4665, + "y": 0.308 + } + ], + "type": "bbox" + }, + "bbox_1769066901826": { + "instances": [ + { + "height": 0.4039999999999999, + "id": "bbox_1769066901826_1769068799895_vgtttqq4l", + "width": 0.281, + "x": 0.3045, + "y": 0.34800000000000003 + } + ], + "type": "bbox" + }, + "point_1769066939072": { + "instances": [ + { + "id": "point_1769066939072_1769068794621_ackoov1c4", + "x": 0.47250000000000003, + "y": 0.5013333333333334 + } + ], + "type": "point" + }, + "point_1769066946481": { + "instances": [ + { + "id": "point_1769066946481_1769068792380_2wf0xy5hc", + "x": 0.5215, + "y": 0.508 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取刷子的爪夹向爪夹方向的左前方向移动至黄黑色的盒子上方", + "frame": 137, + "progress": 60, + "progress_explanation": "爪夹向左前移动至黄黑色的盒子上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取刷子位于黄黑色的盒子的上方\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的爪夹继续向爪夹方向的下方下落将抓取的刷子放进黄黑色的盒子里", + "time": 4.566666666666666 + }, + { + "action_description": "抓取刷子的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1769066900100": { + "instances": [ + { + "height": 0.4653333333333333, + "id": "bbox_1769066900100_1769068819093_fx3j7w9am", + "width": 0.05699999999999994, + "x": 0.4685, + "y": 0.308 + } + ], + "type": "bbox" + }, + "bbox_1769066901826": { + "instances": [ + { + "height": 0.6773333333333335, + "id": "bbox_1769066901826_1769068824200_u8h5d8c45", + "width": 0.505, + "x": 0.22449999999999998, + "y": 0.116 + } + ], + "type": "bbox" + }, + "point_1769066939072": { + "instances": [ + { + "id": "point_1769066939072_1769068831511_jnv1805u6", + "x": 0.47250000000000003, + "y": 0.5 + } + ], + "type": "point" + }, + "point_1769066946481": { + "instances": [ + { + "id": "point_1769066946481_1769068833895_cooantc5h", + "x": 0.5195000000000001, + "y": 0.5013333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取刷子的爪夹向爪夹方向的下方移动将抓取的刷子放入黄黑色的盒子", + "frame": 154, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的刷子放在黄黑色的盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取刷子位于黄黑色的盒子中\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "time": 5.133333333333334 + }, + { + "action_description": "抓取刷子的爪夹由闭合重新张开", + "annotations": { + "bbox_1769066900100": { + "instances": [ + { + "height": 0.3506666666666666, + "id": "bbox_1769066900100_1769068858491_e1kfott7r", + "width": 0.09100000000000001, + "x": 0.47050000000000003, + "y": 0.328 + } + ], + "type": "bbox" + }, + "bbox_1769066901826": { + "instances": [ + { + "height": 0.776, + "id": "bbox_1769066901826_1769068847039_0n6bcovr1", + "width": 0.5280000000000001, + "x": 0.20350000000000001, + "y": 0.06533333333333333 + } + ], + "type": "bbox" + }, + "point_1769066939072": { + "instances": [ + { + "id": "point_1769066939072_1769068839843_6rqxp02hl", + "x": 0.3835, + "y": 0.5133333333333333 + } + ], + "type": "point" + }, + "point_1769066946481": { + "instances": [ + { + "id": "point_1769066946481_1769068837530_jb9kj4gjm", + "x": 0.6195, + "y": 0.5053333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "已完成把刷子放进黄黑色的盒子里的任务", + "error_success_analysis": "抓取刷子的爪夹重新张开，抓取的刷子落入下方的黄黑色的盒子中", + "frame": 185, + "progress": 100, + "progress_explanation": "爪夹张开，刷子落入黄黑色的盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄黑色的盒子中的刷子上方\n把刷子放进黄黑色的盒子里已完成", + "time": 6.164896597422681 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769066900100", + "name": "刷子" + }, + { + "color": "#FF9800", + "id": "bbox_1769066901826", + "name": "黄黑色的箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769066939072", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769066946481", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-111904-put-brush-yellow and black-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-111904-put-brush-yellow and black-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..c4da8f03c2c0958815b84a22fca5d3d84337cafb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-111904-put-brush-yellow and black-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,630 @@ +{ + "task_description": "把刷子放进黄黑色的盒子里\n开始移动0%\n爪夹靠近刷子20%\n爪夹抓取刷子40%\n爪夹抓取刷子接近黄黑色的盒子60%\n爪夹将刷子放入黄黑色的盒子80%\n爪夹松开，刷子落入黄黑色的盒子100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触刷子。\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至刷子的上方", + "time": 0.42209620773195883, + "annotations": { + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769136237311_l21nos4zy", + "x": 0.6391941391941393, + "y": 0.06593406593406594, + "width": 0.3589743589743589, + "height": 0.63003663003663 + } + ] + }, + "point_1769135464706": { + "type": "point", + "instances": [ + { + "id": "point_1769135464706_1769136240042_67gas9aje", + "x": 0.23809523809523808, + "y": 0.23443223443223443 + } + ] + }, + "point_1769135471276": { + "type": "point", + "instances": [ + { + "id": "point_1769135471276_1769136242508_abm1bv5zm", + "x": 0.39010989010989017, + "y": 0.24175824175824176 + } + ] + }, + "bbox_1769135437918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135437918_1769136248090_reyvuz6vr", + "x": 0.6080586080586081, + "y": 0.6691086691086691, + "width": 0.2857142857142857, + "height": 0.0634920634920635 + } + ] + } + } + }, + { + "action_description": "张开的爪夹开始向前略微移动并略微调整爪夹角度", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的右前方向移动至桌子上刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向前靠近刷子移动并略微调整角度", + "frame": 27, + "progress": 3, + "progress_explanation": "爪夹开始向前移动，靠近刷子，因此进度提升为3%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的左后侧的上方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的右前方向移动至桌子上刷子的上方", + "time": 0.9, + "annotations": { + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769136318564_1nxtwmatf", + "x": 0.6465201465201466, + "y": 0.06593406593406594, + "width": 0.34798534798534797, + "height": 0.6202686202686203 + } + ] + }, + "bbox_1769135437918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135437918_1769136324908_34b0e78cq", + "x": 0.6117216117216118, + "y": 0.6642246642246642, + "width": 0.2838827838827839, + "height": 0.06837606837606837 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的前方移动并向下落", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并调整爪夹角度使其垂直于桌面，并向爪夹方向的右后方向移动至桌子上刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向前移动至刷子的前方下落至桌面上，远离抓取物刷子", + "frame": 47, + "progress": -8, + "progress_explanation": "爪夹向前移动超过刷子，因此进度降低为-8%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的左前方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并调整爪夹角度使其垂直于桌面", + "time": 1.5754295077319587, + "annotations": { + "point_1769135464706": { + "type": "point", + "instances": [ + { + "id": "point_1769135464706_1769137548642_yxz6emxdp", + "x": 0.3937728937728938, + "y": 0.4810744810744811 + } + ] + }, + "bbox_1769135437918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135437918_1769137553362_lcyhny64b", + "x": 0.6117216117216118, + "y": 0.6617826617826618, + "width": 0.28205128205128205, + "height": 0.0708180708180708 + } + ] + }, + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769137560474_nlpdf2ogv", + "x": 0.6373626373626374, + "y": 0.07326007326007326, + "width": 0.35347985347985345, + "height": 0.6153846153846154 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右侧移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的上方抬升，向爪夹方向的右后方向移动至桌子上刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向右靠近右侧的抓取物刷子移动", + "frame": 63, + "progress": -5, + "progress_explanation": "爪夹向右移动靠近刷子，因此进度提升为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的左前方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的上方抬升", + "time": 2.1, + "annotations": { + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769137608098_kkxtd2ud4", + "x": 0.6446886446886447, + "y": 0.07814407814407814, + "width": 0.34615384615384615, + "height": 0.6056166056166057 + } + ] + }, + "bbox_1769135437918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135437918_1769137613086_2pzy1wwkb", + "x": 0.6080586080586081, + "y": 0.6739926739926739, + "width": 0.2875457875457875, + "height": 0.058608058608058636 + } + ] + }, + "point_1769135464706": { + "type": "point", + "instances": [ + { + "id": "point_1769135464706_1769137617356_sm6uzqnp4", + "x": 0.46703296703296704, + "y": 0.5103785103785105 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右后方向移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的上方抬升，向爪夹方向的右后方向移动至桌子上刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向右后方向靠近刷子的方向移动", + "frame": 84, + "progress": -3, + "progress_explanation": "爪夹向右后移动靠近刷子，因此进度提升为-3%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的左前方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并调整爪夹角度垂直于桌面", + "time": 2.8, + "annotations": { + "point_1769135464706": { + "type": "point", + "instances": [ + { + "id": "point_1769135464706_1769137832482_5dystcwq5", + "x": 0.4871794871794872, + "y": 0.590964590964591 + } + ] + }, + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769137838991_puecgv09d", + "x": 0.6538461538461539, + "y": 0.0634920634920635, + "width": 0.3443223443223443, + "height": 0.608058608058608 + } + ] + }, + "bbox_1769135437918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135437918_1769137844140_tu6h7w6nb", + "x": 0.6135531135531136, + "y": 0.6813186813186813, + "width": 0.2838827838827839, + "height": 0.05372405372405365 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右侧移动", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升，向爪夹方向的右后方向移动至桌子上刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向右侧靠近抓取物刷子移动", + "frame": 107, + "progress": 5, + "progress_explanation": "爪夹向右移动靠近右侧的刷子，因此进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的左前方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向右后移动至刷子的上方", + "time": 3.575333, + "annotations": { + "bbox_1769135437918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135437918_1769138988735_17uava22n", + "x": 0.6227106227106227, + "y": 0.6764346764346765, + "width": 0.2783882783882784, + "height": 0.06349206349206339 + } + ] + }, + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769138994873_wno96qct1", + "x": 0.6501831501831502, + "y": 0.061050061050061055, + "width": 0.3443223443223443, + "height": 0.5982905982905983 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取的动作", + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的右侧移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹在刷子的左前方闭合，没有抓取刷子", + "frame": 130, + "progress": -10, + "progress_explanation": "爪夹在刷子左前方闭合，因此进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上刷子的左前方\n为了完成把刷子放进黄黑色的盒子里的任务：闭合的爪夹重新张开并向爪夹方向的右侧移动至刷子的上方", + "time": 4.333333333333333, + "annotations": { + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769139236414_mhb7fxohg", + "x": 0.6501831501831502, + "y": 0.0634920634920635, + "width": 0.3443223443223443, + "height": 0.5934065934065934 + } + ] + }, + "bbox_1769135437918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135437918_1769139242743_p73kaae7l", + "x": 0.6153846153846154, + "y": 0.6813186813186813, + "width": 0.2838827838827839, + "height": 0.056166056166056084 + } + ] + } + } + }, + { + "action_description": "闭合的爪夹向爪夹方向的左上方向抬升", + "correction_plan": "闭合的爪夹重新张开并调整爪夹角度使其垂直于桌面，张开的爪夹向右前方向移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向左上方向抬升远离了右后方的抓取物", + "frame": 152, + "progress": -15, + "progress_explanation": "爪夹向左上方抬升远离刷子，因此进度降低为-15%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上刷子的左后侧的上方\n为了完成把刷子放进黄黑色的盒子里的任务：闭合的爪夹重新张开并调整爪夹角度使其垂直于桌面", + "time": 5.066666666666666, + "annotations": { + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769139565280_xicwquque", + "x": 0.6501831501831502, + "y": 0.0634920634920635, + "width": 0.34615384615384615, + "height": 0.5982905982905983 + } + ] + }, + "bbox_1769135437918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135437918_1769139572954_4plxwijoa", + "x": 0.6172161172161172, + "y": 0.6837606837606838, + "width": 0.2783882783882784, + "height": 0.041514041514041485 + } + ] + } + } + }, + { + "action_description": "闭合的爪夹做重新张开的动作", + "correction_plan": "闭合的爪夹重新张开并调整爪夹角度使其垂直于桌面，张开的爪夹向右前方向移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "闭合的爪夹重新张开", + "frame": 176, + "progress": 4, + "progress_explanation": "爪夹重新张开靠近刷子，因此进度提升为4%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的左后侧的上方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的右前方向移动至桌子上刷子的上方", + "time": 5.866666666666666, + "annotations": { + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769139712750_wkmy6qtrq", + "x": 0.6556776556776558, + "y": 0.04884004884004885, + "width": 0.34249084249084244, + "height": 0.6153846153846153 + } + ] + }, + "bbox_1769135437918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135437918_1769139718238_4svns42bp", + "x": 0.6135531135531136, + "y": 0.6788766788766789, + "width": 0.2802197802197802, + "height": 0.05128205128205122 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右前方向移动并下落调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向右前方靠近刷子移动至刷子上方后下落调整爪夹角度", + "frame": 190, + "progress": 15, + "progress_explanation": "爪夹向右前方移动靠近刷子，进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的上方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹竖直下落靠近或触及下方的刷子", + "time": 6.319553081958764, + "annotations": { + "bbox_1769135437918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135437918_1769139897271_5d0gx12c4", + "x": 0.6172161172161172, + "y": 0.6788766788766789, + "width": 0.2802197802197802, + "height": 0.05860805860805852 + } + ] + }, + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769139908527_bgzkwvkuy", + "x": 0.5586080586080586, + "y": 0.06593406593406594, + "width": 0.4395604395604395, + "height": 0.6031746031746031 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "correction_plan": "张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方向下落触及下方的抓取物刷子", + "frame": 210, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的刷子，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于刷子的两侧\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹做闭合抓取刷子的动作", + "time": 7, + "annotations": { + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769136168814_qbxg3exwf", + "x": 0.6428571428571429, + "y": 0.061050061050061055, + "width": 0.3498168498168498, + "height": 0.608058608058608 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取刷子的动作", + "correction_plan": "抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的刷子", + "frame": 250, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的刷子，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的刷子\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的的爪夹向爪夹方向的上方竖直向上抬升", + "time": 8.337079862403101, + "annotations": { + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769136105450_ste6h97xt", + "x": 0.6172161172161172, + "y": 0.04395604395604395, + "width": 0.37545787545787546, + "height": 0.612942612942613 + } + ] + } + } + }, + { + "action_description": "抓取刷子的爪夹向爪夹方向的上方竖直向上抬升", + "correction_plan": "抓取刷子的爪夹继续向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取刷子的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升", + "frame": 276, + "progress": 50, + "progress_explanation": "爪夹抓取刷子向上抬升靠近黄黑色的盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取刷子在黄黑色的盒子的左后侧的上方\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的爪夹继续向爪夹方向的右前方向移动至黄黑色的盒子的上方", + "time": 9.208831348969074, + "annotations": { + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769136096487_p93nhffa0", + "x": 0.6391941391941393, + "y": 0.019536019536019536, + "width": 0.3589743589743589, + "height": 0.6349206349206349 + } + ] + } + } + }, + { + "action_description": "抓取刷子的爪夹略微调整角度", + "correction_plan": "抓取刷子的爪夹继续向爪夹方向的右前方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹略微向上调整了爪夹角度", + "frame": 282, + "progress": 55, + "progress_explanation": "爪夹抓取刷子略微调整爪夹角度靠近黄黑色的盒子，因此进度提升为55%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取刷子在黄黑色的盒子的左后侧的上方\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的爪夹继续向爪夹方向的右前方向移动至黄黑色的盒子的上方", + "time": 9.411199, + "annotations": { + "bbox_1769135459362": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769135459362_1769136082700_ls1cblfyo", + "x": 0.6483516483516484, + "y": 0.04639804639804641, + "width": 0.34615384615384615, + "height": 0.6007326007326008 + } + ] + } + } + }, + { + "action_description": "抓取刷子的爪夹向爪夹方向的右前方向移动并略微下落", + "annotations": { + "bbox_1769135459362": { + "instances": [ + { + "height": 0.6153846153846154, + "id": "bbox_1769135459362_1769135736253_je3ghxwme", + "width": 0.34065934065934067, + "x": 0.6465201465201466, + "y": 0.03907203907203907 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取刷子的爪夹向爪夹方向的右前方向移动至黄黑色的盒子上方", + "frame": 296, + "progress": 60, + "progress_explanation": "爪夹向右前移动至黄黑色的盒子上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取刷子位于黄黑色的盒子的上方\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的爪夹继续向爪夹方向的下方下落将抓取的刷子放进黄黑色的盒子里", + "time": 9.862783220103093 + }, + { + "action_description": "抓取刷子的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1769135459362": { + "instances": [ + { + "height": 0.612942612942613, + "id": "bbox_1769135459362_1769135657599_kjy299c3e", + "width": 0.33882783882783885, + "x": 0.6465201465201466, + "y": 0.03907203907203907 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取刷子的爪夹向爪夹方向的下方移动将抓取的刷子放入黄黑色的盒子", + "frame": 311, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的刷子放在黄黑色的盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取刷子位于黄黑色的盒子中\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "time": 10.366666666666667 + }, + { + "action_description": "抓取刷子的爪夹由闭合重新张开", + "annotations": { + "bbox_1769135437918": { + "instances": [ + { + "height": 0.17582417582417584, + "id": "bbox_1769135437918_1769135560738_o78dyrvtz", + "width": 0.1446886446886447, + "x": 0.7435897435897436, + "y": 0.231990231990232 + } + ], + "type": "bbox" + }, + "bbox_1769135459362": { + "instances": [ + { + "height": 0.6056166056166057, + "id": "bbox_1769135459362_1769135554163_ja2cczweo", + "width": 0.336996336996337, + "x": 0.6483516483516484, + "y": 0.03907203907203907 + } + ], + "type": "bbox" + }, + "point_1769135464706": { + "instances": [ + { + "id": "point_1769135464706_1769135540740_k07t1hkjd", + "x": 0.7527472527472528, + "y": 0.33699633699633696 + } + ], + "type": "point" + } + }, + "correction_plan": "已完成把刷子放进黄黑色的盒子里的任务", + "error_success_analysis": "抓取刷子的爪夹重新张开，抓取的刷子落入下方的黄黑色的盒子中", + "frame": 339, + "progress": 100, + "progress_explanation": "爪夹张开，刷子落入黄黑色的盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄黑色的盒子中的刷子上方\n把刷子放进黄黑色的盒子里已完成", + "time": 11.289587302577319 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769135437918", + "name": "刷子" + }, + { + "color": "#FF9800", + "id": "bbox_1769135459362", + "name": "黄黑色的盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769135464706", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769135471276", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-113654-put-brush-yellow and black-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-113654-put-brush-yellow and black-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..114a1f3fa57313970b0f8f0814e280c6b1d2eca2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-113654-put-brush-yellow and black-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,708 @@ +{ + "task_description": "把刷子放进黄黑色的盒子里\n开始移动0%\n爪夹靠近刷子20%\n爪夹抓取刷子40%\n爪夹抓取刷子接近黄黑色的盒子60%\n爪夹将刷子放入黄黑色的盒子80%\n爪夹松开，刷子落入黄黑色的盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触刷子。\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至刷子的上方", + "time": 0.3217054186046511, + "annotations": { + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769143662476_6y8wdvs6g", + "x": 0.2032967032967033, + "y": 0.3980463980463981, + "width": 0.4597069597069597, + "height": 0.5518925518925519 + } + ] + }, + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769143676446_8y42wzzgg", + "x": 0.7106227106227105, + "y": 0.4346764346764347, + "width": 0.11172161172161185, + "height": 0.2100122100122101 + } + ] + }, + "point_1769141288394": { + "type": "point", + "instances": [ + { + "id": "point_1769141288394_1769143686418_2qum0it2k", + "x": 0.521978021978022, + "y": 0.6666666666666666 + } + ] + }, + "point_1769141300440": { + "type": "point", + "instances": [ + { + "id": "point_1769141300440_1769143689048_4dw6ljegf", + "x": 0.6391941391941393, + "y": 0.6446886446886447 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右侧略微移动并向下调整爪夹角度", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向右靠近刷子移动并略微调整角度", + "frame": 28, + "progress": 5, + "progress_explanation": "爪夹开始向右移动，靠近刷子，因此进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的左后侧的上方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的右前方向移动至桌子上刷子的上方", + "time": 0.9333333333333333, + "annotations": { + "point_1769141288394": { + "type": "point", + "instances": [ + { + "id": "point_1769141288394_1769145729322_dimce32x7", + "x": 0.6465201465201466, + "y": 0.6031746031746031 + } + ] + }, + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769145741810_x1aq8x9w3", + "x": 0.7087912087912088, + "y": 0.4273504273504274, + "width": 0.1208791208791209, + "height": 0.2246642246642247 + } + ] + }, + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769145753952_fztth4oka", + "x": 0.20879120879120885, + "y": 0.39804639804639813, + "width": 0.45787545787545786, + "height": 0.547008547008547 + } + ] + } + } + }, + { + "time": 1.355666, + "frame": 41, + "progress": 15, + "action_description": "张开的爪夹向爪夹方向的右前方向移动并调整爪夹角度", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的上方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹竖直下落靠近或触及下方的刷子", + "progress_explanation": "爪夹向右前方移动靠近刷子，进度提升为15%", + "error_success_analysis": "爪夹向右前方靠近刷子移动至刷子上方并调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "annotations": { + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769145782430_e3jz2y9br", + "x": 0.20512820512820515, + "y": 0.38583638583638585, + "width": 0.45787545787545786, + "height": 0.5518925518925518 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "correction_plan": "张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方向下落触及下方的抓取物刷子", + "frame": 53, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的刷子，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于刷子的两侧\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹做闭合抓取刷子的动作", + "time": 1.7612542530927833, + "annotations": { + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769145801940_xq69e7bvj", + "x": 0.21062271062271062, + "y": 0.39804639804639813, + "width": 0.45604395604395603, + "height": 0.5518925518925519 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取刷子的动作", + "correction_plan": "抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的刷子", + "frame": 75, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的刷子，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的刷子\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的的爪夹向爪夹方向的上方竖直向上抬升", + "time": 2.5028349912371133, + "annotations": { + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769145891098_w1p3jq907", + "x": 0.2032967032967033, + "y": 0.39804639804639813, + "width": 0.4560439560439561, + "height": 0.5445665445665446 + } + ] + } + } + }, + { + "time": 2.849666, + "frame": 85, + "progress": 50, + "action_description": "抓取刷子的爪夹向爪夹方向的上方竖直向上抬升", + "state_description": "爪夹当前的状态为爪夹闭合，抓取刷子在黄黑色的盒子的左后侧的上方\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的爪夹继续向爪夹方向的左后方向移动至黄黑色的盒子的上方", + "progress_explanation": "爪夹抓取刷子向上抬升靠近黄黑色的盒子上方，进度提升为50%", + "error_success_analysis": "抓取刷子的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升", + "correction_plan": "抓取刷子的爪夹继续向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "annotations": { + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769145964582_poqt2n2k3", + "x": 0.2124542124542125, + "y": 0.39316239316239315, + "width": 0.4487179487179488, + "height": 0.5567765567765569 + } + ] + } + } + }, + { + "action_description": "抓取刷子的爪夹向爪夹方向的左上方向移动", + "correction_plan": "抓取刷子的爪夹继续向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹抓取刷子向左移动并抬升靠近黄黑色的盒子上方", + "frame": 121, + "progress": 55, + "progress_explanation": "爪夹抓取刷子向左靠近黄黑色的盒子，因此进度提升为55%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取刷子在黄黑色的盒子的右侧上方\n为了完成把刷子放进黄黑色的盒子里的任务：抓取刷子的爪夹继续向爪夹方向的左后方向移动至黄黑色的盒子上方", + "time": 4.043041139690722, + "annotations": { + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769146505326_mu3ljrkr1", + "x": 0.19963369963369965, + "y": 0.40048840048840056, + "width": 0.4542124542124542, + "height": 0.547008547008547 + } + ] + }, + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769146516629_7pxpep9t1", + "x": 0.5256410256410257, + "y": 0.14163614163614163, + "width": 0.04761904761904763, + "height": 0.3101343101343101 + } + ] + }, + "point_1769141288394": { + "type": "point", + "instances": [ + { + "id": "point_1769141288394_1769146520279_xq56kdph3", + "x": 0.5384615384615385, + "y": 0.3199023199023199 + } + ] + } + } + }, + { + "action_description": "抓取刷子的爪夹重新张开", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取刷子的爪夹重新张开，抓取的目标物刷子掉落", + "frame": 140, + "progress": 10, + "progress_explanation": "爪夹张开，抓取的刷子掉落，因此进度降低为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的上方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹竖直下落靠近或触及下方的刷子", + "time": 4.664728569767441, + "annotations": { + "point_1769141288394": { + "type": "point", + "instances": [ + { + "id": "point_1769141288394_1769146661080_da84wnosn", + "x": 0.5201465201465202, + "y": 0.3199023199023199 + } + ] + }, + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769146665934_yd52nlouy", + "x": 0.20695970695970697, + "y": 0.398046398046398, + "width": 0.45054945054945056, + "height": 0.5396825396825397 + } + ] + }, + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769146677523_9xfum7w69", + "x": 0.5164835164835165, + "y": 0.33943833943833945, + "width": 0.06410256410256414, + "height": 0.2588522588522588 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右下方向下落", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并调整爪夹角度使其垂直于桌面，张开的爪夹向爪夹方向的左后方向移动至桌子上刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向右下移动到了抓取物刷子的右侧", + "frame": 182, + "progress": -3, + "progress_explanation": "爪夹向右下移动远离刷子，进度降低为-3%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的右前方，右侧爪夹触及桌子上的黑色风扇。\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的左后方向移动至桌子上刷子的上方", + "time": 6.066666666666666, + "annotations": { + "point_1769141288394": { + "type": "point", + "instances": [ + { + "id": "point_1769141288394_1769146907804_rf7hfxk0r", + "x": 0.5457875457875458, + "y": 0.3516483516483516 + } + ] + }, + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769146915630_uqb1jk5h3", + "x": 0.5164835164835165, + "y": 0.34676434676434675, + "width": 0.053113553113553105, + "height": 0.28083028083028083 + } + ] + }, + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769146920738_pznp05uhz", + "x": 0.20146520146520147, + "y": 0.40048840048840056, + "width": 0.46153846153846156, + "height": 0.5518925518925519 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取的动作", + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的左侧移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹在刷子的右侧做闭合抓取的动作，抓取失败", + "frame": 213, + "progress": -5, + "progress_explanation": "爪夹在刷子右侧闭合爪夹，因此进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上刷子的右侧\n为了完成把刷子放进黄黑色的盒子里的任务：闭合的爪夹重新张开并向爪夹方向的左侧移动至刷子的上方", + "time": 7.1, + "annotations": { + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769148396855_oyzc08wri", + "x": 0.5128205128205129, + "y": 0.3443223443223443, + "width": 0.060439560439560405, + "height": 0.2490842490842491 + } + ] + }, + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769148403545_kfhv0zfqb", + "x": 0.2032967032967033, + "y": 0.40293040293040294, + "width": 0.4633699633699635, + "height": 0.5372405372405373 + } + ] + } + } + }, + { + "action_description": "闭合的爪夹向爪夹方向的上方抬升", + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的左侧移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向上方靠近刷子上方抬升", + "frame": 230, + "progress": 8, + "progress_explanation": "爪夹向上方抬升靠近刷子上方，因此进度提升为8%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上刷子的右侧上方\n为了完成把刷子放进黄黑色的盒子里的任务：闭合的爪夹重新张开并调整爪夹角度使其垂直于桌面", + "time": 7.666666666666667, + "annotations": { + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769148518107_uii3bf7ib", + "x": 0.5146520146520147, + "y": 0.3418803418803419, + "width": 0.05860805860805858, + "height": 0.2515262515262515 + } + ] + }, + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769148522527_7fk8ok2vw", + "x": 0.20695970695970695, + "y": 0.3980463980463981, + "width": 0.4652014652014652, + "height": 0.5494505494505495 + } + ] + } + } + }, + { + "action_description": "闭合的爪夹做重新张开的动作", + "correction_plan": "张开向爪夹方向的左侧移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "闭合的爪夹在刷子右侧上方重新张开", + "frame": 255, + "progress": 10, + "progress_explanation": "爪夹重新张开靠近刷子，因此进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的右侧上方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的左侧方向移动至桌子上刷子的上方", + "time": 8.498384808139534, + "annotations": { + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769148535603_8eqlui1rt", + "x": 0.5073260073260074, + "y": 0.3418803418803419, + "width": 0.06227106227106223, + "height": 0.2661782661782661 + } + ] + }, + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769148540077_kujwyw0xb", + "x": 0.2032967032967033, + "y": 0.38827838827838834, + "width": 0.46153846153846156, + "height": 0.5518925518925519 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方向下落", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的左侧方向移动至桌子上刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向下移动到了抓取物刷子的右侧，没有移动至刷子的两侧", + "frame": 278, + "progress": -3, + "progress_explanation": "爪夹向下移动两侧爪夹远离刷子，因此进度降低为-3%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的右侧，右侧爪夹触及桌子上的黑色风扇。\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的左侧方向移动至桌子上刷子的上方", + "time": 9.266666666666667, + "annotations": { + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769148776862_vav6o5and", + "x": 0.20695970695970697, + "y": 0.4004884004884005, + "width": 0.46886446886446886, + "height": 0.5494505494505495 + } + ] + }, + "point_1769141288394": { + "type": "point", + "instances": [ + { + "id": "point_1769141288394_1769148785513_nnnpyxsdz", + "x": 0.5402930402930404, + "y": 0.3492063492063492 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右侧移动", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向左侧移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向右移动远离了左侧的抓取物刷子", + "frame": 294, + "progress": -8, + "progress_explanation": "爪夹向右远离左侧的刷子，因此进度降低为-8%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上刷子的右侧\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向左侧移动至刷子的上方", + "time": 9.8, + "annotations": { + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769149583675_m1en7u9wq", + "x": 0.5109890109890111, + "y": 0.3418803418803419, + "width": 0.06410256410256406, + "height": 0.2637362637362637 + } + ] + }, + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769149589757_t84e028cp", + "x": 0.20512820512820515, + "y": 0.39560439560439564, + "width": 0.45787545787545786, + "height": 0.5592185592185591 + } + ] + } + } + }, + { + "time": 10.706999, + "frame": 321, + "progress": -12, + "action_description": "张开的爪夹向爪夹方向的右后方向抬升后下落", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上黑色风扇的侧边上方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的左侧移动至桌子上刷子的上方", + "progress_explanation": "爪夹向右后移动远离刷子，因此进度降低为-12%", + "error_success_analysis": "爪夹向右朝远离刷子的方向移动", + "correction_plan": "张开的爪夹向爪夹方向的左侧移动至桌子上刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "annotations": { + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769149833068_j3x48je56", + "x": 0.5128205128205129, + "y": 0.33943833943833945, + "width": 0.060439560439560405, + "height": 0.27350427350427353 + } + ] + }, + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769149837900_bd4lcnn7k", + "x": 0.2032967032967033, + "y": 0.40293040293040294, + "width": 0.4652014652014652, + "height": 0.5372405372405373 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取的动作", + "correction_plan": "抓取黑色风扇的爪夹重新张开并向爪夹方向的上方抬升，张开的爪夹向爪夹方向的左侧移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹在黑色风扇上闭合抓取错误的目标物黑色风扇", + "frame": 348, + "progress": -15, + "progress_explanation": "爪夹闭合抓取黑色风扇，因此进度降低为-15%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的黑色风扇\n为了完成把刷子放进黄黑色的盒子里的任务：抓取黑色风扇的爪夹重新张开", + "time": 11.601460201546391, + "annotations": { + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769150231592_u1fr6lamo", + "x": 0.5146520146520147, + "y": 0.3443223443223443, + "width": 0.05860805860805858, + "height": 0.2490842490842491 + } + ] + }, + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769150236871_e9mqkcsa3", + "x": 0.20512820512820515, + "y": 0.39560439560439564, + "width": 0.45970695970695974, + "height": 0.551892551892552 + } + ] + } + } + }, + { + "action_description": "抓取黑色风扇的爪夹向爪夹方向的上方抬升", + "correction_plan": "抓取黑色风扇的爪夹重新张开并向爪夹方向的上方抬升，张开的爪夹向爪夹方向的左侧移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹抓取错误的目标物向上抬升，偏离正确的抓取物刷子", + "frame": 357, + "progress": -20, + "progress_explanation": "爪夹抓取风扇向上抬升，远离目标物刷子，因此进度降低为-20%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取黑色风扇位于刷子的右侧上方\n为了完成把刷子放进黄黑色的盒子里的任务：抓取黑色风扇的爪夹重新张开", + "time": 11.903100488372093 + }, + { + "action_description": "抓取黑色风扇的爪夹向爪夹方向的左后方向移动", + "correction_plan": "抓取黑色风扇的爪夹重新张开，并向爪夹方向的前方移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹抓取错误的目标物风扇靠近黄黑色黑子的上方", + "frame": 369, + "progress": -25, + "progress_explanation": "爪夹抓取黑色风扇靠近黄黑色的盒子，远离刷子，因此进度降低为-25%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取黑色风扇位于黄黑色的盒子上方\n为了完成把刷子放进黄黑色的盒子里的任务：抓取黑色风扇的爪夹重新张开", + "time": 12.3 + }, + { + "action_description": "抓取黑色风扇的爪夹向爪夹方向的左下方向下落", + "correction_plan": "抓取黑色风扇的爪夹重新张开，并向爪夹方向的右前方移动至刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向爪夹方向的左下将错误的目标物放在黄黑色的盒子中", + "frame": 380, + "progress": -30, + "progress_explanation": "爪夹向左下将错误的抓取物黑色风扇放在黄黑色的盒子中，因此进度降低为-30%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取黑色风扇位于黄黑色的盒子上\n为了完成把刷子放进黄黑色的盒子里的任务：抓取黑色风扇的爪夹重新张开", + "time": 12.666666666666666, + "annotations": { + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769150925582_c00og58mp", + "x": 0.21062271062271062, + "y": 0.3980463980463981, + "width": 0.45604395604395603, + "height": 0.547008547008547 + } + ] + }, + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769150933748_gt9mn0r70", + "x": 0.5073260073260074, + "y": 0.34676434676434675, + "width": 0.060439560439560405, + "height": 0.24664224664224665 + } + ] + } + } + }, + { + "action_description": "抓取黑色风扇的爪夹由闭合重新张开", + "correction_plan": "张开的爪夹向爪夹方向的右前方向移动至桌子上刷子的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的刷子，张开的爪夹做闭合抓取刷子的动作，抓取刷子的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左后方向移动至黄黑色的盒子的上方，抓取刷子的爪夹向爪夹方向的下方竖直下落将抓取的刷子放入黄黑色的盒子中，抓取刷子的爪夹张开，抓取的刷子落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹张开，抓取的黑色风扇落在下方的黄黑色的盒子中", + "frame": 414, + "progress": -35, + "progress_explanation": "爪夹张开，错误的目标物风扇落进黄黑色的盒子里，因此进度降低为-35%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄黑色的盒子中的黑色风扇上方\n为了完成把刷子放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的右前方向移动至桌子上刷子的上方", + "time": 13.8, + "annotations": { + "bbox_1769141279785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141279785_1769151128956_zkcy73azi", + "x": 0.5109890109890111, + "y": 0.3443223443223443, + "width": 0.06227106227106223, + "height": 0.25396825396825395 + } + ] + }, + "bbox_1769141286914": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769141286914_1769151133298_4moso67l2", + "x": 0.21428571428571427, + "y": 0.39316239316239315, + "width": 0.4542124542124542, + "height": 0.5592185592185593 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769141279785", + "name": "刷子" + }, + { + "color": "#FF9800", + "id": "bbox_1769141286914", + "name": "黄黑色的盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769141288394", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769141300440", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-131451-put-pink pen-yellow and black-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-131451-put-pink pen-yellow and black-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..0d4aa022e1d0bfa09f37a8d35779cb5c2c01ac2c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-131451-put-pink pen-yellow and black-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,426 @@ +{ + "task_description": "把粉色的笔放进黄黑色的盒子里\n开始移动0%\n爪夹靠近粉色的笔20%\n爪夹抓取粉色的笔40%\n爪夹抓取粉色的笔接近黄黄黑色的盒子60%\n爪夹将粉色的笔放入黄黑色的盒子80%\n爪夹松开，粉色的笔落入黄黑色的盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触粉色的笔。\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至粉色的笔的上方", + "time": 0.4647422427835051, + "annotations": { + "bbox_1769151234212": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234212_1769153567033_zqucqkjj9", + "x": 0.7820512820512822, + "y": 0.49572649572649574, + "width": 0.027472527472527375, + "height": 0.21001221001221 + } + ] + }, + "bbox_1769151234536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234536_1769153572254_i3b8svzmk", + "x": 0.42857142857142855, + "y": 0, + "width": 0.36996336996337, + "height": 0.3907203907203908 + } + ] + }, + "point_1769151240846": { + "type": "point", + "instances": [ + { + "id": "point_1769151240846_1769153576023_m0fzbgr41", + "x": 0.5677655677655677, + "y": 0.6593406593406593 + } + ] + }, + "point_1769151247760": { + "type": "point", + "instances": [ + { + "id": "point_1769151247760_1769153578643_q4xpihpat", + "x": 0.6831501831501832, + "y": 0.6544566544566545 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右侧略微移动并抬升", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的右侧移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向右靠近粉色的笔移动", + "frame": 32, + "progress": 5, + "progress_explanation": "爪夹开始向右移动，靠近粉色的笔，因此进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上粉色的笔的左上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的右侧移动至桌子上粉色的笔的上方", + "time": 1.0666666666666667, + "annotations": { + "bbox_1769151234212": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234212_1769152447437_m2vo2dayl", + "x": 0.783882783882784, + "y": 0.4908424908424909, + "width": 0.0219780219780219, + "height": 0.22222222222222227 + } + ] + }, + "bbox_1769151234536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234536_1769152456166_z9dcr5vw8", + "x": 0.4304029304029304, + "y": 0, + "width": 0.36080586080586086, + "height": 0.380952380952381 + } + ] + }, + "point_1769151240846": { + "type": "point", + "instances": [ + { + "id": "point_1769151240846_1769152458416_dlqmgt7n1", + "x": 0.6666666666666667, + "y": 0.5641025641025641 + } + ] + }, + "point_1769151247760": { + "type": "point", + "instances": [ + { + "id": "point_1769151247760_1769152460516_94203wkat", + "x": 0.8021978021978022, + "y": 0.5665445665445665 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右前方向移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的右侧移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向右靠近抓取物粉色的笔的方向移动", + "frame": 38, + "progress": 10, + "progress_explanation": "爪夹向右下移动，靠近粉色的笔，因此进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上粉色的笔的左上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的右侧移动至桌子上粉色的笔的上方", + "time": 1.2666666666666666, + "annotations": { + "bbox_1769151234212": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234212_1769153060434_49od8sm14", + "x": 0.7820512820512822, + "y": 0.4908424908424909, + "width": 0.02564102564102555, + "height": 0.19047619047619052 + } + ] + }, + "bbox_1769151234536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234536_1769153066518_ywt2xtve0", + "x": 0.4267399267399267, + "y": 0, + "width": 0.3644688644688645, + "height": 0.38827838827838834 + } + ] + }, + "point_1769151240846": { + "type": "point", + "instances": [ + { + "id": "point_1769151240846_1769153069662_3g8efnhzb", + "x": 0.728937728937729, + "y": 0.47863247863247865 + } + ] + }, + "point_1769151247760": { + "type": "point", + "instances": [ + { + "id": "point_1769151247760_1769153072124_wegdvw1zo", + "x": 0.8608058608058607, + "y": 0.507936507936508 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右下方向移动并调整爪夹角度", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向右下靠近下方的粉色的笔移动并略微调整爪夹角度", + "frame": 48, + "progress": 15, + "progress_explanation": "爪夹向右下移动靠近粉色的笔，因此进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上粉色的笔的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔", + "time": 1.6, + "annotations": { + "bbox_1769151234536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234536_1769153547151_k1sk06t8w", + "x": 0.42857142857142855, + "y": 0.002442002442002442, + "width": 0.3626373626373627, + "height": 0.380952380952381 + } + ] + }, + "bbox_1769151234212": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234212_1769153554209_o2lyqx6zx", + "x": 0.7802197802197803, + "y": 0.4932844932844933, + "width": 0.02564102564102555, + "height": 0.21245421245421242 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方下落并调整爪夹角度", + "correction_plan": "张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方向下落靠近下方的抓取物粉色的笔", + "frame": 62, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的粉色的笔，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于粉色的笔的两侧\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹做闭合抓取粉色的笔的动作", + "time": 2.066666666666667, + "annotations": { + "bbox_1769151234536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234536_1769153003029_vszg5iy0r", + "x": 0.42857142857142855, + "y": 0.002442002442002442, + "width": 0.3626373626373627, + "height": 0.3833943833943834 + } + ] + }, + "bbox_1769151234212": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234212_1769153011403_1e7bchbt2", + "x": 0.7802197802197803, + "y": 0.4932844932844933, + "width": 0.02564102564102555, + "height": 0.21245421245421242 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取粉色的笔的动作", + "correction_plan": "抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的粉色的笔", + "frame": 102, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的粉色的笔，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的粉色的笔\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升", + "time": 3.4, + "annotations": { + "bbox_1769151234536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234536_1769152720021_ff5xe1jh8", + "x": 0.42857142857142855, + "y": 0.004884004884004884, + "width": 0.3717948717948718, + "height": 0.380952380952381 + } + ] + }, + "bbox_1769151234212": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234212_1769153623263_c5ulns712", + "x": 0.7673992673992674, + "y": 0.4981684981684982, + "width": 0.06776556776556779, + "height": 0.19047619047619052 + } + ] + } + } + }, + { + "action_description": "抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升", + "correction_plan": "抓取粉色的笔的爪夹继续向爪夹方向的左前方向移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取粉色的笔的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升", + "frame": 114, + "progress": 50, + "progress_explanation": "爪夹抓取粉色的笔向上抬升靠近黄黑色的盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取粉色的笔在黄黑色的盒子的右后侧的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取粉色的笔的爪夹继续向爪夹方向的左前方向移动至黄黑色的盒子的上方", + "time": 3.8032987623711345, + "annotations": { + "bbox_1769151234536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234536_1769152842815_uilexr995", + "x": 0.4304029304029304, + "y": 0.007326007326007326, + "width": 0.35897435897435903, + "height": 0.3736263736263737 + } + ] + } + } + }, + { + "action_description": "抓取粉色的笔的爪夹向爪夹方向的左前方向移动", + "correction_plan": "抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取粉色的笔的爪夹向爪夹方向的左前方向移动至黄黑色的盒子上方", + "frame": 130, + "progress": 60, + "progress_explanation": "爪夹向左前移动至黄黑色的盒子上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取粉色的笔位于黄黑色的盒子的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取粉色的笔的爪夹继续向爪夹方向的下方下落将抓取的粉色的笔放进黄黑色的盒子里", + "time": 4.340755777835052, + "annotations": { + "bbox_1769151234536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234536_1769152980788_a0l3ntvoz", + "x": 0.4249084249084249, + "y": 0, + "width": 0.36996336996337, + "height": 0.38827838827838834 + } + ] + } + } + }, + { + "action_description": "抓取粉色的笔的爪夹向爪夹方向的下方竖直下落", + "correction_plan": "抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取粉色的笔的爪夹向爪夹方向的下方移动将抓取的粉色的笔放入黄黑色的盒子", + "frame": 149, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的粉色的笔放在黄黑色的盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取粉色的笔位于黄黑色的盒子中\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "time": 4.9604121015463924, + "annotations": { + "bbox_1769151234212": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234212_1769151783549_ge0shlpdl", + "x": 0.554945054945055, + "y": 0.03418803418803419, + "width": 0.038461538461538415, + "height": 0.2490842490842491 + } + ] + }, + "bbox_1769151234536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234536_1769151796871_ayzds2mgh", + "x": 0.4267399267399267, + "y": 0.002442002442002442, + "width": 0.3644688644688645, + "height": 0.380952380952381 + } + ] + } + } + }, + { + "action_description": "抓取粉色的笔的爪夹由闭合重新张开", + "correction_plan": "已完成把粉色的笔放进黄黑相间的盒子里的任务", + "error_success_analysis": "抓取粉色的笔的爪夹重新张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "frame": 165, + "progress": 100, + "progress_explanation": "爪夹张开，粉色的笔落入黄黑色的盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄黑色的盒子中的粉色的笔上方\n把粉色的笔放进黄黑色的盒子里已完成", + "time": 5.504192140721649, + "annotations": { + "bbox_1769151234536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234536_1769151810680_ludrtqvqe", + "x": 0.4322344322344323, + "y": 0.002442002442002442, + "width": 0.3589743589743589, + "height": 0.3833943833943834 + } + ] + }, + "bbox_1769151234212": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151234212_1769151817113_0q30kjsc7", + "x": 0.5238095238095238, + "y": 0.11477411477411478, + "width": 0.053113553113553105, + "height": 0.16117216117216118 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769151234212", + "name": "粉色的笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769151234536", + "name": "黄黑相间的盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769151240846", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769151247760", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-132452-put-pink pen-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-132452-put-pink pen-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..9c7e5e38169548ef5f273465b690b5e6a2d0912d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-132452-put-pink pen-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,1060 @@ +{ + "task_description": "把粉色的笔放进黄黑色的盒子里\n开始移动0%\n爪夹靠近粉色的笔20%\n爪夹抓取粉色的笔40%\n爪夹抓取粉色的笔接近黄黄黑色的盒子60%\n爪夹将粉色的笔放入黄黑色的盒子80%\n爪夹松开，粉色的笔落入黄黑色的盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.039072039072038996, + "id": "bbox_1769155420592_1769158143124_4p00j9nz0", + "width": 0.14835164835164835, + "x": 0.543956043956044, + "y": 0.3956043956043957 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3516483516483517, + "id": "bbox_1769155423538_1769158152383_tnas58nuz", + "width": 0.3296703296703297, + "x": 0.10805860805860808, + "y": 0.20512820512820515 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769158156343_p5fwb5rxa", + "x": 0.391941391941392, + "y": 0.1807081807081807 + } + ], + "type": "point" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769158158742_c569b492e", + "x": 0.4981684981684982, + "y": 0.16605616605616605 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的左前方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触粉色的笔。\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的左前方向移动至粉色的笔的上方", + "time": 0.32087628092783504 + }, + { + "action_description": "张开的爪夹张开向下调整爪夹角度", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.034188034188034185, + "id": "bbox_1769155420592_1769158174305_jz2odum43", + "width": 0.13919413919413923, + "x": 0.5476190476190477, + "y": 0.39560439560439564 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.36385836385836384, + "id": "bbox_1769155423538_1769158180095_1tthnkela", + "width": 0.32417582417582425, + "x": 0.10805860805860808, + "y": 0.20268620268620272 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769158182757_96silldbz", + "x": 0.3516483516483516, + "y": 0.16849816849816848 + } + ], + "type": "point" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769158185425_b2n1ivs16", + "x": 0.4853479853479854, + "y": 0.16117216117216118 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的左前方向移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向下略微调整了爪夹的角度", + "frame": 31, + "progress": 5, + "progress_explanation": "爪夹开始向下调整角度，靠近粉色的笔，因此进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上粉色的笔的右后侧的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹调整爪夹角度使其垂直于桌面，并向爪夹方向的左前方向移动至桌子上粉色的笔的上方", + "time": 1.0455426104651162 + }, + { + "action_description": "张开的爪夹向爪夹方向的左前方向移动后并下落", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.041514041514041485, + "id": "bbox_1769155420592_1769158464309_dv9y7bdg7", + "width": 0.1373626373626374, + "x": 0.5494505494505495, + "y": 0.3931623931623932 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3516483516483516, + "id": "bbox_1769155423538_1769158459372_whqwyooap", + "width": 0.3223443223443223, + "x": 0.10805860805860808, + "y": 0.2148962148962149 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769158454700_r4bpa5atr", + "x": 0.4981684981684982, + "y": 0.6544566544566545 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的左后方向移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向前移动至粉色笔前方的勺子两侧", + "frame": 57, + "progress": -5, + "progress_explanation": "爪夹向左前移动至勺子两侧，远离粉色的笔，因此进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上白色勺子的两侧\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的左后方向移动至桌子上粉色的笔的上方", + "time": 1.9 + }, + { + "action_description": "张开的爪夹做闭合抓取桌子上的白色勺子的动作", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.029304029304029318, + "id": "bbox_1769155420592_1769160927673_ank7eaw3d", + "width": 0.15567765567765565, + "x": 0.5347985347985349, + "y": 0.4004884004884005 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.36141636141636135, + "id": "bbox_1769155423538_1769160933376_ovwvs85wa", + "width": 0.3278388278388279, + "x": 0.1043956043956044, + "y": 0.21245421245421248 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取白色勺子的爪夹重新张开并向爪夹方向的上方抬升，张开的爪夹继续向爪夹方向的左后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，抓取爪夹中间的白色勺子，偏离目标物粉色的笔", + "frame": 101, + "progress": -10, + "progress_explanation": "爪夹抓取桌子上的错误目标物白色勺子，因此进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的白色勺子\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取白色勺子的爪夹重新张开", + "time": 3.3666666666666667 + }, + { + "action_description": "抓取白色勺子的爪夹向爪夹方向的上方竖直向上抬升", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.04395604395604398, + "id": "bbox_1769155420592_1769161334694_kddl2sp4y", + "width": 0.13736263736263732, + "x": 0.5531135531135531, + "y": 0.3931623931623932 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3516483516483517, + "id": "bbox_1769155423538_1769161328064_34gge20ig", + "width": 0.3351648351648352, + "x": 0.10256410256410257, + "y": 0.20757020757020758 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769161323235_x4cc6cgpw", + "x": 0.5311355311355312, + "y": 0.5518925518925519 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取白色勺子的爪夹重新张开并向爪夹方向的左后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取错误抓取物的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升，偏离目标物粉色的笔", + "frame": 117, + "progress": -15, + "progress_explanation": "爪夹抓取白色勺子向上抬升靠近黄黑色的盒子上方，远离粉色的笔，因此进度降低为-15%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取白色勺子在黄黑色的盒子的左前方的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取白色勺子的爪夹重新张开", + "time": 3.887166 + }, + { + "action_description": "抓取白色勺子的爪夹向爪夹方向的右上方向移动", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.04884004884004885, + "id": "bbox_1769155420592_1769162032037_dg2gjjioj", + "width": 0.1446886446886447, + "x": 0.5421245421245422, + "y": 0.3907203907203908 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.358974358974359, + "id": "bbox_1769155423538_1769162040917_ybs2w8c3s", + "width": 0.34798534798534797, + "x": 0.1043956043956044, + "y": 0.20512820512820515 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769162044823_bjl8qbi49", + "x": 0.4230769230769231, + "y": 0.46642246642246643 + } + ], + "type": "point" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769162047393_kiurhtvs2", + "x": 0.46153846153846156, + "y": 0.45421245421245426 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取白色勺子的爪夹重新张开并向爪夹方向的左后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹抓取错误的目标物移动，偏离正确的抓取物粉色的笔", + "frame": 145, + "progress": -18, + "progress_explanation": "爪夹抓取白色勺子向右靠近黄色盒子，偏离粉色的笔和黄黑色的盒子，因此进度降低为-18%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取白色勺子在黄色盒子的左上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取白色勺子的爪夹重新张开", + "time": 4.825581279069767 + }, + { + "action_description": "抓取白色勺子的爪夹重新张开", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.03418803418803413, + "id": "bbox_1769155420592_1769163414689_bwhdnaov8", + "width": 0.14652014652014653, + "x": 0.5421245421245422, + "y": 0.39804639804639813 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.358974358974359, + "id": "bbox_1769155423538_1769163510027_jnmv0m3cm", + "width": 0.3351648351648352, + "x": 0.09890109890109891, + "y": 0.20757020757020758 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769163409334_0oymrals5", + "x": 0.39010989010989017, + "y": 0.45909645909645913 + } + ], + "type": "point" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769163406991_57w8a5mpw", + "x": 0.5054945054945055, + "y": 0.44200244200244204 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的左后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取错误的目标物的爪夹重新张开", + "frame": 171, + "progress": -3, + "progress_explanation": "爪夹重新张开，靠近粉色的笔，因此进度提升为-3%", + "state_description": "爪夹当前的状态为爪夹张开，位于粉色的笔的右前侧的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的左后方向移动至粉色的笔的上方", + "time": 5.683462395348837 + }, + { + "action_description": "张开的爪夹向爪夹方向的左后方向移动并调整爪夹方向", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.034188034188034185, + "id": "bbox_1769155420592_1769163519459_vsk4ar48z", + "width": 0.14652014652014653, + "x": 0.5421245421245422, + "y": 0.4004884004884005 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3516483516483516, + "id": "bbox_1769155423538_1769163538879_y9nkp8zl7", + "width": 0.3296703296703297, + "x": 0.1043956043956044, + "y": 0.21001221001221004 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769163529548_dvwwbtn56", + "x": 0.5695970695970696, + "y": 0.3907203907203908 + } + ], + "type": "point" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769163532234_hqohdgs70", + "x": 0.6648351648351649, + "y": 0.3443223443223443 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落至桌子上粉色的笔的两侧，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向爪夹方向的左后靠近粉色的笔上方移动", + "frame": 191, + "progress": 10, + "progress_explanation": "爪夹向左后移动靠近粉色的笔上方，因此进度提升为10%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上粉色的笔的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的下方竖直下落至桌子上粉色的笔的两侧", + "time": 6.3536820174418605 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.04151404151404155, + "id": "bbox_1769155420592_1769164133755_1c2u7g6ke", + "width": 0.13919413919413923, + "x": 0.5476190476190477, + "y": 0.3980463980463981 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3516483516483517, + "id": "bbox_1769155423538_1769164138237_omrt75lte", + "width": 0.336996336996337, + "x": 0.09706959706959707, + "y": 0.20268620268620272 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769164128535_ebweccaqt", + "x": 0.575091575091575, + "y": 0.44200244200244204 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧调整爪夹角度并后落至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落至桌子上粉色的笔的两侧，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向下靠近下方的粉色的笔移动", + "frame": 211, + "progress": 15, + "progress_explanation": "爪夹向下移动靠近下方的粉色的笔，因此进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于桌子上粉色的笔的前方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左侧调整爪夹角度", + "time": 7.023901639534884 + }, + { + "action_description": "张开的爪夹做闭合抓取的动作", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.04151404151404155, + "id": "bbox_1769155420592_1769164153345_ss7h4sl6q", + "width": 0.14835164835164835, + "x": 0.5402930402930404, + "y": 0.3980463980463981 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3516483516483517, + "id": "bbox_1769155423538_1769164157911_wqur9u0yk", + "width": 0.3296703296703297, + "x": 0.1043956043956044, + "y": 0.20268620268620272 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769164145025_igujs63t8", + "x": 0.5934065934065934, + "y": 0.4444444444444445 + } + ], + "type": "point" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769164148065_f3n44yyx5", + "x": 0.6007326007326007, + "y": 0.44200244200244204 + } + ], + "type": "point" + } + }, + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的上方抬升，张开的爪夹向爪夹方向的左侧调整爪夹方向并后落至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落至桌子上粉色的笔的两侧，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹在粉色的笔的前方闭合", + "frame": 239, + "progress": -8, + "progress_explanation": "爪夹在粉色的笔的前方闭合，因此进度降低为-8%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上粉色的笔的前方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：闭合的爪夹重新张开并向爪夹方向的上方抬升", + "time": 7.979123519072164 + }, + { + "action_description": "闭合的爪夹向爪夹方向的上方抬升", + "correction_plan": "闭合的爪夹重新，张开的爪夹向爪夹方向的左侧调整爪夹方向并向前移动至至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落至桌子上粉色的笔的两侧，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向上抬升靠近目标物粉色的笔的上方", + "frame": 261, + "progress": -2, + "progress_explanation": "爪夹向上移动靠近粉色的笔的上方，因此进度提升为-2%", + "state_description": "爪夹当前的状态为爪夹闭合，位于桌子上粉色的笔的后侧上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：闭合的爪夹重新张开", + "time": 8.7, + "annotations": { + "bbox_1769155420592": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155420592_1769390125243_btr9jbxjo", + "x": 0.5465, + "y": 0.3973333333333333, + "width": 0.142, + "height": 0.036000000000000004 + } + ] + }, + "bbox_1769155423538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155423538_1769390135397_322gdtv38", + "x": 0.1045, + "y": 0.20133333333333334, + "width": 0.32999999999999996, + "height": 0.35733333333333334 + } + ] + }, + "point_1769155426524": { + "type": "point", + "instances": [ + { + "id": "point_1769155426524_1769390144550_r1275e4c8", + "x": 0.5735, + "y": 0.16933333333333334 + } + ] + }, + "point_1769155429611": { + "type": "point", + "instances": [ + { + "id": "point_1769155429611_1769390146754_llkgwnlao", + "x": 0.5785, + "y": 0.16533333333333333 + } + ] + } + } + }, + { + "action_description": "闭合的爪夹重新张开", + "correction_plan": "张开的爪夹向爪夹方向的左侧调整爪夹方向并向左前移动至至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落至桌子上粉色的笔的两侧，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹在目标物粉色的笔的后侧上方重新张开", + "frame": 274, + "progress": 3, + "progress_explanation": "爪夹重新张开靠近粉色的笔，因此进度提升为3%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上粉色的笔的后侧上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的左前方向移动至粉色的笔的上方", + "time": 9.120016962371134, + "annotations": { + "point_1769155429611": { + "type": "point", + "instances": [ + { + "id": "point_1769155429611_1769390162178_h264tmqpe", + "x": 0.6075, + "y": 0.156 + } + ] + }, + "point_1769155426524": { + "type": "point", + "instances": [ + { + "id": "point_1769155426524_1769390164848_dxcwyk43k", + "x": 0.4965, + "y": 0.18933333333333333 + } + ] + }, + "bbox_1769155420592": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155420592_1769390170607_441w110w8", + "x": 0.5445, + "y": 0.4, + "width": 0.14299999999999996, + "height": 0.03200000000000003 + } + ] + }, + "bbox_1769155423538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769155423538_1769390177061_g4jdan3bd", + "x": 0.1115, + "y": 0.20933333333333334, + "width": 0.324, + "height": 0.34133333333333327 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左下方向移动", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.03907203907203905, + "id": "bbox_1769155420592_1769159996641_td9d5uhh8", + "width": 0.14102564102564105, + "x": 0.543956043956044, + "y": 0.3931623931623932 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3443223443223443, + "id": "bbox_1769155423538_1769159980457_3063feyrj", + "width": 0.32783882783882784, + "x": 0.10256410256410257, + "y": 0.21001221001221004 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769159983403_14dzoe6l4", + "x": 0.6172161172161172, + "y": 0.33699633699633696 + } + ], + "type": "point" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769159986349_h454wyb0n", + "x": 0.6831501831501832, + "y": 0.28083028083028083 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹继续向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右后方向移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向左下方向靠近粉色的笔移动后调整爪夹方向", + "frame": 286, + "progress": 15, + "progress_explanation": "爪夹向左下移动靠近下方的粉色的笔，因此进度提升为15%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于粉色的笔的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔", + "time": 9.51711863372093 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.04395604395604398, + "id": "bbox_1769155420592_1769160447056_9dsmyffet", + "width": 0.13919413919413923, + "x": 0.5476190476190477, + "y": 0.3931623931623932 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3711843711843713, + "id": "bbox_1769155423538_1769160453788_zvwnawut1", + "width": 0.33882783882783885, + "x": 0.09706959706959707, + "y": 0.20512820512820515 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769160456616_q00j7au8r", + "x": 0.6190476190476191, + "y": 0.4444444444444445 + } + ], + "type": "point" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769160458984_ljq62sc6k", + "x": 0.6684981684981686, + "y": 0.38827838827838834 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧方向移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方向下落靠近下方的抓取物粉色的笔", + "frame": 305, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的粉色的笔，进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，张开的两侧爪夹位于粉色的笔的两侧\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹做闭合抓取粉色的笔的动作", + "time": 10.167499 + }, + { + "action_description": "张开的爪夹做闭合抓取粉色的笔的动作", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.1343101343101343, + "id": "bbox_1769155420592_1769159795751_nrdf46jkp", + "width": 0.11904761904761907, + "x": 0.5677655677655677, + "y": 0.3052503052503053 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.35653235653235654, + "id": "bbox_1769155423538_1769159801225_taorvqm68", + "width": 0.33333333333333337, + "x": 0.10073260073260074, + "y": 0.20757020757020758 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769159792114_g54hc1jkz", + "x": 0.6501831501831502, + "y": 0.40537240537240543 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧方向移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹闭合，成功抓取爪夹中间的粉色的笔", + "frame": 331, + "progress": 40, + "progress_explanation": "爪夹抓取桌子上的粉色的笔，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的粉色的笔\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升", + "time": 11.018410587209301 + }, + { + "action_description": "抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.10500610500610505, + "id": "bbox_1769155420592_1769159639117_o7cul0ecl", + "width": 0.13003663003663002, + "x": 0.5897435897435898, + "y": 0.27106227106227104 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3540903540903541, + "id": "bbox_1769155423538_1769159648914_tb69m7ik5", + "width": 0.336996336996337, + "x": 0.09706959706959707, + "y": 0.20512820512820515 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769159642372_t0vhj1ama", + "x": 0.6794871794871795, + "y": 0.3443223443223443 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取粉色的笔的爪夹继续向爪夹方向的右侧方向移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取粉色的笔的爪夹向爪夹方向的上方靠近黄黑色的盒子上方抬升", + "frame": 343, + "progress": 50, + "progress_explanation": "爪夹抓取粉色的笔向上抬升靠近黄黑色的盒子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取粉色的笔在黄黑色的盒子的左侧的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取粉色的笔的爪夹继续向爪夹方向的右侧方向移动至黄黑色的盒子的上方", + "time": 11.433333333333334 + }, + { + "action_description": "抓取粉色的笔的爪夹向爪夹方向的右侧方向移动", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.12210012210012217, + "id": "bbox_1769155420592_1769159388420_v92w16t1u", + "width": 0.04761904761904763, + "x": 0.4194139194139194, + "y": 0.22954822954822954 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3614163614163614, + "id": "bbox_1769155423538_1769159378228_bpkkx2pju", + "width": 0.33882783882783885, + "x": 0.09890109890109891, + "y": 0.20268620268620272 + } + ], + "type": "bbox" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769159382620_h8ju4jsly", + "x": 0.45054945054945056, + "y": 0.31013431013431014 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取粉色的笔的爪夹继续向爪夹方向的右侧移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取粉色的笔的爪夹向爪夹方向的右侧方向移动至黄黑色的盒子的左侧上方", + "frame": 360, + "progress": 55, + "progress_explanation": "爪夹向右移动靠近黄黑色的盒子上方，进度提升为55%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取粉色的笔位于黄黑色的盒子的左侧上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取粉色的笔的爪夹继续向爪夹方向的右侧移动至黄黑色的盒子的上方", + "time": 12.007333 + }, + { + "action_description": "抓取粉色的笔的爪夹向爪夹方向的右侧方向移动", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.12942612942612944, + "id": "bbox_1769155420592_1769158990177_7xptawvi9", + "width": 0.10256410256410256, + "x": 0.2600732600732601, + "y": 0.2490842490842491 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3614163614163614, + "id": "bbox_1769155423538_1769158995593_088rp7i62", + "width": 0.33333333333333337, + "x": 0.1043956043956044, + "y": 0.20512820512820515 + } + ], + "type": "bbox" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769158984529_gna6ijy8g", + "x": 0.3021978021978022, + "y": 0.3418803418803419 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取粉色的笔的爪夹继续向爪夹方向的下方下落将抓取的粉色的笔放进黄黑色的盒子里，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取粉色的笔的爪夹向爪夹方向的右侧方向移动至黄黑色的盒子上方", + "frame": 368, + "progress": 60, + "progress_explanation": "爪夹向右移动至黄黑色的盒子上方，进度提升为60%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取粉色的笔位于黄黑色的盒子的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取粉色的笔的爪夹继续向爪夹方向的下方下落将抓取的粉色的笔放进黄黑色的盒子里", + "time": 12.251614691860466 + }, + { + "action_description": "抓取粉色的笔的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.1706666666666667, + "id": "bbox_1769155420592_1769158772409_gto3yj9w3", + "width": 0.06299999999999999, + "x": 0.3095, + "y": 0.32266666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.35466666666666663, + "id": "bbox_1769155423538_1769158785246_tt37efs5h", + "width": 0.32999999999999996, + "x": 0.1075, + "y": 0.20800000000000002 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769158788063_1idhlevno", + "x": 0.3145, + "y": 0.452 + } + ], + "type": "point" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769158790789_x22u83jty", + "x": 0.3355, + "y": 0.456 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "抓取粉色的笔的爪夹向爪夹方向的下方移动将抓取的粉色的笔放入黄黑色的盒子", + "frame": 379, + "progress": 80, + "progress_explanation": "爪夹向下落将抓取的粉色的笔放在黄黑色的盒子中，进度提升为80%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取粉色的笔位于黄黑色的盒子中\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "time": 12.633333333333333 + }, + { + "action_description": "抓取粉色的笔的爪夹由闭合重新张开", + "annotations": { + "bbox_1769155420592": { + "instances": [ + { + "height": 0.15384615384615383, + "id": "bbox_1769155420592_1769158668663_g1qmhew86", + "width": 0.03663003663003663, + "x": 0.3205128205128205, + "y": 0.34676434676434675 + } + ], + "type": "bbox" + }, + "bbox_1769155423538": { + "instances": [ + { + "height": 0.3492063492063492, + "id": "bbox_1769155423538_1769158664235_5vpi85tn4", + "width": 0.33333333333333337, + "x": 0.10256410256410257, + "y": 0.21001221001221004 + } + ], + "type": "bbox" + }, + "point_1769155426524": { + "instances": [ + { + "id": "point_1769155426524_1769158656388_ubycf29xa", + "x": 0.2765567765567766, + "y": 0.4444444444444445 + } + ], + "type": "point" + }, + "point_1769155429611": { + "instances": [ + { + "id": "point_1769155429611_1769158658938_rwv3ngo32", + "x": 0.3644688644688645, + "y": 0.46153846153846156 + } + ], + "type": "point" + } + }, + "correction_plan": "已完成把粉色的笔放进黄黑色的盒子里的任务", + "error_success_analysis": "抓取粉色的笔的爪夹重新张开，抓取的刷子落入下方的黄黑色的盒子中", + "frame": 402, + "progress": 100, + "progress_explanation": "爪夹张开，粉色的笔落入黄黑色的盒子中，进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄黑色的盒子中的粉色的笔上方\n把粉色的笔放进黄黑色的盒子里已完成", + "time": 13.404392441860464 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769155420592", + "name": "粉色的笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769155423538", + "name": "黄黑相间的盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769155426524", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769155429611", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-134401-put-pink pen-yellow and black-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-134401-put-pink pen-yellow and black-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..0495b036b24a07a22626fb9b231d2056d1456838 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-134401-put-pink pen-yellow and black-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,656 @@ +{ + "task_description": "把粉色的笔放进黄黑色的盒子里\n开始移动0%\n爪夹靠近粉色的笔20%\n爪夹抓取粉色的笔40%\n爪夹抓取粉色的笔接近黄黄黑色的盒子60%\n爪夹将粉色的笔放入黄黑色的盒子80%\n爪夹松开，粉色的笔落入黄黑色的盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触粉色的笔。\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至粉色的笔的上方", + "time": 0.38536083556701034, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404672480_fisqf25px", + "x": 0.6080586080586081, + "y": 0.8376068376068376, + "width": 0.1904761904761904, + "height": 0.12210012210012214 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404680574_dlllimtk8", + "x": 0.5329670329670331, + "y": 0.2368742368742369, + "width": 0.46336996336996333, + "height": 0.6715506715506716 + } + ] + }, + "point_1769390725285": { + "type": "point", + "instances": [ + { + "id": "point_1769390725285_1769404688461_7hwwzlw5y", + "x": 0.28937728937728935, + "y": 0.28083028083028083 + } + ] + }, + "point_1769390726908": { + "type": "point", + "instances": [ + { + "id": "point_1769390726908_1769404691211_hxmf0b8y8", + "x": 0.4377289377289378, + "y": 0.31013431013431014 + } + ] + } + } + }, + { + "action_description": "张开的爪夹开始向爪夹方向的上方抬升并向下调整爪夹角度", + "correction_plan": "爪夹继续调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右前方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向下调整了爪夹的角度", + "frame": 29, + "progress": 5, + "progress_explanation": "爪夹开始调整角度靠近粉色的笔，因此进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上粉色的笔的左上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：爪夹继续调整爪夹角度使其垂直于桌面", + "time": 0.9666666666666667, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404700871_d0mfsb4p1", + "x": 0.6080586080586081, + "y": 0.8376068376068376, + "width": 0.18864468864468859, + "height": 0.11721611721611727 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404708236_m9bi9kgge", + "x": 0.5293040293040294, + "y": 0.231990231990232, + "width": 0.4688644688644688, + "height": 0.6691086691086691 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的前方移动并下落略微下落调整爪夹角度", + "correction_plan": "爪夹向爪夹方向的右后方向移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向前移动远离目标物粉色的笔移动靠近前方的导热硅脂", + "frame": 43, + "progress": -5, + "progress_explanation": "爪夹向前靠近错误的抓取物导热硅脂，远离粉色的笔，因此进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上导热硅脂的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：爪夹向爪夹方向的右后方向移动至桌子上粉色的笔的上方", + "time": 1.424, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404722437_6dqros91m", + "x": 0.6043956043956044, + "y": 0.8376068376068376, + "width": 0.19047619047619052, + "height": 0.1196581196581197 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404728916_0e2ioc76q", + "x": 0.5329670329670331, + "y": 0.231990231990232, + "width": 0.45604395604395603, + "height": 0.6593406593406593 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方下落并调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向下靠近下方错误的抓取物导热硅脂", + "frame": 62, + "progress": -8, + "progress_explanation": "爪夹向下靠近错误的目标物导热硅脂，因此进度降低为-8%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上导热硅脂上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至粉色的笔的上方", + "time": 2.0613746283505154, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404739788_rcyldti16", + "x": 0.6062271062271063, + "y": 0.8400488400488402, + "width": 0.1831501831501831, + "height": 0.10989010989010986 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404746846_h8a4mndp5", + "x": 0.5311355311355312, + "y": 0.22710622710622713, + "width": 0.45787545787545786, + "height": 0.6788766788766789 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取的动作", + "correction_plan": "抓取导热硅脂的爪夹张开，并向爪夹方向的上方抬升，并向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹闭合，抓取爪夹中间的错误目标物导热硅脂，偏离正确的目标物粉色的笔", + "frame": 81, + "progress": -10, + "progress_explanation": "爪夹闭合，抓取错误的目标物导热硅脂，因此进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的导热硅脂\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取导热硅脂的爪夹张开，并向爪夹方向的上方抬升", + "time": 2.7136951666666667, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404754061_96is0w8tm", + "x": 0.6062271062271063, + "y": 0.8327228327228328, + "width": 0.17765567765567764, + "height": 0.10989010989010997 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404761039_n26e0ntah", + "x": 0.5293040293040293, + "y": 0.24175824175824176, + "width": 0.4652014652014652, + "height": 0.652014652014652 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的上方抬升并调整爪夹角度", + "correction_plan": "爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹抓取导热硅脂上移，偏离正确的目标物粉色的笔", + "frame": 104, + "progress": -15, + "progress_explanation": "爪夹抓取错误的目标物导热硅脂靠近黄黑色的盒子上方，因此进度降低为-15%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于桌子上粉色的笔的左前方的上侧\n为了完成把粉色的笔放进黄黑色的盒子里的任务：爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色笔的上方", + "time": 3.468247520103093, + "annotations": { + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404777897_zw1tnchgs", + "x": 0.5366300366300367, + "y": 0.22954822954822957, + "width": 0.45787545787545786, + "height": 0.6642246642246642 + } + ] + }, + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404783639_pan58tga5", + "x": 0.6043956043956044, + "y": 0.8376068376068376, + "width": 0.18315018315018322, + "height": 0.1196581196581197 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的爪夹重新张开", + "correction_plan": "调整爪夹角度使其垂直于桌面，并向爪夹方向的右后方向移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹重新打开，抓取的错误目标物导热硅脂掉落", + "frame": 133, + "progress": -5, + "progress_explanation": "爪夹重新张开靠近粉色的笔，因此进度提升为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上粉色的笔的左前方向的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：调整爪夹角度使其垂直于桌面，并向爪夹方向的右后方向移动至桌子上粉色的笔的上方", + "time": 4.438501416666666, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404790108_i40e809am", + "x": 0.6043956043956044, + "y": 0.8351648351648352, + "width": 0.17765567765567775, + "height": 0.11721611721611727 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404797260_0bufo78s4", + "x": 0.5311355311355312, + "y": 0.2368742368742369, + "width": 0.46520146520146516, + "height": 0.673992673992674 + } + ] + }, + "point_1769390725285": { + "type": "point", + "instances": [ + { + "id": "point_1769390725285_1769404801846_fashpzwvn", + "x": 0.37545787545787546, + "y": 0.3076923076923077 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方下落并调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向下靠近下方错误的抓取物蓝色的笔", + "frame": 151, + "progress": -8, + "progress_explanation": "爪夹向下靠近错误的目标物蓝色的笔，因此进度降低为-8%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上蓝色的笔的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至粉色的笔的上方", + "time": 5.033333333333333, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404812485_wel7rraud", + "x": 0.6062271062271063, + "y": 0.8351648351648352, + "width": 0.1831501831501831, + "height": 0.10989010989010997 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404818511_jsfkek3cd", + "x": 0.5384615384615385, + "y": 0.23443223443223443, + "width": 0.45787545787545786, + "height": 0.6642246642246642 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左下方向移动", + "correction_plan": "爪夹向爪夹方向的右上方向移动将侧翻的黄黑色盒子放到桌面上，张开的爪夹向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹没有向右后靠近正确的目标物粉色的笔移动", + "frame": 163, + "progress": -18, + "progress_explanation": "爪夹下落使右侧的黄黑色盒子侧翻，因此进度降低为-18%", + "state_description": "爪夹当前位于侧翻的黄黑色的盒子的下方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：爪夹向爪夹方向的右上方向移动将侧翻的黄黑色盒子放到桌面上", + "time": 5.433333333333334, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404831950_5mcpvwe65", + "x": 0.6080586080586081, + "y": 0.8376068376068376, + "width": 0.16483516483516478, + "height": 0.10989010989010997 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404851314_7830hnjs1", + "x": 0.34798534798534797, + "y": 0.004884004884004884, + "width": 0.47435897435897445, + "height": 0.652014652014652 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右上方向移动", + "correction_plan": "张开的爪夹向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向上抬升使侧翻的黄黑色的盒子重新放在桌子上", + "frame": 181, + "progress": -5, + "progress_explanation": "爪夹抬升重新靠近粉色的笔，因此进度提升为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上粉色的笔的左上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：调整爪夹角度使其垂直于桌面，并向爪夹方向的右后方向移动至桌子上粉色的笔的上方", + "time": 6.033333333333333, + "annotations": { + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404857692_zodk0o552", + "x": 0.7435897435897436, + "y": 0.03418803418803419, + "width": 0.25457875457875456, + "height": 0.5201465201465202 + } + ] + }, + "point_1769390725285": { + "type": "point", + "instances": [ + { + "id": "point_1769390725285_1769404860422_gzjmsc3to", + "x": 0.6172161172161172, + "y": 0.1807081807081807 + } + ] + }, + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404865253_5hld3dp64", + "x": 0.6062271062271063, + "y": 0.8376068376068376, + "width": 0.18131868131868129, + "height": 0.1050061050061051 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向下靠近下方错误的抓取物蓝色的笔，偏离粉色的笔", + "frame": 219, + "progress": -8, + "progress_explanation": "爪夹向下靠近错误的目标物蓝色的笔，因此进度降低为-8%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上蓝色的笔的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至粉色的笔的上方", + "time": 7.3, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404870258_49sdvu3sk", + "x": 0.6080586080586081, + "y": 0.8351648351648352, + "width": 0.16849816849816843, + "height": 0.10989010989010997 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404875128_e16texqbf", + "x": 0.717948717948718, + "y": 0.009768009768009768, + "width": 0.2765567765567766, + "height": 0.6202686202686203 + } + ] + }, + "point_1769390725285": { + "type": "point", + "instances": [ + { + "id": "point_1769390725285_1769404881322_15v8xtg8s", + "x": 0.5164835164835165, + "y": 0.46642246642246643 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取的动作", + "correction_plan": "抓取蓝色的笔的爪夹张开，并向爪夹方向的上方抬升，向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹闭合，抓取爪夹中间的错误目标物蓝色的笔，偏离正确的目标物粉色的笔", + "frame": 257, + "progress": -10, + "progress_explanation": "爪夹闭合，抓取错误的目标物蓝色的笔，因此进度降低为-10%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的蓝色的笔\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取蓝色的笔的爪夹张开，并向爪夹方向的上方抬升", + "time": 8.578036416666666, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404886408_zye1yp0mq", + "x": 0.5989010989010989, + "y": 0.8278388278388279, + "width": 0.19230769230769235, + "height": 0.1196581196581197 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404890766_nltbv00bs", + "x": 0.7161172161172161, + "y": 0.007326007326007326, + "width": 0.28205128205128205, + "height": 0.6105006105006106 + } + ] + } + } + }, + { + "action_description": "抓取蓝色的笔的爪夹向爪夹方向的上方抬升并调整爪夹角度", + "correction_plan": "爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹抓取错误的目标物蓝色的笔上移，偏离正确的目标物粉色的笔", + "frame": 280, + "progress": -25, + "progress_explanation": "爪夹抓取错误的目标物蓝色的笔靠近黄黑色的盒子上方，远离粉色的笔，因此进度降低为-25%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取蓝色的笔位于桌子上粉色的笔的左前方的上侧\n为了完成把粉色的笔放进黄黑色的盒子里的任务：爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色笔的上方", + "time": 9.339066, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404897416_dp58or83s", + "x": 0.6062271062271063, + "y": 0.8351648351648352, + "width": 0.1593406593406593, + "height": 0.10744810744810754 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404902145_jns7yxq60", + "x": 0.717948717948718, + "y": 0.012210012210012212, + "width": 0.2802197802197802, + "height": 0.612942612942613 + } + ] + } + } + }, + { + "action_description": "抓取蓝色的笔的爪夹向爪夹方向的右前方向抬升并移动", + "correction_plan": "抓取蓝色的笔的爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹抓取错误的目标物蓝色的笔向黄黑色的盒子上方移动", + "frame": 301, + "progress": -28, + "progress_explanation": "爪夹抓取蓝色的笔向右靠近黄黑色的盒子，因此进度降低为-28%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取蓝色的笔位于桌子上黄黑色的盒子上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取蓝色的笔的爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色的笔的上方", + "time": 10.033333333333333, + "annotations": { + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404914486_dn6b7h9xw", + "x": 0.717948717948718, + "y": 0.029304029304029304, + "width": 0.2710622710622711, + "height": 0.6007326007326007 + } + ] + }, + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404919822_q1alujmck", + "x": 0.6062271062271063, + "y": 0.8327228327228328, + "width": 0.17765567765567764, + "height": 0.10989010989010997 + } + ] + } + } + }, + { + "action_description": "抓取蓝色的笔的爪夹向爪夹方向的右下方向移动", + "correction_plan": "抓取蓝色的笔的爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹下落将错误的抓取物放入下方的盒子中", + "frame": 326, + "progress": -30, + "progress_explanation": "爪夹抓取错误的目标物蓝色的笔下落靠近黄黑色的盒子，因此进度降低为-30%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取蓝色的笔位于桌子上黄黑色的盒子上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取蓝色的笔的爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色的笔的上方", + "time": 10.87777808333333, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404924178_j5doto8oh", + "x": 0.6080586080586081, + "y": 0.8351648351648352, + "width": 0.17032967032967034, + "height": 0.1123321123321124 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404932138_2ms1vz3np", + "x": 0.7234432234432234, + "y": 0.002442002442002442, + "width": 0.27472527472527475, + "height": 0.6080586080586081 + } + ] + } + } + }, + { + "action_description": "抓取蓝色的笔的爪夹重新张开", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向右后方向移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的左前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹张开，错误的目标物蓝色的笔落入下方的黄黑色的盒子", + "frame": 342, + "progress": -35, + "progress_explanation": "爪夹张开蓝色的笔落入下方的黄黑色的盒子，因此进度降低为-35%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上黄黑色的黑子中蓝色的笔的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向右后方向移动至桌子上粉色的笔的上方", + "time": 11.383436745876288, + "annotations": { + "bbox_1769390714324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390714324_1769404944944_pmlh016gz", + "x": 0.6043956043956044, + "y": 0.8351648351648352, + "width": 0.1813186813186814, + "height": 0.11477411477411484 + } + ] + }, + "bbox_1769390720935": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390720935_1769404949402_rx23lj3s7", + "x": 0.7032967032967032, + "y": 0.007326007326007326, + "width": 0.2893772893772894, + "height": 0.6202686202686203 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769390714324", + "name": "粉色的笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769390720935", + "name": "黄黑相间的盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769390725285", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769390726908", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-134401-put-pink pen-yellow and black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-134401-put-pink pen-yellow and black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b266764dfda3ee413a637c2a564a12afe29e18fb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-134401-put-pink pen-yellow and black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,706 @@ +{ + "task_description": "把粉色的笔放进黄黑色的盒子里\n开始移动0%\n爪夹靠近粉色的笔20%\n爪夹抓取粉色的笔40%\n爪夹抓取粉色的笔接近黄黄黑色的盒子60%\n爪夹将粉色的笔放入黄黑色的盒子80%\n爪夹松开，粉色的笔落入黄黑色的盒子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹调整爪夹角度使其垂直于桌面，后张开的爪夹向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触粉色的笔。\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹调整爪夹方向使其垂直于桌面，后张开的爪夹向爪夹方向的右后方向移动至粉色的笔的上方", + "time": 0.4369509166666667, + "annotations": { + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405971162_b40f703fe", + "x": 0.6172161172161172, + "y": 0.5103785103785105 + } + ] + }, + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405973032_efics4v3c", + "x": 0.38461538461538464, + "y": 0.5054945054945056 + } + ] + }, + "bbox_1769404998118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769404998118_1769405978812_lysmtpr81", + "x": 0.7051282051282052, + "y": 0.8791208791208792, + "width": 0.11172161172161177, + "height": 0.06105006105006107 + } + ] + }, + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405992214_aqpds184o", + "x": 0.5695970695970696, + "y": 0.5201465201465202, + "width": 0.30036630036630046, + "height": 0.3394383394383394 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的前方移动并下落调整爪夹角度", + "correction_plan": "张开的爪夹继续调整爪夹角度使其垂直于桌面，并向爪夹方向的右后方向移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向下调整爪夹角度靠近粉色的笔", + "frame": 46, + "progress": 5, + "progress_explanation": "爪夹开始向下调整角度，靠近粉色的笔，因此进度提升为5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上粉色的笔的左前方的上侧\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹继续调整爪夹角度使其垂直于桌面，并向爪夹方向的右后方向移动至桌子上粉色的笔的上方", + "time": 1.5178295, + "annotations": { + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405956606_uxukkd8k6", + "x": 0.6172161172161172, + "y": 0.12942612942612944, + "width": 0.36996336996337, + "height": 0.6788766788766789 + } + ] + }, + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405964208_wdi2e99p7", + "x": 0.3827838827838828, + "y": 0.5152625152625153 + } + ] + }, + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405967329_wjha6apr2", + "x": 0.6117216117216118, + "y": 0.5128205128205129 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方下落", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向下移动至错误的抓取物导热硅脂两侧", + "frame": 61, + "progress": -5, + "progress_explanation": "爪夹向下导热硅脂，远离粉色的笔，因此进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上导热硅脂的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至桌子上粉色的笔的上方", + "time": 2.046770083333333, + "annotations": { + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405938588_n0dz8fwt5", + "x": 0.3827838827838828, + "y": 0.5128205128205129 + } + ] + }, + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405940656_9vfghturq", + "x": 0.6153846153846154, + "y": 0.5128205128205129 + } + ] + }, + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405946824_7r6x3d01f", + "x": 0.6703296703296704, + "y": 0.0634920634920635, + "width": 0.3241758241758242, + "height": 0.7960927960927962 + } + ] + } + } + }, + { + "time": 2.764933, + "frame": 83, + "progress": -8, + "action_description": "张开的爪夹做闭合抓取的动作", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的导热硅脂\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取导热硅脂的爪夹张开，并向爪夹方向的上方抬升", + "progress_explanation": "爪夹闭合，抓取错误的目标物导热硅脂，因此进度降低为-8%", + "error_success_analysis": "爪夹闭合，抓取爪夹中间的错误目标物导热硅脂，偏离正确的目标物粉色的笔", + "correction_plan": "抓取导热硅脂的爪夹张开，并向爪夹方向的上方抬升，张开的爪夹向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "annotations": { + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405901918_vjoh2uu8t", + "x": 0.5457875457875458, + "y": 0.5030525030525032 + } + ] + }, + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405904414_9mbmuxg7u", + "x": 0.45054945054945056, + "y": 0.5030525030525032 + } + ] + }, + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405912626_4utb2zdph", + "x": 0.6501831501831503, + "y": 0.05616605616605617, + "width": 0.3479853479853479, + "height": 0.8107448107448108 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的爪夹向爪夹方向的上方抬升", + "correction_plan": "爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色笔的上方，调整爪夹角度使其垂直于桌面，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹闭合，抓取错误的目标物导热硅脂上移，偏离正确的目标物粉色的笔", + "frame": 104, + "progress": -12, + "progress_explanation": "爪夹抓取错误的目标物导热硅脂靠近黄黑色的盒子上方，因此进度降低为-12%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取导热硅脂位于桌子上粉色的笔的左前方的上侧\n为了完成把粉色的笔放进黄黑色的盒子里的任务：爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色笔的上方", + "time": 3.466666666666667, + "annotations": { + "bbox_1769404998118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769404998118_1769405879686_v6swhemwk", + "x": 0.6465201465201466, + "y": 0.783882783882784, + "width": 0.10805860805860812, + "height": 0.04395604395604392 + } + ] + }, + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405886966_pn8kr1y1h", + "x": 0.5879120879120879, + "y": 0.3028083028083028, + "width": 0.2875457875457876, + "height": 0.4932844932844933 + } + ] + }, + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405894806_88q1penwm", + "x": 0.4523809523809524, + "y": 0.5103785103785105 + } + ] + }, + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405898236_yy1i428c4", + "x": 0.543956043956044, + "y": 0.5006105006105006 + } + ] + } + } + }, + { + "action_description": "抓取导热硅脂的爪夹重新张开", + "correction_plan": "调整爪夹角度使其垂直于桌面，并向爪夹方向的右后方向移动至桌子上粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹重新打开，抓取的错误目标物导热硅脂掉落", + "frame": 134, + "progress": 2, + "progress_explanation": "爪夹重新张开靠近粉色的笔，因此进度提升为2%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上粉色的笔的左前方向的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：调整爪夹角度使其垂直于桌面，并向爪夹方向的右后方向移动至桌子上粉色的笔的上方", + "time": 4.466666666666667, + "annotations": { + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405856878_al33facl1", + "x": 0.3827838827838828, + "y": 0.5177045177045178 + } + ] + }, + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405858858_d1jml9z59", + "x": 0.6153846153846154, + "y": 0.5152625152625153 + } + ] + }, + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405864536_hdli691xb", + "x": 0.6025641025641025, + "y": 0.2515262515262516, + "width": 0.3095238095238095, + "height": 0.4981684981684982 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右下方向移动后向左移动", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹向下方的蓝色的笔移动后触及右侧的黄黑色的盒子，后爪夹向左弹开，远离黄黑色的盒子后方的粉色的笔", + "frame": 164, + "progress": -5, + "progress_explanation": "爪夹向下靠近错误的目标物蓝色的笔，远离粉色的笔，因此进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上黄黑色的盒子的左侧\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至粉色的笔的上方", + "time": 5.466666666666667, + "annotations": { + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405841212_50qec9bqw", + "x": 0.6153846153846154, + "y": 0.5152625152625153 + } + ] + }, + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405843312_6w91sl66s", + "x": 0.37912087912087916, + "y": 0.5201465201465202 + } + ] + }, + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405848212_n8xdoug3v", + "x": 0.8351648351648352, + "y": 0.1807081807081807, + "width": 0.16300366300366295, + "height": 0.7863247863247864 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右上方向抬升", + "correction_plan": "张开的爪夹向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "张开的爪夹向上靠近粉色的笔的上方抬升", + "frame": 195, + "progress": 3, + "progress_explanation": "爪夹抬升重新靠近粉色的笔，因此进度提升为3%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上粉色的笔的左前方向的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：调整爪夹角度使其垂直于桌面，并向爪夹方向的右后方向移动至桌子上粉色的笔的上方", + "time": 6.508268916666666, + "annotations": { + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405833205_7jrbeq5n6", + "x": 0.521978021978022, + "y": 0.002442002442002442, + "width": 0.44505494505494514, + "height": 0.48840048840048844 + } + ] + }, + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405835556_mgb5umj66", + "x": 0.38461538461538464, + "y": 0.5177045177045178 + } + ] + }, + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405837822_jd78udd55", + "x": 0.6172161172161172, + "y": 0.507936507936508 + } + ] + } + } + }, + { + "time": 7.559066, + "frame": 227, + "progress": -15, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上蓝色的笔的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至粉色的笔的上方", + "progress_explanation": "爪夹向下靠近错误的目标物蓝色的笔，因此进度降低为-15%", + "error_success_analysis": "爪夹向下靠近下方错误的抓取物蓝色的笔，偏离粉色的笔", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的右后方向移动至粉色的笔的上方，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "annotations": { + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405802230_e5cpq8b8m", + "x": 0.6135531135531136, + "y": 0.5054945054945056 + } + ] + }, + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405804527_7rjln2igu", + "x": 0.3827838827838828, + "y": 0.5103785103785105 + } + ] + }, + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405811368_ditwav7jf", + "x": 0.684981684981685, + "y": 0.002442002442002442, + "width": 0.31318681318681313, + "height": 0.5567765567765568 + } + ] + }, + "bbox_1769404998118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769404998118_1769405817072_fspo5a7yy", + "x": 0.7124542124542125, + "y": 0.6837606837606838, + "width": 0.14468864468864462, + "height": 0.10256410256410256 + } + ] + } + } + }, + { + "action_description": "张开的爪夹做闭合抓取的动作", + "correction_plan": "爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色笔的上方，调整爪夹角度使其垂直于桌面，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹闭合，抓取爪夹中间的错误目标物蓝色的笔，偏离正确的目标物粉色的笔", + "frame": 266, + "progress": -18, + "progress_explanation": "爪夹闭合，抓取错误的目标物蓝色的笔，因此进度降低为-18%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取位于桌子上的蓝色的笔\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取蓝色的笔的爪夹张开，并向爪夹方向的上方抬升", + "time": 8.877002833333332, + "annotations": { + "bbox_1769404998118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769404998118_1769405775873_qalolc0f6", + "x": 0.6666666666666667, + "y": 0.7081807081807081, + "width": 0.17582417582417573, + "height": 0.10744810744810743 + } + ] + }, + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405793019_mcrxg1m2a", + "x": 0.6813186813186813, + "y": 0.002442002442002442, + "width": 0.3095238095238095, + "height": 0.5885225885225885 + } + ] + }, + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405796352_v93qsu20m", + "x": 0.4706959706959707, + "y": 0.5054945054945056 + } + ] + }, + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405798998_a60t7z80h", + "x": 0.5238095238095238, + "y": 0.4981684981684982 + } + ] + } + } + }, + { + "action_description": "抓取蓝色的笔的爪夹向爪夹方向的上方抬升并调整爪夹角度", + "correction_plan": "爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色笔的上方，调整爪夹角度使其垂直于桌面，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹抓取错误的目标物蓝色的笔上移，偏离正确的目标物粉色的笔", + "frame": 290, + "progress": -20, + "progress_explanation": "爪夹抓取错误的目标物蓝色的笔靠近黄黑色的盒子上方，远离粉色的笔，因此进度降低为-20%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取蓝色的笔位于桌子上粉色的笔的左前方的上侧\n为了完成把粉色的笔放进黄黑色的盒子里的任务：爪夹重新张开并向爪夹方向的右后方向移动至桌子上粉色笔的上方", + "time": 9.666666666666666, + "annotations": { + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405739798_wtnsk8ni0", + "x": 0.4725274725274725, + "y": 0.5054945054945056 + } + ] + }, + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405743036_s3ky06hee", + "x": 0.521978021978022, + "y": 0.5006105006105006 + } + ] + }, + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405754740_x7cgreheu", + "x": 0.4322344322344323, + "y": 0.017094017094017092, + "width": 0.42673992673992667, + "height": 0.5836385836385836 + } + ] + }, + "bbox_1769404998118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769404998118_1769405769371_6w8d9h90o", + "x": 0.6483516483516484, + "y": 0.7643467643467644, + "width": 0.12271062271062272, + "height": 0.08058608058608066 + } + ] + } + } + }, + { + "action_description": "抓取蓝色的笔的爪夹向爪夹方向的右前方向移动并略微下落", + "correction_plan": "爪夹重新张开并向爪夹方向的后方移动至桌子上粉色的笔的上方，调整爪夹角度使其垂直于桌面，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹抓取错误的目标物蓝色的笔向黄黑色的盒子上方移动", + "frame": 312, + "progress": -22, + "progress_explanation": "爪夹抓取蓝色的笔向右靠近黄黑色的盒子，因此进度降低为-22%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取蓝色的笔位于桌子上黄黑色的盒子上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取蓝色的笔的爪夹重新张开并向爪夹方向的后方移动至桌子上粉色的笔的上方", + "time": 10.4, + "annotations": { + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405718895_qwezzqi59", + "x": 0.5256410256410257, + "y": 0.5030525030525032 + } + ] + }, + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405721073_z9ij44b6b", + "x": 0.46886446886446886, + "y": 0.5054945054945056 + } + ] + }, + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405726617_d56b8enes", + "x": 0.32967032967032966, + "y": 0.2271062271062271, + "width": 0.4963369963369965, + "height": 0.717948717948718 + } + ] + } + } + }, + { + "action_description": "抓取蓝色的笔的爪夹向爪夹方向的下方移动", + "correction_plan": "爪夹重新张开并向爪夹方向的后方移动至桌子上粉色的笔的上方，调整爪夹角度使其垂直于桌面，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹下落将错误的抓取物放入下方的黄黑色的盒子中", + "frame": 326, + "progress": -25, + "progress_explanation": "爪夹抓取错误的目标物蓝色的笔下落靠近黄黑色的盒子，因此进度降低为-25%", + "state_description": "爪夹当前的状态为爪夹闭合，抓取蓝色的笔位于桌子上黄黑色的盒子上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：抓取蓝色的笔的爪夹重新张开并向爪夹方向的后方移动至桌子上粉色的笔的上方", + "time": 10.854780666666667, + "annotations": { + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405697005_6i0zonte1", + "x": 0.2710622710622711, + "y": 0.02686202686202686, + "width": 0.6575091575091575, + "height": 0.9084249084249084 + } + ] + }, + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405712077_yfvperfap", + "x": 0.4706959706959707, + "y": 0.5054945054945056 + } + ] + }, + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405714793_m4bttzkqy", + "x": 0.5201465201465202, + "y": 0.4981684981684982 + } + ] + } + } + }, + { + "action_description": "抓取蓝色的笔的爪夹重新张开", + "correction_plan": "爪夹重新张开并向爪夹方向的后方移动至桌子上粉色的笔的上方，调整爪夹角度使其垂直于桌面，张开的爪夹向爪夹方向的下方竖直下落靠近或触及下方的粉色的笔，张开的爪夹做闭合抓取粉色的笔的动作，抓取粉色的笔的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右前方移动至黄黑色的盒子的上方，抓取粉色的笔的爪夹向爪夹方向的下方竖直下落将抓取的粉色的笔放入黄黑色的盒子中，抓取粉色的笔的爪夹张开，抓取的粉色的笔落入下方的黄黑色的盒子中", + "error_success_analysis": "爪夹张开，错误的目标物蓝色的笔落入下方的黄黑色的盒子", + "frame": 341, + "progress": -30, + "progress_explanation": "爪夹张开蓝色的笔落入下方的黄黑色的盒子，因此进度降低为-30%", + "state_description": "爪夹当前的状态为爪夹张开，位于桌子上黄黑色的黑子中蓝色的笔的上方\n为了完成把粉色的笔放进黄黑色的盒子里的任务：张开的爪夹向爪夹方向的上方抬升并向后方移动至桌子上粉色的笔的上方", + "time": 11.360723833333333, + "annotations": { + "point_1769405012448": { + "type": "point", + "instances": [ + { + "id": "point_1769405012448_1769405672660_o55huigma", + "x": 0.6135531135531136, + "y": 0.507936507936508 + } + ] + }, + "point_1769405009636": { + "type": "point", + "instances": [ + { + "id": "point_1769405009636_1769405674655_7oinuwraq", + "x": 0.38461538461538464, + "y": 0.5152625152625153 + } + ] + }, + "bbox_1769405006303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769405006303_1769405680697_e64oouszj", + "x": 0.25641025641025644, + "y": 0.031746031746031744, + "width": 0.6556776556776557, + "height": 0.8840048840048841 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769404998118", + "name": "粉色的笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769405006303", + "name": "黄黑相间的盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769405009636", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769405012448", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-135536-put-blue pen-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-135536-put-blue pen-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..8858f292e3c16794964cfa815ad1513d55f41e9b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-135536-put-blue pen-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000006.json @@ -0,0 +1,458 @@ +{ + "task_description": "将蓝色钢笔放入黄色与黑色相间的盒子里\n开始移动0%\n爪夹靠近蓝色钢笔20%\n爪夹抓取蓝色钢笔40%\n爪夹抓住蓝色钢笔靠近黄色与黑色相间的盒子60%\n爪夹将蓝色钢笔放入黄色与黑色相间的盒子80%\n爪夹松开，蓝色钢笔落入黄色与黑色相间的盒子里100", + "progress_points": [ + { + "time": 0.7449500935146539, + "frame": 22, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态爪夹张开，远离蓝色钢笔，未开始移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹右前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "annotations": { + "point_1769408180706": { + "type": "point", + "instances": [ + { + "id": "point_1769408180706_1769409294402_22jxicjw3", + "x": 0.7599274193574077, + "y": 0.1819833310240736 + } + ] + }, + "point_1769408180555": { + "type": "point", + "instances": [ + { + "id": "point_1769408180555_1769409296689_rwcuk1ce1", + "x": 0.6910328947934283, + "y": 0.2283780866739515 + } + ] + }, + "bbox_1769408179803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179803_1769409300250_m8uea962y", + "x": 0.4739107567736146, + "y": 0.40653389400064516, + "width": 0.110648781875482, + "height": 0.15310264692137737 + } + ] + }, + "bbox_1769408179603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179603_1769409304770_go6v5higc", + "x": 0.3089814403931791, + "y": 0.033520172410380404, + "width": 0.34447262281989677, + "height": 0.3451768766954688 + } + ] + } + } + }, + { + "time": 1.4784, + "frame": 44, + "progress": 10, + "action_description": "抓夹向抓夹方向前方移动", + "state_description": "爪夹张开，靠近蓝色钢笔，开始移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "progress_explanation": "爪夹张开向抓夹向抓夹前方移动，开始靠近蓝色钢笔。因此进度增长为10%", + "error_success_analysis": "抓夹向抓夹方向前方移动，开始靠近蓝色钢笔", + "correction_plan": "爪夹向爪夹方向正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹右前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "annotations": { + "bbox_1769408179603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179603_1769409240234_oo2fq48h4", + "x": 0.30966660707601273, + "y": 0.03694443465621463, + "width": 0.3269999800415051, + "height": 0.3439999720052106 + } + ] + }, + "bbox_1769408179803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179803_1769409243825_57dkte4iq", + "x": 0.471666597188318, + "y": 0.410277737607606, + "width": 0.10999999328613326, + "height": 0.1626666534288205 + } + ] + }, + "point_1769408180555": { + "type": "point", + "instances": [ + { + "id": "point_1769408180555_1769409247258_4zuq89v2f", + "x": 0.5276665937703495, + "y": 0.279611081574619 + } + ] + }, + "point_1769408180706": { + "type": "point", + "instances": [ + { + "id": "point_1769408180706_1769409291281_inc7tff4m", + "x": 0.6576294889442262, + "y": 0.24724530514467674 + } + ] + } + } + }, + { + "time": 1.9888, + "frame": 60, + "progress": 20, + "action_description": "爪夹张开，向爪夹方向下方下降", + "state_description": "爪夹向爪夹方向正下方下降。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "progress_explanation": "爪夹向爪夹方向正下方下降，靠近蓝色钢笔，因此进度增长为20%", + "error_success_analysis": "爪夹位于蓝色钢笔正上方，爪夹向爪夹方向正下方下降，靠近蓝色钢笔", + "correction_plan": "落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹右前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "annotations": { + "bbox_1769408179603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179603_1769409223082_1676xvafg", + "x": 0.31466660677083697, + "y": 0.027611102082429843, + "width": 0.3439999790039075, + "height": 0.35866663747830096 + } + ] + }, + "bbox_1769408179803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179803_1769409227025_zbvy4sc4m", + "x": 0.48266659651693133, + "y": 0.4277592247306946, + "width": 0.10299999371337928, + "height": 0.13866665538194536 + } + ] + }, + "point_1769408180555": { + "type": "point", + "instances": [ + { + "id": "point_1769408180555_1769409229106_plkhc5msq", + "x": 0.4756665969441774, + "y": 0.47975922049892417 + } + ] + }, + "point_1769408180706": { + "type": "point", + "instances": [ + { + "id": "point_1769408180706_1769409231754_35eftzire", + "x": 0.5236665940144901, + "y": 0.42642589150586824 + } + ] + } + } + }, + { + "time": 2.7456, + "frame": 82, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "progress_explanation": "爪夹合拢，抓取蓝色钢笔，因此进度增长为40%", + "error_success_analysis": "爪夹合拢，抓取蓝色钢笔", + "correction_plan": "爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹右前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "annotations": { + "bbox_1769408179603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179603_1769409073961_590inty78", + "x": 0.2986666077473994, + "y": 0.03294443498173543, + "width": 0.36999997741699353, + "height": 0.351999971354169 + } + ] + }, + "bbox_1769408179803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179803_1769409077938_yky9rb6qd", + "x": 0.4576665980428102, + "y": 0.41857404227099265, + "width": 0.16399998999023496, + "height": 0.11066665766059103 + } + ] + }, + "point_1769408180555": { + "type": "point", + "instances": [ + { + "id": "point_1769408180555_1769409080306_cmio38sdj", + "x": 0.4956665957234743, + "y": 0.4585740390157846 + } + ] + }, + "point_1769408180706": { + "type": "point", + "instances": [ + { + "id": "point_1769408180706_1769409082754_35v8l7qi2", + "x": 0.5466665926106816, + "y": 0.45724070579095816 + } + ] + } + } + }, + { + "time": 3.5552, + "frame": 107, + "progress": 50, + "action_description": "爪夹持续合拢，并向爪夹方向上方升起", + "state_description": "爪夹持续合拢，并向爪夹方向上方升起。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "progress_explanation": "爪夹持续合拢，并向爪夹方向上方升起，靠近黄色与黑色相间的盒子，因此进度增长为50%", + "error_success_analysis": "抓紧蓝色钢笔垂直升高爪夹并向爪夹右前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "correction_plan": "", + "annotations": { + "point_1769408180555": { + "type": "point", + "instances": [ + { + "id": "point_1769408180555_1769409058938_v9kwefxsf", + "x": 0.5316665935262088, + "y": 0.3212407168586656 + } + ] + }, + "point_1769408180706": { + "type": "point", + "instances": [ + { + "id": "point_1769408180706_1769409060674_i42xg7314", + "x": 0.5646665915120488, + "y": 0.2999073852614433 + } + ] + }, + "bbox_1769408179803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179803_1769409064113_s6ukcnmu3", + "x": 0.5086665949300173, + "y": 0.2559073888421721, + "width": 0.14799999096679742, + "height": 0.16133332020399413 + } + ] + }, + "bbox_1769408179603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179603_1769409069122_726ng0hib", + "x": 0.30966660707601273, + "y": 0.022129616525910115, + "width": 0.36899997747802865, + "height": 0.3559999710286482 + } + ] + } + } + }, + { + "time": 4.159083348214164, + "frame": 125, + "progress": 60, + "action_description": "爪夹向爪夹方向正前方移动", + "state_description": "爪夹向爪夹方向正前方移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "progress_explanation": "爪夹向爪夹方向正前方移动，靠近黄色与黑色相间的盒子。因此进度为60%", + "error_success_analysis": "爪夹抓取蓝色钢笔向爪夹方向正前方移动，靠近黄色与黑色相间的盒子", + "correction_plan": "抓紧蓝色钢笔垂直升高爪夹并向爪夹右前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "annotations": { + "bbox_1769408179603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179603_1769409047113_do0vcqv1a", + "x": 0.29566660793050487, + "y": 0.03427776820656183, + "width": 0.35899997808838024, + "height": 0.3426666387803843 + } + ] + }, + "bbox_1769408179803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179803_1769409051874_7gcgx4g8b", + "x": 0.471666597188318, + "y": 0.0021296181535141474, + "width": 0.06699999591064473, + "height": 0.11466665733507021 + } + ] + } + } + }, + { + "time": 4.966336216878059, + "frame": 149, + "progress": 80, + "action_description": "爪夹向爪夹方向正下方移动", + "state_description": "爪夹向爪夹方向正下方移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "progress_explanation": "爪夹向爪夹方向正下方下降将蓝色钢笔放入黄色与黑色相间的盒子，因此进度增长为80%", + "error_success_analysis": "爪夹将蓝色钢笔放入黄色与黑色相间的盒子", + "correction_plan": "将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "annotations": { + "bbox_1769408179603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179603_1769408265547_qt2rfzdi8", + "x": 0.31066660701497756, + "y": 0.039907396247770476, + "width": 0.3479999787597669, + "height": 0.35066663812934257 + } + ] + }, + "bbox_1769408179803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179803_1769408280227_i1kejder4", + "x": 0.4246666000569702, + "y": 0.1425740545594031, + "width": 0.08199999499511748, + "height": 0.1346666557074662 + } + ] + }, + "point_1769408180555": { + "type": "point", + "instances": [ + { + "id": "point_1769408180555_1769408282531_tltzcc9d5", + "x": 0.445666598775232, + "y": 0.18390738452902144 + } + ] + }, + "point_1769408180706": { + "type": "point", + "instances": [ + { + "id": "point_1769408180706_1769408284867_20uhcrfmh", + "x": 0.4756665969441774, + "y": 0.1972407167772854 + } + ] + } + } + }, + { + "time": 5.866667, + "frame": 176, + "progress": 100, + "action_description": "爪夹松开", + "state_description": "爪夹松开。任务已完成。", + "progress_explanation": "爪夹松开，蓝色钢笔落入黄色与黑色相间的盒子里，因此进度增长为100%", + "error_success_analysis": "爪夹松开，蓝色钢笔落入黄色与黑色相间的盒子里，因此进度增长为100%", + "correction_plan": "将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "annotations": { + "bbox_1769408179603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179603_1769409310857_g4pyz6nfb", + "x": 0.2881043117374278, + "y": 0.02888068410269628, + "width": 0.3507357614166222, + "height": 0.3618789836323464 + } + ] + }, + "bbox_1769408179803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408179803_1769409314658_j8tgtm2st", + "x": 0.4050162322096352, + "y": 0.20054124177915567, + "width": 0.0292279801180519, + "height": 0.052890005300112154 + } + ] + }, + "point_1769408180555": { + "type": "point", + "instances": [ + { + "id": "point_1769408180555_1769409317170_jqfwyrmj9", + "x": 0.4217179351342362, + "y": 0.20332492626863527 + } + ] + }, + "point_1769408180706": { + "type": "point", + "instances": [ + { + "id": "point_1769408180706_1769409319193_8bbtl469i", + "x": 0.4927001725637908, + "y": 0.17548808137383937 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769408179603", + "name": "黄色与黑色相间的盒子", + "color": "#4CAF50" + }, + { + "id": "bbox_1769408179803", + "name": "蓝色钢笔", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769408180555", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769408180706", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-141525-put-blue pen-yellow and black-box-mix/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-141525-put-blue pen-yellow and black-box-mix/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..ee102480bd46f79022a1b3eae5b086d895ef9ea6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-141525-put-blue pen-yellow and black-box-mix/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,942 @@ +{ + "task_description": "将蓝色钢笔放入黄色与黑色相间的盒子里\n开始移动0%\n爪夹靠近蓝色钢笔20%\n爪夹抓取蓝色钢笔40%\n爪夹抓住蓝色钢笔靠近黄色与黑色相间的盒子60%\n爪夹将蓝色钢笔放入黄色与黑色相间的盒子80%\n爪夹松开，蓝色钢笔落入黄色与黑色相间的盒子里100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.27684964200477324, + "id": "bbox_1769405101596_1769405140972_zc66k4npy", + "width": 0.3353221957040573, + "x": 0.3711217183770883, + "y": 0.0731901352426412 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.12569610182975335, + "id": "bbox_1769405101972_1769405169140_z8w9esl2t", + "width": 0.08830548926014314, + "x": 0.7458233890214797, + "y": 0.35799522673031026 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405173732_ofihqt845", + "x": 0.6825775656324582, + "y": 0.22752585521081942 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405176684_kef6oh7yk", + "x": 0.7386634844868735, + "y": 0.15910898965791567 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "", + "frame": 11, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态爪夹张开，远离蓝色钢笔，未开始移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 0.353 + }, + { + "action_description": "抓夹向抓夹方向上方抬起", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.2927605409705648, + "id": "bbox_1769405101596_1769405187964_v8ycoyju7", + "width": 0.34248210023866343, + "x": 0.3699284009546539, + "y": 0.05727923627684964 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.13524264120922827, + "id": "bbox_1769405101972_1769405193476_q49by8f77", + "width": 0.10381861575178997, + "x": 0.7243436754176611, + "y": 0.33731105807478123 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405217332_v0ls4atgc", + "x": 0.5381944444444444, + "y": 0.10416666666666667 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405221236_kmijy65tn", + "x": 0.6284722222222222, + "y": 0.08564814814814815 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "抓夹向抓夹方向上方抬起，开始接近蓝色钢笔", + "frame": 30, + "progress": 5, + "progress_explanation": "爪夹张开向抓夹方向上方抬起，开始靠近蓝色钢笔。因此进度增长为5%", + "state_description": "爪夹张开，开始移动，靠近蓝色钢笔。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 1.0033592015503874 + }, + { + "action_description": "抓夹向抓夹方向前方移动", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.2708333333333333, + "id": "bbox_1769405101596_1769405265596_9onvnqtdq", + "width": 0.3420138888888889, + "x": 0.3732638888888889, + "y": 0.07175925925925926 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.13888888888888892, + "id": "bbox_1769405101972_1769405270212_8009z45n1", + "width": 0.0989583333333333, + "x": 0.7274305555555556, + "y": 0.33564814814814814 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405272228_rov2vynl5", + "x": 0.4600694444444445, + "y": 0.4745370370370371 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405274404_xhiqk2t9e", + "x": 0.515625, + "y": 0.4189814814814815 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "抓夹向抓夹方向前方移动，开始靠近蓝色钢笔", + "frame": 46, + "progress": 10, + "progress_explanation": "爪夹张开向抓夹向抓夹前方移动，开始靠近蓝色钢笔。因此进度增长为10%", + "state_description": "爪夹张开，靠近蓝色钢笔，开始移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 1.5179 + }, + { + "action_description": "抓夹合拢", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.2662037037037037, + "id": "bbox_1769405101596_1769405281516_7nre3yh5e", + "width": 0.33506944444444453, + "x": 0.3767361111111111, + "y": 0.07407407407407408 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.1527777777777778, + "id": "bbox_1769405101972_1769405286836_g0c1rza95", + "width": 0.10069444444444438, + "x": 0.7291666666666667, + "y": 0.3333333333333333 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405289413_wb8n9nf1t", + "x": 0.5017361111111112, + "y": 0.4444444444444445 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405291500_68z8egsna", + "x": 0.5121527777777778, + "y": 0.4351851851851852 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹合拢，未移动到爪夹正前方蓝色钢笔正上方。", + "frame": 62, + "progress": 15, + "progress_explanation": "抓夹合拢，靠近蓝色钢笔。因此进度增长为15%", + "state_description": "爪夹合拢，靠近蓝色钢笔，结束移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 2.0827 + }, + { + "action_description": "抓夹向爪夹方向正上方抬起", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.2777777777777778, + "id": "bbox_1769405101596_1769405298652_banoxze58", + "width": 0.33680555555555564, + "x": 0.375, + "y": 0.06944444444444445 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.14583333333333334, + "id": "bbox_1769405101972_1769405303628_co3rj40nb", + "width": 0.1041666666666667, + "x": 0.7222222222222222, + "y": 0.3310185185185185 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405306476_chlq293zc", + "x": 0.5850694444444444, + "y": 0.11805555555555557 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405308988_5gydx8jrc", + "x": 0.6684027777777778, + "y": 0.10416666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "抓夹持续合拢，向抓夹方向正上方抬起。远离蓝色钢笔", + "frame": 89, + "progress": 10, + "progress_explanation": "抓夹合拢，向抓夹方向正上方抬起。远离蓝色钢笔。因此进度减少为10%", + "state_description": "爪夹合拢，开始移动，向爪夹方向正上方移动，远离钢笔。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 2.973061810984505 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.27546296296296297, + "id": "bbox_1769405101596_1769405318956_0dvq2h641", + "width": 0.34375, + "x": 0.3697916666666667, + "y": 0.06944444444444445 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.14351851851851852, + "id": "bbox_1769405101972_1769405324396_pwnuzubbb", + "width": 0.10590277777777786, + "x": 0.7256944444444444, + "y": 0.3333333333333333 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405314764_r1dlrgpid", + "x": 0.5486111111111112, + "y": 0.30787037037037035 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405327420_1vymhh1jz", + "x": 0.6180555555555556, + "y": 0.3055555555555556 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "抓夹张开，结束移动。靠近蓝色钢笔。", + "frame": 108, + "progress": 13, + "progress_explanation": "抓夹张开，结束移动。靠近蓝色钢笔。因此进度增长为13%", + "state_description": "爪夹张开，结束移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 3.588833 + }, + { + "action_description": "爪夹持续张开，向爪夹正下方移动", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.27777777777777773, + "id": "bbox_1769405101596_1769405335740_lj2hkpedu", + "width": 0.3350694444444445, + "x": 0.3697916666666667, + "y": 0.0763888888888889 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.1412037037037037, + "id": "bbox_1769405101972_1769405340036_q07difnrb", + "width": 0.0989583333333333, + "x": 0.7274305555555556, + "y": 0.33564814814814814 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405342124_c597fxn7q", + "x": 0.5538194444444444, + "y": 0.5555555555555556 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405344364_b5quyxdvq", + "x": 0.5954861111111112, + "y": 0.5300925925925927 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "抓夹持续张开，向爪夹方向正下方移动。靠近蓝色钢笔。", + "frame": 134, + "progress": 15, + "progress_explanation": "抓夹张开，向爪夹正下方移动。靠近蓝色钢笔。因此进度增长为15%", + "state_description": "当前为初始状态爪夹张开，远离蓝色钢笔，未开始移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 4.471333 + }, + { + "action_description": "停止移动，爪夹合拢", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.2824074074074074, + "id": "bbox_1769405101596_1769405362884_4e2geazzj", + "width": 0.31770833333333337, + "x": 0.3732638888888889, + "y": 0.07407407407407408 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.13425925925925927, + "id": "bbox_1769405101972_1769405354468_9c1cbb1rn", + "width": 0.10243055555555544, + "x": 0.7274305555555556, + "y": 0.33796296296296297 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405350380_w3qfopa0h", + "x": 0.560763888888889, + "y": 0.5046296296296297 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405348396_8q3wkl0zc", + "x": 0.5746527777777778, + "y": 0.5046296296296297 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "抓夹张开，向爪夹正下方移动。未抓取物品。", + "frame": 163, + "progress": 13, + "progress_explanation": "抓夹张开，向爪夹正下方移动。靠近蓝色钢笔因此进度减少为13%", + "state_description": "爪夹合拢，未开始移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 5.4362 + }, + { + "action_description": "爪夹合拢，向爪夹方向上方移动", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.27546296296296297, + "id": "bbox_1769405101596_1769405370972_93oqev06h", + "width": 0.3368055555555556, + "x": 0.3715277777777778, + "y": 0.07175925925925926 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.14814814814814817, + "id": "bbox_1769405101972_1769405375676_dovmwjllw", + "width": 0.10243055555555554, + "x": 0.7256944444444444, + "y": 0.32870370370370366 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405379404_7hxszrvjg", + "x": 0.5677083333333334, + "y": 0.2638888888888889 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405381452_vumqemmt8", + "x": 0.576388888888889, + "y": 0.27314814814814814 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹合拢，向爪夹方向正上方移动，远离蓝色钢笔", + "frame": 177, + "progress": 10, + "progress_explanation": "爪夹合拢，向爪夹方向上方移动，远离蓝色钢笔。因此进度减少为10%", + "state_description": "爪夹合拢，远离蓝色钢笔，开始移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 5.912458913366336 + }, + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.2847222222222222, + "id": "bbox_1769405101596_1769405389836_w6mdfhww4", + "width": 0.30729166666666674, + "x": 0.3732638888888889, + "y": 0.06712962962962962 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.14351851851851852, + "id": "bbox_1769405101972_1769405393828_ga1aptj92", + "width": 0.1041666666666666, + "x": 0.7239583333333334, + "y": 0.3333333333333333 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405397988_2s6w5mtyo", + "x": 0.53125, + "y": 0.3217592592592593 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405400492_6rm6yoynq", + "x": 0.6354166666666667, + "y": 0.2199074074074074 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹张开，未开始移动。", + "frame": 202, + "progress": 15, + "progress_explanation": "爪夹张开，未开始移动。因此进度zengz为15%", + "state_description": "爪夹张开，未开始移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 6.730533 + }, + { + "action_description": "爪夹张开，向爪夹方向右方移动", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.2731481481481482, + "id": "bbox_1769405101596_1769405444748_i1fqff85q", + "width": 0.3420138888888889, + "x": 0.3715277777777778, + "y": 0.07407407407407408 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.14120370370370375, + "id": "bbox_1769405101972_1769405449036_ahemv0x6s", + "width": 0.0989583333333333, + "x": 0.7274305555555556, + "y": 0.3333333333333333 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405452604_mf2vzyqux", + "x": 0.671875, + "y": 0.28703703703703703 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405456076_6cp9al1rt", + "x": 0.7430555555555556, + "y": 0.2337962962962963 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧蓝色钢笔垂直升高爪夹并向爪夹右前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹张开，向爪夹方向右方移动，位于蓝色钢笔正上方", + "frame": 220, + "progress": 20, + "progress_explanation": "爪夹张开，向爪夹方向右方移动，靠近蓝色钢笔，因此进度增长为20%", + "state_description": "爪夹张开，向爪夹方向右方移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 7.3424 + }, + { + "action_description": "爪夹向爪夹方向正下方下降", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.27777777777777773, + "id": "bbox_1769405101596_1769405462348_du3m90buo", + "width": 0.3472222222222222, + "x": 0.3697916666666667, + "y": 0.07175925925925926 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.14120370370370375, + "id": "bbox_1769405101972_1769405466156_xcrfbbpp8", + "width": 0.09548611111111116, + "x": 0.7291666666666667, + "y": 0.3310185185185185 + } + ], + "type": "bbox" + } + }, + "correction_plan": "落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹右前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹位于蓝色钢笔正上方，爪夹向爪夹方向正下方下降，靠近蓝色钢笔", + "frame": 237, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向正下方下降，靠近蓝色钢笔，因此进度增长为30%", + "state_description": "爪夹向爪夹方向正下方下降。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹方向右方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 7.895433 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.2777777777777778, + "id": "bbox_1769405101596_1769405495676_2lf9m1mdj", + "width": 0.34201388888888895, + "x": 0.3628472222222222, + "y": 0.06481481481481483 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.10185185185185185, + "id": "bbox_1769405101972_1769405504132_31621adyv", + "width": 0.10069444444444456, + "x": 0.7378472222222222, + "y": 0.3773148148148148 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405481604_ab9gx9w8q", + "x": 0.7135416666666667, + "y": 0.3611111111111111 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405479588_3iylt4jgr", + "x": 0.734375, + "y": 0.35879629629629634 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹右前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹合拢，抓取蓝色钢笔", + "frame": 253, + "progress": 40, + "progress_explanation": "爪夹合拢，抓取蓝色钢笔，因此进度增长为40%", + "state_description": "爪夹合拢。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 8.4367 + }, + { + "action_description": "爪夹持续合拢，并向爪夹方向上方升起", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.2777777777777778, + "id": "bbox_1769405101596_1769405516556_p4pbd6bi6", + "width": 0.3350694444444444, + "x": 0.3715277777777778, + "y": 0.06712962962962962 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.25, + "id": "bbox_1769405101972_1769405511436_1i3v3mf80", + "width": 0.06423611111111108, + "x": 0.7118055555555556, + "y": 0.01388888888888889 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405518612_5u5qb4x2f", + "x": 0.7065972222222222, + "y": 0.030092592592592594 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405520668_o2f5b4yvt", + "x": 0.7378472222222222, + "y": 0.05092592592592593 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧蓝色钢笔垂直升高爪夹并向爪夹右前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹持续合拢，抓取蓝色钢笔，并向爪夹方向上方升起，靠近黄色与黑色相间的盒子", + "frame": 290, + "progress": 50, + "progress_explanation": "爪夹持续合拢，并向爪夹方向上方升起，靠近黄色与黑色相间的盒子，因此进度增长为50%", + "state_description": "爪夹持续合拢，并向爪夹方向上方升起。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 9.660433 + }, + { + "action_description": "爪夹向爪夹方向正前方移动", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.2916666666666667, + "id": "bbox_1769405101596_1769405532556_h96oqxp9a", + "width": 0.33333333333333337, + "x": 0.375, + "y": 0.07407407407407408 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.1087962962962963, + "id": "bbox_1769405101972_1769405526996_eh3evl5fm", + "width": 0.0416666666666667, + "x": 0.5625, + "y": 0.002314814814814815 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧蓝色钢笔垂直升高爪夹并向爪夹右前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹抓取蓝色钢笔向爪夹方向正前方移动，靠近黄色与黑色相间的盒子", + "frame": 305, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向正前方移动，靠近黄色与黑色相间的盒子。因此进度为60%", + "state_description": "爪夹向爪夹方向正前方移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 10.154633 + }, + { + "action_description": "爪夹向爪夹方向正下方移动", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.27546296296296297, + "id": "bbox_1769405101596_1769405540052_yoizlaj5r", + "width": 0.34375, + "x": 0.3697916666666667, + "y": 0.06944444444444445 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.1712962962962963, + "id": "bbox_1769405101972_1769405543052_jx3ezyyvr", + "width": 0.09201388888888892, + "x": 0.4600694444444445, + "y": 0.10185185185185186 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405544908_g1h6q036k", + "x": 0.4618055555555555, + "y": 0.14583333333333334 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405548252_qjqfh5j6e", + "x": 0.4913194444444445, + "y": 0.14583333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹将蓝色钢笔放入黄色与黑色相间的盒子", + "frame": 329, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向正下方下降将蓝色钢笔放入黄色与黑色相间的盒子，因此进度增长为80%", + "state_description": "爪夹向爪夹方向正下方移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 10.966533 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1769405101596": { + "instances": [ + { + "height": 0.27777777777777773, + "id": "bbox_1769405101596_1769405570220_fb44vcmvk", + "width": 0.3472222222222222, + "x": 0.3663194444444445, + "y": 0.07407407407407408 + } + ], + "type": "bbox" + }, + "bbox_1769405101972": { + "instances": [ + { + "height": 0.0625, + "id": "bbox_1769405101972_1769405574916_0itek9u00", + "width": 0.09027777777777776, + "x": 0.4496527777777778, + "y": 0.2013888888888889 + } + ], + "type": "bbox" + }, + "point_1769405102996": { + "instances": [ + { + "id": "point_1769405102996_1769405565028_58cdt4s48", + "x": 0.46875, + "y": 0.16203703703703706 + } + ], + "type": "point" + }, + "point_1769405103212": { + "instances": [ + { + "id": "point_1769405103212_1769405562108_85zof6s2s", + "x": 0.5416666666666667, + "y": 0.1574074074074074 + } + ], + "type": "point" + } + }, + "correction_plan": "将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹松开，蓝色钢笔落入黄色与黑色相间的盒子里", + "frame": 353, + "progress": 100, + "progress_explanation": "爪夹松开，蓝色钢笔落入黄色与黑色相间的盒子里，因此进度增长为100%", + "state_description": "爪夹松开。任务已完成。", + "time": 11.766667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769405101596", + "name": "黄色与黑色相间的盒子" + }, + { + "color": "#FF9800", + "id": "bbox_1769405101972", + "name": "蓝色钢笔" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769405102996", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769405103212", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-145005-put-blue pen-yellow and black-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-145005-put-blue pen-yellow and black-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a08c55551d4cecd02736daaea18e1f692c846a01 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-145005-put-blue pen-yellow and black-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,758 @@ +{ + "task_description": "将蓝色钢笔放入黄色与黑色相间的盒子里\n开始移动0%\n爪夹靠近蓝色钢笔40%\n爪夹抓取蓝色钢笔60%\n爪夹将连蓝色钢笔放入黄色与黑色相间的盒子80%\n爪夹松开，蓝色钢笔落入黄色与黑色相间的盒子里100%", + "progress_points": [ + { + "action_description": "爪夹向爪夹正下方移动", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.45665445665445664, + "id": "bbox_1769150907269_1769152641426_4bn6cez5l", + "width": 0.34065934065934067, + "x": 0.12271062271062272, + "y": 0.11233211233211234 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.2026862026862027, + "id": "bbox_1769150908533_1769152646226_3eu0t5qj4", + "width": 0.0952380952380952, + "x": 0.22893772893772896, + "y": 0.6202686202686203 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769152647794_kn2yi04yg", + "x": 0.4908424908424909, + "y": 0.3321123321123321 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769152649922_0wizuua30", + "x": 0.6098901098901099, + "y": 0.3076923076923077 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "爪夹向爪夹正前方移动，靠近蓝色钢笔，因此进度增长为0%", + "state_description": "当前为初始状态爪夹张开，远离蓝色钢笔，。为完成抓取蓝色钢笔放入黄黑色的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 0.7786767299897173 + }, + { + "action_description": "爪夹向爪夹正前方移动", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.463980463980464, + "id": "bbox_1769150907269_1769152657042_yhpsq8ntr", + "width": 0.3424908424908425, + "x": 0.12637362637362637, + "y": 0.10500610500610502 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.19780219780219782, + "id": "bbox_1769150908533_1769152661370_4xupc2c7w", + "width": 0.09523809523809526, + "x": 0.22527472527472528, + "y": 0.6202686202686203 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769152662986_34p4302fg", + "x": 0.49633699633699635, + "y": 0.485958485958486 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769152664771_xj7q6vns7", + "x": 0.5897435897435898, + "y": 0.4737484737484738 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹向爪夹正前方移动，靠近蓝色钢笔", + "frame": 52, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，靠近蓝色钢笔，因此进度增长为10%", + "state_description": "当前为初始状态爪夹张开，远离连接块，未开始移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 1.7402 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.4395604395604396, + "id": "bbox_1769150907269_1769152671282_j1yfkxm9e", + "width": 0.30402930402930406, + "x": 0.11355311355311355, + "y": 0.11477411477411478 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.20024420024420025, + "id": "bbox_1769150908533_1769152674410_s6dl2j1qj", + "width": 0.08424908424908426, + "x": 0.2326007326007326, + "y": 0.6178266178266179 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769152676090_a5h7fnssq", + "x": 0.5274725274725275, + "y": 0.4932844932844933 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769152677882_0udipeqyw", + "x": 0.5604395604395604, + "y": 0.4810744810744811 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹未移动至爪夹方向右前方蓝色钢笔正上方", + "frame": 70, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向正下方移动，靠近蓝色钢笔，因此进度增长为20%", + "state_description": "爪夹合拢，远离连接块，未开始移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 2.3360316301721773 + }, + { + "action_description": "爪夹继续合拢，并向爪夹方向向上抬起", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.4371184371184371, + "id": "bbox_1769150907269_1769151071853_d9kgguoo8", + "width": 0.3186813186813187, + "x": 0.10073260073260074, + "y": 0.10256410256410257 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.21245421245421242, + "id": "bbox_1769150908533_1769151075708_9utkg65rf", + "width": 0.09340659340659344, + "x": 0.23260073260073258, + "y": 0.612942612942613 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769151064437_aj3kjh0na", + "x": 0.6043956043956044, + "y": 0.3614163614163614 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769151066581_w0eu75e6b", + "x": 0.6318681318681317, + "y": 0.34676434676434675 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹未移动至爪夹方向右前方蓝色钢笔正上方", + "frame": 106, + "progress": -15, + "progress_explanation": "爪夹向爪夹方向正上方移动，远离蓝色钢笔，因此进度减少为-15%", + "state_description": "爪夹合拢，爪夹向爪夹方向上方升起。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 3.5476744186046516 + }, + { + "action_description": "爪夹继续合拢，并向爪夹方向向前移动", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.41514041514041505, + "id": "bbox_1769150907269_1769151091004_rquuccbcq", + "width": 0.32783882783882784, + "x": 0.09523809523809526, + "y": 0.11965811965811966 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.2026862026862027, + "id": "bbox_1769150908533_1769151085917_xl9jt5upf", + "width": 0.10073260073260078, + "x": 0.2271062271062271, + "y": 0.6227106227106227 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769151098980_dja0izr7u", + "x": 0.7600732600732601, + "y": 0.47130647130647135 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769151100797_zvco2qor3", + "x": 0.7820512820512822, + "y": 0.45421245421245426 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹未移动至爪夹方向右前方蓝色钢笔正上方", + "frame": 120, + "progress": -20, + "progress_explanation": "爪夹向爪夹方向正前方移动，靠近蓝色钢笔，因此进度减少为-20%", + "state_description": "爪夹向爪夹方向正前方移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 3.9889 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.42490842490842495, + "id": "bbox_1769150907269_1769151115460_nn05qrz57", + "width": 0.31501831501831506, + "x": 0.10073260073260074, + "y": 0.10500610500610502 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.21978021978021972, + "id": "bbox_1769150908533_1769151110908_sxaqzpu0t", + "width": 0.10073260073260074, + "x": 0.22527472527472528, + "y": 0.6105006105006106 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769151106692_fgjqdob0b", + "x": 0.6923076923076923, + "y": 0.5201465201465202 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769151104580_utrm8c4wf", + "x": 0.7875457875457876, + "y": 0.4517704517704518 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹未移动至爪夹方向右前方蓝色钢笔正上方", + "frame": 149, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向正前方移动，靠近蓝色钢笔，因此进度增长为30%", + "state_description": "爪夹张开，放下物品。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 4.972 + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.45909645909645913, + "id": "bbox_1769150907269_1769151123108_nbtaqa0tt", + "width": 0.30402930402930406, + "x": 0.10805860805860808, + "y": 0.10012210012210013 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.21245421245421242, + "id": "bbox_1769150908533_1769151129500_4wez3xcu4", + "width": 0.10805860805860808, + "x": 0.2197802197802198, + "y": 0.6153846153846154 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769151131908_chin8xip1", + "x": 0.2802197802197802, + "y": 0.5592185592185592 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769151133708_ec0ria78c", + "x": 0.4010989010989011, + "y": 0.5494505494505495 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹向爪夹方向右方移动至爪夹方向右前方蓝色钢笔正上方", + "frame": 175, + "progress": 40, + "progress_explanation": "爪夹向爪夹方向右方移动，靠近蓝色钢笔，因此进度增长为40%", + "state_description": "爪夹向爪夹方向右方移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 5.8195 + }, + { + "action_description": "爪夹向爪夹方向正下方移动", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.42735042735042733, + "id": "bbox_1769150907269_1769151146668_rphwgyg0d", + "width": 0.2765567765567766, + "x": 0.08608058608058608, + "y": 0.1098901098901099 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.2026862026862027, + "id": "bbox_1769150908533_1769151143404_q56ff2jji", + "width": 0.10256410256410256, + "x": 0.22344322344322345, + "y": 0.6202686202686203 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769151140676_hoxlxgmmg", + "x": 0.30402930402930406, + "y": 0.7032967032967032 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769151138660_mdf8u4x4a", + "x": 0.3827838827838828, + "y": 0.7106227106227107 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹向爪夹方向正下方下降", + "frame": 200, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向正下方移动，靠近蓝色钢笔，因此进度增长为50%", + "state_description": "爪夹向爪夹方向正下方移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 6.667 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.44688644688644696, + "id": "bbox_1769150907269_1769151160780_dbk1v3gfw", + "width": 0.3021978021978022, + "x": 0.10256410256410256, + "y": 0.0976800976800977 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.19780219780219782, + "id": "bbox_1769150908533_1769151157348_zn1qxz3tc", + "width": 0.10439560439560439, + "x": 0.21794871794871798, + "y": 0.6227106227106227 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769151151980_6c93ph7ff", + "x": 0.358974358974359, + "y": 0.7228327228327228 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769151153956_orvtrehvt", + "x": 0.39010989010989017, + "y": 0.7203907203907204 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹未移动至爪夹方向右前方蓝色钢笔正上方", + "frame": 219, + "progress": -20, + "progress_explanation": "爪夹合拢，未抓取蓝色钢笔，因此进度减少为-20%", + "state_description": "爪夹合拢。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 7.2885 + }, + { + "action_description": "抓夹向抓夹发现向上移动", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.43956043956043966, + "id": "bbox_1769150907269_1769151182196_0gb1gmwlk", + "width": 0.315018315018315, + "x": 0.10805860805860808, + "y": 0.10500610500610502 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.21245421245421242, + "id": "bbox_1769150908533_1769151187484_64bqje9mc", + "width": 0.09706959706959709, + "x": 0.22527472527472528, + "y": 0.6178266178266179 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769151174428_dwuqmafkc", + "x": 0.29304029304029305, + "y": 0.4224664224664225 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769151177172_91put3r62", + "x": 0.3296703296703297, + "y": 0.4395604395604396 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹未成功抓取蓝色钢笔", + "frame": 261, + "progress": -30, + "progress_explanation": "爪夹向抓夹方向向上升起，因此进度减少为-30%", + "state_description": "爪夹合拢，抓夹向抓夹方向上方升起。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 8.715891472868218 + }, + { + "action_description": "抓夹向抓夹方向后方移动", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.4200244200244201, + "id": "bbox_1769150907269_1769151198484_no2e51jex", + "width": 0.30036630036630035, + "x": 0.11721611721611722, + "y": 0.12454212454212454 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.21978021978021983, + "id": "bbox_1769150908533_1769151193580_ridq92wub", + "width": 0.09157509157509156, + "x": 0.23443223443223443, + "y": 0.608058608058608 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769151201308_f2mrkxyxo", + "x": 0.1813186813186813, + "y": 0.27350427350427353 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769151203684_8czprg7qo", + "x": 0.21611721611721615, + "y": 0.2979242979242979 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹未成功抓取蓝色钢笔", + "frame": 281, + "progress": -40, + "progress_explanation": "爪夹合拢，未抓取蓝色钢笔，因此进度减少为-40%", + "state_description": "爪夹继续合拢，抓夹向抓夹方向后方移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 9.36044639378367 + }, + { + "action_description": "抓夹向抓夹方向正下方移动", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.4151404151404152, + "id": "bbox_1769150907269_1769151219188_0iv223dkg", + "width": 0.326007326007326, + "x": 0.09706959706959707, + "y": 0.126984126984127 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.21245421245421242, + "id": "bbox_1769150908533_1769151214044_39v3j49yx", + "width": 0.08974358974358973, + "x": 0.2326007326007326, + "y": 0.6105006105006106 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769151210516_haa8tuky4", + "x": 0.24542124542124544, + "y": 0.33455433455433453 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769151208308_c6yefta2w", + "x": 0.28205128205128205, + "y": 0.3492063492063492 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹未成功抓取蓝色钢笔", + "frame": 303, + "progress": -45, + "progress_explanation": "爪夹合拢，远离蓝色钢笔，因此进度减少为-45%", + "state_description": "抓夹向抓夹方向正下方移动。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 10.102535878420166 + }, + { + "action_description": "抓夹张开", + "annotations": { + "bbox_1769150907269": { + "instances": [ + { + "height": 0.4249084249084249, + "id": "bbox_1769150907269_1769151234820_o6a5gqwe6", + "width": 0.326007326007326, + "x": 0.09523809523809525, + "y": 0.11477411477411478 + } + ], + "type": "bbox" + }, + "bbox_1769150908533": { + "instances": [ + { + "height": 0.2026862026862027, + "id": "bbox_1769150908533_1769151239628_trlc9vr0j", + "width": 0.10439560439560439, + "x": 0.22161172161172163, + "y": 0.6178266178266179 + } + ], + "type": "bbox" + }, + "point_1769150909517": { + "instances": [ + { + "id": "point_1769150909517_1769151243316_0nc7m2lmu", + "x": 0.2326007326007326, + "y": 0.3321123321123321 + } + ], + "type": "point" + }, + "point_1769150909732": { + "instances": [ + { + "id": "point_1769150909732_1769151245532_i4878y631", + "x": 0.30952380952380953, + "y": 0.3614163614163614 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。接着落下爪夹靠近蓝色钢笔，接近蓝色钢笔后爪夹合拢抓取蓝色钢笔。抓紧蓝色钢笔垂直升高爪夹并向爪夹左前方的黄色与黑色相间的盒子接近，移动到黄色与黑色相间的盒子正上方，将爪夹落入黄色与黑色相间的盒子中，放下蓝色钢笔。", + "error_success_analysis": "爪夹未成功抓取蓝色钢笔", + "frame": 339, + "progress": -50, + "progress_explanation": "抓夹张开，未将蓝色钢笔放入黄色与黑色相间的盒，因此进度减少为-50%", + "state_description": "抓夹张开。为完成抓取蓝色钢笔放入黄色与黑色相间的盒子任务应当:爪夹向爪夹正前方的蓝色钢笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色钢笔的正上方。", + "time": 11.3 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769150907269", + "name": "黄色与黑色相间的盒子" + }, + { + "color": "#FF9800", + "id": "bbox_1769150908533", + "name": "蓝色钢笔" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769150909517", + "name": "抓夹左" + }, + { + "color": "#F44336", + "id": "point_1769150909732", + "name": "抓夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-145833-put-connecting block-yellow and black-box-good/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-145833-put-connecting block-yellow and black-box-good/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..48091f8cd467031a9ce2ceec8811e718520548b4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-145833-put-connecting block-yellow and black-box-good/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,478 @@ +{ + "task_description": "将连接块放入黄黑相间的盒子里\n抓起连接块使其落入盘中\n开始移动0%\n爪夹靠近连接块20%\n爪夹抓取连接块40%\n爪夹抓住连接块靠近黄黑相间的盒子60%\n爪夹将连接块放入黄黑相间的盒子80%\n爪夹松开，连接块落入黄黑相间的盒子里100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769135727439": { + "instances": [ + { + "height": 0.43238095238095237, + "id": "bbox_1769135727439_1769135770929_vzm7a4qve", + "width": 0.3499999694824245, + "x": 0.08999994855608708, + "y": 0.5574338495163691 + } + ], + "type": "bbox" + }, + "bbox_1769135728791": { + "instances": [ + { + "height": 0.14857142857142858, + "id": "bbox_1769135728791_1769135788417_qk5ihmtzv", + "width": 0.09999999128069273, + "x": 0.20857136678890847, + "y": 0.41838623046874995 + } + ], + "type": "bbox" + }, + "point_1769135746743": { + "instances": [ + { + "id": "point_1769135746743_1769154486792_syr1yp8mh", + "x": 0.42350000000000004, + "y": 0.12666666666666668 + } + ], + "type": "point" + }, + "point_1769135747095": { + "instances": [ + { + "id": "point_1769135747095_1769154490000_ccbo2a1yt", + "x": 0.5335, + "y": 0.11333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹右前方的黄黑相间的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑相间的盒子中，放下连接块。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离连接块，未开始移动。为完成抓取连接块放入黄黑相间的盒子里的任务应当:爪夹向爪夹右前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。", + "time": 0.5040051375968991 + }, + { + "action_description": "爪夹张开，向爪夹方向正前方移动", + "annotations": { + "bbox_1769135727439": { + "instances": [ + { + "height": 0.4342857142857143, + "id": "bbox_1769135727439_1769135804977_tfvqe4v2l", + "width": 0.3685713964345532, + "x": 0.08714280594806728, + "y": 0.5612433733258928 + } + ], + "type": "bbox" + }, + "bbox_1769135728791": { + "instances": [ + { + "height": 0.1409523809523809, + "id": "bbox_1769135728791_1769135795264_ry9asnvg3", + "width": 0.09142856345663335, + "x": 0.21285708070093817, + "y": 0.42410051618303574 + } + ], + "type": "bbox" + }, + "point_1769135746743": { + "instances": [ + { + "id": "point_1769135746743_1769154499944_aj5es069c", + "x": 0.3785, + "y": 0.224 + } + ], + "type": "point" + }, + "point_1769135747095": { + "instances": [ + { + "id": "point_1769135747095_1769154501815_utfw98zg7", + "x": 0.48950000000000005, + "y": 0.21733333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹右前方的黄黑相间的盒子接近，移动到黄黑相间的盒子正上方，将爪夹落入黄黑相间的盒子中，放下连接块。", + "error_success_analysis": "爪夹张开，成功向爪夹向爪夹右前方连接块移动。", + "frame": 28, + "progress": 10, + "progress_explanation": "爪夹张开，接近连接块，因此进度增长为10%。", + "state_description": "当前为移动状态，爪夹张开，接近连接块，开始移动。为完成抓取连接块放入黄黑相间的盒子里的任务应当:爪夹向爪夹右前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。", + "time": 0.9408906315789471 + }, + { + "action_description": "爪夹向爪夹方向右前方移动并下降。", + "annotations": { + "bbox_1769135727439": { + "instances": [ + { + "height": 0.43238095238095237, + "id": "bbox_1769135727439_1769135848818_fgrvv0d8h", + "width": 0.3614285399145037, + "x": 0.08999994855608708, + "y": 0.5637830679757254 + } + ], + "type": "bbox" + }, + "bbox_1769135728791": { + "instances": [ + { + "height": 0.1257142857142857, + "id": "bbox_1769135728791_1769135843706_xxc6n759n", + "width": 0.10428570519272243, + "x": 0.19714279635682927, + "y": 0.43425925845191593 + } + ], + "type": "bbox" + }, + "point_1769135746743": { + "instances": [ + { + "id": "point_1769135746743_1769135839370_l7f4aqr7a", + "x": 0.2242856511330173, + "y": 0.5447354489281064 + } + ], + "type": "point" + }, + "point_1769135747095": { + "instances": [ + { + "id": "point_1769135747095_1769135834377_iexxz48zl", + "x": 0.32142849980569027, + "y": 0.5580687822614397 + } + ], + "type": "point" + } + }, + "correction_plan": "接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹方向右前方的黄黑相间的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹张开向爪夹右前方移动到连接块正上方并下降", + "frame": 59, + "progress": 20, + "progress_explanation": "爪夹靠近连接块，因此进度增长为20%。", + "state_description": "当前为移动状态爪夹张开，靠近连接块，开始移动。为完成抓取连接块放入黄黑相间的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。", + "time": 1.951679468992248 + }, + { + "action_description": "当前为爪夹合拢，爪夹抓取连接块", + "annotations": { + "bbox_1769135727439": { + "instances": [ + { + "height": 0.4323809523809525, + "id": "bbox_1769135727439_1769135862194_v8qrbkbd4", + "width": 0.3671428251305433, + "x": 0.08714280594806728, + "y": 0.5631481352306547 + } + ], + "type": "bbox" + }, + "bbox_1769135728791": { + "instances": [ + { + "height": 0.12761904761904758, + "id": "bbox_1769135728791_1769135870897_6w0y8zosw", + "width": 0.05714285216039583, + "x": 0.23571422156509647, + "y": 0.44124337332589286 + } + ], + "type": "bbox" + }, + "point_1769135746743": { + "instances": [ + { + "id": "point_1769135746743_1769135881138_6ye32ipb9", + "x": 0.24571422069316573, + "y": 0.5155290876116071 + } + ], + "type": "point" + }, + "point_1769135747095": { + "instances": [ + { + "id": "point_1769135747095_1769135876401_c38njs443", + "x": 0.297142787637522, + "y": 0.5193386114211309 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧连接块垂直升高爪夹并向爪夹右前方的黄黑相间的盒子接近，移动到黄黑相间的盒子正上方，将爪夹落入黄黑相间的盒子中，放下连接块。", + "error_success_analysis": "爪夹合拢，抓取物连接块", + "frame": 71, + "progress": 40, + "progress_explanation": "当前为抓取状态，抓取连接块。因此进度增长为40%", + "state_description": "当前为抓取状态爪夹抓取物品，抓取连接块。为完成抓取连接块放入黄黑相间的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。", + "time": 2.368266 + }, + { + "action_description": "爪夹合拢，向爪夹方向上方抬起。", + "annotations": { + "bbox_1769135727439": { + "instances": [ + { + "height": 0.4266666666666667, + "id": "bbox_1769135727439_1769135897643_3okkrwi83", + "width": 0.35428568339445426, + "x": 0.09285709116410687, + "y": 0.5612433733258928 + } + ], + "type": "bbox" + }, + "bbox_1769135728791": { + "instances": [ + { + "height": 0.14285714285714282, + "id": "bbox_1769135728791_1769135906995_pd8sntx9s", + "width": 0.13714284518495007, + "x": 0.10857137550821572, + "y": 0.32695765904017854 + } + ], + "type": "bbox" + }, + "point_1769135746743": { + "instances": [ + { + "id": "point_1769135746743_1769135893787_31qzsqek1", + "x": 0.1228570885483147, + "y": 0.4107671828497024 + } + ], + "type": "point" + }, + "point_1769135747095": { + "instances": [ + { + "id": "point_1769135747095_1769135891347_z8d2bpw10", + "x": 0.19714279635682927, + "y": 0.44695765904017853 + } + ], + "type": "point" + } + }, + "correction_plan": "移动到黄黑相间的盒子正上方，将爪夹落入黄黑相间的盒子中，放下连接块。", + "error_success_analysis": "爪夹合拢，抓取连接块向爪夹方向上方抬起。", + "frame": 104, + "progress": 50, + "progress_explanation": "爪夹合拢，向爪夹方向上方抬起。靠近黄黑相间的盒子，因此进度增长为50%", + "state_description": "爪夹保持合拢夹抓取连接块，开始向爪夹方向上方抬起。为完成抓取连接块放入黄黑相间的盒子任务应当:爪夹向爪夹右前方的黄黑相间的盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄黑相间的盒子的正上方。", + "time": 3.480466 + }, + { + "action_description": "当前为移动状态，爪夹合拢，向爪夹方向正前方移动。", + "annotations": { + "bbox_1769135727439": { + "instances": [ + { + "height": 0.4285714285714286, + "id": "bbox_1769135727439_1769135922507_sah9djog8", + "width": 0.3628571112185136, + "x": 0.09142851986009697, + "y": 0.5650528971354166 + } + ], + "type": "bbox" + }, + "bbox_1769135728791": { + "instances": [ + { + "height": 0.15047619047619054, + "id": "bbox_1769135728791_1769135918595_bpri3o8ps", + "width": 0.07999999302455416, + "x": 0.21571422330895795, + "y": 0.53838623046875 + } + ], + "type": "bbox" + }, + "point_1769135746743": { + "instances": [ + { + "id": "point_1769135746743_1769135930748_4ogj6rhtc", + "x": 0.2257142224370272, + "y": 0.5879100399925595 + } + ], + "type": "point" + }, + "point_1769135747095": { + "instances": [ + { + "id": "point_1769135747095_1769135933156_zvatjrl6e", + "x": 0.29142850242148244, + "y": 0.6317195638020833 + } + ], + "type": "point" + } + }, + "correction_plan": "移动到黄黑相间的盒子正上方，将爪夹落入黄黑相间的盒子中，放下连接块。", + "error_success_analysis": "爪夹继续夹取连接块向爪夹方向正前方移动", + "frame": 114, + "progress": 60, + "progress_explanation": "爪夹合拢，向爪夹方向正前方移动。因此状态增长为60%。", + "state_description": "爪夹合拢，抓取连接块。\n为完成抓取连接块放入黄黑相间的盒子任务应当:爪夹向爪夹左前方的黄黑相间的盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄黑相间的正上方。", + "time": 3.8077317293814428 + }, + { + "action_description": "爪夹向爪夹方向的正下方下降。", + "annotations": { + "bbox_1769135727439": { + "instances": [ + { + "height": 0.4019047619047619, + "id": "bbox_1769135727439_1769135951612_3lh686htc", + "width": 0.35428568339445426, + "x": 0.09285709116410687, + "y": 0.5879100399925595 + } + ], + "type": "bbox" + }, + "bbox_1769135728791": { + "instances": [ + { + "height": 0.10095238095238095, + "id": "bbox_1769135728791_1769135942571_mqt9if6vw", + "width": 0.07428570780851458, + "x": 0.2857142172054429, + "y": 0.7212433733258928 + } + ], + "type": "bbox" + }, + "point_1769135746743": { + "instances": [ + { + "id": "point_1769135746743_1769135939947_feo52o1bx", + "x": 0.297142787637522, + "y": 0.7783862304687499 + } + ], + "type": "point" + }, + "point_1769135747095": { + "instances": [ + { + "id": "point_1769135747095_1769135937467_wvvvd1dpy", + "x": 0.3585713537099475, + "y": 0.7802909923735118 + } + ], + "type": "point" + } + }, + "correction_plan": "移动到黄黑相间的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹保持合拢，把爪夹落入黄黑相间的盒子中。", + "frame": 138, + "progress": 80, + "progress_explanation": "连接块已被抓取并开始将连接块放入黄黑相间的盒子。因此进度提升为80%", + "state_description": "当前为爪夹合拢，抓紧连接块，连接块已被下降至黄黑相间盒子中。\n为完成抓取连接块放入黄黑相间的盒子任务应当:爪夹放开将连接块落入黄黑色相间的盒子中。", + "time": 4.589663806201551 + }, + { + "action_description": "爪夹由合拢变为张开", + "annotations": { + "bbox_1769135727439": { + "instances": [ + { + "height": 0.4266666666666667, + "id": "bbox_1769135727439_1769135965356_357ljcqtz", + "width": 0.3585713973064839, + "x": 0.09285709116410687, + "y": 0.5631481352306548 + } + ], + "type": "bbox" + }, + "bbox_1769135728791": { + "instances": [ + { + "height": 0.1771428571428572, + "id": "bbox_1769135728791_1769135962316_0wispmm8k", + "width": 0.07142856520049481, + "x": 0.2814285032934131, + "y": 0.7402909923735118 + } + ], + "type": "bbox" + }, + "point_1769135746743": { + "instances": [ + { + "id": "point_1769135746743_1769135957884_k5x6jkhc6", + "x": 0.2642856476452944, + "y": 0.7650528971354167 + } + ], + "type": "point" + }, + "point_1769135747095": { + "instances": [ + { + "id": "point_1769135747095_1769135959564_bxuoog3aj", + "x": 0.3814284945741059, + "y": 0.7936243257068453 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取连接块放入黄黑相间的盒子任务已完成。无需后续动作规划。", + "error_success_analysis": "爪夹放开，成功使连接块落入黄黑相间的盒子中", + "frame": 166, + "progress": 100, + "progress_explanation": "爪夹松开，连接块落入黄黑相间的盒子中。抓取连接块放入黄黑相间的盒子任务已完成。因此进度提升为100%。", + "state_description": "当前为爪夹放开，放下连接块，连接块已被放入黄黑色的盒子中。抓取连接块放入黄黑色的盒子任务已完成。", + "time": 5.533333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769135727439", + "name": "黄黑相间的盒子" + }, + { + "color": "#FF9800", + "id": "bbox_1769135728791", + "name": "连接块" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769135746743", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769135747095", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-150740-put-connecting block-yellow and black-box-mix/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-150740-put-connecting block-yellow and black-box-mix/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..a93e745c0ba21433c38a6bef8e94146e35022236 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-150740-put-connecting block-yellow and black-box-mix/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,914 @@ +{ + "task_description": "将连接块放入黄黑色的盒子中\n开始移动0%\n爪夹靠近连接块20%\n爪夹抓取连接块40%\n爪夹抓住连接块靠近黄黑色的盒60%\n爪夹将连接块放入黄黑色的盒80%\n爪夹松开，连接块落入黄黑色的盒中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.4653061224489796, + "id": "bbox_1769060220689_1769060284673_0430zzo1c", + "width": 0.30204081632653057, + "x": 0.18979591836734694, + "y": 0.32653061224489793 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.16361416361416362, + "id": "bbox_1769060243609_1769060290745_ei4343x5d", + "width": 0.1361590790162217, + "x": 0.7379382522239666, + "y": 0.19340659340659336 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5494505494505495, + "id": "bbox_1769074159929_1769074260713_c2c9yfhps", + "width": 0.47435897435897434, + "x": 0.10073260073260074, + "y": 0.1343101343101343 + } + ], + "type": "bbox" + }, + "point_1769074162129": { + "instances": [ + { + "id": "point_1769074162129_1769074280729_bfk08gpjw", + "x": 0.3717948717948718, + "y": 0.3833943833943834 + } + ], + "type": "point" + }, + "point_1769074162505": { + "instances": [ + { + "id": "point_1769074162505_1769074282969_fbhzf9p9c", + "x": 0.5164835164835166, + "y": 0.4566544566544567 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态爪夹张开，远离连接块，未开始移动。为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。", + "time": 0.5806201550387596 + }, + { + "action_description": "爪夹向爪夹方向上方抬升。", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.4707482993197278, + "id": "bbox_1769060220689_1769060313881_np2iuiyyt", + "width": 0.31836734693877544, + "x": 0.3326530612244898, + "y": 0.08435374149659863 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.16766091051805337, + "id": "bbox_1769060243609_1769060318433_krjaztqft", + "width": 0.13453689167974883, + "x": 0.7389324960753533, + "y": 0.19152276295133439 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.568986568986569, + "id": "bbox_1769074159929_1769074289361_pjmok070y", + "width": 0.402930402930403, + "x": 0.1391941391941392, + "y": 0.15140415140415142 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，张开抓夹放下连接块。", + "error_success_analysis": "爪夹张开，未移动到爪夹正前方连接块的正上方。", + "frame": 35, + "progress": 10, + "progress_explanation": "爪夹张开，开始靠近连接块。因此进度增长为10%。", + "state_description": "当前为初始状态爪夹张开，远离连接块，未开始移动。为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。", + "time": 1.1612403100775193 + }, + { + "action_description": "爪夹向爪夹方向下方移动下降。", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.4517006802721088, + "id": "bbox_1769060220689_1769060325385_lf6f6inis", + "width": 0.28979591836734697, + "x": 0.49387755102040815, + "y": 0.20952380952380953 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.1622885051456479, + "id": "bbox_1769060243609_1769060328881_od8geqkqh", + "width": 0.1386185243328099, + "x": 0.7336473050758765, + "y": 0.194732251875109 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5592185592185592, + "id": "bbox_1769074159929_1769074315353_2o6ejme9i", + "width": 0.4652014652014652, + "x": 0.11721611721611722, + "y": 0.1562881562881563 + } + ], + "type": "bbox" + }, + "point_1769074162129": { + "instances": [ + { + "id": "point_1769074162129_1769075730049_waguye4ng", + "x": 0.5494505494505495, + "y": 0.5347985347985348 + } + ], + "type": "point" + }, + "point_1769074162505": { + "instances": [ + { + "id": "point_1769074162505_1769075732041_0hngvqsly", + "x": 0.7014652014652014, + "y": 0.6105006105006106 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹张开，未移动到连接块的正上方。", + "frame": 43, + "progress": 15, + "progress_explanation": "爪夹合拢未抓取到连接块。因此进度减少为-20%。", + "state_description": "当前为移动状态爪夹张开，靠近连接块，开始移动。为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。", + "time": 1.4229896907216495 + }, + { + "action_description": "当前为爪夹合拢，爪夹抓取非连接块", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.47346938775510206, + "id": "bbox_1769060220689_1769060334369_h7r76cjyc", + "width": 0.3469387755102041, + "x": 0.43673469387755104, + "y": 0.1360544217687075 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.1551020408163265, + "id": "bbox_1769060243609_1769060338129_4ohthicmh", + "width": 0.13061224489795914, + "x": 0.7408163265306122, + "y": 0.20136054421768707 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5518925518925518, + "id": "bbox_1769074159929_1769074324993_cqdj7wdo0", + "width": 0.4981684981684982, + "x": 0.1043956043956044, + "y": 0.15384615384615385 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹合拢，抓取物品", + "frame": 90, + "progress": -30, + "progress_explanation": "当前为抓取状态，未抓取连接块。因此进度减少为-30%", + "state_description": "当前为抓取状态爪夹抓取物品，抓取非连接块，开始移动。为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。", + "time": 3.000652173913043 + }, + { + "action_description": "爪夹抓取的非连接块物品，升起爪夹。", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.16326530612244897, + "id": "bbox_1769060220689_1769060345345_duopsezh2", + "width": 0.2632653061224489, + "x": 0.37346938775510197, + "y": 0.005442176870748299 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.1636839351125065, + "id": "bbox_1769060243609_1769060349905_3v0m2oidq", + "width": 0.14024071166928315, + "x": 0.7379382522239665, + "y": 0.19333682190825047 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5592185592185592, + "id": "bbox_1769074159929_1769074333593_tudrz78ra", + "width": 0.4706959706959708, + "x": 0.11355311355311355, + "y": 0.15384615384615385 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹合拢，向爪夹方向上方升起，抓取错误物品", + "frame": 106, + "progress": -40, + "progress_explanation": "爪夹合拢，向爪夹方向上方抬起，因此进度减少为-40%", + "state_description": "当前为抓取状态爪夹抓取物品，抓取非连接块，放下非连接物品。为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。", + "time": 3.525193798449612 + }, + { + "action_description": "当前为移动状态，爪夹张开，向爪夹方向正前方移动。", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1769060220689_1769060374857_voup3sdm5", + "width": 0.2346938775510204, + "x": 0.3877551020408163, + "y": 0 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.1605442176870748, + "id": "bbox_1769060243609_1769060379177_fal9vjh9i", + "width": 0.1387755102040817, + "x": 0.7346938775510203, + "y": 0.19047619047619044 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5372405372405372, + "id": "bbox_1769074159929_1769074345761_3t8zc6l2m", + "width": 0.4908424908424909, + "x": 0.09706959706959707, + "y": 0.16605616605616605 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹向爪夹方向右前方移动", + "frame": 137, + "progress": 10, + "progress_explanation": "爪夹张开，向爪夹方向右前方移动。因此状态增长为10%。", + "state_description": "当前为初始状态，爪夹张开，未抓取连接块。\n为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹左前方的黄黑色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄黑色盒子的正上方。", + "time": 4.555773195876288 + }, + { + "action_description": "当前为移动状态，爪夹张开，向爪夹正前方接近连接块，开始移动。", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.3727891156462585, + "id": "bbox_1769060220689_1769060385577_mhv7mbfsl", + "width": 0.23265306122448975, + "x": 0.5653061224489796, + "y": 0.0027210884353741495 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.1714285714285714, + "id": "bbox_1769060243609_1769060388425_3kf83owgt", + "width": 0.16122448979591839, + "x": 0.7265306122448979, + "y": 0.20680272108843537 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5494505494505495, + "id": "bbox_1769074159929_1769074364769_pdtuo02i1", + "width": 0.4560439560439561, + "x": 0.12454212454212454, + "y": 0.16361416361416362 + } + ], + "type": "bbox" + }, + "point_1769074162505": { + "instances": [ + { + "id": "point_1769074162505_1769075752913_k2wole86n", + "x": 0.8040293040293041, + "y": 0.2905982905982906 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹向爪夹方向右前方移动至连接块。", + "frame": 149, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向右边移动靠近连接块。因此状态增长为20%。", + "state_description": "当前为初始状态，爪夹张开，未抓取连接块。\n为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹左前方的黄黑色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄黑色盒子的正上方。", + "time": 4.966666666666667 + }, + { + "action_description": "爪夹张开，向爪夹方向左边移动。", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.35374149659863946, + "id": "bbox_1769060220689_1769060393857_hsec2z4n5", + "width": 0.2244897959183673, + "x": 0.47346938775510206, + "y": 0.019047619047619046 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.20952380952380953, + "id": "bbox_1769060243609_1769060397281_akp7pqnmg", + "width": 0.15102040816326526, + "x": 0.7346938775510203, + "y": 0.15510204081632653 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5470085470085471, + "id": "bbox_1769074159929_1769074372481_9yxfmzs3b", + "width": 0.49633699633699635, + "x": 0.06410256410256411, + "y": 0.16361416361416362 + } + ], + "type": "bbox" + }, + "point_1769074162129": { + "instances": [ + { + "id": "point_1769074162129_1769075761049_1o1qqlr87", + "x": 0.5805860805860806, + "y": 0.3418803418803419 + } + ], + "type": "point" + }, + "point_1769074162505": { + "instances": [ + { + "id": "point_1769074162505_1769075759057_cb6jn8urk", + "x": 0.6959706959706959, + "y": 0.36385836385836384 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹向左移动远离连接块。", + "frame": 168, + "progress": -10, + "progress_explanation": "爪夹向爪夹方向左边移动未靠近连接块，因此状态降低为-10%。", + "state_description": "当前为初始状态，爪夹张开，未抓取连接块。\n为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹左前方的黄黑色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄黑色盒子的正上方。", + "time": 5.592680412371134 + }, + { + "action_description": "爪夹靠近连接块，开始移动。", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.24489795918367344, + "id": "bbox_1769060220689_1769060404401_suzbwhy6t", + "width": 0.24897959183673485, + "x": 0.6530612244897959, + "y": 0.0027210884353741495 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.17959183673469387, + "id": "bbox_1769060243609_1769060407649_27p100g9d", + "width": 0.2020408163265305, + "x": 0.7306122448979592, + "y": 0.17959183673469387 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5299145299145299, + "id": "bbox_1769074159929_1769074379473_5knk2hp2g", + "width": 0.478021978021978, + "x": 0.06776556776556777, + "y": 0.16849816849816848 + } + ], + "type": "bbox" + }, + "point_1769074162505": { + "instances": [ + { + "id": "point_1769074162505_1769075770457_3wluduqme", + "x": 0.8589743589743589, + "y": 0.1440781440781441 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹保持张开，移动至爪夹正前方连接块上方。", + "frame": 188, + "progress": 10, + "progress_explanation": "爪夹靠近连接块。因此进度为10%", + "state_description": "当前为移动状态，爪夹张开，未抓取连接块。\n为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹左前方的黄黑色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄黑色盒子的正上方。", + "time": 6.265567010309279 + }, + { + "action_description": "爪夹向爪夹下方下降，爪夹合拢。", + "annotations": { + "bbox_1769060243609": { + "instances": [ + { + "height": 0.15628815628815626, + "id": "bbox_1769060243609_1769074430689_mfdhj9if5", + "width": 0.1282051282051282, + "x": 0.7637362637362638, + "y": 0.17826617826617827 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5689865689865691, + "id": "bbox_1769074159929_1769074385345_svug3u3eu", + "width": 0.4615384615384615, + "x": 0.06776556776556777, + "y": 0.1391941391941392 + } + ], + "type": "bbox" + }, + "point_1769074162129": { + "instances": [ + { + "id": "point_1769074162129_1769074432625_t6sz4mdf0", + "x": 0.7454212454212454, + "y": 0.24420024420024422 + } + ], + "type": "point" + }, + "point_1769074162505": { + "instances": [ + { + "id": "point_1769074162505_1769074435721_fxvww4pi4", + "x": 0.8315018315018315, + "y": 0.3028083028083028 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的连接块移动，同时调整爪夹的角度使其垂直与桌面，并移动到连接块的正上方。接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹向爪夹方向下方下降", + "frame": 217, + "progress": 20, + "progress_explanation": "爪夹靠近连接块。因此进度增长为20%。", + "state_description": "当前为移动状态，爪夹合拢，抓取连接块。\n为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹左前方的黄黑色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄黑色盒子的正上方。", + "time": 7.2439 + }, + { + "action_description": "爪夹结束移动，抓取连接块。", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.3727891156462585, + "id": "bbox_1769060220689_1769060422657_nnly3sld8", + "width": 0.28979591836734697, + "x": 0.6081632653061224, + "y": 0.0027210884353741495 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.1931972789115646, + "id": "bbox_1769060243609_1769060427113_wj3qoppet", + "width": 0.15306122448979592, + "x": 0.7285714285714284, + "y": 0.1877551020408163 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5543345543345543, + "id": "bbox_1769074159929_1769074248665_tvv6yte2e", + "width": 0.4633699633699634, + "x": 0.0695970695970696, + "y": 0.1514041514041514 + } + ], + "type": "bbox" + }, + "point_1769074162129": { + "instances": [ + { + "id": "point_1769074162129_1769074251361_9n913rtet", + "x": 0.7344322344322345, + "y": 0.22466422466422467 + } + ], + "type": "point" + }, + "point_1769074162505": { + "instances": [ + { + "id": "point_1769074162505_1769074253713_a2e5hlcrr", + "x": 0.816849816849817, + "y": 0.3028083028083028 + } + ], + "type": "point" + } + }, + "correction_plan": "接着落下爪夹靠近连接块，接近连接块后爪夹合拢抓取连接块。抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹进行合拢，抓取连接块。", + "frame": 233, + "progress": 40, + "progress_explanation": "当前为抓取阶段。因此进度为40%。", + "state_description": "当前为爪夹合拢，抓住连接块。\n为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹左前方的黄黑色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄黑色盒子的正上方。", + "time": 7.755426356589147 + }, + { + "action_description": "爪夹向爪夹方向上方升起。", + "annotations": { + "bbox_1769060243609": { + "instances": [ + { + "height": 0.18315018315018314, + "id": "bbox_1769060243609_1769074233993_12bcbidyk", + "width": 0.1373626373626374, + "x": 0.7655677655677655, + "y": 0.08302808302808302 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5299145299145298, + "id": "bbox_1769074159929_1769074221137_14kfeshuv", + "width": 0.46703296703296704, + "x": 0.07875457875457877, + "y": 0.16849816849816848 + } + ], + "type": "bbox" + }, + "point_1769074162129": { + "instances": [ + { + "id": "point_1769074162129_1769074227297_y9vf07u5h", + "x": 0.706959706959707, + "y": 0.1098901098901099 + } + ], + "type": "point" + }, + "point_1769074162505": { + "instances": [ + { + "id": "point_1769074162505_1769074229593_e9q4uo0ma", + "x": 0.8131868131868132, + "y": 0.16361416361416362 + } + ], + "type": "point" + } + }, + "correction_plan": "继续保持爪夹合拢，向爪夹方向的左前方移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹保持合拢，抓取连接块成功抬起。", + "frame": 251, + "progress": 50, + "progress_explanation": "连接块已被抓取并成功抬升，因此进度为50% ", + "state_description": "当前为爪夹抬起，抓住连接块。\n为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹左前方的黄黑色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄黑色盒子的正上方。", + "time": 8.37751937984496 + }, + { + "action_description": "爪夹向爪夹方向的左方移动。", + "annotations": { + "bbox_1769060243609": { + "instances": [ + { + "height": 0.09035409035409035, + "id": "bbox_1769060243609_1769074210897_vxgk01504", + "width": 0.14102564102564102, + "x": 0.3608058608058608, + "y": 0.002442002442002442 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5494505494505495, + "id": "bbox_1769074159929_1769074191305_e5tjrhkzb", + "width": 0.4725274725274725, + "x": 0.07875457875457877, + "y": 0.16117216117216118 + } + ], + "type": "bbox" + }, + "point_1769074162129": { + "instances": [ + { + "id": "point_1769074162129_1769075783105_rz3z4zol1", + "x": 0.15567765567765568, + "y": 0.007326007326007326 + } + ], + "type": "point" + }, + "point_1769074162505": { + "instances": [ + { + "id": "point_1769074162505_1769075780353_s6025wl1z", + "x": 0.2802197802197802, + "y": 0.021978021978021976 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧连接块垂直升高爪夹并向爪夹左前方的黄黑色的盒子接近，移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹保持合拢，抓取连接块成功抬升并移动。", + "frame": 271, + "progress": 60, + "progress_explanation": "爪夹抓取连接块靠近黄黑色的盒子。因此进度提升为60%。", + "state_description": "当前为抓取状态爪夹抓取连接块，靠近黄黑色盒子，结束移动。为完成抓取连接块放入黄黑色的盒子任务应当:爪夹向爪夹左前方的黄黑色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄黑色盒子的正上方。", + "time": 9.048478260869565 + }, + { + "action_description": "爪夹向爪夹方向的左前方放下并移动。", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.41088435374149657, + "id": "bbox_1769060220689_1769060437929_dmrilneaf", + "width": 0.3081632653061225, + "x": 0.03877551020408163, + "y": 0.019047619047619046 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.14965986394557826, + "id": "bbox_1769060243609_1769060440961_s3zspllwx", + "width": 0.15918367346938775, + "x": 0.2061224489795918, + "y": 0.2775510204081632 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5592185592185592, + "id": "bbox_1769074159929_1769074397177_fo8cuwqcz", + "width": 0.49633699633699635, + "x": 0.056776556776556776, + "y": 0.1391941391941392 + } + ], + "type": "bbox" + }, + "point_1769074162129": { + "instances": [ + { + "id": "point_1769074162129_1769074399425_7dbfxui3c", + "x": 0.22527472527472528, + "y": 0.3418803418803419 + } + ], + "type": "point" + }, + "point_1769074162505": { + "instances": [ + { + "id": "point_1769074162505_1769074401897_dzpqqlc01", + "x": 0.2857142857142857, + "y": 0.32722832722832723 + } + ], + "type": "point" + } + }, + "correction_plan": "移动到黄黑色的盒子正上方，将爪夹落入黄黑色盒子中，放下连接块。", + "error_success_analysis": "爪夹保持合拢，把爪夹落入黄黑色盒子中。", + "frame": 289, + "progress": 80, + "progress_explanation": "连接块已被抓取并开始将连接块放入黄黑色的盒子。因此进度提升为80%", + "state_description": "当前为爪夹合拢，抓紧连接块，连接块已被抬升至空中。\n为完成抓取连接块放入黄黑色的盒子任务应当:继续保持爪夹合拢，向爪夹方向的左前方移动，完全进入黄黑色的盒子范围后开始下降。", + "time": 9.642441860465116 + }, + { + "action_description": "爪夹由合拢变为张开", + "annotations": { + "bbox_1769060220689": { + "instances": [ + { + "height": 0.3972789115646258, + "id": "bbox_1769060220689_1769060259321_54vrq0mj3", + "width": 0.2959183673469387, + "x": 0.11632653061224489, + "y": 0.10612244897959182 + } + ], + "type": "bbox" + }, + "bbox_1769060243609": { + "instances": [ + { + "height": 0.19591836734693877, + "id": "bbox_1769060243609_1769060268657_6kcq1t84m", + "width": 0.15714285714285717, + "x": 0.2897959183673469, + "y": 0.3401360544217687 + } + ], + "type": "bbox" + }, + "bbox_1769074159929": { + "instances": [ + { + "height": 0.5494505494505495, + "id": "bbox_1769074159929_1769074413177_zxj21ggfl", + "width": 0.4908424908424909, + "x": 0.06043956043956045, + "y": 0.15873015873015872 + } + ], + "type": "bbox" + }, + "point_1769074162129": { + "instances": [ + { + "id": "point_1769074162129_1769075796233_3sn85jmsj", + "x": 0.25274725274725274, + "y": 0.3760683760683761 + } + ], + "type": "point" + }, + "point_1769074162505": { + "instances": [ + { + "id": "point_1769074162505_1769075798417_pi0gyulhl", + "x": 0.34798534798534797, + "y": 0.33455433455433453 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取连接块放入黄黑色的盒子任务已完成。无需后续动作规划。", + "error_success_analysis": "爪夹放开，成功使连接块落入黄黑色的盒子中", + "frame": 321, + "progress": 100, + "progress_explanation": "爪夹松开，连接块落入黄黑色的盒子中。抓取连接块放入黄黑色的盒子任务已完成。因此进度提升为100%。", + "state_description": "当前为爪夹放开，放下连接块，连接块已被放入黄黑色的盒子中。抓取连接块放入黄黑色的盒子任务已完成。", + "time": 10.7 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#ff0000", + "id": "bbox_1769060243609", + "name": "连接块" + }, + { + "color": "#FF9800", + "id": "bbox_1769074159929", + "name": "黄黑色的盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769074162129", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769074162505", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-152414-put-connecting block-yellow and black-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-152414-put-connecting block-yellow and black-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..92d3bbf8b56384a19251744ff9427476e8b7ef8c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-152414-put-connecting block-yellow and black-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,702 @@ +{ + "task_description": "将连接块放入黄色和黑色的盒子中\n开始移动0%\n爪夹靠近连接块25%\n爪夹抓取连接块50%\n爪夹抓取连接块靠近黄色和黑色的盒子75%\n爪夹张开，连接块被放在黄色和黑色的盒子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动\n", + "correction_plan": "爪夹向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取链接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离连接块，未开始移动。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹向爪夹方向右前方移动，移动至连接块上方后下降", + "time": 0.5253, + "annotations": { + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981252655_yf84j9ky2", + "x": 0.6867777290785078, + "y": 0.19042591325472713, + "width": 0.10599999353027378, + "height": 0.14799998795573016 + } + ] + }, + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981261819_lgn3sli1z", + "x": 0.34577774989149473, + "y": 0.1997592458285119, + "width": 0.3389999793090833, + "height": 0.5039999589843784 + } + ] + }, + "point_1768981195081": { + "type": "point", + "instances": [ + { + "id": "point_1768981195081_1768981270931_qx955fpe1", + "x": 0.5487777375013587, + "y": 0.6677592077425775 + } + ] + }, + "point_1768981195262": { + "type": "point", + "instances": [ + { + "id": "point_1768981195262_1768981272749_rsq5d7j3a", + "x": 0.6707777300550701, + "y": 0.6450925429205288 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方调整爪夹角度", + "correction_plan": "爪夹向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取链接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹成功调整爪夹角度使其向下", + "frame": 27, + "progress": 5, + "progress_explanation": "爪夹调整爪夹角度向下，但爪夹位置尚未变动，因此进度小幅提升至5%", + "state_description": "当前状态为爪夹张开，位于连接块左后方，爪夹向下。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹向爪夹方向右前方移动，移动至连接块上方后下降", + "time": 0.8961, + "annotations": { + "point_1768981195081": { + "type": "point", + "instances": [ + { + "id": "point_1768981195081_1768981277087_i57w0xdvf", + "x": 0.5137777396375891, + "y": 0.7465740257508118 + } + ] + }, + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981281107_q6p7rr3zd", + "x": 0.6837777292616132, + "y": 0.19457407067268306, + "width": 0.10599999353027387, + "height": 0.14399998828125096 + } + ] + }, + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981285547_usqn92rob", + "x": 0.3417777501356353, + "y": 0.20257407002164146, + "width": 0.34799997875976685, + "height": 0.48666662706163516 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左下方移动", + "correction_plan": "爪夹抬升并向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取链接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。\n", + "error_success_analysis": "爪夹移动方向有误，应向右前方连接块位置移动，但爪夹朝相反的远离连接块的方向移动", + "frame": 39, + "progress": -10, + "progress_explanation": "爪夹向远离链接块的方向移动，因此进度降低至-10%", + "state_description": "当前状态为爪夹张开，远离链接块。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹抬升并向爪夹方向右前方移动，移动至连接块上方后下降\n", + "time": 1.3081, + "annotations": { + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981295852_ez4wogvyu", + "x": 0.34877774970838926, + "y": 0.20627775420916716, + "width": 0.3449999789428723, + "height": 0.4999999593098992 + } + ] + }, + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981305503_ul8v066zd", + "x": 0.6867777290785078, + "y": 0.1939814702163517, + "width": 0.1039999936523441, + "height": 0.143999988281251 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "爪夹抬升并向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取链接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹尚未移动至连接块位置提前下降，下降位置有误", + "frame": 47, + "progress": -15, + "progress_explanation": "爪夹尚未移动至连接块位置提前下降，因此进度降低至-15%", + "state_description": "当前状态为爪夹张开，远离连接块。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹抬升并向爪夹方向右前方移动，移动至连接块上方后下降\n", + "time": 1.5759, + "annotations": { + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981314112_ctqk47our", + "x": 0.6807777294447186, + "y": 0.19324073744785666, + "width": 0.11299999310302775, + "height": 0.14266665505642454 + } + ] + }, + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981355995_d3kfh7ufl", + "x": 0.34477774995252986, + "y": 0.20524073647129423, + "width": 0.3489999786987317, + "height": 0.5053332922092048 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "爪夹张开抬升并向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取链接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹抓取物品有误，爪夹于错误方位进行了抓取动作", + "frame": 57, + "progress": -25, + "progress_explanation": "爪夹抓取了错误的目标物，并且位置仍然远离连接块，因此进度降低至-25%", + "state_description": "当前状态为爪夹合拢，抓紧胶带，连接块尚未被抓取。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：张开爪夹抬升并向爪夹方向右前方移动，移动至连接块上方后下降", + "time": 1.9055, + "annotations": { + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981369489_zzr7mzd6a", + "x": 0.3397777502577056, + "y": 0.19427775518572957, + "width": 0.35699997821045054, + "height": 0.5013332925347256 + } + ] + }, + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981384156_ub0mv2mmy", + "x": 0.6797777295057538, + "y": 0.19027775551125037, + "width": 0.10999999328613326, + "height": 0.14799998795573013 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "爪夹张开并向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取链接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹虽未放下胶带，但却成功抬升接近了连接块", + "frame": 81, + "progress": -20, + "progress_explanation": "爪夹虽抓取错误物品，但却抬升靠近了连接块，抬升动作无误，因此进度小幅提升至-20%", + "state_description": "当前状态为爪夹合拢，抓紧胶带，胶带已被抬升至空中\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹张开并向爪夹方向右前方移动，移动至连接块上方后下降", + "time": 2.6986, + "annotations": { + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981390052_3niwaiyrt", + "x": 0.690777728834367, + "y": 0.20494442098434076, + "width": 0.1039999936523441, + "height": 0.13599998893229256 + } + ] + }, + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981394948_5a4w40c66", + "x": 0.35277774946424867, + "y": 0.19427775518572957, + "width": 0.34099997918701297, + "height": 0.515999958007816 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取链接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "胶带成功被放下，爪夹成功变为空状态，可以直接靠近并抓取连接块", + "frame": 104, + "progress": 10, + "progress_explanation": "爪夹张开放下胶带，可以直接靠近连接块并进行抓取动作，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于连接块左后方，连接块尚未被抓取。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹向爪夹方向右前方移动，移动至连接块上方后下降", + "time": 3.4505, + "annotations": { + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981402464_urv1dgewy", + "x": 0.34677774983045956, + "y": 0.20361108775951434, + "width": 0.35099997857666143, + "height": 0.5013332925347256 + } + ] + }, + "point_1768981195081": { + "type": "point", + "instances": [ + { + "id": "point_1768981195081_1768981405063_3hjn3egd5", + "x": 0.3387777503187408, + "y": 0.6742777161232328 + } + ] + }, + "point_1768981195262": { + "type": "point", + "instances": [ + { + "id": "point_1768981195262_1768981406973_cfe3327vj", + "x": 0.4427777439710849, + "y": 0.5809443903853849 + } + ] + }, + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981410606_md7v6ockm", + "x": 0.6837777292616132, + "y": 0.20227775453468796, + "width": 0.10699999346923868, + "height": 0.137333322157119 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "爪夹继续向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取链接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹向成功爪夹方向右前方移动靠近了连接块", + "frame": 150, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向右前方移动靠近了连接块，但还未移动至连接块正上方，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，位于连接块左后方\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹继续向爪夹方向右前方移动，移动至连接块上方后下降", + "time": 5.013961230181965, + "annotations": { + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981415235_40l6bjbm9", + "x": 0.6837777292616132, + "y": 0.19694442163538237, + "width": 0.1009999938354496, + "height": 0.13599998893229254 + } + ] + }, + "point_1768981195081": { + "type": "point", + "instances": [ + { + "id": "point_1768981195081_1768981418667_04wnvj4p6", + "x": 0.7197777270643477, + "y": 0.38361107311107806 + } + ] + }, + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981436406_94kecic9z", + "x": 0.3597777490370026, + "y": 0.18775924426194301, + "width": 0.3299999798583996, + "height": 0.5239999573567743 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "爪夹抬升并向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取链接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹还未移动至连接块位置提前进行下降动作，因此降低了进度", + "frame": 169, + "progress": 15, + "progress_explanation": "爪夹尚未移动至连接块上方提前下降，但较为接近连接块，因此进度降低至15%", + "state_description": "当前状态为爪夹张开，位于连接块后方，笔的上方。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹抬升并向爪夹方向右前方移动，移动至连接块上方后下降，", + "time": 5.625474946296931, + "annotations": { + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981481746_7itv65nn2", + "x": 0.34577774989149473, + "y": 0.201092576510207, + "width": 0.3449999789428724, + "height": 0.5093332918836838 + } + ] + }, + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981498971_940tx7bu5", + "x": 0.6867777290785078, + "y": 0.1939814702163517, + "width": 0.10799999340820347, + "height": 0.143999988281251 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左方移动", + "correction_plan": "爪夹向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取链接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹移动方向有误，应向右前方移动靠近连接块，但爪夹向左方移动远离了连接块", + "frame": 181, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向左方移动远离了连接块，因此进度中再次降低至10%", + "state_description": "当前状态为爪夹张开，位于连接块左后方。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹向爪夹方向右前方移动，移动至连接块上方后下降", + "time": 6.0255, + "annotations": { + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981506897_rtp9cq8w2", + "x": 0.717777727186418, + "y": 0.1930925771612486, + "width": 0.0749999954223635, + "height": 0.13466665570746617 + } + ] + }, + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981513739_jzulfm39r", + "x": 0.26577775477430693, + "y": 0.3210925667445828, + "width": 0.320999980407716, + "height": 0.4533332964409752 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "爪夹继续向爪夹方向前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取连接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹成功向爪夹方向右前方连接块靠近", + "frame": 195, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向右方移动接近了连接块，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于连接块后方，连接块尚未被抓取。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹向爪夹方向前方移动，移动至连接块上方后下降，", + "time": 6.506815097026072, + "annotations": { + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981527679_ypg33l6j3", + "x": 0.26877775459120146, + "y": 0.3210925667445828, + "width": 0.3239999802246105, + "height": 0.45866662934028085 + } + ] + }, + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981543258_clmn3whlt", + "x": 0.6897777288954022, + "y": 0.1984259100605542, + "width": 0.08899999456787144, + "height": 0.11199999088541741 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "爪夹抬升并向爪夹方向前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取连接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹尚未移动至连接块的位置提前进行了下降动作，", + "frame": 206, + "progress": 10, + "progress_explanation": "爪夹未移动至连接块位置提前下降，因此进度降低至10%", + "state_description": "当前状态为爪夹张开，位于连接块后方，连接块尚未被抓取。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹抬升并向爪夹方向前方移动，移动至连接块上方后下降", + "time": 6.8598, + "annotations": { + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981554642_0okz9mhrx", + "x": 0.6877777290174725, + "y": 0.19827775486020874, + "width": 0.07099999566650421, + "height": 0.09199999251302143 + } + ] + }, + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981560883_trieyxrxv", + "x": 0.27277775434706086, + "y": 0.31027774574562617, + "width": 0.3269999800415051, + "height": 0.46399996223958645 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹抬升并向爪夹方向前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取连接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹尚未移动至连接块位置，于错误位置进行了抓取动作", + "frame": 223, + "progress": -10, + "progress_explanation": "爪夹合拢抓取了错误目标物，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，抓紧笔，连接块尚未被抓取。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：张开爪夹抬升并向爪夹方向前方移动，移动至连接块上方后下降", + "time": 7.4366, + "annotations": { + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981570099_1ixfgp6c5", + "x": 0.6927777287122968, + "y": 0.20242590973503338, + "width": 0.07399999548339871, + "height": 0.09733332541232705 + } + ] + }, + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981581475_v9xsf6v8q", + "x": 0.27077775446913116, + "y": 0.3210925667445828, + "width": 0.3199999804687511, + "height": 0.45599996289062805 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "张开爪夹并向爪夹方向前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取连接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹在抓取物品有误的情况下保持合拢状态并且进行了移动", + "frame": 252, + "progress": -20, + "progress_explanation": "爪夹未把错误目标物方向，而是抓取错误目标物进行移动，因此进度降低至-20%", + "state_description": "当前状态为爪夹合拢，抓紧笔，位于连接块后上方。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：张开爪夹并向爪夹方向前方移动，移动至连接块上方后下降", + "time": 8.395470566790008, + "annotations": { + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981589663_x2p4bqzfc", + "x": 0.26977775453016634, + "y": 0.30909256772114524, + "width": 0.31799998059082146, + "height": 0.4679999619140656 + } + ] + }, + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981594935_6ssgf5p10", + "x": 0.690777728834367, + "y": 0.20242590973503338, + "width": 0.1039999936523441, + "height": 0.13066665603298697 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左后方移动", + "correction_plan": "张开爪夹并向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取连接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹抓取物品有误，并且移动方向更加远离连接块", + "frame": 275, + "progress": -30, + "progress_explanation": "爪夹抓取错误目标物并且大幅度远离了连接块，因此进度降低至-30%", + "state_description": "当前状态为爪夹合拢，抓紧笔，位于黄色和黑色盒子的上方。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：张开爪夹并向爪夹方右向前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹", + "time": 9.1567, + "annotations": { + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981601520_in59pihgg", + "x": 0.6937777286512616, + "y": 0.19442591038607498, + "width": 0.09499999420166053, + "height": 0.14533332150607733 + } + ] + }, + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981611560_gwnv9d43b", + "x": 0.26577775477430693, + "y": 0.311759234170798, + "width": 0.32999997985839963, + "height": 0.47333329481337116 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹抬升并向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取连接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子。", + "error_success_analysis": "爪夹尚未移动至目标物位置提前进行了下降动作", + "frame": 294, + "progress": -40, + "progress_explanation": "爪夹未向目标物移动并且进行了错误的下降动作，因此进度降低至-40%", + "state_description": "当前状态为爪夹合拢，抓紧笔，位于黄色和黑色盒子内\n为完成将连接块放入黄色和黑色的盒子中的任务应当：张开爪夹抬升并向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹", + "time": 9.8159, + "annotations": { + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981620943_6y97rm3l3", + "x": 0.27477775422499057, + "y": 0.325092566419062, + "width": 0.31599998071289176, + "height": 0.46266662901476 + } + ] + }, + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981625671_x5vgg2agg", + "x": 0.6887777289564374, + "y": 0.1984259100605542, + "width": 0.0999999938964847, + "height": 0.14266665505642456 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹保持张开状态抬升并向爪夹方向右前方移动，移动至连接块上方后下降，下降至连接块位置合拢爪夹，抓取连接块，之后保持爪夹合拢状态抬升并向爪夹方向左后方移动，移动至黄色和黑色盒子的上方后下降，下降至黄色和黑色盒子内后张开爪夹，使连接块放在黄色和黑色的盒子", + "error_success_analysis": "爪夹成功张开放下错误物品", + "frame": 304, + "progress": 10, + "progress_explanation": "爪夹放下了错误物品，保持张开状态，相较于初始位置较为靠近连接块，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于黄色和黑色盒子位置，连接块尚未被抓取。\n为完成将连接块放入黄色和黑色的盒子中的任务应当：爪夹抬升并向爪夹方向右前方移动，移动至连接块上方后下降", + "time": 10.1455, + "annotations": { + "bbox_1768981193816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193816_1768981633327_rrswv5m1s", + "x": 0.6857777291395428, + "y": 0.20257407002164146, + "width": 0.1009999938354496, + "height": 0.13866665538194534 + } + ] + }, + "bbox_1768981193981": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981193981_1768981637678_oj3axvje3", + "x": 0.27077775446913116, + "y": 0.3145740609070588, + "width": 0.3269999800415051, + "height": 0.46399996223958645 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768981193816", + "name": "连接块", + "color": "#4CAF50" + }, + { + "id": "bbox_1768981193981", + "name": "黄色和黑色的盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768981195081", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768981195262", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-153203-put-electric fan-yellow and black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-153203-put-electric fan-yellow and black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6fe608f4ca1c5d6c5d16b574faca417b1b297b3e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-153203-put-electric fan-yellow and black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,456 @@ +{ + "task_description": "将电风扇放入黄黑色的盒子中\n开始移动0%\n爪夹靠近电风扇25%\n爪夹抓取电风扇50%\n爪夹抓取电风扇靠近黄黑色的盒子75%\n爪夹张开，电风扇被放在黄黑色的盒子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向下调整爪夹口使其向下，之后向爪夹方向右前方移动至电风扇上方后下降，，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离电风扇，未开始移动。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹向下调整爪夹口使其向下，之后向爪夹方向右前方移动至电风扇上方\n", + "time": 0.441948, + "annotations": { + "bbox_1768981668339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668339_1768981714498_lan9mj4cl", + "x": 0.6327777323744059, + "y": 0.4812407140103586, + "width": 0.16599998986816464, + "height": 0.20399998339843883 + } + ] + }, + "bbox_1768981668913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668913_1768981727907_cv3kloesg", + "x": 0.1357777627088768, + "y": 0.029092590507601688, + "width": 0.35999997802734507, + "height": 0.4159999661458361 + } + ] + }, + "point_1768981669819": { + "type": "point", + "instances": [ + { + "id": "point_1768981669819_1768981732720_u4yyycgb8", + "x": 0.572777736036515, + "y": 0.6572406996874431 + } + ] + }, + "point_1768981670219": { + "type": "point", + "instances": [ + { + "id": "point_1768981670219_1768981735142_xecls96hb", + "x": 0.7157777273084883, + "y": 0.6452407006640055 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方略微调整爪夹口", + "correction_plan": "爪夹继续向下调整爪夹口使其向下，之后向爪夹方向右前方移动至电风扇上方后下降，，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功调整爪夹角度使其略微向下", + "frame": 24, + "progress": 5, + "progress_explanation": "爪夹略微调整爪夹口使其向下，但还未进行移动，因此进度小幅提升至5%", + "state_description": "当前为爪夹张开，远离电风扇。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹继续向下调整爪夹口使其向下，之后向爪夹方向右前方移动至电风扇上方", + "time": 0.8106338154502121, + "annotations": { + "point_1768981670219": { + "type": "point", + "instances": [ + { + "id": "point_1768981670219_1768981739210_mb41nt8hl", + "x": 0.7197777270643477, + "y": 0.6477592068270502 + } + ] + }, + "point_1768981669819": { + "type": "point", + "instances": [ + { + "id": "point_1768981669819_1768981741912_z14vy1yk1", + "x": 0.5807777355482339, + "y": 0.6597592058504879 + } + ] + }, + "bbox_1768981668339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668339_1768981746804_5lr8kaimp", + "x": 0.6307777324964763, + "y": 0.4837592201734033, + "width": 0.16299999005127014, + "height": 0.19199998437500126 + } + ] + }, + "bbox_1768981668913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668913_1768981753576_w8f3gqady", + "x": 0.13377776283094708, + "y": 0.029092590507601688, + "width": 0.36499997772216924, + "height": 0.4106666332465305 + } + ] + } + } + }, + { + "action_description": "爪夹向下调整爪夹角度并且向爪夹方向右前方移动", + "correction_plan": "爪夹下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功向爪夹方向右前方移动靠近了电风扇", + "frame": 33, + "progress": 25, + "progress_explanation": "爪夹已靠近电风扇位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于电风扇上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹下降，下降至电风扇位置合拢爪夹，抓取电风扇", + "time": 1.10487, + "annotations": { + "point_1768981669819": { + "type": "point", + "instances": [ + { + "id": "point_1768981669819_1768981764518_k23ir8ucu", + "x": 0.6047777340833902, + "y": 0.5144258843444105 + } + ] + }, + "bbox_1768981668339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668339_1768981814119_l9msvykdo", + "x": 0.6337777323133709, + "y": 0.49857404593310173, + "width": 0.05999999633789077, + "height": 0.12133332345920216 + } + ] + }, + "bbox_1768981668913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668913_1768981824279_rj9m5vbu8", + "x": 0.1257777633192283, + "y": 0.011611103384513072, + "width": 0.366999977600099, + "height": 0.4279999651692737 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功下降至可抓取电风扇的位置", + "frame": 46, + "progress": 40, + "progress_explanation": "爪夹已移动至可抓取电风扇的位置，但尚未进行抓取动作，因此进度提升至40%", + "state_description": "当前状态为爪夹张开，位于电风扇位置，电风扇尚未被抓取。\n为完成将电风扇放入黄黑色的盒子中的任务应当：合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动", + "time": 1.546818, + "annotations": { + "bbox_1768981668913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668913_1768981832770_9fawzkb4f", + "x": 0.127777763197158, + "y": 0.014277769834165868, + "width": 0.3629999778442396, + "height": 0.43733329774305846 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功合拢，电风扇成功被爪夹抓取", + "frame": 71, + "progress": 50, + "progress_explanation": "电风扇已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，电风扇尚未被移动\n为完成将电风扇放入黄黑色的盒子中的任务应当：保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动", + "time": 2.374054, + "annotations": { + "bbox_1768981668913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668913_1768981843983_23sbhnsp8", + "x": 0.13277776289198223, + "y": 0.01294443660933947, + "width": 0.35999997802734507, + "height": 0.4386666309678849 + } + ] + }, + "bbox_1768981668339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668339_1768981852643_n87coo81p", + "x": 0.6667777302992107, + "y": 0.49724071270827536, + "width": 0.13299999188232475, + "height": 0.16533331987847327 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功抓取电风扇，电风扇成功被抬升至空中", + "frame": 96, + "progress": 55, + "progress_explanation": "电风扇已被爪夹抓取并抬升至空中，因此进度提升至55%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，电风扇已被抬升至空中。\n为完成将电风扇放入黄黑色的盒子中的任务应当：保持爪夹合拢状态并向爪夹方向左前方黄黑色盒子移动", + "time": 3.1911333810156086, + "annotations": { + "bbox_1768981668339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668339_1768981857778_rf0w8ss6q", + "x": 0.6737777298719647, + "y": 0.48390738046001136, + "width": 0.0729999955444339, + "height": 0.20133331694878606 + } + ] + }, + "bbox_1768981668913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668913_1768981869003_970doeeb2", + "x": 0.127777763197158, + "y": 0.014277769834165868, + "width": 0.3679999775390639, + "height": 0.42533329871962083 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方移动并调整爪夹方向使其向前", + "correction_plan": "保持爪夹合拢状态继续向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功向爪夹方向左前方移动，成功靠近了黄黑色盒子位置", + "frame": 108, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向左前方移动接近了黄黑色盒子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，电风扇已被抬升至空中\n为完成将电风扇放入黄黑色的盒子中的任务应当：保持爪夹合拢状态继续向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降", + "time": 3.609242, + "annotations": { + "bbox_1768981668913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668913_1768981884103_4h512bocc", + "x": 0.1257777633192283, + "y": 0.01294443660933947, + "width": 0.3699999774169936, + "height": 0.43199996484375286 + } + ] + }, + "bbox_1768981668339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668339_1768981894234_vyuxzq7n1", + "x": 0.5037777402479406, + "y": 0.3664258963886803, + "width": 0.0749999954223635, + "height": 0.2719999778645852 + } + ] + }, + "point_1768981669819": { + "type": "point", + "instances": [ + { + "id": "point_1768981669819_1768981899349_uvrfboec4", + "x": 0.5707777361585854, + "y": 0.5461295942277348 + } + ] + }, + "point_1768981670219": { + "type": "point", + "instances": [ + { + "id": "point_1768981670219_1768981901926_vob8zwnsx", + "x": 0.5807777355482339, + "y": 0.5247962626305125 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "爪夹保持合拢状态下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功向爪夹方向左前方移动靠近了黄黑色盒子，电风扇成功被移动至黄黑色盒子位置", + "frame": 127, + "progress": 75, + "progress_explanation": "电风扇已被移动至完全靠近黄黑色盒子的位置，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，电风扇已被移动至黄黑色盒子上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹保持合拢状态下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "time": 4.238168, + "annotations": { + "bbox_1768981668913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668913_1768981912986_jyfgahxu7", + "x": 0.13277776289198223, + "y": 0.015462950401778124, + "width": 0.36299997784423965, + "height": 0.4279999651692737 + } + ] + }, + "bbox_1768981668339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668339_1768981917258_94no1j1se", + "x": 0.26877775459120146, + "y": 0.02361110240795065, + "width": 0.1009999938354496, + "height": 0.2319999811197932 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，放下电风扇", + "error_success_analysis": "爪夹成功下降，电风扇成功被移动至黄黑色盒子内", + "frame": 148, + "progress": 90, + "progress_explanation": "电风扇已被移动至黄黑色盒子内部，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，电风扇已移动至黄黑色盒子内部\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹，放下电风扇", + "time": 4.918088, + "annotations": { + "bbox_1768981668913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668913_1768981927811_iwpps93md", + "x": 0.12077776362440407, + "y": 0.003611104035554685, + "width": 0.37399997717285294, + "height": 0.43866663096788483 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将电风扇放入黄黑色的盒子中的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，电风扇成功被放进黄黑色盒子内", + "frame": 158, + "progress": 100, + "progress_explanation": "将电风扇放入黄黑色的盒子中的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于黄黑色盒子和电风扇上方。\n将电风扇放入黄黑色的盒子中的任务已完成", + "time": 5.275046, + "annotations": { + "bbox_1768981668913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668913_1768981933926_txn5osdgm", + "x": 0.12877776313612282, + "y": 0.026277768857603447, + "width": 0.36999997741699353, + "height": 0.4253332987196209 + } + ] + }, + "bbox_1768981668339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981668339_1768981937557_ikk6f6dc1", + "x": 0.23577775660536152, + "y": 0.21561108678295193, + "width": 0.1429999912719732, + "height": 0.1746666524522581 + } + ] + }, + "point_1768981669819": { + "type": "point", + "instances": [ + { + "id": "point_1768981669819_1768981939646_j395qwjyp", + "x": 0.2997777526991118, + "y": 0.25161108385326464 + } + ] + }, + "point_1768981670219": { + "type": "point", + "instances": [ + { + "id": "point_1768981670219_1768981941898_yan83q58i", + "x": 0.38877774726698316, + "y": 0.19027775551125037 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768981668339", + "name": "电风扇", + "color": "#4CAF50" + }, + { + "id": "bbox_1768981668913", + "name": "黄黑色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768981669819", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768981670219", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-155433-put-electric fan-yellow and black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-155433-put-electric fan-yellow and black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..13cd02882ac78cdcdf0bd3acc5df1f9c2cbaa4ba --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-155433-put-electric fan-yellow and black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,1026 @@ +{ + "task_description": "将电风扇放入黄黑色的盒子中\n开始移动0%\n爪夹靠近电风扇25%\n爪夹抓取电风扇50%\n爪夹抓取电风扇靠近黄黑色的盒子75%\n爪夹张开，电风扇被放在黄黑色的盒子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向下调整爪夹口使其向下，之后向爪夹方向前方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离电风扇，未开始移动。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹向下调整爪夹口使其向下，之后向爪夹方向前方移动至电风扇上方后下降", + "time": 0.2832, + "annotations": { + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982006354_x87d1mjje", + "x": 0.435777744398331, + "y": 0.5345740430034145, + "width": 0.12399999243164102, + "height": 0.13733332215711905 + } + ] + }, + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982014494_32o9s7tj3", + "x": 0.2497777557508694, + "y": 0.6505740335633111, + "width": 0.4759999709472673, + "height": 0.30933330815972426 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982016440_az21eq0ci", + "x": 0.38277774763319405, + "y": 0.526574043654456 + } + ] + }, + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982018026_er0eu1ine", + "x": 0.6207777331068278, + "y": 0.5079073785068865 + } + ] + } + } + }, + { + "action_description": "爪夹略微向下调整爪夹口", + "correction_plan": "爪夹继续向下调整爪夹口使其向下，之后向爪夹方向前方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功调整爪夹口使其逐渐向下", + "frame": 21, + "progress": 5, + "progress_explanation": "爪夹略微调整了爪夹口，但未进行移动，因此进度小幅提升至5%", + "state_description": "当前状态为爪夹张开，位于黄黑色盒子上方，远离电风扇。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹继续向下调整爪夹口使其向下，之后向爪夹方向前方移动至电风扇上方后下降", + "time": 0.7013197153539199, + "annotations": { + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982021062_qz9tuurpc", + "x": 0.6187777332288981, + "y": 0.5182777288185442 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982023020_5mcactlip", + "x": 0.38277774763319405, + "y": 0.5196110620433706 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982025770_r8d2w7s37", + "x": 0.36477774873182683, + "y": 0.3609444082890293, + "width": 0.12799999218750044, + "height": 0.16399998665364687 + } + ] + }, + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982029222_majsejorv", + "x": 0.23677775654432637, + "y": 0.5649443916874681, + "width": 0.37899997686767717, + "height": 0.38799996842448176 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "爪夹向爪夹方向左方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功向爪夹方向右前方移动靠近了电风扇", + "frame": 30, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向右前方移动，靠近了电风扇，但还未移动至电风扇上方，因此进度提升至15%", + "state_description": "当前状态为爪夹合拢，位于电风扇右上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹方向左方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹\n", + "time": 1.014799, + "annotations": { + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982043074_gazz2gtlr", + "x": 0.21977775758192397, + "y": 0.6767962299156715, + "width": 0.3109999810180676, + "height": 0.2759999775390643 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982046739_m16bp2i37", + "x": 0.2737777542860257, + "y": 0.45679624781931577, + "width": 0.14699999102783257, + "height": 0.20666664984809172 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982050552_8sfv443zs", + "x": 0.3787777478773347, + "y": 0.5114629100371981 + } + ] + }, + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982052330_bl0iqznvn", + "x": 0.6187777332288981, + "y": 0.5061295771378925 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "爪夹保持张开状态抬升并向爪夹方向左方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功向爪夹方向下方下降靠近了电风扇", + "frame": 46, + "progress": 20, + "progress_explanation": "爪夹靠近电风扇，但未移动至可抓取电风扇的位置，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，位于电风扇右侧。\n为完成将电风扇放入黄黑色的盒子中的任务应当：抬升并向爪夹方向前方移动至电风扇上方后下降", + "time": 1.536225351694205, + "annotations": { + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982056919_9fu8shpol", + "x": 0.6237777329237223, + "y": 0.506425884995452 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982058639_drsx0muxt", + "x": 0.3797777478162995, + "y": 0.5144258843444105 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982065003_ljfa08lrf", + "x": 0.08677776569959925, + "y": 0.40242589345899304, + "width": 0.25899998419189546, + "height": 0.345333305230037 + } + ] + }, + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982068719_pd020q4f9", + "x": 0.15277776167127916, + "y": 0.794425861557954, + "width": 0.31699998065185664, + "height": 0.1626666534288205 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹并抬升之后向爪夹方向左方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹尚未移动至可抓取电风扇的位置，提前进行了错误的抓取动作", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹未移动至可抓取电风扇的位置提前抓取，因此进度降低至10%", + "state_description": "当前状态为爪夹合拢，位于电风扇右侧，电风扇未被抓取。\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹并抬升之后向爪夹方向左方移动至电风扇上方后下降", + "time": 2.337734762580878, + "annotations": { + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982076342_1iexdc6q5", + "x": 0.14577776209852525, + "y": 0.7916110399079558, + "width": 0.27299998333740333, + "height": 0.1706666527777789 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982093583_ia089xln0", + "x": 0.4937777408582922, + "y": 0.507611063019933 + } + ] + }, + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982095687_9ylwy66dh", + "x": 0.5087777399427649, + "y": 0.5089443962447594 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982105914_58nfxm2hb", + "x": 0.06777776685926715, + "y": 0.3916110724600364, + "width": 0.27499998321533303, + "height": 0.36933330327691216 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "张开爪夹并向爪夹方向左前方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹尚未抓取电风扇提前远离了电风扇，移动方向有误", + "frame": 84, + "progress": -5, + "progress_explanation": "爪夹尚未抓取电风扇，并且远离了电风扇，因此进度降低至-5%", + "state_description": "当前状态为爪夹合拢，位于电风扇右上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹并向爪夹方向左前方移动至电风扇上方后下降\n", + "time": 2.7966, + "annotations": { + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982114601_z8ui8a1mz", + "x": 0.25777775526258817, + "y": 0.43961106855378673, + "width": 0.14799999096679736, + "height": 0.18933331792534844 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982116667_w8tm1ww2x", + "x": 0.4887777411634679, + "y": 0.5129443959192386 + } + ] + }, + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982118804_ake3p1kp1", + "x": 0.5067777400648351, + "y": 0.5089443962447594 + } + ] + }, + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982122481_37ptw3v07", + "x": 0.21877775764295912, + "y": 0.7184258677428493, + "width": 0.1849999887084967, + "height": 0.234666647569446 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向左前 方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功于电风扇上方张开", + "frame": 109, + "progress": 10, + "progress_explanation": "爪夹变为张开状态并且已位于较接近电风扇的上方。因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于电风扇右上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹向爪夹方向左方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹", + "time": 3.6226, + "annotations": { + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982128841_rmxdu064a", + "x": 0.22977775697157243, + "y": 0.670425871649099, + "width": 0.3109999810180675, + "height": 0.27866664398871716 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982135946_m6bizmqbh", + "x": 0.2827777537367093, + "y": 0.4584258889017018, + "width": 0.14399999121093804, + "height": 0.18133331857639004 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982137850_3xjijqj5t", + "x": 0.38377774757215893, + "y": 0.5104258846699312 + } + ] + }, + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982139646_63dhlng3r", + "x": 0.6227777329847575, + "y": 0.5104258846699312 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "爪夹保持张开状态抬升并向爪夹方向左方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功向爪夹方向下方下降靠近了电风扇", + "frame": 125, + "progress": 15, + "progress_explanation": "爪夹靠近电风扇，但未移动至可抓取电风扇的位置，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于电风扇右侧\n为完成将电风扇放入黄黑色的盒子中的任务应当：抬升并向爪夹方向前方移动至电风扇上方后下降", + "time": 4.1536, + "annotations": { + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982143519_p5qamt8fr", + "x": 0.6237777329237223, + "y": 0.5104258846699312 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982145426_2t8vawbji", + "x": 0.38477774751112376, + "y": 0.5144258843444105 + } + ] + }, + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982149441_j6e06ysm1", + "x": 0.16877776069471676, + "y": 0.8317591918530931, + "width": 0.1859999886474616, + "height": 0.12266665668402865 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982153782_mgk2aljf9", + "x": 0.07077776667616169, + "y": 0.5024258853209729, + "width": 0.1829999888305671, + "height": 0.27999997721354347 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "\n张开爪夹并抬升之后向爪夹方向左方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹尚未移动至电风扇位置提前抓取导致抓取物品错误", + "frame": 138, + "progress": -5, + "progress_explanation": "爪夹未移动至电风扇位置提前抓取了错误物品，因此进度降低至-5%", + "state_description": "当前状态为爪夹合拢，抓紧笔，电风扇尚未被抓取\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹并抬升之后向爪夹方向左方移动至电风扇上方后下降", + "time": 4.602, + "annotations": { + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982167786_1b1f6l15g", + "x": 0.5267777388441321, + "y": 0.5092407117317129 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982169634_jwvni5e1g", + "x": 0.47377774207899515, + "y": 0.5039073788324073 + } + ] + }, + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982174722_i81rki9im", + "x": 0.16677776081678702, + "y": 0.8199073531162636, + "width": 0.21599998681640703, + "height": 0.14133332183159814 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982181051_qsiut7eow", + "x": 0.07377776649305624, + "y": 0.49724071270827536, + "width": 0.17299998944091857, + "height": 0.2866666433376755 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "张开爪夹并向爪夹方向左方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹尚未抓取电风扇提前抬升远离了电风扇", + "frame": 171, + "progress": -15, + "progress_explanation": "爪夹抓取错误物品并且远离了电风扇，因此进度降低至-15%", + "state_description": "当前状态为爪夹合拢，抓取笔，笔已被抬升至空中。\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹并向爪夹方向左方移动至电风扇上方后下降", + "time": 5.6994, + "annotations": { + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982212667_zrii5a6w1", + "x": 0.18977775941297853, + "y": 0.7224258674173285, + "width": 0.24599998498535247, + "height": 0.23866664724392522 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982214187_epwklwme7", + "x": 0.4747777420179601, + "y": 0.5157592175692368 + } + ] + }, + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982215967_8zdqmm8sm", + "x": 0.5247777389662025, + "y": 0.5024258853209729 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982219230_cl0fsi9zi", + "x": 0.1657777608778222, + "y": 0.429092557955521, + "width": 0.16799998974609437, + "height": 0.22399998177083488 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左方移动", + "correction_plan": "张开爪夹并向爪夹方向左方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功向爪夹方向左方移动靠近了电风扇", + "frame": 183, + "progress": -10, + "progress_explanation": "爪夹向爪夹方向左方移动略微靠近电风扇，但笔尚未被方向，因此进度提升至-10%\n", + "state_description": "当前状态为爪夹合拢，位于电风扇左上方，抓紧笔\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹并向爪夹方向左方移动至电风扇上方后下降", + "time": 6.1124, + "annotations": { + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982223184_g96x0aw7v", + "x": 0.2267777571546779, + "y": 0.3662777411883349, + "width": 0.1669999898071295, + "height": 0.22799998144531397 + } + ] + }, + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982226759_bakj6vv97", + "x": 0.21277775800917004, + "y": 0.6997592025952797, + "width": 0.20199998767089916, + "height": 0.25866664561632124 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982228242_2z39dov4w", + "x": 0.4747777420179601, + "y": 0.5117592178947576 + } + ] + }, + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982229986_ln8u7u0u2", + "x": 0.5267777388441321, + "y": 0.4970925524216673 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向左方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功张开，错误目标物成功被放下", + "frame": 205, + "progress": 15, + "progress_explanation": "爪夹张开放下笔，并且位于较为接近黑色电风扇的上方位置，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于电风扇右上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹向爪夹方向左方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹", + "time": 6.8322, + "annotations": { + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982232328_8mikffaq9", + "x": 0.6167777333509684, + "y": 0.514277729144065 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982233910_9jxrivqyp", + "x": 0.376777747999405, + "y": 0.5196110620433706 + } + ] + }, + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982238227_w6gev9o0u", + "x": 0.2037777585584864, + "y": 0.5972407045702551, + "width": 0.35299997845459113, + "height": 0.37599996940104424 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982246439_382yf3kju", + "x": 0.2107777581312403, + "y": 0.3919073879469899, + "width": 0.17999998901367253, + "height": 0.21866664887152923 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左下方移动", + "correction_plan": "合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功下降至可抓取电风扇的位置", + "frame": 235, + "progress": 25, + "progress_explanation": "爪夹已移动至可抓取电风扇的位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于电风扇位置，电风扇尚未被抓取。\n为完成将电风扇放入黄黑色的盒子中的任务应当：合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动\n", + "time": 7.8352, + "annotations": { + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982251854_n0ncx8lu7", + "x": 0.13877776252577131, + "y": 0.4196110701813908, + "width": 0.3319999797363294, + "height": 0.33733330588107857 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982253947_f6nrfxjaj", + "x": 0.3807777477552644, + "y": 0.5425740423523728 + } + ] + }, + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982255476_8neiz9d7u", + "x": 0.6227777329847575, + "y": 0.502574045607581 + } + ] + }, + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982259380_2d1ar6bww", + "x": 0.15877776130506827, + "y": 0.7785740231466453, + "width": 0.46799997143554856, + "height": 0.17199998600260524 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "后保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功合拢，电风扇成功被爪夹抓取", + "frame": 258, + "progress": 50, + "progress_explanation": "电风扇已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，电风扇尚未移动。\n为完成将电风扇放入黄黑色的盒子中的任务应当：保持爪夹合拢状态抬升并向爪夹方向后方黄黑色盒子移动", + "time": 8.6022, + "annotations": { + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982264431_hz5bf2n6g", + "x": 0.18777775953504885, + "y": 0.7796110408845182, + "width": 0.2369999855346688, + "height": 0.17866665212673732 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982268415_w83lnqau7", + "x": 0.1827777598402246, + "y": 0.43057405146695543, + "width": 0.3659999776611341, + "height": 0.34399997200521065 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982269884_0frlkekuv", + "x": 0.46677774250624127, + "y": 0.5372407094530673 + } + ] + }, + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982271330_41ydxy04w", + "x": 0.534777738355851, + "y": 0.5292407101041089 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功抓取电风扇，电风扇成功被爪夹抬升并移动", + "frame": 297, + "progress": 65, + "progress_explanation": "电风扇已被抓取抬升靠近黄黑色盒子，但还未移动至盒子上方，因此进度提升至65%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，电风扇已被抬升至空中\n为完成将电风扇放入黄黑色的盒子中的任务应当：保持爪夹合拢状态向爪夹方向后方黄黑色盒子移动，移动至黄黑色盒子上方后下降", + "time": 9.911728961639156, + "annotations": { + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982273946_x7jud0qc7", + "x": 0.5147777395765539, + "y": 0.5196110620433706 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982276186_0n59toyhl", + "x": 0.48477774140760854, + "y": 0.5196110620433706 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982280092_fi3vb1ffr", + "x": 0.23577775660536152, + "y": 0.3089444125207998, + "width": 0.3039999814453136, + "height": 0.3773333026258705 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后方移动", + "correction_plan": "保持爪夹合拢状态下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "电风扇成功被抓抓取并移动至黄黑色盒子上方位置", + "frame": 313, + "progress": 75, + "progress_explanation": "电风扇已被移动至黄黑色盒子上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，位于黄黑色盒子上方\n为完成将电风扇放入黄黑色的盒子中的任务应当：保持爪夹合拢状态下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "time": 10.446986659917984, + "annotations": { + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982287076_ewlivdmbp", + "x": 0.2337777567274318, + "y": 0.2970925686977076, + "width": 0.3039999814453136, + "height": 0.38266663552517616 + } + ] + }, + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982293729_wti6nzipn", + "x": 0.24377775611708027, + "y": 0.21709257520812378, + "width": 0.4439999729003922, + "height": 0.5319999567057327 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982296298_ebze085ru", + "x": 0.4857777413465733, + "y": 0.5090925514451049 + } + ] + }, + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982298194_rky62u0wy", + "x": 0.5167777394544836, + "y": 0.5090925514451049 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功下降，电风扇成功被爪夹移动至黄黑色盒子内部", + "frame": 326, + "progress": 90, + "progress_explanation": "电风扇已下降至黄黑色盒子内部，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，电风扇已下降至黄黑色盒子内部。\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹，使电风扇被放在黄黑色盒子内", + "time": 10.867799, + "annotations": { + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982302502_q3xojsbjd", + "x": 0.5147777395765539, + "y": 0.5130925511195841 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982304342_e8iw6w2ij", + "x": 0.4837777414686436, + "y": 0.5237592169181953 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982309754_kpvzcjpna", + "x": 0.2497777557508694, + "y": 0.2864259028990964, + "width": 0.27899998297119244, + "height": 0.3999999674479193 + } + ] + }, + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982316885_op91ihxnf", + "x": 0.11777776380750953, + "y": 0.13575924849371349, + "width": 0.6269999617309594, + "height": 0.703999942708338 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将电风扇放入黄黑色的盒子中的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，电风扇成功被放在黄黑色盒子内", + "frame": 342, + "progress": 100, + "progress_explanation": "将电风扇放入黄黑色的盒子中的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于电风扇上方。\n将电风扇放入黄黑色的盒子中的任务已完成", + "time": 11.387, + "annotations": { + "bbox_1768981979114": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981979114_1768982325250_22854ynxm", + "x": 0.10877776435682589, + "y": 0.13309258204406071, + "width": 0.6269999617309593, + "height": 0.6759999449869837 + } + ] + }, + "bbox_1768981978363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768981978363_1768982335698_49dnjqk7a", + "x": 0.317777751600479, + "y": 0.23575924035569334, + "width": 0.24299998516845794, + "height": 0.36533330360243293 + } + ] + }, + "point_1768981980051": { + "type": "point", + "instances": [ + { + "id": "point_1768981980051_1768982339482_se5pormgn", + "x": 0.38477774751112376, + "y": 0.5090925514451049 + } + ] + }, + "point_1768981980507": { + "type": "point", + "instances": [ + { + "id": "point_1768981980507_1768982341238_mev4o9egh", + "x": 0.6247777328626871, + "y": 0.5130925511195841 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768981978363", + "name": "电风扇", + "color": "#4CAF50" + }, + { + "id": "bbox_1768981979114", + "name": "黄黑色的盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768981980051", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768981980507", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-162214-put-electric fan-yellow and black-box-bad1/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-162214-put-electric fan-yellow and black-box-bad1/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..4193396ca2c7c836b728f4cc95c1f19c520f9b5f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-162214-put-electric fan-yellow and black-box-bad1/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,710 @@ +{ + "task_description": "将电风扇放入黄黑色的盒子中\n开始移动0%\n爪夹靠近电风扇25%\n爪夹抓取电风扇50%\n爪夹抓取电风扇靠近黄黑色的盒子75%\n爪夹张开，电风扇被放在黄黑色的盒子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹保持张开状态向爪夹方向右前方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离电风扇，未开始移动。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹向爪夹方向右前方移动至电风扇上方后下降", + "time": 0.6351408832264767, + "annotations": { + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982382513_l1cne75ze", + "x": 0.6607777306654217, + "y": 0.5864258784850359, + "width": 0.2789999829711925, + "height": 0.32266664040798837 + } + ] + }, + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982389884_hg7xdoroq", + "x": 0.25777775526258817, + "y": 0.003611104035554685, + "width": 0.38199997668457175, + "height": 0.2999999755859395 + } + ] + }, + "point_1768982355942": { + "type": "point", + "instances": [ + { + "id": "point_1768982355942_1768982392542_kmimushss", + "x": 0.4077777461073152, + "y": 0.27827774834979263 + } + ] + }, + "point_1768982356338": { + "type": "point", + "instances": [ + { + "id": "point_1768982356338_1768982394926_ed1lvvqjr", + "x": 0.5497777374403235, + "y": 0.33427774379250136 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "爪夹保持张开状态向爪夹方向右前方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功向爪夹方向前方移动成功靠近了电风扇位置", + "frame": 30, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向前方移动略微靠近了电风扇，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于电风扇左上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹保持张开状态向爪夹方向右前方移动至电风扇上方后下降", + "time": 0.9958206215100379, + "annotations": { + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982413142_4dzbwrh9g", + "x": 0.6547777310316325, + "y": 0.5612407074999425, + "width": 0.28499998260498155, + "height": 0.3546666378038218 + } + ] + }, + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982421441_o87rwqsg0", + "x": 0.25477775544569364, + "y": -0.0003888956389245085, + "width": 0.3839999765625014, + "height": 0.2506666462673628 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "爪夹保持张开状态向爪夹方向右方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功向爪夹方向下方下降，成功接近了电风扇位置", + "frame": 50, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向下方下降接近了电风扇，但还未至可抓取电风扇的位置，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于电风扇左上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹保持张开状态向爪夹方向右方移动至电风扇上方后下降", + "time": 1.66222, + "annotations": { + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982437103_o0cg24809", + "x": 0.25777775526258817, + "y": 0.0021296181535141474, + "width": 0.38199997668457175, + "height": 0.26133331206597393 + } + ] + }, + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982446206_21wwg5hf4", + "x": 0.6597777307264568, + "y": 0.5744258794615984, + "width": 0.2759999831542979, + "height": 0.33999997233073137 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹并向爪夹方向右方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹尚未移动至电风扇位置提前进行抓取动作导致抓取失败", + "frame": 62, + "progress": -5, + "progress_explanation": "爪夹合拢但未抓取电风扇，因此进度降低至-5%", + "state_description": "当前状态为爪夹合拢，未抓取电风扇。\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹并向爪夹方向右方移动至电风扇上方后下降", + "time": 2.062609, + "annotations": { + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982456703_qv05bgv3y", + "x": 0.6557777309705974, + "y": 0.5796110571605585, + "width": 0.28499998260498155, + "height": 0.3333333062065995 + } + ] + }, + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982463858_v8326zmqr", + "x": 0.25777775526258817, + "y": -0.0003888956389245085, + "width": 0.38199997668457175, + "height": 0.28533331011284907 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "张开爪夹并向爪夹方向右方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹尚未抓取电风扇提前远离了电风扇", + "frame": 80, + "progress": -15, + "progress_explanation": "爪夹保持合拢状态远离了电风扇，因此进度降低至-15%", + "state_description": "当前状态为爪夹合拢，位于电风扇左上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹并向爪夹方向右方移动至电风扇上方后下降", + "time": 2.678415856086706, + "annotations": { + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982470986_xa8o7oo0v", + "x": 0.25277775556776394, + "y": 0.0009444375859018892, + "width": 0.386999976379396, + "height": 0.2506666462673628 + } + ] + }, + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982477702_xv2n3tioe", + "x": 0.6547777310316325, + "y": 0.586574038771644, + "width": 0.28399998266601667, + "height": 0.3213333071831618 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹保持张开状态向爪夹方向右前方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功张开", + "frame": 95, + "progress": 10, + "progress_explanation": "爪夹成功张开进可行移动抓取，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于电风扇左上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹保持张开状态向爪夹方向右前方移动至电风扇上方后下降", + "time": 3.1591573516800397, + "annotations": { + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982487801_hdzqwv2g8", + "x": 0.6577777308485271, + "y": 0.5649443916874681, + "width": 0.28199998278808697, + "height": 0.34666663845486345 + } + ] + }, + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982498174_71z8e4tfx", + "x": 0.4727777421400304, + "y": 0.007314778050555171, + "width": 0.1729999894409186, + "height": 0.19733331727430686 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "爪夹保持张开状态向爪夹方向右方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功向爪夹方向下方下降，成功接近了电风扇位置", + "frame": 119, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向下方下降接近了电风扇，但还未至可抓取电风扇的位置，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于电风扇左上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹保持张开状态向爪夹方向右方移动至电风扇上方后下降", + "time": 3.979623, + "annotations": { + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982509587_b9smkysjy", + "x": 0.25077775568983424, + "y": 0.0007962849286877499, + "width": 0.39499997589111474, + "height": 0.2559999791666684 + } + ] + }, + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982514357_sidn0olay", + "x": 0.6697777301161053, + "y": 0.5650925468878135, + "width": 0.26799998364257904, + "height": 0.3426666387803843 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹并向爪夹方向右方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹尚未移动至电风扇位置提前进行抓取动作导致抓取失败", + "frame": 130, + "progress": -5, + "progress_explanation": "爪夹合拢但未抓取电风扇，因此进度降低至-5%", + "state_description": "当前状态为爪夹合拢，未抓取电风扇。\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹并向爪夹方向右方移动至电风扇上方后下降", + "time": 4.325073640736144, + "annotations": { + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982520597_smor1qw3r", + "x": 0.6627777305433513, + "y": 0.567611058137121, + "width": 0.27499998321533303, + "height": 0.3439999720052106 + } + ] + }, + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982526595_nx7sec0tr", + "x": 0.25577775538465847, + "y": 0.0034629513783405452, + "width": 0.3829999766235365, + "height": 0.2533333127170156 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后方移动", + "correction_plan": "张开爪夹并向爪夹方向右方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功向爪夹方向右后方电风扇方向靠近", + "frame": 152, + "progress": -3, + "progress_explanation": "爪夹向爪夹方向后方电风扇方向小幅移动，因此进度小幅提升至-3%", + "state_description": "当前状态为爪夹合拢，未抓取电风扇。\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹并向爪夹方向右方移动至电风扇上方后下降", + "time": 5.071593, + "annotations": { + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982532221_qzz4jdnbp", + "x": 0.25277775556776394, + "y": -0.0003888956389245085, + "width": 0.39099997613525533, + "height": 0.27466664431423793 + } + ] + }, + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982537195_lt9trmozw", + "x": 0.6597777307264568, + "y": 0.5679073736240744, + "width": 0.2829999827270518, + "height": 0.3413333055555578 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "张开爪夹并向爪夹方向右方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹尚未抓取电风扇提前远离了电风扇", + "frame": 165, + "progress": -15, + "progress_explanation": "爪夹保持合拢状态远离了电风扇，因此进度降低至-15%", + "state_description": "当前状态为爪夹合拢，位于电风扇左上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：张开爪夹并向爪夹方向右方移动至电风扇上方后下降", + "time": 5.5008488244849865, + "annotations": { + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982542313_wkz2istp1", + "x": 0.6477777314588786, + "y": 0.5504258814147232, + "width": 0.2929999821167003, + "height": 0.3613333039279539 + } + ] + }, + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982546042_yaazxj8h0", + "x": 0.48477774140760854, + "y": 0.006129617827993341, + "width": 0.15899999029541076, + "height": 0.20799998307291806 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹保持张开状态向爪夹方向右前方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功张开", + "frame": 185, + "progress": 10, + "progress_explanation": "爪夹成功张开可进行移动抓取，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于电风扇左上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹保持张开状态向爪夹方向右前方移动至电风扇上方后下降", + "time": 6.180961038266709, + "annotations": { + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982578693_h4msfopjr", + "x": 0.47877774177381943, + "y": 0.0033147783760759785, + "width": 0.17099998956298892, + "height": 0.19733331727430686 + } + ] + }, + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982583486_zv8biqr9g", + "x": 0.6707777300550701, + "y": 0.5677592133374664, + "width": 0.26199998400879004, + "height": 0.3333333062065994 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "爪夹保持张开状态向爪夹方向右前方移动至电风扇上方后下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功向爪夹方向右方移动，成功接近了电风扇位置", + "frame": 207, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向右方移动接近了电风扇，但还未至可抓取电风扇的位置，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于电风扇左上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹保持张开状态向爪夹方向右前方移动至电风扇上方后下降", + "time": 6.889264201039473, + "annotations": { + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982588646_e51f1y5tn", + "x": 0.6587777307874919, + "y": 0.5744258794615984, + "width": 0.2789999829711924, + "height": 0.3359999726562522 + } + ] + }, + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982593038_qgaw8lfq6", + "x": 0.24277775617811542, + "y": 0.0021296181535141474, + "width": 0.39999997558593897, + "height": 0.23866664724392522 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动下降", + "correction_plan": "合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功下降至可抓取电风扇的位置", + "frame": 224, + "progress": 25, + "progress_explanation": "爪夹已移动至可抓取电风扇的位置，但还未进行抓取动作。因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于电风扇位置，电风扇尚未被抓取。\n为完成将电风扇放入黄黑色的盒子中的任务应当：合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动", + "time": 7.473927, + "annotations": { + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982598510_zsoeiyr05", + "x": 0.25277775556776394, + "y": 0.0009444375859018892, + "width": 0.38099997674560687, + "height": 0.3026666420355923 + } + ] + }, + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982612165_9cynqxkkl", + "x": 0.6727777299329999, + "y": 0.5784258791360776, + "width": 0.2669999837036142, + "height": 0.32799997330729375 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功合拢，电风扇成功被爪夹抓取", + "frame": 244, + "progress": 50, + "progress_explanation": "电风扇已被抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，电风扇尚未被移动。\n为完成将电风扇放入黄黑色的盒子中的任务应当：保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动", + "time": 8.116977, + "annotations": { + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982623005_af4hq0rza", + "x": 0.6567777309095623, + "y": 0.5797592123609039, + "width": 0.2519999846191415, + "height": 0.3133333078342035 + } + ] + }, + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982629590_bs4gfayiu", + "x": 0.25377775550672876, + "y": 0.0021296181535141474, + "width": 0.3899999761962905, + "height": 0.3079999749348979 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内", + "error_success_analysis": "爪夹成功抓取电风扇，电风扇成功被爪夹抬升至空中", + "frame": 281, + "progress": 65, + "progress_explanation": "电风扇已被爪夹抓取并抬升至空中，因此进度提升至65%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇", + "time": 9.378809, + "annotations": { + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982637893_g9yu0b4on", + "x": 0.25577775538465847, + "y": -0.0005370482961386478, + "width": 0.1909999883422858, + "height": 0.21866664887152923 + } + ] + }, + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982645941_0re39n0n3", + "x": 0.7187777271253828, + "y": 0.12627776071958327, + "width": 0.2779999830322276, + "height": 0.5279999570312535 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左方移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "爪夹成功抓取电风扇，电风扇成功向爪夹方向左前方黄黑色盒子靠近", + "frame": 288, + "progress": 68, + "progress_explanation": "电风扇已被爪夹抓取，爪夹向左前方黄黑色盒子略微移动靠近，因此进度提升至68%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇。\n为完成将电风扇放入黄黑色的盒子中的任务应当：保持爪夹合拢状态继续向爪夹方向左前方黄黑色盒子移动", + "time": 9.58507, + "annotations": { + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982653995_mt64w78gl", + "x": 0.684777729200578, + "y": -0.0003888956389245085, + "width": 0.3099999810791026, + "height": 0.3506666381293426 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向左方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "电风扇被爪夹抓取朝远离黄黑色盒子的错误方向移动", + "frame": 299, + "progress": -10, + "progress_explanation": "爪夹抓取电风扇远离了黄黑色盒子，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，电风扇位于黄色盒子上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：保持爪夹合拢状态抬升并向爪夹方向左方黄黑色盒子移动，移动至黄黑色盒子上方后下降\n", + "time": 9.973326, + "annotations": { + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982663441_tkkj7cnro", + "x": 0.3387777503187408, + "y": -0.0003888956389245085, + "width": 0.3059999813232433, + "height": 0.31066664138455063 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "电风扇尚未被爪夹移动至黄黑色盒子上方提前进行了错误的下降动作", + "frame": 320, + "progress": -20, + "progress_explanation": "爪夹尚未移动至黄黑色盒子位置提前下降，因此进度降低至-20%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，电风扇位于黄色盒子内部\n为完成将电风扇放入黄黑色的盒子中的任务应当：保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动", + "time": 10.679262931634147, + "annotations": { + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982670778_vzyo67vs5", + "x": 0.25477775544569364, + "y": 0.0009444375859018892, + "width": 0.38999997619629045, + "height": 0.2799999772135436 + } + ] + }, + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982677192_j9cmmv97t", + "x": 0.8327777201673754, + "y": 0.02361110240795065, + "width": 0.16299999005127006, + "height": 0.2959999759114603 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "保持爪夹张开状态下降，下降至电风扇位置合拢爪夹，抓取电风扇，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子移动，移动至黄黑色盒子上方后下降，下降至黄黑色盒子内部张开爪夹，使电风扇被放在黄黑色盒子内\n", + "error_success_analysis": "电风扇尚未被移动至黄黑色盒子内部，爪夹提前张开导致电风扇被放在错误的盒子里", + "frame": 352, + "progress": -30, + "progress_explanation": "爪夹张开电风扇被放在错误的盒子里，因此进度降低至-30%", + "state_description": "当前状态为爪夹张开，位于电风扇与黄色盒子上方。\n为完成将电风扇放入黄黑色的盒子中的任务应当：爪夹保持张开状态下降，下降至电风扇位置合拢爪夹，抓取电风扇", + "time": 11.743826915846716, + "annotations": { + "bbox_1768982353939": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982353939_1768982685565_clg194xn5", + "x": 0.7807777233412033, + "y": 0.1742777568133336, + "width": 0.18499998870849685, + "height": 0.1333333224826398 + } + ] + }, + "bbox_1768982355274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982355274_1768982692405_4f4t65r1j", + "x": 0.25677775532362335, + "y": 0.0062777704852074795, + "width": 0.3839999765625014, + "height": 0.274666644314238 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768982353939", + "name": "电风扇", + "color": "#4CAF50" + }, + { + "id": "bbox_1768982355274", + "name": "黄黑色的盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768982355942", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768982356338", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-163122-put-tripod-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-163122-put-tripod-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..7737af3d41d0292613ac31400c1546667f44ac2c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-163122-put-tripod-yellow and black-box-good/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,408 @@ +{ + "task_description": "将三脚架放入黄黑色的盒子中\n开始移动0%\n爪夹靠近三脚架25%\n爪夹抓取三脚架50%\n爪夹抓取三脚架移动至黄黑色盒子上方75%\n爪夹张开，三脚架落入黄黑色盒子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前方移动，移动至三脚架上方后调整爪夹角度使其向下，之后下降爪夹，下降至三脚架位置后合拢爪夹抓取三脚架，保持爪夹合拢状态抬升并向爪夹方向右方移动，移动至黄黑色盒子上方后张开爪夹，使三脚架落入黄黑色盒子中", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹向爪夹方向前方移动，移动至三脚架上方后调整爪夹角度使其向下，之后下降爪夹", + "time": 0.6008645329826098, + "annotations": { + "bbox_1768982728274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728274_1768982762793_7665v7d6f", + "x": 0.4837777414686436, + "y": 0.31975923351975644, + "width": 0.0759999953613284, + "height": 0.11199999088541741 + } + ] + }, + "bbox_1768982728481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728481_1768982766890_1zqvi2emx", + "x": 0.4427777439710849, + "y": 0.04909258887999765, + "width": 0.3549999783325209, + "height": 0.35333330457899537 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方略微抬升并向下方略微调整爪夹角度", + "correction_plan": "爪夹向爪夹方向前方移动，移动至三脚架上方后调整爪夹角度使其向下，之后下降爪夹，下降至三脚架位置后合拢爪夹抓取三脚架，保持爪夹合拢状态抬升并向爪夹方向右方移动，移动至黄黑色盒子上方后张开爪夹，使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功调整爪夹角度使其略微向下", + "frame": 26, + "progress": 5, + "progress_explanation": "爪夹略微调整角度尚未进行明显移动动作，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于三脚架后上方。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹向爪夹方向前方移动，移动至三脚架上方后调整爪夹角度使其向下，之后下降爪夹", + "time": 0.880746, + "annotations": { + "point_1768982729256": { + "type": "point", + "instances": [ + { + "id": "point_1768982729256_1768982804843_imirmjehq", + "x": 0.743777725599504, + "y": 0.01694443628381866 + } + ] + }, + "bbox_1768982728274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728274_1768982808803_0hv0u337c", + "x": 0.48477774140760854, + "y": 0.3089444125207998, + "width": 0.07099999566650413, + "height": 0.11999999023437577 + } + ] + }, + "bbox_1768982728481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728481_1768982812810_u9m0dn9f3", + "x": 0.44577774378797946, + "y": 0.05827776625343699, + "width": 0.3549999783325209, + "height": 0.33199997298177303 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动同时调整爪夹角度使其向下", + "correction_plan": "合拢爪夹抓取三脚架，保持爪夹合拢状态抬升并向爪夹方向右方移动，移动至黄黑色盒子上方后张开爪夹，使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功向爪夹方向前下方移动至可抓取三脚架的位置。\n", + "frame": 55, + "progress": 25, + "progress_explanation": "爪夹已移动靠近至三脚架位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于三脚架位置。\n为完成将三脚架放入黄黑色的盒子中的任务应当：合拢爪夹抓取三脚架，保持爪夹合拢状态抬升并向爪夹方向右方移动", + "time": 1.829616, + "annotations": { + "bbox_1768982728481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728481_1768982817950_tyst441js", + "x": 0.44377774391004976, + "y": 0.08494443074996495, + "width": 0.36099997796630995, + "height": 0.32133330718316183 + } + ] + }, + "point_1768982729256": { + "type": "point", + "instances": [ + { + "id": "point_1768982729256_1768982820214_vwqgbatrl", + "x": 0.4907777410413976, + "y": 0.4142777372820852 + } + ] + }, + "point_1768982729431": { + "type": "point", + "instances": [ + { + "id": "point_1768982729431_1768982822107_83ok66803", + "x": 0.5457777376844641, + "y": 0.36227774151385567 + } + ] + }, + "bbox_1768982728274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728274_1768982825701_ssm1v4fg6", + "x": 0.4887777411634679, + "y": 0.31294441219527896, + "width": 0.06499999603271504, + "height": 0.117333323784723 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右方移动，移动至黄黑色盒子上方后张开爪夹，使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功合拢，三脚架成功被爪夹抓取", + "frame": 68, + "progress": 50, + "progress_explanation": "三脚架已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧三脚架。\n为完成将三脚架放入黄黑色的盒子中的任务应当：保持爪夹合拢状态抬升并向爪夹方向右方移动，移动至黄黑色盒子上方后张开爪夹", + "time": 2.257824, + "annotations": { + "bbox_1768982728274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728274_1768982829177_bk906bcig", + "x": 0.4467777437269443, + "y": 0.31961107831941094, + "width": 0.09399999426269572, + "height": 0.1133333241102438 + } + ] + }, + "point_1768982729256": { + "type": "point", + "instances": [ + { + "id": "point_1768982729256_1768982831178_13lnemcu4", + "x": 0.5007777404310461, + "y": 0.4142777372820852 + } + ] + }, + "bbox_1768982728481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728481_1768982836466_62a9gkp52", + "x": 0.4557777431776279, + "y": 0.10094442944788172, + "width": 0.3519999785156263, + "height": 0.30666664171007146 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向右方移动，移动至黄黑色盒子上方后张开爪夹，使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功抓取三脚架，三脚架成功被爪夹抬升至空中", + "frame": 91, + "progress": 60, + "progress_explanation": "三脚架已被爪夹抓取并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧三脚架，三脚架已被抬升至空中。\n为完成将三脚架放入黄黑色的盒子中的任务应当：保持爪夹合拢状态向爪夹方向右方移动，移动至黄黑色盒子上方后张开爪夹", + "time": 3.021785, + "annotations": { + "bbox_1768982728481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728481_1768982841186_20f8l2b3o", + "x": 0.44377774391004976, + "y": 0.06761109882722179, + "width": 0.36199997790527466, + "height": 0.32533330685764106 + } + ] + }, + "bbox_1768982728274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728274_1768982844634_95x1q8sq", + "x": 0.5257777389051672, + "y": 0.01827776950864506, + "width": 0.08199999499511748, + "height": 0.1706666527777789 + } + ] + }, + "point_1768982729256": { + "type": "point", + "instances": [ + { + "id": "point_1768982729256_1768982846707_1chn4umfp", + "x": 0.5687777362806556, + "y": 0.13827775974302087 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "张开爪夹，使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功爪夹三脚架，三脚架成功被爪夹移动至黄黑色盒子上方", + "frame": 100, + "progress": 75, + "progress_explanation": "三脚架已被爪夹移动至黄黑色盒子上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧三脚架，三脚架已被移动至黄黑色盒子上方。\n为完成将三脚架放入黄黑色的盒子中的任务应当：张开爪夹，使三脚架落入黄黑色盒子中", + "time": 3.338075, + "annotations": { + "point_1768982729256": { + "type": "point", + "instances": [ + { + "id": "point_1768982729256_1768982850025_un98z498t", + "x": 0.6677777302381755, + "y": 0.055611099803784196 + } + ] + }, + "bbox_1768982728274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728274_1768982853171_gl2f2uw4n", + "x": 0.6557777309705974, + "y": -0.0003888956389245085, + "width": 0.031999998046875075, + "height": 0.04133332996961833 + } + ] + }, + "bbox_1768982728481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728481_1768982857374_rfaf8hrz9", + "x": 0.4367777443372958, + "y": 0.0529444333541314, + "width": 0.3709999773559584, + "height": 0.3466666384548634 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功下降，三脚架成功被移动至黄黑色盒子内", + "frame": 113, + "progress": 90, + "progress_explanation": "三脚架已被移动至黄黑色盒子内，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧三脚架，三脚架位于黄黑色盒子上方\n为完成将三脚架放入黄黑色的盒子中的任务应当：张开爪夹，使三脚架落入黄黑色盒子中", + "time": 3.756239592169403, + "annotations": { + "bbox_1768982728481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728481_1768982862062_m09gpfhon", + "x": 0.44377774391004976, + "y": 0.03961110110586742, + "width": 0.36199997790527466, + "height": 0.35466663780382185 + } + ] + }, + "bbox_1768982728274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728274_1768982865702_ri2qcemcx", + "x": 0.592777734815812, + "y": 0.13427776006854167, + "width": 0.06299999615478544, + "height": 0.11066665766059103 + } + ] + }, + "point_1768982729256": { + "type": "point", + "instances": [ + { + "id": "point_1768982729256_1768982867997_zwtlhajrc", + "x": 0.6247777328626871, + "y": 0.21161108710847273 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将三脚架放入黄黑色的盒子中的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，三脚架成功落入黄黑色盒子中", + "frame": 124, + "progress": 100, + "progress_explanation": "将三脚架放入黄黑色的盒子中的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于三脚架与黄黑色盒子上方。\n将三脚架放入黄黑色的盒子中的任务已完成", + "time": 4.131234, + "annotations": { + "point_1768982729256": { + "type": "point", + "instances": [ + { + "id": "point_1768982729256_1768982871018_4i20wkjct", + "x": 0.5887777350599526, + "y": 0.21294442033329913 + } + ] + }, + "point_1768982729431": { + "type": "point", + "instances": [ + { + "id": "point_1768982729431_1768982873345_1ij1vgfdn", + "x": 0.6667777302992107, + "y": 0.18894442228642397 + } + ] + }, + "bbox_1768982728274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728274_1768982876261_9y6zv7xqn", + "x": 0.5577777369520424, + "y": 0.19694442163538237, + "width": 0.022999998596191507, + "height": 0.03733333029513914 + } + ] + }, + "bbox_1768982728481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982728481_1768982880653_ev78qxr12", + "x": 0.4407777440931552, + "y": 0.04627776722999941, + "width": 0.36499997772216924, + "height": 0.3439999720052106 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768982728274", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1768982728481", + "name": "黄黑色的盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768982729256", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768982729431", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-171509-put-tripod-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-171509-put-tripod-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..49533305f6e3df25f39b3de2d2f6a4b8ebd5850c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-171509-put-tripod-yellow and black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,822 @@ +{ + "task_description": "将三脚架放入黄黑色的盒子中\n开始移动0%\n爪夹靠近三脚架25%\n爪夹抓取三脚架50%\n爪夹抓取三脚架移动至黄黑色盒子上方75%\n爪夹张开，三脚架落入黄黑色盒子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整爪夹方向使其爪夹口向下，之后向爪夹方向右前方三脚架方向移动，移动至三脚架上方后下降爪夹，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹调整爪夹方向使其爪夹口向下，之后向爪夹方向右前方三脚架方向移动", + "time": 0.61165, + "annotations": { + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769065911095_ay19dxh0c", + "x": 0.4447777438490146, + "y": 0.3030555376745168, + "width": 0.05899999639892606, + "height": 0.13866665538194536 + } + ] + }, + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769065917671_7ugvrvzxq", + "x": 0.48277774152967884, + "y": 0.5439444035689776, + "width": 0.44299997296142735, + "height": 0.39866663422309295 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769065921851_cf1e9xugl", + "x": 0.4407777440931552, + "y": 0.15312961730919458 + } + ] + }, + "point_1769065898314": { + "type": "point", + "instances": [ + { + "id": "point_1769065898314_1769065924101_zjo01g308", + "x": 0.5447777377454994, + "y": 0.14379628473540979 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动并向下略微调整爪夹口的方向", + "correction_plan": "保持爪夹张开状态向爪夹方向右下方三脚架方向移动，移动至三脚架上方后下降爪夹，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功调整爪夹口向下并略微向前移动", + "frame": 35, + "progress": 5, + "progress_explanation": "爪夹尚未大幅度接近三脚架，因此进度提升至5%", + "state_description": "当前状态为爪夹张开， 位于三脚架左上方。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹向爪夹方向右下方三脚架移动，移动至三脚架位置合拢爪夹", + "time": 1.162135, + "annotations": { + "point_1769065898314": { + "type": "point", + "instances": [ + { + "id": "point_1769065898314_1769065935055_60m5jl12m", + "x": 0.5627777366468666, + "y": 0.2592036837399346 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769065936828_07fz1riyk", + "x": 0.45277774336073345, + "y": 0.28320368178680977 + } + ] + }, + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769065940989_39ejuz040", + "x": 0.48277774152967884, + "y": 0.5538703264265685, + "width": 0.44599997277832204, + "height": 0.391999968098961 + } + ] + }, + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769065943989_9k1udju3j", + "x": 0.44377774391004976, + "y": 0.30453701338403216, + "width": 0.060999996276855664, + "height": 0.1426666550564245 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动，并调整其爪夹口使其向下", + "correction_plan": "爪夹向爪夹方向右方三脚架方向移动，移动至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功向爪夹方向前下方三脚架位置移动并调整爪夹口向下", + "frame": 70, + "progress": 15, + "progress_explanation": "爪夹靠近三脚架，但还未至可抓取三脚架的位置，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于三脚架左侧。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹向爪夹方向右方三脚架方向移动，移动至三脚架位置合拢爪夹抓取三脚架", + "time": 2.3176838465309477, + "annotations": { + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769065946991_jesxmvdc8", + "x": 0.448777743604874, + "y": 0.30572219395164435, + "width": 0.053999996704101785, + "height": 0.14399998828125096 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769065950038_bm7f0wgpo", + "x": 0.5167777394544836, + "y": 0.4692777429786993 + } + ] + }, + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769065954317_9n91pivay", + "x": 0.48277774152967884, + "y": 0.5599444022668945, + "width": 0.4549999722290055, + "height": 0.39599996777344004 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹，保持爪夹张开状态向爪夹方向右后方三脚架位置移动，移动至三脚架上方后下降爪夹，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹未移动至三脚架位置提前抓取，导致抓取错误物品", + "frame": 87, + "progress": -10, + "progress_explanation": "爪夹抓取了错误物品，因此进度降低至10%", + "state_description": "当前状态为爪夹合拢，抓取连接块，三脚架尚未被抓取\n为完成将三脚架放入黄黑色的盒子中的任务应当：张开爪夹，保持爪夹张开状态向爪夹方向右后方三脚架位置移动", + "time": 2.8978054595125835, + "annotations": { + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769065958131_hhjyx5qjs", + "x": 0.48477774140760854, + "y": 0.552388840544528, + "width": 0.44999997253418134, + "height": 0.4079999667968778 + } + ] + }, + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769065961612_fxztokk9e", + "x": 0.4427777439710849, + "y": 0.30587034660885853, + "width": 0.06099999627685575, + "height": 0.137333322157119 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769065963862_h056vp95q", + "x": 0.533777738416886, + "y": 0.4538703345645887 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "张开爪夹，向爪夹方向右后方三脚架位置移动，移动至三脚架上方后下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中\n", + "error_success_analysis": "爪夹抓取了错误的物品并未重新进行抓取而是抬升远离了三脚架，", + "frame": 112, + "progress": -20, + "progress_explanation": "爪夹抓取了错误物品并且抬升远离了三脚架，因此进度降低至20%", + "state_description": "当前状态为爪夹合拢，抓紧连接块，连接块已被抬升至空中。\n为完成将三脚架放入黄黑色的盒子中的任务应当：张开爪夹，向爪夹方向右后方三脚架位置移动，移动至三脚架上方后下降", + "time": 3.718832, + "annotations": { + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769065966759_6cf6x3ou3", + "x": 0.4837777414686436, + "y": 0.4097221854881034 + } + ] + }, + "point_1769065898314": { + "type": "point", + "instances": [ + { + "id": "point_1769065898314_1769065969040_92ql7wyh8", + "x": 0.5657777364637612, + "y": 0.3763888548674435 + } + ] + }, + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769065972843_jw7z3hso5", + "x": 0.4447777438490146, + "y": 0.33505552489782514, + "width": 0.043999997314453324, + "height": 0.11066665766059103 + } + ] + }, + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769065976369_z6rjpkhyp", + "x": 0.47977774171278426, + "y": 0.5563888402190071, + "width": 0.44399997290039234, + "height": 0.3999999674479194 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向右后方三脚架位置移动，移动至三脚架上方后下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功张开，错误物品成功被爪夹放下", + "frame": 138, + "progress": 5, + "progress_explanation": "爪夹张开放下错误物品，可重新进行抓取行为，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于三脚架左上方。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹向爪夹方向右后方三脚架位置移动，移动至三脚架上方后下降", + "time": 4.599608, + "annotations": { + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769065980873_wgnbk50tk", + "x": 0.48477774140760854, + "y": 0.5592036593258741, + "width": 0.43999997314453276, + "height": 0.3946666345486137 + } + ] + }, + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769065983887_2sr1a5w37", + "x": 0.4607777428724522, + "y": 0.35787034237708804, + "width": 0.04999999694824231, + "height": 0.0893333260633686 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769065985878_oz3iw26yi", + "x": 0.494777740797257, + "y": 0.4312036697425399 + } + ] + }, + "point_1769065898314": { + "type": "point", + "instances": [ + { + "id": "point_1769065898314_1769065987535_18pnovsbi", + "x": 0.6167777333509684, + "y": 0.39387033944740074 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降并调整爪夹口使其向下", + "correction_plan": "爪夹向爪夹放下右后方三脚架位置移动，移动至三脚架位置后合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功向爪夹方向下方移动下降，成功靠近了三脚架位置", + "frame": 181, + "progress": 10, + "progress_explanation": "爪夹下降靠近了三脚架，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于三脚架左前方。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹向爪夹放下右后方三脚架位置移动，移动至三脚架位置后合拢爪夹抓取三脚架", + "time": 6.043102, + "annotations": { + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769065991215_j7kgbnkge", + "x": 0.4867777412855382, + "y": 0.552388840544528 + } + ] + }, + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769065994803_wikyyd3jz", + "x": 0.4887777411634679, + "y": 0.5710555056920975, + "width": 0.43799997326660317, + "height": 0.37599996940104413 + } + ] + }, + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769065997548_f8qmplzxb", + "x": 0.4467777437269443, + "y": 0.31638885975025555, + "width": 0.05199999682617209, + "height": 0.09599999218750063 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "爪夹向爪夹方向后方移动，移动至三脚架位置后合拢爪夹，抓取三脚架之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功向爪夹方向右方移动靠近了三脚架位置", + "frame": 192, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向右方移动更加靠近三脚架，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于三脚架前方，三脚架尚未被抓取。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹向爪夹方向后方移动，移动至三脚架位置后合拢爪夹，抓取三脚架", + "time": 6.405012909971621, + "annotations": { + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769066005785_35bcrbwnm", + "x": 0.490625, + "y": 0.5695625, + "width": 0.44600000000000006, + "height": 0.39333333333333337 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769066008175_fv17pd7yo", + "x": 0.36062500000000003, + "y": 0.4642291666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后方移动并下降", + "correction_plan": "爪夹向爪夹方向左方移动，移动至三脚架位置后合拢爪夹，抓取三脚架之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功向爪夹方向右方移动靠近了三脚架位置", + "frame": 219, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向后方移动更加靠近三脚架，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，位于三脚架右方，三脚架尚未被抓取。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹向爪夹方向左方移动，移动至三脚架位置后合拢爪夹，抓取三脚架", + "time": 7.305177034999141, + "annotations": { + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769066014160_5lmqdqk7q", + "x": 0.390625, + "y": 0.42722916666666666 + } + ] + }, + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769066017925_v2hitzslo", + "x": 0.473625, + "y": 0.5472291666666667, + "width": 0.4620000000000001, + "height": 0.4026666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左方移动", + "correction_plan": "合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功向爪夹方向左方三脚架位置移动，成功靠近了三脚架", + "frame": 240, + "progress": 25, + "progress_explanation": "爪夹已完全靠近三脚架，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于三脚架位置，三脚架尚未被抓取。\n为完成将三脚架放入黄黑色的盒子中的任务应当：合拢爪夹抓取三脚架，保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动", + "time": 7.99086043814433, + "annotations": { + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769066021279_4ct66yxgr", + "x": 0.487625, + "y": 0.5605625, + "width": 0.43899999999999995, + "height": 0.39333333333333337 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769066023011_tqroscfmn", + "x": 0.436625, + "y": 0.42589583333333336 + } + ] + }, + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769066025900_icn2c7c1n", + "x": 0.491625, + "y": 0.3738958333333333, + "width": 0.025, + "height": 0.05599999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功向爪夹方向下方移动至了可抓取三脚架的位置", + "frame": 255, + "progress": 40, + "progress_explanation": "爪夹已完全靠近三脚架，但还未进行抓取动作，因此进度提升至40%", + "state_description": "当前状态为爪夹张开，位于可抓取三脚架的位置，三脚架尚未被抓取。\n为完成将三脚架放入黄黑色的盒子中的任务应当：合拢爪夹抓取三脚架，保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动", + "time": 8.489702, + "annotations": { + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769066029103_doks931i9", + "x": 0.477625, + "y": 0.3045625, + "width": 0.054000000000000006, + "height": 0.12666666666666668 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769066031163_v9nzgsbyf", + "x": 0.47862499999999997, + "y": 0.42589583333333336 + } + ] + }, + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769066035267_ae7bdjuz0", + "x": 0.47862499999999997, + "y": 0.5712291666666667, + "width": 0.453, + "height": 0.3866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中\n", + "error_success_analysis": "爪夹成功合拢，三脚架成功被爪夹抓取", + "frame": 272, + "progress": 50, + "progress_explanation": "三脚架已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧三脚架。\n为完成将三脚架放入黄黑色的盒子中的任务应当：保持爪夹合拢状态抬升并向爪夹方向左前方黄黑色盒子位置移动", + "time": 9.076886, + "annotations": { + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769066039663_1y80rmgqv", + "x": 0.48562500000000003, + "y": 0.5565625, + "width": 0.45599999999999996, + "height": 0.4106666666666667 + } + ] + }, + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769066042063_ycm0bste0", + "x": 0.510625, + "y": 0.32989583333333333, + "width": 0.041999999999999996, + "height": 0.09333333333333335 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769066044099_5dxd1jtyc", + "x": 0.517625, + "y": 0.39922916666666663 + } + ] + }, + "point_1769065898314": { + "type": "point", + "instances": [ + { + "id": "point_1769065898314_1769066046760_eywv36j8g", + "x": 0.542625, + "y": 0.3778958333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中\n", + "error_success_analysis": "爪夹成功抓取三脚架，三脚架成功被爪夹抬升并移动", + "frame": 306, + "progress": 60, + "progress_explanation": "三脚架已被爪夹抓取，并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧三脚架，三脚架已被抬升至空中\n为完成将三脚架放入黄黑色的盒子中的任务应当：保持爪夹合拢状态并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹", + "time": 10.190089, + "annotations": { + "point_1769065898314": { + "type": "point", + "instances": [ + { + "id": "point_1769065898314_1769066049596_ikvm9w30b", + "x": 0.571625, + "y": 0.4472291666666667 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769066051491_9y0x9nkik", + "x": 0.538625, + "y": 0.46456250000000004 + } + ] + }, + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769066054575_78hncryq1", + "x": 0.490625, + "y": 0.5765625, + "width": 0.44600000000000006, + "height": 0.37466666666666676 + } + ] + }, + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769066056975_7a6aa6gk2", + "x": 0.526625, + "y": 0.39389583333333333, + "width": 0.05899999999999998, + "height": 0.09733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "保持爪夹合拢状态下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中\n", + "error_success_analysis": "爪夹成功抓取三脚架，三脚架成功被爪夹移动至黄黑色盒子上方", + "frame": 321, + "progress": 75, + "progress_explanation": "三脚架已被爪夹移动至黄黑色盒子上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧三脚架，三脚架已被移动至黄黑色盒子上方\n为完成将三脚架放入黄黑色的盒子中的任务应当：保持爪夹合拢状态下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中\n", + "time": 10.716107, + "annotations": { + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769066060405_lndnk6ju4", + "x": 0.595625, + "y": 0.6205625, + "width": 0.05800000000000001, + "height": 0.11066666666666668 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769066062161_23i8wdhdc", + "x": 0.6016250000000001, + "y": 0.6858958333333334 + } + ] + }, + "point_1769065898314": { + "type": "point", + "instances": [ + { + "id": "point_1769065898314_1769066064031_l7nn9dae6", + "x": 0.638625, + "y": 0.6672291666666667 + } + ] + }, + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769066067426_ifc8ueccl", + "x": 0.48362499999999997, + "y": 0.5698958333333334, + "width": 0.45899999999999996, + "height": 0.384 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹使三脚架落入黄黑色盒子中\n", + "error_success_analysis": "爪夹成功抓取三脚架，三脚架成功被爪夹移动至黄黑色盒子内", + "frame": 336, + "progress": 90, + "progress_explanation": "三脚架已被爪夹移动至黄黑色盒子内，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧三脚架，三脚架已被移动至黄黑色盒子内部。\n为完成将三脚架放入黄黑色的盒子中的任务应当：张开爪夹使三脚架落入黄黑色盒子中\n", + "time": 11.205428, + "annotations": { + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769066071140_wd0v50kel", + "x": 0.487625, + "y": 0.5658958333333334, + "width": 0.44400000000000006, + "height": 0.388 + } + ] + }, + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769066074067_mael3eu11", + "x": 0.598625, + "y": 0.6605624999999999, + "width": 0.05499999999999998, + "height": 0.11600000000000002 + } + ] + }, + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769066075799_j63fip7pf", + "x": 0.602625, + "y": 0.7245625 + } + ] + }, + "point_1769065898314": { + "type": "point", + "instances": [ + { + "id": "point_1769065898314_1769066077404_vrbd0dqcd", + "x": 0.637625, + "y": 0.7125625000000001 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将三脚架放入黄黑色的盒子中的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，三脚架成功落入黄黑色盒子中", + "frame": 357, + "progress": 100, + "progress_explanation": "将三脚架放入黄黑色的盒子中的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于三脚架与黄黑色盒子上方。\n将三脚架放入黄黑色的盒子中的任务已完成", + "time": 11.902709, + "annotations": { + "point_1769065898197": { + "type": "point", + "instances": [ + { + "id": "point_1769065898197_1769066081544_3yn573g15", + "x": 0.563625, + "y": 0.7338958333333333 + } + ] + }, + "bbox_1769065889599": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889599_1769066084072_twt4mumfm", + "x": 0.6016250000000001, + "y": 0.6912291666666667, + "width": 0.05699999999999994, + "height": 0.2013333333333333 + } + ] + }, + "bbox_1769065889775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769065889775_1769066087317_my5xpntmm", + "x": 0.480625, + "y": 0.5592291666666667, + "width": 0.457, + "height": 0.4013333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769065889599", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1769065889775", + "name": "黄黑色的盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769065898197", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769065898314", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-173222-put-tripod-yellow and black-box-bad1/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-173222-put-tripod-yellow and black-box-bad1/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e61545095aa3f6281a99fb4642b7c0bd57805e1b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260108-guoyijia/20260108-173222-put-tripod-yellow and black-box-bad1/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,582 @@ +{ + "task_description": "将三脚架放入黄黑色的盒子中\n开始移动0%\n爪夹靠近三脚架25%\n爪夹抓取三脚架50%\n爪夹抓取三脚架移动至黄黑色盒子上方75%\n爪夹张开，三脚架落入黄黑色盒子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整爪夹方向使其爪夹口向下，之后向爪夹方向下方三脚架方向移动下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹调整爪夹角度使其向下，之后爪夹向爪夹方向下方三脚架位置移动下降", + "time": 0.12782468783325515, + "annotations": { + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066120971_cpj0f1ahj", + "x": 0.643625, + "y": 0.34456250000000005, + "width": 0.06699999999999999, + "height": 0.11866666666666663 + } + ] + }, + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066125086_wf3heiqzj", + "x": 0.343625, + "y": 0.009895833333333333, + "width": 0.333, + "height": 0.29600000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "爪夹调整爪夹方向使其爪夹口向下，之后向爪夹方向下方三脚架方向移动下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功向爪夹方向前方靠近了三脚架", + "frame": 24, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向前方移动，略微靠近了三脚架，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于三脚架上方。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹调整爪夹方向使其爪夹口向下，之后向爪夹方向下方三脚架方向移动下降", + "time": 0.792517121526837, + "annotations": { + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066130807_6rj4vxody", + "x": 0.356625, + "y": 0.017895833333333333, + "width": 0.325, + "height": 0.292 + } + ] + }, + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066133667_2cgy87wib", + "x": 0.648625, + "y": 0.34456250000000005, + "width": 0.06500000000000003, + "height": 0.1293333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动并调整爪夹口使其向下", + "correction_plan": "爪夹向爪夹方向右方三脚架位置移动，移动至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功向爪夹方向下方三脚架位置靠近", + "frame": 50, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向前方下降更加靠近三脚架，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于三脚架左方。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹向爪夹方向右方移动，移动至三脚架位置合拢爪夹", + "time": 1.662071, + "annotations": { + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066137467_gaxy7sgis", + "x": 0.642625, + "y": 0.34456250000000005, + "width": 0.071, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066140513_h4bcb0unx", + "x": 0.336625, + "y": 0.02322916666666667, + "width": 0.292, + "height": 0.2733333333333333 + } + ] + }, + "point_1769066105849": { + "type": "point", + "instances": [ + { + "id": "point_1769066105849_1769066142603_w19pjs6hn", + "x": 0.513625, + "y": 0.42722916666666666 + } + ] + }, + "point_1769066105984": { + "type": "point", + "instances": [ + { + "id": "point_1769066105984_1769066144323_ngv50djao", + "x": 0.5666249999999999, + "y": 0.35122916666666665 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹抬升并向爪夹方向右方三脚架位置移动，移动至三脚架上方后下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹尚未移动至目标物位置提前进行抓取，导致抓取了错误的目标物", + "frame": 67, + "progress": -10, + "progress_explanation": "爪夹合拢抓取了错误目标物，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，抓取胶带，三脚架尚未被抓取。\n为完成将三脚架放入黄黑色的盒子中的任务应当：张开爪夹抬升并向爪夹方向右方三脚架位置移动，", + "time": 2.2407893041237115, + "annotations": { + "point_1769066105849": { + "type": "point", + "instances": [ + { + "id": "point_1769066105849_1769066149200_v1qvk8jgl", + "x": 0.536625, + "y": 0.3965625 + } + ] + }, + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066152367_17bql9990", + "x": 0.647625, + "y": 0.3565625, + "width": 0.06399999999999997, + "height": 0.11333333333333334 + } + ] + }, + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066155572_h11eu9g88", + "x": 0.346625, + "y": 0.0125625, + "width": 0.29, + "height": 0.2906666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "张开爪夹并向爪夹方向后方三脚架位置移动，移动至三脚架上方后下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹尚未抓取三脚架，提前远离了三脚架位置", + "frame": 111, + "progress": -20, + "progress_explanation": "爪夹抓取了错误物品并且远离了目标物，因此进度降低至-20%", + "state_description": "当前状态为爪夹合拢，抓紧胶带，远离三脚架。\n为完成将三脚架放入黄黑色的盒子中的任务应当：张开爪夹，保持爪夹张开状态向爪夹方向后方三脚架位置移动", + "time": 3.6935192010309277, + "annotations": { + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066161252_hvvbz3pbo", + "x": 0.341625, + "y": 0.0165625, + "width": 0.334, + "height": 0.30133333333333334 + } + ] + }, + "point_1769066105849": { + "type": "point", + "instances": [ + { + "id": "point_1769066105849_1769066164299_ulit3nda2", + "x": 0.491625, + "y": 0.040562499999999994 + } + ] + }, + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066167933_9sm9eqzz7", + "x": 0.643625, + "y": 0.34322916666666664, + "width": 0.06399999999999997, + "height": 0.13066666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向后方三脚架方向移动，移动至三脚架上方后下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功张开，错误物品成功被放下", + "frame": 127, + "progress": 5, + "progress_explanation": "爪夹已张开，位置相较于初始位置较为靠近三脚架， 因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于三脚架前上方。\n为完成将三脚架放入黄黑色的盒子中的任务应当：保持爪夹张开状态向爪夹方向后方三脚架位置移动，移动至三脚架上方后下降", + "time": 4.236477, + "annotations": { + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066171060_conx9vg64", + "x": 0.672625, + "y": 0.36322916666666666, + "width": 0.05800000000000001, + "height": 0.10400000000000004 + } + ] + }, + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066174659_3hhjmtx67", + "x": 0.343625, + "y": 0.017895833333333333, + "width": 0.32999999999999996, + "height": 0.2853333333333333 + } + ] + }, + "point_1769066105849": { + "type": "point", + "instances": [ + { + "id": "point_1769066105849_1769066176656_f7rdba1t4", + "x": 0.48562500000000003, + "y": 0.08056250000000001 + } + ] + }, + "point_1769066105984": { + "type": "point", + "instances": [ + { + "id": "point_1769066105984_1769066179255_84irui2gj", + "x": 0.538625, + "y": 0.01922916666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左下方移动", + "correction_plan": "爪夹向爪夹方向右方三脚架位置移动，移动至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹向爪夹方向左下方移动远离了三脚架", + "frame": 160, + "progress": -5, + "progress_explanation": "爪夹未向三脚架位置移动而是远离了三脚架，因此进度降低至-5%", + "state_description": "当前状态为爪夹张开，位于三脚架左方。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹向爪夹方向右方移动，移动至三脚架位置合拢爪夹", + "time": 5.32947, + "annotations": { + "point_1769066105984": { + "type": "point", + "instances": [ + { + "id": "point_1769066105984_1769066182320_w099mobxy", + "x": 0.48262499999999997, + "y": 0.37122916666666667 + } + ] + }, + "point_1769066105849": { + "type": "point", + "instances": [ + { + "id": "point_1769066105849_1769066183950_h9vpcgglr", + "x": 0.43062500000000004, + "y": 0.4445625 + } + ] + }, + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066187303_7849csgxg", + "x": 0.338625, + "y": 0.007229166666666667, + "width": 0.338, + "height": 0.2773333333333333 + } + ] + }, + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066191531_gcofqj3v5", + "x": 0.673625, + "y": 0.3645625, + "width": 0.05999999999999996, + "height": 0.10266666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹抬升并向爪夹方向右方三脚架位置移动，移动至三脚架上方后下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹尚未移动至目标物位置提前进行抓取，导致抓取了错误的目标物", + "frame": 178, + "progress": -10, + "progress_explanation": "爪夹合拢抓取了错误目标物，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，抓取电风扇，三脚架尚未被抓取。\n为完成将三脚架放入黄黑色的盒子中的任务应当：张开爪夹抬升并向爪夹方向右方三脚架位置移动，", + "time": 5.943713, + "annotations": { + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066194725_e81dor3vx", + "x": 0.671625, + "y": 0.36989583333333337, + "width": 0.06099999999999994, + "height": 0.10266666666666667 + } + ] + }, + "point_1769066105849": { + "type": "point", + "instances": [ + { + "id": "point_1769066105849_1769066197147_61jmmzmy0", + "x": 0.45562500000000006, + "y": 0.42322916666666666 + } + ] + }, + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066201700_pl0ua4scu", + "x": 0.337625, + "y": 0.011229166666666667, + "width": 0.34099999999999997, + "height": 0.2813333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "张开爪夹并向爪夹方向右方三脚架位置移动，移动至三脚架上方后下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹尚未抓取三脚架，提前远离了三脚架位置", + "frame": 219, + "progress": -20, + "progress_explanation": "爪夹抓取了错误物品并且远离了目标物，因此进度降低至-20%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇，远离三脚架。\n为完成将三脚架放入黄黑色的盒子中的任务应当：张开爪夹，保持爪夹张开状态向爪夹方向右方三脚架位置移动", + "time": 7.289631, + "annotations": { + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066206841_8n9sq0152", + "x": 0.346625, + "y": 0.011229166666666667, + "width": 0.33, + "height": 0.30133333333333334 + } + ] + }, + "point_1769066105849": { + "type": "point", + "instances": [ + { + "id": "point_1769066105849_1769066208955_lpuhv2ape", + "x": 0.46662499999999996, + "y": 0.11389583333333334 + } + ] + }, + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066215000_sn0qr9438", + "x": 0.675625, + "y": 0.3725625, + "width": 0.05799999999999992, + "height": 0.092 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "张开爪夹并向爪夹方向后方三脚架位置移动，移动至三脚架上方后下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功向爪夹方向右方的三脚架靠近", + "frame": 236, + "progress": 5, + "progress_explanation": "爪夹虽未张开，但却向三脚架靠近了一些，因此进度提升至5%", + "state_description": "当前状态为爪夹合拢，位于黄黑色盒子上方，抓紧电风扇。\n为完成将三脚架放入黄黑色的盒子中的任务应当：张开爪夹向爪夹方向后方移动，移动至三脚架上方后下降", + "time": 7.874048049723843, + "annotations": { + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066218129_o67gsvvoq", + "x": 0.665625, + "y": 0.3658958333333333, + "width": 0.07199999999999998, + "height": 0.10800000000000001 + } + ] + }, + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066221615_tm52cit2r", + "x": 0.333625, + "y": 0.01922916666666667, + "width": 0.35, + "height": 0.30400000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹并向爪夹方向后方三脚架位置移动，移动至三脚架上方后下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "爪夹成功向爪夹方向后下方的三脚架位置移动接近", + "frame": 257, + "progress": 10, + "progress_explanation": "爪夹向下方移动下降更加接近三脚架，因此进度提升至10%", + "state_description": "当前状态为爪夹合拢，抓紧电风扇。\n为完成将三脚架放入黄黑色的盒子中的任务应当：张开爪夹并向爪夹方向后方三脚架位置移动，移动至三脚架上方后下降", + "time": 8.581349, + "annotations": { + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066226479_5v1cxy6ea", + "x": 0.342625, + "y": 0.0165625, + "width": 0.335, + "height": 0.29600000000000004 + } + ] + }, + "point_1769066105849": { + "type": "point", + "instances": [ + { + "id": "point_1769066105849_1769066229584_ts027gpdi", + "x": 0.572625, + "y": 0.12989583333333335 + } + ] + }, + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066232855_8iff2j5lz", + "x": 0.667625, + "y": 0.36722916666666666, + "width": 0.06799999999999998, + "height": 0.09599999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向后方三脚架位置移动，移动至三脚架上方后下降，下降至三脚架位置合拢爪夹抓取三脚架，之后保持爪夹合拢状态抬升并向爪夹方向前方黄黑色盒子位置移动，移动至黄黑色盒子上方后下降爪夹，下降至黄黑色盒子内部张开爪夹使三脚架落入黄黑色盒子中", + "error_success_analysis": "错误物品成功被爪夹放下", + "frame": 268, + "progress": 15, + "progress_explanation": "错误物品已被放下，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于三脚架前上方。\n为完成将三脚架放入黄黑色的盒子中的任务应当：爪夹向爪夹方向后方三脚架位置移动，移动至三脚架上方后下降\n", + "time": 8.94267, + "annotations": { + "bbox_1769066096828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096828_1769066235786_22rzvpks2", + "x": 0.668625, + "y": 0.37122916666666667, + "width": 0.06899999999999995, + "height": 0.09466666666666666 + } + ] + }, + "bbox_1769066096987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066096987_1769066238731_fu8crykiy", + "x": 0.345625, + "y": 0.0245625, + "width": 0.335, + "height": 0.28400000000000003 + } + ] + }, + "point_1769066105849": { + "type": "point", + "instances": [ + { + "id": "point_1769066105849_1769066241263_bq3vublnw", + "x": 0.516625, + "y": 0.13789583333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769066096828", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1769066096987", + "name": "黄黑色的盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769066105849", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769066105984", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260108-181228-put-buckwheat buns-bread rack-good1/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260108-181228-put-buckwheat buns-bread rack-good1/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..57877e34d2121b14e36130fa3c32d9e26caca539 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260108-181228-put-buckwheat buns-bread rack-good1/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,414 @@ +{ + "task_description": "将荞麦馒头放在面包架上\n开始移动0%\n爪夹靠近荞麦馒头25%\n爪夹抓取荞麦馒头50%\n爪夹抓取荞麦馒头移动至面包架上方75%\n爪夹张开，荞麦馒头被放置在面包架上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面，移动至荞麦馒头上方后下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左后方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离荞麦馒头，未开始移动。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹向爪夹方向右前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面", + "time": 0.6423130154639176, + "annotations": { + "bbox_1769066254275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254275_1769066287023_ut3vt4bat", + "x": 0.8286250000000001, + "y": 0.3832291666666666, + "width": 0.1629999999999999, + "height": 0.25333333333333335 + } + ] + }, + "bbox_1769066254918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254918_1769066295704_v6xzpffvw", + "x": 0.461625, + "y": 0.40722916666666664, + "width": 0.21900000000000003, + "height": 0.27066666666666667 + } + ] + }, + "point_1769066255655": { + "type": "point", + "instances": [ + { + "id": "point_1769066255655_1769066303503_wq2nt69r9", + "x": 0.22762500000000002, + "y": -0.0007708333333333333 + } + ] + }, + "point_1769066269464": { + "type": "point", + "instances": [ + { + "id": "point_1769066269464_1769066305502_ssg5egg33", + "x": 0.417625, + "y": 0.005895833333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "爪夹继续向爪夹方向右前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面，移动至荞麦馒头上方后下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左后方面包架位置移动，移动至面包架上方后下降爪夹，直至面包落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功向爪夹方向右前方荞麦馒位置移动接近", + "frame": 34, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向前方移动靠近了荞麦馒头，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于面包架上方，荞麦馒头尚未被抓取。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹继续向爪夹方向右前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面", + "time": 1.122051, + "annotations": { + "bbox_1769066254275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254275_1769066313468_sxdt7amm6", + "x": 0.8306250000000001, + "y": 0.3645625, + "width": 0.16699999999999998, + "height": 0.2813333333333334 + } + ] + }, + "bbox_1769066254918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254918_1769066318258_h5i446w2v", + "x": 0.47162500000000007, + "y": 0.40056250000000004, + "width": 0.209, + "height": 0.2733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右下方移动，同时调整爪夹角度使其向下", + "correction_plan": "合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左后方面包架位置移动，移动至面包架上方后下降爪夹，直至面包落入面包架内部后张开爪夹。\n", + "error_success_analysis": "爪夹成功向爪夹方向右下方移动至了可抓取荞麦馒头的位置", + "frame": 65, + "progress": 25, + "progress_explanation": "爪夹已移动至荞麦馒头位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头位置。\n为完成将荞麦馒头放在面包架上的任务应当：合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升\n", + "time": 2.1689130154639176, + "annotations": { + "bbox_1769066254918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254918_1769066327259_sxwbv7hmw", + "x": 0.48262499999999997, + "y": 0.4325625, + "width": 0.188, + "height": 0.24400000000000002 + } + ] + }, + "bbox_1769066254275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254275_1769066332554_nxv71dl9t", + "x": 0.850625, + "y": 0.39922916666666663, + "width": 0.142, + "height": 0.25333333333333335 + } + ] + }, + "point_1769066255655": { + "type": "point", + "instances": [ + { + "id": "point_1769066255655_1769066335227_4i2kylj9w", + "x": 0.8386250000000001, + "y": 0.40989583333333335 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向左后方面包架位置移动，移动至面包架上方后下降爪夹，直至面包落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功合拢荞麦馒头成功被爪夹抓取", + "frame": 91, + "progress": 50, + "progress_explanation": "荞麦馒头已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态抬升并向爪夹方向左后方面包架位置移动", + "time": 3.022668, + "annotations": { + "point_1769066255655": { + "type": "point", + "instances": [ + { + "id": "point_1769066255655_1769066338934_8qa84zqdw", + "x": 0.8626250000000001, + "y": 0.40989583333333335 + } + ] + }, + "bbox_1769066254275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254275_1769066345471_9440vu7q5", + "x": 0.890625, + "y": 0.39922916666666663, + "width": 0.10299999999999994, + "height": 0.228 + } + ] + }, + "bbox_1769066254918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254918_1769066350071_n8ljg8naz", + "x": 0.48362499999999997, + "y": 0.4432291666666667, + "width": 0.19300000000000006, + "height": 0.24800000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态并向爪夹方向左后方面包架位置移动，移动至面包架上方后下降爪夹，直至面包落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功抓取荞麦馒头，荞麦馒头成功被爪夹抬升至空中", + "frame": 133, + "progress": 60, + "progress_explanation": "荞麦馒头已被爪夹抓取并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头已被抬升至空中。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态向爪夹方向左后方面包架位置移动", + "time": 4.434773, + "annotations": { + "bbox_1769066254918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254918_1769066355055_hv8o5wqjw", + "x": 0.46662499999999996, + "y": 0.40589583333333334, + "width": 0.21900000000000003, + "height": 0.268 + } + ] + }, + "bbox_1769066254275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254275_1769066360494_t0x80busn", + "x": 0.796625, + "y": 0.040562499999999994, + "width": 0.18499999999999997, + "height": 0.30533333333333335 + } + ] + }, + "point_1769066269464": { + "type": "point", + "instances": [ + { + "id": "point_1769066269464_1769066363071_fgx81lpak", + "x": 0.8626250000000001, + "y": 0.10722916666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后方移动", + "correction_plan": "保持爪夹合拢状态并向爪夹方向左后方面包架位置移动，移动至面包架上方后下降爪夹，直至面包落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功抓取荞麦馒头，荞麦馒头成功被爪夹移动接近面包架", + "frame": 147, + "progress": 65, + "progress_explanation": "荞麦馒头已被爪夹抓取并抬升至空中，并且更加靠近面包架，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头已被抬升至空中。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态向爪夹方向左后方面包架位置移动", + "time": 4.892752, + "annotations": { + "bbox_1769066254918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254918_1769066371319_w4zt9kr50", + "x": 0.468625, + "y": 0.40989583333333335, + "width": 0.20999999999999996, + "height": 0.276 + } + ] + }, + "bbox_1769066254275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254275_1769066377016_n7bl918gy", + "x": 0.583625, + "y": 0.10989583333333333, + "width": 0.14000000000000004, + "height": 0.268 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左后方移动", + "correction_plan": "保持爪夹合拢状态下降爪夹，直至面包落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功抓取荞麦馒头，荞麦馒头成功被爪夹移动至面包架上方", + "frame": 158, + "progress": 75, + "progress_explanation": "荞麦馒头已被移动至面包架上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头已被移动至面包架上方。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态下降，直至面包落入面包架内部后张开爪夹", + "time": 5.277196520618556, + "annotations": { + "bbox_1769066254275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254275_1769066382579_6rps4vs9u", + "x": 0.49262500000000004, + "y": 0.18589583333333334, + "width": 0.12699999999999995, + "height": 0.23866666666666664 + } + ] + }, + "bbox_1769066254918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254918_1769066394196_rn8t8ouck", + "x": 0.47162500000000007, + "y": 0.40989583333333335, + "width": 0.20699999999999993, + "height": 0.2746666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，放下荞麦馒头", + "error_success_analysis": "爪夹成功保持合拢状态下降，荞麦馒头成功被爪夹下降至面包架内", + "frame": 183, + "progress": 90, + "progress_explanation": "荞麦馒头已被下降至面包架内，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头落入面包架中，\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹，放下荞麦馒头", + "time": 6.083501, + "annotations": { + "bbox_1769066254918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254918_1769066401688_u6bsjj559", + "x": 0.47162500000000007, + "y": 0.4112291666666667, + "width": 0.217, + "height": 0.2653333333333333 + } + ] + }, + "bbox_1769066254275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254275_1769066406619_3xdf98g38", + "x": 0.506625, + "y": 0.35122916666666665, + "width": 0.14699999999999996, + "height": 0.22 + } + ] + }, + "point_1769066269464": { + "type": "point", + "instances": [ + { + "id": "point_1769066269464_1769066409028_8p9goyel8", + "x": 0.587625, + "y": 0.3792291666666667 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将荞麦馒头放在面包架上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，荞麦馒头成功被放置在面包架上", + "frame": 215, + "progress": 100, + "progress_explanation": "将荞麦馒头放在面包架上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头与面包架的上方。\n将荞麦馒头放在面包架上的任务已完成", + "time": 7.150035695876289, + "annotations": { + "bbox_1769066254918": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254918_1769066416720_xhw5n7pjr", + "x": 0.468625, + "y": 0.40989583333333335, + "width": 0.20999999999999996, + "height": 0.26666666666666666 + } + ] + }, + "bbox_1769066254275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066254275_1769066422671_keipiqiaj", + "x": 0.511625, + "y": 0.3245625, + "width": 0.146, + "height": 0.24533333333333338 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769066254275", + "name": "荞麦馒头", + "color": "#4CAF50" + }, + { + "id": "bbox_1769066254918", + "name": "面包架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769066255655", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769066269464", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260108-181806-put-buckwheat buns-bread rack-good2/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260108-181806-put-buckwheat buns-bread rack-good2/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f34842646f9753f5cac7b518225cc00ee7f6ff28 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260108-181806-put-buckwheat buns-bread rack-good2/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,388 @@ +{ + "task_description": "将荞麦馒头放在面包架上\n开始移动0%\n爪夹靠近荞麦馒头25%\n爪夹抓取荞麦馒头50%\n爪夹抓取荞麦馒头移动至面包架上方75%\n爪夹张开，荞麦馒头被放置在面包架上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面，移动至荞麦馒头上方后下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向前方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离荞麦馒头，未开始移动。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹向爪夹方向前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面", + "time": 0.492942, + "annotations": { + "bbox_1769066432775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432775_1769066454299_kqwd5cd62", + "x": 0.396625, + "y": 0.20589583333333333, + "width": 0.09700000000000002, + "height": 0.20400000000000001 + } + ] + }, + "bbox_1769066432940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432940_1769066459400_1s2q2lqsq", + "x": 0.293625, + "y": 0.17689583333333334, + "width": 0.15899999999999997, + "height": 0.11600000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "爪夹向爪夹方向前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面，移动至荞麦馒头上方后下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向前方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功向爪夹方向前方荞麦馒位置移动接近", + "frame": 24, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向前方移动靠近了荞麦馒头，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头后上方，荞麦馒头尚未被抓取。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹继续向爪夹方向前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面", + "time": 0.7857560917762586, + "annotations": { + "bbox_1769066432940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432940_1769066468295_19nzo39ni", + "x": 0.29862500000000003, + "y": 0.17789583333333334, + "width": 0.15200000000000005, + "height": 0.12666666666666665 + } + ] + }, + "bbox_1769066432775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432775_1769066478265_ub6hdfidb", + "x": 0.391625, + "y": 0.20589583333333333, + "width": 0.09999999999999995, + "height": 0.20666666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动，同时调整爪夹角度使其向下", + "correction_plan": "合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向前方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹", + "error_success_analysis": "爪夹成功向爪夹方向前下方移动至了可抓取荞麦馒头的位置", + "frame": 40, + "progress": 25, + "progress_explanation": "爪夹已移动至荞麦馒头位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头位置。\n为完成将荞麦馒头放在面包架上的任务应当：合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升", + "time": 1.320178, + "annotations": { + "point_1769066433711": { + "type": "point", + "instances": [ + { + "id": "point_1769066433711_1769066482658_01qj42jo9", + "x": 0.43162500000000004, + "y": 0.27789583333333334 + } + ] + }, + "point_1769066433851": { + "type": "point", + "instances": [ + { + "id": "point_1769066433851_1769066484443_lfv9bnzbp", + "x": 0.487625, + "y": 0.20989583333333334 + } + ] + }, + "bbox_1769066432775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432775_1769066490959_7p6ghwwrm", + "x": 0.398625, + "y": 0.21122916666666666, + "width": 0.09299999999999997, + "height": 0.196 + } + ] + }, + "bbox_1769066432940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432940_1769066495103_z7mq75v7w", + "x": 0.30162500000000003, + "y": 0.19789583333333335, + "width": 0.137, + "height": 0.1013333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向前方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。\n", + "error_success_analysis": "爪夹成功合拢荞麦馒头成功被爪夹抓取", + "frame": 72, + "progress": 50, + "progress_explanation": "荞麦馒头已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态抬升并向爪夹方向前方面包架位置移动", + "time": 2.391052, + "annotations": { + "bbox_1769066432940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432940_1769066503360_gyh5ahkfs", + "x": 0.297625, + "y": 0.17389583333333333, + "width": 0.15100000000000002, + "height": 0.12400000000000003 + } + ] + }, + "bbox_1769066432775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432775_1769066507323_eee44kl65", + "x": 0.397625, + "y": 0.20989583333333334, + "width": 0.1, + "height": 0.20400000000000004 + } + ] + }, + "point_1769066433711": { + "type": "point", + "instances": [ + { + "id": "point_1769066433711_1769066509514_vibroddky", + "x": 0.44762500000000005, + "y": 0.26989583333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向前方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功抓取荞麦馒头，荞麦馒头成功被爪夹抬升至空中", + "frame": 85, + "progress": 60, + "progress_explanation": "荞麦馒头已被爪夹抓取并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头已被抬升至空中。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态向爪夹方向前方面包架位置移动", + "time": 2.844332, + "annotations": { + "bbox_1769066432940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432940_1769066522977_0pr5y5q53", + "x": 0.29862500000000003, + "y": 0.18056250000000001, + "width": 0.158, + "height": 0.15066666666666667 + } + ] + }, + "bbox_1769066432775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432775_1769066526470_awyqxufxz", + "x": 0.337625, + "y": 0.0005625000000000001, + "width": 0.12499999999999996, + "height": 0.10666666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动下降", + "correction_plan": "保持爪夹合拢状态下降爪夹，直至面包落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功抓取荞麦馒头，荞麦馒头成功被爪夹移动至面包架上方", + "frame": 106, + "progress": 75, + "progress_explanation": "荞麦馒头已被移动至面包架上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头已被移动至面包架上方。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态下降，直至面包落入面包架内部后张开爪夹", + "time": 3.518586, + "annotations": { + "bbox_1769066432775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432775_1769066531111_jbng7ckcv", + "x": 0.327625, + "y": 0.03789583333333334, + "width": 0.11500000000000003, + "height": 0.21733333333333335 + } + ] + }, + "point_1769066433711": { + "type": "point", + "instances": [ + { + "id": "point_1769066433711_1769066536216_a7e7h2ghg", + "x": 0.391625, + "y": 0.10456249999999999 + } + ] + }, + "bbox_1769066432940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432940_1769066540945_15lys3e3x", + "x": 0.301625, + "y": 0.18589583333333334, + "width": 0.15400000000000005, + "height": 0.1413333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，放下荞麦馒头", + "error_success_analysis": "爪夹成功保持合拢状态下降，荞麦馒头成功被爪夹下降至面包架内", + "frame": 133, + "progress": 90, + "progress_explanation": "荞麦馒头已被下降至面包架内，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头落入面包架中，\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹，放下荞麦馒头", + "time": 4.436478, + "annotations": { + "bbox_1769066432940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432940_1769066545519_hcgcfg0tm", + "x": 0.303625, + "y": 0.19789583333333333, + "width": 0.15499999999999997, + "height": 0.12933333333333333 + } + ] + }, + "bbox_1769066432775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432775_1769066549316_ydl6x9ke2", + "x": 0.338625, + "y": 0.09122916666666667, + "width": 0.094, + "height": 0.20800000000000002 + } + ] + }, + "point_1769066433711": { + "type": "point", + "instances": [ + { + "id": "point_1769066433711_1769066551350_yedd9bwwa", + "x": 0.380625, + "y": 0.15656250000000002 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将荞麦馒头放在面包架上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，荞麦馒头成功被放置在面包架上", + "frame": 166, + "progress": 100, + "progress_explanation": "将荞麦馒头放在面包架上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头与面包架的上方。\n将荞麦馒头放在面包架上的任务已完成", + "time": 5.5323672758752425, + "annotations": { + "point_1769066433711": { + "type": "point", + "instances": [ + { + "id": "point_1769066433711_1769066555591_78xdg07gn", + "x": 0.365625, + "y": 0.18589583333333334 + } + ] + }, + "point_1769066433851": { + "type": "point", + "instances": [ + { + "id": "point_1769066433851_1769066557607_wqiu49a7i", + "x": 0.436625, + "y": 0.14722916666666666 + } + ] + }, + "bbox_1769066432775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432775_1769066561931_299fxx57e", + "x": 0.338625, + "y": 0.1165625, + "width": 0.07900000000000004, + "height": 0.18666666666666668 + } + ] + }, + "bbox_1769066432940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066432940_1769066566083_emn7xauxd", + "x": 0.31262500000000004, + "y": 0.18722916666666667, + "width": 0.14999999999999997, + "height": 0.13999999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769066432775", + "name": "荞麦馒头", + "color": "#4CAF50" + }, + { + "id": "bbox_1769066432940", + "name": "面包架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769066433711", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769066433851", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260108-181806-put-buckwheat buns-bread rack-good2/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260108-181806-put-buckwheat buns-bread rack-good2/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..4232259dded4a189f5ce128e5eca21fdb830a658 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260108-181806-put-buckwheat buns-bread rack-good2/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,404 @@ +{ + "task_description": "将荞麦馒头放在面包架上\n开始移动0%\n爪夹靠近荞麦馒头25%\n爪夹抓取荞麦馒头50%\n爪夹抓取荞麦馒头移动至面包架上方75%\n爪夹张开，荞麦馒头被放置在面包架上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面，移动至荞麦馒头上方后下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离荞麦馒头，未开始移动。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹向爪夹方向前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面", + "time": 0.4047, + "annotations": { + "bbox_1769066573323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573323_1769066593472_4vs4td3d9", + "x": 0.614625, + "y": 0.13789583333333333, + "width": 0.09099999999999993, + "height": 0.2626666666666667 + } + ] + }, + "point_1769066580086": { + "type": "point", + "instances": [ + { + "id": "point_1769066580086_1769066602823_h0kqgkbd7", + "x": 0.266625, + "y": 0.06989583333333332 + } + ] + }, + "point_1769066580232": { + "type": "point", + "instances": [ + { + "id": "point_1769066580232_1769066604407_e2qz6gtq4", + "x": 0.433625, + "y": 0.1165625 + } + ] + }, + "bbox_1769066573487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573487_1769066608162_03aon4d0u", + "x": 0.535625, + "y": 0.6245625000000001, + "width": 0.238, + "height": 0.3133333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动同时向爪夹放下下方略微调整爪夹口的方向", + "correction_plan": "爪夹向爪夹方向前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面，移动至荞麦馒头上方后下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功向爪夹方向下方略微调整爪夹口的方向", + "frame": 18, + "progress": 5, + "progress_explanation": "爪夹略微调整爪夹角度使其向下，尚未进行长距离移动，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头后上方。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹继续向爪夹方向前方荞麦馒头移动，同时调整爪夹角度使其垂直于桌面", + "time": 0.6099, + "annotations": { + "bbox_1769066573487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573487_1769066616936_lhpe57070", + "x": 0.538625, + "y": 0.6365625, + "width": 0.242, + "height": 0.3026666666666666 + } + ] + }, + "point_1769066580232": { + "type": "point", + "instances": [ + { + "id": "point_1769066580232_1769066619282_7gtm2x3xb", + "x": 0.526625, + "y": 0.043229166666666666 + } + ] + }, + "bbox_1769066573323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573323_1769066624882_pios3beux", + "x": 0.611625, + "y": 0.12322916666666667, + "width": 0.10099999999999998, + "height": 0.26799999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "调整爪夹角度使其垂直于桌面，同时下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功向爪夹方向前方荞麦馒头位置移动靠近", + "frame": 29, + "progress": 15, + "progress_explanation": "爪夹已移动至荞麦馒头上方，但还未至可抓取荞麦馒头的位置，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头上方，荞麦馒头尚未被抓取。\n为完成将荞麦馒头放在面包架上的任务应当：调整爪夹角度使其垂直于桌面，同时下降爪夹", + "time": 0.9747, + "annotations": { + "bbox_1769066573323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573323_1769066629778_r7z2phb2t", + "x": 0.610625, + "y": 0.14722916666666666, + "width": 0.10300000000000002, + "height": 0.2586666666666667 + } + ] + }, + "bbox_1769066573487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573487_1769066633968_t2azk57c6", + "x": 0.535625, + "y": 0.6325625, + "width": 0.22999999999999998, + "height": 0.3106666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功向爪夹方向下方移动下降至了可抓取荞麦馒头的位置", + "frame": 43, + "progress": 25, + "progress_explanation": "爪夹已移动至荞麦馒头位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头位置。\n为完成将荞麦馒头放在面包架上的任务应当：合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升", + "time": 1.4257345360824742, + "annotations": { + "bbox_1769066573487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573487_1769066642078_71aop5wlf", + "x": 0.531625, + "y": 0.6365625, + "width": 0.242, + "height": 0.3026666666666666 + } + ] + }, + "bbox_1769066573323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573323_1769066647520_l1zj94cg8", + "x": 0.6216250000000001, + "y": 0.1445625, + "width": 0.1, + "height": 0.26 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功合拢荞麦馒头成功被爪夹抓取", + "frame": 66, + "progress": 50, + "progress_explanation": "荞麦馒头已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动", + "time": 2.18965206185567, + "annotations": { + "bbox_1769066573323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573323_1769066652738_ead3eto84", + "x": 0.628625, + "y": 0.12989583333333335, + "width": 0.07400000000000002, + "height": 0.268 + } + ] + }, + "bbox_1769066573487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573487_1769066659329_kglol72gc", + "x": 0.528625, + "y": 0.6272291666666666, + "width": 0.238, + "height": 0.3133333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向右后方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功抓取荞麦馒头，荞麦馒头成功被爪夹抬升至空中", + "frame": 90, + "progress": 60, + "progress_explanation": "荞麦馒头已被爪夹抓取并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头已被抬升至空中。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态向爪夹方向右后方面包架位置移动", + "time": 2.9982, + "annotations": { + "bbox_1769066573487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573487_1769066663767_ret7oyjgf", + "x": 0.538625, + "y": 0.6205625, + "width": 0.23700000000000002, + "height": 0.32533333333333336 + } + ] + }, + "bbox_1769066573323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573323_1769066669274_9zogyx67j", + "x": 0.5886250000000001, + "y": 0.0045625, + "width": 0.10999999999999996, + "height": 0.26133333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右后方移动", + "correction_plan": "保持爪夹合拢状态下降爪夹，直至面包落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功抓取荞麦馒头，荞麦馒头成功被爪夹移动至面包架上方", + "frame": 113, + "progress": 75, + "progress_explanation": "荞麦馒头已被移动至面包架上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头已被移动至面包架上方。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态下降，直至面包落入面包架内部后张开爪夹", + "time": 3.762, + "annotations": { + "bbox_1769066573323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573323_1769066674615_9xniqt0sf", + "x": 0.512625, + "y": 0.4112291666666667, + "width": 0.13600000000000004, + "height": 0.3453333333333334 + } + ] + }, + "point_1769066580232": { + "type": "point", + "instances": [ + { + "id": "point_1769066580232_1769066677071_q1k4sudn7", + "x": 0.555625, + "y": 0.6205625 + } + ] + }, + "bbox_1769066573487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573487_1769066682333_v9n97qt5a", + "x": 0.551625, + "y": 0.6632291666666668, + "width": 0.22699999999999995, + "height": 0.26799999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，放下荞麦馒头", + "error_success_analysis": "爪夹成功保持合拢状态下降，荞麦馒头成功被爪夹下降至面包架内", + "frame": 141, + "progress": 90, + "progress_explanation": "荞麦馒头已被下降至面包架内，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头落入面包架中，\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹，放下荞麦馒头", + "time": 4.7139, + "annotations": { + "bbox_1769066573487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573487_1769066688998_e780o6dae", + "x": 0.5666249999999999, + "y": 0.6605624999999999, + "width": 0.20200000000000004, + "height": 0.272 + } + ] + }, + "point_1769066580232": { + "type": "point", + "instances": [ + { + "id": "point_1769066580232_1769066691468_7jwsddgn2", + "x": 0.573625, + "y": 0.7098958333333333 + } + ] + }, + "bbox_1769066573323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573323_1769066696882_xdm86o38y", + "x": 0.525625, + "y": 0.5058958333333333, + "width": 0.121, + "height": 0.324 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将荞麦馒头放在面包架上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，荞麦馒头成功被放置在面包架上", + "frame": 159, + "progress": 100, + "progress_explanation": "将荞麦馒头放在面包架上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头与面包架的上方。\n将荞麦馒头放在面包架上的任务已完成", + "time": 5.301, + "annotations": { + "bbox_1769066573323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573323_1769066703144_ox3g6yban", + "x": 0.536625, + "y": 0.5378958333333334, + "width": 0.12199999999999997, + "height": 0.32000000000000006 + } + ] + }, + "bbox_1769066573487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066573487_1769066708005_lif9cmuor", + "x": 0.535625, + "y": 0.6312291666666667, + "width": 0.23600000000000004, + "height": 0.29333333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769066573323", + "name": "荞麦馒头", + "color": "#4CAF50" + }, + { + "id": "bbox_1769066573487", + "name": "面包架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769066580086", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769066580232", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-093401-put-buckwheat buns-bread rack-mix/annotations/chunk-000/observation.images.right/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-093401-put-buckwheat buns-bread rack-mix/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..99b9156552433ee95263f1025c23818146523d2c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-093401-put-buckwheat buns-bread rack-mix/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,724 @@ +{ + "task_description": "将荞麦馒头放在面包架上\n开始移动0%\n爪夹靠近荞麦馒头25%\n爪夹抓取荞麦馒头50%\n爪夹抓取荞麦馒头移动至面包架上方75%\n爪夹张开，荞麦馒头被放置在面包架上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.21599999999999994, + "id": "bbox_1769066714476_1769066732167_0bwn8l7o9", + "width": 0.17200000000000007, + "x": 0.46662499999999996, + "y": 0.5232291666666666 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.24933333333333335, + "id": "bbox_1769066714647_1769066739274_h74k65an6", + "width": 0.22600000000000006, + "x": 0.702625, + "y": 0.34622916666666664 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向前方荞麦馒头位置移动同时调整爪夹角度使其垂直于桌面，移动至荞麦馒头位置下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹。使荞麦馒头放置在面包架上", + "error_success_analysis": "", + "frame": 5, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离荞麦馒头，未开始移动。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹向爪夹方向前方移动同时调整爪夹角度使其垂直于桌面，", + "time": 0.155861 + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.21066666666666667, + "id": "bbox_1769066714476_1769066764607_5uvb38nzz", + "width": 0.16399999999999998, + "x": 0.468625, + "y": 0.5272291666666666 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.24266666666666664, + "id": "bbox_1769066714647_1769066759839_2w7j0d7t9", + "width": 0.2179999999999999, + "x": 0.700625, + "y": 0.3578958333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度使其垂直于桌面，下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹。使荞麦馒头放置在面包架上。", + "error_success_analysis": "爪夹成功向爪夹方向前方荞麦馒头上方位置靠近", + "frame": 16, + "progress": 10, + "progress_explanation": "爪夹已移动至荞麦馒头上方，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头上方。\n为完成将荞麦馒头放在面包架上的任务应当：调整爪夹角度使其垂直于桌面，下降爪夹", + "time": 0.5356433626385566 + }, + { + "action_description": "爪夹向爪夹方向前下方移动下降", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.2133333333333333, + "id": "bbox_1769066714476_1769066767887_vdawple49", + "width": 0.15099999999999997, + "x": 0.4756250000000001, + "y": 0.5258958333333333 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.26999999999999996, + "id": "bbox_1769066714647_1769066772263_cpq5t23lu", + "width": 0.23100000000000015, + "x": 0.701625, + "y": 0.3365625 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向后方移动，移动至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹，使荞麦馒头放置在面包架上。", + "error_success_analysis": "爪夹向爪夹方向前方移动远离了荞麦馒头，移动方向有误", + "frame": 34, + "progress": -10, + "progress_explanation": "爪夹远离了荞麦馒头，因此进度降低至-10%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头前方。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹向爪夹方向后方移动，移动至荞麦馒头位置合拢爪夹抓取荞麦馒头", + "time": 1.135565 + }, + { + "action_description": "爪夹由张开变为合拢", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.21866666666666662, + "id": "bbox_1769066714476_1769066796054_mqu1gtj7g", + "width": 0.17, + "x": 0.47062499999999996, + "y": 0.5192291666666667 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.24799999999999986, + "id": "bbox_1769066714647_1769066788051_8xewkcnpk", + "width": 0.23899999999999996, + "x": 0.703625, + "y": 0.34989583333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开爪夹并向爪夹方向后方移动，移动至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹，使荞麦馒头放置在面包架上。\n", + "error_success_analysis": "爪夹尚未移动至荞麦馒头位置，提前进行了合拢动作", + "frame": 58, + "progress": -20, + "progress_explanation": "爪夹尚未移动至荞麦馒头位置提前合拢爪夹，因此进度再次降低至-20%", + "state_description": "当前状态为爪夹合拢，未夹取物品。\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹并向爪夹方向后方移动，移动至荞麦馒头位置合拢爪夹抓取荞麦馒头", + "time": 1.937141 + }, + { + "action_description": "爪夹向爪夹方向后上方抬升移动", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.212, + "id": "bbox_1769066714476_1769066799507_7ti40hbvw", + "width": 0.15700000000000003, + "x": 0.47062499999999996, + "y": 0.5258958333333333 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.26533333333333337, + "id": "bbox_1769066714647_1769066804375_d63bybs80", + "width": 0.22799999999999992, + "x": 0.707625, + "y": 0.3472291666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开爪夹并向爪夹方向下方移动下降，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹，使荞麦馒头放置在面包架上。\n", + "error_success_analysis": "爪夹成功向爪夹方向后上方移动接近了荞麦馒头", + "frame": 77, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向后上方移动，移动至了荞麦馒头上方，接近了荞麦馒头，因此进度提升至5%", + "state_description": "当前状态为爪夹合拢，位于荞麦馒头上方。\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹并向爪夹方向下方移动下降，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头", + "time": 2.5521867008083494 + }, + { + "action_description": "爪夹由合拢变为张开", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.20933333333333332, + "id": "bbox_1769066714476_1769066820387_rwoneh9cg", + "width": 0.162, + "x": 0.47062499999999996, + "y": 0.5298958333333333 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.24933333333333335, + "id": "bbox_1769066714647_1769066811353_q8pkvfplb", + "width": 0.23399999999999999, + "x": 0.698625, + "y": 0.34322916666666664 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度使其垂直于桌面，下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹。使荞麦馒头放置在面包架上。", + "error_success_analysis": "爪夹成功于荞麦馒头上方张开爪夹", + "frame": 97, + "progress": 10, + "progress_explanation": "爪夹已张开并且位于荞麦馒头上方，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头上方。\n为完成将荞麦馒头放在面包架上的任务应当：调整爪夹角度使其垂直于桌面，下降爪夹", + "time": 3.243777448453608 + }, + { + "action_description": "爪夹向爪夹方向右后方移动", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.22799999999999992, + "id": "bbox_1769066714476_1769066824735_h50mwzec8", + "width": 0.16099999999999995, + "x": 0.47162500000000007, + "y": 0.5165625 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.2426666666666667, + "id": "bbox_1769066714647_1769066827838_elsxy98m1", + "width": 0.2400000000000002, + "x": 0.697625, + "y": 0.35122916666666676 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度使其垂直于桌面，下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹。使荞麦馒头放置在面包架上。", + "error_success_analysis": "爪夹成功向爪夹方向右后方移动荞麦馒头正上方位置", + "frame": 110, + "progress": 15, + "progress_explanation": "爪夹已移动至荞麦馒头正上方，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头正上方。\n为完成将荞麦馒头放在面包架上的任务应当：调整爪夹角度使其垂直于桌面，下降爪夹", + "time": 3.662756 + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.212, + "id": "bbox_1769066714476_1769066864689_43hpb6vyf", + "width": 0.14300000000000007, + "x": 0.47062499999999996, + "y": 0.5312291666666666 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.252, + "id": "bbox_1769066714647_1769066848567_xgq7z51xq", + "width": 0.23200000000000004, + "x": 0.7066250000000001, + "y": 0.35122916666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向下方下降，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动，移动至面包架上方后下降爪夹，直至荞麦馒头落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功向爪夹方向下方移动下降接近了荞麦馒头", + "frame": 138, + "progress": 25, + "progress_explanation": "爪夹已移动至较为接近荞麦馒头的位置，但还未完全移动至荞麦馒头的位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头上方。接近荞麦馒头。\n为完成将荞麦馒头放在面包架上的任务应当：继续向爪夹方向下方移动下降，下降至可抓取荞麦馒头的位置合拢爪夹抓取荞麦馒头", + "time": 4.600238528637046 + }, + { + "action_description": "爪夹由张开变为合拢", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.20266666666666672, + "id": "bbox_1769066714476_1769066881817_rluiz604d", + "width": 0.15099999999999997, + "x": 0.472625, + "y": 0.5432291666666667 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.23999999999999996, + "id": "bbox_1769066714647_1769066884939_hb8tcaqau", + "width": 0.23200000000000012, + "x": 0.703625, + "y": 0.36222916666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开爪夹并向爪夹方向下方移动下降，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹，使荞麦馒头放置在面包架上。", + "error_success_analysis": "爪夹尚未移动至可抓取荞麦馒头的位置提前进行抓取动作导致抓取失败", + "frame": 151, + "progress": 20, + "progress_explanation": "爪夹尚未移动至可抓取荞麦馒头的位置提前进行抓取动作，因此进度降低至20%", + "state_description": "当前状态为爪夹合拢，位于荞麦馒头上方，荞麦馒头尚未被抓取。\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹并向爪夹方向下方移动下降", + "time": 5.020982 + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.21466666666666664, + "id": "bbox_1769066714476_1769066903089_lx9ps653j", + "width": 0.166, + "x": 0.472625, + "y": 0.5232291666666666 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.24933333333333335, + "id": "bbox_1769066714647_1769066896050_jk8tgelp0", + "width": 0.23999999999999994, + "x": 0.702625, + "y": 0.35522916666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开爪夹并向爪夹方向下方移动下降，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹，使荞麦馒头放置在面包架上。", + "error_success_analysis": "爪夹尚未成功抓取荞麦馒头，提前远离了荞麦馒头", + "frame": 168, + "progress": -10, + "progress_explanation": "爪夹尚未抓取荞麦馒头并且远离了荞麦馒头，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，位于荞麦馒头上方。\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹并向爪夹方向下方移动下降", + "time": 5.599899 + }, + { + "action_description": "爪夹由合拢变为张开", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.21333333333333335, + "id": "bbox_1769066714476_1769066907523_yqrrgvrqn", + "width": 0.166, + "x": 0.47062499999999996, + "y": 0.5232291666666666 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.2533333333333333, + "id": "bbox_1769066714647_1769066910407_j8y32tec4", + "width": 0.23000000000000015, + "x": 0.702625, + "y": 0.3565625 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度使其垂直于桌面，下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹。使荞麦馒头放置在面包架上。", + "error_success_analysis": "爪夹成功于荞麦馒头上方张开爪夹", + "frame": 184, + "progress": 10, + "progress_explanation": "爪夹已张开并且位于荞麦馒头上方，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头上方。\n为完成将荞麦馒头放在面包架上的任务应当：调整爪夹角度使其垂直于桌面，下降爪夹", + "time": 6.144154521923294 + }, + { + "action_description": "爪夹向爪夹方向右后方移动", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.20400000000000004, + "id": "bbox_1769066714476_1769066931418_p963dgtpt", + "width": 0.15799999999999992, + "x": 0.4756250000000001, + "y": 0.5325624999999999 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.24533333333333332, + "id": "bbox_1769066714647_1769066922303_5pn79j22o", + "width": 0.23200000000000012, + "x": 0.701625, + "y": 0.35522916666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度使其垂直于桌面，下降爪夹，下降至荞麦馒头位置合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹。使荞麦馒头放置在面包架上。", + "error_success_analysis": "爪夹成功向爪夹方向右后方移动荞麦馒头正上方位置", + "frame": 197, + "progress": 15, + "progress_explanation": "爪夹已移动至荞麦馒头正上方，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头正上方。\n为完成将荞麦馒头放在面包架上的任务应当：调整爪夹角度使其垂直于桌面，下降爪夹", + "time": 6.579602 + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.21733333333333332, + "id": "bbox_1769066714476_1769066936051_onqhgwajw", + "width": 0.16299999999999998, + "x": 0.46762500000000007, + "y": 0.5258958333333333 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.23733333333333337, + "id": "bbox_1769066714647_1769066939246_p87fvzuaa", + "width": 0.2379999999999999, + "x": 0.697625, + "y": 0.35656249999999995 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹，使荞麦馒头放置在面包架上。\n", + "error_success_analysis": "爪夹成功向爪夹方向下方移动下降至了可抓取荞麦馒头的位置", + "frame": 214, + "progress": 25, + "progress_explanation": "爪夹已移动至荞麦馒头位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头位置\n为完成将荞麦馒头放在面包架上的任务应当：合拢爪夹抓取荞麦馒头，之后保持爪夹合拢状态抬升", + "time": 7.12512 + }, + { + "action_description": "爪夹由张开变为合拢", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.24800000000000005, + "id": "bbox_1769066714476_1769066958883_mx6038p4p", + "width": 0.13200000000000003, + "x": 0.465625, + "y": 0.4925625 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.24800000000000005, + "id": "bbox_1769066714647_1769066952311_jmagq1wty", + "width": 0.23500000000000004, + "x": 0.700625, + "y": 0.3485625 + } + ], + "type": "bbox" + } + }, + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹，使荞麦馒头放置在面包架上。", + "error_success_analysis": "爪夹成功合拢荞麦馒头成功被爪夹抓取", + "frame": 236, + "progress": 50, + "progress_explanation": "荞麦馒头已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动", + "time": 7.882163 + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.34, + "id": "bbox_1769066714476_1769066964866_esf0hz7dx", + "width": 0.075, + "x": 0.582625, + "y": 0.031229166666666672 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.24400000000000013, + "id": "bbox_1769066714647_1769066972930_jugcld0e4", + "width": 0.238, + "x": 0.694625, + "y": 0.3472291666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "保持爪夹合拢状态抬向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至荞麦馒头进入面包架的位置时张开爪夹，使荞麦馒头放置在面包架上。\n", + "error_success_analysis": "爪夹成功抓取荞麦馒头，荞麦馒头成功被爪夹抬升至空中", + "frame": 253, + "progress": 60, + "progress_explanation": "荞麦馒头已被爪夹抓取并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头已被抬升至空中。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态向爪夹方向右前方面包架位置移动", + "time": 8.438813 + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.3133333333333333, + "id": "bbox_1769066714476_1769066995184_rbj0rsha9", + "width": 0.09299999999999997, + "x": 0.758625, + "y": 0.15256250000000002 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.256, + "id": "bbox_1769066714647_1769066986144_scpunc3si", + "width": 0.23099999999999996, + "x": 0.703625, + "y": 0.35389583333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "保持爪夹合拢状态下降爪夹，直至面包落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功抓取荞麦馒头，荞麦馒头成功被爪夹移动至面包架上方", + "frame": 265, + "progress": 75, + "progress_explanation": "荞麦馒头已被移动至面包架上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头已被移动至面包架上方。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态下降，直至面包落入面包架内部后张开爪夹", + "time": 8.82237614293005 + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.3133333333333333, + "id": "bbox_1769066714476_1769067002923_pselahoxl", + "width": 0.10299999999999994, + "x": 0.7386250000000001, + "y": 0.16322916666666668 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.25199999999999995, + "id": "bbox_1769066714647_1769067006314_g1233t3g4", + "width": 0.22799999999999992, + "x": 0.7056250000000001, + "y": 0.35389583333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "保持爪夹合拢状态下降爪夹，直至面包落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功抓取荞麦馒头，荞麦馒头成功被爪夹向爪夹方向右方移动至面包架缝隙处", + "frame": 285, + "progress": 80, + "progress_explanation": "荞麦馒头已被移动至面包架缝隙处，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头已被移动至面包架缝隙。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹合拢状态下降，直至面包落入面包架内部后张开爪夹", + "time": 9.510393943298968 + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.12533333333333332, + "id": "bbox_1769066714476_1769067026002_nd1f2m8k7", + "width": 0.04700000000000006, + "x": 0.720625, + "y": 0.39789583333333334 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.24266666666666664, + "id": "bbox_1769066714647_1769067013539_c46aa5abj", + "width": 0.22300000000000003, + "x": 0.7006249999999999, + "y": 0.3498958333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开爪夹，放下荞麦馒头", + "error_success_analysis": "爪夹成功保持合拢状态下降，荞麦馒头成功被爪夹下降至面包架内", + "frame": 306, + "progress": 90, + "progress_explanation": "荞麦馒头已被下降至面包架内，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦馒头，荞麦馒头落入面包架中，\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹，放下荞麦馒头", + "time": 10.208961 + }, + { + "action_description": "爪夹由合拢变为张开", + "annotations": { + "bbox_1769066714476": { + "instances": [ + { + "height": 0.2693333333333333, + "id": "bbox_1769066714476_1769067030775_cpxhwiitg", + "width": 0.08000000000000007, + "x": 0.731625, + "y": 0.2538958333333333 + } + ], + "type": "bbox" + }, + "bbox_1769066714647": { + "instances": [ + { + "height": 0.22400000000000003, + "id": "bbox_1769066714647_1769067038063_q38qlabaq", + "width": 0.22799999999999992, + "x": 0.7056250000000001, + "y": 0.3738958333333333 + } + ], + "type": "bbox" + }, + "point_1769066721254": { + "instances": [ + { + "id": "point_1769066721254_1769067032648_qpbt92iks", + "x": 0.672625, + "y": 0.4205625 + } + ], + "type": "point" + } + }, + "correction_plan": "将荞麦馒头放在面包架上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，荞麦馒头成功被放置在面包架上", + "frame": 323, + "progress": 100, + "progress_explanation": "将荞麦馒头放在面包架上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头与面包架的上方。\n将荞麦馒头放在面包架上的任务已完成", + "time": 10.761421778350515 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769066714476", + "name": "荞麦馒头" + }, + { + "color": "#FF9800", + "id": "bbox_1769066714647", + "name": "面包架" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769066721254", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769066721419", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-095351-put-buckwheat buns-bread rack-bad/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-095351-put-buckwheat buns-bread rack-bad/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..5071d59de76767f7772a380547d5d5802ef6b438 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-095351-put-buckwheat buns-bread rack-bad/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,694 @@ +{ + "task_description": "将荞麦馒头放在面包架上\n开始移动0%\n爪夹靠近荞麦馒头25%\n爪夹抓取荞麦馒头50%\n爪夹抓取荞麦馒头移动至面包架上方75%\n爪夹张开，荞麦馒头被放置在面包架上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右前方移动，移动至荞麦馒头上方后下降，下降至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离荞麦馒头，未开始移动。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹向爪夹方向右前方荞麦馒头移动，移动至荞麦馒头上方后下降", + "time": 0.200833, + "annotations": { + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154377347_tzjbczh09", + "x": 0.6136250000000001, + "y": 0.16286458333333334, + "width": 0.12399999999999993, + "height": 0.10133333333333333 + } + ] + }, + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154379862_9lvk9oxd9", + "x": 0.7266250000000001, + "y": 0.11219791666666667 + } + ] + }, + "point_1769154342994": { + "type": "point", + "instances": [ + { + "id": "point_1769154342994_1769154382282_2lgyxk5k7", + "x": 0.791625, + "y": 0.05886458333333333 + } + ] + }, + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154388482_gl6zypdd6", + "x": 0.178625, + "y": 0.22153125, + "width": 0.13499999999999998, + "height": 0.21333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹略微向爪夹方向下方调整爪夹角度", + "correction_plan": "爪夹向爪夹方向右前方移动，移动至荞麦馒头上方后下降，下降至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹成功向爪夹方向下方调整爪夹角度", + "frame": 19, + "progress": 5, + "progress_explanation": "爪夹略微向爪夹方向下方调整爪夹角度，尚未进行长距离移动，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头左后方。\n为完成将荞麦馒头放在面包架上的任务应当：\n爪夹向爪夹方向右前方移动，移动至荞麦馒头上方后下降", + "time": 0.6365766463491578, + "annotations": { + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154401814_gbgs4q27u", + "x": 0.171625, + "y": 0.2201979166666667, + "width": 0.14500000000000002, + "height": 0.21333333333333332 + } + ] + }, + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154406887_u0x7dpoe8", + "x": 0.618625, + "y": 0.16953125, + "width": 0.11499999999999995, + "height": 0.08800000000000002 + } + ] + }, + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154413043_jbl8zuv4v", + "x": 0.6956249999999999, + "y": 0.19886458333333332 + } + ] + }, + "point_1769154342994": { + "type": "point", + "instances": [ + { + "id": "point_1769154342994_1769154414766_31r1herog", + "x": 0.757625, + "y": 0.12686458333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动", + "correction_plan": "爪夹向爪夹方向右方移动，至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹成功向爪夹方向右下方荞麦馒头靠近", + "frame": 33, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向前下方移动，更加接近荞麦馒头。\n因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头左方。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹保持张开状态向爪夹方向右方荞麦馒头位置移动，移动至荞麦馒头位置后合拢爪夹\n", + "time": 1.084499, + "annotations": { + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154419383_lh5ixzb68", + "x": 0.572625, + "y": 0.3641979166666667 + } + ] + }, + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154422679_iisyp5d3p", + "x": 0.6136250000000001, + "y": 0.16286458333333334, + "width": 0.039999999999999945, + "height": 0.04400000000000001 + } + ] + }, + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154427258_a6z5vvo8z", + "x": 0.168625, + "y": 0.21886458333333333, + "width": 0.143, + "height": 0.20800000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹并向爪夹方向右方移动，至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹尚未移动至荞麦馒头的位置提前合拢 ，导致抓取失败", + "frame": 50, + "progress": -10, + "progress_explanation": "爪夹尚未移动至荞麦馒头位置提前合拢爪夹，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，未抓取物品。\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹，向爪夹方向右方荞麦馒头位置移动，移动至荞麦馒头位置后合拢爪夹\n", + "time": 1.6596473716117606, + "annotations": { + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154432111_kxrwadyzr", + "x": 0.173625, + "y": 0.21886458333333333, + "width": 0.139, + "height": 0.20533333333333334 + } + ] + }, + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154434979_pehe7gvmm", + "x": 0.6176250000000001, + "y": 0.16686458333333334, + "width": 0.039999999999999945, + "height": 0.045333333333333344 + } + ] + }, + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154437311_b4xrckk7h", + "x": 0.602625, + "y": 0.35219791666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "爪夹张开并向爪夹方向右前方移动，移动至荞麦馒头上方后下降，下降至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹尚未抓取荞麦馒头提前远离了荞麦馒头的位置", + "frame": 77, + "progress": -20, + "progress_explanation": "爪夹尚未抓取荞麦馒头且远离了荞麦馒头，因此进度降低至-20%", + "state_description": "当前状态为爪夹合拢，未抓取物品。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹张开并向爪夹方向右前方移动，移动至荞麦馒头上方后下降", + "time": 2.5690435718451856, + "annotations": { + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154440946_vixdrz5zq", + "x": 0.681625, + "y": 0.13219791666666666 + } + ] + }, + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154446295_3zczp0dw9", + "x": 0.170625, + "y": 0.21753125, + "width": 0.143, + "height": 0.21333333333333332 + } + ] + }, + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154450437_tr7nnqn2b", + "x": 0.615625, + "y": 0.16419791666666667, + "width": 0.125, + "height": 0.10266666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向右前方移动，移动至荞麦馒头上方后下降，下降至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中\n", + "error_success_analysis": "爪夹成功由合拢变为张开", + "frame": 99, + "progress": 5, + "progress_explanation": "爪夹成功张开，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头左后方。\n为完成将荞麦馒头放在面包架上的任务应当：\n爪夹向爪夹方向右前方移动，移动至荞麦馒头上方后下降", + "time": 3.309733, + "annotations": { + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154454400_oz8wcqnrn", + "x": 0.620625, + "y": 0.16419791666666667, + "width": 0.12000000000000002, + "height": 0.10266666666666667 + } + ] + }, + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154456290_wjwiwpor8", + "x": 0.7066250000000001, + "y": 0.16019791666666666 + } + ] + }, + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154461679_cjs0sfgby", + "x": 0.171625, + "y": 0.21886458333333333, + "width": 0.14100000000000001, + "height": 0.21466666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动", + "correction_plan": "爪夹向爪夹方向右方移动，至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹成功向爪夹方向右下方荞麦馒头靠近", + "frame": 122, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向前下方移动，更加接近荞麦馒头。\n因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于荞麦馒头左方。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹保持张开状态向爪夹方向右方荞麦馒头位置移动，移动至荞麦馒头位置后合拢爪夹", + "time": 4.064866, + "annotations": { + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154465370_0kuat6cxs", + "x": 0.165625, + "y": 0.21753125, + "width": 0.15, + "height": 0.21200000000000002 + } + ] + }, + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154468706_nlmmq06uj", + "x": 0.615625, + "y": 0.17619791666666668, + "width": 0.04699999999999997, + "height": 0.030666666666666665 + } + ] + }, + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154472294_nhlv1vair", + "x": 0.6136250000000001, + "y": 0.4188645833333334 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹并向爪夹方向右方移动，至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹尚未移动至荞麦馒头的位置提前合拢 ，导致抓取物品错误", + "frame": 143, + "progress": -10, + "progress_explanation": "爪夹尚未移动至荞麦馒头位置提前合拢爪夹，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，抓取白面馒头。\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹，向爪夹方向右方荞麦馒头位置移动，移动至荞麦馒头位置后合拢爪夹", + "time": 4.774329357411241, + "annotations": { + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154476310_3o3gb4u9r", + "x": 0.648625, + "y": 0.38286458333333334 + } + ] + }, + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154480635_4vg0z7i5k", + "x": 0.172625, + "y": 0.21886458333333333, + "width": 0.14, + "height": 0.20533333333333334 + } + ] + }, + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154483575_k4m74wdxb", + "x": 0.611625, + "y": 0.16419791666666667, + "width": 0.041000000000000016, + "height": 0.045333333333333344 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "爪夹张开并向爪夹方向右前方移动，移动至荞麦馒头上方后下降，下降至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹尚未抓取荞麦馒头提前远离了荞麦馒头的位置", + "frame": 167, + "progress": -20, + "progress_explanation": "爪夹尚未抓取荞麦馒头且远离了荞麦馒头，因此进度降低至-20%", + "state_description": "当前状态为爪夹合拢，抓取 白面馒头。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹张开并向爪夹方向右前方移动，移动至荞麦馒头上方后下降", + "time": 5.551033, + "annotations": { + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154487295_fzp2hexn1", + "x": 0.640625, + "y": 0.18286458333333336, + "width": 0.09299999999999997, + "height": 0.08266666666666665 + } + ] + }, + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154492590_i4sxpxw7x", + "x": 0.178625, + "y": 0.21753125, + "width": 0.132, + "height": 0.21866666666666665 + } + ] + }, + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154510078_92fa2yqhl", + "x": 0.637625, + "y": 0.05886458333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "张开爪夹并向爪夹方向右后方移动，移动至荞麦馒头上方后下降，下降至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹抓取错误物品移动，导致更加远离了荞麦馒头", + "frame": 177, + "progress": -30, + "progress_explanation": "爪夹并未向荞麦馒头靠近而是更加远离了荞麦馒头，因此进度降低至-30%", + "state_description": "当前状态为爪夹合拢，抓取白面馒头。\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹，向爪夹方向右后方荞麦馒头位置移动，移动至荞麦馒头上方后下降", + "time": 5.911074607703021, + "annotations": { + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154521186_1mhan2w1k", + "x": 0.327625, + "y": 0.00953125 + } + ] + }, + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154525414_mwr3cgx5c", + "x": 0.616625, + "y": 0.16686458333333334, + "width": 0.12000000000000002, + "height": 0.09333333333333332 + } + ] + }, + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154531235_ho8x6rcan", + "x": 0.177625, + "y": 0.21886458333333333, + "width": 0.12799999999999997, + "height": 0.21066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹并向爪夹方向右后方移动，移动至荞麦馒头上方后下降，下降至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹仍抓取错误物品进行移动，错误物品依然未被放下", + "frame": 186, + "progress": -35, + "progress_explanation": "爪夹并未张开向荞麦馒头靠近，因此进度降低至-35%", + "state_description": "当前状态为爪夹合拢，抓紧白面馒头，白面馒头已被移动至面包架上方\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹，向爪夹方向右后方荞麦馒头位置移动，移动至荞麦馒头上方后下降\n", + "time": 6.209766, + "annotations": { + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154538453_gt9wvojy3", + "x": 0.172625, + "y": 0.28419791666666666, + "width": 0.136, + "height": 0.14133333333333334 + } + ] + }, + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154542129_ji3sl5tce", + "x": 0.616625, + "y": 0.16553125, + "width": 0.12000000000000002, + "height": 0.09733333333333333 + } + ] + }, + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154544641_1cn0adq2y", + "x": 0.261625, + "y": 0.19753125 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "张开爪夹并向爪夹方向右后方移动，移动至荞麦馒头上方后下降，下降至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹成功向爪夹方向右方移动靠近荞麦馒头", + "frame": 197, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向右方移动，略微靠近了荞麦馒头，因此进度提升至5%", + "state_description": "当前状态为爪夹合拢，抓紧白面馒头。\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹并向爪夹方向右后方移动，移动至荞麦馒头上方后下降\n", + "time": 6.555199, + "annotations": { + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154547698_z2mwiyq5y", + "x": 0.313625, + "y": 0.23086458333333332 + } + ] + }, + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154551039_kwol3gztn", + "x": 0.618625, + "y": 0.16553125, + "width": 0.12000000000000002, + "height": 0.09866666666666667 + } + ] + }, + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154555882_w93rq5izh", + "x": 0.176625, + "y": 0.27219791666666665, + "width": 0.134, + "height": 0.164 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹并向爪夹方向右后方移动，移动至荞麦馒头上方后下降，下降至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹并未进行张开放下错误物品，而是将错误物品抓取继续移动", + "frame": 210, + "progress": -30, + "progress_explanation": "爪夹向爪夹方向下方移动更加远离了荞麦馒头，因此进度降低至-30%", + "state_description": "当前状态为爪夹合拢，抓紧白面馒头，白面馒头已被移动至面包架内\n为完成将荞麦馒头放在面包架上的任务应当：张开爪夹，向爪夹方向右后方荞麦馒头位置移动，移动至荞麦馒头上方后下降\n", + "time": 7.013099, + "annotations": { + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154561589_qez0f6b2k", + "x": 0.166625, + "y": 0.29753124999999997, + "width": 0.14600000000000002, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154565694_otvddsp9s", + "x": 0.616625, + "y": 0.16953125, + "width": 0.121, + "height": 0.09333333333333332 + } + ] + }, + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154568033_ledn778p5", + "x": 0.29862500000000003, + "y": 0.26553125 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "保持爪夹张开状态并向爪夹方向右后方移动，移动至荞麦馒头上方后下降，下降至荞麦馒头位置后合拢爪夹，抓取荞麦馒头，之后保持爪夹合拢状态抬升并向爪夹方向左方移动，移动至面包架上方后下降，直至荞麦馒头下降至面包架内部后张开爪夹，使荞麦馒头落入面包架中", + "error_success_analysis": "爪夹成功张开，错误物品成功被爪夹放下", + "frame": 236, + "progress": 10, + "progress_explanation": "爪夹已变为张开状态，错误物品已被爪夹放下，且位置较为接近荞麦馒头。因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于面包架上方，荞麦馒头左前方。\n为完成将荞麦馒头放在面包架上的任务应当：保持爪夹张开状态向爪夹方向右后方荞麦馒头位置移动，移动至荞麦馒头上方后下降", + "time": 7.872666, + "annotations": { + "point_1769154342778": { + "type": "point", + "instances": [ + { + "id": "point_1769154342778_1769154571613_h68kre6wg", + "x": 0.30262500000000003, + "y": 0.31886458333333334 + } + ] + }, + "bbox_1769154340267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340267_1769154576973_hdn68ols5", + "x": 0.620625, + "y": 0.16686458333333334, + "width": 0.11299999999999999, + "height": 0.09733333333333333 + } + ] + }, + "bbox_1769154340551": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154340551_1769154582627_0wcswg54z", + "x": 0.167625, + "y": 0.21086458333333333, + "width": 0.15, + "height": 0.212 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769154340267", + "name": "荞麦馒头", + "color": "#4CAF50" + }, + { + "id": "bbox_1769154340551", + "name": "面包架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769154342778", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769154342994", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-101643-put-wheat bread-bread rack-good/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-101643-put-wheat bread-bread rack-good/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..a3aa0865c51aa7cfe51bc3a74d186da4c94bed5c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-101643-put-wheat bread-bread rack-good/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,524 @@ +{ + "task_description": "将小麦面包放在面包架上\n开始移动0%\n爪夹靠近小麦面包25%\n爪夹抓取小麦面包50%\n爪夹抓取小麦面包移动至面包架上方75%\n爪夹张开，小麦面包被放置在面包架上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前方小麦面包位置移动同时调整爪夹角度使其向下，移动至小麦面包位置下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离小麦面包，未开始移动。\n为完成将小麦面包头放在面包架上的任务应当：爪夹向爪夹方向前方移动同时调整爪夹角度使其向下，", + "time": 0.448, + "annotations": { + "bbox_1769154104946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154104946_1769154131015_vnbecfrp2", + "x": 0.490625, + "y": 0.5521979166666667, + "width": 0.13200000000000003, + "height": 0.19466666666666665 + } + ] + }, + "bbox_1769154105098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154105098_1769154137144_i0lmt2jiw", + "x": 0.178625, + "y": 0.69753125, + "width": 0.194, + "height": 0.228 + } + ] + }, + "point_1769154105888": { + "type": "point", + "instances": [ + { + "id": "point_1769154105888_1769154139816_1k1esoser", + "x": 0.436625, + "y": 0.12553125 + } + ] + }, + "point_1769154106035": { + "type": "point", + "instances": [ + { + "id": "point_1769154106035_1769154141934_juvsyxjep", + "x": 0.545625, + "y": 0.12686458333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动，同时调整爪夹角度使其对准了小麦面包", + "correction_plan": "爪夹向爪夹放下左方略微移动至可抓取小麦面包的位置后合拢爪夹，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向前下方移动下降靠近了小麦面包", + "frame": 40, + "progress": 25, + "progress_explanation": "爪夹已完全靠近小麦面包，但还为移动至可抓取的位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于小麦面包位置。\n为完成将小麦面包头放在面包架上的任务应当：爪夹向爪夹放下左方略微移动至可抓取小麦面包的位置后合拢爪夹", + "time": 1.3273578477576533, + "annotations": { + "point_1769154106035": { + "type": "point", + "instances": [ + { + "id": "point_1769154106035_1769154169542_mpkdhn7c3", + "x": 0.560625, + "y": 0.57753125 + } + ] + }, + "bbox_1769154105098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154105098_1769154177002_k22jsr4re", + "x": 0.178625, + "y": 0.68953125, + "width": 0.195, + "height": 0.23999999999999996 + } + ] + }, + "bbox_1769154104946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154104946_1769154181434_9y68fmhvs", + "x": 0.49362500000000004, + "y": 0.5561979166666667, + "width": 0.12999999999999998, + "height": 0.18266666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左方移动", + "correction_plan": "合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向左方略微移动至了可抓取小麦面包的位置", + "frame": 65, + "progress": 30, + "progress_explanation": "爪夹已移动至可抓取小麦面包的位置，因此进度提升至30%", + "state_description": "当前状态为爪夹张开，位于小麦面包位置。\n为完成将小麦面包头放在面包架上的任务应当：合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升", + "time": 2.1792446156845204, + "annotations": { + "bbox_1769154104946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154104946_1769154193276_9lws4xdyf", + "x": 0.502625, + "y": 0.5521979166666667, + "width": 0.14400000000000004, + "height": 0.20400000000000004 + } + ] + }, + "point_1769154106035": { + "type": "point", + "instances": [ + { + "id": "point_1769154106035_1769154196567_tcv3eu0ps", + "x": 0.631625, + "y": 0.55353125 + } + ] + }, + "point_1769154105888": { + "type": "point", + "instances": [ + { + "id": "point_1769154105888_1769154200155_6y8sbgu9u", + "x": 0.541625, + "y": 0.5761979166666666 + } + ] + }, + "bbox_1769154105098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154105098_1769154207251_0s53ba51i", + "x": 0.176625, + "y": 0.68953125, + "width": 0.191, + "height": 0.24400000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功合拢小麦面包成功被爪夹抓取", + "frame": 106, + "progress": 50, + "progress_explanation": "小麦面包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动", + "time": 3.535, + "annotations": { + "bbox_1769154105098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154105098_1769154214111_w8i0wfeka", + "x": 0.180625, + "y": 0.6908645833333333, + "width": 0.191, + "height": 0.23599999999999993 + } + ] + }, + "bbox_1769154104946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154104946_1769154224698_674tm0r5v", + "x": 0.536625, + "y": 0.5388645833333334, + "width": 0.12700000000000006, + "height": 0.2306666666666666 + } + ] + }, + "point_1769154105888": { + "type": "point", + "instances": [ + { + "id": "point_1769154105888_1769154227290_04j4coquz", + "x": 0.563625, + "y": 0.5788645833333333 + } + ] + }, + "point_1769154106035": { + "type": "point", + "instances": [ + { + "id": "point_1769154106035_1769154229075_vehh1wo4l", + "x": 0.590625, + "y": 0.56953125 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态抬向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹，使小麦面包放置在面包架上。", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹抬升至空中", + "frame": 130, + "progress": 60, + "progress_explanation": "小麦面包已被爪夹抓取并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被抬升至空中。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态向爪夹方向右前方面包架位置移动", + "time": 4.319974226804124, + "annotations": { + "point_1769154106035": { + "type": "point", + "instances": [ + { + "id": "point_1769154106035_1769154231542_3jkufvma1", + "x": 0.552625, + "y": 0.47353125 + } + ] + }, + "point_1769154105888": { + "type": "point", + "instances": [ + { + "id": "point_1769154105888_1769154233594_18bm5dc7p", + "x": 0.527625, + "y": 0.47886458333333337 + } + ] + }, + "bbox_1769154105098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154105098_1769154237486_u3ij5s2bz", + "x": 0.180625, + "y": 0.6868645833333333, + "width": 0.191, + "height": 0.24400000000000002 + } + ] + }, + "bbox_1769154104946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154104946_1769154242055_6v7tclwoq", + "x": 0.517625, + "y": 0.47219791666666666, + "width": 0.096, + "height": 0.20000000000000007 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "保持爪夹合拢状态下降爪夹，直至小麦面包落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动至面包架上方", + "frame": 149, + "progress": 75, + "progress_explanation": "小麦面包已被移动至面包架上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被移动至面包架上方。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态下降，直至小麦面包落入面包架内部后张开爪夹", + "time": 4.952829441492924, + "annotations": { + "bbox_1769154104946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154104946_1769154247065_n6joqd8r5", + "x": 0.18262499999999998, + "y": 0.49753125, + "width": 0.12000000000000002, + "height": 0.23466666666666663 + } + ] + }, + "bbox_1769154105098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154105098_1769154251851_thh3n4st4", + "x": 0.178625, + "y": 0.6988645833333333, + "width": 0.19799999999999998, + "height": 0.23466666666666675 + } + ] + }, + "point_1769154105888": { + "type": "point", + "instances": [ + { + "id": "point_1769154105888_1769154253874_516hpcmpg", + "x": 0.242625, + "y": 0.48953125 + } + ] + }, + "point_1769154106035": { + "type": "point", + "instances": [ + { + "id": "point_1769154106035_1769154255494_lbesmjdo2", + "x": 0.275625, + "y": 0.49886458333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "爪夹保持合拢状态略微向爪夹方向左方移动，使小麦面包落入面包架缝隙中，之后张开爪夹放下小麦面包", + "error_success_analysis": "爪夹成功抓取小麦面包下降至贴紧面包架的位置", + "frame": 167, + "progress": 80, + "progress_explanation": "小麦面包已贴紧面包架，但还未至可放进面包架的位置，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已贴合面包架。\n为完成将小麦面包放在面包架上的任务应当：爪夹保持合拢状态略微向爪夹方向左方移动，使小麦面包落入面包架缝隙中", + "time": 5.579, + "annotations": { + "point_1769154106035": { + "type": "point", + "instances": [ + { + "id": "point_1769154106035_1769154262386_4vhtfz9gl", + "x": 0.263625, + "y": 0.68953125 + } + ] + }, + "point_1769154105888": { + "type": "point", + "instances": [ + { + "id": "point_1769154105888_1769154263930_ryr438wmm", + "x": 0.232625, + "y": 0.6641979166666666 + } + ] + }, + "bbox_1769154104946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154104946_1769154269862_fs65wt3hj", + "x": 0.155625, + "y": 0.6761979166666666, + "width": 0.14, + "height": 0.23466666666666675 + } + ] + }, + "bbox_1769154105098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154105098_1769154275658_l4m7a27w2", + "x": 0.23162500000000003, + "y": 0.7268645833333333, + "width": 0.14499999999999996, + "height": 0.1973333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左方移动", + "correction_plan": "张开爪夹，放下小麦面包", + "error_success_analysis": "爪夹成功保持合拢状态向爪夹放向左方略微移动使得小麦面包移动至面包架缝隙处", + "frame": 184, + "progress": 90, + "progress_explanation": "小麦面包已被下降至面包架内，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被移动至面包架缝隙处。\n为完成将小麦面包放在面包架上的任务应当：张开爪夹，放下小麦面包", + "time": 6.121697332369323, + "annotations": { + "bbox_1769154105098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154105098_1769154285886_b5oz3kx5b", + "x": 0.18262499999999998, + "y": 0.6841979166666667, + "width": 0.194, + "height": 0.24799999999999991 + } + ] + }, + "bbox_1769154104946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154104946_1769154289665_4cio564vl", + "x": 0.212625, + "y": 0.69753125, + "width": 0.133, + "height": 0.2146666666666667 + } + ] + }, + "point_1769154105888": { + "type": "point", + "instances": [ + { + "id": "point_1769154105888_1769154291166_tsyxhqt1j", + "x": 0.30062500000000003, + "y": 0.6868645833333333 + } + ] + }, + "point_1769154106035": { + "type": "point", + "instances": [ + { + "id": "point_1769154106035_1769154292754_thoe3u6ue", + "x": 0.32062500000000005, + "y": 0.7175312500000001 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将小麦面包放在面包架上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，小麦面包成功被放置在面包架上", + "frame": 203, + "progress": 100, + "progress_explanation": "将小麦面包放在面包架上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于小麦面包与面包架的上方。\n将小麦面包放在面包架上的任务已完成", + "time": 6.783, + "annotations": { + "point_1769154106035": { + "type": "point", + "instances": [ + { + "id": "point_1769154106035_1769154295394_7jqfn8gkv", + "x": 0.36862500000000004, + "y": 0.7455312500000001 + } + ] + }, + "point_1769154105888": { + "type": "point", + "instances": [ + { + "id": "point_1769154105888_1769154297139_nrs96o2r4", + "x": 0.261625, + "y": 0.70553125 + } + ] + }, + "bbox_1769154104946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154104946_1769154300475_wgfk858xk", + "x": 0.212625, + "y": 0.7308645833333334, + "width": 0.12599999999999997, + "height": 0.22266666666666665 + } + ] + }, + "bbox_1769154105098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154105098_1769154304866_x2c5vntnm", + "x": 0.192625, + "y": 0.6961979166666666, + "width": 0.186, + "height": 0.24800000000000005 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769154104946", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769154105098", + "name": "面包架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769154105888", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769154106035", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-101643-put-wheat bread-bread rack-good/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-101643-put-wheat bread-bread rack-good/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..9d7271b25191bfbc5cff89fd2ab543c5c0b6dc16 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-101643-put-wheat bread-bread rack-good/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,516 @@ +{ + "task_description": "将小麦面包放在面包架上\n开始移动0%\n爪夹靠近小麦面包25%\n爪夹抓取小麦面包50%\n爪夹抓取小麦面包移动至面包架上方75%\n爪夹张开，小麦面包被放置在面包架上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前方小麦面包位置移动同时调整爪夹角度使其向下，移动至小麦面包位置下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动，移动至面包架上方后下降，同时调整爪夹角度使小麦面包落入面包架的缝隙，下降至小麦面包进入面包架的缝隙位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离小麦面包，未开始移动。\n为完成将小麦面包头放在面包架上的任务应当：爪夹向爪夹方向前方移动同时调整爪夹角度使其向下，", + "time": 0.307499, + "annotations": { + "bbox_1769153849799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849799_1769153871010_to7ogdexa", + "x": 0.528625, + "y": 0.3401979166666667, + "width": 0.18900000000000006, + "height": 0.25199999999999995 + } + ] + }, + "bbox_1769153849946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849946_1769153880315_3x0zqe938", + "x": 0.689625, + "y": 0.5268645833333333, + "width": 0.217, + "height": 0.36 + } + ] + }, + "point_1769153850786": { + "type": "point", + "instances": [ + { + "id": "point_1769153850786_1769153885626_1bacvfes9", + "x": 0.321625, + "y": 0.28019791666666666 + } + ] + }, + "point_1769153850958": { + "type": "point", + "instances": [ + { + "id": "point_1769153850958_1769153887523_oljk65myh", + "x": 0.45862499999999995, + "y": 0.33353125 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动同时向爪夹方向下方略微调整爪夹口的方向", + "correction_plan": "爪夹向爪夹方向前方小麦面包位置移动同时调整爪夹角度使其向下，移动至小麦面包位置下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动，移动至面包架上方后下降，同时调整爪夹角度使小麦面包落入面包架的缝隙，下降至小麦面包进入面包架的缝隙位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向下方略微调整爪夹口的方向", + "frame": 23, + "progress": 5, + "progress_explanation": "爪夹略微调整爪夹角度使其向下，尚未进行长距离移动，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于小麦面包后上方。\n为完成将小麦面包放在面包架上的任务应当：爪夹继续向爪夹方向前方小麦面包移动，同时向下调整爪夹角度", + "time": 0.7575, + "annotations": { + "point_1769153850958": { + "type": "point", + "instances": [ + { + "id": "point_1769153850958_1769153890123_p865ik4ma", + "x": 0.47162500000000007, + "y": 0.3761979166666667 + } + ] + }, + "point_1769153850786": { + "type": "point", + "instances": [ + { + "id": "point_1769153850786_1769153892887_jxo4r2dki", + "x": 0.338625, + "y": 0.32286458333333334 + } + ] + }, + "bbox_1769153849799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849799_1769153896874_oyv7esoe2", + "x": 0.524625, + "y": 0.32553125000000005, + "width": 0.19400000000000003, + "height": 0.264 + } + ] + }, + "bbox_1769153849946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849946_1769153909762_kaklfkbv4", + "x": 0.6916249999999999, + "y": 0.52953125, + "width": 0.21600000000000003, + "height": 0.3506666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动，同时调整爪夹角度使其对准了小麦面包", + "correction_plan": "合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动，移动至面包架上方后下降，同时调整爪夹角度使小麦面包落入面包架的缝隙，下降至小麦面包进入面包架的缝隙位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向前下方移动至可抓取小麦面包的位置", + "frame": 44, + "progress": 25, + "progress_explanation": "爪夹已移动至可抓取小麦面包的位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于小麦面包位置。\n为完成将小麦面包头放在面包架上的任务应当：合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升", + "time": 1.454999, + "annotations": { + "bbox_1769153849946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849946_1769153919243_y2eoful8a", + "x": 0.6886249999999999, + "y": 0.5348645833333333, + "width": 0.21900000000000003, + "height": 0.35333333333333333 + } + ] + }, + "bbox_1769153849799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849799_1769153933771_yilngpjke", + "x": 0.529625, + "y": 0.3348645833333333, + "width": 0.18600000000000003, + "height": 0.25600000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动，移动至面包架上方后下降，同时调整爪夹角度使小麦面包落入面包架的缝隙，下降至小麦面包进入面包架的缝隙位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹成功合拢小麦面包成功被爪夹抓取", + "frame": 70, + "progress": 50, + "progress_explanation": "小麦面包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态抬升并向爪夹方向右后方面包架位置移动", + "time": 2.334904945376272, + "annotations": { + "bbox_1769153849799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849799_1769153947087_5cry7nkru", + "x": 0.545625, + "y": 0.32286458333333334, + "width": 0.17800000000000002, + "height": 0.268 + } + ] + }, + "bbox_1769153849946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849946_1769153957255_dnd7s8wp0", + "x": 0.688625, + "y": 0.53353125, + "width": 0.21500000000000002, + "height": 0.36133333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向右后方面包架位置移动，移动至面包架上方后下降，同时调整爪夹角度使小麦面包落入面包架的缝隙，下降至小麦面包进入面包架的缝隙位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹抬升至空中", + "frame": 107, + "progress": 60, + "progress_explanation": "小麦面包已被爪夹抓取并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被抬升至空中。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态向爪夹方向右后方面包架位置移动", + "time": 3.5625, + "annotations": { + "bbox_1769153849946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849946_1769153965646_fd7i9urfd", + "x": 0.689625, + "y": 0.5321979166666667, + "width": 0.22100000000000009, + "height": 0.36 + } + ] + }, + "bbox_1769153849799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849799_1769153974875_d2nx8vt6u", + "x": 0.503625, + "y": 0.23086458333333332, + "width": 0.229, + "height": 0.28800000000000003 + } + ] + }, + "point_1769153850958": { + "type": "point", + "instances": [ + { + "id": "point_1769153850958_1769153980741_hm6p9nev3", + "x": 0.507625, + "y": 0.35753125 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右后方移动", + "correction_plan": "保持爪夹合拢状态调整爪夹角度使小麦面包落入面包架的缝隙，之后下降至小麦面包进入面包架的缝隙位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动至面包架上方", + "frame": 123, + "progress": 75, + "progress_explanation": "小麦面包已被移动至面包架上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被移动至面包架上方。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态下降，同时调整爪夹方向使得小麦面包落入面包架的缝隙", + "time": 4.0875, + "annotations": { + "point_1769153850958": { + "type": "point", + "instances": [ + { + "id": "point_1769153850958_1769153983726_lafag452a", + "x": 0.768625, + "y": 0.52553125 + } + ] + }, + "point_1769153850786": { + "type": "point", + "instances": [ + { + "id": "point_1769153850786_1769153985945_vjomvbqxw", + "x": 0.741625, + "y": 0.49753125 + } + ] + }, + "bbox_1769153849799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849799_1769153990547_9qyu9blo5", + "x": 0.7106250000000001, + "y": 0.47753125, + "width": 0.278, + "height": 0.2906666666666666 + } + ] + }, + "bbox_1769153849946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849946_1769153999202_waroi3oik", + "x": 0.690625, + "y": 0.6841979166666667, + "width": 0.20500000000000007, + "height": 0.2013333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左下方移动", + "correction_plan": "爪夹保持合拢状态下降，下降至小麦面包进入面包架的缝隙位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹成功向爪夹方向左下方移动，小麦面包成功被移动至面包架缝隙处", + "frame": 143, + "progress": 80, + "progress_explanation": "小麦面包已被移动至面包架缝隙上方，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被移动至面包架缝隙上方。\n为完成将小麦面包放在面包架上的任务应当：爪夹向爪夹方向下方移动下降，至小麦面包进入面包架缝隙后张开爪夹", + "time": 4.755, + "annotations": { + "bbox_1769153849946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849946_1769154005610_cxe6vjdii", + "x": 0.690625, + "y": 0.6495312500000001, + "width": 0.20600000000000004, + "height": 0.23466666666666663 + } + ] + }, + "bbox_1769153849799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849799_1769154011786_4v9t4fszo", + "x": 0.6956249999999999, + "y": 0.44953125, + "width": 0.278, + "height": 0.2679999999999999 + } + ] + }, + "point_1769153850958": { + "type": "point", + "instances": [ + { + "id": "point_1769153850958_1769154017584_7jtlsgenn", + "x": 0.758625, + "y": 0.4841979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右后方移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向前方略微移动至面包架缝隙位置下降，下降至小麦面包进入面包架的缝隙位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹应向下移动使小麦面包落入面包架的缝隙中，但爪夹却进行了错误的移动作，离开了面包架的缝隙", + "frame": 161, + "progress": 75, + "progress_explanation": "爪夹抓取小麦面包离开了面包架缝隙，但还在面包架上方，因此进度降低至75%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，\n为完成将小麦面包头放在面包架上的任务应当：保持爪夹合拢状态向爪夹方向前方略微移动至面包架缝隙位置下降\n", + "time": 5.3775, + "annotations": { + "bbox_1769153849799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849799_1769154024998_9g7cjv2gk", + "x": 0.753625, + "y": 0.5521979166666667, + "width": 0.24500000000000002, + "height": 0.25199999999999995 + } + ] + }, + "bbox_1769153849946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849946_1769154029630_h6mn2s9rt", + "x": 0.6956249999999999, + "y": 0.7428645833333333, + "width": 0.19300000000000006, + "height": 0.16000000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方调整爪夹角度", + "correction_plan": "爪夹保持合拢状态下降，下降至小麦面包进入面包架的缝隙位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹向爪夹方向右方调整爪夹角度，小麦面包成功被调整至面包架缝隙处", + "frame": 186, + "progress": 80, + "progress_explanation": "小麦面包已被移动至面包架缝隙上方，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包。小麦面包已被移动至面包架缝隙上方。\n为完成将小麦面包放在面包架上的任务应当：爪夹向爪夹方向下方移动下降，至小麦面包进入面包架缝隙后张开爪夹\n", + "time": 6.198112381323692, + "annotations": { + "bbox_1769153849946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849946_1769154034886_hcaesjsip", + "x": 0.682625, + "y": 0.7268645833333333, + "width": 0.225, + "height": 0.17600000000000005 + } + ] + }, + "bbox_1769153849799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849799_1769154042407_ceknn0n8e", + "x": 0.782625, + "y": 0.5108645833333333, + "width": 0.21400000000000005, + "height": 0.24666666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，放下小麦面包", + "error_success_analysis": "爪夹成功保持合拢状态下降，小麦面包成功被爪夹下降至面包架缝隙处", + "frame": 207, + "progress": 90, + "progress_explanation": "小麦面包已被下降至面包架内，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，小麦面包已进入面包架缝隙中。\n为完成将小麦面包头放在面包架上的任务应当：张开爪夹。使小麦面包放置在面包架上\n", + "time": 6.915, + "annotations": { + "bbox_1769153849799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849799_1769154052590_db5nhue21", + "x": 0.797625, + "y": 0.5628645833333333, + "width": 0.18599999999999994, + "height": 0.22266666666666665 + } + ] + }, + "bbox_1769153849946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849946_1769154057414_zosft6884", + "x": 0.696625, + "y": 0.7201979166666667, + "width": 0.20199999999999996, + "height": 0.1853333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将小麦面包放在面包架上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，小麦面包成功被放置在面包架上", + "frame": 224, + "progress": 100, + "progress_explanation": "将小麦面包放在面包架上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于小麦面包与面包架的上方。\n将小麦面包放在面包架上的任务已完成", + "time": 7.450470835834119, + "annotations": { + "bbox_1769153849946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849946_1769154071766_q9newjo48", + "x": 0.751625, + "y": 0.53753125, + "width": 0.154, + "height": 0.37466666666666676 + } + ] + }, + "bbox_1769153849799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153849799_1769154085878_zdtkbt4no", + "x": 0.781625, + "y": 0.6055312500000001, + "width": 0.13699999999999993, + "height": 0.16533333333333325 + } + ] + }, + "point_1769153850786": { + "type": "point", + "instances": [ + { + "id": "point_1769153850786_1769154088826_rlziubzog", + "x": 0.7136250000000001, + "y": 0.47353125 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769153849799", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769153849946", + "name": "面包架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769153850786", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769153850958", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-101643-put-wheat bread-bread rack-good/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-101643-put-wheat bread-bread rack-good/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..f66d67ca4b3a8abca1654116e77e0300d2b4ad17 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-101643-put-wheat bread-bread rack-good/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,566 @@ +{ + "task_description": "将小麦面包放在面包架上\n开始移动0%\n爪夹靠近小麦面包25%\n爪夹抓取小麦面包50%\n爪夹抓取小麦面包移动至面包架上方75%\n爪夹张开，小麦面包被放置在面包架上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前方小麦面包位置移动同时调整爪夹角度使其向下，移动至小麦面包位置下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离小麦面包，未开始移动。\n为完成将小麦面包头放在面包架上的任务应当：爪夹向爪夹方向前方移动同时调整爪夹角度使其向下", + "time": 0.308, + "annotations": { + "bbox_1769153631267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631267_1769153653359_30vly46wx", + "x": 0.3946250000000001, + "y": 0.5668645833333333, + "width": 0.10799999999999992, + "height": 0.11999999999999993 + } + ] + }, + "bbox_1769153631436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631436_1769153664299_r3lsi08t2", + "x": 0.573625, + "y": 0.50953125, + "width": 0.06299999999999999, + "height": 0.11999999999999998 + } + ] + }, + "point_1769153632025": { + "type": "point", + "instances": [ + { + "id": "point_1769153632025_1769153666099_jtzx5161h", + "x": 0.382625, + "y": 0.5001979166666667 + } + ] + }, + "point_1769153632192": { + "type": "point", + "instances": [ + { + "id": "point_1769153632192_1769153667926_2t57ipjwh", + "x": 0.618625, + "y": 0.48019791666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动，同时调整爪夹角度使其对准了小麦面包", + "correction_plan": "爪夹向爪夹放下左方略微移动至可抓取小麦面包的位置后合拢爪夹，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向前下方移动下降靠近了小麦面包", + "frame": 41, + "progress": 25, + "progress_explanation": "爪夹已完全靠近小麦面包，但还为移动至可抓取的位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于小麦面包位置。\n为完成将小麦面包头放在面包架上的任务应当：爪夹向爪夹放下左方略微移动至可抓取小麦面包的位置后合拢爪夹", + "time": 1.357999, + "annotations": { + "point_1769153632192": { + "type": "point", + "instances": [ + { + "id": "point_1769153632192_1769153670351_d7vzkjg0e", + "x": 0.618625, + "y": 0.48019791666666667 + } + ] + }, + "point_1769153632025": { + "type": "point", + "instances": [ + { + "id": "point_1769153632025_1769153672051_j0y9kl70d", + "x": 0.381625, + "y": 0.50553125 + } + ] + }, + "bbox_1769153631267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631267_1769153677507_mcrclgn25", + "x": 0.31062500000000004, + "y": 0.13353125, + "width": 0.22599999999999998, + "height": 0.4533333333333333 + } + ] + }, + "bbox_1769153631436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631436_1769153683260_vy38ij8cz", + "x": 0.7666250000000001, + "y": 0.0028645833333333223, + "width": 0.22999999999999998, + "height": 0.27466666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左方移动", + "correction_plan": "合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向左方略微移动至了可抓取小麦面包的位置", + "frame": 79, + "progress": 30, + "progress_explanation": "爪夹已移动至可抓取小麦面包的位置，因此进度提升至30%", + "state_description": "当前状态为爪夹张开，位于小麦面包位置。\n为完成将小麦面包头放在面包架上的任务应当：合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升", + "time": 2.6349049799244724, + "annotations": { + "bbox_1769153631267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631267_1769153695862_afgvodp2q", + "x": 0.4126250000000001, + "y": 0.12553125, + "width": 0.29999999999999993, + "height": 0.4813333333333333 + } + ] + }, + "point_1769153632025": { + "type": "point", + "instances": [ + { + "id": "point_1769153632025_1769153701363_hpp3pfrve", + "x": 0.380625, + "y": 0.4908645833333333 + } + ] + }, + "point_1769153632192": { + "type": "point", + "instances": [ + { + "id": "point_1769153632192_1769153703097_bqb8s8uw1", + "x": 0.630625, + "y": 0.5308645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功合拢小麦面包成功被爪夹抓取", + "frame": 100, + "progress": 50, + "progress_explanation": "小麦面包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态抬升并向爪夹方向右前方面包架位置移动", + "time": 3.3481125065609185, + "annotations": { + "point_1769153632192": { + "type": "point", + "instances": [ + { + "id": "point_1769153632192_1769153705523_horj1imuo", + "x": 0.530625, + "y": 0.5188645833333333 + } + ] + }, + "point_1769153632025": { + "type": "point", + "instances": [ + { + "id": "point_1769153632025_1769153707010_yw72l2z75", + "x": 0.46662499999999996, + "y": 0.50953125 + } + ] + }, + "bbox_1769153631267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631267_1769153712371_wv8p9gfga", + "x": 0.382625, + "y": 0.12686458333333334, + "width": 0.199, + "height": 0.45999999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态抬向爪夹方向右前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹，使小麦面包放置在面包架上。", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹抬升至空中", + "frame": 128, + "progress": 60, + "progress_explanation": "小麦面包已被爪夹抓取并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被抬升至空中。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态向爪夹方向右前方面包架位置移动", + "time": 4.279244555225169, + "annotations": { + "bbox_1769153631267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631267_1769153721262_qma3a3log", + "x": 0.44362500000000005, + "y": 0.13886458333333335, + "width": 0.092, + "height": 0.44400000000000006 + } + ] + }, + "point_1769153632025": { + "type": "point", + "instances": [ + { + "id": "point_1769153632025_1769153726940_01n3nyyq9", + "x": 0.46662499999999996, + "y": 0.49753125 + } + ] + }, + "point_1769153632192": { + "type": "point", + "instances": [ + { + "id": "point_1769153632192_1769153728729_2t799kkvx", + "x": 0.527625, + "y": 0.49753125 + } + ] + }, + "bbox_1769153631436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631436_1769153731746_m1j6uaoi4", + "x": 0.7936250000000002, + "y": 0.20419791666666667, + "width": 0.175, + "height": 0.2693333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "保持爪夹合拢状态下降爪夹，直至小麦面包落入面包架内部后张开爪夹。", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动至面包架上方", + "frame": 146, + "progress": 75, + "progress_explanation": "小麦面包已被移动至面包架上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被移动至面包架上方。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态下降，直至小麦面包落入面包架内部后张开爪夹", + "time": 4.853772840571195, + "annotations": { + "bbox_1769153631436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631436_1769153743303_i4heys9x7", + "x": 0.513625, + "y": 0.31886458333333334, + "width": 0.11399999999999996, + "height": 0.17066666666666663 + } + ] + }, + "bbox_1769153631267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631267_1769153748312_vd4lfhzhk", + "x": 0.43562500000000004, + "y": 0.14419791666666668, + "width": 0.10300000000000002, + "height": 0.41333333333333333 + } + ] + }, + "point_1769153632025": { + "type": "point", + "instances": [ + { + "id": "point_1769153632025_1769153750259_gln2mdd7n", + "x": 0.46362500000000006, + "y": 0.5121979166666667 + } + ] + }, + "point_1769153632192": { + "type": "point", + "instances": [ + { + "id": "point_1769153632192_1769153751974_8smixt883", + "x": 0.522625, + "y": 0.5068645833333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "爪夹保持合拢状态略微向爪夹方向左方移动，使小麦面包落入面包架缝隙中，之后张开爪夹放下小麦面包", + "error_success_analysis": "爪夹成功抓取小麦面包下降至贴紧面包架的位置", + "frame": 168, + "progress": 80, + "progress_explanation": "小麦面包已贴紧面包架，但还未至可放进面包架的位置，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已贴合面包架。\n为完成将小麦面包放在面包架上的任务应当：爪夹保持合拢状态略微向爪夹方向左方移动，使小麦面包落入面包架缝隙中", + "time": 5.59729381443299, + "annotations": { + "point_1769153632192": { + "type": "point", + "instances": [ + { + "id": "point_1769153632192_1769153759374_hrtz3rc4u", + "x": 0.526625, + "y": 0.5041979166666667 + } + ] + }, + "point_1769153632025": { + "type": "point", + "instances": [ + { + "id": "point_1769153632025_1769153761782_lukkbpew6", + "x": 0.47062499999999996, + "y": 0.50953125 + } + ] + }, + "bbox_1769153631436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631436_1769153767256_zg229oh03", + "x": 0.36862500000000004, + "y": 0.39353125, + "width": 0.257, + "height": 0.1786666666666667 + } + ] + }, + "bbox_1769153631267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631267_1769153775354_e59f7e229", + "x": 0.441625, + "y": 0.13353125, + "width": 0.11200000000000002, + "height": 0.4533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左方移动", + "correction_plan": "张开爪夹，放下小麦面包", + "error_success_analysis": "爪夹成功保持合拢状态向爪夹放向左方略微移动使得小麦面包移动至面包架缝隙处", + "frame": 180, + "progress": 90, + "progress_explanation": "小麦面包已被下降至面包架缝隙处，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被移动至面包架缝隙处。\n为完成将小麦面包放在面包架上的任务应当：张开爪夹，放下小麦面包", + "time": 6.013, + "annotations": { + "bbox_1769153631267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631267_1769153783091_62rhih2s5", + "x": 0.43162500000000004, + "y": 0.13086458333333334, + "width": 0.1, + "height": 0.45333333333333337 + } + ] + }, + "bbox_1769153631436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631436_1769153788046_oi63va5c4", + "x": 0.40862499999999996, + "y": 0.33086458333333335, + "width": 0.273, + "height": 0.23866666666666667 + } + ] + }, + "point_1769153632025": { + "type": "point", + "instances": [ + { + "id": "point_1769153632025_1769153790323_a5p6pp8d6", + "x": 0.46662499999999996, + "y": 0.5121979166666667 + } + ] + }, + "point_1769153632192": { + "type": "point", + "instances": [ + { + "id": "point_1769153632192_1769153791878_4f8ske2yq", + "x": 0.522625, + "y": 0.5028645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，放下小麦面包", + "error_success_analysis": "爪夹成功保持合拢状态向爪夹放向下方移动下降使得小麦面包移动至面包架缝隙处", + "frame": 189, + "progress": 95, + "progress_explanation": "小麦面包已被下降至面包架内，但爪夹尚未张开，因此进度提升至95%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被移动至面包架缝隙处。\n为完成将小麦面包放在面包架上的任务应当：张开爪夹，放下小麦面包", + "time": 6.299999214028435, + "annotations": { + "point_1769153632192": { + "type": "point", + "instances": [ + { + "id": "point_1769153632192_1769153794026_2b8sjasy7", + "x": 0.526625, + "y": 0.51353125 + } + ] + }, + "point_1769153632025": { + "type": "point", + "instances": [ + { + "id": "point_1769153632025_1769153795799_2d2jwmhh0", + "x": 0.46262499999999995, + "y": 0.5188645833333333 + } + ] + }, + "bbox_1769153631436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631436_1769153801930_lheem41wd", + "x": 0.38062500000000005, + "y": 0.29219791666666667, + "width": 0.32199999999999995, + "height": 0.2746666666666667 + } + ] + }, + "bbox_1769153631267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631267_1769153813918_3tmx3oo2m", + "x": 0.44262500000000005, + "y": 0.12019791666666667, + "width": 0.11099999999999995, + "height": 0.4640000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将小麦面包放在面包架上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，小麦面包成功被放置在面包架上", + "frame": 200, + "progress": 100, + "progress_explanation": "将小麦面包放在面包架上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于小麦面包与面包架的上方。\n将小麦面包放在面包架上的任务已完成", + "time": 6.664, + "annotations": { + "bbox_1769153631267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631267_1769153817606_yijnr9u2h", + "x": 0.460625, + "y": 0.11353125000000001, + "width": 0.10800000000000001, + "height": 0.43599999999999994 + } + ] + }, + "bbox_1769153631436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153631436_1769153829871_ruoj2uu6v", + "x": 0.386625, + "y": 0.2788645833333333, + "width": 0.31500000000000006, + "height": 0.27866666666666673 + } + ] + }, + "point_1769153632025": { + "type": "point", + "instances": [ + { + "id": "point_1769153632025_1769153832006_zgy9pvm5u", + "x": 0.378625, + "y": 0.4961979166666667 + } + ] + }, + "point_1769153632192": { + "type": "point", + "instances": [ + { + "id": "point_1769153632192_1769153833738_8a9ue8hj3", + "x": 0.623625, + "y": 0.5041979166666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769153631267", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769153631436", + "name": "面包架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769153632025", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769153632192", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-103007-put-wheat bread-bread rack-mix/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-103007-put-wheat bread-bread rack-mix/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..d0a70617b88351ac918dc690f4b369a17b7e2294 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-103007-put-wheat bread-bread rack-mix/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,728 @@ +{ + "task_description": "将小麦面包放在面包架上\n开始移动0%\n爪夹靠近小麦面包25%\n爪夹抓取小麦面包50%\n爪夹抓取小麦面包移动至面包架上方75%\n爪夹张开，小麦面包被放置在面包架上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前方小麦面包位置移动同时调整爪夹角度使其向下，移动至小麦面包位置下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离小麦面包，未开始移动。\n为完成将小麦面包头放在面包架上的任务应当：爪夹向爪夹方向前方移动同时调整爪夹角度使其向下", + "time": 0.13859753086419752, + "annotations": { + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153369599_norco6176", + "x": 0.502625, + "y": 0.42553124999999997, + "width": 0.20800000000000002, + "height": 0.2746666666666667 + } + ] + }, + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153374187_vszfdqll6", + "x": 0.520625, + "y": 0.13486458333333332, + "width": 0.179, + "height": 0.19200000000000006 + } + ] + }, + "point_1769153353779": { + "type": "point", + "instances": [ + { + "id": "point_1769153353779_1769153381448_a35484y1v", + "x": 0.335625, + "y": 0.31353125 + } + ] + }, + "point_1769153353925": { + "type": "point", + "instances": [ + { + "id": "point_1769153353925_1769153383182_ook8n7acu", + "x": 0.477625, + "y": 0.34286458333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动同时向爪夹方向下方略微调整爪夹口的方向", + "correction_plan": "爪夹向爪夹方向前方小麦面包位置移动同时调整爪夹角度使其向下，移动至小麦面包位置下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向下方略微调整爪夹口的方向", + "frame": 26, + "progress": 5, + "progress_explanation": "爪夹略微调整爪夹角度使其向下，尚未进行长距离移动，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于小麦面包后上方。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹继续向爪夹方向前方小麦面包移动，同时向下调整爪夹角度", + "time": 0.8737515929959396, + "annotations": { + "point_1769153353925": { + "type": "point", + "instances": [ + { + "id": "point_1769153353925_1769153386482_3aap48plj", + "x": 0.655625, + "y": 0.5401979166666667 + } + ] + }, + "point_1769153353779": { + "type": "point", + "instances": [ + { + "id": "point_1769153353779_1769153388188_j3it0qadp", + "x": 0.522625, + "y": 0.40686458333333336 + } + ] + }, + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153392799_bg6hnaqj5", + "x": 0.513625, + "y": 0.13886458333333335, + "width": 0.188, + "height": 0.19333333333333336 + } + ] + }, + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153402914_c498zmhf8", + "x": 0.505625, + "y": 0.41753125, + "width": 0.20100000000000007, + "height": 0.2759999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右下方移动下降", + "correction_plan": "爪夹向爪夹方向左方小麦面包位置移动，移动至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向下方移动靠近了小麦 面包位置", + "frame": 53, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向下方移动靠近了小麦面包，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于小麦面包右方。\n为完成将小麦面包头放在面包架上的任务应当：爪夹向爪夹方向左方小麦面包位置移动，移动至小麦面包位置合拢爪夹抓取小麦面包", + "time": 1.78219, + "annotations": { + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153413819_58dahuayi", + "x": 0.510625, + "y": 0.4228645833333333, + "width": 0.19699999999999998, + "height": 0.2666666666666667 + } + ] + }, + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153423195_qf7jh8dmw", + "x": 0.522625, + "y": 0.13753125, + "width": 0.18, + "height": 0.196 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹，向爪夹方向左方小麦面包位置移动，移动至小麦面包位置后合拢爪夹，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹尚未移动至小麦面包的位置提前合拢 ，导致抓取失败", + "frame": 66, + "progress": -10, + "progress_explanation": "爪夹尚未移动至小麦面包位置提前合拢爪夹，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，未抓取物品。\n为完成将小麦面包放在面包架上的任务应当：张开爪夹，向爪夹方向左方小麦面包位置移动，移动至小麦面包位置后合拢爪夹", + "time": 2.203181, + "annotations": { + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153428703_olrvss17f", + "x": 0.521625, + "y": 0.13619791666666667, + "width": 0.18099999999999997, + "height": 0.2 + } + ] + }, + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153433943_dexqkx6j3", + "x": 0.505625, + "y": 0.42153124999999997, + "width": 0.21200000000000002, + "height": 0.25200000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "爪夹张开并向爪夹方向左前方移动，移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹尚未抓取小麦面包提前远离了小麦面包的位置", + "frame": 100, + "progress": -15, + "progress_explanation": "爪夹尚未抓取小麦面包且远离了小麦面包，因此进度降低至-15%", + "state_description": "当前状态为爪夹合拢，未抓取物品。\n为完成将小麦面包放在面包架上的任务应当：爪夹张开并向爪夹方向左前方移动，移动至小麦面包上方后下降", + "time": 3.339854, + "annotations": { + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153452436_6ynbbu4ua", + "x": 0.505625, + "y": 0.41353124999999996, + "width": 0.20299999999999993, + "height": 0.21200000000000005 + } + ] + }, + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153460219_1c61aeatz", + "x": 0.522625, + "y": 0.13886458333333335, + "width": 0.17800000000000002, + "height": 0.19866666666666669 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向左前方小麦面包位置移动，移动至小麦面包位置下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹成功由合拢变为张开", + "frame": 118, + "progress": 5, + "progress_explanation": "爪夹成功张开，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于小麦面包右上方。\n为完成将小麦面包放在面包架上的任务应当：\n爪夹向爪夹方向左下方小麦面包位置移动，\n", + "time": 3.931886410612101, + "annotations": { + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153467324_c1z61ii1i", + "x": 0.521625, + "y": 0.13353125, + "width": 0.18599999999999994, + "height": 0.20400000000000004 + } + ] + }, + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153471347_ow8btyfnf", + "x": 0.501625, + "y": 0.4201979166666667, + "width": 0.2000000000000001, + "height": 0.19733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左方移动", + "correction_plan": "下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹成功向爪夹方向左方移动至小麦面包上方", + "frame": 136, + "progress": 15, + "progress_explanation": "爪夹已移动至小麦面包上方，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于小麦面包上方。\n为完成将小麦面包头放在面包架上的任务应当：下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包", + "time": 4.532658, + "annotations": { + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153482299_copa4g2cv", + "x": 0.511625, + "y": 0.46953125, + "width": 0.2, + "height": 0.228 + } + ] + }, + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153489322_ugfsc329b", + "x": 0.522625, + "y": 0.14019791666666667, + "width": 0.16899999999999996, + "height": 0.14666666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动", + "correction_plan": "爪夹向爪夹方向后方移动，移动至小麦面包位置后合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功下降至更加接近小麦面包的位置", + "frame": 152, + "progress": 20, + "progress_explanation": "爪夹接近小麦面包，但未移动至可抓取小麦面包的位置，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，位于小麦面包前方。\n为完成将小麦面包头放在面包架上的任务应当：爪夹向爪夹方向后方移动，移动至小麦面包位置后合拢爪夹抓取小麦面包", + "time": 5.079946, + "annotations": { + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153495303_8vuuox1sp", + "x": 0.521625, + "y": 0.14019791666666667, + "width": 0.18, + "height": 0.196 + } + ] + }, + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153499159_j9l2x4ni2", + "x": 0.5006250000000001, + "y": 0.47753125, + "width": 0.192, + "height": 0.25600000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹，向爪夹方向后方小麦面包位置移动，移动至小麦面包位置后合拢爪夹，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹尚未移动至小麦面包的位置提前合拢 ，导致抓取物品错误", + "frame": 178, + "progress": -10, + "progress_explanation": "爪夹尚未移动至小麦面包位置提前合拢爪夹，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，抓取荞麦面包。\n为完成将小麦面包放在面包架上的任务应当：张开爪夹，向爪夹方向后方小麦面包位置移动，移动至小麦面包位置后合拢爪夹", + "time": 5.949992, + "annotations": { + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153503295_ofz8ifcz3", + "x": 0.505625, + "y": 0.47219791666666666, + "width": 0.192, + "height": 0.27866666666666673 + } + ] + }, + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153507087_t00euer3s", + "x": 0.518625, + "y": 0.14019791666666667, + "width": 0.187, + "height": 0.19333333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后上方抬升移动", + "correction_plan": "爪夹张开并向爪夹方向下方移动下降，下降至小麦面包位置后合拢爪夹，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹尚未抓取小麦面包提前远离了小麦面包的位置", + "frame": 211, + "progress": -15, + "progress_explanation": "爪夹尚未抓取小麦面包且远离了小麦面包，因此进度降低至-15%", + "state_description": "当前状态为爪夹合拢，抓取荞麦面包，荞麦面包已被抬升至空中。\n为完成将小麦面包放在面包架上的任务应当：爪夹张开并向爪夹方向下方移动下降，下降至小麦面包位置后合拢爪夹", + "time": 7.044566, + "annotations": { + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153513987_f11ankpv5", + "x": 0.531625, + "y": 0.18553125, + "width": 0.162, + "height": 0.15200000000000002 + } + ] + }, + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153522407_yfpgs0b4w", + "x": 0.4996250000000001, + "y": 0.44953125, + "width": 0.2039999999999999, + "height": 0.28 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左方移动", + "correction_plan": "爪夹张开并向爪夹方向右下方移动下降，下降至小麦面包位置后合拢爪夹，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹尚未抓取小麦面包并且朝远离了小麦面包的错误方向移动", + "frame": 224, + "progress": -20, + "progress_explanation": "爪夹尚未抓取小麦面包且更加远离了小麦面包，因此进度降低至-20%", + "state_description": "当前状态为爪夹合拢，抓取荞麦面包，荞麦面包已被抬升至空中。\n为完成将小麦面包放在面包架上的任务应当：爪夹张开并向爪夹方向右下方移动下降，下降至小麦面包位置后合拢爪夹", + "time": 7.451523, + "annotations": { + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153533632_nujeleb5e", + "x": 0.49762500000000004, + "y": 0.4428645833333334, + "width": 0.203, + "height": 0.2906666666666667 + } + ] + }, + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153541068_lcvbmy84e", + "x": 0.522625, + "y": 0.13353125, + "width": 0.17800000000000002, + "height": 0.20400000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向右下方小麦面包位置移动，移动至小麦面包位置下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功由合拢变为张开", + "frame": 247, + "progress": 5, + "progress_explanation": "爪夹成功张开，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于小麦面包左上方。\n为完成将小麦面包放在面包架上的任务应当：\n爪夹向爪夹方向右下方小麦面包位置移动，\n", + "time": 8.223338, + "annotations": { + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153547390_ktamlkn6e", + "x": 0.528625, + "y": 0.13753125, + "width": 0.17800000000000002, + "height": 0.196 + } + ] + }, + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153552023_mggagkbrp", + "x": 0.503625, + "y": 0.43753125000000004, + "width": 0.2, + "height": 0.2946666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "爪夹向爪夹放下方移动下降至可抓取小麦面包的位置后合拢爪夹，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹成功向爪夹方向右方移动至小麦面包上方", + "frame": 272, + "progress": 20, + "progress_explanation": "爪夹已较为靠近小麦面包，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，位于小麦面包上方。\n为完成将小麦面包头放在面包架上的任务应当：爪夹向爪夹放下方移动下降至可抓取小麦面包的位置后合拢爪夹", + "time": 9.051285, + "annotations": { + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153557756_pfk7ngmvz", + "x": 0.49662500000000004, + "y": 0.5241979166666667, + "width": 0.19499999999999992, + "height": 0.19866666666666669 + } + ] + }, + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153563327_4pqix1ah2", + "x": 0.523625, + "y": 0.14019791666666667, + "width": 0.175, + "height": 0.13333333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功下降至可抓取小麦面包的位置", + "frame": 306, + "progress": 25, + "progress_explanation": "爪夹已移动至可抓取小麦面包的位置，因此进度提升至30%", + "state_description": "当前状态为爪夹张开，位于小麦面包位置。\n为完成将小麦面包头放在面包架上的任务应当：合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升", + "time": 10.207020192214097, + "annotations": { + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153569235_luf85bgko", + "x": 0.518625, + "y": 0.13219791666666666, + "width": 0.184, + "height": 0.20133333333333334 + } + ] + }, + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153572571_v2jxi1swf", + "x": 0.522625, + "y": 0.5788645833333333, + "width": 0.12299999999999996, + "height": 0.1573333333333333 + } + ] + }, + "point_1769153353925": { + "type": "point", + "instances": [ + { + "id": "point_1769153353925_1769153575879_r92id1svh", + "x": 0.697625, + "y": 0.6108645833333334 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹成功合拢小麦面包成功被爪夹抓取", + "frame": 338, + "progress": 50, + "progress_explanation": "小麦面包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "time": 11.282532, + "annotations": { + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153581783_uxkjajjcz", + "x": 0.522625, + "y": 0.13753125, + "width": 0.18499999999999997, + "height": 0.19466666666666668 + } + ] + }, + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153585395_5v77raaa4", + "x": 0.490625, + "y": 0.5188645833333333, + "width": 0.12999999999999998, + "height": 0.19866666666666669 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹抬升至空中", + "frame": 358, + "progress": 60, + "progress_explanation": "小麦面包已被爪夹抓取并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被抬升至空中。\n为完成将小麦面包方在面包架上的任务应当：保持爪夹合拢状态向爪夹方向左前方面包架位置移动，移动至面包架上方后下降", + "time": 11.928049, + "annotations": { + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153590080_esu56n6q5", + "x": 0.421625, + "y": 0.45753125, + "width": 0.11399999999999996, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153596260_n7j3aqaz1", + "x": 0.519625, + "y": 0.14019791666666667, + "width": 0.18100000000000005, + "height": 0.16 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "张开爪夹，放下小麦面包", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动至面包架上方", + "frame": 383, + "progress": 75, + "progress_explanation": "小麦面包已被移动至面包架上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被移动至面包架上方。\n为完成将小麦面包放在面包架上的任务应当：张开爪夹，放下小麦面包", + "time": 12.77003, + "annotations": { + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153607807_5r4rjsna9", + "x": 0.530625, + "y": 0.13219791666666666, + "width": 0.17299999999999996, + "height": 0.19733333333333336 + } + ] + }, + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153611515_x43a6z1p0", + "x": 0.543625, + "y": 0.005531250000000001, + "width": 0.054000000000000006, + "height": 0.13466666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将小麦面包放在面包架上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，小麦面包成功被放置在面包架上", + "frame": 407, + "progress": 100, + "progress_explanation": "将小麦面包放在面包架上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于小麦面包与面包架的上方。\n将小麦面包放在面包架上的任务已完成", + "time": 13.579097551546392, + "annotations": { + "bbox_1769153345047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345047_1769153616871_3rl95zc75", + "x": 0.571625, + "y": 0.22286458333333334, + "width": 0.03499999999999996, + "height": 0.11333333333333331 + } + ] + }, + "bbox_1769153345197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153345197_1769153621467_y94xpoc51", + "x": 0.538625, + "y": 0.14019791666666667, + "width": 0.17299999999999996, + "height": 0.196 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769153345047", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769153345197", + "name": "面包架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769153353779", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769153353925", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-105529-put-wheat bread-bread rack-bad/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-105529-put-wheat bread-bread rack-bad/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..ae21ae8986edcbbab7ef94ae75f897625dfa31ab --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-105529-put-wheat bread-bread rack-bad/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,1044 @@ +{ + "task_description": "将小麦面包放在面包架上\n开始移动0%\n爪夹靠近小麦面包25%\n爪夹抓取小麦面包50%\n爪夹抓取小麦面包移动至面包架上方75%\n爪夹张开，小麦面包被放置在面包架上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右前方小麦面包位置移动同时调整爪夹角度使其向下，移动至小麦面包位置下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离小麦面包，未开始移动。\n为完成将小麦面包头放在面包架上的任务应当：爪夹向爪夹方向右前方移动同时调整爪夹角度使其向下", + "time": 0.4628081366540257, + "annotations": { + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153051439_l7b1gn23v", + "x": 0.151625, + "y": 0.4321979166666667, + "width": 0.16599999999999998, + "height": 0.064 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153057299_8kxnto43h", + "x": 0.4286250000000001, + "y": 0.7175312500000001, + "width": 0.18399999999999989, + "height": 0.2413333333333333 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153062896_sa3egdhfh", + "x": 0.383625, + "y": 0.2521979166666667 + } + ] + }, + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153064519_pdaamju7f", + "x": 0.47862499999999997, + "y": 0.26553125 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动同时向爪夹方向下方略微调整爪夹口的方向", + "correction_plan": "爪夹向爪夹方向右前方小麦面包位置移动同时调整爪夹角度使其向下，移动至小麦面包位置下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向下方略微调整爪夹口的方向", + "frame": 39, + "progress": 5, + "progress_explanation": "爪夹略微调整爪夹角度使其向下，尚未进行长距离移动，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于小麦面包后上方。\n为完成将荞麦馒头放在面包架上的任务应当：爪夹继续向爪夹方向右前方小麦面包移动，同时向下调整爪夹角度", + "time": 1.312269329896907, + "annotations": { + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153067136_od003jspx", + "x": 0.48562500000000003, + "y": 0.2988645833333334 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153069403_edjm0c627", + "x": 0.377625, + "y": 0.29219791666666667 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153072801_d194ftp54", + "x": 0.148625, + "y": 0.43086458333333333, + "width": 0.164, + "height": 0.06133333333333333 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153076697_r65v06ipn", + "x": 0.415625, + "y": 0.7175312500000001, + "width": 0.196, + "height": 0.23200000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动下降", + "correction_plan": "爪夹向爪夹方向右方小麦面包位置移动，移动至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向下方移动靠近了小麦面包位置", + "frame": 63, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向下方移动靠近了小麦面包，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于小麦面包左方。\n为完成将小麦面包头放在面包架上的任务应当：爪夹向爪夹方向右方小麦面包位置移动，移动至小麦面包位置合拢爪夹抓取小麦面包", + "time": 2.096105, + "annotations": { + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153083616_mg1abw92j", + "x": 0.4306249999999999, + "y": 0.7161979166666668, + "width": 0.18500000000000005, + "height": 0.2426666666666666 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153090516_bw4smeonz", + "x": 0.153625, + "y": 0.43086458333333333, + "width": 0.15399999999999997, + "height": 0.06533333333333337 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153093247_wysvlwmo7", + "x": 0.403625, + "y": 0.4521979166666667 + } + ] + }, + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153095219_e5pktu8ym", + "x": 0.508625, + "y": 0.4521979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹，向爪夹方向右方小麦面包位置移动，移动至小麦面包位置后合拢爪夹，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹尚未移动至小麦面包的位置提前合拢 ，导致抓取失败", + "frame": 82, + "progress": -10, + "progress_explanation": "爪夹尚未移动至小麦面包位置提前合拢爪夹，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，抓取茶杯。\n为完成将小麦面包放在面包架上的任务应当：张开爪夹，向爪夹方向右方小麦面包位置移动，移动至小麦面包位置后合拢爪夹", + "time": 2.7347816561491864, + "annotations": { + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153098151_9f0hpe90j", + "x": 0.49362500000000004, + "y": 0.4428645833333334 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153108824_dyqyi6wy4", + "x": 0.41662499999999997, + "y": 0.7201979166666667, + "width": 0.20100000000000007, + "height": 0.23333333333333334 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153112875_s9ku537ym", + "x": 0.150625, + "y": 0.4321979166666667, + "width": 0.16099999999999998, + "height": 0.06799999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "爪夹张开并向爪夹方向右方移动，移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹抓取了错误物品抬升远离了小麦面包", + "frame": 106, + "progress": -15, + "progress_explanation": "爪夹尚未抓取小麦面包且远离了小麦面包，因此进度降低至-15%", + "state_description": "当前状态为爪夹合拢，抓取茶杯。\n为完成将小麦面包放在面包架上的任务应当：爪夹张开并向爪夹方向右方移动，移动至小麦面包上方后下降", + "time": 3.523241, + "annotations": { + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153117807_yfbk83ax5", + "x": 0.150625, + "y": 0.43086458333333333, + "width": 0.16499999999999998, + "height": 0.06666666666666667 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153122504_1c7q2xvjc", + "x": 0.42262500000000003, + "y": 0.7121979166666667, + "width": 0.19299999999999998, + "height": 0.23333333333333334 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153127756_ett5z1ibk", + "x": 0.40862499999999996, + "y": 0.45353125 + } + ] + }, + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153129719_6abqhirz1", + "x": 0.473625, + "y": 0.44686458333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "爪夹张开并向爪夹方向右后方移动，移动至小麦面包位置后下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹尚未抓取小麦面包，并且抓取错误物品更加远离小麦面包", + "frame": 119, + "progress": -25, + "progress_explanation": "爪夹抓取错误物品远离了小麦面包，因此进度降低至-25%", + "state_description": "当前状态为爪夹合拢，抓取茶杯，远离小麦面包\n为完成将小麦面包放在面包架上的任务应当：爪夹张开并向爪夹方向右后方移动，移动至小麦面包位置后下降爪夹", + "time": 3.954356, + "annotations": { + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153132659_0bcluhvee", + "x": 0.552625, + "y": 0.6055312500000001 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153134371_ngmhpv9ms", + "x": 0.47862499999999997, + "y": 0.6188645833333334 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153137991_fwwklj8yz", + "x": 0.146625, + "y": 0.43886458333333334, + "width": 0.162, + "height": 0.06133333333333333 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153142515_8b87z4i0x", + "x": 0.42262500000000003, + "y": 0.7188645833333334, + "width": 0.188, + "height": 0.23866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "爪夹张开并向爪夹方向右后方移动，移动至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹尚未抓取小麦面包，并且抓取错误物品更加远离小麦面包", + "frame": 136, + "progress": -30, + "progress_explanation": "爪夹抓取错误物品仍在小麦面包，因此进度再次降低至-30%", + "state_description": "当前状态为爪夹合拢，抓紧茶杯，远离小麦面包\n为完成将小麦面包放在面包架上的任务应当：爪夹张开并向爪夹方向右后方移动，移动至小麦面包位置合拢爪夹", + "time": 4.548996, + "annotations": { + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153147604_ma1bbpsk9", + "x": 0.415625, + "y": 0.7228645833333334, + "width": 0.203, + "height": 0.2306666666666666 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153150724_l7s7oncyg", + "x": 0.148625, + "y": 0.43353125, + "width": 0.168, + "height": 0.06933333333333333 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153152639_ilky997ze", + "x": 0.47862499999999997, + "y": 0.68553125 + } + ] + }, + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153154279_l2z5iu7gv", + "x": 0.540625, + "y": 0.6628645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向右后方移动，移动至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹成功张开，错误物品成功被爪夹放下", + "frame": 156, + "progress": 10, + "progress_explanation": "爪夹张开，错误物品被放下，且位于较为接近小麦面包的位置，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于小麦面包左前方。\n为完成将小麦面包放在面包架上的任务应当：爪夹向爪夹方向右后方移动，移动至小麦面包位置合拢爪夹抓取小麦面包，", + "time": 5.188234, + "annotations": { + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153156620_xlqux3xpw", + "x": 0.565625, + "y": 0.6561979166666667 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153158331_dy1820x1d", + "x": 0.46262499999999995, + "y": 0.67753125 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153162155_shx5vgow1", + "x": 0.43162500000000004, + "y": 0.7068645833333334, + "width": 0.17699999999999996, + "height": 0.24400000000000002 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153166307_93d0w9gl9", + "x": 0.145625, + "y": 0.4268645833333334, + "width": 0.16599999999999998, + "height": 0.06666666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右后方移动", + "correction_plan": "下降爪夹并略微向爪夹方向左下方调整爪夹角度，下降至可抓取小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向右后方移动接近了小麦面包", + "frame": 182, + "progress": 20, + "progress_explanation": "爪夹已移动小麦面包上方，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，位于小麦面包上方。\n为完成将小麦面包头放在面包架上的任务应当：下降爪夹并略微向爪夹方向左下方调整爪夹角度", + "time": 6.080194, + "annotations": { + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153170899_5dcr5z68t", + "x": 0.141625, + "y": 0.43353125, + "width": 0.16599999999999998, + "height": 0.064 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153173215_dv3v5uq4g", + "x": 0.23362500000000003, + "y": 0.4428645833333334 + } + ] + }, + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153174819_spmf6kj6b", + "x": 0.335625, + "y": 0.46419791666666665 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153180312_nppn3lw7x", + "x": 0.42762500000000003, + "y": 0.7161979166666668, + "width": 0.179, + "height": 0.2413333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "略微向爪夹方向左下方调整爪夹角度，调整至可抓取小麦面包的位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功下降至完全靠近小麦面包位置", + "frame": 210, + "progress": 25, + "progress_explanation": "爪夹已完全靠近至小麦面包，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，完全靠近小麦面包。\n为完成将小麦面包头放在面包架上的任务应当：略微向爪夹方向左下方调整爪夹角度，调整至可抓取小麦面包的位置合拢爪夹抓取小麦面包", + "time": 6.99813118556701, + "annotations": { + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153184678_vy7k00mnb", + "x": 0.42662500000000003, + "y": 0.7188645833333334, + "width": 0.18199999999999994, + "height": 0.22533333333333339 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153193903_fjc2mjb24", + "x": 0.145625, + "y": 0.3628645833333334, + "width": 0.16599999999999998, + "height": 0.14666666666666667 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153195635_noswe82op", + "x": 0.230625, + "y": 0.47086458333333336 + } + ] + }, + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153197271_09wefdvyi", + "x": 0.325625, + "y": 0.50553125 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹，略微向爪夹方向左下方调整爪夹角度，调整至可抓取小麦面包的位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹尚未调整角度至可抓取小麦面包的位置提前进行合拢动作", + "frame": 227, + "progress": -10, + "progress_explanation": "爪夹合拢但未成功抓取小麦面包，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，未抓取物品。\n为完成将小麦面包放在面包架上的任务应当：张开爪夹，略微向爪夹方向左下方调整爪夹角度，调整至可抓取小麦面包的位置合拢爪夹抓取小麦面包", + "time": 7.551928, + "annotations": { + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153200355_xmplzifjf", + "x": 0.293625, + "y": 0.4841979166666667 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153202146_esw51tcp3", + "x": 0.281625, + "y": 0.4868645833333333 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153205415_ofgdrb9we", + "x": 0.242625, + "y": 0.41753124999999996, + "width": 0.13599999999999998, + "height": 0.11466666666666671 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153209236_gw3qmoumy", + "x": 0.4246250000000001, + "y": 0.7161979166666668, + "width": 0.19799999999999995, + "height": 0.24666666666666662 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "爪夹张开并向爪夹方向下方小麦面包位置下降，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹尚未抓取小麦面包提前远离了小麦面包的位置", + "frame": 255, + "progress": -20, + "progress_explanation": "爪夹尚未抓取小麦面包头且远离了小麦面包，因此进度降低至-20%", + "state_description": "当前状态为爪夹合拢，未抓取物品。\n为完成将小麦面包放在面包架上的任务应当：爪夹张开并向爪夹方向下方小麦面包位置下降", + "time": 8.488486, + "annotations": { + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153216670_kz7s66333", + "x": 0.42662500000000003, + "y": 0.7148645833333335, + "width": 0.192, + "height": 0.23866666666666655 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153222732_f65p8npio", + "x": 0.23162500000000003, + "y": 0.4228645833333333, + "width": 0.154, + "height": 0.18800000000000008 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153224670_gqxg85exn", + "x": 0.222625, + "y": 0.37886458333333334 + } + ] + }, + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153231130_hwou5nikz", + "x": 0.23562500000000003, + "y": 0.38286458333333334 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向下方小麦面包位置下降，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹成功由合拢变为张开状态", + "frame": 265, + "progress": 15, + "progress_explanation": "爪夹张开，且位于较为接近小麦面包的位置。因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于小麦面包左后方。\n为完成将小麦面包放在面包架上的任务应当：\n爪夹向爪夹方向下方小麦面包位置下降，下降至小麦面包位置合拢爪夹抓取小麦面包", + "time": 8.830404, + "annotations": { + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153233908_lxdg9n005", + "x": 0.325625, + "y": 0.39353125 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153235820_jb44ydvvq", + "x": 0.22562500000000002, + "y": 0.37353125000000004 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153240651_j20rw65yb", + "x": 0.428625, + "y": 0.7135312500000001, + "width": 0.179, + "height": 0.23866666666666667 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153244167_s3clocawy", + "x": 0.230625, + "y": 0.4241979166666667, + "width": 0.15700000000000003, + "height": 0.19599999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功向爪夹方向下方移动下降至可抓取小麦面包的位置", + "frame": 310, + "progress": 25, + "progress_explanation": "爪夹已移动至可抓取小麦面包的位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于小麦面包位置。\n为完成将小麦面包头放在面包架上的任务应当：合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升", + "time": 10.317004, + "annotations": { + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153248555_181qfyqou", + "x": 0.23362500000000003, + "y": 0.42019791666666667, + "width": 0.077, + "height": 0.16266666666666676 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153254367_ig2i5d2w7", + "x": 0.42262500000000003, + "y": 0.7188645833333334, + "width": 0.18499999999999997, + "height": 0.23466666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上\n", + "error_success_analysis": "爪夹成功合拢小麦面包成功被爪夹抓取", + "frame": 352, + "progress": 50, + "progress_explanation": "小麦面包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降", + "time": 11.74414, + "annotations": { + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153259178_2t9hjlnu2", + "x": 0.43162500000000004, + "y": 0.7201979166666667, + "width": 0.18099999999999997, + "height": 0.23066666666666671 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153264479_l12cfbozk", + "x": 0.212625, + "y": 0.4401979166666667, + "width": 0.12599999999999997, + "height": 0.17866666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹抬升至空中", + "frame": 382, + "progress": 60, + "progress_explanation": "小麦面包已被爪夹抓取并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被抬升至空中。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态向爪夹方向左前方面包架位置移动，移动至面包架上方后下降", + "time": 12.729970360824742, + "annotations": { + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153270463_ejqy5plb7", + "x": 0.24162500000000003, + "y": 0.3628645833333334, + "width": 0.13999999999999999, + "height": 0.16133333333333333 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153272395_qu08aqv8w", + "x": 0.32262500000000005, + "y": 0.41353125 + } + ] + }, + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153274392_pao1mrbo3", + "x": 0.341625, + "y": 0.4188645833333334 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153279219_zclqldc9z", + "x": 0.425625, + "y": 0.7108645833333334, + "width": 0.18200000000000002, + "height": 0.2426666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹抓取小麦面包，但却朝面包架相反的方向移动", + "frame": 393, + "progress": -5, + "progress_explanation": "小麦面包已被爪夹抓取并抬升至空中，但略微朝远离面包架的方向移动，因此进度降低至-5%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被抬升至空中。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态向爪夹方向左前方面包架位置移动，移动至面包架上方后下降", + "time": 13.084883244960475, + "annotations": { + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153284803_cnns9lkoy", + "x": 0.424625, + "y": 0.7135312500000001, + "width": 0.188, + "height": 0.23866666666666667 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153289958_8illhlztu", + "x": 0.176625, + "y": 0.37353125000000004 + } + ] + }, + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153291707_56md8oz1s", + "x": 0.193625, + "y": 0.38286458333333334 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153296556_9om0uj1y6", + "x": 0.06162500000000002, + "y": 0.35353124999999996, + "width": 0.19, + "height": 0.16133333333333338 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹向错误的方向爪夹方向下方移动至碗内，使小麦面包与面包架之间出现障碍物", + "frame": 414, + "progress": -15, + "progress_explanation": "爪夹并未向面包架方向移动，并且向下使小麦面包下降进了碗中，因此进度降低至-15%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被抬升至空中。\n为完成将小麦面包放在面包架上的任务应当：保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降", + "time": 13.810514, + "annotations": { + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153305740_1t9qaj37g", + "x": 0.112625, + "y": 0.46953125, + "width": 0.15000000000000002, + "height": 0.15466666666666667 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153307498_690kzo887", + "x": 0.190625, + "y": 0.5228645833333333 + } + ] + }, + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153309379_jqujehdh5", + "x": 0.206625, + "y": 0.5201979166666667 + } + ] + }, + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153313779_u73vjrb15", + "x": 0.42262500000000003, + "y": 0.7188645833333334, + "width": 0.18499999999999997, + "height": 0.23466666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向下方移动下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方面包架位置移动，移动至面包架上方后下降，下降至小麦面包进入面包架的位置时张开爪夹。使小麦面包放置在面包架上", + "error_success_analysis": "爪夹提前张开导致小麦面包于错误位置落下", + "frame": 435, + "progress": -40, + "progress_explanation": "爪夹尚未移动至正确位置，爪夹提前张开导致小麦面包于错误位置落下，因此进度降低至-40", + "state_description": "当前状态为爪夹张开，位于小麦面包上方\n为完成将小麦面包放在面包架上的任务应当：下降爪夹，下降至小麦面包位置合拢爪夹抓取小麦面包", + "time": 14.494349, + "annotations": { + "bbox_1769153026040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153026040_1769153317695_91i3tfpux", + "x": 0.421625, + "y": 0.7161979166666668, + "width": 0.18699999999999992, + "height": 0.2319999999999999 + } + ] + }, + "bbox_1769153025880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153025880_1769153327346_k353nlpk8", + "x": 0.12562500000000001, + "y": 0.5201979166666667, + "width": 0.152, + "height": 0.16666666666666666 + } + ] + }, + "point_1769153026996": { + "type": "point", + "instances": [ + { + "id": "point_1769153026996_1769153329238_kthp82dfl", + "x": 0.163625, + "y": 0.50953125 + } + ] + }, + "point_1769153027159": { + "type": "point", + "instances": [ + { + "id": "point_1769153027159_1769153331142_x336mx01x", + "x": 0.252625, + "y": 0.5588645833333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769153025880", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769153026040", + "name": "面包架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769153026996", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769153027159", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-110455-put-buckwheat bag-porcelain-bowl-good/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-110455-put-buckwheat bag-porcelain-bowl-good/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..41f67d24b1683e231ba7a55425254fab0a7e3dff --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-110455-put-buckwheat bag-porcelain-bowl-good/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,358 @@ +{ + "task_description": "将荞麦面包放入瓷碗中\n开始移动0%\n爪夹靠近荞麦面包25%\n爪夹抓取荞麦面包50%\n爪夹抓取荞麦面包移动至瓷碗上方75%\n爪夹张开，荞麦面包落入瓷碗中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前方荞麦面包位置移动同时调整爪夹角度使其向下，移动至荞麦面包位置下降爪夹，下降至荞麦面包位置合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离荞麦面包，未开始移动。\n为完成将荞麦面包头放在面包架上的任务应当：爪夹向爪夹方向前下方移动同时调整爪夹角度使其向下，", + "time": 0.6141503211212066, + "annotations": { + "bbox_1769152891836": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152891836_1769152915062_a7j5t5waz", + "x": 0.436625, + "y": 0.5108645833333333, + "width": 0.18899999999999997, + "height": 0.22666666666666663 + } + ] + }, + "bbox_1769152892007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152892007_1769152923971_92zevob1j", + "x": 0.525625, + "y": 0.10953125000000001, + "width": 0.17, + "height": 0.21066666666666664 + } + ] + }, + "point_1769152898414": { + "type": "point", + "instances": [ + { + "id": "point_1769152898414_1769152930023_bzdn8cfvc", + "x": 0.42262500000000003, + "y": 0.4228645833333333 + } + ] + }, + "point_1769152898560": { + "type": "point", + "instances": [ + { + "id": "point_1769152898560_1769152931736_iyhm4nf0j", + "x": 0.535625, + "y": 0.47353125 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动同时向爪夹方向下方略微调整爪夹口的方向", + "correction_plan": "爪夹向爪夹方向前方荞麦面包位置移动同时调整爪夹角度使其向下，移动至荞麦面包位置下降爪夹，下降至荞麦面包位置合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向下方略微调整爪夹口的方向", + "frame": 28, + "progress": 5, + "progress_explanation": "爪夹略微调整爪夹角度使其向下，尚未进行长距离移动，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于荞麦面包后上方。\n为完成将荞麦面包放入瓷碗的任务应当：爪夹继续向爪夹方向前方荞麦面包移动，同时向下调整爪夹角度", + "time": 0.9311314440707386, + "annotations": { + "point_1769152898560": { + "type": "point", + "instances": [ + { + "id": "point_1769152898560_1769152934114_rh9d1j0u4", + "x": 0.556625, + "y": 0.4588645833333333 + } + ] + }, + "point_1769152898414": { + "type": "point", + "instances": [ + { + "id": "point_1769152898414_1769152936374_7cartlv4x", + "x": 0.43062500000000004, + "y": 0.44553125000000005 + } + ] + }, + "bbox_1769152891836": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152891836_1769152940430_4mmpc54zq", + "x": 0.42062499999999997, + "y": 0.5161979166666667, + "width": 0.20500000000000007, + "height": 0.22666666666666663 + } + ] + }, + "bbox_1769152892007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152892007_1769152944479_iid3k7hjb", + "x": 0.520625, + "y": 0.10019791666666666, + "width": 0.18100000000000005, + "height": 0.21733333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动，同时调整爪夹角度使其对准了荞麦面包", + "correction_plan": "合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向前下方移动至可抓取荞麦面包的位置", + "frame": 68, + "progress": 25, + "progress_explanation": "爪夹已移动至可抓取荞麦面包的位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于荞麦面包位置。\n为完成将荞麦面包放入瓷碗的任务应当：合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升", + "time": 2.260999, + "annotations": { + "bbox_1769152892007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152892007_1769152949030_7qrqehllk", + "x": 0.520625, + "y": 0.10553125000000001, + "width": 0.17200000000000007, + "height": 0.22133333333333335 + } + ] + }, + "bbox_1769152891836": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152891836_1769152955535_o5y2nefb4", + "x": 0.43562500000000004, + "y": 0.4828645833333333, + "width": 0.188, + "height": 0.27066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功合拢，荞麦面包成功被爪夹抓取。", + "frame": 98, + "progress": 50, + "progress_explanation": "荞麦面包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包，荞麦面包尚未移动。\n为完成将荞麦面包放入瓷碗的任务应当：保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降", + "time": 3.255, + "annotations": { + "bbox_1769152891836": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152891836_1769152959683_4725b4hfy", + "x": 0.48362499999999997, + "y": 0.49753125, + "width": 0.14700000000000008, + "height": 0.19333333333333336 + } + ] + }, + "bbox_1769152892007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152892007_1769152964047_jsfntyu4j", + "x": 0.516625, + "y": 0.11086458333333334, + "width": 0.17200000000000007, + "height": 0.20800000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取荞麦面包，荞麦面包成功被爪夹抬升至空中。\n", + "frame": 140, + "progress": 60, + "progress_explanation": "荞麦面包已被爪夹抓取并抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包，荞麦面包已被抬升至空中。\n为完成将荞麦面包放入瓷碗的任务应当：保持爪夹合拢状态向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，", + "time": 4.669, + "annotations": { + "bbox_1769152892007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152892007_1769152969171_oaevlpij2", + "x": 0.526625, + "y": 0.11619791666666666, + "width": 0.16099999999999995, + "height": 0.2013333333333333 + } + ] + }, + "bbox_1769152891836": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152891836_1769152972967_psnlrdv2l", + "x": 0.457625, + "y": 0.004197916666666667, + "width": 0.20400000000000001, + "height": 0.228 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "保持爪夹合拢状态下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取荞麦面包，荞麦面包成功被爪夹移动至瓷碗上方", + "frame": 155, + "progress": 75, + "progress_explanation": "荞麦面包已被爪夹移动至瓷碗上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包，荞麦面包已被移动至瓷碗上方。\n为完成将荞麦面包放入瓷碗的任务应当：保持爪夹合拢状态下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "time": 5.18, + "annotations": { + "bbox_1769152891836": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152891836_1769152977763_6bxk0mvyi", + "x": 0.545625, + "y": -0.0011354166666666667, + "width": 0.146, + "height": 0.19333333333333333 + } + ] + }, + "bbox_1769152892007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152892007_1769152981951_z1q2kq30z", + "x": 0.522625, + "y": 0.12153125000000002, + "width": 0.175, + "height": 0.204 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹。使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功保持合拢状态下降，荞麦面包成功被爪夹下降至瓷碗内", + "frame": 178, + "progress": 90, + "progress_explanation": "荞麦面包已被移动下降至瓷碗内，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包，荞麦面包已被移动至瓷碗内。\n为完成将荞麦面包放入瓷碗的任务应当：张开爪夹。使荞麦面包落入瓷碗中", + "time": 5.922, + "annotations": { + "bbox_1769152892007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152892007_1769152989700_8cmgtftt5", + "x": 0.543625, + "y": 0.11619791666666668, + "width": 0.15099999999999997, + "height": 0.19733333333333333 + } + ] + }, + "bbox_1769152891836": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152891836_1769153000720_m9gjl66jn", + "x": 0.545625, + "y": 0.05353125, + "width": 0.12300000000000004, + "height": 0.21066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将荞麦面包放入瓷碗中的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，荞麦面包成功被爪夹放进瓷碗中", + "frame": 199, + "progress": 100, + "progress_explanation": "将荞麦面包放入瓷碗中的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于瓷碗于荞麦面包上方。\n将荞麦面包放入瓷碗中的任务已完成", + "time": 6.636791657162313, + "annotations": { + "bbox_1769152891836": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152891836_1769153005340_lcgniucrg", + "x": 0.533625, + "y": 0.06019791666666666, + "width": 0.129, + "height": 0.20400000000000001 + } + ] + }, + "bbox_1769152892007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152892007_1769153010526_kl2i5wx6s", + "x": 0.550625, + "y": 0.12286458333333333, + "width": 0.13999999999999996, + "height": 0.18400000000000005 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769152891836", + "name": "荞麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769152892007", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769152898414", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769152898560", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-111917-put-buckwheat bag-porcelain-bowl-mix/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-111917-put-buckwheat bag-porcelain-bowl-mix/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..94f4d2cece6019699acf5412899a753b8bc3360b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-111917-put-buckwheat bag-porcelain-bowl-mix/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,458 @@ +{ + "task_description": "将荞麦面包放入瓷碗中\n开始移动0%\n爪夹靠近荞麦面包25%\n爪夹抓取荞麦面包50%\n爪夹抓取荞麦面包移动至瓷碗上方75%\n爪夹张开，荞麦面包落入瓷碗中100%", + "progress_points": [ + { + "time": 0.4592393041237113, + "frame": 14, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离荞麦面包，未开始移动。\n为完成将荞麦面包头放在面包架上的任务应当：爪夹向爪夹方向前下方移动同时调整爪夹角度使其向下", + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向前方荞麦面包位置移动同时调整爪夹角度使其向下，移动至荞麦面包位置下降爪夹，下降至荞麦面包位置合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "annotations": { + "bbox_1769152744040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744040_1769152769776_ft3wrwual", + "x": 0.571625, + "y": 0.21886458333333333, + "width": 0.10499999999999998, + "height": 0.10800000000000001 + } + ] + }, + "bbox_1769152744214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744214_1769152775200_gwacmhu75", + "x": 0.32262500000000005, + "y": 0.10953125000000001, + "width": 0.13899999999999996, + "height": 0.16 + } + ] + } + } + }, + { + "time": 1.891411, + "frame": 57, + "progress": 24, + "action_description": "爪夹向爪夹方向前下方移动，同时调整爪夹角度使其对准了荞麦面包", + "state_description": "当前状态为爪夹张开，位于极其接近荞麦面包位置。\n为完成将荞麦面包放入瓷碗的任务应当：向爪夹方向右方略微移动之后合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升", + "progress_explanation": "爪夹已移动至极其接近荞麦面包的位置，因此进度提升至24%", + "error_success_analysis": "爪夹成功向爪夹方向前下方移动接近荞麦面包的位置", + "correction_plan": "爪夹向爪夹方向右方移动至荞麦面包位置合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "annotations": { + "bbox_1769152744214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744214_1769152781096_j8ch4fgqz", + "x": 0.325625, + "y": 0.10953125000000001, + "width": 0.13299999999999995, + "height": 0.16666666666666663 + } + ] + }, + "bbox_1769152744040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744040_1769152784680_3qnn7qgmo", + "x": 0.5666249999999999, + "y": 0.2201979166666667, + "width": 0.07000000000000002, + "height": 0.07733333333333331 + } + ] + }, + "point_1769152752712": { + "type": "point", + "instances": [ + { + "id": "point_1769152752712_1769152786929_wu2b5i8bb", + "x": 0.546625, + "y": 0.33753125 + } + ] + }, + "point_1769152753016": { + "type": "point", + "instances": [ + { + "id": "point_1769152753016_1769152788844_gsy5rvup3", + "x": 0.610625, + "y": 0.3028645833333333 + } + ] + } + } + }, + { + "time": 2.571859, + "frame": 77, + "progress": -10, + "action_description": "爪夹由张开变为合拢", + "state_description": "当前状态为爪夹合拢，未抓取物品。\n为完成将荞麦面包放入瓷碗的任务应当：张开爪夹，向爪夹方向右方荞麦面包位置移动", + "progress_explanation": "爪夹尚未移动至荞麦面包位置合拢了爪夹，因此进度降低至-10%", + "error_success_analysis": "爪夹尚未移动至可抓取荞麦面包的位置提前进行合拢，导致抓取失败", + "correction_plan": "张开爪夹，向爪夹方向右方荞麦面包位置移动，移动至荞麦面包位置合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "annotations": { + "point_1769152752712": { + "type": "point", + "instances": [ + { + "id": "point_1769152752712_1769152792580_8m3f7a6kl", + "x": 0.578625, + "y": 0.3161979166666667 + } + ] + }, + "bbox_1769152744040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744040_1769152796103_k2p7jmufb", + "x": 0.5666249999999999, + "y": 0.21219791666666668, + "width": 0.10900000000000007, + "height": 0.08533333333333332 + } + ] + }, + "bbox_1769152744214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744214_1769152801060_vy1xq974x", + "x": 0.327625, + "y": 0.11353125000000001, + "width": 0.133, + "height": 0.15733333333333335 + } + ] + } + } + }, + { + "time": 3.679027, + "frame": 110, + "progress": -20, + "action_description": "爪夹向爪夹方向上方抬升移动", + "state_description": "当前状态为爪夹合拢，未抓取物品。\n为完成将荞麦面包放入瓷碗的任务应当：张开爪夹，向爪夹方向下方荞麦面包位置移动下降", + "progress_explanation": "爪夹尚未抓取荞麦面包远离了荞麦面包，因此进度降低至-20%", + "error_success_analysis": "爪夹尚未抓取荞麦面包，提前进行了错误的抬升动作，导致远离了荞麦面包", + "correction_plan": "张开爪夹，向爪夹方向下方荞麦面包位置移动下降，下降至荞麦面包位置合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "annotations": { + "bbox_1769152744214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744214_1769152804980_hnzxvazg7", + "x": 0.321625, + "y": 0.10686458333333333, + "width": 0.13699999999999996, + "height": 0.16533333333333333 + } + ] + }, + "bbox_1769152744040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744040_1769152809244_jdhtyt661", + "x": 0.5626249999999999, + "y": 0.21219791666666668, + "width": 0.11000000000000006, + "height": 0.11066666666666665 + } + ] + } + } + }, + { + "time": 4.140346, + "frame": 124, + "progress": 10, + "action_description": "爪夹由合拢变为张开", + "state_description": "当前状态为爪夹张开，位于荞麦面包上方。\n为完成将荞麦面包放入瓷碗的任务应当：爪夹向爪夹方向下方荞麦面包位置移动下降", + "progress_explanation": "爪夹张开，位于荞麦面包正上方，相较初始位置较为接近荞麦面包，因此进度提升至10%", + "error_success_analysis": "爪夹成功于荞麦面包上方张开爪夹", + "correction_plan": "保持爪夹张开状态向爪夹方向下方荞麦面包位置移动下降，夹，下降至荞麦面包位置合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "annotations": { + "bbox_1769152744040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744040_1769152818440_38cbfr8a8", + "x": 0.560625, + "y": 0.21353125, + "width": 0.11500000000000003, + "height": 0.10933333333333331 + } + ] + }, + "bbox_1769152744214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744214_1769152823273_grihyd6wt", + "x": 0.323625, + "y": 0.11086458333333334, + "width": 0.137, + "height": 0.15466666666666665 + } + ] + } + } + }, + { + "time": 6.054825, + "frame": 182, + "progress": 25, + "action_description": "爪夹向爪夹方向下方移动下降，同时调整爪夹角度使其对准了荞麦面包", + "state_description": "当前状态为爪夹张开，位于荞麦面包位置。\n为完成将荞麦面包放入瓷碗的任务应当：合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升", + "progress_explanation": "爪夹已移动至可抓取荞麦面包的位置，因此进度提升至25%", + "error_success_analysis": "爪夹成功向爪夹方向下方移动至可抓取荞麦面包的位置", + "correction_plan": "合拢爪夹抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "annotations": { + "bbox_1769152744214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744214_1769152829809_8o7j8jmqi", + "x": 0.325625, + "y": 0.11086458333333334, + "width": 0.13699999999999996, + "height": 0.156 + } + ] + }, + "bbox_1769152744040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744040_1769152833256_r1kvm8tgp", + "x": 0.5586249999999999, + "y": 0.22953125, + "width": 0.12300000000000004, + "height": 0.088 + } + ] + }, + "point_1769152752712": { + "type": "point", + "instances": [ + { + "id": "point_1769152752712_1769152835531_9mxxa3bkw", + "x": 0.535625, + "y": 0.31353125 + } + ] + }, + "point_1769152753016": { + "type": "point", + "instances": [ + { + "id": "point_1769152753016_1769152837828_z7te3oi3l", + "x": 0.5976250000000001, + "y": 0.26686458333333335 + } + ] + } + } + }, + { + "time": 7.331480541237113, + "frame": 220, + "progress": 50, + "action_description": "爪夹由张开变为合拢", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包，荞麦面包尚未移动。\n为完成将荞麦面包放入瓷碗的任务应当：保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降", + "progress_explanation": "荞麦面包已被爪夹抓取，因此进度提升至50%", + "error_success_analysis": "爪夹成功合拢，荞麦面包成功被爪夹抓取。", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "annotations": { + "point_1769152752712": { + "type": "point", + "instances": [ + { + "id": "point_1769152752712_1769152841307_vss3twylo", + "x": 0.551625, + "y": 0.28286458333333336 + } + ] + }, + "bbox_1769152744040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744040_1769152845589_ick4off0y", + "x": 0.528625, + "y": 0.2201979166666667, + "width": 0.12400000000000003, + "height": 0.10400000000000001 + } + ] + }, + "bbox_1769152744214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744214_1769152852373_c7r4ucotz", + "x": 0.323625, + "y": 0.11086458333333334, + "width": 0.137, + "height": 0.15866666666666665 + } + ] + } + } + }, + { + "time": 9.204638361527401, + "frame": 276, + "progress": 60, + "action_description": "爪夹向爪夹方向上方抬升移动", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包，荞麦面包已被抬升至空中。\n为完成将荞麦面包放入瓷碗的任务应当：保持爪夹合拢状态向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降", + "progress_explanation": "荞麦面包已被爪夹抓取并抬升至空中，因此进度提升至60%", + "error_success_analysis": "爪夹成功抓取荞麦面包，荞麦面包成功被爪夹抬升至空中。", + "correction_plan": "保持爪夹合拢状态向爪夹方向前方瓷碗位置移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "annotations": { + "bbox_1769152744214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744214_1769152860200_5ls6jibhq", + "x": 0.323625, + "y": 0.11619791666666666, + "width": 0.137, + "height": 0.156 + } + ] + } + } + }, + { + "time": 10.379698705055706, + "frame": 311, + "progress": 75, + "action_description": "爪夹向爪夹方向前下方移动", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包，荞麦面包已被移动至瓷碗上方。\n为完成将荞麦面包放入瓷碗的任务应当：保持爪夹合拢状态下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "progress_explanation": "荞麦面包已被爪夹移动至瓷碗上方，因此进度提升至75%", + "error_success_analysis": "爪夹成功抓取荞麦面包，荞麦面包成功被爪夹移动至瓷碗上方", + "correction_plan": "保持爪夹合拢状态下降，下降至荞麦面包进入瓷碗内时张开爪夹。使荞麦面包落入瓷碗中", + "annotations": { + "bbox_1769152744214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744214_1769152866205_x3p8gp1m2", + "x": 0.326625, + "y": 0.11353125000000001, + "width": 0.13199999999999998, + "height": 0.152 + } + ] + }, + "bbox_1769152744040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744040_1769152870312_483dhfpuk", + "x": 0.323625, + "y": 0.026864583333333334, + "width": 0.08200000000000003, + "height": 0.15600000000000003 + } + ] + }, + "point_1769152752712": { + "type": "point", + "instances": [ + { + "id": "point_1769152752712_1769152871883_mzzz6erf9", + "x": 0.341625, + "y": 0.06953125 + } + ] + } + } + }, + { + "time": 11.183740335051546, + "frame": 336, + "progress": 100, + "action_description": "爪夹由合拢变为张开", + "state_description": "当前状态为爪夹张开，位于瓷碗于荞麦面包上方。\n将荞麦面包放入瓷碗中的任务已完成", + "progress_explanation": "将荞麦面包放入瓷碗中的任务已完成，因此进度提升至100%", + "error_success_analysis": "爪夹成功张开，荞麦面包成功被爪夹放进瓷碗中", + "correction_plan": "将荞麦面包放入瓷碗中的任务已完成，无需后续动作规划", + "annotations": { + "point_1769152752712": { + "type": "point", + "instances": [ + { + "id": "point_1769152752712_1769152874412_u4fsfsqm9", + "x": 0.321625, + "y": 0.11219791666666667 + } + ] + }, + "bbox_1769152744040": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744040_1769152881124_7ergl2wao", + "x": 0.288625, + "y": 0.11219791666666667, + "width": 0.144, + "height": 0.08533333333333332 + } + ] + }, + "bbox_1769152744214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152744214_1769152886332_mg4mynkbx", + "x": 0.341625, + "y": 0.11886458333333333, + "width": 0.11499999999999999, + "height": 0.14666666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769152744040", + "name": "荞麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769152744214", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769152752712", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769152753016", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-111917-put-buckwheat bag-porcelain-bowl-mix/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-111917-put-buckwheat bag-porcelain-bowl-mix/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..d529f8efa106461a166f90187b669192730d9f1c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-111917-put-buckwheat bag-porcelain-bowl-mix/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,862 @@ +{ + "task_description": "将荞麦面包放入瓷碗中\n开始移动0%\n爪夹靠近荞麦面包25%\n爪夹抓取荞麦面包50%\n爪夹抓取荞麦面包移动至瓷碗上方75%\n爪夹张开，荞麦面包落入瓷碗中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。\n", + "correction_plan": "爪夹向爪夹方向右前方移动移动至荞麦面包上方后下降，下降至荞麦面包位置合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离荞麦面包\n为完成将荞麦面包放入瓷碗的任务应当：爪夹向爪夹方向右前方移动移动至荞麦面包上方后下降，下降至荞麦面包位置合拢爪夹", + "time": 0.609254, + "annotations": { + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408323052_1mg27zv84", + "x": 0.49533331298828126, + "y": 0.24977777099609375, + "width": 0.14000000000000004, + "height": 0.12533333333333335 + } + ] + }, + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408326797_htjf0ex5c", + "x": 0.7473333129882812, + "y": 0.29377777099609376, + "width": 0.15700000000000003, + "height": 0.18266666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动", + "correction_plan": "爪夹向爪夹方向上方略微抬升之后向爪夹方向右方荞麦面包位置移动，移动至荞麦面包位置合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向前下方靠近至荞麦面包", + "frame": 79, + "progress": 15, + "progress_explanation": "爪夹向荞麦面包位置靠近但还为移动至可抓取荞麦面包的位置，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于荞麦面包左方。\n为完成将荞麦面包放入瓷碗的任务应当：爪夹向爪夹方向上方略微抬升之后向爪夹方向右方荞麦面包位置移动", + "time": 2.6318306149225608, + "annotations": { + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408331467_3a23g1wgu", + "x": 0.7483333129882813, + "y": 0.2964444376627604, + "width": 0.15300000000000002, + "height": 0.17466666666666666 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408337972_mdvkrl3t6", + "x": 0.5043333129882812, + "y": 0.2711111043294271, + "width": 0.12300000000000004, + "height": 0.09600000000000003 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408339828_4v4pbrrcn", + "x": 0.49633331298828126, + "y": 0.3724444376627604 + } + ] + }, + "point_1769408302010": { + "type": "point", + "instances": [ + { + "id": "point_1769408302010_1769408341549_cv640b8zj", + "x": 0.5393333129882812, + "y": 0.3271111043294271 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹，爪夹向爪夹方向上方略微抬升之后向爪夹方向右方荞麦面包位置移动，移动至荞麦面包位置下降并合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹尚未移动至荞麦面包位置提前合拢爪夹，导致抓取物品错误", + "frame": 99, + "progress": -10, + "progress_explanation": "爪夹合拢抓取了错误物品，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，抓取茶杯。\n为完成将荞麦面包放入瓷碗的任务应当：张开爪夹，爪夹向爪夹方向上方略微抬升之后向爪夹方向右方荞麦面包位置移动", + "time": 3.3124768217417353, + "annotations": { + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408345707_k2rkoi3mu", + "x": 0.5053333129882812, + "y": 0.3471111043294271 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408349438_4p6ca3z04", + "x": 0.49533331298828126, + "y": 0.27377777099609374, + "width": 0.13600000000000004, + "height": 0.0986666666666667 + } + ] + }, + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408354016_49kyu1ygr", + "x": 0.7473333129882812, + "y": 0.29777777099609376, + "width": 0.158, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "张开爪夹，爪夹向爪夹方向右前方荞麦面包位置移动，移动至荞麦面包上方后下降，下降至荞麦面包位置合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "茶杯并不是目标物，爪夹抓取错误物品远离了目标物", + "frame": 122, + "progress": -20, + "progress_explanation": "爪夹抓取错误物品并抬升远离荞麦面包，因此进度降低至-20%", + "state_description": "当前状态为爪夹合拢，抓紧茶杯，茶杯已被移动至空中。\n为完成将荞麦面包放入瓷碗的任务应当：张开爪夹，爪夹向爪夹方向右前方荞麦面包位置移动", + "time": 4.056349, + "annotations": { + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408361776_ggllh7l28", + "x": 0.7483333129882813, + "y": 0.2951111043294271, + "width": 0.15599999999999997, + "height": 0.18133333333333332 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408366353_jlbykumwo", + "x": 0.5973333129882812, + "y": 0.2191111043294271 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408371420_emhbw549e", + "x": 0.48833331298828125, + "y": 0.2591111043294271, + "width": 0.14400000000000004, + "height": 0.11466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后下方移动", + "correction_plan": "张开爪夹，爪夹向爪夹方向右前方荞麦面包位置移动，移动至荞麦面包上方后下降，下降至荞麦面包位置合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "茶杯并不是目标物，爪夹抓取错误物品更加远离了目标物", + "frame": 138, + "progress": -25, + "progress_explanation": "爪夹抓取错误物品并向爪夹方向后方远离荞麦面包，因此进度降低至-25%", + "state_description": "当前状态为爪夹合拢，抓紧茶杯，茶杯已被移动至空中。\n为完成将荞麦面包放入瓷碗的任务应当：张开爪夹，爪夹向爪夹方向右前方荞麦面包位置移动", + "time": 4.591351259944876, + "annotations": { + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408381672_nkbdgsb6m", + "x": 0.4853333129882812, + "y": 0.2524444376627604, + "width": 0.12200000000000007, + "height": 0.12000000000000002 + } + ] + }, + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408386131_4pbd9pdjq", + "x": 0.7523333129882813, + "y": 0.29777777099609376, + "width": 0.15299999999999994, + "height": 0.17066666666666663 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408387892_5a2krdurf", + "x": 0.6483333129882813, + "y": 0.30044443766276047 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，爪夹向爪夹方向右前方荞麦面包位置移动，移动至荞麦面包上方后下降，下降至荞麦面包位置合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "茶杯并不是目标物，爪夹抓取错误物品并且更加远离了目标物", + "frame": 149, + "progress": -30, + "progress_explanation": "爪夹抓取错误物品并更加远离荞麦面包，因此进度降低至-30%", + "state_description": "当前状态为爪夹合拢，抓紧茶杯，茶杯已被移动至空中。\n为完成将荞麦面包放入瓷碗的任务应当：张开爪夹，爪夹向爪夹方向右前方荞麦面包位置移动", + "time": 4.97023, + "annotations": { + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408390444_psqdw8oub", + "x": 0.6413333129882812, + "y": 0.3724444376627604 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408395080_42f9qrfe9", + "x": 0.49133331298828126, + "y": 0.24977777099609375, + "width": 0.14100000000000001, + "height": 0.11866666666666666 + } + ] + }, + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408399220_dgulwrppr", + "x": 0.7603333129882813, + "y": 0.3031111043294271, + "width": 0.14299999999999996, + "height": 0.1733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向右前方移动移动至荞麦面包上方后下降，下降至荞麦面包位置合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中\n\n", + "error_success_analysis": "爪夹成功张开，错误物品成功被爪夹放下", + "frame": 174, + "progress": 10, + "progress_explanation": "爪夹张开，错误物品被放下，且位置较为接近荞麦面包，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于荞麦面包左后方。\n为完成将荞麦面包放入瓷碗的任务应当：爪夹向爪夹方向右前方移动移动至荞麦面包上方后下降，下降至荞麦面包位置合拢爪夹", + "time": 5.803946, + "annotations": { + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408403171_nwmosflpk", + "x": 0.7483333129882813, + "y": 0.30044443766276047, + "width": 0.15799999999999992, + "height": 0.17466666666666666 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408408131_lyi0kv8ut", + "x": 0.6243333129882813, + "y": 0.3884444376627604 + } + ] + }, + "point_1769408302010": { + "type": "point", + "instances": [ + { + "id": "point_1769408302010_1769408409849_shl8j4l1a", + "x": 0.6843333129882813, + "y": 0.3484444376627604 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408413719_d2f88lgt6", + "x": 0.4893333129882812, + "y": 0.2564444376627604, + "width": 0.13200000000000012, + "height": 0.10800000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升", + "correction_plan": "爪夹向爪夹方向前方移动移动至荞麦面包上方后下降，下降至荞麦面包位置合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功向荞麦面包位置靠近", + "frame": 200, + "progress": 15, + "progress_explanation": "爪夹向上抬升靠近荞麦面包，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于荞麦面包后上方。\n为完成将荞麦面包放入瓷碗的任务应当：爪夹向爪夹方向前方移动移动至荞麦面包上方后下降，下降至荞麦面包位置合拢爪夹", + "time": 6.67033144204967, + "annotations": { + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408422072_3o6wxsfis", + "x": 0.4893333129882812, + "y": 0.2577777709960938, + "width": 0.14400000000000004, + "height": 0.12000000000000002 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408424189_83ukwjr5j", + "x": 0.5713333129882813, + "y": 0.18577777099609377 + } + ] + }, + "point_1769408302010": { + "type": "point", + "instances": [ + { + "id": "point_1769408302010_1769408426119_c8awp0qry", + "x": 0.6483333129882813, + "y": 0.1591111043294271 + } + ] + }, + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408431317_ht9dd1pjy", + "x": 0.7483333129882813, + "y": 0.29377777099609376, + "width": 0.15699999999999995, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动", + "correction_plan": "合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中\n", + "error_success_analysis": "爪夹成功移动靠近至可抓取荞麦面包的位置", + "frame": 232, + "progress": 25, + "progress_explanation": "爪夹已移动至荞麦面包位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于荞麦面包位置。\n为完成将荞麦面包放入瓷碗的任务应当：合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升", + "time": 7.741179342406534, + "annotations": { + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408436731_0qqaphh7e", + "x": 0.7483333129882813, + "y": 0.29377777099609376, + "width": 0.15800000000000008, + "height": 0.17600000000000005 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408443985_pfrj5stxc", + "x": 0.48733331298828125, + "y": 0.2564444376627604, + "width": 0.14500000000000002, + "height": 0.11199999999999997 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408445952_pfetac8ew", + "x": 0.5253333129882812, + "y": 0.36177777099609376 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功合拢，荞麦面包成功被爪夹抓取", + "frame": 262, + "progress": 50, + "progress_explanation": "荞麦面包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓取荞麦面包，荞麦面包尚未被移动。\n为完成将荞麦面包放入瓷碗的任务应当：保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降", + "time": 8.737985, + "annotations": { + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408449950_3vad0tb8k", + "x": 0.5473333129882813, + "y": 0.3271111043294271 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408454147_ok2tvu3og", + "x": 0.49633331298828126, + "y": 0.2551111043294271, + "width": 0.12400000000000003, + "height": 0.10133333333333333 + } + ] + }, + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408458146_0yjm8hq6u", + "x": 0.7503333129882812, + "y": 0.30044443766276047, + "width": 0.15699999999999995, + "height": 0.176 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "持爪夹合拢状态向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取荞麦面包 ，荞麦面包成功被爪夹抬升至空中", + "frame": 306, + "progress": 60, + "progress_explanation": "荞麦面包已被爪夹抓取并抬升至空中。因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包，荞麦面包已被抬升至空中。\n为完成将荞麦面包放入瓷碗的任务应当：保持爪夹合拢状态向爪夹方向右后方移动，移动至瓷碗上方后下降", + "time": 10.196988, + "annotations": { + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408467806_bnmx6v48h", + "x": 0.7493333129882813, + "y": 0.29777777099609376, + "width": 0.154, + "height": 0.17866666666666664 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408471951_9wmrbaifa", + "x": 0.5593333129882813, + "y": 0.015111104329427083, + "width": 0.10800000000000001, + "height": 0.15466666666666665 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408473919_zk2vwsozn", + "x": 0.6153333129882813, + "y": 0.07111110432942708 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向爪夹方向前方移动，移动至荞麦面包上方后下降，下降至荞麦面包位置合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹尚未移动至瓷碗位置提前打开，导致荞麦面包未落进瓷碗中", + "frame": 329, + "progress": 10, + "progress_explanation": "荞麦面包尚未移动至瓷碗位置爪夹提前打开，因此进度降低至10%", + "state_description": "当前状态为爪夹张开，位于荞麦面包后上方。\n为完成将荞麦面包放入瓷碗的任务应当：爪夹向爪夹方向前方移动，移动至荞麦面包上方后下降，下降至荞麦面包位置合拢爪夹，", + "time": 10.966572, + "annotations": { + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408482221_2ze7x3p7u", + "x": 0.5053333129882812, + "y": 0.22444443766276043, + "width": 0.12300000000000004, + "height": 0.12933333333333333 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408484239_bgi5ihcv6", + "x": 0.6763333129882813, + "y": 0.1751111043294271 + } + ] + }, + "point_1769408302010": { + "type": "point", + "instances": [ + { + "id": "point_1769408302010_1769408485948_67huyzyon", + "x": 0.7363333129882813, + "y": 0.13511110432942708 + } + ] + }, + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408490279_0hjoy4113", + "x": 0.7453333129882813, + "y": 0.2951111043294271, + "width": 0.158, + "height": 0.184 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动", + "correction_plan": "合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中\n", + "error_success_analysis": "爪夹成功移动靠近至可抓取荞麦面包的位置", + "frame": 376, + "progress": 25, + "progress_explanation": "爪夹已移动至荞麦面包位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于荞麦面包位置。\n为完成将荞麦面包放入瓷碗的任务应当：合拢爪夹，抓取荞麦面包，之后保持爪夹合拢状态抬升", + "time": 12.52388882069458, + "annotations": { + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408496551_v1m78q367", + "x": 0.7513333129882812, + "y": 0.29911110432942706, + "width": 0.15200000000000005, + "height": 0.18000000000000002 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408498666_tvu6e45ut", + "x": 0.5413333129882812, + "y": 0.3324444376627604 + } + ] + }, + "point_1769408302010": { + "type": "point", + "instances": [ + { + "id": "point_1769408302010_1769408500546_08jnary2d", + "x": 0.6123333129882813, + "y": 0.3084444376627605 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408504416_s1y7hjfk8", + "x": 0.48333331298828125, + "y": 0.3244444376627604, + "width": 0.15, + "height": 0.10133333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至荞麦面包进入瓷碗后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功合拢，荞麦面包成功被爪夹抓取", + "frame": 406, + "progress": 50, + "progress_explanation": "荞麦面包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓取荞麦面包，荞麦面包尚未被移动。\n为完成将荞麦面包放入瓷碗的任务应当：保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降", + "time": 13.531852, + "annotations": { + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408508549_y294w3698", + "x": 0.48033331298828125, + "y": 0.32044443766276043, + "width": 0.14900000000000002, + "height": 0.10800000000000001 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408510496_lyd1ml4qx", + "x": 0.5683333129882813, + "y": 0.32977777099609373 + } + ] + }, + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408515064_ojxeta4xb", + "x": 0.7473333129882812, + "y": 0.29244443766276046, + "width": 0.16100000000000012, + "height": 0.18133333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右上方移动", + "correction_plan": "爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取荞麦面包，荞麦面包成功被爪夹移动至瓷碗上方", + "frame": 437, + "progress": 75, + "progress_explanation": "荞麦面包已移动至瓷碗上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包，荞麦面包位于瓷碗上方。\n为完成将荞麦面包放入瓷碗的任务应当：爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹", + "time": 14.573997, + "annotations": { + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408520264_l1gkxk5ed", + "x": 0.7473333129882812, + "y": 0.3044444376627604, + "width": 0.15400000000000008, + "height": 0.16666666666666666 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408525555_7ru9uzwcn", + "x": 0.7613333129882813, + "y": 0.1404444376627604, + "width": 0.14399999999999996, + "height": 0.22266666666666665 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408527951_2531m1vwv", + "x": 0.8533333129882813, + "y": 0.19244443766276043 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "correction_plan": "张开爪夹使荞麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取荞麦面包，荞麦面包成功被爪夹移动下降至瓷碗内", + "frame": 459, + "progress": 90, + "progress_explanation": "荞麦面包已下降至瓷碗内，但爪夹尚未张开，因此进度提升至90", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包，荞麦面包已下降至瓷碗内。\n为完成将荞麦面包放入瓷碗的任务应当：张开爪夹使荞麦面包落入瓷碗中", + "time": 15.291850061759229, + "annotations": { + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408538566_m7azqbqai", + "x": 0.7493333129882813, + "y": 0.30044443766276047, + "width": 0.15799999999999992, + "height": 0.17466666666666666 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408543434_blmgrgkjn", + "x": 0.7673333129882812, + "y": 0.2364444376627604, + "width": 0.15000000000000008, + "height": 0.17866666666666667 + } + ] + }, + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408545403_2da618aza", + "x": 0.8563333129882812, + "y": 0.27644443766276044 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将荞麦面包放入瓷碗中的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，荞麦面包成功落入瓷碗内", + "frame": 474, + "progress": 100, + "progress_explanation": "将荞麦面包放入瓷碗中的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于荞麦面包和瓷碗上方。\n将荞麦面包放入瓷碗中的任务已完成", + "time": 15.808538, + "annotations": { + "point_1769408301825": { + "type": "point", + "instances": [ + { + "id": "point_1769408301825_1769408553552_m1b6s0swb", + "x": 0.8203333129882813, + "y": 0.2791111043294271 + } + ] + }, + "point_1769408302010": { + "type": "point", + "instances": [ + { + "id": "point_1769408302010_1769408555588_ajqou1lqd", + "x": 0.9163333129882814, + "y": 0.29911110432942706 + } + ] + }, + "bbox_1769408294024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408294024_1769408560201_6vnszsjsh", + "x": 0.7493333129882813, + "y": 0.30044443766276047, + "width": 0.154, + "height": 0.17066666666666663 + } + ] + }, + "bbox_1769408293857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408293857_1769408566274_t8w39rflp", + "x": 0.7693333129882813, + "y": 0.26844443766276044, + "width": 0.16400000000000006, + "height": 0.14933333333333335 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769408293857", + "name": "荞麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769408294024", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769408301825", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769408302010", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-113835-put-buckwheat bag-porcelain-bowl-bad/20260109-131814/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-113835-put-buckwheat bag-porcelain-bowl-bad/20260109-131814/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..5ba14d98c94804e345a2121ed3d015f81a40475d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-113835-put-buckwheat bag-porcelain-bowl-bad/20260109-131814/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,438 @@ +{ + "task_description": "将小麦面包放入瓷碗中\n开始移动0%\n爪夹靠近小麦面包25%\n爪夹抓取小麦面包50%\n爪夹抓取小麦面包移动至瓷碗上方75%\n爪夹张开，小麦面包被放入瓷碗内100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1769408108043": { + "instances": [ + { + "height": 0.1599999999999999, + "id": "bbox_1769408108043_1769408130971_pw42jsndn", + "width": 0.1630000000000001, + "x": 0.3923333129882812, + "y": 0.5697777709960938 + } + ], + "type": "bbox" + }, + "bbox_1769408108183": { + "instances": [ + { + "height": 0.2293333333333333, + "id": "bbox_1769408108183_1769408139027_4k4myxqln", + "width": 0.18599999999999986, + "x": 0.6463333129882813, + "y": 0.7311111043294272 + } + ], + "type": "bbox" + }, + "point_1769408115447": { + "instances": [ + { + "id": "point_1769408115447_1769408144162_6wk1usax9", + "x": 0.37533331298828126, + "y": 0.5137777709960938 + } + ], + "type": "point" + }, + "point_1769408115595": { + "instances": [ + { + "id": "point_1769408115595_1769408146036_q91lbymcm", + "x": 0.6203333129882813, + "y": 0.4924444376627604 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向下方调整爪夹方向，之后向爪夹方向前方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离小麦面包\n为完成将小麦面包放入瓷碗的任务应当：爪夹向下方调整爪夹方向，之后向爪夹方向前方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹", + "time": 0.5211785940730661 + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动同时向爪夹方向下方略微调整爪夹口的方向", + "annotations": { + "bbox_1769408108043": { + "instances": [ + { + "height": 0.13999999999999999, + "id": "bbox_1769408108043_1769408166618_k8uqk5gef", + "width": 0.14299999999999996, + "x": 0.39633331298828123, + "y": 0.4964444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769408108183": { + "instances": [ + { + "height": 0.20933333333333337, + "id": "bbox_1769408108183_1769408156657_gn27u4d2j", + "width": 0.16100000000000003, + "x": 0.6003333129882813, + "y": 0.703111104329427 + } + ], + "type": "bbox" + }, + "point_1769408115447": { + "instances": [ + { + "id": "point_1769408115447_1769408151264_53u6jg6xt", + "x": 0.37233331298828126, + "y": 0.5271111043294271 + } + ], + "type": "point" + }, + "point_1769408115595": { + "instances": [ + { + "id": "point_1769408115595_1769408149542_jba9x58sv", + "x": 0.6193333129882813, + "y": 0.5031111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向下方调整爪夹方向，之后向爪夹方向前方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向下方略微调整爪夹口的方向", + "frame": 36, + "progress": 5, + "progress_explanation": "爪夹略微调整爪夹角度使其向下，尚未进行长距离移动，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于小麦面包后上方。\n为完成将小麦面包放入瓷碗的任务应当：爪夹继续向爪夹方向前方小麦面包移动，同时向下调整爪夹角度", + "time": 1.1883956097118273 + }, + { + "action_description": "爪夹向爪夹方向前下方移动，同时向下调整爪夹角度使其对准了小麦面包", + "annotations": { + "bbox_1769408108043": { + "instances": [ + { + "height": 0.3520000000000001, + "id": "bbox_1769408108043_1769408184204_584gk3kf9", + "width": 0.285, + "x": 0.30433331298828126, + "y": 0.23111110432942708 + } + ], + "type": "bbox" + }, + "bbox_1769408108183": { + "instances": [ + { + "height": 0.21066666666666667, + "id": "bbox_1769408108183_1769408194129_yvmptpu89", + "width": 0.19300000000000006, + "x": 0.6403333129882813, + "y": 0.7057777709960937 + } + ], + "type": "bbox" + }, + "point_1769408115447": { + "instances": [ + { + "id": "point_1769408115447_1769408186286_7htujhwc5", + "x": 0.37333331298828126, + "y": 0.5191111043294271 + } + ], + "type": "point" + }, + "point_1769408115595": { + "instances": [ + { + "id": "point_1769408115595_1769408188086_wdmlf8u71", + "x": 0.6233333129882813, + "y": 0.5017777709960938 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向前下方移动至可抓取小麦面包的位置", + "frame": 73, + "progress": 25, + "progress_explanation": "爪夹已移动至可抓取小麦面包的位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于小麦面包位置。\n为完成将小麦面包放入瓷碗的任务应当：合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升", + "time": 2.423633 + }, + { + "action_description": "爪夹由张开变为合拢", + "annotations": { + "bbox_1769408108043": { + "instances": [ + { + "height": 0.3333333333333332, + "id": "bbox_1769408108043_1769408209843_ddxzfii50", + "width": 0.24500000000000002, + "x": 0.2823333129882813, + "y": 0.2564444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769408108183": { + "instances": [ + { + "height": 0.22133333333333324, + "id": "bbox_1769408108183_1769408202548_f3fyuwqfd", + "width": 0.1879999999999999, + "x": 0.6443333129882813, + "y": 0.7124444376627606 + } + ], + "type": "bbox" + } + }, + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功合拢，小麦面包成功被爪夹抓取", + "frame": 92, + "progress": 50, + "progress_explanation": "小麦面包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓取小麦面包，小麦面包尚未被移动。\n为完成将小麦面包放入瓷碗的任务应当：保持爪夹合拢状态抬升并向爪夹方向右后方移动，移动至瓷碗上方后下降", + "time": 3.064533 + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "annotations": { + "bbox_1769408108043": { + "instances": [ + { + "height": 0.312, + "id": "bbox_1769408108043_1769408219721_ognw0e8ui", + "width": 0.07999999999999999, + "x": 0.43333331298828126, + "y": 0.26844443766276044 + } + ], + "type": "bbox" + }, + "bbox_1769408108183": { + "instances": [ + { + "height": 0.23866666666666667, + "id": "bbox_1769408108183_1769408232744_pga8ejqid", + "width": 0.12999999999999998, + "x": 0.6473333129882812, + "y": 0.6484444376627605 + } + ], + "type": "bbox" + }, + "point_1769408115447": { + "instances": [ + { + "id": "point_1769408115447_1769408225084_wj3q1ve85", + "x": 0.46733331298828124, + "y": 0.5164444376627605 + } + ], + "type": "point" + }, + "point_1769408115595": { + "instances": [ + { + "id": "point_1769408115595_1769408227017_ev1zj6gw9", + "x": 0.5273333129882813, + "y": 0.5191111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "保持爪夹合拢状态向爪夹方向右后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取小麦面包 ，小麦面包成功被爪夹抬升至空中", + "frame": 125, + "progress": 60, + "progress_explanation": "小麦面包已被爪夹抓取并抬升至空中。因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被抬升至空中。\n为完成将小麦面包放入瓷碗的任务应当：保持爪夹合拢状态向爪夹方向右后方移动，移动至瓷碗上方后下降", + "time": 4.169810753121667 + }, + { + "action_description": "爪夹向爪夹方向右后方移动", + "annotations": { + "bbox_1769408108043": { + "instances": [ + { + "height": 0.3186666666666666, + "id": "bbox_1769408108043_1769408246077_14507p6e3", + "width": 0.06799999999999998, + "x": 0.4523333129882813, + "y": 0.27244443766276044 + } + ], + "type": "bbox" + }, + "bbox_1769408108183": { + "instances": [ + { + "height": 0.27866666666666673, + "id": "bbox_1769408108183_1769408241374_0ugmaq6gg", + "width": 0.22499999999999995, + "x": 0.37633331298828127, + "y": 0.31511110432942707 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动至瓷碗上方", + "frame": 157, + "progress": 75, + "progress_explanation": "小麦面包已移动至瓷碗上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包位于瓷碗上方。\n为完成将小麦面包放入瓷碗的任务应当：爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹", + "time": 5.233112657414687 + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "annotations": { + "bbox_1769408108043": { + "instances": [ + { + "height": 0.32000000000000006, + "id": "bbox_1769408108043_1769408251898_piu1m4pex", + "width": 0.09299999999999997, + "x": 0.42833331298828126, + "y": 0.2617777709960938 + } + ], + "type": "bbox" + }, + "bbox_1769408108183": { + "instances": [ + { + "height": 0.3133333333333333, + "id": "bbox_1769408108183_1769408256915_pafb00a3x", + "width": 0.23699999999999996, + "x": 0.3713333129882813, + "y": 0.2831111043294271 + } + ], + "type": "bbox" + }, + "point_1769408115447": { + "instances": [ + { + "id": "point_1769408115447_1769408263804_jdavs0qrn", + "x": 0.47133331298828124, + "y": 0.5071111043294271 + } + ], + "type": "point" + }, + "point_1769408115595": { + "instances": [ + { + "id": "point_1769408115595_1769408265736_4njuqi59k", + "x": 0.5233333129882813, + "y": 0.5071111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动下降至瓷碗内", + "frame": 176, + "progress": 90, + "progress_explanation": "小麦面包已下降至瓷碗内，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已下降至瓷碗内。\n为完成将小麦面包放入瓷碗的任务应当：张开爪夹使小麦面包落入瓷碗中", + "time": 5.858584365822347 + }, + { + "action_description": "爪夹由合拢变为张开", + "annotations": { + "bbox_1769408108043": { + "instances": [ + { + "height": 0.3053333333333333, + "id": "bbox_1769408108043_1769408283527_79b9pxm2a", + "width": 0.257, + "x": 0.37133331298828126, + "y": 0.3137777709960938 + } + ], + "type": "bbox" + }, + "bbox_1769408108183": { + "instances": [ + { + "height": 0.29600000000000004, + "id": "bbox_1769408108183_1769408274172_sifwomb7s", + "width": 0.215, + "x": 0.35333331298828125, + "y": 0.3271111043294271 + } + ], + "type": "bbox" + }, + "point_1769408115447": { + "instances": [ + { + "id": "point_1769408115447_1769408270128_8d61if4id", + "x": 0.37333331298828126, + "y": 0.5017777709960938 + } + ], + "type": "point" + }, + "point_1769408115595": { + "instances": [ + { + "id": "point_1769408115595_1769408268201_gcv2xihmp", + "x": 0.6203333129882813, + "y": 0.5084444376627605 + } + ], + "type": "point" + } + }, + "correction_plan": "将小麦面包放入瓷碗中的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，小麦面包成功落入瓷碗内", + "frame": 211, + "progress": 100, + "progress_explanation": "将小麦面包放入瓷碗中的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于小麦面包和瓷碗上方。\n将小麦面包放入瓷碗中的任务已完成", + "time": 7.042533 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769408108043", + "name": "小麦面包" + }, + { + "color": "#FF9800", + "id": "bbox_1769408108183", + "name": "瓷碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769408115447", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769408115595", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-113835-put-buckwheat bag-porcelain-bowl-bad/20260109-131814/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-113835-put-buckwheat bag-porcelain-bowl-bad/20260109-131814/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..3bf59bbed0eef6f5b01960d7239daafbfe490e83 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-113835-put-buckwheat bag-porcelain-bowl-bad/20260109-131814/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,478 @@ +{ + "task_description": "将小麦面包放入瓷碗中\n开始移动0%\n爪夹靠近小麦面包25%\n爪夹抓取小麦面包50%\n爪夹抓取小麦面包移动至瓷碗上方75%\n爪夹张开，小麦面包被放入瓷碗内100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向下方调整爪夹方向，之后向爪夹方向右后方移动，移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "", + "frame": 11, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离小麦面包\n为完成将小麦面包放入瓷碗的任务应当：爪夹向下方调整爪夹方向，之后向爪夹方向右后方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹", + "time": 0.378, + "annotations": { + "bbox_1769407867076": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867076_1769407892436_7aa96k2g6", + "x": 0.6613333129882812, + "y": 0.815111104329427, + "width": 0.096, + "height": 0.12266666666666677 + } + ] + }, + "bbox_1769407867248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867248_1769407903095_8aj2wxajb", + "x": 0.4703333129882812, + "y": 0.6737777709960937, + "width": 0.1330000000000001, + "height": 0.13066666666666674 + } + ] + }, + "point_1769407876633": { + "type": "point", + "instances": [ + { + "id": "point_1769407876633_1769407908507_7091603zs", + "x": 0.36933331298828126, + "y": 0.5191111043294271 + } + ] + }, + "point_1769407876808": { + "type": "point", + "instances": [ + { + "id": "point_1769407876808_1769407910667_frprcbbm9", + "x": 0.6253333129882812, + "y": 0.5164444376627605 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右后方移动", + "correction_plan": "爪夹继续向下方调整爪夹方向，之后向爪夹方向右下方小麦面包位置移动，移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向右后方移动接近了小麦面包", + "frame": 29, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向右后方接近了小麦 面包，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于小麦面包左上方。\n为完成将小麦面包放入瓷碗的任务应当：爪夹继续向下方调整爪夹方向，之后向爪夹方向右下方小麦面包位置移动", + "time": 0.9707540844394299, + "annotations": { + "point_1769407876808": { + "type": "point", + "instances": [ + { + "id": "point_1769407876808_1769407913183_knxusxm47", + "x": 0.6293333129882812, + "y": 0.5017777709960938 + } + ] + }, + "point_1769407876633": { + "type": "point", + "instances": [ + { + "id": "point_1769407876633_1769407914897_sjfbuk3lf", + "x": 0.37333331298828126, + "y": 0.5124444376627604 + } + ] + }, + "bbox_1769407867076": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867076_1769407918769_p5ke9xj3i", + "x": 0.48033331298828125, + "y": 0.5017777709960938, + "width": 0.12000000000000002, + "height": 0.21733333333333332 + } + ] + }, + "bbox_1769407867248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867248_1769407922545_3og02oq1c", + "x": 0.20833331298828126, + "y": 0.24177777099609374, + "width": 0.20400000000000001, + "height": 0.24800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右下方移动，同时向下调整爪夹角度使其对准了小麦面包", + "correction_plan": "合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向左前方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向右下方移动至可抓取小麦面包的位置", + "frame": 51, + "progress": 25, + "progress_explanation": "爪夹已移动至可抓取小麦面包的位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于小麦面包位置。\n为完成将小麦面包放入瓷碗的任务应当：合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升", + "time": 1.7037729312602226, + "annotations": { + "bbox_1769407867248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867248_1769407933759_uvypa2676", + "x": 0.009333312988281262, + "y": 0.009777770996093718, + "width": 0.21700000000000003, + "height": 0.5240000000000001 + } + ] + }, + "bbox_1769407867076": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867076_1769407946908_hmamwy1vj", + "x": 0.43633331298828126, + "y": 0.36977777099609377, + "width": 0.2080000000000001, + "height": 0.31466666666666665 + } + ] + }, + "point_1769407876633": { + "type": "point", + "instances": [ + { + "id": "point_1769407876633_1769407954544_w88hsweju", + "x": 0.36433331298828125, + "y": 0.5217777709960937 + } + ] + }, + "point_1769407876808": { + "type": "point", + "instances": [ + { + "id": "point_1769407876808_1769407956451_27qv335l7", + "x": 0.6153333129882813, + "y": 0.5071111043294271 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向左前方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功合拢，小麦面包成功被爪夹抓取", + "frame": 68, + "progress": 50, + "progress_explanation": "小麦面包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓取小麦面包，小麦面包尚未被移动。\n为完成将小麦面包放入瓷碗的任务应当：保持爪夹合拢状态抬升并向爪夹方向左前方移动，移动至瓷碗上方后下降", + "time": 2.282, + "annotations": { + "point_1769407876808": { + "type": "point", + "instances": [ + { + "id": "point_1769407876808_1769407959199_r8oxqncf6", + "x": 0.5313333129882813, + "y": 0.5057777709960938 + } + ] + }, + "point_1769407876633": { + "type": "point", + "instances": [ + { + "id": "point_1769407876633_1769407961145_qs8t5g6wv", + "x": 0.4653333129882813, + "y": 0.5271111043294271 + } + ] + }, + "bbox_1769407867076": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867076_1769407966127_mzp3n2s4r", + "x": 0.4703333129882813, + "y": 0.33777777099609374, + "width": 0.17699999999999996, + "height": 0.3773333333333334 + } + ] + }, + "bbox_1769407867248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867248_1769407976416_y35myfw9h", + "x": 0.00733331298828125, + "y": 0.00577777099609375, + "width": 0.20900000000000002, + "height": 0.5266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向左前方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取小麦面包 ，小麦面包成功被爪夹抬升至空中", + "frame": 100, + "progress": 60, + "progress_explanation": "小麦面包已被爪夹抓取并抬升至空中。因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被抬升至空中。\n为完成将小麦面包放入瓷碗的任务应当：保持爪夹合拢状态向爪夹方向左前方移动，移动至瓷碗上方后下降", + "time": 3.324999, + "annotations": { + "bbox_1769407867248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867248_1769407991911_2lagf1q3k", + "x": 0.17633331298828125, + "y": 0.24177777099609374, + "width": 0.20800000000000002, + "height": 0.29066666666666663 + } + ] + }, + "point_1769407876633": { + "type": "point", + "instances": [ + { + "id": "point_1769407876633_1769407997648_cgp8mfxo4", + "x": 0.47233331298828124, + "y": 0.5057777709960938 + } + ] + }, + "point_1769407876808": { + "type": "point", + "instances": [ + { + "id": "point_1769407876808_1769407999418_7trxdlcla", + "x": 0.5193333129882813, + "y": 0.5004444376627605 + } + ] + }, + "bbox_1769407867076": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867076_1769408019715_yv0n7qdlr", + "x": 0.4683333129882813, + "y": 0.32044443766276043, + "width": 0.11099999999999995, + "height": 0.4373333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左上方抬升移动", + "correction_plan": "爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动至瓷碗上方", + "frame": 119, + "progress": 75, + "progress_explanation": "小麦面包已移动至瓷碗上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包位于瓷碗上方。\n为完成将小麦面包放入瓷碗的任务应当：爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹", + "time": 3.954999, + "annotations": { + "bbox_1769407867076": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867076_1769408030327_bl6cigeps", + "x": 0.47033331298828135, + "y": 0.32044443766276043, + "width": 0.10999999999999988, + "height": 0.38533333333333336 + } + ] + }, + "bbox_1769407867248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867248_1769408044559_oym3ceu0m", + "x": 0.4533333129882813, + "y": 0.4844444376627604, + "width": 0.166, + "height": 0.20933333333333337 + } + ] + }, + "point_1769407876633": { + "type": "point", + "instances": [ + { + "id": "point_1769407876633_1769408049831_sprrbvkwb", + "x": 0.46833331298828124, + "y": 0.5124444376627604 + } + ] + }, + "point_1769407876808": { + "type": "point", + "instances": [ + { + "id": "point_1769407876808_1769408051665_ljbcvniaa", + "x": 0.5233333129882813, + "y": 0.5031111043294271 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "correction_plan": "张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动下降至瓷碗内", + "frame": 155, + "progress": 90, + "progress_explanation": "小麦面包已下降至瓷碗内，但爪夹尚未张开，因此进度提升至90", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已下降至瓷碗内。\n为完成将小麦面包放入瓷碗的任务应当：张开爪夹使小麦面包落入瓷碗中", + "time": 5.18, + "annotations": { + "point_1769407876808": { + "type": "point", + "instances": [ + { + "id": "point_1769407876808_1769408054307_cffq1htl7", + "x": 0.5243333129882812, + "y": 0.4924444376627604 + } + ] + }, + "point_1769407876633": { + "type": "point", + "instances": [ + { + "id": "point_1769407876633_1769408056172_jjfuwby3u", + "x": 0.47233331298828124, + "y": 0.5031111043294271 + } + ] + }, + "bbox_1769407867248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867248_1769408060204_nclhm5o64", + "x": 0.41233331298828124, + "y": 0.4231111043294271, + "width": 0.265, + "height": 0.32533333333333336 + } + ] + }, + "bbox_1769407867076": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867076_1769408072444_q1yprku0j", + "x": 0.46733331298828124, + "y": 0.3137777709960938, + "width": 0.14100000000000001, + "height": 0.416 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将小麦面包放入瓷碗中的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，小麦面包成功落入瓷碗内", + "frame": 193, + "progress": 100, + "progress_explanation": "将小麦面包放入瓷碗中的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于小麦面包和瓷碗上方。\n将小麦面包放入瓷碗中的任务已完成", + "time": 6.433, + "annotations": { + "bbox_1769407867076": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867076_1769408077911_bi70i2a9z", + "x": 0.43833331298828127, + "y": 0.29911110432942706, + "width": 0.30600000000000005, + "height": 0.3626666666666667 + } + ] + }, + "bbox_1769407867248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407867248_1769408085859_qqcp5z38x", + "x": 0.5293333129882812, + "y": 0.3137777709960937, + "width": 0.25900000000000006, + "height": 0.39466666666666667 + } + ] + }, + "point_1769407876808": { + "type": "point", + "instances": [ + { + "id": "point_1769407876808_1769408092146_6os2i65x9", + "x": 0.6233333129882813, + "y": 0.4924444376627604 + } + ] + }, + "point_1769407876633": { + "type": "point", + "instances": [ + { + "id": "point_1769407876633_1769408093824_tpwjk7ajl", + "x": 0.37233331298828126, + "y": 0.5057777709960938 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769407867076", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769407867248", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769407876633", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769407876808", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-113835-put-buckwheat bag-porcelain-bowl-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-113835-put-buckwheat bag-porcelain-bowl-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..49f63728292892e57e4ba1154b165998b45e3f80 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-113835-put-buckwheat bag-porcelain-bowl-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,870 @@ +{ + "task_description": "将荞麦包放入瓷碗中\n开始移动0%\n爪夹靠近荞麦包25%\n爪夹抓取荞麦包50%\n爪夹抓取荞麦包移动至瓷碗上方75%\n爪夹张开，荞麦包落入瓷碗中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向下方调整爪夹方向，之后向爪夹方向右前方移动，移动至荞麦包上方后下降，下降至荞麦包位置合拢爪夹，抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离荞麦包\n为完成将荞麦包放入瓷碗的任务应当：爪夹向下方调整爪夹方向，之后向爪夹方向右前方移动，移动至荞麦包上方后下降，下降至荞麦包位置合拢爪夹", + "time": 0.4399987562519071, + "annotations": { + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407548111_dp0saq3l3", + "x": 0.425625, + "y": 0.20553125, + "width": 0.12300000000000004, + "height": 0.07466666666666667 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407553092_bwafjjixj", + "x": 0.42762500000000003, + "y": 0.05219791666666666, + "width": 0.12800000000000003, + "height": 0.15066666666666667 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407558531_r5i9n3ohd", + "x": 0.676625, + "y": 0.30553125 + } + ] + }, + "point_1769407522985": { + "type": "point", + "instances": [ + { + "id": "point_1769407522985_1769407560443_faywyo7ky", + "x": 0.737625, + "y": 0.22686458333333331 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动同时向爪夹方向下方略微调整爪夹口的方向", + "correction_plan": "爪夹向下方调整爪夹方向，之后向爪夹方向右前方移动，移动至荞麦包上方后下降，下降至荞麦包位置合拢爪夹，抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向下方略微调整爪夹口的方向", + "frame": 26, + "progress": 5, + "progress_explanation": "爪夹略微调整爪夹角度使其向下，尚未进行长距离移动，因此进度提升至5%", + "state_description": "当前状态为爪夹张开，位于荞麦包后上方。\n为完成将荞麦包放入瓷碗的任务应当：爪夹继续向爪夹方向右前方荞麦包移动，同时向下调整爪夹角度", + "time": 0.8799987332068755, + "annotations": { + "point_1769407522985": { + "type": "point", + "instances": [ + { + "id": "point_1769407522985_1769407591287_01tasbz9j", + "x": 0.7753333129882812, + "y": 0.16177777099609375 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407592950_ixu1u8t3s", + "x": 0.6993333129882813, + "y": 0.2231111043294271 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407596557_lq23s22wh", + "x": 0.42833331298828126, + "y": 0.05777777099609375, + "width": 0.12699999999999995, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407600735_dyqws2w6p", + "x": 0.42433331298828125, + "y": 0.2044444376627604, + "width": 0.12699999999999995, + "height": 0.08533333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前上方抬升移动", + "correction_plan": "爪夹向下方调整爪夹方向，之后向爪夹方向右前方移动，移动至荞麦包上方后下降，下降至荞麦包位置合拢爪夹，抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹成功向荞麦包位置移动靠近", + "frame": 40, + "progress": 10, + "progress_explanation": "爪夹略微靠近了荞麦包，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于荞麦包左后方。\n为完成将荞麦包放入瓷碗的任务应当：爪夹向下方调整爪夹方向，之后向爪夹方向右前方移动，移动至荞麦包上方后下降", + "time": 1.3199987101618438, + "annotations": { + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407604504_6390ukr1v", + "x": 0.42433331298828125, + "y": 0.19911110432942708, + "width": 0.13099999999999995, + "height": 0.08399999999999999 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407607993_8balrzf08", + "x": 0.42833331298828126, + "y": 0.05777777099609375, + "width": 0.12299999999999996, + "height": 0.14133333333333334 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407610143_8m69minex", + "x": 0.6593333129882812, + "y": 0.033777770996093755 + } + ] + }, + "point_1769407522985": { + "type": "point", + "instances": [ + { + "id": "point_1769407522985_1769407612447_wdobh50mv", + "x": 0.7363333129882813, + "y": 0.01644443766276042 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右下方移动下降", + "correction_plan": "爪夹向爪夹方向前方移动，移动至荞麦包位置下降爪夹抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向右下方移动下降接近了荞麦包位置", + "frame": 70, + "progress": 15, + "progress_explanation": "爪夹下降接近了荞麦包，因此进度提升至15%", + "state_description": "当前状态为爪夹张开，位于荞麦包后方。\n为完成将荞麦包放入瓷碗的任务应当：爪夹向爪夹方向前方移动，移动至荞麦包位置下降爪夹抓取荞麦包", + "time": 2.346133, + "annotations": { + "point_1769407522985": { + "type": "point", + "instances": [ + { + "id": "point_1769407522985_1769407614963_doa8bxcl0", + "x": 0.6883333129882813, + "y": 0.2617777709960938 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407617117_q5gczzhdp", + "x": 0.6253333129882812, + "y": 0.2951111043294271 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407628079_6bk3f34d4", + "x": 0.42833331298828126, + "y": 0.05911110432942709, + "width": 0.12299999999999996, + "height": 0.1373333333333333 + } + ] + }, + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407632120_arkqatjtp", + "x": 0.42033331298828125, + "y": 0.19911110432942708, + "width": 0.13200000000000003, + "height": 0.08266666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹并向爪夹方向前方移动，移动至荞麦包位置下降爪夹抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹尚未移动至荞麦包位置提前合拢爪夹导致抓取物品失败", + "frame": 90, + "progress": -10, + "progress_explanation": "爪夹抓取荞麦包失败，因此进度降低至-10%", + "state_description": "当前状态为爪夹合拢，未抓取物品。\n为完成将荞麦包放入瓷碗的任务应当：张开爪夹并向爪夹方向前方移动，移动至荞麦包位置下降爪夹抓取荞麦包", + "time": 2.996266, + "annotations": { + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407636051_u089qs74q", + "x": 0.42133331298828125, + "y": 0.20977777099609377, + "width": 0.12999999999999998, + "height": 0.0733333333333333 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407640077_2asjq8362", + "x": 0.42833331298828126, + "y": 0.055111104329427084, + "width": 0.129, + "height": 0.14133333333333334 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407642483_0rsc6137d", + "x": 0.6533333129882812, + "y": 0.27644443766276044 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "张开爪夹并向爪夹方向前方移动，移动至荞麦包位置下降爪夹抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹尚未抓取荞麦包，提前抬升导致远离了荞麦包", + "frame": 121, + "progress": -20, + "progress_explanation": "爪夹远离了荞麦包，因此进度降低至-20%", + "state_description": "当前状态为爪夹合拢，远离荞麦包。\n为完成将荞麦包放入瓷碗的任务应当：张开爪夹并向爪夹方向前方移动，移动至荞麦包位置下降爪夹抓取荞麦包", + "time": 4.027999, + "annotations": { + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407645414_7pj1i00ug", + "x": 0.7253333129882813, + "y": 0.01777777099609375 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407649708_vxvlkl6jz", + "x": 0.42833331298828126, + "y": 0.05911110432942709, + "width": 0.12299999999999996, + "height": 0.13866666666666666 + } + ] + }, + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407660179_21om9zc1o", + "x": 0.4153333129882813, + "y": 0.19777777099609375, + "width": 0.137, + "height": 0.08000000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向下方调整爪夹方向并向爪夹方向前方移动，移动至荞麦包位置下降爪夹抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹成功张开", + "frame": 135, + "progress": 10, + "progress_explanation": "爪夹成功张开，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于荞麦包上后方。\n为完成将荞麦包放入瓷碗的任务应当：爪夹向下方调整爪夹方向，之后向爪夹方向前方移动，移动至荞麦包上方后下降", + "time": 4.508533, + "annotations": { + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407664597_r2olk2ksu", + "x": 0.42533331298828125, + "y": 0.20977777099609377, + "width": 0.12599999999999997, + "height": 0.0733333333333333 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407669593_onfb9120k", + "x": 0.42833331298828126, + "y": 0.05377777099609375, + "width": 0.12800000000000003, + "height": 0.144 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407671623_vzxpq7dgz", + "x": 0.6873333129882813, + "y": 0.011111104329427083 + } + ] + }, + "point_1769407522985": { + "type": "point", + "instances": [ + { + "id": "point_1769407522985_1769407673581_skr0uyx0w", + "x": 0.7633333129882812, + "y": 0.012444437662760417 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动，同时调整爪夹角度对准荞麦包", + "correction_plan": "爪夹继续下降，下降至荞麦包位置合拢抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向前下方移动下降", + "frame": 187, + "progress": 25, + "progress_explanation": "爪夹已完全靠近荞麦包，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于荞麦包位置。\n为完成将荞麦包放入瓷碗的任务应当：合拢爪夹抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动", + "time": 6.239998452476489, + "annotations": { + "point_1769407522985": { + "type": "point", + "instances": [ + { + "id": "point_1769407522985_1769407677001_441yuvccv", + "x": 0.5313333129882813, + "y": 0.21777777099609377 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407679167_fl44qpe7h", + "x": 0.48733331298828125, + "y": 0.24444443766276042 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407683930_gd3b3jhu4", + "x": 0.42933331298828126, + "y": 0.06044443766276042, + "width": 0.10999999999999996, + "height": 0.12666666666666668 + } + ] + }, + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407688875_g8y4bekxi", + "x": 0.4233333129882813, + "y": 0.20177777099609376, + "width": 0.133, + "height": 0.09066666666666669 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹并向爪夹方向下方移动下降，下降至荞麦包位置合拢爪夹抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹尚未移动下降至可抓取荞麦包的位置提前合拢爪夹导致抓取荞麦包失败", + "frame": 203, + "progress": -5, + "progress_explanation": "爪夹未成功抓取荞麦包，因此进度降低至-5%", + "state_description": "当前状态为爪夹合拢，位于荞麦包上方。\n为完成将荞麦包放入瓷碗的任务应当：张开爪夹并向爪夹方向下方移动下降，下降至荞麦包位置合拢爪夹抓取荞麦包", + "time": 6.755733, + "annotations": { + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407694774_icxkt3kmk", + "x": 0.42033331298828125, + "y": 0.20177777099609376, + "width": 0.13200000000000003, + "height": 0.08266666666666668 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407698795_ykp1lzmn8", + "x": 0.42533331298828125, + "y": 0.06177777099609375, + "width": 0.10300000000000002, + "height": 0.1373333333333333 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407708395_8lub5v3t8", + "x": 0.5113333129882813, + "y": 0.23111110432942708 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "张开爪夹并向爪夹方向前方移动，移动至荞麦包位置下降爪夹抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹尚未抓取荞麦包，提前抬升导致远离了荞麦包", + "frame": 232, + "progress": -20, + "progress_explanation": "爪夹远离了荞麦包，因此进度降低至-20%", + "state_description": "当前状态为爪夹合拢，远离荞麦包。\n为完成将荞麦包放入瓷碗的任务应当：张开爪夹并向爪夹方向前方移动，移动至荞麦包位置下降爪夹抓取荞麦包", + "time": 7.716799, + "annotations": { + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407711591_6sdlt3qya", + "x": 0.5633333129882813, + "y": 0.01644443766276042 + } + ] + }, + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407715727_lovnjuwwn", + "x": 0.42433331298828125, + "y": 0.20177777099609376, + "width": 0.125, + "height": 0.08266666666666668 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407721239_xknkdmj41", + "x": 0.42933331298828126, + "y": 0.055111104329427084, + "width": 0.12300000000000004, + "height": 0.14133333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "爪夹向下方调整爪夹方向并向爪夹方向前方移动，移动至荞麦包位置下降爪夹抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹成功张开", + "frame": 244, + "progress": 10, + "progress_explanation": "爪夹成功张开，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于荞麦包上后方。\n为完成将荞麦包放入瓷碗的任务应当：爪夹向下方调整爪夹方向，之后向爪夹方向前方移动，移动至荞麦包上方后下降", + "time": 8.126666, + "annotations": { + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407737261_utbyh9gup", + "x": 0.42933331298828126, + "y": 0.06311110432942708, + "width": 0.12599999999999997, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407741409_60k2z1bx2", + "x": 0.42133331298828125, + "y": 0.2071111043294271, + "width": 0.12700000000000006, + "height": 0.07200000000000001 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407745196_zw218witv", + "x": 0.5283333129882812, + "y": 0.037777770996093744 + } + ] + }, + "point_1769407522985": { + "type": "point", + "instances": [ + { + "id": "point_1769407522985_1769407747806_ynnacjtzr", + "x": 0.5883333129882813, + "y": 0.02177777099609375 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动，同时调整爪夹角度对准荞麦包", + "correction_plan": "爪夹继续下降，下降至荞麦包位置合拢抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向前下方移动下降", + "frame": 264, + "progress": 25, + "progress_explanation": "爪夹已完全靠近荞麦包，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于荞麦包位置。\n为完成将荞麦包放入瓷碗的任务应当：合拢爪夹抓取荞麦包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动", + "time": 8.799998318396304, + "annotations": { + "point_1769407522985": { + "type": "point", + "instances": [ + { + "id": "point_1769407522985_1769407763343_m170r3md6", + "x": 0.5433333129882812, + "y": 0.24177777099609374 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407765512_8mjs7gw3z", + "x": 0.4893333129882812, + "y": 0.27644443766276044 + } + ] + }, + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407770119_63k4n6th4", + "x": 0.4233333129882813, + "y": 0.2071111043294271, + "width": 0.13199999999999995, + "height": 0.07599999999999998 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407774091_xo70aldwd", + "x": 0.42833331298828126, + "y": 0.05244443766276042, + "width": 0.11899999999999995, + "height": 0.14666666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹成功合拢，荞麦包成功被爪夹抓取", + "frame": 290, + "progress": 50, + "progress_explanation": "荞麦包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓取荞麦包，荞麦包尚未被移动。\n为完成将荞麦包放入瓷碗的任务应当：保持爪夹合拢状态抬升并向爪夹方向左前方移动，移动至瓷碗上方后下降", + "time": 9.667199, + "annotations": { + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407778053_b28yu8yma", + "x": 0.4273333129882813, + "y": 0.06044443766276042, + "width": 0.11199999999999992, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407782234_7t78arfc9", + "x": 0.42433331298828125, + "y": 0.2071111043294271, + "width": 0.11200000000000002, + "height": 0.07599999999999998 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407784092_9eh7tft87", + "x": 0.5013333129882812, + "y": 0.27377777099609374 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后方移动", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹微微向后移动，远离了瓷碗", + "frame": 329, + "progress": 49, + "progress_explanation": "荞麦包已被爪夹抓取，但爪夹向后微微移动，因此进度降低至49%", + "state_description": "当前状态为爪夹合拢，抓取荞麦包，荞麦包尚未被移动。\n为完成将荞麦包放入瓷碗的任务应当：保持爪夹合拢状态抬升并向爪夹方向左前方移动，移动至瓷碗上方后下降", + "time": 10.981599, + "annotations": { + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407787103_p65mwscxw", + "x": 0.5093333129882812, + "y": 0.2791111043294271 + } + ] + }, + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407790948_0wuwmf06z", + "x": 0.42433331298828125, + "y": 0.2071111043294271, + "width": 0.11699999999999999, + "height": 0.07599999999999998 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407794779_govgv6yyj", + "x": 0.42933331298828126, + "y": 0.055111104329427084, + "width": 0.11200000000000002, + "height": 0.14400000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至荞麦包进入瓷碗后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取荞麦包 ，荞麦包成功被爪夹抬升至空中", + "frame": 364, + "progress": 60, + "progress_explanation": "荞麦包已被爪夹抓取并抬升至空中。因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦包，荞麦包已被抬升至空中。\n为完成将荞麦包放入瓷碗的任务应当：保持爪夹合拢状态向爪夹方向右前方移动，移动至瓷碗上方后下降", + "time": 12.127467916965571, + "annotations": { + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407798661_mz7p4kzz6", + "x": 0.4313333129882813, + "y": 0.061777770996093745, + "width": 0.121, + "height": 0.13466666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右下方移动", + "correction_plan": "爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹使荞麦包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取荞麦包，荞麦包成功被爪夹移动至瓷碗上方", + "frame": 397, + "progress": 75, + "progress_explanation": "荞麦包已移动至瓷碗上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧荞麦包，荞麦包位于瓷碗上方。\n为完成将荞麦包放入瓷碗的任务应当：爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹", + "time": 13.228799, + "annotations": { + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407810459_rsp9601uj", + "x": 0.42933331298828126, + "y": 0.06444443766276041, + "width": 0.12000000000000002, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407814480_qgg66y9yb", + "x": 0.4193333129882813, + "y": 0.00577777099609375, + "width": 0.07599999999999998, + "height": 0.09066666666666667 + } + ] + }, + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407817974_ezvsdkzeh", + "x": 0.4853333129882812, + "y": 0.10711110432942708 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将荞麦包放入瓷碗中的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，荞麦包成功落入瓷碗内", + "frame": 409, + "progress": 100, + "progress_explanation": "将荞麦包放入瓷碗中的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于荞麦包和瓷碗上方。\n将荞麦包放入瓷碗中的任务已完成", + "time": 13.639998064900956, + "annotations": { + "point_1769407522786": { + "type": "point", + "instances": [ + { + "id": "point_1769407522786_1769407820547_yl45ujql0", + "x": 0.46833331298828124, + "y": 0.11244443766276042 + } + ] + }, + "bbox_1769407515581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515581_1769407825090_gi569cfgb", + "x": 0.43333331298828126, + "y": 0.05244443766276042, + "width": 0.11100000000000003, + "height": 0.14666666666666664 + } + ] + }, + "bbox_1769407515423": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407515423_1769407829204_otgfmn14n", + "x": 0.42033331298828125, + "y": 0.04177777099609375, + "width": 0.05899999999999998, + "height": 0.07200000000000001 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769407515423", + "name": "荞麦包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769407515581", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769407522786", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769407522985", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-140014-put-wheat bread-porcelain-bowl-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-140014-put-wheat bread-porcelain-bowl-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..d1006b34d107576fdd776faac960998a676b8a85 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-140014-put-wheat bread-porcelain-bowl-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,478 @@ +{ + "task_description": "将小麦面包放入瓷碗中\n开始移动0%\n爪夹靠近小麦面包25%\n爪夹抓取小麦面包50%\n爪夹抓取小麦面包移动至瓷碗上方75%\n爪夹张开，小麦面包被放入瓷碗内100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向下方调整爪夹方向并下降，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离小麦面包\n为完成将小麦面包放入瓷碗的任务应当：爪夹向下方调整爪夹方向并下降，下降至小麦面包位置合拢爪夹", + "time": 0.409433, + "annotations": { + "bbox_1769407336340": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336340_1769407357799_r9c91ge8j", + "x": 0.352625, + "y": 0.6028645833333334, + "width": 0.15599999999999997, + "height": 0.18800000000000003 + } + ] + }, + "bbox_1769407336521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336521_1769407361612_wtn5uzz29", + "x": 0.632625, + "y": 0.45753125, + "width": 0.11800000000000006, + "height": 0.12133333333333335 + } + ] + }, + "point_1769407343038": { + "type": "point", + "instances": [ + { + "id": "point_1769407343038_1769407363287_ahm21kuq1", + "x": 0.367625, + "y": 0.5028645833333333 + } + ] + }, + "point_1769407343187": { + "type": "point", + "instances": [ + { + "id": "point_1769407343187_1769407364904_kpf4ftze6", + "x": 0.622625, + "y": 0.49886458333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方调整爪夹角度", + "correction_plan": "爪夹下降，下降至小麦面包位置合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向下方调整爪夹角度", + "frame": 24, + "progress": 10, + "progress_explanation": "爪夹向下调整角度尚未进行长距离移动，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于小麦面包上方。\n为完成将小麦面包放入瓷碗的任务应当：爪夹下降，下降至小麦面包位置合拢爪夹抓取小麦面包", + "time": 0.8122380194587628, + "annotations": { + "point_1769407343187": { + "type": "point", + "instances": [ + { + "id": "point_1769407343187_1769407371033_0181p4pbs", + "x": 0.620625, + "y": 0.47886458333333337 + } + ] + }, + "point_1769407343038": { + "type": "point", + "instances": [ + { + "id": "point_1769407343038_1769407372776_3fnwyw39m", + "x": 0.378625, + "y": 0.48953125 + } + ] + }, + "bbox_1769407336340": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336340_1769407379300_ax0cqo1f5", + "x": 0.36662500000000003, + "y": 0.48019791666666667, + "width": 0.16599999999999998, + "height": 0.2133333333333333 + } + ] + }, + "bbox_1769407336521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336521_1769407383580_u53tflcbr", + "x": 0.640625, + "y": 0.3041979166666667, + "width": 0.12599999999999997, + "height": 0.16266666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降，同时向下调整爪夹角度使其对准了小麦面包", + "correction_plan": "合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功向爪夹方向下方移动至可抓取小麦面包的位置", + "frame": 47, + "progress": 25, + "progress_explanation": "爪夹已移动至可抓取小麦面包的位置，因此进度提升至25%", + "state_description": "当前状态为爪夹张开，位于小麦面包位置。\n为完成将小麦面包放入瓷碗的任务应当：合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升", + "time": 1.557, + "annotations": { + "bbox_1769407336521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336521_1769407388161_34q8aeylz", + "x": 0.803625, + "y": 0.12686458333333334, + "width": 0.13999999999999985, + "height": 0.28533333333333327 + } + ] + }, + "bbox_1769407336340": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336340_1769407392639_xm5qczq8c", + "x": 0.328625, + "y": 0.46419791666666665, + "width": 0.25200000000000006, + "height": 0.30266666666666675 + } + ] + }, + "point_1769407343187": { + "type": "point", + "instances": [ + { + "id": "point_1769407343187_1769407401823_sivn23msm", + "x": 0.622625, + "y": 0.4828645833333333 + } + ] + }, + "point_1769407343038": { + "type": "point", + "instances": [ + { + "id": "point_1769407343038_1769407403520_uzx967k1o", + "x": 0.37262500000000004, + "y": 0.4961979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中\n", + "error_success_analysis": "爪夹成功合拢，小麦面包成功被爪夹抓取", + "frame": 61, + "progress": 50, + "progress_explanation": "小麦面包已被爪夹抓取，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓取小麦面包，小麦面包尚未被移动。\n为完成将小麦面包放入瓷碗的任务应当：保持爪夹合拢状态抬升并向爪夹方向右前方移动，移动至瓷碗上方后下降", + "time": 2.035632, + "annotations": { + "point_1769407343038": { + "type": "point", + "instances": [ + { + "id": "point_1769407343038_1769407406116_9l8z4iaan", + "x": 0.46362500000000006, + "y": 0.50553125 + } + ] + }, + "point_1769407343187": { + "type": "point", + "instances": [ + { + "id": "point_1769407343187_1769407407688_qbwi4ermk", + "x": 0.530625, + "y": 0.48953125 + } + ] + }, + "bbox_1769407336521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336521_1769407411723_mz664hl6m", + "x": 0.8086249999999999, + "y": 0.13886458333333335, + "width": 0.13900000000000007, + "height": 0.2786666666666667 + } + ] + }, + "bbox_1769407336340": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336340_1769407418584_tamzy9l62", + "x": 0.341625, + "y": 0.45619791666666665, + "width": 0.189, + "height": 0.31333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向右前方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取小麦面包 ，小麦面包成功被爪夹抬升至空中", + "frame": 101, + "progress": 60, + "progress_explanation": "小麦面包已被爪夹抓取并抬升至空中。因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被抬升至空中。\n为完成将小麦面包放入瓷碗的任务应当：保持爪夹合拢状态向爪夹方向右前方移动，移动至瓷碗上方后下降", + "time": 3.367733, + "annotations": { + "bbox_1769407336340": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336340_1769407424315_tajfktpw9", + "x": 0.47062499999999996, + "y": 0.45753125, + "width": 0.05600000000000005, + "height": 0.2986666666666667 + } + ] + }, + "point_1769407343038": { + "type": "point", + "instances": [ + { + "id": "point_1769407343038_1769407425818_r2je27emj", + "x": 0.465625, + "y": 0.5228645833333333 + } + ] + }, + "point_1769407343187": { + "type": "point", + "instances": [ + { + "id": "point_1769407343187_1769407427511_kcebgt2sb", + "x": 0.527625, + "y": 0.51353125 + } + ] + }, + "bbox_1769407336521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336521_1769407431775_ejzdri9ej", + "x": 0.5856250000000001, + "y": 0.42019791666666667, + "width": 0.13200000000000003, + "height": 0.1733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动至瓷碗上方", + "frame": 121, + "progress": 75, + "progress_explanation": "小麦面包已移动至瓷碗上方，因此进度提升至75%", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包位于瓷碗上方。\n为完成将小麦面包放入瓷碗的任务应当：爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹", + "time": 4.036666, + "annotations": { + "bbox_1769407336521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336521_1769407437201_8526xqco8", + "x": 0.402625, + "y": 0.48019791666666667, + "width": 0.18899999999999997, + "height": 0.22399999999999995 + } + ] + }, + "bbox_1769407336340": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336340_1769407440440_uezlhbeva", + "x": 0.46362500000000006, + "y": 0.45353125, + "width": 0.07199999999999998, + "height": 0.312 + } + ] + }, + "point_1769407343038": { + "type": "point", + "instances": [ + { + "id": "point_1769407343038_1769407441987_esyyd61as", + "x": 0.460625, + "y": 0.5201979166666667 + } + ] + }, + "point_1769407343187": { + "type": "point", + "instances": [ + { + "id": "point_1769407343187_1769407443507_15atwy7fl", + "x": 0.527625, + "y": 0.5108645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "correction_plan": "张开爪夹使小麦面包落入瓷碗中", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动下降至瓷碗内", + "frame": 137, + "progress": 90, + "progress_explanation": "小麦面包已下降至瓷碗内，但爪夹尚未张开，因此进度提升至90", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已下降至瓷碗内。\n为完成将小麦面包放入瓷碗的任务应当：张开爪夹使小麦面包落入瓷碗中", + "time": 4.572966, + "annotations": { + "point_1769407343187": { + "type": "point", + "instances": [ + { + "id": "point_1769407343187_1769407446037_fy6cavjcx", + "x": 0.523625, + "y": 0.50953125 + } + ] + }, + "point_1769407343038": { + "type": "point", + "instances": [ + { + "id": "point_1769407343038_1769407447834_rzlte7whi", + "x": 0.46762500000000007, + "y": 0.51353125 + } + ] + }, + "bbox_1769407336521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336521_1769407452847_ggxvvduum", + "x": 0.356625, + "y": 0.42553124999999997, + "width": 0.251, + "height": 0.3013333333333333 + } + ] + }, + "bbox_1769407336340": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336340_1769407465297_sthitmneg", + "x": 0.473625, + "y": 0.4441979166666667, + "width": 0.052000000000000046, + "height": 0.308 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将小麦面包放入瓷碗中的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，小麦面包成功落入瓷碗内", + "frame": 151, + "progress": 100, + "progress_explanation": "将小麦面包放入瓷碗中的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于小麦面包和瓷碗上方。\n将小麦面包放入瓷碗中的任务已完成", + "time": 5.027255445231959, + "annotations": { + "bbox_1769407336340": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336340_1769407470777_fbnuqwjul", + "x": 0.407625, + "y": 0.49353125000000003, + "width": 0.195, + "height": 0.25600000000000006 + } + ] + }, + "bbox_1769407336521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407336521_1769407475414_v117hw8f1", + "x": 0.367625, + "y": 0.46553124999999995, + "width": 0.22600000000000012, + "height": 0.3 + } + ] + }, + "point_1769407343187": { + "type": "point", + "instances": [ + { + "id": "point_1769407343187_1769407486771_0317klvnx", + "x": 0.6216250000000001, + "y": 0.48553125 + } + ] + }, + "point_1769407343038": { + "type": "point", + "instances": [ + { + "id": "point_1769407343038_1769407488649_ahrmie7xe", + "x": 0.37062500000000004, + "y": 0.5041979166666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769407336340", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769407336521", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769407343038", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769407343187", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-140015-put-wheat bread-porcelain-bowl-mix/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-140015-put-wheat bread-porcelain-bowl-mix/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..0e5ddf80ed1a2bb3df52033eb73424dd9c451ed0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-140015-put-wheat bread-porcelain-bowl-mix/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,728 @@ +{ + "task_description": "将小麦面包放入瓷碗中\n开始移动0%\n爪夹靠近小麦面包25%\n爪夹抓取小麦面包50%\n爪夹抓取小麦面包移动至瓷碗上方75%\n爪夹张开，小麦面包被放入瓷碗内100%", + "progress_points": [ + { + "time": 0.19547084690033975, + "frame": 6, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离小麦面包\n为完成将小麦面包放入瓷碗的任务应当：爪夹向下方调整爪夹方向，之后向爪夹方向右前方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹", + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向下方调整爪夹方向，之后向爪夹方向右前方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407097704_2wlx1uot5", + "x": 0.1467777620374901, + "y": 0.7425740260763326, + "width": 0.12899999212646532, + "height": 0.22266664854600837 + } + ] + }, + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407107832_adobtt3gv", + "x": 0.1067777644788962, + "y": 0.4465740501648722, + "width": 0.16799998974609437, + "height": 0.20666664984809166 + } + ] + } + } + }, + { + "time": 0.8935840579336185, + "frame": 27, + "progress": 5, + "action_description": "爪夹向爪夹方向前方移动", + "state_description": "当前状态为爪夹张开，位于小麦面包左后方。\n为完成将小麦面包放入瓷碗的任务应当：爪夹向下方调整爪夹方向，之后向爪夹方向右前方移动移动至小麦面包上方后下降", + "progress_explanation": "爪夹略微靠近小麦面包，因此进度提升至5%", + "error_success_analysis": "爪夹成功向前方小麦面包靠近", + "correction_plan": "爪夹向下方调整爪夹方向，之后向爪夹方向右前方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407126575_r2nfzygz9", + "x": 0.41262499999999996, + "y": 0.23619791666666667 + } + ] + }, + "point_1769407087024": { + "type": "point", + "instances": [ + { + "id": "point_1769407087024_1769407128795_fyhmji06u", + "x": 0.528625, + "y": 0.24286458333333333 + } + ] + }, + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407132946_hnq6tjjek", + "x": 0.143625, + "y": 0.7361979166666667, + "width": 0.13299999999999998, + "height": 0.22399999999999995 + } + ] + }, + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407137835_ym9eah6zm", + "x": 0.110625, + "y": 0.44953125, + "width": 0.16599999999999998, + "height": 0.20000000000000007 + } + ] + } + } + }, + { + "time": 1.4208, + "frame": 43, + "progress": -5, + "action_description": "爪夹向爪夹方向下方移动下降，同时向下调整爪夹方向", + "state_description": "当前状态为爪夹张开，位于荞麦面包位置", + "progress_explanation": "爪夹尚未移动至小麦面包位置提前下降，因此进度降低至-5%", + "error_success_analysis": "爪夹尚未移动至小麦面包位置提前下降，导致位置错误", + "correction_plan": "爪夹保持张开状态抬升并向爪夹方向右前方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407142895_c1heepc7x", + "x": 0.106625, + "y": 0.4508645833333333, + "width": 0.16599999999999998, + "height": 0.2053333333333334 + } + ] + }, + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407161105_mm008zoj6", + "x": 0.145625, + "y": 0.7428645833333333, + "width": 0.12699999999999997, + "height": 0.22133333333333335 + } + ] + }, + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407166038_rzj7s322o", + "x": 0.43562500000000004, + "y": 0.43753125000000004 + } + ] + }, + "point_1769407087024": { + "type": "point", + "instances": [ + { + "id": "point_1769407087024_1769407167675_o7y0i7lc9", + "x": 0.527625, + "y": 0.4121979166666667 + } + ] + } + } + }, + { + "time": 2.072, + "frame": 62, + "progress": -15, + "action_description": "爪夹由张开变为合拢 ", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包，小麦面包未被抓取。\n为完成将小麦面包放入瓷碗的任务应当：张开爪夹抬升并向爪夹方向右前方移动移动至小麦面包上方后下降", + "progress_explanation": "爪夹抓取物品错误，因此进度降低至15%", + "error_success_analysis": "爪夹尚未移动至小麦面包位置请提前抓取导致抓取物品错误", + "correction_plan": "爪夹张开，抬升并向爪夹方向右前方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "point_1769407087024": { + "type": "point", + "instances": [ + { + "id": "point_1769407087024_1769407172551_t246v87cv", + "x": 0.498625, + "y": 0.42019791666666667 + } + ] + }, + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407174471_n2aymuqvn", + "x": 0.473625, + "y": 0.4241979166666667 + } + ] + }, + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407178410_sroof5bdr", + "x": 0.107625, + "y": 0.4521979166666667, + "width": 0.16499999999999998, + "height": 0.1973333333333334 + } + ] + }, + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407182071_es4cf0lmd", + "x": 0.147625, + "y": 0.7401979166666667, + "width": 0.12899999999999998, + "height": 0.21999999999999992 + } + ] + } + } + }, + { + "time": 3.35094256077076, + "frame": 101, + "progress": 10, + "action_description": "爪夹向爪夹方向右上方抬升移动", + "state_description": "当前状态为爪夹合拢，抓紧荞麦面包。\n为完成将小麦面包放入瓷碗的任务应当：爪夹张开并向爪夹方向右前方移动移动至小麦面包上方后下降", + "progress_explanation": "爪夹靠近了小麦面包，但错误物品尚未被放下，因此进度提升至10%", + "error_success_analysis": "爪夹成功向小麦面包位置靠近", + "correction_plan": "爪夹张开并向爪夹方向右前方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407186496_t5eq18gkg", + "x": 0.144625, + "y": 0.7455312500000001, + "width": 0.13199999999999998, + "height": 0.20799999999999993 + } + ] + }, + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407193164_zb7r1ljwn", + "x": 0.108625, + "y": 0.44953125, + "width": 0.163, + "height": 0.20266666666666666 + } + ] + }, + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407195515_68eamjra9", + "x": 0.363625, + "y": 0.39219791666666665 + } + ] + }, + "point_1769407087024": { + "type": "point", + "instances": [ + { + "id": "point_1769407087024_1769407197421_t9kug9zag", + "x": 0.386625, + "y": 0.4041979166666667 + } + ] + } + } + }, + { + "time": 3.9368, + "frame": 118, + "progress": 15, + "action_description": "爪夹由合拢变为张开 ", + "state_description": "当前状态为爪夹张开，位于小麦面包左后方。\n为完成将小麦面包放入瓷碗的任务应当：爪夹保持张开状态向爪夹方向右前方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹", + "progress_explanation": "爪夹张开，错误物品被放下，且位于较为接近小麦面包的位置，因此进度提升至15%", + "error_success_analysis": "爪夹成功张开，错误物品成功被爪夹放下", + "correction_plan": "爪夹保持张开状态向爪夹方向右前方移动移动至小麦面包上方后下降，下降至小麦面包位置合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "point_1769407087024": { + "type": "point", + "instances": [ + { + "id": "point_1769407087024_1769407200383_ev7n1vhnu", + "x": 0.44662500000000005, + "y": 0.4188645833333334 + } + ] + }, + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407202413_3ck2yj0dp", + "x": 0.31262500000000004, + "y": 0.41619791666666667 + } + ] + }, + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407206278_e0g1l38rp", + "x": 0.145625, + "y": 0.7401979166666667, + "width": 0.13099999999999998, + "height": 0.22266666666666665 + } + ] + }, + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407209715_ny2now3em", + "x": 0.109625, + "y": 0.4508645833333333, + "width": 0.162, + "height": 0.20000000000000007 + } + ] + } + } + }, + { + "time": 4.9136, + "frame": 147, + "progress": 20, + "action_description": "爪夹向爪夹方向右前方移动", + "state_description": "当前状态为爪夹张开，位于小麦面包上方。\n为完成将小麦面包放入瓷碗的任务应当：爪夹下降，下降至小麦面包位置合拢爪夹，抓取小麦面包", + "progress_explanation": "爪夹已靠近至小麦面包上方，因此进度提升至20%", + "error_success_analysis": "爪夹成功向爪夹方向右前方移动靠近了小麦面包", + "correction_plan": "爪夹下降，下降至小麦面包位置合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407218363_xfyg33raw", + "x": 0.105625, + "y": 0.44686458333333334, + "width": 0.16500000000000004, + "height": 0.20533333333333334 + } + ] + }, + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407223056_ynoi3xjut", + "x": 0.141625, + "y": 0.7388645833333334, + "width": 0.132, + "height": 0.22133333333333324 + } + ] + }, + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407224828_mpkn7sdif", + "x": 0.222625, + "y": 0.62953125 + } + ] + }, + "point_1769407087024": { + "type": "point", + "instances": [ + { + "id": "point_1769407087024_1769407226588_3ax09vt0e", + "x": 0.36862500000000004, + "y": 0.6495312500000001 + } + ] + } + } + }, + { + "time": 5.959466, + "frame": 179, + "progress": 25, + "action_description": "爪夹向爪夹方向下方移动下降", + "state_description": "当前状态为爪夹张开，位于小麦面包位置。\n为完成将小麦面包放入瓷碗的任务应当：合拢爪夹抓取小麦面包，之后保持爪夹合拢状态抬升", + "progress_explanation": "爪夹已移动至可抓取小麦面包的位置，因此进度提升至25%", + "error_success_analysis": "爪夹成功向爪夹方向下方移动至可抓取小麦面包的位置", + "correction_plan": "合拢爪夹，抓取小麦面包，之后保持爪夹合拢状态抬升并向爪夹方向后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "point_1769407087024": { + "type": "point", + "instances": [ + { + "id": "point_1769407087024_1769407230563_on0ke8xpe", + "x": 0.31862500000000005, + "y": 0.8385312500000001 + } + ] + }, + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407232468_x5ymih328", + "x": 0.190625, + "y": 0.78953125 + } + ] + }, + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407235827_2hxwc4fk0", + "x": 0.107625, + "y": 0.4508645833333333, + "width": 0.15500000000000003, + "height": 0.19600000000000004 + } + ] + }, + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407239462_4m8prs6d1", + "x": 0.145625, + "y": 0.7401979166666667, + "width": 0.13, + "height": 0.22666666666666668 + } + ] + } + } + }, + { + "time": 6.521866, + "frame": 196, + "progress": 50, + "action_description": "爪夹由张开变为合拢", + "state_description": "当前状态为爪夹合拢，抓取小麦面包，小麦面包尚未被移动。\n为完成将小麦面包放入瓷碗的任务应当：保持爪夹合拢状态抬升并向爪夹方向后方移动，移动至瓷碗上方后下降", + "progress_explanation": "小麦面包已被爪夹抓取，因此进度提升至50%", + "error_success_analysis": "爪夹成功合拢，小麦面包成功被爪夹抓取", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407249241_ftnu54rps", + "x": 0.146625, + "y": 0.7455312500000001, + "width": 0.10099999999999998, + "height": 0.20799999999999993 + } + ] + }, + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407250789_qrxcdu8b0", + "x": 0.232625, + "y": 0.7841979166666667 + } + ] + }, + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407255287_qn9evbl20", + "x": 0.10362500000000001, + "y": 0.44953125, + "width": 0.14200000000000002, + "height": 0.204 + } + ] + } + } + }, + { + "time": 7.427923713205108, + "frame": 223, + "progress": 60, + "action_description": "爪夹向爪夹方向上方抬升移动", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已被抬升至空中。\n为完成将小麦面包放入瓷碗的任务应当：保持爪夹合拢状态向爪夹方向后方移动，移动至瓷碗上方后下降", + "progress_explanation": "小麦面包已被爪夹抓取并抬升至空中。因此进度提升至60%", + "error_success_analysis": "爪夹成功抓取小麦面包 ，小麦面包成功被爪夹抬升至空中", + "correction_plan": "保持爪夹合拢状态向爪夹方向后方移动，移动至瓷碗上方后下降，下降至小麦面包进入瓷碗后张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407260129_h9v53cg0l", + "x": 0.106625, + "y": 0.4668645833333333, + "width": 0.16400000000000003, + "height": 0.18400000000000005 + } + ] + }, + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407265736_hu3aiam8b", + "x": 0.157625, + "y": 0.52553125, + "width": 0.08000000000000003, + "height": 0.26400000000000007 + } + ] + }, + "point_1769407087024": { + "type": "point", + "instances": [ + { + "id": "point_1769407087024_1769407267824_6tt85fyve", + "x": 0.222625, + "y": 0.56953125 + } + ] + }, + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407269897_p4z3mi17z", + "x": 0.193625, + "y": 0.5628645833333333 + } + ] + } + } + }, + { + "time": 7.893333, + "frame": 237, + "progress": 75, + "action_description": "爪夹向爪夹方向右后方移动", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包位于瓷碗上方。\n为完成将小麦面包放入瓷碗的任务应当：爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹", + "progress_explanation": "小麦面包已移动至瓷碗上方，因此进度提升至75%", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动至瓷碗上方", + "correction_plan": "爪夹向爪夹方向下方移动下降，下降至瓷碗内后张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407276040_lhq5nhd6b", + "x": 0.161625, + "y": 0.37886458333333334 + } + ] + }, + "point_1769407087024": { + "type": "point", + "instances": [ + { + "id": "point_1769407087024_1769407278070_e55hqze04", + "x": 0.187625, + "y": 0.38419791666666664 + } + ] + }, + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407282862_ezqzoo9ub", + "x": 0.12362500000000001, + "y": 0.36553125000000003, + "width": 0.11299999999999999, + "height": 0.20533333333333328 + } + ] + }, + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407286436_s8e41lhlu", + "x": 0.106625, + "y": 0.45753125, + "width": 0.165, + "height": 0.19466666666666665 + } + ] + } + } + }, + { + "time": 8.560859395747423, + "frame": 257, + "progress": 90, + "action_description": "爪夹向爪夹方向下方移动", + "state_description": "当前状态为爪夹合拢，抓紧小麦面包，小麦面包已下降至瓷碗内。\n为完成将小麦面包放入瓷碗的任务应当：张开爪夹使小麦面包落入瓷碗中", + "progress_explanation": "小麦面包已下降至瓷碗内，但爪夹尚未张开，因此进度提升至90%", + "error_success_analysis": "爪夹成功抓取小麦面包，小麦面包成功被爪夹移动下降至瓷碗内", + "correction_plan": "张开爪夹使小麦面包落入瓷碗中", + "annotations": { + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407292852_eaczt8gpa", + "x": 0.10362500000000001, + "y": 0.4401979166666667, + "width": 0.16899999999999998, + "height": 0.19199999999999992 + } + ] + }, + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407296113_9kr2ikoa0", + "x": 0.140625, + "y": 0.37753125, + "width": 0.09700000000000002, + "height": 0.1946666666666666 + } + ] + }, + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407305459_e8iuf99vp", + "x": 0.171625, + "y": 0.40019791666666665 + } + ] + }, + "point_1769407087024": { + "type": "point", + "instances": [ + { + "id": "point_1769407087024_1769407307219_n09e70bvf", + "x": 0.191625, + "y": 0.40953125 + } + ] + } + } + }, + { + "time": 9.393066, + "frame": 282, + "progress": 100, + "action_description": "爪夹由合拢变为张开", + "state_description": "当前状态为爪夹张开，位于小麦面包和瓷碗上方。\n将小麦面包放入瓷碗中的任务已完成", + "progress_explanation": "将小麦面包放入瓷碗中的任务已完成，因此进度提升至100%", + "error_success_analysis": "爪夹成功张开，小麦面包成功落入瓷碗内", + "correction_plan": "将小麦面包放入瓷碗中的任务已完成，无需后续动作规划", + "annotations": { + "point_1769407087024": { + "type": "point", + "instances": [ + { + "id": "point_1769407087024_1769407310440_lpaewlbf9", + "x": 0.232625, + "y": 0.4401979166666667 + } + ] + }, + "point_1769407086863": { + "type": "point", + "instances": [ + { + "id": "point_1769407086863_1769407312356_yic1ik3nz", + "x": 0.145625, + "y": 0.39753125 + } + ] + }, + "bbox_1769407000668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000668_1769407319579_49ccfmxh2", + "x": 0.136625, + "y": 0.41886458333333343, + "width": 0.152, + "height": 0.21733333333333327 + } + ] + }, + "bbox_1769407000848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407000848_1769407327695_6tdl1o4gh", + "x": 0.10362500000000001, + "y": 0.4521979166666667, + "width": 0.165, + "height": 0.2 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769407000668", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769407000848", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769407086863", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769407087024", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-141830-put-wheat bread-porcelain-bowl-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-141830-put-wheat bread-porcelain-bowl-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e45713ce1d65d385c00aef75b78843c35141917f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-141830-put-wheat bread-porcelain-bowl-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,622 @@ +{ + "task_description": "把小麦面包放进瓷碗里\n开始移动：0%\n爪夹靠近小麦面包：25%\n抓紧小麦面包：50%\n移动蓝小麦面包：75%\n将小麦面包完全放进瓷碗里:100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前调整爪夹角度，爪夹向爪夹前移动平行小麦面包，爪夹向爪夹右移动垂直语小麦面包上方，爪夹向爪夹下移动靠近小麦面包，爪夹靠近小麦面包爪夹合拢夹紧小麦面包，爪夹保持合拢向爪夹上抬升，爪夹向爪夹左移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开将小麦面包放在瓷碗中", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "爪夹未开始移动角度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将小麦面包完全放进瓷碗里的任务应当：爪夹向爪夹前调整爪夹角度", + "time": 0.14616224784324108, + "annotations": { + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888414377_nio6nicct", + "x": 0.7176665821736704, + "y": 0.3178332972954674, + "width": 0.11199999316406287, + "height": 0.18266665180121647 + } + ] + }, + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888416681_bn1ahfzz0", + "x": 0.5396665930379276, + "y": 0.3071666314968562, + "width": 0.23299998577880948, + "height": 0.24933331304253634 + } + ] + }, + "point_1768888390225": { + "type": "point", + "instances": [ + { + "id": "point_1768888390225_1768888612257_57qlbvper", + "x": 0.7186665821126353, + "y": 0.13249997904459807 + } + ] + }, + "point_1768888390385": { + "type": "point", + "instances": [ + { + "id": "point_1768888390385_1768888614657_sz67jd3im", + "x": 0.7946665774739637, + "y": 0.07783331682671575 + } + ] + } + } + }, + { + "time": 1.0630007097407888, + "frame": 32, + "progress": 5, + "action_description": "爪夹向爪夹前调整爪夹角度", + "state_description": "爪夹打开爪夹垂直桌面\n为完成将小麦面包完全放进瓷碗里的任务应当：爪夹向爪夹前面移动垂直桌面", + "progress_explanation": "爪夹调整爪夹角度就是上升为5%", + "error_success_analysis": "爪夹调整爪夹角度成功使爪夹垂直桌面", + "correction_plan": "爪夹向爪夹前移动平行小麦面包，爪夹向爪夹右移动垂直语小麦面包上方，爪夹向爪夹下移动靠近小麦面包，爪夹靠近小麦面包爪夹合拢夹紧小麦面包，爪夹保持合拢向爪夹上抬升，爪夹向爪夹左移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开将小麦面包放在瓷碗中", + "annotations": { + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888430049_tugfzj4ao", + "x": 0.5816665904744512, + "y": 0.3018332985975506, + "width": 0.18799998852539127, + "height": 0.2853333101128491 + } + ] + }, + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888432209_4pv44qo3x", + "x": 0.7166665822347056, + "y": 0.3124999643961618, + "width": 0.15099999078369192, + "height": 0.17999998535156364 + } + ] + }, + "point_1768888390225": { + "type": "point", + "instances": [ + { + "id": "point_1768888390225_1768888599825_ror1ejp6w", + "x": 0.7396665808308971, + "y": 0.07383331715223655 + } + ] + }, + "point_1768888390385": { + "type": "point", + "instances": [ + { + "id": "point_1768888390385_1768888603033_erjlhdgvw", + "x": 0.812666576375331, + "y": 0.015166655259875062 + } + ] + } + } + }, + { + "time": 1.74, + "frame": 52, + "progress": 15, + "action_description": "爪夹向爪夹前并向下移动移动", + "state_description": "爪夹张开位于瓷碗左上方\n为完成将小麦面包完全放进瓷碗里的任务应当：爪夹向爪夹右移动至小麦面包上方", + "progress_explanation": "爪夹向爪夹前并向下移动角度上升为15%", + "error_success_analysis": "爪夹向爪夹前并向爪夹下成功移动", + "correction_plan": "爪夹向爪夹右移动垂直语小麦面包上方，爪夹向爪夹下移动靠近小麦面包，爪夹靠近小麦面包爪夹合拢夹紧小麦面包，爪夹保持合拢向爪夹上抬升，爪夹向爪夹左移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开将小麦面包放在瓷碗中", + "annotations": { + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888437441_m17mcbga5", + "x": 0.7176665821736704, + "y": 0.32849996309407853, + "width": 0.13499999176025446, + "height": 0.15999998697916773 + } + ] + }, + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888439273_paxk5akhb", + "x": 0.5246665939534549, + "y": 0.2938332992485922, + "width": 0.23899998541259854, + "height": 0.2946666426866339 + } + ] + }, + "point_1768888390225": { + "type": "point", + "instances": [ + { + "id": "point_1768888390225_1768888592465_5kvo38yd2", + "x": 0.5186665943196658, + "y": 0.3124999643961618 + } + ] + } + } + }, + { + "time": 2.354675, + "frame": 71, + "progress": 10, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢位于瓷碗左上方\n为完成将小麦面包完全放进瓷碗里的任务应当：爪夹张开并向爪夹右移动", + "progress_explanation": "爪夹合拢位于瓷碗左上角度下降为10%", + "error_success_analysis": "爪夹错误的合拢", + "correction_plan": "爪夹打开，爪夹向爪夹右移动垂直语小麦面包上方，爪夹向爪夹下移动靠近小麦面包，爪夹靠近小麦面包爪夹合拢夹紧小麦面包，爪夹保持合拢向爪夹上抬升，爪夹向爪夹左移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开将小麦面包放在瓷碗中", + "annotations": { + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888459257_xzbifhvxg", + "x": 0.7216665819295298, + "y": 0.3271666298692521, + "width": 0.13599999169921934, + "height": 0.24799997981771002 + } + ] + }, + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888461705_jhcu72z01", + "x": 0.5516665923055057, + "y": 0.27383330087619623, + "width": 0.2069999873657234, + "height": 0.3186666407335091 + } + ] + }, + "point_1768888390225": { + "type": "point", + "instances": [ + { + "id": "point_1768888390225_1768888583441_zkeg9ry43", + "x": 0.5476665925496464, + "y": 0.283166633449981 + } + ] + } + } + }, + { + "time": 3.1856810617427205, + "frame": 96, + "progress": -10, + "action_description": "爪夹向爪夹上抬升", + "state_description": "爪夹合拢位于初中位置\n为完成将小麦面包完全放进瓷碗里的任务应当：爪夹打开向爪夹下移动", + "progress_explanation": "爪夹合拢向爪夹上移动远离物体角度下降为-10%", + "error_success_analysis": "爪夹错误的向爪夹上抬升", + "correction_plan": "爪夹打开向爪夹下移动至万达左上方，爪夹向爪夹右移动垂直语小麦面包上方，爪夹向爪夹下移动靠近小麦面包，爪夹靠近小麦面包爪夹合拢夹紧小麦面包，爪夹保持合拢向爪夹上抬升，爪夹向爪夹左移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开将小麦面包放在瓷碗中", + "annotations": { + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888466106_uac8ijz3a", + "x": 0.5666665913899785, + "y": 0.2911666327989394, + "width": 0.21799998669433673, + "height": 0.32799997330729386 + } + ] + }, + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888469081_ddyc35pj5", + "x": 0.7376665809529674, + "y": 0.30049996537272416, + "width": 0.11799999279785194, + "height": 0.21733331564670286 + } + ] + }, + "point_1768888390225": { + "type": "point", + "instances": [ + { + "id": "point_1768888390225_1768888576593_kaqpc8t70", + "x": 0.7416665807088269, + "y": 0.005833322686090276 + } + ] + } + } + }, + { + "time": 3.624962, + "frame": 109, + "progress": -5, + "action_description": "爪夹打开", + "state_description": "爪夹打开远离物体\n为完成将小麦面包完全放进瓷碗里的任务应当：爪夹向爪夹下移动至万达左上方", + "progress_explanation": "爪夹打开远离物体进度上升为-5%", + "error_success_analysis": "爪夹成功张开", + "correction_plan": "爪夹向爪夹下移动至万达左上方，爪夹向爪夹右移动垂直语小麦面包上方，爪夹向爪夹下移动靠近小麦面包，爪夹靠近小麦面包爪夹合拢夹紧小麦面包，爪夹保持合拢向爪夹上抬升，爪夹向爪夹左移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开将小麦面包放在瓷碗中", + "annotations": { + "point_1768888390225": { + "type": "point", + "instances": [ + { + "id": "point_1768888390225_1768888490897_rsbpw28tm", + "x": 0.8036665769246474, + "y": 0.17249997578939 + } + ] + }, + "point_1768888390385": { + "type": "point", + "instances": [ + { + "id": "point_1768888390385_1768888492721_2qcmsf7nk", + "x": 0.8766665724690812, + "y": 0.11783331357150768 + } + ] + }, + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888495089_2xe0022xa", + "x": 0.7256665816853892, + "y": 0.323166630194773, + "width": 0.15199999072265688, + "height": 0.1773333189019109 + } + ] + }, + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888497418_m51s6vd6j", + "x": 0.5936665897420295, + "y": 0.3044999650472034, + "width": 0.19499998809814523, + "height": 0.274666644314238 + } + ] + } + } + }, + { + "time": 5.081113, + "frame": 152, + "progress": 25, + "action_description": "爪夹向爪夹右下移动靠近小麦面包", + "state_description": "爪夹张开靠近小麦面包\n为完成将小麦面包完全放进瓷碗里的任务应当：爪夹合拢抓取小麦面包", + "progress_explanation": "爪夹靠近小麦面包进度上升为25%", + "error_success_analysis": "爪夹向爪夹右下移动成功靠近小麦面包", + "correction_plan": "爪夹靠近小麦面包爪夹合拢夹紧小麦面包，爪夹保持合拢向爪夹上抬升，爪夹向爪夹左移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开将小麦面包放在瓷碗中", + "annotations": { + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888500857_6oowr7uyv", + "x": 0.5716665910848027, + "y": 0.3044999650472034, + "width": 0.19299998822021563, + "height": 0.2573333123914948 + } + ] + }, + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888502585_c4s9fu0ox", + "x": 0.7296665814412486, + "y": 0.3551666275906065, + "width": 0.13799999157714887, + "height": 0.1773333189019109 + } + ] + }, + "point_1768888390225": { + "type": "point", + "instances": [ + { + "id": "point_1768888390225_1768888504473_o8zoucwj5", + "x": 0.7796665783894909, + "y": 0.393833291110572 + } + ] + }, + "point_1768888390385": { + "type": "point", + "instances": [ + { + "id": "point_1768888390385_1768888506349_vqd3uif79", + "x": 0.8596665735066787, + "y": 0.3724999595133497 + } + ] + } + } + }, + { + "time": 5.896333905613731, + "frame": 177, + "progress": 50, + "action_description": "爪夹合拢抓取小麦面包", + "state_description": "爪夹抓紧小麦面包\n为完成将小麦面包完全放进瓷碗里的任务应当：爪夹保持合拢向爪夹上抬升", + "progress_explanation": "爪夹合拢抓取小麦面包进度上升为50%", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上抬升，爪夹向爪夹左移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开将小麦面包放在瓷碗中", + "annotations": { + "point_1768888390385": { + "type": "point", + "instances": [ + { + "id": "point_1768888390385_1768888510042_1kjopm7w6", + "x": 0.8466665743001357, + "y": 0.37516662596300243 + } + ] + }, + "point_1768888390225": { + "type": "point", + "instances": [ + { + "id": "point_1768888390225_1768888511833_trugzr103", + "x": 0.7916665776570692, + "y": 0.3898332914360928 + } + ] + }, + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888514113_ld1cl3hp4", + "x": 0.5816665904744512, + "y": 0.3324999627685577, + "width": 0.19599998803711002, + "height": 0.23866664724392522 + } + ] + }, + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888516233_0b83v2pbs", + "x": 0.7186665821126353, + "y": 0.34716662824164807, + "width": 0.14299999127197321, + "height": 0.15866665375434136 + } + ] + } + } + }, + { + "time": 7.291522869370868, + "frame": 219, + "progress": 75, + "action_description": "爪夹抓取小麦面包向爪夹上抬升", + "state_description": "爪夹抓取小麦面包位于瓷碗右边\n为完成将小麦面包完全放进瓷碗里的任务应当：爪夹向爪夹左移动至瓷碗上方", + "progress_explanation": "爪夹抓取小麦面包移动进度上升为75%", + "error_success_analysis": "爪夹抓取小麦面包成功向爪夹上方抬升", + "correction_plan": "爪夹向爪夹左移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开将小麦面包放在瓷碗中", + "annotations": { + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888521337_crahpyx0t", + "x": 0.7886665778401747, + "y": 0.165833309665258, + "width": 0.10999999328613326, + "height": 0.23733331401909882 + } + ] + }, + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888523593_hifwd1wzc", + "x": 0.5826665904134161, + "y": 0.3178332972954674, + "width": 0.18299998883056706, + "height": 0.2666666449652795 + } + ] + } + } + }, + { + "time": 7.877077, + "frame": 236, + "progress": 85, + "action_description": "爪夹抓取小麦面包向抓夹左移动至瓷碗上方", + "state_description": "爪夹抓取小麦面包在瓷碗上方\n为完成将小麦面包完全放进瓷碗里的任务应当：爪夹保持合拢向爪夹下移动靠近瓷碗", + "progress_explanation": "爪夹抓取小麦面包移动至瓷碗上方进度上升为85", + "error_success_analysis": "爪夹向爪夹左移动成功位于瓷碗上方", + "correction_plan": "爪夹向爪夹下移动靠近瓷碗，爪夹打开将小麦面包放在瓷碗中", + "annotations": { + "point_1768888390225": { + "type": "point", + "instances": [ + { + "id": "point_1768888390225_1768888546913_y19lt539l", + "x": 0.681666584370936, + "y": 0.1604999767659524 + } + ] + }, + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888549473_b0vtpehrn", + "x": 0.5916665898640997, + "y": 0.3044999650472034, + "width": 0.18399998876953189, + "height": 0.30933330815972426 + } + ] + }, + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888551953_6wgfvx6qm", + "x": 0.6456665865682014, + "y": 0.08049998327636855, + "width": 0.11599999291992233, + "height": 0.2946666426866339 + } + ] + } + } + }, + { + "time": 8.636883655850966, + "frame": 259, + "progress": 95, + "action_description": "爪夹向爪夹下移动至瓷碗中", + "state_description": "爪夹抓取小麦面包位于瓷碗中\n为完成将小麦面包完全放进瓷碗里的任务应当：爪夹打开将小麦面包放在瓷碗中", + "progress_explanation": "爪夹抓取小麦面包位于瓷碗中进度上升为95%", + "error_success_analysis": "爪夹向爪夹下移动成功将小麦面包移动到瓷碗中", + "correction_plan": "爪夹打开将小麦面包放在瓷碗中", + "annotations": { + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888556601_5kgy3pun2", + "x": 0.5746665909016972, + "y": 0.25116663605414746, + "width": 0.14799999096679742, + "height": 0.1853333182508693 + } + ] + }, + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888559385_6evl4jklr", + "x": 0.5916665898640997, + "y": 0.30849996472168256, + "width": 0.19099998834228585, + "height": 0.27066664463975876 + } + ] + }, + "point_1768888390225": { + "type": "point", + "instances": [ + { + "id": "point_1768888390225_1768888561289_4grft2qn4", + "x": 0.6236665879109748, + "y": 0.27383330087619623 + } + ] + } + } + }, + { + "time": 9.155096699532187, + "frame": 275, + "progress": 100, + "action_description": "爪夹打开将小麦面包完全放进瓷碗里", + "state_description": "爪夹张开小麦面白落在瓷碗中任务完成\n", + "progress_explanation": "爪夹打开将小麦面包放在瓷碗中任务完成进度为100%", + "error_success_analysis": "爪夹打开成功将小麦面包方在瓷碗中", + "correction_plan": "", + "annotations": { + "point_1768888390225": { + "type": "point", + "instances": [ + { + "id": "point_1768888390225_1768888565025_9ekgzelyt", + "x": 0.6176665882771857, + "y": 0.2911666327989394 + } + ] + }, + "bbox_1768888389321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389321_1768888567185_ce9kq1s7m", + "x": 0.5656665914510136, + "y": 0.3218332969699465, + "width": 0.23099998590087978, + "height": 0.21199998274739731 + } + ] + }, + "bbox_1768888389033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768888389033_1768888569665_6r1fhoyt2", + "x": 0.583666590352381, + "y": 0.32049996374512013, + "width": 0.130999992004395, + "height": 0.17866665212673732 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768888389033", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1768888389321", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768888390225", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768888390385", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-154442-put-beefsteak-porcelain-bowl-good/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-154442-put-beefsteak-porcelain-bowl-good/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e50e4df6f20680b8b9fd817590989c592ee42f3b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-154442-put-beefsteak-porcelain-bowl-good/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,440 @@ +{ + "task_description": "把牛排放在瓷碗里\n开始移动：0%\n爪夹靠近牛排：25%\n抓紧牛排：50%\n移动牛排：75%\n将牛排完全放进瓷碗里:100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前移动并调整爪夹角度使爪夹角度垂直桌面，爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢爪夹向爪夹上抬升，爪夹向爪夹右上移动至瓷碗的上方，爪夹向爪夹下移动靠近瓷碗，爪夹张开使牛排落入瓷碗中", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹前移动并调整爪夹角度使爪夹角度垂直桌面", + "time": 0.07956429470452096, + "annotations": { + "bbox_1768898311323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311323_1768898334476_0erpklfwn", + "x": 0.4136824233128268, + "y": 0.36590441389261835, + "width": 0.202917394633121, + "height": 0.21524938608249286 + } + ] + }, + "bbox_1768898311538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311538_1768898336922_eqrnyu30d", + "x": 0.8318492089379876, + "y": 0.1267384293565152, + "width": 0.16592140555636412, + "height": 0.2795252444265706 + } + ] + }, + "point_1768898312387": { + "type": "point", + "instances": [ + { + "id": "point_1768898312387_1768898338810_4ehe5fs3l", + "x": 0.36995989076756863, + "y": 0.4227063352199429 + } + ] + }, + "point_1768898312522": { + "type": "point", + "instances": [ + { + "id": "point_1768898312522_1768898340722_pod3pwzxc", + "x": 0.4988853072471759, + "y": 0.4720343195305141 + } + ] + } + } + }, + { + "time": 0.9110970824482018, + "frame": 27, + "progress": -5, + "action_description": "爪夹向爪夹上抬升", + "state_description": "爪夹张开爪夹远离物品\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹左前移动至牛排上方", + "progress_explanation": "爪夹向爪夹上抬升远离物品角度下降为-5%", + "error_success_analysis": "爪夹错误的向爪夹上抬升", + "correction_plan": "爪夹向爪夹前移动并调整爪夹角度使爪夹角度垂直桌面，爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢爪夹向爪夹上抬升，爪夹向爪夹右上移动至瓷碗的上方，爪夹向爪夹下移动靠近瓷碗，爪夹张开使牛排落入瓷碗中", + "annotations": { + "bbox_1768898311538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311538_1768898357730_bveiqulde", + "x": 0.855392111077742, + "y": 0.07007240764231956, + "width": 0.14013632226044273, + "height": 0.3064314176868822 + } + ] + }, + "bbox_1768898311323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311323_1768898359890_qz017ncnl", + "x": 0.4260144196717457, + "y": 0.32418626621192914, + "width": 0.20515957578928806, + "height": 0.25859822077966155 + } + ] + } + } + }, + { + "time": 2.2894234379467635, + "frame": 69, + "progress": 10, + "action_description": "爪夹向爪夹前移动", + "state_description": "爪夹张开爪夹位于牛排的后上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹左下方牛排移动并调整爪夹角度", + "progress_explanation": "爪夹向爪夹前移动角度上升为10%", + "error_success_analysis": "爪夹正确的向爪夹前移动", + "correction_plan": "爪夹向爪夹左下方牛排移动并调整爪夹角度，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢爪夹向爪夹上抬升，爪夹向爪夹右上移动至瓷碗的上方，爪夹向爪夹下移动靠近瓷碗，爪夹张开使牛排落入瓷碗中", + "annotations": { + "bbox_1768898311323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311323_1768898366004_51i0v08z2", + "x": 0.46525258990466967, + "y": 0.33179610284181127, + "width": 0.15695268093169581, + "height": 0.28699918144332376 + } + ] + }, + "bbox_1768898311538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311538_1768898372963_spcyyd77g", + "x": 0.8251226654694864, + "y": 0.052134958802111823, + "width": 0.15919486208786288, + "height": 0.3602437642075054 + } + ] + } + } + }, + { + "time": 3.6599765591055293, + "frame": 110, + "progress": 20, + "action_description": "爪夹向爪夹左下移动至牛排上方并调整爪夹角度使其垂牛排", + "state_description": "爪夹张开位于牛排上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹下移动靠近牛排", + "progress_explanation": "爪夹移动至牛排上方进度上升为20%", + "error_success_analysis": "爪夹成功移动至牛排上方", + "correction_plan": "爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢爪夹向爪夹上抬升，爪夹向爪夹右上移动至瓷碗的上方，爪夹向爪夹下移动靠近瓷碗，爪夹张开使牛排落入瓷碗中", + "annotations": { + "bbox_1768898311538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311538_1768898376371_70szwmure", + "x": 0.8217593937352359, + "y": 0.08665096869230553, + "width": 0.16480031497828057, + "height": 0.294473118460077 + } + ] + }, + "bbox_1768898311323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311323_1768898380378_19a76ll4u", + "x": 0.3766864342360699, + "y": 0.2702380200781771, + "width": 0.30381554666063976, + "height": 0.3961186618879209 + } + ] + }, + "point_1768898312387": { + "type": "point", + "instances": [ + { + "id": "point_1768898312387_1768898398890_jgqq8h105", + "x": 0.5067329412937607, + "y": 0.4093891482029159 + } + ] + } + } + }, + { + "time": 4.811866, + "frame": 144, + "progress": 25, + "action_description": "爪夹向爪夹下移动靠近牛排", + "state_description": "爪夹张开靠近牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹合拢爪夹向爪夹上抬升", + "progress_explanation": "爪夹靠近牛排进度上升为25%", + "error_success_analysis": "爪夹向爪夹下移动成功靠近牛排", + "correction_plan": "爪夹合拢抓取牛排，爪夹保持合拢爪夹向爪夹上抬升，爪夹向爪夹右上移动至瓷碗的上方，爪夹向爪夹下移动靠近瓷碗，爪夹张开使牛排落入瓷碗中", + "annotations": { + "point_1768898312387": { + "type": "point", + "instances": [ + { + "id": "point_1768898312387_1768898402034_zzgsinibl", + "x": 0.5213071188088467, + "y": 0.42732659704312365 + } + ] + }, + "bbox_1768898311538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311538_1768898407090_9pygkwa6d", + "x": 0.8307281183599041, + "y": 0.12972800416321648, + "width": 0.16143704324402997, + "height": 0.2600930081830122 + } + ] + }, + "bbox_1768898311323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311323_1768898409010_pe2e26f3e", + "x": 0.39910824579774073, + "y": 0.3793575005227741, + "width": 0.2937257314578879, + "height": 0.26308258298971343 + } + ] + } + } + }, + { + "time": 5.300019, + "frame": 159, + "progress": 50, + "action_description": "爪夹合拢抓取牛排", + "state_description": "爪夹夹紧牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹保持合拢爪夹向爪夹上抬升", + "progress_explanation": "爪夹抓紧牛排进度上升为50%", + "error_success_analysis": "爪夹合拢成功抓取牛排", + "correction_plan": "爪夹保持合拢爪夹向爪夹上抬升，爪夹向爪夹右上移动至瓷碗的上方，爪夹向爪夹下移动靠近瓷碗，爪夹张开使牛排落入瓷碗中", + "annotations": { + "bbox_1768898311323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311323_1768898411541_mk7t5trb6", + "x": 0.4136824233128268, + "y": 0.33030131543846064, + "width": 0.310542090129141, + "height": 0.35276982719075217 + } + ] + }, + "bbox_1768898311538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311538_1768898415203_b5e3zx0pl", + "x": 0.8296070277818206, + "y": 0.07605155725572214, + "width": 0.15695268093169581, + "height": 0.31838971691368734 + } + ] + } + } + }, + { + "time": 6.358258265610637, + "frame": 191, + "progress": 75, + "action_description": "爪夹合拢向爪夹上方抬升", + "state_description": "爪夹抓取牛排垂直桌面\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹右上移动至瓷碗的上方", + "progress_explanation": "爪夹抓取牛排移动进度上升为75%", + "error_success_analysis": "爪夹保持合拢向爪夹上方成功抬升", + "correction_plan": "爪夹向爪夹右上移动至瓷碗的上方，爪夹向爪夹下移动靠近瓷碗，爪夹张开使牛排落入瓷碗中", + "annotations": { + "bbox_1768898311538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311538_1768898418611_ebchelltt", + "x": 0.8071852162201498, + "y": 0.05376564581859134, + "width": 0.19058539827420198, + "height": 0.366222913820908 + } + ] + }, + "bbox_1768898311323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311323_1768898421669_ox3xuo6s0", + "x": 0.4686158616389203, + "y": 0.15677007703665696, + "width": 0.2376712025537108, + "height": 0.3946238744845702 + } + ] + } + } + }, + { + "time": 7.586068, + "frame": 228, + "progress": 85, + "action_description": "爪夹向爪夹右前方移动至瓷碗上方", + "state_description": "爪夹抓取牛排位于瓷碗上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹下移动靠近瓷碗", + "progress_explanation": "爪夹抓取牛排位于瓷碗上方进度上升为85%", + "error_success_analysis": "爪夹向爪夹右前成功移动至瓷碗上方", + "correction_plan": "爪夹向爪夹下移动靠近瓷碗，爪夹张开使牛排落入瓷碗中", + "annotations": { + "bbox_1768898311538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311538_1768898428714_rq5wnpp56", + "x": 0.8352124806722383, + "y": 0.06436504014869047, + "width": 0.1625581338221135, + "height": 0.32137929172038865 + } + ] + }, + "bbox_1768898311323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311323_1768898432707_dn0oyb7ve", + "x": 0.8879037378421648, + "y": 0.01490117333147458, + "width": 0.10314033318368576, + "height": 0.134530866301558 + } + ] + } + } + }, + { + "time": 8.702145210562954, + "frame": 261, + "progress": 95, + "action_description": "爪夹向爪夹下移动靠近瓷碗", + "state_description": "爪夹抓取牛排靠近瓷碗\n为完成将牛排完全放进瓷碗里的任务应该：爪夹张开使牛排落入瓷碗中", + "progress_explanation": "爪夹抓取牛排靠近瓷碗进度上升为95%", + "error_success_analysis": "爪夹向爪夹下移动成功靠近瓷碗", + "correction_plan": "爪夹张开使牛排落入瓷碗中", + "annotations": { + "bbox_1768898311323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311323_1768898435426_b9ql2kszr", + "x": 0.894630281310666, + "y": 0.17334863808664291, + "width": 0.05605452890417713, + "height": 0.07473937016753224 + } + ] + }, + "bbox_1768898311538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311538_1768898438370_ua9u9ind5", + "x": 0.8071852162201498, + "y": 0.10010405532246133, + "width": 0.1793744924933666, + "height": 0.2571034333763109 + } + ] + } + } + }, + { + "time": 9.288001, + "frame": 279, + "progress": 100, + "action_description": "爪夹打开使牛排落入瓷碗中", + "state_description": "爪夹张开牛排落在瓷碗中任务完成", + "progress_explanation": "爪夹将牛排完全放进瓷碗里任务完成进度为100%", + "error_success_analysis": "爪夹打开成功将牛排放在瓷碗中", + "correction_plan": "", + "annotations": { + "bbox_1768898311538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311538_1768898441778_0swa5365a", + "x": 0.8038219444858992, + "y": 0.14345289001963002, + "width": 0.1883432171180349, + "height": 0.18983800022553188 + } + ] + }, + "bbox_1768898311323": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768898311323_1768898445139_gbeijyg6x", + "x": 0.9226575457627545, + "y": 0.1824532450133914, + "width": 0.06614434410692897, + "height": 0.11659341746135027 + } + ] + }, + "point_1768898312387": { + "type": "point", + "instances": [ + { + "id": "point_1768898312387_1768898447547_fcw6ei553", + "x": 0.9125677305600026, + "y": 0.22553029759078663 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768898311323", + "name": "牛排", + "color": "#4CAF50" + }, + { + "id": "bbox_1768898311538", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768898312387", + "name": "爪夹在", + "color": "#2196F3" + }, + { + "id": "point_1768898312522", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-154442-put-beefsteak-porcelain-bowl-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-154442-put-beefsteak-porcelain-bowl-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f0a17e705cb2d90a220532517d2233926e0aa28d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-154442-put-beefsteak-porcelain-bowl-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,522 @@ +{ + "task_description": "把牛排放在瓷碗里\n开始移动：0%\n爪夹靠近牛排：25%\n抓紧牛排：50%\n移动牛排：75%\n将牛排完全放进瓷碗里:100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1768981700813": { + "instances": [ + { + "height": 0.21375459867914223, + "id": "bbox_1768981700813_1768981720013_bmiy0mkn9", + "width": 0.11995669185493893, + "x": 0.4069558798443255, + "y": 0.4603478081256439 + } + ], + "type": "bbox" + }, + "bbox_1768981700949": { + "instances": [ + { + "height": 0.1375204411082593, + "id": "bbox_1768981700949_1768981722213_2lchf2sg8", + "width": 0.1446206845727768, + "x": 0.6042678215870289, + "y": 0.3033951307738262 + } + ], + "type": "bbox" + }, + "point_1768981701933": { + "instances": [ + { + "id": "point_1768981701933_1768981724349_8c4lsvh75", + "x": 0.3733231625018193, + "y": 0.5081810050328646 + } + ], + "type": "point" + }, + "point_1768981702101": { + "instances": [ + { + "id": "point_1768981702101_1768981726478_dys4sdcv9", + "x": 0.6143576367897807, + "y": 0.49173834359600743 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前移动至牛排上方并调整爪夹角度使爪夹角度垂直牛排，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹前面移动至瓷碗左上方，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹前移动并调整爪夹角度使爪夹角度垂直牛排", + "time": 0 + }, + { + "action_description": "爪夹向爪夹上抬升", + "annotations": { + "bbox_1768981700949": { + "instances": [ + { + "height": 0.1704057639819735, + "id": "bbox_1768981700949_1768981734397_zn2s219vx", + "width": 0.09529269913710099, + "x": 0.5706351042445226, + "y": 0.547181368579868 + } + ], + "type": "bbox" + }, + "point_1768981701933": { + "instances": [ + { + "id": "point_1768981701933_1768981732541_e1n3jfkbb", + "x": 0.3744442530799028, + "y": 0.48440029763914094 + } + ], + "type": "point" + }, + "point_1768981702101": { + "instances": [ + { + "id": "point_1768981702101_1768981729813_59zj7h1or", + "x": 0.6143576367897807, + "y": 0.4905153440145917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前移动至牛排上方并调整爪夹角度使爪夹角度垂直牛排，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹前面移动至瓷碗左上方，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹上抬升远离牛排", + "frame": 35, + "progress": -5, + "progress_explanation": "爪夹向爪夹上抬升远离牛排进度下降为-5%", + "state_description": "当前状态为爪夹打开位于牛排后上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹前移动至牛排上方", + "time": 1.15358 + }, + { + "action_description": "爪夹向爪夹前移动", + "annotations": { + "bbox_1768981700813": { + "instances": [ + { + "height": 0.1748901261920255, + "id": "bbox_1768981700813_1768981740613_3lovh2q1c", + "width": 0.10762469549602001, + "x": 0.4260144196717457, + "y": 0.5769412255869941 + } + ], + "type": "bbox" + }, + "bbox_1768981700949": { + "instances": [ + { + "height": 0.20777544906573966, + "id": "bbox_1768981700949_1768981738317_e884bxeb2", + "width": 0.13453086937002495, + "x": 0.6479903541322869, + "y": 0.3395418162761766 + } + ], + "type": "bbox" + }, + "point_1768981701933": { + "instances": [ + { + "id": "point_1768981701933_1768981742437_as84x2hrk", + "x": 0.38004970597032056, + "y": 0.4872539813859555 + } + ], + "type": "point" + }, + "point_1768981702101": { + "instances": [ + { + "id": "point_1768981702101_1768981744773_gsltsp0g9", + "x": 0.6121154556336136, + "y": 0.4812748317725529 + } + ], + "type": "point" + } + }, + "correction_plan": "爪机向爪夹下移动并调整爪夹角度靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹前面移动至瓷碗左上方，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹前移动成功移动至牛排上方", + "frame": 67, + "progress": 10, + "progress_explanation": "爪夹向爪夹前移动至牛排上方进度上升为10%", + "state_description": "当前状态为爪夹张开位于牛排上方\n为完成将牛排完全放进瓷碗里的任务应该：爪机向爪夹下移动并调整爪夹角度靠近牛排", + "time": 2.244866 + }, + { + "action_description": "爪机向爪夹下移动并调整爪夹角度靠近牛排", + "annotations": { + "bbox_1768981700813": { + "instances": [ + { + "height": 0.3288532287371418, + "id": "bbox_1768981700813_1768981753141_0rzkecxw0", + "width": 0.2757882822085512, + "x": 0.3329639016908118, + "y": 0.4171348644883619 + } + ], + "type": "bbox" + }, + "bbox_1768981700949": { + "instances": [ + { + "height": 0.3527698271907521, + "id": "bbox_1768981700949_1768981757310_raam2lmuw", + "width": 0.09080833682476683, + "x": 0.8991146436230002, + "y": 0.10173472238137587 + } + ], + "type": "bbox" + }, + "point_1768981701933": { + "instances": [ + { + "id": "point_1768981701933_1768981750309_uk2dssky4", + "x": 0.39238170232923947, + "y": 0.4888846598491929 + } + ], + "type": "point" + }, + "point_1768981702101": { + "instances": [ + { + "id": "point_1768981702101_1768981748549_o94czfvh1", + "x": 0.6020256404308617, + "y": 0.4963585968659461 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹前面移动至瓷碗左上方，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹下移动调整爪夹角度成功靠近牛排", + "frame": 145, + "progress": 25, + "progress_explanation": "爪夹靠近牛排进度上升为25%", + "state_description": "当前状态为爪夹张开靠近牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹合拢抓取牛排", + "time": 4.835822976071225 + }, + { + "action_description": "爪夹合拢抓取牛排\n", + "annotations": { + "bbox_1768981700813": { + "instances": [ + { + "height": 0.32735844133379116, + "id": "bbox_1768981700813_1768981766037_0f6k2r3mb", + "width": 0.23655011197562725, + "x": 0.3677177096114016, + "y": 0.4694524236056345 + } + ], + "type": "bbox" + }, + "bbox_1768981700949": { + "instances": [ + { + "height": 0.3482854649807002, + "id": "bbox_1768981700949_1768981763357_o2heujwaf", + "width": 0.1188356012768553, + "x": 0.865481926280494, + "y": 0.10934455616017727 + } + ], + "type": "bbox" + }, + "point_1768981701933": { + "instances": [ + { + "id": "point_1768981701933_1768981769021_h04s4vh0f", + "x": 0.4372253254525812, + "y": 0.4963585968659461 + } + ], + "type": "point" + }, + "point_1768981702101": { + "instances": [ + { + "id": "point_1768981702101_1768981770901_tviffxk2t", + "x": 0.5583031078856037, + "y": 0.49187423465589414 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢向爪夹上抬升，爪夹向爪夹前面移动至瓷碗左上方，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹合拢成功抓取牛排", + "frame": 156, + "progress": 50, + "progress_explanation": "爪夹合拢抓紧牛排进度上升为50%", + "state_description": "当前状态为爪夹合拢夹紧牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹保持合拢向爪夹上抬升\n", + "time": 5.209606394511513 + }, + { + "action_description": "爪夹保持合拢向爪夹上抬升", + "annotations": { + "bbox_1768981700813": { + "instances": [ + { + "height": 0.33034801614049253, + "id": "bbox_1768981700813_1768981779597_zj60kr0ms", + "width": 0.1973119417427033, + "x": 0.3733231625018193, + "y": 0.43806188813527097 + } + ], + "type": "bbox" + }, + "bbox_1768981700949": { + "instances": [ + { + "height": 0.273546094813168, + "id": "bbox_1768981700949_1768981781765_ddlkvb9mn", + "width": 0.17489013018103253, + "x": 0.5930569158061934, + "y": 0.29306751001025844 + } + ], + "type": "bbox" + }, + "point_1768981701933": { + "instances": [ + { + "id": "point_1768981701933_1768981777029_4orm1icyl", + "x": 0.4349831442964141, + "y": 0.48141072283243963 + } + ], + "type": "point" + }, + "point_1768981702101": { + "instances": [ + { + "id": "point_1768981702101_1768981775157_7jq43wi6c", + "x": 0.5594241984636872, + "y": 0.48141072283243963 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前面移动至瓷碗左上方，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹抓取牛排成功向爪夹上抬升", + "frame": 198, + "progress": 75, + "progress_explanation": "爪夹抓取牛排移动进度上升为75%", + "state_description": "当前状态为爪夹抓取牛排垂直桌面\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹前面移动至瓷碗左上方", + "time": 6.592951 + }, + { + "action_description": "爪夹向爪夹右前方移动至牛排上方", + "annotations": { + "bbox_1768981700813": { + "instances": [ + { + "height": 0.31689492951033676, + "id": "bbox_1768981700813_1768981790061_leftpo7gl", + "width": 0.2006752134769539, + "x": 0.36995989076756863, + "y": 0.44825361498787125 + } + ], + "type": "bbox" + }, + "bbox_1768981700949": { + "instances": [ + { + "height": 0.21823896088919406, + "id": "bbox_1768981700949_1768981788301_gk4b4rqqk", + "width": 0.20179630405503746, + "x": 0.3688388001894851, + "y": 0.6171645915664942 + } + ], + "type": "bbox" + }, + "point_1768981701933": { + "instances": [ + { + "id": "point_1768981701933_1768981792613_rs8tinige", + "x": 0.4293776914059963, + "y": 0.4856233000716374 + } + ], + "type": "point" + }, + "point_1768981702101": { + "instances": [ + { + "id": "point_1768981702101_1768981794429_dfcmj2e2l", + "x": 0.5538187455732695, + "y": 0.4766545756515335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹右前方成功移动至瓷碗上方", + "frame": 223, + "progress": 85, + "progress_explanation": "爪夹抓取牛排移动至瓷碗上方进度上升为85%", + "state_description": "当前状态为爪夹抓取牛排位于瓷碗上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹下移动靠近瓷碗", + "time": 7.4172647096744635 + }, + { + "action_description": "爪夹向爪夹下移动靠近瓷碗", + "annotations": { + "bbox_1768981700813": { + "instances": [ + { + "height": 0.26158779558636275, + "id": "bbox_1768981700813_1768981802694_ohkaswog0", + "width": 0.18610103596186786, + "x": 0.3811707965484041, + "y": 0.48440029763914094 + } + ], + "type": "bbox" + }, + "bbox_1768981700949": { + "instances": [ + { + "height": 0.4394674965850895, + "id": "bbox_1768981700949_1768981805629_8mgzvbf3t", + "width": 0.4080769704224091, + "x": 0.3172686335976422, + "y": 0.47393678581568643 + } + ], + "type": "bbox" + }, + "point_1768981701933": { + "instances": [ + { + "id": "point_1768981701933_1768981799805_o2djm674k", + "x": 0.43386205371833053, + "y": 0.4873898724458422 + } + ], + "type": "point" + }, + "point_1768981702101": { + "instances": [ + { + "id": "point_1768981702101_1768981798053_zziz6rbkq", + "x": 0.5571820173075201, + "y": 0.48141072283243963 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近瓷碗", + "frame": 258, + "progress": 95, + "progress_explanation": "爪夹抓取牛排靠近瓷碗进度上升为95%", + "state_description": "当前状态为爪机抓取牛排靠近瓷碗\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开使牛排落入瓷碗中\n", + "time": 8.585337892300364 + }, + { + "action_description": "爪夹打开牛排落入瓷碗中", + "annotations": { + "bbox_1768981700813": { + "instances": [ + { + "height": 0.2630825829897135, + "id": "bbox_1768981700813_1768981811829_qjgdjxr7k", + "width": 0.22085484388245766, + "x": 0.39686606464157365, + "y": 0.5307387071430109 + } + ], + "type": "bbox" + }, + "bbox_1768981700949": { + "instances": [ + { + "height": 0.42302483514823247, + "id": "bbox_1768981700949_1768981809566_6wel0zupl", + "width": 0.38004970597032056, + "x": 0.31054209012914097, + "y": 0.4769263606223877 + } + ], + "type": "bbox" + }, + "point_1768981701933": { + "instances": [ + { + "id": "point_1768981701933_1768981813477_2tz7s8msi", + "x": 0.3766864342360699, + "y": 0.49336902205924477 + } + ], + "type": "point" + }, + "point_1768981702101": { + "instances": [ + { + "id": "point_1768981702101_1768981814933_d2c5p3bht", + "x": 0.6109943650555301, + "y": 0.48440029763914094 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将牛排放在瓷碗中", + "frame": 280, + "progress": 100, + "progress_explanation": "爪夹将牛排放在瓷碗中任务完成进度为100%", + "state_description": "爪夹张开牛排落在瓷碗中任务完成", + "time": 9.332904729180939 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768981700813", + "name": "牛排" + }, + { + "color": "#FF9800", + "id": "bbox_1768981700949", + "name": "瓷碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768981701933", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768981702101", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-155737-put-beefsteak-porcelain-bowl-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-155737-put-beefsteak-porcelain-bowl-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..db9af694836541f96b23b4337995aca9ece2bbde --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-155737-put-beefsteak-porcelain-bowl-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,616 @@ +{ + "task_description": "把牛排放在瓷碗里\n开始移动：0%\n爪夹靠近牛排：25%\n抓紧牛排：50%\n移动牛排：75%\n将牛排完全放进瓷碗里:100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.2855043940399732, + "id": "bbox_1768982373174_1768982400853_e5rgki0ui", + "width": 0.1737690396029489, + "x": 0.3329639016908118, + "y": 0.2570567212699562 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.2899887562500251, + "id": "bbox_1768982373317_1768982402653_44tl5zg90", + "width": 0.21524939099204002, + "x": 0.5515765644171023, + "y": 0.3004055559671249 + } + ], + "type": "bbox" + }, + "point_1768982373950": { + "instances": [ + { + "id": "point_1768982373950_1768982405245_ni5jf60wb", + "x": 0.5852092817596086, + "y": 0.648691020947825 + } + ], + "type": "point" + }, + "point_1768982374397": { + "instances": [ + { + "id": "point_1768982374397_1768982407069_sxcyogelh", + "x": 0.7174979699734665, + "y": 0.632248359510968 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前移动至牛排上方并调整爪夹角度使爪夹角度垂直牛排，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹前移动并调整爪夹角度使爪夹角度垂直牛排", + "time": 0.19424398298969073 + }, + { + "action_description": "爪夹向爪夹左下移动并调整爪夹角度靠近面部片", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.24962949635955772, + "id": "bbox_1768982373174_1768982414157_vm8wlesmh", + "width": 0.14798395630702746, + "x": 0.3553857132524826, + "y": 0.2884472567403197 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.38864472487116763, + "id": "bbox_1768982373317_1768982412205_rf7krktee", + "width": 0.23542902139754363, + "x": 0.554939836151353, + "y": 0.2720045953034626 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹上抬升，爪夹向爪夹前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹靠近面包片目标物错误", + "frame": 93, + "progress": 5, + "progress_explanation": "爪夹靠近面包片进度上升为5%", + "state_description": "当前状态为爪夹张开靠近面包片\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹上抬升", + "time": 3.093999 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.16891097657862286, + "id": "bbox_1768982373174_1768982417981_ayojsxsfh", + "width": 0.1580737715097794, + "x": 0.3553857132524826, + "y": 0.33057309185607264 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.2974626932667783, + "id": "bbox_1768982373317_1768982420013_ki2lpinjk", + "width": 0.20740175694545515, + "x": 0.540365658636267, + "y": 0.3153534300006314 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹打开向爪夹上抬升，爪夹向爪夹前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪机合拢抓取面包片为抓取目标物", + "frame": 107, + "progress": 10, + "progress_explanation": "爪夹合拢位于牛排下方进度上升为10%", + "state_description": "当前状态为爪夹合拢靠近面包片\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开向爪夹上抬升", + "time": 3.565902 + }, + { + "action_description": "爪夹保持合拢向爪夹上抬升", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.2705565200064667, + "id": "bbox_1768982373174_1768982426365_rxb258h1b", + "width": 0.15695268093169581, + "x": 0.36995989076756863, + "y": 0.30054144702701163 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.18834321282218122, + "id": "bbox_1768982373317_1768982424453_417rteef9", + "width": 0.18385885480570074, + "x": 0.5560609267294365, + "y": 0.33492155730407647 + } + ], + "type": "bbox" + }, + "point_1768982373950": { + "instances": [ + { + "id": "point_1768982373950_1768982438247_l6xgge2sp", + "x": 0.635658357773368, + "y": 0.5724568633769422 + } + ], + "type": "point" + }, + "point_1768982374397": { + "instances": [ + { + "id": "point_1768982374397_1768982440101_6omwn7hlh", + "x": 0.6513536258665376, + "y": 0.569467288570241 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹打开向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹上方移动回到初始位置", + "frame": 173, + "progress": -5, + "progress_explanation": "爪夹合拢位于初始位置进度下降为-5", + "state_description": "当前状态为爪夹合拢位于初始位置\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开向爪夹前移动至牛排上方", + "time": 5.776202652061856 + }, + { + "action_description": "爪夹打开", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.2705565200064667, + "id": "bbox_1768982373174_1768982451861_belrubz5l", + "width": 0.13004650705769077, + "x": 0.3733231625018193, + "y": 0.29157272260690775 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.2406607719394538, + "id": "bbox_1768982373317_1768982449053_y1of15vdy", + "width": 0.1973119417427033, + "x": 0.5437289303705175, + "y": 0.30054144702701163 + } + ], + "type": "bbox" + }, + "point_1768982373950": { + "instances": [ + { + "id": "point_1768982373950_1768982446942_m1vs6zdxh", + "x": 0.5706351042445226, + "y": 0.5666136048234265 + } + ], + "type": "point" + }, + "point_1768982374397": { + "instances": [ + { + "id": "point_1768982374397_1768982444429_fvyxf7vvp", + "x": 0.689470705521378, + "y": 0.5456865811765174 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹回到初始位置", + "frame": 190, + "progress": 0, + "progress_explanation": "爪夹打开回到初始位置进度上升为0%", + "state_description": "当前状态为爪夹打开爪夹位于初始位置\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹左前移动至牛排上方", + "time": 6.328264498453608 + }, + { + "action_description": "爪夹向爪夹左前方移动并向下移动靠近牛排", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.21375459867914218, + "id": "bbox_1768982373174_1768982459061_6sb9u1ir0", + "width": 0.2387922931317943, + "x": 0.38341297770457117, + "y": 0.29456229741360906 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.22870247271264865, + "id": "bbox_1768982373317_1768982461941_x9he3t6zd", + "width": 0.23991338370987786, + "x": 0.5706351042445226, + "y": 0.34674396547099484 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹左前移动并向爪夹下移动成功靠近牛排", + "frame": 244, + "progress": 25, + "progress_explanation": "爪夹靠近牛排进度上升为25%", + "state_description": "当前状态为爪夹张开靠近牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹合拢抓取牛排", + "time": 8.148023918041236 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.1733953387886748, + "id": "bbox_1768982373174_1768982466557_2kl85bnh6", + "width": 0.18610103596186783, + "x": 0.36099116614290033, + "y": 0.33628045364754033 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.29447311846007707, + "id": "bbox_1768982373317_1768982464318_ymgc0dfz4", + "width": 0.202917394633121, + "x": 0.5695140136664391, + "y": 0.31562521782256625 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹打开向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹合拢但未抓取到牛排", + "frame": 284, + "progress": 40, + "progress_explanation": "爪夹合拢但未抓取牛排进度上升为40%", + "state_description": "当前状态为爪夹合拢靠近牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开", + "time": 9.458491463111868 + }, + { + "action_description": "爪夹向爪夹上抬升", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.26906173260311605, + "id": "bbox_1768982373174_1768982470518_076j9y9lt", + "width": 0.15022613746319458, + "x": 0.3677177096114016, + "y": 0.28708836039685587 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹打开向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹合拢移动至爪夹初始位置", + "frame": 336, + "progress": -5, + "progress_explanation": "爪夹合拢位于初始位置进度下降为-5", + "state_description": "当前状态为爪夹合拢位于初始位置\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开向爪夹前移动至牛排上方", + "time": 11.20750691614472 + }, + { + "action_description": "爪夹打开", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.3213792917203886, + "id": "bbox_1768982373174_1768982477230_xkkwtcdty", + "width": 0.1367730505261921, + "x": 0.4237722385155786, + "y": 0.2855935729935052 + } + ], + "type": "bbox" + }, + "point_1768982373950": { + "instances": [ + { + "id": "point_1768982373950_1768982479541_36km9or9h", + "x": 0.5044907601375936, + "y": 0.33193198249737516 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹张开移动至初始位置", + "frame": 357, + "progress": 0, + "progress_explanation": "爪夹张开位于初始位置进度为0%", + "state_description": "当前状态为爪夹张开位于初始位置\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹左前移动至牛排上方", + "time": 11.889776432474227 + }, + { + "action_description": "爪夹向爪夹左前方移动并向下移动靠近牛排", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.2316920475193499, + "id": "bbox_1768982373174_1768982485726_750kn96lt", + "width": 0.1188356012768554, + "x": 0.3778075248141534, + "y": 0.3095101714471155 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.25411385856960955, + "id": "bbox_1768982373317_1768982487230_yw7n0h041", + "width": 0.25000319891262973, + "x": 0.540365658636267, + "y": 0.33193198249737516 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹左前移动并向爪夹下移动成功靠近牛排", + "frame": 420, + "progress": 25, + "progress_explanation": "爪夹靠近牛排进度上升为25%", + "state_description": "当前状态为爪夹张开靠近牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹合拢抓取牛排", + "time": 13.995790142783505 + }, + { + "action_description": "爪夹合拢抓取牛排", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.23767119713275253, + "id": "bbox_1768982373174_1768982492693_w500mmijc", + "width": 0.13901523168235919, + "x": 0.378928615392237, + "y": 0.31100495885046614 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.2182389608891942, + "id": "bbox_1768982373317_1768982490461_381hlcbzh", + "width": 0.16592140555636412, + "x": 0.5482132926828517, + "y": 0.3395418162761766 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹合拢成功抓取牛排", + "frame": 438, + "progress": 50, + "progress_explanation": "爪夹抓取牛排进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹上抬升", + "time": 14.613484377313954 + }, + { + "action_description": "爪夹抓取牛排向爪夹上抬升", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.3258636539304406, + "id": "bbox_1768982373174_1768982496717_ntygddbor", + "width": 0.16143704324402997, + "x": 0.43049878198407987, + "y": 0.14807313188524587 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.23019726011599928, + "id": "bbox_1768982373317_1768982498869_kkqpjdjkb", + "width": 0.25112428949071325, + "x": 0.5000063978252595, + "y": 0.3304371950940245 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹抓取牛排成功向爪夹上抬升", + "frame": 493, + "progress": 75, + "progress_explanation": "爪夹抓取牛排移动进度上升为75%", + "state_description": "当前状态为爪夹抓取牛排垂直桌面\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹右移动至瓷碗上方", + "time": 16.449398348969073 + }, + { + "action_description": "爪夹向爪夹右移动至瓷碗上方", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.22720768530929802, + "id": "bbox_1768982373174_1768982504077_rswgs52tq", + "width": 0.14349959399469334, + "x": 0.5908147346500263, + "y": 0.23028643906953133 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.45441537061859605, + "id": "bbox_1768982373317_1768982502261_jmvtvv7pw", + "width": 0.22870247792904247, + "x": 0.5896936440719427, + "y": 0.27214048636334937 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹右移动成功移动至瓷碗上方", + "frame": 515, + "progress": 85, + "progress_explanation": "爪夹抓取牛排在瓷碗上方进度上升为85%", + "state_description": "当前状态为爪夹抓取牛排在瓷碗的上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹下移动靠近瓷碗", + "time": 17.172597 + }, + { + "action_description": "爪夹向爪夹下移动靠近瓷碗", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.14798395293171385, + "id": "bbox_1768982373174_1768982508317_d23uzez25", + "width": 0.10089815202751877, + "x": 0.6334161766172008, + "y": 0.29306751001025844 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.2780304570232199, + "id": "bbox_1768982373317_1768982510325_a6g40d2re", + "width": 0.22758138735095895, + "x": 0.5515765644171023, + "y": 0.33492155730407647 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹下移动成功将牛排移动至瓷碗中", + "frame": 539, + "progress": 95, + "progress_explanation": "爪夹抓取牛排在瓷碗中进度上升为95%", + "state_description": "当前状态为爪夹抓取牛排位于瓷碗中\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开使牛排落入瓷碗中", + "time": 17.97343511603496 + }, + { + "action_description": "爪夹打开", + "annotations": { + "bbox_1768982373174": { + "instances": [ + { + "height": 0.18385885061212934, + "id": "bbox_1768982373174_1768982515765_dq64sigfm", + "width": 0.12668323532344017, + "x": 0.6076310933212794, + "y": 0.34239549432082966 + } + ], + "type": "bbox" + }, + "bbox_1768982373317": { + "instances": [ + { + "height": 0.2795252444265706, + "id": "bbox_1768982373317_1768982513902_38sibjxo2", + "width": 0.24551883660029555, + "x": 0.5493343832609352, + "y": 0.3184788958672194 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将牛排放在瓷碗中", + "frame": 566, + "progress": 100, + "progress_explanation": "爪夹将牛排放在瓷碗中任务完成进度为100%", + "state_description": "爪夹张开牛排落在瓷碗中任务完成", + "time": 18.88255982010309 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768982373174", + "name": "牛排" + }, + { + "color": "#FF9800", + "id": "bbox_1768982373317", + "name": "瓷碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768982373950", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768982374397", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-163415-put-beefsteak-porcelain-bowl-bad/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-163415-put-beefsteak-porcelain-bowl-bad/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..da1140a62b6950f07f1be5edbeb0fafa86bb6d8d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-163415-put-beefsteak-porcelain-bowl-bad/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,600 @@ +{ + "task_description": "把牛排放在瓷碗里\n开始移动：0%\n爪夹靠近牛排：25%\n抓紧牛排：50%\n移动牛排：75%\n将牛排完全放进瓷碗里:100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前移动并调整爪夹，爪夹向爪夹前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹前移动并调整爪夹", + "time": 0.8470790231958762, + "annotations": { + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982551405_57a7f6y5t", + "x": 0.5336391151677657, + "y": 0.21384377763267423, + "width": 0.14910504688511103, + "height": 0.23767119713275253 + } + ] + }, + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982556605_7i4vcodab", + "x": 0.7444041438474714, + "y": 0.4006922030515048, + "width": 0.2466399271783791, + "height": 0.38266557525776507 + } + ] + }, + "point_1768982529085": { + "type": "point", + "instances": [ + { + "id": "point_1768982529085_1768982559029_01p3w88nv", + "x": 0.4876744014663405, + "y": 0.07333376171771364 + } + ] + }, + "point_1768982528933": { + "type": "point", + "instances": [ + { + "id": "point_1768982528933_1768982561477_j1qrws3hg", + "x": 0.3150264524414751, + "y": 0.03147971442389558 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前移动并调整爪夹进度至牛排上方", + "correction_plan": "爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹前成功移动到牛排上方", + "frame": 70, + "progress": 20, + "progress_explanation": "爪夹向爪夹前移动至牛排点数进度上升为20%", + "state_description": "当前状态为爪夹打开位于牛排上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹下移动靠近牛排", + "time": 2.3219930871134022, + "annotations": { + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982567350_27pzu72h1", + "x": 0.7421619626913044, + "y": 0.37079645498449193, + "width": 0.25112428949071325, + "height": 0.3886447248711677 + } + ] + }, + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982569933_jslb0ognq", + "x": 0.5414867492143505, + "y": 0.2556978249264923, + "width": 0.15807377150977936, + "height": 0.20478587425903833 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近牛排", + "correction_plan": "爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近牛排", + "frame": 99, + "progress": 25, + "progress_explanation": "爪夹靠近牛排进度上升为25%", + "state_description": "当前状态为爪夹张开靠近牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹合拢抓取牛排", + "time": 3.307511, + "annotations": { + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982579173_sh4g3xk7q", + "x": 0.5448500209486011, + "y": 0.22879165166618068, + "width": 0.14013632226044273, + "height": 0.24663992155285638 + } + ] + }, + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982581838_vmpa7bo3i", + "x": 0.7466463250036386, + "y": 0.3857443290179984, + "width": 0.2488821083345462, + "height": 0.3482854649807002 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开向爪夹下移动，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中 ", + "error_success_analysis": "爪夹合拢但未成功抓取牛排", + "frame": 110, + "progress": 45, + "progress_explanation": "爪夹合拢靠近牛排进度上升为45%", + "state_description": "当前状态为爪夹合拢靠近牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开向爪夹下移动靠近牛排", + "time": 3.656610368373606, + "annotations": { + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982588317_bu6jglats", + "x": 0.7410408721132209, + "y": 0.3440261784862285, + "width": 0.23430793081946016, + "height": 0.40508738630802477 + } + ] + }, + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982591029_dd3xu2v1p", + "x": 0.5257914811211809, + "y": 0.2467291005063884, + "width": 0.1390152316823591, + "height": 0.17638491359537606 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上抬升", + "correction_plan": "爪夹打开，爪夹向爪夹前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹上抬升远离牛排", + "frame": 159, + "progress": -10, + "progress_explanation": "爪夹合拢远离牛排进度下降为-10%", + "state_description": "当前状态为爪夹合拢远离牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开爪夹向爪夹", + "time": 5.307706, + "annotations": { + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982593621_qrkv8em02", + "x": 0.5291547528554316, + "y": 0.22593797362152757, + "width": 0.1334097787919414, + "height": 0.26607215779641474 + } + ] + }, + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982596679_kfjwnzggf", + "x": 0.7141346982392158, + "y": 0.37378602979119324, + "width": 0.26009301411538166, + "height": 0.36323333901420674 + } + ] + } + } + }, + { + "action_description": "爪夹打开", + "correction_plan": "爪夹向爪夹左前方移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹成功打开", + "frame": 181, + "progress": -5, + "progress_explanation": "爪夹打开远离牛排进度上升为-5%", + "state_description": "当前状态为爪夹张开远离牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹左前方移动至牛排上方", + "time": 6.027883, + "annotations": { + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982604205_4fnbbvwng", + "x": 0.745525234425555, + "y": 0.3543537935476348, + "width": 0.2410344742879614, + "height": 0.4170456855348299 + } + ] + }, + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982606109_m6owfwh1b", + "x": 0.5482132926828517, + "y": 0.20039069100251844, + "width": 0.1367730505261921, + "height": 0.2750408822165186 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近塑料杯\n", + "correction_plan": "爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹下移动位于牛排后上方", + "frame": 211, + "progress": 10, + "progress_explanation": "爪夹张开位于牛排右后方进度上升为10%", + "state_description": "当前状态为爪夹张开靠近塑料杯\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹左前移动至牛排上方", + "time": 7.037333, + "annotations": { + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982614165_m6fkpsske", + "x": 0.4753424051074216, + "y": 0.21234899022932358, + "width": 0.20515957578928806, + "height": 0.20179629945233707 + } + ] + }, + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982617293_g68mke1ti", + "x": 0.7118925170830488, + "y": 0.38112407574805973, + "width": 0.27242501047430057, + "height": 0.38714993746781695 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹打开爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹错误的合拢", + "frame": 233, + "progress": 15, + "progress_explanation": "爪夹合拢位于牛排右后方进度上升为15%", + "state_description": "当前状态为爪夹合拢抓取塑料杯\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开爪夹向爪夹左前移动至牛排上方", + "time": 7.779818, + "annotations": { + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982623205_rewotqmav", + "x": 0.7589783213625576, + "y": 0.36644798953648816, + "width": 0.23206574966329302, + "height": 0.3617385516108561 + } + ] + }, + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982625317_uyym21di7", + "x": 0.5381234774800998, + "y": 0.22729686426283005, + "width": 0.16143704324402997, + "height": 0.20478587425903833 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上抬升", + "correction_plan": "爪夹打开，爪夹打开爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹错误的向爪夹上抬升", + "frame": 307, + "progress": -10, + "progress_explanation": "爪夹合拢远离牛排进度下降为-10%", + "state_description": "当前状态为爪夹合拢远离牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开向爪夹左前移动至牛排上方", + "time": 10.246666, + "annotations": { + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982628046_5alkg7x33", + "x": 0.5291547528554316, + "y": 0.2244431862181769, + "width": 0.15246831861936166, + "height": 0.25112428376290835 + } + ] + }, + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982632557_crobuk1da", + "x": 0.7152557888172993, + "y": 0.3887339038246997, + "width": 0.27130391989621705, + "height": 0.3946238744845702 + } + ] + } + } + }, + { + "action_description": "爪夹打开\n", + "correction_plan": "爪夹打开爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹成功打开", + "frame": 328, + "progress": -5, + "progress_explanation": "爪夹打开远离牛排进度上升为-5%", + "state_description": "当前状态为爪夹张开远离牛排\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开爪夹向爪夹左前移动至牛排上方", + "time": 10.934388, + "annotations": { + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982640013_3483ahyqk", + "x": 0.7399197815351373, + "y": 0.42161922669841384, + "width": 0.25000319891262973, + "height": 0.3109157798969341 + } + ] + }, + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982641997_k0162qfec", + "x": 0.5269125716992644, + "y": 0.2258020768594794, + "width": 0.12556214474535662, + "height": 0.1793744884020774 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动", + "correction_plan": "爪夹打开爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹向爪夹下移动至牛排右后方", + "frame": 380, + "progress": 10, + "progress_explanation": "爪夹展开位于牛排右后方进度上升为10%", + "state_description": "当前状态为爪夹张开靠近塑料杯\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹左前移动至牛排上方", + "time": 12.654382, + "annotations": { + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982647677_37pdn2gzb", + "x": 0.4753424051074216, + "y": 0.2244431862181769, + "width": 0.22085484388245763, + "height": 0.2137545986791422 + } + ] + }, + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982650877_ji7yo5lld", + "x": 0.7365565098008867, + "y": 0.38560843795811167, + "width": 0.25000319891262973, + "height": 0.3243688665270899 + } + ] + }, + "point_1768982528933": { + "type": "point", + "instances": [ + { + "id": "point_1768982528933_1768982655709_6ixoju9vl", + "x": 0.5246703905430974, + "y": 0.4625220422751861 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取塑料杯", + "correction_plan": "爪夹打开爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹合拢错误的抓取塑料杯", + "frame": 404, + "progress": 15, + "progress_explanation": "爪夹合拢抓取塑料杯位于牛排右后方进度上升为15%", + "state_description": "当前状态为爪夹夹紧塑料杯\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开爪夹向爪夹左前移动至牛排上方", + "time": 13.461815, + "annotations": { + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982662325_u3a4jun3s", + "x": 0.5706351042445226, + "y": 0.185442816969012, + "width": 0.09529269913710099, + "height": 0.20628066166238895 + } + ] + }, + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982665725_gxbpyz2cp", + "x": 0.7690681365653094, + "y": 0.3184788958672194, + "width": 0.21973375330437409, + "height": 0.4110665359214273 + } + ] + } + } + }, + { + "action_description": "爪夹抓取塑料杯向爪夹右上移动", + "correction_plan": "爪夹张开放下杯子爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹错误的抓取塑料杯移动", + "frame": 468, + "progress": -5, + "progress_explanation": "爪夹抓取塑料杯位于瓷碗左上进度下降为-5%", + "state_description": "当前状态为爪夹抓取塑料杯垂直桌面\n为完成将牛排完全放进瓷碗里的任务应该：爪夹张开放下杯子爪夹向爪夹左前移动至牛排上方", + "time": 15.613501941030858, + "annotations": { + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982669749_gxr2npzxi", + "x": 0.7365565098008867, + "y": 0.37242713914989073, + "width": 0.25897192353729803, + "height": 0.34380110277064835 + } + ] + }, + "bbox_1768982527805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982527805_1768982674573_5th7fk264", + "x": 0.50336966955951, + "y": 0.23327601387623262, + "width": 0.18497994538378437, + "height": 0.24514513414950576 + } + ] + } + } + }, + { + "action_description": "爪夹抓取塑料杯向爪夹右移动至瓷碗上方", + "correction_plan": "爪夹向爪夹左移动并爪夹打开，爪夹张开放下杯子爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "", + "frame": 504, + "progress": -10, + "progress_explanation": "爪夹抓取塑料杯移至瓷碗上方进度下降为-10%", + "state_description": "当前状态为爪夹抓取塑料杯位于瓷碗上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹左移动并爪夹打开", + "time": 16.812027201546393, + "annotations": { + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982686517_fpm8ff264", + "x": 0.7466463250036386, + "y": 0.45436865851224134, + "width": 0.2354290213975437, + "height": 0.28102003182992114 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近瓷碗", + "correction_plan": "爪夹向爪夹上抬升，爪夹向爪夹左移动，爪夹张开放下杯子爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹抓取错误的物品移动靠近瓷碗", + "frame": 532, + "progress": -15, + "progress_explanation": "爪夹抓取塑料杯靠近瓷碗进度下降为-15", + "state_description": "当前状态为爪夹抓取塑料杯靠近升为\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹上抬升并打开爪夹", + "time": 17.727509, + "annotations": { + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982689133_qzsehi3jd", + "x": 0.7623415930968082, + "y": 0.400828099813553, + "width": 0.21861266272629054, + "height": 0.3318428035438431 + } + ] + } + } + }, + { + "action_description": "爪夹打开塑料杯落在瓷碗中", + "correction_plan": "爪夹向爪夹上抬升，爪夹向爪夹左前移动至牛排上方，爪夹向爪夹下移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右下移动至瓷碗上方，爪夹向爪夹下移动靠近瓷碗，爪夹打开使牛排落入瓷碗中", + "error_success_analysis": "爪夹打开将错误的物品放置瓷碗中", + "frame": 561, + "progress": -20, + "progress_explanation": "爪夹将塑料杯放置瓷碗中进度下降为-20%", + "state_description": "当前状态为爪夹张开塑料杯在瓷碗中\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹上抬升，", + "time": 18.69079, + "annotations": { + "bbox_1768982528270": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768982528270_1768982693445_37255306s", + "x": 0.733193238066636, + "y": 0.3634584147297869, + "width": 0.24776101775646264, + "height": 0.4065821737113754 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768982527805", + "name": "牛排", + "color": "#4CAF50" + }, + { + "id": "bbox_1768982528270", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768982528933", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768982529085", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-163415-put-beefsteak-porcelain-bowl-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-163415-put-beefsteak-porcelain-bowl-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..cdfd7f1ec171c280cf46cd36d79f974987773d44 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-163415-put-beefsteak-porcelain-bowl-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,734 @@ +{ + "task_description": "把牛排放在瓷碗里\n开始移动：0%\n爪夹靠近牛排：25%\n抓紧牛排：50%\n移动牛排：75%\n将牛排完全放进瓷碗里:100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹左前方移动至牛排上方，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将牛排完全放进瓷碗里的任务应该：", + "time": 0.6422081724891642, + "annotations": { + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070621960_cyt32faz4", + "x": 0.379666602803552, + "y": 0.49383328297255186 + } + ] + }, + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070623873_2teuaum77", + "x": 0.6166665883382209, + "y": 0.4791666174994615 + } + ] + }, + "bbox_1769070602970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070602970_1769070626672_76a58ffsj", + "x": 0.41166660085042717, + "y": 0.5351666129421702, + "width": 0.08799999462890655, + "height": 0.11999999023437577 + } + ] + }, + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070630384_3cbyqbsxg", + "x": 0.46766659743245864, + "y": 0.6071666070827957, + "width": 0.1269999922485356, + "height": 0.1666666531032997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左移动抬升调整爪夹角度", + "correction_plan": "爪夹向爪夹前移动至牛排上方，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹向爪夹左移动至牛排后方", + "frame": 79, + "progress": 5, + "progress_explanation": "当前角度为爪夹向爪夹左移动至塑料袋上方角度上升为5%", + "state_description": "当前状态为爪夹张开位于塑料袋上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹前移动至牛排上方", + "time": 2.641963, + "annotations": { + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070634328_8195muhuy", + "x": 0.5926665898030645, + "y": 0.2724999676513698, + "width": 0.15499999053955138, + "height": 0.22266664854600843 + } + ] + }, + "bbox_1769070602970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070602970_1769070636616_56ppqeiyy", + "x": 0.543666592793787, + "y": 0.07649998360188935, + "width": 0.09299999432373082, + "height": 0.15199998763020936 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070639072_fn2uk3xfk", + "x": 0.3826666026204466, + "y": 0.49649994942220466 + } + ] + }, + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070641480_6ciipfm18", + "x": 0.615666588399256, + "y": 0.48716661684841983 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近塑料袋", + "correction_plan": "爪夹向爪夹上方抬升，爪夹向爪夹前移动至牛排上方，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹向爪夹下方错误移动", + "frame": 134, + "progress": -5, + "progress_explanation": "当前进度为爪夹张开靠近塑料袋进度下降为-5%", + "state_description": "当前状态为爪夹张开靠近塑料袋\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹上方抬升", + "time": 4.466167, + "annotations": { + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070644344_1fyuf3o7y", + "x": 0.615666588399256, + "y": 0.48583328362359346 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070646232_kicv7y41i", + "x": 0.3816666026814818, + "y": 0.48849995007324626 + } + ] + }, + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070648848_eiqybb55i", + "x": 0.8146665762532607, + "y": 0.11649998034668128, + "width": 0.1809999889526374, + "height": 0.46399996223958634 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取塑料袋", + "correction_plan": "爪夹张开并向爪夹上方抬升，爪夹向爪夹前移动至牛排上方，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹合拢抓取非目标物", + "frame": 153, + "progress": -10, + "progress_explanation": "当前进度为爪夹抓取塑料袋进度下降为-10%", + "state_description": "当前状态为爪夹合拢抓紧塑料袋\n为完成将牛排完全放进瓷碗里的任务应该：爪夹张开并向爪夹上方抬升", + "time": 5.106154, + "annotations": { + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070654472_fd998egqr", + "x": 0.8416665746053116, + "y": 0.05516665200466699, + "width": 0.14499999114990275, + "height": 0.5639999541015663 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070656313_ml4uijt7h", + "x": 0.4736665970662477, + "y": 0.49249994974772543 + } + ] + }, + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070657904_q9yy8u5cs", + "x": 0.5246665939534549, + "y": 0.5018332823215103 + } + ] + } + } + }, + { + "action_description": "爪夹抓取塑料袋向爪夹上方抬升", + "correction_plan": "爪夹打开方下塑料袋向爪夹前移动至牛排上方，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹抓取错误目标物向爪夹上方抬升", + "frame": 228, + "progress": -15, + "progress_explanation": "当期进度为爪夹抓取塑料袋远离牛排进度下降为-15%", + "state_description": "当前状态为爪夹抓取塑料袋位于牛排后上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开方下塑料袋向爪夹前移动至牛排上方", + "time": 7.594202715648363, + "annotations": { + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070660096_xhh6o651w", + "x": 0.5196665942586307, + "y": 0.5058332819959894 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070661840_tf5nayece", + "x": 0.46566659755452894, + "y": 0.48716661684841983 + } + ] + }, + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070665672_3viccqdby", + "x": 0.497666595601404, + "y": 0.39649995756022477, + "width": 0.21199998706054765, + "height": 0.2559999791666684 + } + ] + }, + "bbox_1769070602970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070602970_1769070668064_8h7qqfvep", + "x": 0.4776665968221071, + "y": 0.13916664516873004, + "width": 0.1499999908447271, + "height": 0.27199997786458513 + } + ] + } + } + }, + { + "action_description": "爪夹打开放下塑料袋", + "correction_plan": "爪夹向爪夹前移动至牛排上方，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹打开成功将塑料袋放下", + "frame": 259, + "progress": 5, + "progress_explanation": "当前进度为爪夹张开位于牛排后上方进度上升为5%", + "state_description": "当前状态为爪夹张开位于牛排后上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹前移动至牛排上方", + "time": 8.625391, + "annotations": { + "bbox_1769070602970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070602970_1769070670729_49bg5jxaq", + "x": 0.4316665996297241, + "y": 0.16183330999077883, + "width": 0.16299999005127014, + "height": 0.22133331532118203 + } + ] + }, + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070673008_1rgytb656", + "x": 0.4966665956624392, + "y": 0.4244999552815792, + "width": 0.20599998742675857, + "height": 0.33599997265625225 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070675376_qn1mlmqxq", + "x": 0.379666602803552, + "y": 0.49649994942220466 + } + ] + }, + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070677440_frwnvlgu8", + "x": 0.6136665885213264, + "y": 0.4898332832980727 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动至面包片上方", + "correction_plan": "爪夹向爪夹前移动至牛排右上方，爪夹向爪夹左移动孩子牛排上方，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹向爪夹右瓷碗移动远离牛排", + "frame": 316, + "progress": -30, + "progress_explanation": "当前进度为爪夹张开位于面包片上方进度下降为-30%", + "state_description": "当前状态为爪夹张开位于面包片上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹前移动至牛排右上方", + "time": 10.528635570180766, + "annotations": { + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070679832_1p2yu4opi", + "x": 0.6126665885823614, + "y": 0.48183328394911423 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070681656_rerjj4z7j", + "x": 0.3746666031087278, + "y": 0.49249994974772543 + } + ] + }, + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070683992_7v7zl64v6", + "x": 0.26866660957845395, + "y": 0.4098332898084888, + "width": 0.19399998815918038, + "height": 0.2693333114149324 + } + ] + }, + "bbox_1769070602970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070602970_1769070685504_egzn27om0", + "x": 0.17966661501058256, + "y": 0.2218333051079667, + "width": 0.1499999908447271, + "height": 0.19999998372395966 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近面包片", + "correction_plan": "爪夹向爪夹上抬升，爪夹向爪夹前移动至牛排右上方，爪夹向爪夹左移动孩子牛排上方，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹向爪夹下移动靠近非目标物", + "frame": 364, + "progress": -40, + "progress_explanation": "当前进度为爪夹靠近面包片非牛排进度下降为-40%", + "state_description": "当前状态为爪夹张开靠近面包片\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹上抬升", + "time": 12.145633, + "annotations": { + "bbox_1769070602970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070602970_1769070689169_7thijbv5z", + "x": 0.01266662520345305, + "y": 0.1084999809977229, + "width": 0.15699999041748106, + "height": 0.23066664789496685 + } + ] + }, + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070691921_2yse5ds22", + "x": 0.018666624837242136, + "y": 0.2991666321478978, + "width": 0.27799998303222756, + "height": 0.5279999570312535 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070693920_gsykjz2f0", + "x": 0.3766666029866575, + "y": 0.5004999490966838 + } + ] + }, + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070695632_c0tg3skm3", + "x": 0.6146665884602911, + "y": 0.4791666174994615 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取面包片", + "correction_plan": "爪夹张开向爪夹上方抬升，爪夹向爪夹前移动至牛排右上方，爪夹向爪夹左移动孩子牛排上方，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹合拢抓取错误目标物", + "frame": 427, + "progress": -45, + "progress_explanation": "当前进度为爪夹合拢抓取面包片进度下降为-45%", + "state_description": "当前状态为爪夹合拢爪夹面包片\n为完成将牛排完全放进瓷碗里的任务应该：爪夹张开向爪夹上方抬升", + "time": 14.220323819402921, + "annotations": { + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070698568_jcgus4o6s", + "x": 0.5096665948689822, + "y": 0.48716661684841983 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070700440_r0pxobit7", + "x": 0.48266659651693133, + "y": 0.48849995007324626 + } + ] + }, + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070703472_8j4l883dy", + "x": 0.02766662428792576, + "y": 0.4298332881808848, + "width": 0.248999984802247, + "height": 0.4239999654947945 + } + ] + }, + "bbox_1769070602970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070602970_1769070705200_7fdh2ljv7", + "x": 0.021666624654136678, + "y": 0.06849998425293097, + "width": 0.15699999041748106, + "height": 0.2919999762369811 + } + ] + } + } + }, + { + "action_description": "爪夹抓取面包片向爪夹上方抬升", + "correction_plan": "爪夹打开放下面包片向爪夹前移动至牛排右上方，爪夹向爪夹左移动孩子牛排上方，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹抓取错误目标物向爪夹上方抬升", + "frame": 470, + "progress": -35, + "progress_explanation": "当前进度为爪夹抓取面包片位于瓷碗右上方进度上升为-35", + "state_description": "当前状态为爪夹抓取面包片位于瓷碗右上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开放下面包片向爪夹前移动牛排右上方", + "time": 15.668282, + "annotations": { + "bbox_1769070602970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070602970_1769070707608_zt6j9psqo", + "x": 0.11966661867269172, + "y": 0.21116663930935553, + "width": 0.11399999304199263, + "height": 0.1746666524522581 + } + ] + }, + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070709680_fn7i6q802", + "x": 0.16166661610921532, + "y": 0.3898332914360928, + "width": 0.2219999864501961, + "height": 0.26666664496527953 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070711424_g3aw5seul", + "x": 0.4766665968831423, + "y": 0.5004999490966838 + } + ] + }, + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070713648_84gyxxm5o", + "x": 0.5066665950520877, + "y": 0.4778332842746351 + } + ] + } + } + }, + { + "action_description": "爪夹抓取面包片向爪夹左移动至瓷碗上方", + "correction_plan": "爪夹打开并向爪夹前移动至牛排上方，，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹抓取错误目标物爪夹向爪夹左移动", + "frame": 519, + "progress": -20, + "progress_explanation": "当前进度为爪夹抓取面包片移动至瓷碗上方进度上升为-20%", + "state_description": "当前状态为爪夹抓取面包片在瓷碗上方\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开并向爪夹前移动至牛排上方", + "time": 17.2941335403527, + "annotations": { + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070716008_bi2j2u8ps", + "x": 0.5056665951131227, + "y": 0.4791666174994615 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070718128_7fbnfdeps", + "x": 0.48366659645589616, + "y": 0.48049995072428786 + } + ] + }, + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070722056_obf4s8rq5", + "x": 0.6286665876057991, + "y": 0.39649995756022477, + "width": 0.09599999414062532, + "height": 0.26266664529080036 + } + ] + }, + "bbox_1769070602970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070602970_1769070725576_8ujf5cfui", + "x": 0.42166660024007563, + "y": 0.15516664386664683, + "width": 0.14699999102783262, + "height": 0.16266665342882056 + } + ] + } + } + }, + { + "action_description": "爪夹抓取面包片向爪夹下方移动靠近瓷碗", + "correction_plan": "爪夹打开向爪夹上方抬升，爪夹向爪夹前移动至牛排上方，，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹抓取错误面包片靠近瓷碗", + "frame": 562, + "progress": -25, + "progress_explanation": "当前进度为爪夹抓取面包片靠近瓷碗进度下降为-25%", + "state_description": "当前状态为爪夹抓取面包片靠近瓷碗\n为完成将牛排完全放进瓷碗里的任务应该：爪夹打开向爪夹上方抬升", + "time": 18.724023, + "annotations": { + "bbox_1769070602970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070602970_1769070731160_6cdirt0y5", + "x": 0.3636666037801145, + "y": 0.012499988810222266, + "width": 0.13099999200439502, + "height": 0.05999999511718789 + } + ] + }, + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070733904_hf61twlcy", + "x": 0.4396665991414429, + "y": 0.1698333093397372, + "width": 0.34599997888183714, + "height": 0.38399996875000253 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070735640_76raba8cw", + "x": 0.478666596761072, + "y": 0.48716661684841983 + } + ] + }, + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070737776_gwaolp8cd", + "x": 0.4996665954793337, + "y": 0.47649995104980863 + } + ] + } + } + }, + { + "action_description": "爪夹打开放下面包片", + "correction_plan": "爪夹向爪夹上方抬升，，爪夹向爪夹前移动至牛排上方，爪夹向爪夹下移动同时调整爪夹角度使爪夹垂直并靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后移动平行瓷碗，爪夹向爪夹右移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将牛排方至瓷碗中", + "error_success_analysis": "爪夹打开成功放下面包片", + "frame": 579, + "progress": 10, + "progress_explanation": "当前进度为爪夹打开进度上升为10%", + "state_description": "当前状态为爪夹打开面包片落在瓷碗中\n为完成将牛排完全放进瓷碗里的任务应该：爪夹向爪夹上抬升", + "time": 19.312117186995582, + "annotations": { + "point_1769070603944": { + "type": "point", + "instances": [ + { + "id": "point_1769070603944_1769070747248_qfiu98scn", + "x": 0.6146665884602911, + "y": 0.48849995007324626 + } + ] + }, + "point_1769070603800": { + "type": "point", + "instances": [ + { + "id": "point_1769070603800_1769070749640_21k4hex5z", + "x": 0.38366660255941143, + "y": 0.4898332832980727 + } + ] + }, + "bbox_1769070603120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070603120_1769070756336_vwcvge6r0", + "x": 0.46366659767659923, + "y": 0.15649997709147323, + "width": 0.3229999802856457, + "height": 0.4239999654947944 + } + ] + }, + "bbox_1769070602970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070602970_1769070758520_lsr7sk7ff", + "x": 0.21366661293538738, + "y": 0.02849998750813904, + "width": 0.17999998901367253, + "height": 0.2226666485460084 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769070602970", + "name": "牛排", + "color": "#4CAF50" + }, + { + "id": "bbox_1769070603120", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769070603800", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769070603944", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-170156-put-buckwheat buns-oil-plate-good/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-170156-put-buckwheat buns-oil-plate-good/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..693db276226e630d24fbbbd18e55e010d91add01 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-170156-put-buckwheat buns-oil-plate-good/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,428 @@ +{ + "task_description": "荞麦馒头放在油盘里\n开始移动：0%\n爪夹靠近荞麦馒头：25%\n抓紧荞麦馒头：50%\n移动荞麦馒头:75%\n将荞麦馒头完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前移动并调整爪夹进度，爪夹向爪夹右移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前方移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘里", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "当前未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将荞麦馒头完全移动荞麦馒头的任务：爪夹向爪夹前移动并调整爪夹进度", + "time": 0.25599040628370107, + "annotations": { + "bbox_1769070482369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482369_1769070513464_3im30sa8k", + "x": 0.3086666071370479, + "y": 0.20049997351074433, + "width": 0.13599999169921922, + "height": 0.2226666485460084 + } + ] + }, + "bbox_1769070482512": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482512_1769070515664_5fzm8v3wu", + "x": 0.07466662141927359, + "y": 0.6671666021999836, + "width": 0.3119999809570324, + "height": 0.28133331043836995 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前移动并调整爪夹进度使爪夹垂直桌面", + "correction_plan": "爪夹向爪夹右移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前方移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘里", + "error_success_analysis": "爪夹向爪夹前移动并调整爪夹进度成功使爪夹垂直桌面", + "frame": 41, + "progress": 10, + "progress_explanation": "当前进度为爪夹张开垂直桌面进度上升为10%", + "state_description": "当前状态为爪夹张开爪夹垂直桌面\n为完成将荞麦馒头完全移动荞麦馒头的任务：爪夹向爪夹右移动至荞麦馒头上方", + "time": 1.359, + "annotations": { + "bbox_1769070482512": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482512_1769070521433_b3sz3emz0", + "x": 0.045666623189293015, + "y": 0.6164999396565805, + "width": 0.36099997796630995, + "height": 0.3333333062065995 + } + ] + }, + "bbox_1769070482369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482369_1769070523617_v6rsbut3n", + "x": 0.28966660829671576, + "y": 0.20983330608452913, + "width": 0.14199999133300828, + "height": 0.16266665342882053 + } + ] + }, + "point_1769070483488": { + "type": "point", + "instances": [ + { + "id": "point_1769070483488_1769070525858_rk02i0mfs", + "x": 0.3986666016438841, + "y": 0.2284999712320987 + } + ] + }, + "point_1769070483656": { + "type": "point", + "instances": [ + { + "id": "point_1769070483656_1769070527944_kb7sr1nl3", + "x": 0.4946665957845095, + "y": 0.2298333044569251 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下移动靠近荞麦馒头", + "correction_plan": "爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前方移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘里", + "error_success_analysis": "爪夹向爪夹右下移动成功靠近荞麦馒头", + "frame": 71, + "progress": 25, + "progress_explanation": "当前进度为爪夹张开靠近荞麦馒头进度上升为25%", + "state_description": "当前状态为爪夹张开靠近荞麦馒头\n为完成将荞麦馒头完全移动荞麦馒头的任务：爪夹合拢抓取荞麦馒头", + "time": 2.382816, + "annotations": { + "point_1769070483656": { + "type": "point", + "instances": [ + { + "id": "point_1769070483656_1769070530992_n80d0fxfb", + "x": 0.43366659950765374, + "y": 0.33516662921821055 + } + ] + }, + "bbox_1769070482512": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482512_1769070536496_811u9xx0d", + "x": 0.09166662038167599, + "y": 0.6273147638344513, + "width": 0.28699998248291114, + "height": 0.3413333055555578 + } + ] + }, + "bbox_1769070482369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482369_1769070538170_r1j3yy2ot", + "x": 0.2966666078694697, + "y": 0.22598146316170548, + "width": 0.176999989196778, + "height": 0.20533331662326523 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取荞麦馒头", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前方移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘里", + "error_success_analysis": "爪夹合拢成功抓取荞麦馒头", + "frame": 142, + "progress": 50, + "progress_explanation": "当前进度为爪夹合拢抓取荞麦馒头进度上升为50%", + "state_description": "当前状态为\n为完成将荞麦馒头完全移动荞麦馒头的任务：爪夹保持合拢向爪夹上方抬升", + "time": 4.730696389634894, + "annotations": { + "bbox_1769070482369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482369_1769070541696_3h7gzur82", + "x": 0.29166660817464546, + "y": 0.2218333051079667, + "width": 0.15499999053955132, + "height": 0.15733332052951493 + } + ] + }, + "bbox_1769070482512": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482512_1769070544416_37s1ec7aj", + "x": 0.08466662080892207, + "y": 0.6231666057807124, + "width": 0.31899998052978634, + "height": 0.3346666394314258 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升", + "correction_plan": "爪夹向爪夹右前方移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘里", + "error_success_analysis": "爪夹抓取荞麦馒头向爪夹上方成功抬升", + "frame": 168, + "progress": 75, + "progress_explanation": "当前进度为爪夹抓取荞麦馒头移动进度上升为75%", + "state_description": "当前状态为爪夹抓取荞麦馒头初中桌面\n为完成将荞麦馒头完全移动荞麦馒头的任务：爪夹向爪夹右前方移动至油盘上方", + "time": 5.606751276604319, + "annotations": { + "bbox_1769070482512": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482512_1769070546896_shliwdpey", + "x": 0.06666662190755482, + "y": 0.6338332715793236, + "width": 0.37199997729492323, + "height": 0.2986666423611131 + } + ] + }, + "bbox_1769070482369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482369_1769070548392_53dafha0h", + "x": 0.24466661104329765, + "y": 0.21116663930935553, + "width": 0.17699998919677795, + "height": 0.2759999775390643 + } + ] + }, + "point_1769070483488": { + "type": "point", + "instances": [ + { + "id": "point_1769070483488_1769070550016_do6rr9oti", + "x": 0.3436666050008176, + "y": 0.3164999640706409 + } + ] + }, + "point_1769070483656": { + "type": "point", + "instances": [ + { + "id": "point_1769070483656_1769070551856_vf5kd0fy6", + "x": 0.35466660432943087, + "y": 0.3124999643961618 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动至油盘上方", + "correction_plan": "爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘里", + "error_success_analysis": "爪夹向爪夹右前移动成功移动至油盘上方", + "frame": 219, + "progress": 85, + "progress_explanation": "当前进度为爪夹抓取荞麦馒头位于油盘上方进度上升为85%", + "state_description": "当前状态为爪夹抓取荞麦馒头位于油盘上方\n为完成将荞麦馒头完全移动荞麦馒头的任务：爪夹向爪夹下移动靠近油盘", + "time": 7.310132, + "annotations": { + "point_1769070483656": { + "type": "point", + "instances": [ + { + "id": "point_1769070483656_1769070557568_rd0vb32vi", + "x": 0.2456666109822625, + "y": 0.5298332800428646 + } + ] + }, + "point_1769070483488": { + "type": "point", + "instances": [ + { + "id": "point_1769070483488_1769070560008_ykbhjokw3", + "x": 0.22966661195882493, + "y": 0.517833281019427 + } + ] + }, + "bbox_1769070482512": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482512_1769070562497_hay51h0e1", + "x": 0.07466662141927359, + "y": 0.6484999370524139, + "width": 0.3249999801635754, + "height": 0.30799997493489795 + } + ] + }, + "bbox_1769070482369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482369_1769070566232_mpkwx2har", + "x": 0.061666622212730574, + "y": 0.5084999484456422, + "width": 0.30299998150634877, + "height": 0.17866665212673727 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近油盘", + "correction_plan": "爪夹打开将荞麦馒头放在油盘里", + "error_success_analysis": "爪夹向爪夹下移动成功靠近油盘", + "frame": 256, + "progress": 95, + "progress_explanation": "当前进度为爪夹抓取荞麦馒头靠近油盘进度上升为95%", + "state_description": "当前状态为爪夹抓取1摸摸头靠近油盘\n为完成将荞麦馒头完全移动荞麦馒头的任务：爪夹打开将荞麦馒头放在油盘里", + "time": 8.54166, + "annotations": { + "bbox_1769070482369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482369_1769070571496_9mha6lg5n", + "x": 0.11266661909993778, + "y": 0.6804999344482475, + "width": 0.21399998693847735, + "height": 0.17599998567708455 + } + ] + }, + "bbox_1769070482512": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482512_1769070573776_54ufjm5pe", + "x": 0.07766662123616813, + "y": 0.6391666044786292, + "width": 0.33399997961425903, + "height": 0.3213333071831619 + } + ] + }, + "point_1769070483488": { + "type": "point", + "instances": [ + { + "id": "point_1769070483488_1769070578736_xrrngzadr", + "x": 0.222666612386071, + "y": 0.7471665956895674 + } + ] + }, + "point_1769070483656": { + "type": "point", + "instances": [ + { + "id": "point_1769070483656_1769070580496_c70e9w3i1", + "x": 0.24666661092122735, + "y": 0.7538332618136995 + } + ] + } + } + }, + { + "action_description": "爪夹打开使荞麦馒头落在油盘中", + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将荞麦馒头放在油盘中", + "frame": 286, + "progress": 100, + "progress_explanation": "当前进度为爪夹将荞麦馒头放在油盘中任务完成进度为100%", + "state_description": "当前状态为爪夹张开荞麦馒头在油盘中任务完成\n", + "time": 9.525149, + "annotations": { + "point_1769070483656": { + "type": "point", + "instances": [ + { + "id": "point_1769070483656_1769070583176_q44y1slhg", + "x": 0.28866660835775093, + "y": 0.759166594713005 + } + ] + }, + "point_1769070483488": { + "type": "point", + "instances": [ + { + "id": "point_1769070483488_1769070584656_p1ngfxere", + "x": 0.17566661525472319, + "y": 0.7271665973171715 + } + ] + }, + "bbox_1769070482512": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482512_1769070586225_v2idq64lh", + "x": 0.05766662245687119, + "y": 0.641833270928282, + "width": 0.3869999763793959, + "height": 0.31999997395833546 + } + ] + }, + "bbox_1769070482369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070482369_1769070588377_3o00fu9zh", + "x": 0.14766661696370745, + "y": 0.719166597968213, + "width": 0.18199998889160224, + "height": 0.20799998307291812 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769070482369", + "name": "荞麦馒头", + "color": "#4CAF50" + }, + { + "id": "bbox_1769070482512", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769070483488", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769070483656", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-170156-put-buckwheat buns-oil-plate-good/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-170156-put-buckwheat buns-oil-plate-good/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..959b267eb71eaf2cd8364532cd586abccc766067 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-170156-put-buckwheat buns-oil-plate-good/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,371 @@ +{ + "task_description": "荞麦馒头放在油盘里\n开始移动：0%\n爪夹靠近荞麦馒头：25%\n抓紧荞麦馒头：50%\n移动荞麦馒头:75%\n将荞麦馒头完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1769070354016": { + "instances": [ + { + "height": 0.19999998372395963, + "id": "bbox_1769070354016_1769070379073_wy4zg5au3", + "width": 0.18099998895263747, + "x": 0.6976665833943735, + "y": 0.39205552025915363 + }, + { + "height": 0.2306666478949668, + "id": "bbox_1769070354016_1769070392512_yeev5ddsv", + "width": 0.26199998400879, + "x": 0.386666602376306, + "y": 0.054722214378075 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹下移动并调整爪夹角度，爪夹向爪夹右下方移动靠近荞麦馒头，爪夹靠近荞麦馒头爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹下方抬升，爪夹向爪夹右前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "当前未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹下移动并调整爪夹角度", + "time": 0.29201829565647497 + }, + { + "action_description": "爪夹向爪夹下移动并调整爪夹角度", + "annotations": { + "bbox_1769070354016": { + "instances": [ + { + "height": 0.20666664984809172, + "id": "bbox_1769070354016_1769070407177_ybk8n19s2", + "width": 0.13599999169921925, + "x": 0.7116665825398814, + "y": 0.38138885446054244 + } + ], + "type": "bbox" + }, + "bbox_1769070354168": { + "instances": [ + { + "height": 0.2453333133680572, + "id": "bbox_1769070354168_1769070410002_tl6n6b7ri", + "width": 0.2669999837036143, + "x": 0.3966666017659545, + "y": 0.033388882780852634 + } + ], + "type": "bbox" + }, + "point_1769070354768": { + "instances": [ + { + "id": "point_1769070354768_1769070412488_b0uck352e", + "x": 0.7176665821736704, + "y": 0.37605552156123684 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右下方移动靠近荞麦馒头，爪夹靠近荞麦馒头爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹下方抬升，爪夹向爪夹右前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹下正确移动抬升调整爪夹进度", + "frame": 55, + "progress": 15, + "progress_explanation": "当前爪夹张开位于爪夹上方进度上升为15%", + "state_description": "当前状态为\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹右下方移动靠近荞麦馒头", + "time": 1.8422 + }, + { + "action_description": "爪夹向爪夹右下方移动靠近荞麦馒头", + "annotations": { + "bbox_1769070354016": { + "instances": [ + { + "height": 0.18533331825086924, + "id": "bbox_1769070354016_1769070420512_r9imf0wn6", + "width": 0.17199998950195372, + "x": 0.687666584004725, + "y": 0.3680555222122785 + } + ], + "type": "bbox" + }, + "bbox_1769070354168": { + "instances": [ + { + "height": 0.22533331499566123, + "id": "bbox_1769070354168_1769070423152_l1h6438f3", + "width": 0.2669999837036142, + "x": 0.36866660347493874, + "y": 0.03605554923050543 + } + ], + "type": "bbox" + }, + "point_1769070354768": { + "instances": [ + { + "id": "point_1769070354768_1769070416080_dsyhte3ur", + "x": 0.6926665836995494, + "y": 0.4787221798728695 + } + ], + "type": "point" + }, + "point_1769070354920": { + "instances": [ + { + "id": "point_1769070354920_1769070418088_5739a5vtx", + "x": 0.7586665796712292, + "y": 0.41872218475568157 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹下方抬升，爪夹向爪夹右前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹下方移动成功靠近荞麦馒头", + "frame": 94, + "progress": 25, + "progress_explanation": "当前爪夹靠近荞麦馒头进度上升为25%", + "state_description": "当前状态为爪夹张开爪夹靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹合拢抓取荞麦馒头", + "time": 3.1304361294374115 + }, + { + "action_description": "爪夹合拢抓取荞麦馒头", + "annotations": { + "bbox_1769070354016": { + "instances": [ + { + "height": 0.26133331206597393, + "id": "bbox_1769070354016_1769070427408_hg6b9rkix", + "width": 0.13399999182128947, + "x": 0.7086665827229869, + "y": 0.34005552449092413 + } + ], + "type": "bbox" + }, + "bbox_1769070354168": { + "instances": [ + { + "height": 0.24266664691840442, + "id": "bbox_1769070354168_1769070425680_u80whz04p", + "width": 0.25099998468017665, + "x": 0.3966666017659545, + "y": 0.04405554857946382 + } + ], + "type": "bbox" + }, + "point_1769070354768": { + "instances": [ + { + "id": "point_1769070354768_1769070429768_i4tjvo2wa", + "x": 0.7116665825398814, + "y": 0.44405551602738313 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢向爪夹下方抬升，爪夹向爪夹右前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取荞麦馒头", + "frame": 123, + "progress": 50, + "progress_explanation": "当前爪夹抓取荞麦馒头进度上升为50%", + "state_description": "当前状态为\n为完成将荞麦馒头完全放在油盘里的任务：爪夹保持合拢向爪夹下方抬升", + "time": 4.113656 + }, + { + "action_description": "爪夹保持合拢向爪夹下方抬升", + "annotations": { + "bbox_1769070354016": { + "instances": [ + { + "height": 0.21999998209635566, + "id": "bbox_1769070354016_1769070438144_8488v56ee", + "width": 0.10699999346923868, + "x": 0.661666585591639, + "y": 0.001388885385019093 + } + ], + "type": "bbox" + }, + "bbox_1769070354168": { + "instances": [ + { + "height": 0.2946666426866339, + "id": "bbox_1769070354168_1769070435536_wt8pax61v", + "width": 0.21399998693847735, + "x": 0.41466660066732175, + "y": 0.030722216331199845 + } + ], + "type": "bbox" + }, + "point_1769070354768": { + "instances": [ + { + "id": "point_1769070354768_1769070432792_ccge08jmr", + "x": 0.7036665830281625, + "y": 0.03205554955602624 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹抓取荞麦馒向爪夹上方成功抬升", + "frame": 190, + "progress": 75, + "progress_explanation": "当前爪夹抓取荞麦馒头向爪夹上方抬升移动进度上升为75%", + "state_description": "当前状态为\n为完成将荞麦馒头完全放在油盘里的任务：，爪夹向爪夹右前方移动至油盘上方", + "time": 6.345784 + }, + { + "action_description": "爪夹向爪夹右前方移动至油盘上方", + "annotations": { + "bbox_1769070354168": { + "instances": [ + { + "height": 0.22666664822048763, + "id": "bbox_1769070354168_1769070446857_cd4p5yd42", + "width": 0.24299998516845794, + "x": 0.3956666018269896, + "y": 0.046722215029116616 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹下方移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹右前成功移至油盘上方", + "frame": 231, + "progress": 85, + "progress_explanation": "当前爪夹向爪夹右前移动至油盘上方进度上升为85%", + "state_description": "当前状态为\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹下方移动靠近油盘", + "time": 7.713705 + }, + { + "action_description": "爪夹向爪夹下方移动靠近油盘", + "annotations": { + "bbox_1769070354016": { + "instances": [ + { + "height": 0.19866665049913326, + "id": "bbox_1769070354016_1769070457722_q1mem3yt2", + "width": 0.08499999481201206, + "x": 0.5066665950520877, + "y": 0.024055550207067854 + } + ], + "type": "bbox" + }, + "bbox_1769070354168": { + "instances": [ + { + "height": 0.2919999762369811, + "id": "bbox_1769070354168_1769070455544_qou21mbnq", + "width": 0.3049999813842784, + "x": 0.3816666026814818, + "y": 0.03205554955602624 + } + ], + "type": "bbox" + }, + "point_1769070354768": { + "instances": [ + { + "id": "point_1769070354768_1769070459736_ymlr6pskn", + "x": 0.5386665930989627, + "y": 0.046722215029116616 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近油盘", + "frame": 263, + "progress": 95, + "progress_explanation": "当前爪夹抓取荞麦馒头靠近油盘进度上升为95%", + "state_description": "当前状态为\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开将荞麦馒头放在油盘中", + "time": 8.768066 + }, + { + "action_description": "爪夹打开将荞麦馒头放在油盘中", + "annotations": { + "bbox_1769070354016": { + "instances": [ + { + "height": 0.15599998730468853, + "id": "bbox_1769070354016_1769070467657_xmv3et0qs", + "width": 0.1519999907226568, + "x": 0.4346665994466187, + "y": 0.12138887561939489 + } + ], + "type": "bbox" + }, + "bbox_1769070354168": { + "instances": [ + { + "height": 0.28666664333767555, + "id": "bbox_1769070354168_1769070465112_dxm2izb2n", + "width": 0.24799998486328212, + "x": 0.38766660231527084, + "y": 0.05072221470359581 + } + ], + "type": "bbox" + }, + "point_1769070354768": { + "instances": [ + { + "id": "point_1769070354768_1769070462672_2r16mqe0s", + "x": 0.504666595174158, + "y": 0.054722214378075 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 100, + "progress_explanation": "当前爪夹张开将荞麦馒头方在油盘中任务完成进度为100%", + "state_description": "当前状态为爪夹张开荞麦馒头落在油盘中任务完成\n", + "time": 9.423819 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769070354016", + "name": "荞麦馒头" + }, + { + "color": "#FF9800", + "id": "bbox_1769070354168", + "name": "油盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769070354768", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769070354920", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-171658-put-buckwheat buns-oil-plate-mix/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-171658-put-buckwheat buns-oil-plate-mix/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..6c99f63a61e3f6d6f0be745e3bda5e151b8b7e0e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-171658-put-buckwheat buns-oil-plate-mix/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,1198 @@ +{ + "task_description": "荞麦馒头放在油盘里\n开始移动：0%\n爪夹靠近荞麦馒头：25%\n抓紧荞麦馒头：50%\n移动荞麦馒:75%\n将荞麦馒头完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前移动并调整爪夹角度使爪夹垂直桌面，爪夹向爪夹左移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹前移动并调整爪夹角度使爪夹垂直桌面", + "time": 0, + "annotations": { + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769069943440_ibqsctuul", + "x": 0.48866659615072044, + "y": 0.33087034362067924, + "width": 0.2069999873657234, + "height": 0.2559999791666684 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769069945744_57pzya2ri", + "x": 0.11366661903890263, + "y": 0.2962036797751929, + "width": 0.24399998510742277, + "height": 0.4159999661458361 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前移动并调整爪夹进度使其垂直桌面", + "correction_plan": "爪夹向爪夹左移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹向爪夹前移动并成功调整爪夹进度", + "frame": 42, + "progress": 5, + "progress_explanation": "当前爪夹向爪夹前移动并调整爪夹角度进度上升为5%", + "state_description": "爪夹张开垂直桌面\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹左移动至荞麦馒头上方", + "time": 1.40749, + "annotations": { + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769069954408_h78dwa7cx", + "x": 0.09766662001546508, + "y": 0.27072219679995146, + "width": 0.30099998162841907, + "height": 0.41733329937066244 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769069957921_7eoexn3ii", + "x": 0.4896665960896852, + "y": 0.36672218898745207, + "width": 0.18899998846435614, + "height": 0.22799998144531403 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769069960905_ixvo2uw2w", + "x": 0.40366660133870835, + "y": 0.3387221912660977 + } + ] + }, + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769069962873_qp0skcxqi", + "x": 0.5186665943196658, + "y": 0.3360555248164449 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前并向下移动靠近塑料杯", + "correction_plan": "爪夹向爪夹上抬升，爪夹向爪夹左后方移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹向爪夹错误方向移动靠近非目标物", + "frame": 74, + "progress": -10, + "progress_explanation": "当前爪夹靠近塑料杯远离荞麦馒头进度下降为-10%", + "state_description": "当前状态为爪夹张开靠近塑料杯\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹上抬升", + "time": 2.478201, + "annotations": { + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769069968577_3kx69w7cv", + "x": 0.4666665974934937, + "y": 0.692203647548633 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769069979649_e2jlup2sp", + "x": 0.3636666037801145, + "y": 0.6828703149748482 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769069982224_f0goapoea", + "x": 0.5156665945027713, + "y": 0.36020367456686003, + "width": 0.16099999017334038, + "height": 0.2199999820963556 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769069984992_scpxrsc5n", + "x": 0.06766662184651966, + "y": 0.2988703462248457, + "width": 0.31799998059082146, + "height": 0.37733330262587056 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取塑料杯", + "correction_plan": "爪夹打开并向爪夹上方抬升，爪夹向爪夹左后方移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹合拢抓取错误名片", + "frame": 88, + "progress": -15, + "progress_explanation": "当前爪夹合拢抓取塑料杯进度下降为-15%", + "state_description": "当前状态为爪夹合拢夹紧塑料杯\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开并向爪夹上方抬升", + "time": 2.927742229773061, + "annotations": { + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769069989059_lr9hkapmb", + "x": 0.06266662215169541, + "y": 0.32538885901783376, + "width": 0.3089999811401378, + "height": 0.40533330034722487 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769069991160_8da79y19c", + "x": 0.5166665944417361, + "y": 0.37872218801088964, + "width": 0.1729999894409186, + "height": 0.19733331727430686 + } + ] + }, + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769069999001_5c218krqz", + "x": 0.438666599202478, + "y": 0.6775369820755427 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上抬升", + "correction_plan": "爪夹张开向爪夹左后移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹抓取错误目标物移动", + "frame": 141, + "progress": -20, + "progress_explanation": "当前为爪夹抓取塑料杯非荞麦馒头移动进度下降为-20", + "state_description": "当前状态为爪夹抓取塑料杯垂直桌面\n为完成将荞麦馒头完全放在油盘里的任务：爪夹张开向爪夹左后移动至荞麦馒头上方", + "time": 4.705666, + "annotations": { + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070002041_2tdgsf6f7", + "x": 0.4026666013997436, + "y": 0.5533888404631477 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070004080_ua2frh3qk", + "x": 0.3816666026814818, + "y": 0.5640555062617589 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070006344_qy016ba9r", + "x": 0.4736665970662477, + "y": 0.3360555248164449, + "width": 0.2009999877319343, + "height": 0.22799998144531397 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070008400_zm6x4t6r9", + "x": 0.06866662178548451, + "y": 0.2747221964744306, + "width": 0.32099998040771605, + "height": 0.4359999645182321 + } + ] + } + } + }, + { + "action_description": "爪夹抓取塑料杯向爪夹右移动", + "correction_plan": "爪夹打开松开塑料杯，爪夹张开向爪夹左后移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹抓取错误目标物向爪夹右移动", + "frame": 169, + "progress": -25, + "progress_explanation": "当前爪夹黄钻前塑料杯位于油盘右上进度下降为-25%", + "state_description": "当前状态为爪夹抓取塑料杯位于油盘右上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开松开塑料杯", + "time": 5.625839, + "annotations": { + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070014264_fjtkxwp5j", + "x": 0.07966662111409782, + "y": 0.3028703458993249, + "width": 0.3119999809570324, + "height": 0.37999996907552336 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070018929_37hiri78a", + "x": 0.4966665956624392, + "y": 0.33087034362067924, + "width": 0.1779999891357428, + "height": 0.2879999765625019 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070020866_q7yv1d6dk", + "x": 0.3196666064656612, + "y": 0.5468703260425556 + } + ] + }, + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070022865_0m6oymdm6", + "x": 0.3386666053059933, + "y": 0.5442036595929028 + } + ] + } + } + }, + { + "action_description": "爪夹打开松开塑料杯", + "correction_plan": "爪夹向爪夹左后移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹打开成功放下塑料杯", + "frame": 189, + "progress": -5, + "progress_explanation": "当前爪夹打开松开塑料杯进度上升为-5%", + "state_description": "当前状态为爪夹打开塑料杯落在桌面\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹左后方移动至荞麦馒头上方", + "time": 6.305612, + "annotations": { + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070026073_khw7fstlt", + "x": 0.3766666029866575, + "y": 0.5533888404631477 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070028785_y0wp5th82", + "x": 0.2646666098225946, + "y": 0.537388841765231 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070039153_ofzml03rt", + "x": 0.07866662117513298, + "y": 0.31072219354474334, + "width": 0.3289999799194348, + "height": 0.4159999661458362 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070041105_3laq3uy32", + "x": 0.4926665959065798, + "y": 0.3533888567391881, + "width": 0.18499998870849677, + "height": 0.24266664691840437 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动至荞麦馒头上方", + "correction_plan": "爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹向爪夹左后成功移动至荞麦馒头上方", + "frame": 250, + "progress": 10, + "progress_explanation": "当前爪夹位于荞麦馒头上方进度上升为10%", + "state_description": "当前状态为爪夹张开位于荞麦馒头上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹下移动靠近荞麦馒头", + "time": 8.340662924228257, + "annotations": { + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070046137_spqdj3gvs", + "x": 0.48666659627279074, + "y": 0.3280555254674865, + "width": 0.2519999846191415, + "height": 0.31333330783420354 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070048273_uhnhvp8bo", + "x": 0.06866662178548451, + "y": 0.28805552872269463, + "width": 0.3479999787597669, + "height": 0.44799996354166965 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070050185_6bzrb54rl", + "x": 0.5546665921224003, + "y": 0.4693888472990847 + } + ] + }, + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070052225_ti9nz5575", + "x": 0.6566665858968148, + "y": 0.43738884990325116 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近荞麦馒头", + "correction_plan": "爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近荞麦馒头", + "frame": 275, + "progress": 25, + "progress_explanation": "当前爪夹靠近荞麦馒头进度上升为25%", + "state_description": "当前状态为爪夹张开靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹合拢抓取荞麦馒头", + "time": 9.177501, + "annotations": { + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070063961_xd2v9ks8f", + "x": 0.5616665916951542, + "y": 0.5480555075638421 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070066009_gcx0w6pbc", + "x": 0.5196665942586307, + "y": 0.34538885739022973, + "width": 0.16499998992919976, + "height": 0.25066664626736274 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070068128_bpu3rndqn", + "x": 0.03866662361653908, + "y": 0.24672219875307627, + "width": 0.3609999779663099, + "height": 0.5373332896050383 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取荞麦馒头", + "correction_plan": "爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹合拢成功抓取荞麦馒头", + "frame": 306, + "progress": 50, + "progress_explanation": "当前爪夹抓取荞麦馒头进度上升为50%", + "state_description": "当前状态为爪夹合拢夹紧荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹保持合拢向爪夹上抬升", + "time": 10.193247, + "annotations": { + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070072648_933q0mefw", + "x": 0.11666661885579718, + "y": 0.28805552872269463, + "width": 0.3129999808959972, + "height": 0.4493332967664961 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070074770_uav9b1nri", + "x": 0.4926665959065798, + "y": 0.3575370081172072, + "width": 0.16999998962402402, + "height": 0.24666664659288356 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上抬升", + "correction_plan": "爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹抓取荞麦馒头向爪夹上方成功抬升", + "frame": 358, + "progress": 75, + "progress_explanation": "当前爪夹抓取荞麦馒头移动进度上升为75%", + "state_description": "当前状态为爪夹抓取荞麦馒头垂直桌面\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹右移动至油盘上方", + "time": 11.940765838936663, + "annotations": { + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070077073_s2aundaii", + "x": 0.46766659743245864, + "y": 0.37605552156123684, + "width": 0.2049999874877937, + "height": 0.20133331694878615 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070079449_mpsujigju", + "x": 0.09766662001546508, + "y": 0.3000555277461322, + "width": 0.2819999827880869, + "height": 0.4479999635416697 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070081609_2uncqf43r", + "x": 0.5866665901692755, + "y": 0.4720555137487375 + } + ] + }, + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070083720_1nqi2e5tg", + "x": 0.608666588826502, + "y": 0.47072218052391107 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动", + "correction_plan": "爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹向爪夹右成功移动", + "frame": 371, + "progress": 85, + "progress_explanation": "当前爪夹抓取荞麦馒头位于塑料杯上方", + "state_description": "当前状态为爪夹抓取荞麦馒头位于塑料杯上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹右移动至油盘上方", + "time": 12.374820800284487, + "annotations": { + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070087176_dxvvx1rhv", + "x": 0.47966659670003675, + "y": 0.4907221788963071 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070089473_dus83ezxa", + "x": 0.46466659761556406, + "y": 0.49205551212113346 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070092888_5qyk5ge8y", + "x": 0.35266660445150116, + "y": 0.4093888521818968, + "width": 0.22399998632812582, + "height": 0.23599998079427234 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070094952_9nzc2dnon", + "x": 0.04666662312825786, + "y": 0.2733888632496042, + "width": 0.33999997924804815, + "height": 0.4813332941623296 + } + ] + } + } + }, + { + "action_description": "爪夹打开荞麦馒头落在桌面上", + "correction_plan": "爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹唯一的至油盘上方瓷碗打开爪夹", + "frame": 394, + "progress": 15, + "progress_explanation": "当前爪夹位于荞麦馒头上方进度下降为15%", + "state_description": "当前状态为爪夹打开位于荞麦馒头上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹下移动靠近荞麦馒头", + "time": 13.136151, + "annotations": { + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070100464_x9wtbl54d", + "x": 0.05966662233480088, + "y": 0.302722194195785, + "width": 0.3199999804687511, + "height": 0.4546666296658016 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070104850_3xayaedpk", + "x": 0.3786666028645872, + "y": 0.6027221697817244, + "width": 0.16099999017334046, + "height": 0.28933330978732835 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070106873_oae8eeqso", + "x": 0.3976666017049193, + "y": 0.5080555108190502 + } + ] + }, + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070108537_3du88ejkl", + "x": 0.5176665943807011, + "y": 0.517388843392835 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近荞麦馒头", + "correction_plan": "爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近荞麦馒头", + "frame": 452, + "progress": 25, + "progress_explanation": "当前爪夹靠近荞麦馒头进度上升为25%", + "state_description": "当前状态为爪夹张开靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹合拢抓取荞麦馒头", + "time": 15.057338, + "annotations": { + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070113273_zlgwf1e4d", + "x": 0.40766660109456776, + "y": 0.6480554994258221 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070115784_l7oekw0az", + "x": 0.05666662251790634, + "y": 0.24138886585377067, + "width": 0.3189999805297863, + "height": 0.4879999602864616 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070117664_5g9v5qybq", + "x": 0.3596666040242551, + "y": 0.5800555049596757, + "width": 0.19399998815918038, + "height": 0.32799997330729386 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取荞麦馒头", + "correction_plan": "爪夹打开向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹合拢成功抓取荞麦馒头", + "frame": 479, + "progress": 40, + "progress_explanation": "当前爪夹合拢靠近荞麦馒头进度上升为40", + "state_description": "当前状态为爪夹合拢靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开向爪夹下移动靠近荞麦馒头", + "time": 15.978157842534744, + "annotations": { + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070122208_7fbduid42", + "x": 0.31466660677083697, + "y": 0.6467221662009955, + "width": 0.24799998486328217, + "height": 0.29066664301215467 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070125368_ut7cwute7", + "x": 0.08366662086995721, + "y": 0.2987221945213058, + "width": 0.3089999811401379, + "height": 0.38666663519965533 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上抬升", + "correction_plan": "爪夹打开向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹为抓紧荞麦馒头向爪夹上方抬升", + "frame": 504, + "progress": 10, + "progress_explanation": "当前爪夹合拢位于荞麦馒头上方进度下降为10%", + "state_description": "当前状态为爪夹合拢位于荞麦馒头上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开向爪夹下移动靠近荞麦馒头", + "time": 16.79012, + "annotations": { + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070128320_m0r72zufa", + "x": 0.06466662202962511, + "y": 0.289388861947521, + "width": 0.31399998083496206, + "height": 0.3946666345486138 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070130776_ch88h3cjy", + "x": 0.4396665991414429, + "y": 0.550722174013495 + } + ] + }, + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070132480_niaibqujd", + "x": 0.4546665982259156, + "y": 0.5413888414397102 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070134552_69zpwjvx7", + "x": 0.36966660341390356, + "y": 0.6320555007279052, + "width": 0.18199998889160224, + "height": 0.3026666420355923 + } + ] + } + } + }, + { + "action_description": "爪夹打开", + "correction_plan": "爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹成功打开", + "frame": 521, + "progress": 15, + "progress_explanation": "当前爪夹打开位于荞麦馒头上方进度上升为15%", + "state_description": "当前状态张开位于荞麦馒头上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹下方移动开进荞麦馒头", + "time": 17.379219178177028, + "annotations": { + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070138433_c81vly6nu", + "x": 0.3346666055501339, + "y": 0.654722165549954, + "width": 0.1839999887695319, + "height": 0.25999997884114756 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070140432_u34oz9qje", + "x": 0.04366662331136332, + "y": 0.2227222007062011, + "width": 0.35999997802734507, + "height": 0.48933329351128807 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070142304_e64hg0cj6", + "x": 0.3986666016438841, + "y": 0.577388838510023 + } + ] + }, + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070143968_61dr9wuv3", + "x": 0.5156665945027713, + "y": 0.5827221714093285 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近荞麦馒头", + "correction_plan": "爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近荞麦馒头", + "frame": 550, + "progress": 25, + "progress_explanation": "当前爪夹靠近荞麦馒头进度上升为25%", + "state_description": "当前状态为爪夹张开靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹合拢抓取荞麦馒头", + "time": 18.320351, + "annotations": { + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070148680_hyqbnbmvc", + "x": 0.3446666049397824, + "y": 0.6947221622947459, + "width": 0.2229999863891609, + "height": 0.23599998079427234 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070151344_brl6l18uc", + "x": 0.07866662117513298, + "y": 0.3227221925681809, + "width": 0.30299998150634877, + "height": 0.4026666338975721 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取荞麦馒头", + "correction_plan": "爪夹保持合拢向爪夹上抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹合拢成功抓取荞麦馒头", + "frame": 621, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取荞麦馒头进度上升为50%", + "state_description": "当前状态为爪夹合拢爪夹荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹保持合拢向爪夹上抬升", + "time": 20.691139652203265, + "annotations": { + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070157304_stwgi7x0q", + "x": 0.4396665991414429, + "y": 0.724351798555355 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070160064_dk9bi19dp", + "x": 0.32666660603841513, + "y": 0.6670184698878199, + "width": 0.21699998675537188, + "height": 0.2266666482204876 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070163249_4tahezyvx", + "x": 0.0896666205037463, + "y": 0.27768516823851175, + "width": 0.31399998083496206, + "height": 0.4146666329210097 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070178768_aoo2nk802", + "x": 0.42166660024007563, + "y": 0.7080554945430099 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上抬升", + "correction_plan": "爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹保持合拢成功向爪夹上方抬升", + "frame": 648, + "progress": 75, + "progress_explanation": "当前爪夹抓取荞麦馒头向爪夹上方移动进度上升为75%", + "state_description": "当前状态为爪夹合拢抓取荞麦馒头垂直桌面\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹右移动至油盘上方", + "time": 21.596533, + "annotations": { + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070168520_pas5pdlxt", + "x": 0.07266662154134389, + "y": 0.3133888599943962, + "width": 0.2999999816894542, + "height": 0.3733333029513914 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070170673_6km8mc49v", + "x": 0.3346666055501339, + "y": 0.5480555075638421, + "width": 0.2109999871215828, + "height": 0.2946666426866339 + } + ] + }, + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070173265_kle54kcmf", + "x": 0.4176666004842162, + "y": 0.6240555013789468 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070175608_0m37fkevs", + "x": 0.3966666017659545, + "y": 0.6093888359058565 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动至油盘上方", + "correction_plan": "爪夹向爪夹下移动靠近油盘，爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹向爪夹右成功移动至油盘上方", + "frame": 677, + "progress": 85, + "progress_explanation": "当前爪夹抓取荞麦馒头位于油盘上方快递上升为85%", + "state_description": "当前状态为爪夹抓取荞麦馒头位于油盘上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹下移动靠近油盘", + "time": 22.562346069565727, + "annotations": { + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070184081_9lgwzpxh8", + "x": 0.17366661537679348, + "y": 0.33738885804127133 + } + ] + }, + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070185984_llokoezvg", + "x": 0.19566661403402014, + "y": 0.35605552318884093 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070187993_riztl7sb3", + "x": 0.08366662086995721, + "y": 0.28687034720140814, + "width": 0.29499998199462996, + "height": 0.4653332954644129 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070190096_h4xjm4cr7", + "x": 0.08766662062581661, + "y": 0.32553701072137364, + "width": 0.23699998553466886, + "height": 0.2439999801432308 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近油盘", + "correction_plan": "爪夹打开使荞麦馒头落在油盘中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近油盘", + "frame": 698, + "progress": 95, + "progress_explanation": "当前爪夹抓取荞麦馒头靠近油盘进度上升为95%", + "state_description": "当前状态为爪夹抓取荞麦馒头靠近油盘\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开使荞麦馒头落在油盘中", + "time": 23.27726012355038, + "annotations": { + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070194553_iggkwlshp", + "x": 0.13566661769612928, + "y": 0.3960555199336328, + "width": 0.18899998846435614, + "height": 0.22666664822048765 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070196497_lw5fjdual", + "x": 0.061666622212730574, + "y": 0.2987221945213058, + "width": 0.35099997857666143, + "height": 0.4799999609375032 + } + ] + }, + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070198768_7msh3to3t", + "x": 0.23866661140950857, + "y": 0.4360555166784248 + } + ] + } + } + }, + { + "action_description": "爪夹打开使荞麦馒头落在油盘中", + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将荞麦馒头完全放在油盘里", + "frame": 729, + "progress": 100, + "progress_explanation": "当前爪夹将将荞麦馒头完全放在油盘里任务完成进度为100%", + "state_description": "当前状态为爪夹打开荞麦馒头咳哟在油盘中任务完成\n", + "time": 24.312811, + "annotations": { + "point_1769069914800": { + "type": "point", + "instances": [ + { + "id": "point_1769069914800_1769070205616_g959hy9lp", + "x": 0.2586666101888055, + "y": 0.4693888472990847 + } + ] + }, + "point_1769069910073": { + "type": "point", + "instances": [ + { + "id": "point_1769069910073_1769070207657_6axpsuytb", + "x": 0.20266661360677407, + "y": 0.40953700388543673 + } + ] + }, + "bbox_1769069911816": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069911816_1769070213921_nh68lx56v", + "x": 0.06566662196858997, + "y": 0.3000555277461322, + "width": 0.497999969604494, + "height": 0.48133329416232956 + } + ] + }, + "bbox_1769069910536": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069910536_1769070216377_t4ugs5wrw", + "x": 0.14966661684163712, + "y": 0.4560555150508207, + "width": 0.1749999893188483, + "height": 0.1719999860026053 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769069910536", + "name": "荞麦馒头", + "color": "#4CAF50" + }, + { + "id": "bbox_1769069911816", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769069910073", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769069914800", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-171658-put-buckwheat buns-oil-plate-mix/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-171658-put-buckwheat buns-oil-plate-mix/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..bba11ced356bfd38fa0c718b0a84bfb25dcb7d28 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-171658-put-buckwheat buns-oil-plate-mix/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,1412 @@ +{ + "task_description": "荞麦馒头放在油盘里\n开始移动：0%\n爪夹靠近荞麦馒头：25%\n抓紧荞麦馒头：50%\n移动荞麦馒头:75%\n将荞麦馒头完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前移动并调整爪夹角度使爪夹垂直语荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹前移动并调整爪夹角度使爪夹垂直语荞麦馒头上方", + "time": 0, + "annotations": { + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152587790_6e31qycdj", + "x": 0.29766660780843457, + "y": 0.21709257520812378, + "width": 0.16199999011230531, + "height": 0.1879999847005221 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152591391_dk4i3likw", + "x": 0.43266659956868897, + "y": 0.24509257292947811, + "width": 0.2769999830932627, + "height": 0.3439999720052107 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152595342_6hbzqw6x7", + "x": 0.707666582784022, + "y": 0.09175925207444238 + } + ] + }, + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152598047_o24v17c41", + "x": 0.7686665790608778, + "y": 0.04242592275586566 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方调整爪夹进度", + "correction_plan": "爪夹向爪夹前移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹下正确的调整爪夹角度", + "frame": 41, + "progress": 5, + "progress_explanation": "当前爪夹张开为位于油盘后上方进度上升为5%", + "state_description": "当前状态为爪夹张开位于勺子上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹前移动至荞麦馒头上方", + "time": 1.367999, + "annotations": { + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152602087_i5t33ccy4", + "x": 0.6686665851643929, + "y": 0.3898332914360928 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152604614_4qw4lvjkf", + "x": 0.6346665872395881, + "y": 0.48479626588572056 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152607710_ausmtlzov", + "x": 0.27766660902913765, + "y": 0.2287962867190522, + "width": 0.19799998791503975, + "height": 0.14533332150607736 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152610662_sbti10ruv", + "x": 0.43266659956868897, + "y": 0.2221296205949202, + "width": 0.28699998248291114, + "height": 0.36399997037760656 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近勺子", + "correction_plan": "爪夹向爪夹上方抬升，爪夹向爪夹前移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹下错误移动", + "frame": 58, + "progress": -5, + "progress_explanation": "当前爪夹靠近啥子进度下降为-5%", + "state_description": "当前状态为爪夹张开靠近勺子\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹上方抬升", + "time": 1.9274226804123709, + "annotations": { + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152614535_3tvag9mna", + "x": 0.4416665990193726, + "y": 0.26183330185275866, + "width": 0.26799998364257904, + "height": 0.3146666410590299 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152617486_8mvglloa4", + "x": 0.27766660902913765, + "y": 0.21131479768861508, + "width": 0.18599998864746162, + "height": 0.21333331597222363 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152620206_96h55agx9", + "x": 0.6456665865682014, + "y": 0.5086481068249018 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取勺子", + "correction_plan": "爪夹打开向爪夹上方抬升，爪夹向爪夹前移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹合拢抓取错误目标物", + "frame": 78, + "progress": -10, + "progress_explanation": "当前爪夹抓取勺子进度下降为-10%", + "state_description": "当前状态为爪夹合拢夹紧勺子\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开向爪夹上方抬升", + "time": 2.584, + "annotations": { + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152624079_1l5e8b7et", + "x": 0.6516665862019905, + "y": 0.49116661652289906 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152626830_4v3nfkf4q", + "x": 0.425666599995935, + "y": 0.23131479606101107, + "width": 0.29199998217773543, + "height": 0.31999997395833546 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152629383_g86kzjvly", + "x": 0.29166660817464546, + "y": 0.22198146348722628, + "width": 0.18099998895263741, + "height": 0.20933331629774443 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升", + "correction_plan": "爪夹打开方下勺子向爪夹前移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹抓取勺子向爪夹上错误移动", + "frame": 109, + "progress": -15, + "progress_explanation": "当前爪夹抓取勺子向爪夹上抬升进度下降为-15%", + "state_description": "当前状态为爪夹抓取勺子位于油盘后方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开方下勺子向爪夹前移动至荞麦馒头上方", + "time": 3.624438, + "annotations": { + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152632247_i857gun7z", + "x": 0.281666608784997, + "y": 0.21116663930935553, + "width": 0.19699998797607496, + "height": 0.1693333195529525 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152635110_j2q9i4vv5", + "x": 0.42166660024007563, + "y": 0.2324999709065779, + "width": 0.3269999800415051, + "height": 0.31599997428385623 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152637254_unh1yc05a", + "x": 0.6466665865071664, + "y": 0.3806481172415676 + } + ] + }, + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152639351_vaqyi1tv6", + "x": 0.6526665861409554, + "y": 0.3513147862953868 + } + ] + } + } + }, + { + "action_description": "爪夹抓取勺子向爪夹右方移动", + "correction_plan": "爪夹打开方下勺子，爪夹向爪夹右前移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹抓取错误目标物向爪夹右移动", + "frame": 127, + "progress": -20, + "progress_explanation": "当前爪夹抓取勺子向爪夹左移动进度下降为-20%", + "state_description": "当前状态为爪夹抓取勺子位于瓷杯左上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开方下勺子", + "time": 4.2256, + "annotations": { + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152644495_at46fvrdl", + "x": 0.6376665870564826, + "y": 0.3951666243353984 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152647103_cxv3bs7pb", + "x": 0.6376665870564826, + "y": 0.4218332888319264 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152650590_2qfphn3iv", + "x": 0.27366660927327824, + "y": 0.2338333041314043, + "width": 0.19799998791503975, + "height": 0.15066665440538293 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152653783_cftm7o7fy", + "x": 0.4246666000569702, + "y": 0.2338333041314043, + "width": 0.2789999829711924, + "height": 0.31599997428385623 + } + ] + } + } + }, + { + "action_description": "爪夹打开放下勺子", + "correction_plan": "爪夹向爪夹右前移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪机打开成功放下勺子", + "frame": 140, + "progress": 5, + "progress_explanation": "当前爪夹打开放下勺子进度上升为5%", + "state_description": "当前状态为爪夹张开位于塑料杯上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹右前方移动至荞麦馒头上方", + "time": 4.657337, + "annotations": { + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152658383_sziz99ji9", + "x": 0.4236666001180053, + "y": 0.26049996862793223, + "width": 0.3049999813842785, + "height": 0.32533330685764106 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152660855_rbl8enbx7", + "x": 0.2726666093343134, + "y": 0.2244999715576195, + "width": 0.18199998889160218, + "height": 0.19866665049913326 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152663374_34whuq38m", + "x": 0.6346665872395881, + "y": 0.4591666191270655 + } + ] + }, + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152666806_c7td6yo5q", + "x": 0.6526665861409554, + "y": 0.3673147849933036 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右上移动", + "correction_plan": "爪机向爪夹前移动至荞麦馒头上方，爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹右上方正确移动", + "frame": 183, + "progress": 10, + "progress_explanation": "当前爪夹张开移动至油盘后上方进度上升为10%", + "state_description": "当前状态为爪夹张开位于油盘后上方\n为完成将荞麦馒头完全放在油盘里的任务：爪机向爪夹前移动至荞麦馒头上方", + "time": 6.1104, + "annotations": { + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152670110_c526a4vvm", + "x": 0.6736665848592172, + "y": 0.18849997448730677 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152672774_mggrhby04", + "x": 0.6256665877889045, + "y": 0.2699814595809766 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152675095_snrl5wbov", + "x": 0.27766660902913765, + "y": 0.24331479508444864, + "width": 0.18599998864746162, + "height": 0.15199998763020936 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152677391_yvc2oql1j", + "x": 0.42866659981282956, + "y": 0.23798146218514304, + "width": 0.2809999828491221, + "height": 0.3346666394314258 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前并向下移动靠近荞麦馒头", + "correction_plan": "爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹前并向下移动靠近荞麦馒头", + "frame": 235, + "progress": 25, + "progress_explanation": "当前爪夹靠近荞麦馒头进度上升为25%", + "state_description": "当前状态为爪夹张开靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹合拢抓取荞麦馒头", + "time": 7.846191, + "annotations": { + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152681654_s5us66lbm", + "x": 0.425666599995935, + "y": 0.2244999715576195, + "width": 0.30599998132324335, + "height": 0.41199996647135695 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152683982_73778s6cg", + "x": 0.26866660957845395, + "y": 0.2164999722086611, + "width": 0.19499998809814528, + "height": 0.1839999850260429 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152695358_qrfgq4mdm", + "x": 0.40966660097249746, + "y": 0.361981452093998 + } + ] + } + } + }, + { + "action_description": "爪夹合拢未抓取荞麦馒头", + "correction_plan": "爪夹向爪夹左前移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹合拢但未成功抓取荞麦馒头", + "frame": 266, + "progress": 40, + "progress_explanation": "当前爪夹合拢靠近但未抓取荞麦馒头进度上升为40%", + "state_description": "当前状态为爪夹合拢靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹左前移动靠近荞麦馒头", + "time": 8.863569, + "annotations": { + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152698856_g7yqeb8gm", + "x": 0.42866659981282956, + "y": 0.3498332946913009 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152701446_givgos6fg", + "x": 0.42866659981282956, + "y": 0.20864813123896228, + "width": 0.2849999826049815, + "height": 0.38799996842448176 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152703527_qowvjg8qz", + "x": 0.27366660927327824, + "y": 0.1993147986651775, + "width": 0.19499998809814517, + "height": 0.2399999804687516 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方抬升", + "correction_plan": "爪夹打开向爪夹最下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹上方抬升", + "frame": 300, + "progress": 10, + "progress_explanation": "当前爪夹打开位于油盘上方进度下降为10%", + "state_description": "当前状态为爪夹张开位于油盘上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开向爪夹最下移动靠近荞麦馒头", + "time": 9.983506, + "annotations": { + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152706158_xx7bpnnqy", + "x": 0.2586666101888055, + "y": 0.2218333051079667, + "width": 0.17899998907470774, + "height": 0.17066665277777895 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152708366_sxw09cq86", + "x": 0.4176666004842162, + "y": 0.2524999692789739, + "width": 0.3089999811401379, + "height": 0.31733330750868255 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152710390_x6hue9ij4", + "x": 0.4296665997517944, + "y": 0.04716665265570861 + } + ] + } + } + }, + { + "action_description": "爪夹打开并下个爪夹左下方移动靠近荞麦馒头", + "correction_plan": "爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹左下移动成功靠近荞麦馒头", + "frame": 354, + "progress": 25, + "progress_explanation": "当前爪夹靠近荞麦馒头进度上升为25%", + "state_description": "当前状态为爪夹张开靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹合拢抓取荞麦馒头", + "time": 11.804808978535194, + "annotations": { + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152715158_p5dz5buct", + "x": 0.36866660347493874, + "y": 0.3951666243353984 + } + ] + }, + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152717342_5ntqfd3fn", + "x": 0.41266660078939205, + "y": 0.32849996309407853 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152720038_903kbcv3y", + "x": 0.4276665998738647, + "y": 0.2191666386583139, + "width": 0.29499998199463, + "height": 0.4039999671223985 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152722134_oes83j59v", + "x": 0.2346666116536492, + "y": 0.20316663996039713, + "width": 0.23499998565673913, + "height": 0.1906666511501749 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方抬升", + "correction_plan": "爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹上错误移动", + "frame": 382, + "progress": 20, + "progress_explanation": "当前爪夹靠近荞麦馒头后上进度下降为20%", + "state_description": "当前状态为爪夹荞麦馒头后上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹下移动靠近荞麦馒头", + "time": 12.745015104941762, + "annotations": { + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152759174_uxy7xjrn0", + "x": 0.2476666108601922, + "y": 0.2284999712320987, + "width": 0.18199998889160218, + "height": 0.15066665440538293 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152761222_mkn6ttlv5", + "x": 0.43366659950765374, + "y": 0.2324999709065779, + "width": 0.2719999833984385, + "height": 0.3613333039279539 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152763686_5tg9fff8m", + "x": 0.3256666060994503, + "y": 0.3404999621175161 + } + ] + }, + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152765854_xswp31fc3", + "x": 0.3756666030476926, + "y": 0.27383330087619623 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近荞麦馒头", + "correction_plan": "爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近荞麦馒头", + "frame": 393, + "progress": 25, + "progress_explanation": "当前爪夹靠近荞麦馒头进度上升为25%", + "state_description": "当前状态为爪机张开靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹合拢抓取荞麦馒头", + "time": 13.1024, + "annotations": { + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152774078_5l9psuamh", + "x": 0.3376666053670284, + "y": 0.3779814507919148 + } + ] + }, + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152776583_zkq8iewvg", + "x": 0.379666602803552, + "y": 0.31531478922507417 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152780999_g0ueq1x3g", + "x": 0.46266659773763436, + "y": 0.1993147986651775, + "width": 0.23499998565673916, + "height": 0.3906666348741345 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152782942_u0gs0m0jh", + "x": 0.2456666109822625, + "y": 0.22864812961135828, + "width": 0.17899998907470768, + "height": 0.18533331825086927 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取荞麦馒头", + "correction_plan": "爪夹保持合拢向爪夹上方移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取荞麦馒头", + "frame": 420, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓紧荞麦馒头进度上升为50%", + "state_description": "当前状态为爪夹合拢夹紧荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹保持合拢向爪夹上方抬升", + "time": 13.989894, + "annotations": { + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152788046_xf16rj2p6", + "x": 0.22566661220296552, + "y": 0.20049997351074433, + "width": 0.19399998815918038, + "height": 0.19599998404948046 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152789886_e6rsvrjba", + "x": 0.43566659938558355, + "y": 0.2364999705810571, + "width": 0.2829999827270518, + "height": 0.3533333045789954 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152792302_t1pmehsa4", + "x": 0.36866660347493874, + "y": 0.3364999624430369 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升荞麦馒头掉落桌面", + "correction_plan": "爪夹打开向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹上方成功抬升但未爪紧荞麦馒头使荞麦馒头落在桌面上", + "frame": 470, + "progress": 10, + "progress_explanation": "当前爪夹合拢位于荞麦馒头上方进度下降为10%", + "state_description": "当前状态为爪夹合拢荞麦馒头在桌面上\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开向爪夹下移动靠近荞麦馒头", + "time": 15.654432989690719, + "annotations": { + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152795470_9efzhtmd4", + "x": 0.36766660353597386, + "y": 0.20983330608452913 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152798598_moshd166z", + "x": 0.43266659956868897, + "y": 0.24049997025553627, + "width": 0.2989999817504894, + "height": 0.3346666394314258 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152801134_5yzhepbqh", + "x": 0.2586666101888055, + "y": 0.21116663930935553, + "width": 0.17399998937988345, + "height": 0.21866664887152926 + } + ] + } + } + }, + { + "action_description": "爪夹打开", + "correction_plan": "爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹成功打开", + "frame": 534, + "progress": 15, + "progress_explanation": "当前爪夹打开位于荞麦馒头上方进度上升为15%", + "state_description": "当前状态为爪夹张开位于荞麦馒头上方\n为完成将荞麦馒头完全放在油盘里的任务：", + "time": 17.789764, + "annotations": { + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152805855_bzosdv7at", + "x": 0.24466661104329765, + "y": 0.22316663833279313, + "width": 0.1649999899291998, + "height": 0.19866665049913326 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152809654_lsp1l8xhj", + "x": 0.4416665990193726, + "y": 0.2191666386583139, + "width": 0.27199998339843845, + "height": 0.39599996777344015 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152813503_8ilhcmnk2", + "x": 0.3466666048177121, + "y": 0.26983330120171706 + } + ] + }, + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152815998_p4nk6bpix", + "x": 0.38366660255941143, + "y": 0.20049997351074433 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近荞麦馒头", + "correction_plan": "爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹下方移动成功靠近荞麦馒头", + "frame": 580, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近荞麦馒头进度上升为25%", + "state_description": "当前状态为爪夹张开靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹合拢抓取荞麦馒头", + "time": 19.333276, + "annotations": { + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152819806_aoqqxzsll", + "x": 0.3966666017659545, + "y": 0.26983330120171706 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152822350_swp1geeks", + "x": 0.3446666049397824, + "y": 0.3271666298692521 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152824591_me0ut2p1y", + "x": 0.4246666000569702, + "y": 0.20849997285970273, + "width": 0.2779999830322276, + "height": 0.41866663259548886 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152826983_b75jezd8a", + "x": 0.22166661244710614, + "y": 0.24983330282932106, + "width": 0.19799998791503975, + "height": 0.14799998795573016 + } + ] + } + } + }, + { + "action_description": "爪夹合拢但未抓取到荞麦馒头", + "correction_plan": "爪夹打开向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹成功合拢但未成功抓取荞麦馒头", + "frame": 615, + "progress": 40, + "progress_explanation": "当前爪夹合拢靠近荞麦馒头进度上升为40", + "state_description": "当前状态为爪夹合拢靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开向爪夹下移动靠近荞麦馒头", + "time": 20.51216494845361, + "annotations": { + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152830262_v3oausmy8", + "x": 0.23766661147054374, + "y": 0.2271666380072723, + "width": 0.18699998858642647, + "height": 0.20933331629774446 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152832294_2dgq87j6o", + "x": 0.39466660188802477, + "y": 0.20849997285970273, + "width": 0.3379999793701184, + "height": 0.38666663519965533 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152834327_so8m9aynv", + "x": 0.3826666026204466, + "y": 0.2884999663492866 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹后方并向上抬升同时打卡爪夹", + "correction_plan": "爪夹向爪夹前移动并向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹上抬升远离荞麦馒头但成功打卡爪夹", + "frame": 663, + "progress": -10, + "progress_explanation": "当前爪夹远离荞麦馒头进度下降为-10", + "state_description": "当前状态为爪夹张开远离荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹前移动并向爪夹下移动靠近荞麦馒头", + "time": 22.101414, + "annotations": { + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152838526_1tnrcg6kj", + "x": 0.32866660591634483, + "y": 0.02183332138400705 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152840734_8yiofgaa8", + "x": 0.43266659956868897, + "y": 0.19249997416178596, + "width": 0.24999998474121182, + "height": 0.475999961263024 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152842766_t8llm22f7", + "x": 0.24466661104329765, + "y": 0.20049997351074433, + "width": 0.189999988403321, + "height": 0.2386666472439252 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前并向爪夹下移动至荞麦馒头上方", + "correction_plan": "爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹前并向爪夹下移动成功移动至荞麦馒头上方", + "frame": 688, + "progress": 15, + "progress_explanation": "当前爪夹位于荞麦馒头上方进度上升为15%", + "state_description": "爪夹张开位于荞麦馒头上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹下方移动靠近荞麦馒头", + "time": 22.919953, + "annotations": { + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152846919_uwz2wevww", + "x": 0.24166661122640312, + "y": 0.24583330315484186, + "width": 0.17399998937988342, + "height": 0.20133331694878606 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152849638_bib1gi5ac", + "x": 0.44266659895833743, + "y": 0.20983330608452913, + "width": 0.29199998217773543, + "height": 0.36533330360243293 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152851694_u71xne2kc", + "x": 0.34266660506185265, + "y": 0.2778333005506754 + } + ] + }, + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152853934_5e1grdyjc", + "x": 0.3846666024983763, + "y": 0.20183330673557076 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近荞麦馒头", + "correction_plan": "爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近荞麦馒头", + "frame": 717, + "progress": 25, + "progress_explanation": "当前爪夹靠近荞麦馒头进度上升为25%", + "state_description": "当前状态为爪夹张开靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹合拢抓取荞麦馒头", + "time": 23.901169, + "annotations": { + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152856566_xx8o4ghy1", + "x": 0.36766660353597386, + "y": 0.3431666285671689 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152858774_5cuww8u4z", + "x": 0.3246666061604854, + "y": 0.4111666230333152 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152860894_raoy1om2a", + "x": 0.4366665993245483, + "y": 0.19516664061143876, + "width": 0.2669999837036142, + "height": 0.4119999664713569 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152862806_fngmjbxdv", + "x": 0.22766661208089523, + "y": 0.2218333051079667, + "width": 0.17799998913574283, + "height": 0.18533331825086927 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取荞麦馒头", + "correction_plan": "爪夹保持合拢向爪夹上移动，爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取荞麦馒头", + "frame": 745, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取荞麦馒头进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹保持合拢向爪夹上移动", + "time": 24.837582, + "annotations": { + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152866302_m09bpewr0", + "x": 0.25466661043294614, + "y": 0.20583330641004993, + "width": 0.1389999915161138, + "height": 0.25466664594184196 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152868703_bjx7hp08l", + "x": 0.42866659981282956, + "y": 0.23783330380588347, + "width": 0.2879999824218761, + "height": 0.32799997330729386 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152870854_7n799hu6h", + "x": 0.3466666048177121, + "y": 0.38049995886230803 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上移动", + "correction_plan": "爪夹向爪夹后移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹抓取荞麦馒头向爪夹上方成功抬升", + "frame": 790, + "progress": 75, + "progress_explanation": "当前爪夹抓取荞麦馒头移动进度上升为75%", + "state_description": "当前状态为爪夹抓取荞麦馒头半悬空语桌面\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹后移动至油盘上方", + "time": 26.3264, + "annotations": { + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152873734_huxxfflff", + "x": 0.3226666062825557, + "y": 0.30849996472168256 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152876294_qf8du0k4n", + "x": 0.4316665996297241, + "y": 0.22049997188314033, + "width": 0.2729999833374034, + "height": 0.3786666358506969 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152878270_hpz2398xz", + "x": 0.2076666133015983, + "y": 0.25916663540310586, + "width": 0.16999998962402402, + "height": 0.10266665831163264 + } + ] + } + } + }, + { + "action_description": "爪夹抓取荞麦馒头向爪夹后方方移动至油盘上方", + "correction_plan": "爪夹向爪夹下移动靠近油盘，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹后上方成功移动至油盘上方", + "frame": 844, + "progress": 85, + "progress_explanation": "当前爪夹抓取荞麦馒头位于油盘上方进度上升为85%", + "state_description": "当前状态为爪夹抓取荞麦馒头位于油盘上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹下移动靠近油盘", + "time": 28.12, + "annotations": { + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152884038_skj3fz1cg", + "x": 0.3776666029256223, + "y": 0.008499989135743072, + "width": 0.15099999078369195, + "height": 0.10666665798611182 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152886174_of20cym76", + "x": 0.44466659883626714, + "y": 0.20849997285970273, + "width": 0.23799998547363366, + "height": 0.48533329383680884 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152887910_8trb58vzh", + "x": 0.4996665954793337, + "y": 0.04316665298122942 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近油盘", + "correction_plan": "爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近油盘", + "frame": 883, + "progress": 95, + "progress_explanation": "当前爪夹抓取荞麦馒头靠近油盘进度上升为95%", + "state_description": "当前状态为爪夹抓取荞麦馒头靠近油盘\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开将荞麦馒头放在油盘中", + "time": 29.423796, + "annotations": { + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152891782_wao071w4o", + "x": 0.6276665876668341, + "y": 0.323166630194773 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152893726_lluh93ijw", + "x": 0.425666599995935, + "y": 0.19916664028591796, + "width": 0.3289999799194348, + "height": 0.41066663324653047 + } + ] + }, + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152895830_0lzctqdh7", + "x": 0.5146665945638065, + "y": 0.28583329989963385, + "width": 0.16999998962402402, + "height": 0.17466665245225807 + } + ] + } + } + }, + { + "action_description": "爪夹打开将荞麦馒头放在油盘中", + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将荞麦馒头放在油盘中", + "frame": 904, + "progress": 100, + "progress_explanation": "当前爪夹将荞麦馒头放在油盘中任务完成进度为100%", + "state_description": "当前状态为爪夹张开荞麦馒头放在油盘中任务完成\n", + "time": 30.14418, + "annotations": { + "bbox_1769152551024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551024_1769152898630_ukxbb2g04", + "x": 0.5356665932820682, + "y": 0.32849996309407853, + "width": 0.11799999279785194, + "height": 0.16533331987847333 + } + ] + }, + "bbox_1769152551391": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152551391_1769152900822_tatw33ecg", + "x": 0.4536665982869508, + "y": 0.20849997285970273, + "width": 0.2899999822998057, + "height": 0.4506666299913224 + } + ] + }, + "point_1769152552095": { + "type": "point", + "instances": [ + { + "id": "point_1769152552095_1769152904030_tnke2aqs1", + "x": 0.6146665884602911, + "y": 0.3604999604899121 + } + ] + }, + "point_1769152552294": { + "type": "point", + "instances": [ + { + "id": "point_1769152552294_1769152906127_95e1j52il", + "x": 0.6636665854695687, + "y": 0.276499967325849 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769152551024", + "name": "荞麦馒头", + "color": "#4CAF50" + }, + { + "id": "bbox_1769152551391", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769152552095", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769152552294", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-174053-put-buckwheat buns-oil-plate-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-174053-put-buckwheat buns-oil-plate-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..09fc55ea2b51f9ce2ac45d8ece6eedb80a78ad06 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260109-guoyijia/20260109-174053-put-buckwheat buns-oil-plate-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,716 @@ +{ + "task_description": "荞麦馒头放在油盘里\n开始移动：0%\n爪夹靠近荞麦馒头：25%\n抓紧荞麦馒头：50%\n移动荞麦馒头:75%\n将荞麦馒头完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前移动至荞麦馒头左上方并调整爪夹角度使爪夹角度垂直桌面，爪夹向爪夹右方移动至荞麦馒头上方，爪夹向爪夹下方移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "", + "frame": 7, + "progress": 0, + "progress_explanation": "当前爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹前移动同时调整爪夹进度使爪夹角度垂直桌面", + "time": 0.21685566649484533, + "annotations": { + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769152963583_03xi26dwe", + "x": 0.7146665823567759, + "y": 0.2991666321478978, + "width": 0.13499999176025446, + "height": 0.22933331467014043 + } + ] + }, + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769152967662_az4dz1d3p", + "x": 0.22766661208089523, + "y": 0.5164999477946006, + "width": 0.38899997625732563, + "height": 0.42399996549479446 + } + ] + }, + "point_1769152938006": { + "type": "point", + "instances": [ + { + "id": "point_1769152938006_1769152969710_4h8ly8r3c", + "x": 0.5996665893758185, + "y": 0.6458332706027612 + } + ] + }, + "point_1769152938166": { + "type": "point", + "instances": [ + { + "id": "point_1769152938166_1769152971430_v95ckno4m", + "x": 0.7256665816853892, + "y": 0.6484999370524139 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前移动并调整爪夹角度", + "correction_plan": "爪夹向爪夹前方移动至荞麦馒头左上方，爪夹向爪夹右方移动至荞麦馒头上方，爪夹向爪夹下方移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹前方正确移动并调整爪夹进度", + "frame": 51, + "progress": 15, + "progress_explanation": "当前爪夹张开向爪夹前方移动并调整爪夹角度进度上升为15%", + "state_description": "当前状态为爪夹张开位于小麦面包上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹前方移动至荞麦馒头左上方", + "time": 1.7038659510309278, + "annotations": { + "point_1769152938006": { + "type": "point", + "instances": [ + { + "id": "point_1769152938006_1769152978886_1d40jl5jr", + "x": 0.6266665877278694, + "y": 0.5938332748345317 + } + ] + }, + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769152982183_awk24ryup", + "x": 0.23366661171468434, + "y": 0.5164999477946006, + "width": 0.3809999767456068, + "height": 0.4293332983941001 + } + ] + }, + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769152984742_j829kfxuw", + "x": 0.7026665830891978, + "y": 0.30583329827202976, + "width": 0.15999999023437547, + "height": 0.24133331369357805 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方并向爪夹下方移动靠近小麦面包", + "correction_plan": "爪夹向爪夹上方抬升并向爪夹前移动至荞麦馒头左上方，爪夹向爪夹右方移动至荞麦馒头上方，爪夹向爪夹下方移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹前并向爪夹下方移动错误靠近小麦面包", + "frame": 86, + "progress": 10, + "progress_explanation": "当前爪夹张开靠近小麦面包非荞麦馒头进度下降为10%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹上方抬升并向爪夹前移动至荞麦馒头左上方", + "time": 2.8810824262886596, + "annotations": { + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769152988086_v4a4kdnpb", + "x": 0.7066665828450571, + "y": 0.2991666321478978, + "width": 0.14799999096679733, + "height": 0.20799998307291806 + } + ] + }, + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769152991102_8xaxjibky", + "x": 0.22566661220296552, + "y": 0.5218332806939062, + "width": 0.3919999760742202, + "height": 0.4399999641927112 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹打开向爪夹上方抬升，爪夹向爪夹前移动至荞麦馒头左上方，爪夹向爪夹右方移动至荞麦馒头上方，爪夹向爪夹下方移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹合拢错误抓取小麦面包非荞麦馒头", + "frame": 107, + "progress": 5, + "progress_explanation": "爪夹合拢抓取小麦面包非荞麦馒头进度下降为5%", + "state_description": "当前状态为爪夹合拢夹紧小麦面包\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开向爪夹上方抬升", + "time": 3.575567, + "annotations": { + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769152997854_4uyaoma5l", + "x": 0.23366661171468434, + "y": 0.5084999484456422, + "width": 0.3979999757080092, + "height": 0.45333329644097525 + } + ] + }, + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769152999710_z9t0w4lq3", + "x": 0.7046665829671275, + "y": 0.3018332985975506, + "width": 0.16499998992919984, + "height": 0.2199999820963556 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升并向爪夹后方移动", + "correction_plan": "爪夹打开向爪夹前移动至荞麦馒头左上方，爪夹向爪夹右方移动至荞麦馒头上方，爪夹向爪夹下方移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹合拢向爪夹后上方错误移动", + "frame": 152, + "progress": -10, + "progress_explanation": "爪夹合拢权利荞麦馒头进度下降为-10%", + "state_description": "当前状态为爪夹合拢远离荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开向爪夹前移动至荞麦馒头左上方", + "time": 5.06331, + "annotations": { + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153003118_wwmdflz8x", + "x": 0.7026665830891978, + "y": 0.3018332985975506, + "width": 0.17299998944091852, + "height": 0.2173333156467028 + } + ] + }, + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153008886_86n8bnbai", + "x": 0.23966661134847342, + "y": 0.5004999490966838, + "width": 0.39299997601318504, + "height": 0.4546666296658016 + } + ] + }, + "point_1769152938006": { + "type": "point", + "instances": [ + { + "id": "point_1769152938006_1769153013518_oy35fqigg", + "x": 0.7146665823567759, + "y": 0.5727962587242629 + } + ] + }, + "point_1769152938166": { + "type": "point", + "instances": [ + { + "id": "point_1769152938166_1769153015278_yl4uqx9m1", + "x": 0.7286665815022838, + "y": 0.5661295926001308 + } + ] + } + } + }, + { + "action_description": "爪夹调整爪夹角度并打开爪夹", + "correction_plan": "爪夹向爪夹前移动至荞麦馒头左上方并调整爪夹角度使爪夹垂直桌面，爪夹向爪夹右方移动至荞麦馒头上方，爪夹向爪夹下方移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪机成功打开使爪夹张开", + "frame": 200, + "progress": -5, + "progress_explanation": "当前爪夹虽然远离荞麦馒头但爪夹张开因此进度上升为-5%", + "state_description": "当前状态为爪夹张开爪夹平行桌面远离荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹前移动至荞麦馒头左上方并调整爪夹角度使爪夹垂直桌面", + "time": 6.671312, + "annotations": { + "point_1769152938166": { + "type": "point", + "instances": [ + { + "id": "point_1769152938166_1769153018934_99smisowd", + "x": 0.8186665760091201, + "y": 0.5071666152208159 + } + ] + }, + "point_1769152938006": { + "type": "point", + "instances": [ + { + "id": "point_1769152938006_1769153021070_09mu0w8i6", + "x": 0.6796665844930063, + "y": 0.5018332823215103 + } + ] + }, + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153023694_av2ogdkmq", + "x": 0.2436666111043328, + "y": 0.49649994942220466, + "width": 0.3639999777832045, + "height": 0.46266662901476 + } + ] + }, + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153025606_e1o1l3gwp", + "x": 0.7036665830281625, + "y": 0.2818333002251546, + "width": 0.15999999023437556, + "height": 0.2519999794921892 + } + ] + } + } + }, + { + "action_description": "爪机向爪夹下方小麦面包移动并调整爪夹角度靠近小麦面包", + "correction_plan": "爪夹向爪夹上方抬升向爪夹前移动至荞麦馒头左上方，爪夹打开向爪夹前移动至荞麦馒头左上方，爪夹向爪夹右方移动至荞麦馒头上方，爪夹向爪夹下方移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹下方错误目标物移动靠近", + "frame": 247, + "progress": 10, + "progress_explanation": "当前爪夹张开靠近小麦馒头角度上升为10%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹上方抬升向爪夹前移动至荞麦馒头左上方", + "time": 8.247274, + "annotations": { + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153028854_xbjhyeoh9", + "x": 0.7056665829060923, + "y": 0.28983329957411297, + "width": 0.1769999891967781, + "height": 0.2399999804687516 + } + ] + }, + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153031486_qfij3i9om", + "x": 0.22666661214193037, + "y": 0.5098332816704686, + "width": 0.3979999757080093, + "height": 0.43466663129340566 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹打开向爪夹上方抬升，爪夹向爪夹前移动至荞麦馒头左上方，爪夹打开向爪夹前移动至荞麦馒头左上方，爪夹向爪夹右方移动至荞麦馒头上方，爪夹向爪夹下方移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹错误合拢抓取小麦面包非荞麦馒头", + "frame": 333, + "progress": 5, + "progress_explanation": "当前爪夹合拢靠近小麦面包角度下降为5%", + "state_description": "当前状态为爪夹合拢靠近小麦面包\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开向爪夹上方抬升", + "time": 11.10361, + "annotations": { + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153035910_i28f17ibs", + "x": 0.25966661012777037, + "y": 0.49383328297255186, + "width": 0.3549999783325208, + "height": 0.45866662934028085 + } + ] + }, + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153038262_6bo17focj", + "x": 0.7156665822957408, + "y": 0.28583329989963385, + "width": 0.13399999182128966, + "height": 0.2359999807942724 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方抬升", + "correction_plan": "爪夹打开向爪夹前移动至荞麦馒头左上方，爪夹打开向爪夹前移动至荞麦馒头左上方，爪夹向爪夹右方移动至荞麦馒头上方，爪夹向爪夹下方移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹上方成功抬升", + "frame": 361, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹上方抬升远离小麦面包进度上升为10%", + "state_description": "当前状态为爪夹合拢位于小麦面包上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹打开向爪夹前移动至荞麦馒头左上方", + "time": 12.033766816177412, + "annotations": { + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153041302_mcw569rja", + "x": 0.7026665830891978, + "y": 0.2991666321478978, + "width": 0.1529999906616216, + "height": 0.2106666495225709 + } + ] + }, + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153044374_tn94wsf7v", + "x": 0.2566666103108758, + "y": 0.5138332813449478, + "width": 0.3469999788208021, + "height": 0.44666663031684334 + } + ] + } + } + }, + { + "action_description": "爪夹打开", + "correction_plan": "爪夹向爪夹前移动至荞麦馒头左上方，爪夹向爪夹右方移动至荞麦馒头上方，爪夹向爪夹下方移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹成功打开", + "frame": 377, + "progress": 15, + "progress_explanation": "当前爪夹打开位于小麦面包上方进度上升为15%", + "state_description": "当前状态为爪夹张开位于小麦面包上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹前移动至荞麦馒头左上方", + "time": 12.560899, + "annotations": { + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153048742_ezzf51b2e", + "x": 0.27866660896810247, + "y": 0.49116661652289906, + "width": 0.3569999782104505, + "height": 0.4586666293402809 + } + ] + }, + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153052902_oiukpbb4t", + "x": 0.6926665836995494, + "y": 0.2938332992485922, + "width": 0.149999990844727, + "height": 0.19733331727430686 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方并向下移动靠近荞麦馒头", + "correction_plan": "爪夹合拢抓取荞麦馒头，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹右前方并向爪夹下方移动成功靠近荞麦馒头", + "frame": 427, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近荞麦馒头进度上升为25%", + "state_description": "当前状态为爪夹张开靠近荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹合拢抓取荞麦馒头", + "time": 14.243629183312157, + "annotations": { + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153055934_ebqedyphm", + "x": 0.7016665831502329, + "y": 0.3044999650472034, + "width": 0.1769999891967781, + "height": 0.25866664561632113 + } + ] + }, + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153060302_kbgpvgobm", + "x": 0.25966661012777037, + "y": 0.5221295961808596, + "width": 0.36999997741699353, + "height": 0.43333329806857923 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取荞麦馒头", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取荞麦馒头", + "frame": 451, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取荞麦馒头进度上升为50%", + "state_description": "当前状态为爪夹合拢夹紧荞麦馒头\n为完成将荞麦馒头完全放在油盘里的任务：爪夹保持合拢向爪夹上方抬升", + "time": 15.025208, + "annotations": { + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153071687_5j6qisx3z", + "x": 0.20266661360677407, + "y": 0.49249994974772543, + "width": 0.418999974426271, + "height": 0.4413332974175377 + } + ] + }, + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153073790_1o6g42fbm", + "x": 0.7366665810140025, + "y": 0.30983329794650893, + "width": 0.08099999505615259, + "height": 0.12399998990885498 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹后上方抬升移动", + "correction_plan": "爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹后上方成功抬升并移动", + "frame": 502, + "progress": 75, + "progress_explanation": "当前爪夹抓取荞麦馒头向爪夹后上方抬升移动进度上升为75%", + "state_description": "当前状态为爪夹抓取荞麦馒头垂直桌面\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹后移动至油盘右上方", + "time": 16.71853924072165, + "annotations": { + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153076702_pefmz1pv1", + "x": 0.8236665757039443, + "y": 0.21249997253418193, + "width": 0.1259999923095707, + "height": 0.2559999791666684 + } + ] + }, + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153079742_q9k5r81mf", + "x": 0.2316666118367546, + "y": 0.48716661684841983, + "width": 0.42099997430420083, + "height": 0.4666666286892392 + } + ] + }, + "point_1769152938006": { + "type": "point", + "instances": [ + { + "id": "point_1769152938006_1769153082622_ej9qwpid3", + "x": 0.8426665745442763, + "y": 0.4058332901340096 + } + ] + }, + "point_1769152938166": { + "type": "point", + "instances": [ + { + "id": "point_1769152938166_1769153085358_28ba4m8x6", + "x": 0.8726665727132218, + "y": 0.42716662173123193 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左移动至油盘右上方", + "correction_plan": "爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹向爪夹左方成功移动", + "frame": 528, + "progress": 80, + "progress_explanation": "当前爪夹抓取荞麦馒头位于油盘右上方进度上升为80%", + "state_description": "当前状态为爪夹抓取荞麦馒头位于油盘右上方\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹左移动至油盘上方", + "time": 17.58596190670103, + "annotations": { + "point_1769152938166": { + "type": "point", + "instances": [ + { + "id": "point_1769152938166_1769153089030_5rrhqtwkh", + "x": 0.7146665823567759, + "y": 0.38449995853678726 + } + ] + }, + "point_1769152938006": { + "type": "point", + "instances": [ + { + "id": "point_1769152938006_1769153091478_yvvqbxq9d", + "x": 0.6756665847371469, + "y": 0.36983329306369683 + } + ] + }, + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153093967_e2vv2ilcb", + "x": 0.25566661037191096, + "y": 0.49116661652289906, + "width": 0.3689999774780287, + "height": 0.47999996093750324 + } + ] + }, + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153096406_88zk8ug9t", + "x": 0.6476665864461311, + "y": 0.13116664581977167, + "width": 0.10499999359130899, + "height": 0.2853333101128491 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方并向爪夹下移动靠近瓷碗", + "correction_plan": "爪夹向爪夹后上方抬升并移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹抓取荞麦馒头错误的向爪夹前下方瓷碗移动靠近", + "frame": 560, + "progress": 70, + "progress_explanation": "当前爪夹抓取荞麦馒头靠近瓷碗进度下降为70%", + "state_description": "当前状态为爪夹抓取荞麦馒头靠近瓷碗\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹后上方抬升并移动至油盘右上方", + "time": 18.663353917581652, + "annotations": { + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153099198_40piz68td", + "x": 0.5566665920003301, + "y": 0.24583330315484186, + "width": 0.130999992004395, + "height": 0.1946666508246541 + } + ] + }, + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153102383_dn6un4n1w", + "x": 0.23366661171468434, + "y": 0.5044999487711631, + "width": 0.3959999758300795, + "height": 0.45733329611545437 + } + ] + } + } + }, + { + "action_description": "爪夹打开荞麦馒头落在瓷碗中", + "correction_plan": "爪夹向爪夹下移动靠近荞麦馒头，爪夹合拢抓取荞麦馒头向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹向爪夹下方移动靠近荞麦馒头，爪夹打开将荞麦馒头放在油盘中", + "error_success_analysis": "爪夹错误打开将荞麦馒头放在瓷碗中", + "frame": 585, + "progress": 5, + "progress_explanation": "当前爪夹打开放下荞麦馒头进度下降为5%", + "state_description": "当前状态为爪夹张开荞麦馒头放在瓷碗中\n为完成将荞麦馒头完全放在油盘里的任务：爪夹向爪夹下移动靠近荞麦馒头", + "time": 19.5066835242268, + "annotations": { + "bbox_1769152937342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937342_1769153107383_uyh6e0gcj", + "x": 0.22966661195882493, + "y": 0.5098332816704686, + "width": 0.3649999777221693, + "height": 0.45333329644097525 + } + ] + }, + "bbox_1769152937206": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152937206_1769153109838_tq6oluk7i", + "x": 0.5596665918172246, + "y": 0.2551666357286267, + "width": 0.09699999407959022, + "height": 0.20399998339843883 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769152937206", + "name": "荞麦馒头", + "color": "#4CAF50" + }, + { + "id": "bbox_1769152937342", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769152938006", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769152938166", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-181245-put-wheat bread-oil-plate-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-181245-put-wheat bread-oil-plate-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..f8301cd93bf83ab3db414ed2115d2430afb8a9ab --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-181245-put-wheat bread-oil-plate-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,392 @@ +{ + "task_description": "把小麦面包放在油盘里\n开始移动：0%\n爪夹靠近小麦面包：25%\n抓紧小麦面包：50%\n移动小麦面包:75%\n将小麦面包完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前移动并调整爪夹角度使爪夹垂直桌面，爪夹向爪夹左下移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "当前未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹前移动并调整爪夹角度使爪夹垂直桌面", + "time": 0.6399995570232238, + "annotations": { + "bbox_1769070225408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225408_1769070248537_i6m41sokl", + "x": 0.35266660445150116, + "y": 0.3000555277461322, + "width": 0.26299998394775487, + "height": 0.2253333149956612 + } + ] + }, + "bbox_1769070225568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225568_1769070250889_72pntg4jt", + "x": 0.6866665840657602, + "y": 0.3240555257930074, + "width": 0.25999998413086034, + "height": 0.39999996744791927 + } + ] + }, + "point_1769070226224": { + "type": "point", + "instances": [ + { + "id": "point_1769070226224_1769070252576_gpwvl6jga", + "x": 0.5596665918172246, + "y": 0.6573888319996067 + } + ] + }, + "point_1769070226361": { + "type": "point", + "instances": [ + { + "id": "point_1769070226361_1769070254256_cxmwnp4lh", + "x": 0.6966665834554087, + "y": 0.6387221668520372 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前移动", + "correction_plan": "爪夹向爪夹左下移动并调整爪夹进度靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹前抓取移动", + "frame": 37, + "progress": 5, + "progress_explanation": "当前爪夹张开位于小麦面部右上方进度上升为5%", + "state_description": "当前状态为爪夹张开平行桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹左下移动并调整爪夹进度靠近小麦面包", + "time": 1.2475949447412606, + "annotations": { + "point_1769070226361": { + "type": "point", + "instances": [ + { + "id": "point_1769070226361_1769070258432_6c4x2nozy", + "x": 0.6346665872395881, + "y": 0.2947221948468266 + } + ] + }, + "point_1769070226224": { + "type": "point", + "instances": [ + { + "id": "point_1769070226224_1769070260216_m2heauttx", + "x": 0.5146665945638065, + "y": 0.31605552644404894 + } + ] + }, + "bbox_1769070225408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225408_1769070262680_w8ef21d1j", + "x": 0.36466660371907933, + "y": 0.2853888622730418, + "width": 0.20899998724365307, + "height": 0.28399997688802275 + } + ] + }, + "bbox_1769070225568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225568_1769070265137_dyg62cgne", + "x": 0.6176665882771857, + "y": 0.28138886259856266, + "width": 0.3219999803466809, + "height": 0.49733329286024636 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左下移动并调整爪夹进度靠近小麦面包", + "correction_plan": "爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹左下移动成功靠近小麦面包", + "frame": 77, + "progress": 25, + "progress_explanation": "当前爪夹卡靠近小麦面部进度上升为25%", + "state_description": "当前状态为爪夹张开靠近小麦面部\n为完成将小麦面包完全放在油盘里的任务：爪夹合拢抓取小麦面包", + "time": 2.5599994362113754, + "annotations": { + "bbox_1769070225568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225568_1769070269200_ii7r8ali3", + "x": 0.6496665863240608, + "y": 0.28805552872269463, + "width": 0.2819999827880871, + "height": 0.42533329871962083 + } + ] + }, + "bbox_1769070225408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225408_1769070273032_ixxxw7tst", + "x": 0.3746666031087278, + "y": 0.31205552676956977, + "width": 0.2249999862670907, + "height": 0.23199998111979322 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "frame": 113, + "progress": 50, + "progress_explanation": "当前爪夹抓取小麦面包进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹保持合拢向爪夹上方抬升", + "time": 3.7674220406492855, + "annotations": { + "bbox_1769070225408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225408_1769070276185_36v4wzxmt", + "x": 0.4396665991414429, + "y": 0.2947221948468266, + "width": 0.1989999878540046, + "height": 0.21733331564670286 + } + ] + }, + "bbox_1769070225568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225568_1769070278392_qkgjpw997", + "x": 0.6866665840657602, + "y": 0.2920555283971738, + "width": 0.23899998541259854, + "height": 0.42666663194444726 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升", + "correction_plan": "爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹上方成功抬升", + "frame": 168, + "progress": 75, + "progress_explanation": "当前爪夹抓取小麦面包向爪夹上方抬升进度上升为75%", + "state_description": "当前状态为爪夹抓取小麦面包垂直贴近桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹右移动至油盘上方", + "time": 5.606519, + "annotations": { + "bbox_1769070225568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225568_1769070281369_8bzalptac", + "x": 0.6526665861409554, + "y": 0.30938886031991697, + "width": 0.29399998205566513, + "height": 0.4159999661458361 + } + ] + }, + "bbox_1769070225408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225408_1769070299888_nhqwhco9e", + "x": 0.5576665919392949, + "y": 0.37605552156123684, + "width": 0.027999998291015783, + "height": 0.06666666124131991 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上抬升", + "correction_plan": "爪夹向爪夹右移动至油盘上方，爪夹向爪夹下移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹上方成功抬升", + "frame": 187, + "progress": 80, + "progress_explanation": "当前爪夹抓取小麦面包位于油盘左上方进度上升为80%", + "state_description": "当前状态为爪夹抓取小麦面包位语油盘左上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹右移动至油盘上方", + "time": 6.2304, + "annotations": { + "bbox_1769070225568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225568_1769070288617_wlzqj7ni1", + "x": 0.6596665857137094, + "y": 0.3133888599943962, + "width": 0.255999984375001, + "height": 0.41466663292100964 + } + ] + }, + "bbox_1769070225408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225408_1769070292208_kvk58dtwa", + "x": 0.4916665959676149, + "y": 0.2855370139765817, + "width": 0.0729999955444339, + "height": 0.03733333029513914 + } + ] + }, + "point_1769070226224": { + "type": "point", + "instances": [ + { + "id": "point_1769070226224_1769070294320_341xo6eit", + "x": 0.5096665948689822, + "y": 0.32553701072137364 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动至油盘上方", + "correction_plan": "爪夹向爪夹下移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹抓取小麦面包向爪夹右成功移动至油盘上方", + "frame": 213, + "progress": 85, + "progress_explanation": "当前爪夹抓取小麦面包位于油盘上方进度上升为85", + "state_description": "当前状态为爪夹抓取小麦面包位于油盘上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹下移动靠近油盘", + "time": 7.0848, + "annotations": { + "bbox_1769070225408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225408_1769070304474_yp3qpfrl0", + "x": 0.8286665753987685, + "y": 0.3387221912660977, + "width": 0.05899999639892588, + "height": 0.09466665896267426 + } + ] + }, + "bbox_1769070225568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225568_1769070307008_q0cmo7zym", + "x": 0.6526665861409554, + "y": 0.26405553067581944, + "width": 0.3289999799194347, + "height": 0.5253332905816007 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动靠近油盘", + "correction_plan": "爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近油盘", + "frame": 242, + "progress": 95, + "progress_explanation": "当前爪夹抓取小麦面包靠油盘进度上升为95%", + "state_description": "当前状态为爪夹抓取小麦面包靠近油盘\n为完成将小麦面包完全放在油盘里的任务：爪夹打开将小麦面包放在油盘中", + "time": 8.073599, + "annotations": { + "bbox_1769070225568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225568_1769070309976_ktjm79a4a", + "x": 0.6716665849812875, + "y": 0.3080555270950906, + "width": 0.2729999833374032, + "height": 0.43466663129340566 + } + ] + } + } + }, + { + "action_description": "爪夹打开将小麦面包放在油盘中", + "correction_plan": "", + "error_success_analysis": "爪夹打开将小麦面包成功放在油盘中", + "frame": 269, + "progress": 100, + "progress_explanation": "当前爪夹打开将小麦面包放在油盘中任务完成进度为100%", + "state_description": "当前状态为爪夹打开小麦面包落在油盘中任务完成", + "time": 8.953401095776046, + "annotations": { + "bbox_1769070225568": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225568_1769070318448_hewv1lk54", + "x": 0.674666584798182, + "y": 0.28805552872269463, + "width": 0.2719999833984385, + "height": 0.47866662771267676 + } + ] + }, + "bbox_1769070225408": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769070225408_1769070320440_qzqvox9f2", + "x": 0.7476665803426159, + "y": 0.420055517980508, + "width": 0.1749999893188483, + "height": 0.26266664529080036 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769070225408", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769070225568", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769070226224", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769070226361", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-181245-put-wheat bread-oil-plate-good/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-181245-put-wheat bread-oil-plate-good/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..49d9dfeaba726ee268d76cf1995863126e0844d0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-181245-put-wheat bread-oil-plate-good/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,418 @@ +{ + "task_description": "把小麦面包放在油盘里\n开始移动：0%\n爪夹靠近小麦面包：25%\n抓紧小麦面包：50%\n移动小麦面包:75%\n将小麦面包完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前移动并调整爪夹角度使其垂直桌面，爪夹向爪夹左方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至油盘左上方，爪夹向爪夹右方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "当前未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹前移动并调整爪夹角度使其垂直小麦面包上方", + "time": 0.3182584456645882, + "annotations": { + "bbox_1769153124383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124383_1769153147200_skyl7ptl2", + "x": 0.5546665921224003, + "y": 0.4431666204291487, + "width": 0.16799998974609434, + "height": 0.21866664887152928 + } + ] + }, + "bbox_1769153124534": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124534_1769153149862_431y5nryw", + "x": 0.46166659779866953, + "y": 0.11249998067220209, + "width": 0.26399998388671964, + "height": 0.24133331369357797 + } + ] + } + } + }, + { + "action_description": "爪夹调整爪夹角度并向爪夹左下方移动至小麦面包上方", + "correction_plan": "爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至油盘左上方，爪夹向爪夹右方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹调整爪夹角度并向爪夹左下方成功移动至小麦面包上方", + "frame": 72, + "progress": 10, + "progress_explanation": "当前爪夹调整爪夹角度并向爪夹左下方移动至小麦面包上方进度上升为10%", + "state_description": "当前状态为爪夹张开位于小麦面包上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹下方移动靠近小麦面包", + "time": 2.384184, + "annotations": { + "bbox_1769153124534": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124534_1769153157518_3g9feco8c", + "x": 0.4366665993245483, + "y": 0.061833318128798984, + "width": 0.2669999837036142, + "height": 0.31066664138455063 + } + ] + }, + "bbox_1769153124383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124383_1769153159647_bqr9tnuyx", + "x": 0.5556665920613651, + "y": 0.4351666210801904, + "width": 0.17899998907470768, + "height": 0.2173333156467028 + } + ] + }, + "point_1769153125214": { + "type": "point", + "instances": [ + { + "id": "point_1769153125214_1769153161679_3pj8us01e", + "x": 0.6346665872395881, + "y": 0.5324999464925174 + } + ] + }, + "point_1769153125366": { + "type": "point", + "instances": [ + { + "id": "point_1769153125366_1769153163886_v7hj5cgwo", + "x": 0.6326665873616585, + "y": 0.41249995625814156 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近小麦面包", + "correction_plan": "爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至油盘左上方，爪夹向爪夹右方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹下方移动成功靠近小麦面包", + "frame": 101, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近小麦面包进度上升为25%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成将小麦面包完全放在油盘里的任务：，爪夹合拢抓取小麦面包", + "time": 3.376792, + "annotations": { + "point_1769153125366": { + "type": "point", + "instances": [ + { + "id": "point_1769153125366_1769153166446_hscvdgsjw", + "x": 0.6236665879109748, + "y": 0.49916661587185746 + } + ] + }, + "point_1769153125214": { + "type": "point", + "instances": [ + { + "id": "point_1769153125214_1769153168374_1eia5tsyy", + "x": 0.6126665885823614, + "y": 0.5991666077338372 + } + ] + }, + "bbox_1769153124534": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124534_1769153170358_jizf63ode", + "x": 0.44466659883626714, + "y": 0.13249997904459807, + "width": 0.25999998413086034, + "height": 0.1906666511501749 + } + ] + }, + "bbox_1769153124383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124383_1769153172414_5n6fq4ob1", + "x": 0.4756665969441774, + "y": 0.4538332862277599, + "width": 0.2539999844970713, + "height": 0.2119999827473972 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至油盘左上方，爪夹向爪夹右方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "frame": 117, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取小麦面包进度上升为50%", + "state_description": "当前状态为爪夹合拢夹紧小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹保持合拢向爪夹上方抬升", + "time": 3.9090487166290777, + "annotations": { + "bbox_1769153124383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124383_1769153175174_dr6arhwfg", + "x": 0.536666593221033, + "y": 0.42583328850640556, + "width": 0.20899998724365315, + "height": 0.20799998307291798 + } + ] + }, + "bbox_1769153124534": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124534_1769153177302_vc4kqepqa", + "x": 0.4276665998738647, + "y": 0.11516664712185488, + "width": 0.2999999816894543, + "height": 0.2666666449652796 + } + ] + }, + "point_1769153125214": { + "type": "point", + "instances": [ + { + "id": "point_1769153125214_1769153181038_qlom9wxe3", + "x": 0.6166665883382209, + "y": 0.5538332780897398 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升\n", + "correction_plan": "爪夹向爪夹前移动至油盘左上方，爪夹向爪夹右方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹抓取小麦面包向爪夹上方成功抬升", + "frame": 176, + "progress": 75, + "progress_explanation": "当前爪夹抓取小麦面包向爪夹上方抬升进度上升为75%", + "state_description": "当前状态为爪夹抓取小麦面包垂直桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹前移动至油盘左上方", + "time": 5.864334, + "annotations": { + "point_1769153125214": { + "type": "point", + "instances": [ + { + "id": "point_1769153125214_1769153185422_0ot6qwb7a", + "x": 0.6336665873006233, + "y": 0.2391666370307099 + } + ] + }, + "point_1769153125366": { + "type": "point", + "instances": [ + { + "id": "point_1769153125366_1769153187726_xwzqezstt", + "x": 0.6466665865071664, + "y": 0.19516664061143876 + } + ] + }, + "bbox_1769153124534": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124534_1769153190710_kh8h46v55", + "x": 0.42666659993489986, + "y": 0.13383331226942446, + "width": 0.31699998065185664, + "height": 0.24666664659288356 + } + ] + }, + "bbox_1769153124383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124383_1769153193694_gaz2m1bub", + "x": 0.5176665943807011, + "y": 0.14583331129286206, + "width": 0.15899999029541068, + "height": 0.23466664756944597 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动至油盘上方", + "correction_plan": "爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹右前方成功移动", + "frame": 227, + "progress": 85, + "progress_explanation": "当前爪夹抓取小麦面包位于油盘上方进度上升为85%", + "state_description": "当前状态为爪夹抓取小麦面包位于油盘上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹下方移动靠近油盘", + "time": 7.562107026974455, + "annotations": { + "bbox_1769153124383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124383_1769153198726_qs8nq9rgn", + "x": 0.5956665896199591, + "y": 0.0031666562364374806, + "width": 0.10999999328613316, + "height": 0.1866666514756957 + } + ] + }, + "bbox_1769153124534": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124534_1769153202358_us1anz261", + "x": 0.4316665996297241, + "y": 0.07916665005154215, + "width": 0.2959999819335949, + "height": 0.26799997819010596 + } + ] + }, + "point_1769153125214": { + "type": "point", + "instances": [ + { + "id": "point_1769153125214_1769153204878_vj8wq69km", + "x": 0.6536665860799202, + "y": 0.035166653632271026 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近油盘", + "correction_plan": "爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹下方移动成功靠近小麦面包", + "frame": 257, + "progress": 95, + "progress_explanation": "当前爪夹抓取小麦面包靠近油盘进度上升为95%", + "state_description": "当前状态为爪夹抓取小麦面包靠近油盘\n为完成将小麦面包完全放在油盘里的任务：爪夹打开将小麦面包放在油盘中", + "time": 8.559222, + "annotations": { + "point_1769153125214": { + "type": "point", + "instances": [ + { + "id": "point_1769153125214_1769153210758_hwt5shxdd", + "x": 0.58966658998617, + "y": 0.1804999751383484 + } + ] + }, + "bbox_1769153124534": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124534_1769153213390_n06ktqatc", + "x": 0.44266659895833743, + "y": 0.09516664874945892, + "width": 0.27299998333740333, + "height": 0.31066664138455063 + } + ] + }, + "bbox_1769153124383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124383_1769153215534_emma4558v", + "x": 0.5686665912679082, + "y": 0.11649998034668128, + "width": 0.028999998229980582, + "height": 0.043999996419271124 + } + ] + } + } + }, + { + "action_description": "爪夹打开将小麦面包放在油盘中", + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将小麦面包放在油盘中", + "frame": 281, + "progress": 100, + "progress_explanation": "当前爪夹将小麦面包放在油盘中任务完成进度为100%", + "state_description": "当前状态为爪夹打开将小麦面包放在油盘中任务完成\n", + "time": 9.378258175583662, + "annotations": { + "bbox_1769153124383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124383_1769153220566_0ecdq2id8", + "x": 0.5266665938313846, + "y": 0.1831666415880012, + "width": 0.13999999145507863, + "height": 0.10266665831163264 + } + ] + }, + "bbox_1769153124534": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153124534_1769153222407_ut91rh0fg", + "x": 0.4396665991414429, + "y": 0.09116664907497972, + "width": 0.30999998107910265, + "height": 0.38533330197482896 + } + ] + }, + "point_1769153125214": { + "type": "point", + "instances": [ + { + "id": "point_1769153125214_1769153224566_b427p5zut", + "x": 0.5486665924886113, + "y": 0.18983330771213316 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769153124383", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769153124534", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769153125214", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769153125366", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-181245-put-wheat bread-oil-plate-good/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-181245-put-wheat bread-oil-plate-good/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..1ad1be5eee951a7f5da44fa6547196817f233d01 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-181245-put-wheat bread-oil-plate-good/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,338 @@ +{ + "task_description": "把小麦面包放在油盘里\n开始移动：0%\n爪夹靠近小麦面包：25%\n抓紧小麦面包：50%\n移动小麦面包:75%\n将小麦面包完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整爪夹角度向爪夹前移动至小麦面包右上方，爪夹向爪夹左方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右移动孩子油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "当前未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将小麦面包完全放在油盘里的任务：爪夹调整爪夹角度向爪夹前移动至小麦面包右上方", + "time": 0.4205723127429884, + "annotations": { + "point_1769153237126": { + "type": "point", + "instances": [ + { + "id": "point_1769153237126_1769153257798_0a40ap3ef", + "x": 0.26966660951741883, + "y": 0.24849996960449466 + } + ] + }, + "point_1769153237262": { + "type": "point", + "instances": [ + { + "id": "point_1769153237262_1769153259967_f8goj4xll", + "x": 0.4196666003621459, + "y": 0.2818333002251546 + } + ] + }, + "bbox_1769153236230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236230_1769153262742_yptz8jkrp", + "x": 0.41166660085042717, + "y": 0.20716663963487633, + "width": 0.19099998834228585, + "height": 0.19466665082465404 + } + ] + }, + "bbox_1769153236383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236383_1769153264982_99s3o1o91", + "x": 0.563666591573084, + "y": 0.2391666370307099, + "width": 0.4079999750976578, + "height": 0.489333293511288 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前移动并调整爪夹角度", + "correction_plan": "爪夹向爪夹前移动至小麦面包右上方，爪夹向爪夹左方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右移动孩子油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹前正确移动", + "frame": 43, + "progress": 5, + "progress_explanation": "当前爪夹向爪夹前移动调整爪夹角度进度上升为5%", + "state_description": "当前状态为 爪夹张开位于小麦面包右后方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹前方移动至小麦面包右上方", + "time": 1.4186478148896955, + "annotations": { + "bbox_1769153236383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236383_1769153269510_1rmtd0yzy", + "x": 0.5326665934651736, + "y": 0.23783330380588347, + "width": 0.452999972351076, + "height": 0.4519999632161488 + } + ] + }, + "bbox_1769153236230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236230_1769153271846_0uk0bmx76", + "x": 0.38566660243734113, + "y": 0.24716663637966826, + "width": 0.22699998614502032, + "height": 0.16266665342882053 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前并向爪夹右下方移动靠近小麦面包", + "correction_plan": "爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右移动孩子油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹前并向爪夹右下方移动成功靠近小麦面包", + "frame": 92, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近小麦面包进度上升为25%", + "state_description": "当前状态为 爪夹张开爪夹靠近小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹合拢抓取小麦面包", + "time": 3.07582978071819, + "annotations": { + "bbox_1769153236230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236230_1769153281134_tz6z29hj9", + "x": 0.40966660097249746, + "y": 0.22316663833279313, + "width": 0.16199999011230526, + "height": 0.17466665245225813 + } + ] + }, + "bbox_1769153236383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236383_1769153283462_c57766s5n", + "x": 0.5846665902913457, + "y": 0.25649996895345306, + "width": 0.3719999772949233, + "height": 0.4479999635416697 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右移动孩子油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "frame": 110, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取小麦面包进度上升为50%", + "state_description": "当前状态为 爪夹合拢抓取小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹保持合拢向爪夹上方抬升", + "time": 3.667341, + "annotations": { + "bbox_1769153236383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236383_1769153290502_3fuc51etj", + "x": 0.5546665921224003, + "y": 0.2551666357286267, + "width": 0.4099999749755875, + "height": 0.44799996354166965 + } + ] + }, + "bbox_1769153236230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236230_1769153292662_31qmddvzs", + "x": 0.39466660188802477, + "y": 0.21249997253418193, + "width": 0.1839999887695319, + "height": 0.20799998307291806 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升", + "correction_plan": "爪夹向爪夹右移动孩子油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹抓取小麦面包向爪夹上方成功抬升", + "frame": 168, + "progress": 75, + "progress_explanation": "当前爪夹抓取小麦面包向爪夹上方抬升移动进度上升为75%", + "state_description": "当前状态为 爪夹抓取小麦面包垂直桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹右移动孩子油盘上方", + "time": 5.587375, + "annotations": { + "bbox_1769153236230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236230_1769153295862_naeyv8gn3", + "x": 0.4226666001790405, + "y": 0.14449997806803563, + "width": 0.1269999922485356, + "height": 0.1946666508246541 + } + ] + }, + "bbox_1769153236383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236383_1769153298574_swhn0fhzm", + "x": 0.5626665916341191, + "y": 0.20983330608452913, + "width": 0.40899997503662255, + "height": 0.49333329318576713 + } + ] + } + } + }, + { + "action_description": "爪夹抓取小麦面包向爪夹右移动至油盘上方", + "correction_plan": "爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹右方成功移动至油盘上方", + "frame": 203, + "progress": 85, + "progress_explanation": "当前爪夹抓取小麦面包位于油盘上方进度上升为85", + "state_description": "当前状态为爪夹抓取小麦面包位于油盘上方 \n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹下移动靠近油盘", + "time": 6.755179, + "annotations": { + "bbox_1769153236383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236383_1769153301622_rliwec9qm", + "x": 0.5476665925496464, + "y": 0.26449996830241146, + "width": 0.43699997332763835, + "height": 0.418666632595489 + } + ] + }, + "bbox_1769153236230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236230_1769153303830_guzjqz5gk", + "x": 0.6136665885213264, + "y": 0.35783329404025926, + "width": 0.13999999145507863, + "height": 0.1279999895833342 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近油盘", + "correction_plan": "爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹下当成功移动靠近油盘", + "frame": 231, + "progress": 95, + "progress_explanation": "当前爪夹抓取小麦面包靠近油盘进度上升为95%", + "state_description": "当前状态为 爪夹抓取小麦面包靠近油盘\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹下方移动靠近油盘", + "time": 7.698990833114729, + "annotations": { + "bbox_1769153236230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236230_1769153306462_66088ctoy", + "x": 0.6136665885213264, + "y": 0.37649995918782886, + "width": 0.13999999145507863, + "height": 0.1626666534288205 + } + ] + }, + "bbox_1769153236383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236383_1769153308710_in2savmcy", + "x": 0.5656665914510136, + "y": 0.2271666380072723, + "width": 0.4209999743042007, + "height": 0.46399996223958634 + } + ] + } + } + }, + { + "action_description": "爪夹打开将小麦面包放在油盘中", + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将小麦面包放在油盘中", + "frame": 253, + "progress": 100, + "progress_explanation": "爪夹打开将小麦面包放在油盘中任务完成进度上升为100%", + "state_description": "当前状态为爪夹打开小麦面包放在油盘中任务完成\n", + "time": 8.42794, + "annotations": { + "bbox_1769153236383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236383_1769153311471_g9dzuo7px", + "x": 0.5516665923055057, + "y": 0.2991666321478978, + "width": 0.39099997613525533, + "height": 0.4453332970920168 + } + ] + }, + "bbox_1769153236230": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153236230_1769153313567_88kpvg5wi", + "x": 0.6266665877278694, + "y": 0.35916662726508564, + "width": 0.14799999096679742, + "height": 0.19866665049913332 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769153236230", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769153236383", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769153237126", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769153237262", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-183558-put-wheat bread-oil-plate-mix/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-183558-put-wheat bread-oil-plate-mix/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..78f87cb1722faf4aee3d4d624c0833c32eb9dd45 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-183558-put-wheat bread-oil-plate-mix/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,672 @@ +{ + "task_description": "把小麦面包放在油盘里\n开始移动：0%\n爪夹靠近小麦面包：25%\n抓紧小麦面包：50%\n移动小麦面包:75%\n将小麦面包完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整爪夹角度并向爪夹前移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前方移动至油盘右上方，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "当前未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将小麦面包完全放在油盘里的任务：爪夹调整爪夹角度并向爪夹前移动至小麦面包上方", + "time": 0.44398565585826405, + "annotations": { + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154686533_pnppf2d0u", + "x": 0.4726665971272829, + "y": 0.5564999445393926, + "width": 0.1539999906005865, + "height": 0.23999998046875165 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154688757_h2p0pisnd", + "x": 0.10166661977132448, + "y": 0.6404999377034557, + "width": 0.41099997491455226, + "height": 0.30933330815972426 + } + ] + }, + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154691108_pz36xt5wi", + "x": 0.4366665993245483, + "y": 0.1804999751383484 + } + ] + }, + "point_1769154665580": { + "type": "point", + "instances": [ + { + "id": "point_1769154665580_1769154693436_bblybtmk3", + "x": 0.5426665928548221, + "y": 0.1831666415880012 + } + ] + } + } + }, + { + "action_description": "爪夹调整爪夹角度并向爪夹前移动", + "correction_plan": "爪夹向爪夹前移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前方移动至油盘右上方，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹调整爪夹进度向爪夹前正确移动", + "frame": 46, + "progress": 5, + "progress_explanation": "当前爪夹向爪夹前移动调整爪夹角度进度上升为5%", + "state_description": "当前状态为爪夹打开位于塑料袋上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹前移动至小麦面包上方", + "time": 1.52288, + "annotations": { + "point_1769154665580": { + "type": "point", + "instances": [ + { + "id": "point_1769154665580_1769154697524_1m9b4wfiu", + "x": 0.537666593159998, + "y": 0.3218332969699465 + } + ] + }, + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154699693_dbj8jxbh2", + "x": 0.43566659938558355, + "y": 0.3218332969699465 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154702628_9xw75qyoi", + "x": 0.1086666193440784, + "y": 0.6378332712538027, + "width": 0.3839999765625014, + "height": 0.31599997428385623 + } + ] + }, + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154704828_ppum2tn4v", + "x": 0.4766665968831423, + "y": 0.5658332771131774, + "width": 0.15699999041748097, + "height": 0.2546666459418419 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近塑料袋", + "correction_plan": "爪夹向爪夹上方抬升，爪夹向爪夹前移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前方移动至油盘右上方，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪机下方错误移动", + "frame": 65, + "progress": -5, + "progress_explanation": "当前爪夹打开靠近塑料袋远离小麦面包进度下降为-5%", + "state_description": "当前状态为爪夹张开靠近塑料袋\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹上方抬升", + "time": 2.163707, + "annotations": { + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154707485_f4nuvccsa", + "x": 0.48366659645589616, + "y": 0.5698332767876565, + "width": 0.15899999029541076, + "height": 0.22799998144531403 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154709932_t9lvdzu0b", + "x": 0.10766661940511355, + "y": 0.6458332706027612, + "width": 0.39699997576904444, + "height": 0.3133333078342035 + } + ] + }, + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154711948_wv6545ayq", + "x": 0.4486665985921265, + "y": 0.42583328850640556 + } + ] + }, + "point_1769154665580": { + "type": "point", + "instances": [ + { + "id": "point_1769154665580_1769154715270_l811xuigq", + "x": 0.5396665930379276, + "y": 0.4191666223822736 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取塑料袋", + "correction_plan": "爪夹打开向爪夹上方抬升，爪夹向爪夹前移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前方移动至油盘右上方，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹合拢错误抓取塑料袋", + "frame": 75, + "progress": -10, + "progress_explanation": "当前爪夹合拢抓取塑料袋进度下降为-10%", + "state_description": "当前状态为爪夹合拢夹紧塑料袋\n为完成将小麦面包完全放在油盘里的任务：爪夹打开向爪夹上方抬升", + "time": 2.490655, + "annotations": { + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154721621_hpcmfom68", + "x": 0.48366659645589616, + "y": 0.42049995560709996 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154723996_21ksqa1aw", + "x": 0.11966661867269172, + "y": 0.6084999403076221, + "width": 0.35799997814941537, + "height": 0.3439999720052106 + } + ] + }, + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154725564_b8abszcjd", + "x": 0.4736665970662477, + "y": 0.5711666100124829, + "width": 0.13799999157714896, + "height": 0.234666647569446 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升", + "correction_plan": "爪夹打开向爪夹前移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前方移动至油盘右上方，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹上方成功抬升但抓取错误目标物", + "frame": 121, + "progress": 10, + "progress_explanation": "当前爪抓取塑料袋垂直桌面进度上升为10%", + "state_description": "当前状态为爪夹抓取塑料袋垂直桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹打开向爪夹前方移动至小麦面包上方", + "time": 4.047284398200633, + "annotations": { + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154728740_9ew5rtmnb", + "x": 0.46266659773763436, + "y": 0.5831666090359205, + "width": 0.14299999127197321, + "height": 0.1933333175998276 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154730628_jdfgctex3", + "x": 0.11366661903890263, + "y": 0.6164999396565805, + "width": 0.36299997784423965, + "height": 0.3333333062065995 + } + ] + }, + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154732332_t87kulesx", + "x": 0.48566659633382586, + "y": 0.40183329045953037 + } + ] + } + } + }, + { + "action_description": "爪夹合拢向爪夹右上移动", + "correction_plan": "爪夹打开，爪夹向爪夹前移动至面包左上方，爪夹向爪夹左方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前方移动至油盘右上方，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹右上错误移动", + "frame": 153, + "progress": -5, + "progress_explanation": "当前爪夹向爪夹右上移动进度下降为-5%", + "state_description": "当前状态为爪夹张开塑料袋落在桌面上\n为完成将小麦面包完全放在油盘里的任务：爪夹打开", + "time": 5.098830723786929, + "annotations": { + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154741660_hcw3gwt2c", + "x": 0.4196666003621459, + "y": 0.39249995788574565 + } + ] + }, + "point_1769154665580": { + "type": "point", + "instances": [ + { + "id": "point_1769154665580_1769154743700_cto785m8o", + "x": 0.445666598775232, + "y": 0.3991666240098776 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154747164_1i46jbidq", + "x": 0.10666661946614871, + "y": 0.6284999386800181, + "width": 0.3829999766235365, + "height": 0.32799997330729386 + } + ] + }, + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154748933_cngmd8tkj", + "x": 0.48666659627279074, + "y": 0.5551666113145662, + "width": 0.13499999176025437, + "height": 0.2559999791666684 + } + ] + } + } + }, + { + "action_description": "爪夹打开塑料袋落在桌面上", + "correction_plan": "爪夹向爪夹前移动至面包左上方，爪夹向爪夹左方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前方移动至油盘右上方，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹打开成功放下塑料袋", + "frame": 169, + "progress": 20, + "progress_explanation": "当前爪夹张开放下塑料袋进度上升为20%", + "state_description": "当前状态为爪夹张开塑料的在桌面上\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹前移动至面包左上方", + "time": 5.633447, + "annotations": { + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154752060_3r7mwfwhf", + "x": 0.46766659743245864, + "y": 0.5764999429117885, + "width": 0.21099998712158277, + "height": 0.2759999775390643 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154754533_4b47m1gv6", + "x": 0.10266661971028931, + "y": 0.6458332706027612, + "width": 0.392999976013185, + "height": 0.31599997428385623 + } + ] + }, + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154758716_1jl1fpc73", + "x": 0.36766660353597386, + "y": 0.38183329208713446 + } + ] + }, + "point_1769154665580": { + "type": "point", + "instances": [ + { + "id": "point_1769154665580_1769154762853_9f1bipk9s", + "x": 0.478666596761072, + "y": 0.4007962727216575 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左下方移动靠近小麦面包", + "correction_plan": "爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前方移动至油盘右上方，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹左下差一点成功靠近小麦面包", + "frame": 237, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近小麦面包进度上升为25%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹合拢抓取小麦面包", + "time": 7.9152, + "annotations": { + "point_1769154665580": { + "type": "point", + "instances": [ + { + "id": "point_1769154665580_1769154765860_5d8z5wqje", + "x": 0.62266658797201, + "y": 0.6284999386800181 + } + ] + }, + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154767964_8g2sqxy0v", + "x": 0.5236665940144901, + "y": 0.6471666038275876 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154770924_key808v01", + "x": 0.10666661946614871, + "y": 0.6564999364013724, + "width": 0.37999997680664205, + "height": 0.30133330881076587 + } + ] + }, + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154772948_juqiz56td", + "x": 0.45166659840902107, + "y": 0.5591666109890453, + "width": 0.16799998974609434, + "height": 0.22799998144531403 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前方移动至油盘右上方，爪夹向爪夹右移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "frame": 269, + "progress": 50, + "progress_explanation": "爪夹合拢抓取小麦面包进度上升为50%", + "state_description": "当前状态为爪夹合拢夹紧小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹保持合拢向爪夹上方抬升", + "time": 8.95577, + "annotations": { + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154776149_c2oxuz84y", + "x": 0.4576665980428102, + "y": 0.5898332751600525, + "width": 0.16099999017334046, + "height": 0.22399998177083483 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154778348_8fmklih5b", + "x": 0.08366662086995721, + "y": 0.6591666028510251, + "width": 0.4099999749755874, + "height": 0.301333308810766 + } + ] + }, + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154780204_bu4qqfiza", + "x": 0.5596665918172246, + "y": 0.6364999380289764 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方太并向爪夹右前方移动至油盘上方", + "correction_plan": "爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹上方太并向爪夹右前方成功移动至油盘上方", + "frame": 318, + "progress": 75, + "progress_explanation": "当前爪夹抓取小麦面包位于油盘上方进度上升为75%", + "state_description": "当前状态为爪夹抓取小麦面包位于油盘上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹下移动靠近小麦面包", + "time": 10.60893346985911, + "annotations": { + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154782836_8ei11fgef", + "x": 0.29466660799154, + "y": 0.6124999399821012 + } + ] + }, + "point_1769154665580": { + "type": "point", + "instances": [ + { + "id": "point_1769154665580_1769154784796_9r9c2ucce", + "x": 0.3176666065877315, + "y": 0.6204999393310596 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154787436_x2u2sm7ul", + "x": 0.12166661855062141, + "y": 0.6511666035020668, + "width": 0.3829999766235366, + "height": 0.31599997428385623 + } + ] + }, + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154789749_nafn67xbb", + "x": 0.21866661263021162, + "y": 0.6004999409586637, + "width": 0.17099998956298892, + "height": 0.24133331369357797 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近油盘", + "correction_plan": "爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹下方移动成功移动靠近油盘", + "frame": 345, + "progress": 90, + "progress_explanation": "当前爪夹抓取小麦面包靠近油盘进度上升为90%", + "state_description": "当前状态为爪夹抓取小麦面包靠近油盘\n为完成将小麦面包完全放在油盘里的任务：爪夹打开将小麦面包放在油盘中", + "time": 11.492232383351599, + "annotations": { + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154792460_vf04qfcql", + "x": 0.22966661195882493, + "y": 0.6378332712538027, + "width": 0.07799999523925813, + "height": 0.24266664691840442 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154794812_cqksjhchw", + "x": 0.10666661946614871, + "y": 0.6404999377034557, + "width": 0.40899997503662266, + "height": 0.31999997395833546 + } + ] + }, + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154796548_du6n6w3zu", + "x": 0.2646666098225946, + "y": 0.7058332657199491 + } + ] + }, + "point_1769154665580": { + "type": "point", + "instances": [ + { + "id": "point_1769154665580_1769154798252_lacrqmmi1", + "x": 0.2856666085408564, + "y": 0.7031665992702963 + } + ] + } + } + }, + { + "action_description": "爪夹打开放下小麦面包", + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将小麦面包放在油盘中", + "frame": 379, + "progress": 100, + "progress_explanation": "当前爪夹打开将小麦面包放在油盘中任务完成进度为100%", + "state_description": "当前状态为爪夹打卡将小麦面包放在油盘中任务完成\n", + "time": 12.627902414984797, + "annotations": { + "point_1769154665580": { + "type": "point", + "instances": [ + { + "id": "point_1769154665580_1769154801156_kltm0v18e", + "x": 0.3236666062215206, + "y": 0.7351665966661298 + } + ] + }, + "point_1769154665436": { + "type": "point", + "instances": [ + { + "id": "point_1769154665436_1769154802812_3c9vf7ivy", + "x": 0.20866661324056315, + "y": 0.7044999324951228 + } + ] + }, + "bbox_1769154664708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664708_1769154805340_cm9u731m4", + "x": 0.2366666115315789, + "y": 0.6951665999213379, + "width": 0.14199999133300828, + "height": 0.24799997981770996 + } + ] + }, + "bbox_1769154664852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154664852_1769154807764_welyzycxh", + "x": 0.13166661794026988, + "y": 0.6604999360758516, + "width": 0.3759999770507826, + "height": 0.2959999759114603 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769154664708", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769154664852", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769154665436", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769154665580", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-183558-put-wheat bread-oil-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-183558-put-wheat bread-oil-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..5096a468a02756792fb025bebbe32be09360d081 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260109-183558-put-wheat bread-oil-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,846 @@ +{ + "task_description": "把小麦面包放在油盘里\n开始移动：0%\n爪夹靠近小麦面包：25%\n抓紧小麦面包：50%\n移动小麦面包:75%\n将小麦面包完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整抓紧啊角度向爪夹前方移动至小麦面包左上方，爪夹向爪夹右方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将小麦面包完全放在油盘里的任务：爪夹调整抓紧啊角度向爪夹前方移动至小麦面包左上方", + "time": 0, + "annotations": { + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416777719_4mz4ltjv1", + "x": 0.4756665969441774, + "y": 0.5458332787407814, + "width": 0.2879999824218761, + "height": 0.21733331564670286 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416779735_e0lag86s3", + "x": 0.3766666029866575, + "y": 0.48849995007324626 + } + ] + }, + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416781719_id3vplzw9", + "x": 0.6146665884602911, + "y": 0.4724999513753295 + } + ] + }, + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769416963943_bn62p821s", + "x": 0.6316665874226935, + "y": 0.7604999279378314, + "width": 0.18399998876953197, + "height": 0.18799998470052207 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方抬升", + "correction_plan": "爪夹调整抓紧啊角度向爪夹前方移动至小麦面包左上方，爪夹向爪夹右方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹向爪夹上方错误抬升", + "frame": 30, + "progress": -5, + "progress_explanation": "当前爪夹向爪夹上方抬升远离小麦面包进度下降为-5%", + "state_description": "当前状态为爪夹打开远离小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹调整抓紧啊角度向爪夹前方移动至小麦面包左上方", + "time": 1.016399, + "annotations": { + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416787727_9l9nf0j4q", + "x": 0.6136665885213264, + "y": 0.48183328394911423 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416790039_frojc77oj", + "x": 0.3766666029866575, + "y": 0.4831666171739407 + } + ] + }, + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416792648_06ns6e7zg", + "x": 0.4736665970662477, + "y": 0.45249995300293355, + "width": 0.248999984802247, + "height": 0.20799998307291806 + } + ] + }, + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769416959799_nfowrrdjc", + "x": 0.6386665869954475, + "y": 0.7058332657199491, + "width": 0.13999999145507863, + "height": 0.16933331955295258 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下方移动并调整爪夹角度靠近牛排", + "correction_plan": "爪夹向爪夹上方抬升，爪夹向爪夹右方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹向爪夹左下放移动但错误靠近牛排", + "frame": 83, + "progress": 15, + "progress_explanation": "当前爪夹张开位于小麦面包左侧进度上升为15%", + "state_description": "当前状态为爪夹张开靠近牛排\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹上方抬升", + "time": 2.770141, + "annotations": { + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769416954415_0xgh2u5y7", + "x": 0.6716665849812875, + "y": 0.1098333142225493, + "width": 0.255999984375001, + "height": 0.5173332912326423 + } + ] + }, + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416805695_c0tqv48ro", + "x": 0.05566662257894149, + "y": 0.036499986857097426, + "width": 0.6119999626464867, + "height": 0.43866663096788483 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416807943_538qu9mju", + "x": 0.3846666024983763, + "y": 0.49383328297255186 + } + ] + }, + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416810391_ehbrgfsi1", + "x": 0.6076665888875372, + "y": 0.49116661652289906 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取牛排", + "correction_plan": "爪夹打开向爪夹上方抬升，爪夹向爪夹右方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹合拢错误抓取牛排", + "frame": 109, + "progress": 10, + "progress_explanation": "当前爪夹合拢抓取牛排进度下降为10%", + "state_description": "当前状态为爪夹合拢抓紧牛排\n为完成将小麦面包完全放在油盘里的任务：爪夹打开向爪夹上方抬升", + "time": 3.618758, + "annotations": { + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416815319_s1e6kb8rm", + "x": 0.5666665913899785, + "y": 0.49249994974772543 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416816999_2rhj5u9ac", + "x": 0.42866659981282956, + "y": 0.48583328362359346 + } + ] + }, + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416833415_zf4n4n8aa", + "x": 0.014666625081382745, + "y": 0.013833322035048664, + "width": 0.6129999625854514, + "height": 0.48133329416232956 + } + ] + }, + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769416946847_8jo133n6c", + "x": 0.6076665888875372, + "y": 0.13116664581977167, + "width": 0.3039999814453137, + "height": 0.47733329448785045 + } + ] + } + } + }, + { + "action_description": "爪夹合拢向爪夹上方抬升", + "correction_plan": "爪夹打开放下牛排向爪夹右前方移动至小麦面包上方", + "error_success_analysis": "爪夹抓取小麦面包向爪夹上方错误抬升", + "frame": 146, + "progress": -10, + "progress_explanation": "当前爪夹抓取牛排远离想面包进度下降为-10%", + "state_description": "当前状态为爪夹抓取牛排位于桌面上方\n为完成将小麦面包完全放在油盘里的任务：爪夹打开放下牛排向爪夹右移动至小麦面包上方", + "time": 4.856133, + "annotations": { + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416846423_moyl3kksh", + "x": 0.1886666144612662, + "y": 0.015166655259875062, + "width": 0.41999997436523584, + "height": 0.3973333009982665 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416848431_osc3mkldo", + "x": 0.43566659938558355, + "y": 0.49383328297255186 + } + ] + }, + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416850103_bsyj86mga", + "x": 0.5566665920003301, + "y": 0.48849995007324626 + } + ] + }, + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769416941207_whyvveoil", + "x": 0.5866665901692755, + "y": 0.14983331096734123, + "width": 0.20299998760986399, + "height": 0.42266663226996815 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹左上方移动", + "correction_plan": "爪夹打开放下牛排向爪夹右移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹抓取牛排向爪夹左上方错误移动", + "frame": 161, + "progress": -15, + "progress_explanation": "当前爪夹抓取牛排位于油盘侯师傅进度下降为-15%", + "state_description": "当前状态为爪夹合拢爪夹抓取牛排位于油盘后上方\n为完成将小麦面包完全放在油盘里的任务：爪夹打开放下牛排向爪夹右移动至小麦面包上方", + "time": 5.366688450834707, + "annotations": { + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416853631_1wf5zz9ti", + "x": 0.5576665919392949, + "y": 0.49383328297255186 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416855247_ejm8ty0wc", + "x": 0.4346665994466187, + "y": 0.4898332832980727 + } + ] + }, + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416857999_3hj5zejmy", + "x": 0.3196666064656612, + "y": 0.30316663182237696, + "width": 0.34199997912597785, + "height": 0.3119999746093771 + } + ] + }, + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769416936647_39y3covir", + "x": 0.6466665865071664, + "y": 0.519314772623513, + "width": 0.13499999176025437, + "height": 0.25066664626736274 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹前移动", + "correction_plan": "爪夹打开放下牛排向爪夹后移动至小麦面包左上方，爪夹向爪夹右移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹向爪夹前方错误移动", + "frame": 205, + "progress": -25, + "progress_explanation": "当前爪夹向爪夹掐移动远离小麦面包进度下降为-25%", + "state_description": "当前状态为爪夹抓取牛排位于油盘前上方\n为完成将小麦面包完全放在油盘里的任务：爪夹打开放下牛排向爪夹后移动至小麦面包左上方", + "time": 6.830330940181462, + "annotations": { + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416866623_ld9kknk8s", + "x": 0.29566660793050487, + "y": 0.6071666070827957, + "width": 0.42199997424316554, + "height": 0.26666664496527953 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416868279_n48mjfzh7", + "x": 0.43566659938558355, + "y": 0.48849995007324626 + } + ] + }, + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416869959_8gr8vtm5d", + "x": 0.5536665921834355, + "y": 0.48183328394911423 + } + ] + } + } + }, + { + "action_description": "爪夹打开放下牛排", + "correction_plan": "爪夹向爪夹后方移动至小麦面包左上方，爪夹向爪夹右移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹成功打开放下牛排", + "frame": 228, + "progress": -20, + "progress_explanation": "当前爪夹虽远离小麦面包但使爪夹打开进度上升为-20", + "state_description": "当前状态为爪夹张开牛排落在桌面上\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹后方移动至小麦面包左上方", + "time": 7.606595, + "annotations": { + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416873527_ymo66imxo", + "x": 0.6196665881551154, + "y": 0.4831666171739407 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416875423_79t6agxf8", + "x": 0.3776666029256223, + "y": 0.48849995007324626 + } + ] + }, + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416881223_bqoar4ods", + "x": 0.23366661171468434, + "y": 0.5418332790663022, + "width": 0.5589999658813497, + "height": 0.37199996972656507 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹后方的右下角移动至小麦面包上方", + "correction_plan": "爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹向爪夹后方的右下角成功移动至小麦面包上方", + "frame": 267, + "progress": 20, + "progress_explanation": "当前爪夹位于小麦面包上方进度上升为20%", + "state_description": "当前状态为爪夹张开位于小麦面包上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹下方移动靠近小麦面包", + "time": 8.910265, + "annotations": { + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416891191_4rkqg53pj", + "x": 0.05866662239583603, + "y": 0.1044999813232437, + "width": 0.43899997320556794, + "height": 0.4906666267361144 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416895735_k2usplpey", + "x": 0.38366660255941143, + "y": 0.48583328362359346 + } + ] + }, + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416897439_b7nhndt1q", + "x": 0.6136665885213264, + "y": 0.47649995104980863 + } + ] + }, + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769416970559_5vqxahbx4", + "x": 0.5126665946858767, + "y": 0.3884999582112664, + "width": 0.22299998638916102, + "height": 0.31066664138455063 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近小麦面包", + "correction_plan": "爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹向爪夹下移动成功靠近小麦面包", + "frame": 298, + "progress": 25, + "progress_explanation": "当前爪夹张卡靠近小麦面包进度上升为25%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹合拢抓取小麦面包", + "time": 9.933874, + "annotations": { + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416902087_e2nvj72j4", + "x": 0.6136665885213264, + "y": 0.4898332832980727 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416903871_1fit4yx42", + "x": 0.3816666026814818, + "y": 0.4898332832980727 + } + ] + }, + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416912103_cd7imavnv", + "x": 0.005666625630699119, + "y": 0.032499987182618234, + "width": 0.3919999760742202, + "height": 0.6639999459635461 + } + ] + }, + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769416918431_hf88v9fzb", + "x": 0.46366659767659923, + "y": 0.37146294177547673, + "width": 0.31499998077392694, + "height": 0.4853332938368088 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "frame": 360, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取小麦面包进度上升为50%", + "state_description": "当前状态为爪夹合拢夹紧小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹上方抬升", + "time": 11.986344254925712, + "annotations": { + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769416921391_mibmdq4m7", + "x": 0.43366659950765374, + "y": 0.26449996830241146, + "width": 0.38799997631836075, + "height": 0.5653332873263927 + } + ] + }, + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416926527_nb3wnb22j", + "x": 0.029666624165855453, + "y": 0.032499987182618234, + "width": 0.41499997467041166, + "height": 0.6106666169704902 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416928736_5lhxd1cz8", + "x": 0.48366659645589616, + "y": 0.48183328394911423 + } + ] + }, + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416930535_jglbhcf3s", + "x": 0.5036665952351931, + "y": 0.47516661782498226 + } + ] + } + } + }, + { + "action_description": "爪夹合拢向爪夹上方抬升", + "correction_plan": "爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹抓取小麦面包向爪夹上方成功抬升", + "frame": 389, + "progress": 75, + "progress_explanation": "当前爪夹抓取小麦面包移动进度上升为75%", + "state_description": "当前状态为爪夹抓取小麦面包垂直桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹左前方移动至油盘上方", + "time": 12.97105, + "annotations": { + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769416980023_n2e0z80zg", + "x": 0.4466665987141968, + "y": 0.2818333002251546, + "width": 0.37099997735595835, + "height": 0.4253332987196209 + } + ] + }, + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769416982047_9ceevz4i6", + "x": 0.1846666147054068, + "y": 0.1631666432156052, + "width": 0.32699998004150516, + "height": 0.4906666267361144 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769416984151_hvqui1n37", + "x": 0.48166659657796645, + "y": 0.47649995104980863 + } + ] + }, + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769416985839_jj595gxl5", + "x": 0.5026665952962283, + "y": 0.46983328492567666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动至油盘上方", + "correction_plan": "爪夹向爪夹下方移动靠近油盘，爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹向爪夹左前方抓取移动至油盘上方", + "frame": 419, + "progress": 85, + "progress_explanation": "当前爪夹抓取小麦面包位于油盘上方进度上升为75%", + "state_description": "当前状态为爪夹抓取小麦面包位于油盘上方\n为完成将小麦面包完全放在油盘里的任务：爪夹保持合拢向爪夹下方移动靠近小麦面包", + "time": 13.979783, + "annotations": { + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769417002966_wim8xureq", + "x": 0.5096665948689822, + "y": 0.48183328394911423 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769417004839_znmkfcv9l", + "x": 0.48566659633382586, + "y": 0.4831666171739407 + } + ] + }, + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769417007447_4zwgetuqn", + "x": 0.3226666062825557, + "y": 0.26983330120171706, + "width": 0.418999974426271, + "height": 0.4879999602864616 + } + ] + }, + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769417009351_gk2zg1bsy", + "x": 0.4466665987141968, + "y": 0.22316663833279313, + "width": 0.2279999860839852, + "height": 0.42533329871962083 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近油盘", + "correction_plan": "爪夹打开将桌面面包方在油盘上", + "error_success_analysis": "爪夹向爪夹下方成功移动靠近油盘", + "frame": 443, + "progress": 95, + "progress_explanation": "当前爪夹抓取小麦面包靠近油盘进度上升为95%", + "state_description": "当前状态为爪夹抓取小麦面包靠近油盘\n为完成将小麦面包完全放在油盘里的任务：爪夹打开将桌面面包方在油盘上", + "time": 14.77177, + "annotations": { + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769417013671_65ieacf8i", + "x": 0.4296665997517944, + "y": 0.26449996830241146, + "width": 0.24699998492431732, + "height": 0.345333305230037 + } + ] + }, + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769417015735_9wwcph6qr", + "x": 0.25266661055501644, + "y": 0.15916664354112603, + "width": 0.5529999662475605, + "height": 0.5453332889539967 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769417017447_30ykriuaf", + "x": 0.48866659615072044, + "y": 0.4831666171739407 + } + ] + }, + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769417019343_jbvvd6ffl", + "x": 0.504666595174158, + "y": 0.4724999513753295 + } + ] + } + } + }, + { + "action_description": "爪夹打开将小麦面包放在油盘中", + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将爪夹打开将小麦面包放在油盘中", + "frame": 467, + "progress": 100, + "progress_explanation": "当前爪夹打开将小麦面包放在油盘中任务完成进度上升为100%", + "state_description": "当前状态为爪夹张开小麦面包位于油盘中任务完成\n", + "time": 15.558018, + "annotations": { + "point_1769416738743": { + "type": "point", + "instances": [ + { + "id": "point_1769416738743_1769417022241_mem3niprf", + "x": 0.6236665879109748, + "y": 0.4738332846001559 + } + ] + }, + "point_1769416738599": { + "type": "point", + "instances": [ + { + "id": "point_1769416738599_1769417023607_c0w5faq52", + "x": 0.3826666026204466, + "y": 0.48583328362359346 + } + ] + }, + "bbox_1769416737847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737847_1769417025488_kc3jssmly", + "x": 0.2996666076863642, + "y": 0.165833309665258, + "width": 0.5379999671630881, + "height": 0.5079999586588575 + } + ] + }, + "bbox_1769416737711": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416737711_1769417027607_719glefut", + "x": 0.4476665986531617, + "y": 0.24049997025553627, + "width": 0.2509999846801767, + "height": 0.3413333055555578 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769416737711", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769416737847", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769416738599", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769416738743", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-093041-put-wheat bread-oil-plate-bad/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-093041-put-wheat bread-oil-plate-bad/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d6a9537fff8e13f88a9ff2f9474ff8b7d25eb6bc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-093041-put-wheat bread-oil-plate-bad/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,838 @@ +{ + "task_description": "把小麦面包放在油盘里\n开始移动：0%\n爪夹靠近小麦面包：25%\n抓紧小麦面包：50%\n移动小麦面包:75%\n将小麦面包完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整爪夹角度向爪夹前移动小麦面包左上方，爪夹向爪夹右前方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "当前初始状态未开始移动因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将小麦面包完全放在油盘里的任务：爪夹调整爪夹角度向爪夹前移动移动至小麦面包左上方", + "time": 0.3425647384753834, + "annotations": { + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416227824_ch880zmit", + "x": 0.4526665983479859, + "y": 0.14049997839355646, + "width": 0.14099999139404354, + "height": 0.1826666518012165 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416230186_r78iolre1", + "x": 0.24166661122640312, + "y": 0.3564999608154329, + "width": 0.4079999750976577, + "height": 0.38533330197482896 + } + ] + }, + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416232810_mrtadznu3", + "x": 0.6866665840657602, + "y": 0.18449997481282757 + } + ] + }, + "point_1769416203568": { + "type": "point", + "instances": [ + { + "id": "point_1769416203568_1769416234496_jgalmgcqk", + "x": 0.7556665798543347, + "y": 0.11649998034668128 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方抬升", + "correction_plan": "爪夹调整爪夹角度向爪夹前移动小麦面包左上方，爪夹向爪夹右前方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹上方错误抬升", + "frame": 48, + "progress": -5, + "progress_explanation": "当前爪夹向爪夹上方抬升远离小麦面包进度下降为-5%", + "state_description": "当前状态为爪夹张开平行桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹调整爪夹角度向爪夹前移动移动至小麦面包左上方", + "time": 1.6136642987003729, + "annotations": { + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416239593_97o7apvsc", + "x": 0.43766659926351326, + "y": 0.12983331259494527, + "width": 0.13399999182128947, + "height": 0.150666654405383 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416241913_bw07jwe6t", + "x": 0.29266660811361034, + "y": 0.3671666266140441, + "width": 0.3639999777832045, + "height": 0.3279999733072938 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动", + "correction_plan": "爪夹向爪夹右前移动至小麦面包上方，爪夹向爪夹右前方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹前方正确移动", + "frame": 93, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹前移动进度上升为10%", + "state_description": "当前状态为爪夹张开位于瓷碗后上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹右前移动至小麦面包上方", + "time": 3.101121230878552, + "annotations": { + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416406906_sdec6ggkr", + "x": 0.3216666063435909, + "y": 0.3498332946913009, + "width": 0.33799997937011844, + "height": 0.3919999680989609 + } + ] + }, + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416408280_eqzdce0er", + "x": 0.4396665991414429, + "y": 0.12049998002116048, + "width": 0.14799999096679742, + "height": 0.19466665082465406 + } + ] + }, + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416410984_r011pv2ze", + "x": 0.46566659755452894, + "y": 0.05516665200466699 + } + ] + }, + "point_1769416203568": { + "type": "point", + "instances": [ + { + "id": "point_1769416203568_1769416413328_h84yfqvcz", + "x": 0.5276665937703495, + "y": 0.015166655259875062 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方的右下方移动靠近小麦面包", + "correction_plan": "爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹前方右下方移动成功靠近小麦面包", + "frame": 135, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近小麦面包进度上升为25%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹合拢抓取小麦面包", + "time": 4.485899, + "annotations": { + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416420929_u7rtww3y3", + "x": 0.4346665994466187, + "y": 0.1071666477728965, + "width": 0.1269999922485356, + "height": 0.18933331792534852 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416423120_b1gpymgyq", + "x": 0.2586666101888055, + "y": 0.3618332937147385, + "width": 0.40499997528076326, + "height": 0.39866663422309295 + } + ] + }, + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416435863_ayodqgqay", + "x": 0.4536665982869508, + "y": 0.2418333034803627 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "frame": 156, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓紧小麦面包进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹上方抬升", + "time": 5.197371, + "annotations": { + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416427840_68t9ctdmb", + "x": 0.27166660939534854, + "y": 0.3658332933892177, + "width": 0.3849999765014662, + "height": 0.3479999716796898 + } + ] + }, + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416429551_h54mw8xxz", + "x": 0.42866659981282956, + "y": 0.14316664484320926, + "width": 0.13499999176025437, + "height": 0.1519999876302093 + } + ] + }, + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416431698_61okw4wpa", + "x": 0.4776665968221071, + "y": 0.21383330575900833 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹后上方抬升", + "correction_plan": "爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹成功向爪夹后上方抬升", + "frame": 214, + "progress": 75, + "progress_explanation": "当前爪夹抓取桌面面包向爪夹后上方抬升移动进度上升为75%", + "state_description": "当前状态为爪夹抓取小麦面包垂直桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹后方移动至油盘右上方", + "time": 7.13077728350671, + "annotations": { + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416438872_d2ahvvfrp", + "x": 0.5586665918782597, + "y": 0.11649998034668128 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416441266_adqg61obo", + "x": 0.26966660951741883, + "y": 0.36983329306369683, + "width": 0.35799997814941537, + "height": 0.3493333049045162 + } + ] + }, + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416443257_sic87d03n", + "x": 0.4576665980428102, + "y": 0.08049998327636855, + "width": 0.15899999029541068, + "height": 0.17999998535156372 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动", + "correction_plan": "爪夹保持合拢向爪夹左下方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹抓取小麦面包向爪夹左后方成功移动至油盘右上方", + "frame": 244, + "progress": 80, + "progress_explanation": "当前爪夹抓取小麦面包向爪夹左后方移动至油盘右上方进度上升为80%", + "state_description": "当前状态为爪夹抓取小麦面包位于油盘右上方\n为完成将小麦面包完全放在油盘里的任务：爪夹保持合拢向爪夹左下方移动至油盘上方", + "time": 8.13143012879021, + "annotations": { + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416446936_edo1o2zs0", + "x": 0.4176666004842162, + "y": 0.12183331324598687, + "width": 0.20599998742675857, + "height": 0.1666666531032997 + } + ] + }, + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416449136_tvw2jyg5o", + "x": 0.5166665944417361, + "y": 0.14449997806803563 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416455346_m3mwm0oy7", + "x": 0.2586666101888055, + "y": 0.3579814524195189, + "width": 0.37899997686767717, + "height": 0.3759999694010442 + } + ] + } + } + }, + { + "action_description": "爪夹打开放下小麦面包", + "correction_plan": "爪夹向爪夹下移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹为移动至油盘上方就打开爪夹使小麦面包一半落在油盘上", + "frame": 267, + "progress": 20, + "progress_explanation": "当前爪夹张开小麦面包移动落在油盘上进度下降为20%", + "state_description": "当前状态为爪夹张开小麦面包一半落在油盘上\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹下移动靠近小麦面包", + "time": 8.915725602120524, + "annotations": { + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416457567_66vgdajt6", + "x": 0.20466661348470377, + "y": 0.3458332950168217, + "width": 0.46799997143554856, + "height": 0.33599997265625225 + } + ] + }, + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416459296_cxqi5vog8", + "x": 0.3746666031087278, + "y": 0.27516663410102266, + "width": 0.18199998889160227, + "height": 0.16533331987847333 + } + ] + }, + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416461328_yyknekmrm", + "x": 0.4966665956624392, + "y": 0.14716664451768843 + } + ] + }, + "point_1769416203568": { + "type": "point", + "instances": [ + { + "id": "point_1769416203568_1769416464777_0jzic8s6c", + "x": 0.5586665918782597, + "y": 0.08849998262532693 + } + ] + } + } + }, + { + "action_description": "爪机向爪夹下移动靠近小麦面包", + "correction_plan": "爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹下移动成功靠近小麦面包", + "frame": 338, + "progress": 25, + "progress_explanation": "爪夹张开靠近小麦面包进度上升为25%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹合拢抓取小麦面包", + "time": 11.268612022111462, + "annotations": { + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416470920_mnqc1qstv", + "x": 0.4546665982259156, + "y": 0.3404999621175161 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416473880_kq6by14sa", + "x": 0.27166660939534854, + "y": 0.37383329273817606, + "width": 0.3859999764404311, + "height": 0.32266664040798826 + } + ] + }, + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416475688_wo38w7odk", + "x": 0.39166660207113024, + "y": 0.2884999663492866, + "width": 0.15799999035644588, + "height": 0.16399998665364693 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "frame": 409, + "progress": 50, + "progress_explanation": "爪夹合拢抓取进度小麦进度上升为75%", + "state_description": "当前状态为爪夹合拢抓紧小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹保持合拢向爪夹上方抬升", + "time": 13.6214984421024, + "annotations": { + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416478104_e7x5b98nr", + "x": 0.34966660463460664, + "y": 0.26583330152723783, + "width": 0.17699998919677795, + "height": 0.20799998307291806 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416480408_x2gq0kh5i", + "x": 0.26866660957845395, + "y": 0.36849995983887046, + "width": 0.39899997564697415, + "height": 0.3906666348741345 + } + ] + }, + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416481975_rmin68anf", + "x": 0.46266659773763436, + "y": 0.31916663052029376 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方抬升中小麦面包掉落桌面", + "correction_plan": "爪夹张开向爪夹前下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹为完全抓取小麦面包向爪夹上方抬升小麦面包掉落桌面", + "frame": 461, + "progress": 15, + "progress_explanation": "爪夹向爪夹上方抬升中小麦面包掉落桌面进度下降为15%", + "state_description": "当前状态为爪夹合拢小麦面包落在桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹张开向爪夹前下方移动靠近小麦面包", + "time": 15.352357417727916, + "annotations": { + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416485431_26l0hrt7p", + "x": 0.44266659895833743, + "y": 0.059166651679146184 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416488400_kjibfixbe", + "x": 0.22866661201986008, + "y": 0.3724999595133497, + "width": 0.4289999738159196, + "height": 0.3813333023003498 + } + ] + }, + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416490271_n6666d6ze", + "x": 0.39166660207113024, + "y": 0.18983330771213316, + "width": 0.1809999889526374, + "height": 0.1933333175998277 + } + ] + } + } + }, + { + "action_description": "爪夹打开", + "correction_plan": "爪夹向爪夹前下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹抓取小麦面包向爪夹上方抬升过程中失败的使小麦面包掉落", + "frame": 493, + "progress": 20, + "progress_explanation": "爪夹抓取小麦面包向爪夹上方抬升过程中小麦面包掉落进度下降为20%", + "state_description": "当前状态为爪夹张开位于小麦面包后上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹前下方移动靠近小麦面包", + "time": 16.448828, + "annotations": { + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416492737_kcm0epyei", + "x": 0.38766660231527084, + "y": 0.17916664191352197, + "width": 0.17999998901367248, + "height": 0.1933333175998277 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416494848_9od3p94vb", + "x": 0.2346666116536492, + "y": 0.3951666243353984, + "width": 0.40099997552490374, + "height": 0.36666663682725936 + } + ] + }, + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416496648_vvcprezae", + "x": 0.4246666000569702, + "y": 0.0524999855550142 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前下方移动靠近小麦面包", + "correction_plan": "爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹前下方移动成功靠近小麦面包", + "frame": 535, + "progress": 25, + "progress_explanation": "爪夹张开靠近小麦面包进度上升为25%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹合拢抓取小麦面包", + "time": 17.840587, + "annotations": { + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416502416_6azzbil2u", + "x": 0.386666602376306, + "y": 0.17249997578939, + "width": 0.20099998773193434, + "height": 0.19999998372395966 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416504544_9jhq7bitn", + "x": 0.2646666098225946, + "y": 0.35916662726508564, + "width": 0.37099997735595835, + "height": 0.3773333026258706 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "frame": 572, + "progress": 50, + "progress_explanation": "爪夹合拢抓取小麦面包进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹保持合拢向爪夹上方抬升", + "time": 19.072382, + "annotations": { + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416507375_hnqlai57x", + "x": 0.27666660909017277, + "y": 0.37649995918782886, + "width": 0.35599997827148566, + "height": 0.33866663910590505 + } + ] + }, + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416509617_at3m8ye0n", + "x": 0.43266659956868897, + "y": 0.16183330999077883, + "width": 0.15699999041748108, + "height": 0.241333313693578 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹后上方抬升", + "correction_plan": "爪夹向爪夹后上方至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹抓取小麦面包向爪夹后上方成功抬升", + "frame": 624, + "progress": 75, + "progress_explanation": "爪夹抓取小麦面包抬升移动进度上升为75%", + "state_description": "当前状态为爪夹抓取小麦面包位于瓷碗后上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹后上方至油盘右上方", + "time": 20.815381059545956, + "annotations": { + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416512448_oig4f8mzv", + "x": 0.4546665982259156, + "y": 0.019166654934354255, + "width": 0.15299999066162168, + "height": 0.1959999840494805 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416514311_op56qwr0v", + "x": 0.24866661079915703, + "y": 0.33516662921821055, + "width": 0.40099997552490374, + "height": 0.45866662934028074 + } + ] + } + } + }, + { + "action_description": "爪夹抓取小麦面包向爪夹前移动至瓷碗上方", + "correction_plan": "爪夹向爪夹后上方至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹抓取小麦面包向爪夹前错误移动", + "frame": 660, + "progress": 60, + "progress_explanation": "爪夹抓取小麦面包向爪夹前移动远离油盘进度下降为60%", + "state_description": "当前状态为爪夹抓取小麦面包位于瓷碗上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹后方移动至油盘右上方", + "time": 22.0053466052885, + "annotations": { + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416517400_amj9tjzzv", + "x": 0.2636666098836297, + "y": 0.37116662628852326, + "width": 0.38099997674560687, + "height": 0.36399997037760656 + } + ] + }, + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416519351_ic7bpupxn", + "x": 0.3196666064656612, + "y": 0.008499989135743072, + "width": 0.1729999894409186, + "height": 0.20799998307291806 + } + ] + }, + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416521536_7w14rki1s", + "x": 0.36866660347493874, + "y": 0.03383332040744463 + } + ] + } + } + }, + { + "action_description": "爪夹抓取小麦面包向爪夹下方移动靠近错误", + "correction_plan": "爪夹向爪夹上方抬升，爪夹向爪夹后上方至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹下方错误移动靠近瓷碗", + "frame": 685, + "progress": 55, + "progress_explanation": "爪夹抓取小麦面包靠近瓷碗进度下降为55%", + "state_description": "当前状态为爪夹抓取小麦面包靠近瓷碗\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹上方抬升", + "time": 22.826206, + "annotations": { + "point_1769416203425": { + "type": "point", + "instances": [ + { + "id": "point_1769416203425_1769416524127_j6dkkzdop", + "x": 0.36866660347493874, + "y": 0.09916664842393812 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416526576_oqfj6z1d9", + "x": 0.28866660835775093, + "y": 0.3484999614664745, + "width": 0.3339999796142591, + "height": 0.3973333009982666 + } + ] + }, + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416528703_ua0gagkin", + "x": 0.3016666075642939, + "y": 0.04183331975640302, + "width": 0.16199999011230531, + "height": 0.1613333202039941 + } + ] + } + } + }, + { + "action_description": "爪夹打开将小麦面包放进瓷碗中", + "correction_plan": "爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹向爪夹上方抬升，爪夹向爪夹后上方至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹打开错误将小麦面包放入瓷碗中", + "frame": 716, + "progress": 5, + "progress_explanation": "爪夹将小麦面包方在瓷碗中进度下降为5%", + "state_description": "当前状态为爪夹张开小麦面包在瓷碗中\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹下方移动靠近小麦面包", + "time": 23.87142893838476, + "annotations": { + "bbox_1769416202520": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202520_1769416531616_mn3gmak30", + "x": 0.2866666084798212, + "y": 0.060499984903972584, + "width": 0.18199998889160218, + "height": 0.20133331694878603 + } + ] + }, + "bbox_1769416202840": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416202840_1769416533272_hraqoq64f", + "x": 0.21466661287435224, + "y": 0.3444999617919953, + "width": 0.46199997180175945, + "height": 0.40933330002170415 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769416202520", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769416202840", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769416203425", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769416203568", + "name": "爪夹右 ", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-093041-put-wheat bread-oil-plate-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-093041-put-wheat bread-oil-plate-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a63e3b859e4764c6d5c0f7e6fd919e6968b0c0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-093041-put-wheat bread-oil-plate-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,1026 @@ +{ + "task_description": "把小麦面包放在油盘里\n开始移动：0%\n爪夹靠近小麦面包：25%\n抓紧小麦面包：50%\n移动小麦面包:75%\n将小麦面包完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整爪夹角度向爪夹前移动小麦面包左上方，爪夹向爪夹右前方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "当前初始状态未开始移动因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成将小麦面包完全放在油盘里的任务：爪夹调整爪夹角度向爪夹前移动移动至小麦面包左上方", + "time": 0.3155200669812347, + "annotations": { + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416018360_t3sy5s77d", + "x": 0.5256665938924198, + "y": 0.4791666174994615, + "width": 0.10999999328613316, + "height": 0.12266665668402853 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416020784_05bkyrm9b", + "x": 0.1886666144612662, + "y": 0.5618332774386982, + "width": 0.26799998364257904, + "height": 0.3106666413845506 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416022496_2zexs5zn3", + "x": 0.3826666026204466, + "y": 0.49649994942220466 + } + ] + }, + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416024233_fq7zyjy7u", + "x": 0.6166665883382209, + "y": 0.4791666174994615 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右上方抬升", + "correction_plan": "爪夹调整爪夹角度向爪夹前移动小麦面包左上方，爪夹向爪夹右前方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹右上方错误抬升", + "frame": 49, + "progress": -5, + "progress_explanation": "当前爪夹向爪夹右上方抬升远离小麦面包进度下降为-5%", + "state_description": "当前状态为爪夹张开平行桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹调整爪夹角度向爪夹前移动移动至小麦面包左上方", + "time": 1.6407089701945212, + "annotations": { + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416029208_al147anta", + "x": 0.6146665884602911, + "y": 0.4791666174994615 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416031769_dbxv8l9i8", + "x": 0.3786666028645872, + "y": 0.48849995007324626 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416035336_fk99fuhfv", + "x": 0.2056666134236686, + "y": 0.5964999412841845, + "width": 0.25099998468017665, + "height": 0.2839999768880227 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416038585_o71e56uwy", + "x": 0.504666595174158, + "y": 0.4671666184760239, + "width": 0.1239999924316411, + "height": 0.1573333205295149 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动", + "correction_plan": "爪夹向爪夹右前移动至小麦面包上方，爪夹向爪夹右前方移动至小麦面包上方，爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹前方正确移动", + "frame": 87, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹前移动进度上升为10%", + "state_description": "当前状态为爪夹张开位于瓷碗后上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹右前移动至小麦面包上方", + "time": 2.884763858925362, + "annotations": { + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416040961_7rxndpbbe", + "x": 0.5066665950520877, + "y": 0.34716662824164807, + "width": 0.16499998992919984, + "height": 0.1959999840494805 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416043472_teqw23z3o", + "x": 0.1786666150716177, + "y": 0.5458332787407814, + "width": 0.22699998614502034, + "height": 0.37999996907552336 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416044992_pbiqnr6z5", + "x": 0.3776666029256223, + "y": 0.48716661684841983 + } + ] + }, + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416046624_0gn5t3a58", + "x": 0.608666588826502, + "y": 0.48049995072428786 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方的右下方移动靠近小麦面包", + "correction_plan": "爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹前方右下方移动成功靠近小麦面包", + "frame": 131, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近小麦面包进度上升为25%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹合拢抓取小麦面包", + "time": 4.351618, + "annotations": { + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416050705_o7jnl228q", + "x": 0.6126665885823614, + "y": 0.4778332842746351 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416052728_z8t8q4tnp", + "x": 0.3816666026814818, + "y": 0.49383328297255186 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416055121_mcv51tmuf", + "x": 0.018666624837242136, + "y": 0.5751666096869621, + "width": 0.3289999799194348, + "height": 0.4013333006727457 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416057368_7ejiobiii", + "x": 0.45166659840902107, + "y": 0.2351666373562307, + "width": 0.27299998333740333, + "height": 0.38933330164930813 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "frame": 158, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓紧小麦面包进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹上方抬升", + "time": 5.2646949504104485, + "annotations": { + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416061338_uwkvdm5fi", + "x": 0.4466665987141968, + "y": 0.2218333051079667, + "width": 0.3089999811401379, + "height": 0.3746666361762178 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416063672_83p1ciee1", + "x": 0.02566662440999607, + "y": 0.5684999435628302, + "width": 0.3089999811401378, + "height": 0.4039999671223985 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416065320_zec3r4reb", + "x": 0.4696665973103883, + "y": 0.49649994942220466 + } + ] + }, + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416067072_tei4gjjrg", + "x": 0.5176665943807011, + "y": 0.49649994942220466 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹后上方抬升", + "correction_plan": "爪夹向爪夹后方移动至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹成功向爪夹后上方抬升", + "frame": 209, + "progress": 75, + "progress_explanation": "当前爪夹抓取桌面面包向爪夹后上方抬升移动进度上升为75%", + "state_description": "当前状态为爪夹抓取小麦面包垂直桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹后方移动至油盘右上方", + "time": 6.968509254541817, + "annotations": { + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416069768_wllfmz6ie", + "x": 0.5186665943196658, + "y": 0.5058332819959894 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416071577_jtjzrpg72", + "x": 0.4726665971272829, + "y": 0.5031666155463366 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416073906_6tvd2gty9", + "x": 0.4346665994466187, + "y": 0.20716663963487633, + "width": 0.1729999894409186, + "height": 0.36666663682725936 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416075760_nr0kf08bb", + "x": 0.06566662196858997, + "y": 0.42316662205675276, + "width": 0.29899998175048936, + "height": 0.44266663064236406 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动", + "correction_plan": "爪夹保持合拢向爪夹左下方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹抓取小麦面包向爪夹左后方成功移动至油盘右上方", + "frame": 237, + "progress": 80, + "progress_explanation": "当前爪夹抓取小麦面包向爪夹左后方移动至油盘右上方进度上升为80%", + "state_description": "当前状态为爪夹抓取小麦面包位于油盘右上方\n为完成将小麦面包完全放在油盘里的任务：爪夹保持合拢向爪夹左下方移动至油盘上方", + "time": 7.903611, + "annotations": { + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416078408_qf53qledk", + "x": 0.19466661409505528, + "y": 0.400499957234704, + "width": 0.23799998547363366, + "height": 0.3666666368272594 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416080328_tv84n6gim", + "x": 0.4576665980428102, + "y": 0.22316663833279313, + "width": 0.12099999261474652, + "height": 0.34933330490451625 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416084577_3r83ycmnx", + "x": 0.46166659779866953, + "y": 0.5071666152208159 + } + ] + }, + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416086336_fu4f42ub0", + "x": 0.5186665943196658, + "y": 0.5018332823215103 + } + ] + } + } + }, + { + "action_description": "爪夹打开放下小麦面包", + "correction_plan": "爪夹向爪夹下移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹为移动至油盘上方就打开爪夹使小麦面包一半落在油盘上", + "frame": 268, + "progress": 20, + "progress_explanation": "当前爪夹张开小麦面包移动落在油盘上进度下降为20%", + "state_description": "当前状态为爪夹张开小麦面包一半落在油盘上\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹下移动靠近小麦面包", + "time": 8.935712, + "annotations": { + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416089808_iqle26fhv", + "x": 0.6146665884602911, + "y": 0.4898332832980727 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416091368_kp39ef1a7", + "x": 0.3786666028645872, + "y": 0.49916661587185746 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416093536_e0xfre237", + "x": 0.3386666053059933, + "y": 0.32849996309407853, + "width": 0.1579999903564459, + "height": 0.2599999788411475 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416095600_8flsqx1df", + "x": 0.14766661696370745, + "y": 0.40316662368435685, + "width": 0.29799998181152454, + "height": 0.39333330132378735 + } + ] + } + } + }, + { + "action_description": "爪机向爪夹左下方移动靠近小麦面包", + "correction_plan": "爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹左下移动成功靠近小麦面包", + "frame": 330, + "progress": 25, + "progress_explanation": "爪夹张开靠近小麦面包进度上升为25%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹合拢抓取小麦面包", + "time": 10.999575, + "annotations": { + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416098330_a3z1usih8", + "x": 0.02366662453206637, + "y": 0.4724999513753295, + "width": 0.3459999788818372, + "height": 0.4839999606119824 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416100248_2bfcfiv2q", + "x": 0.16666661580403955, + "y": 0.2871666331244602, + "width": 0.33699997943115356, + "height": 0.5013332925347256 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416101880_98a9j09ks", + "x": 0.3786666028645872, + "y": 0.49116661652289906 + } + ] + }, + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416103816_43nf329ob", + "x": 0.6176665882771857, + "y": 0.48583328362359346 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "frame": 399, + "progress": 50, + "progress_explanation": "爪夹合拢抓取进度小麦进度上升为75%", + "state_description": "当前状态为爪夹合拢抓紧小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹保持合拢向爪夹上方抬升", + "time": 13.28723, + "annotations": { + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416105834_7ua8pgdp6", + "x": 0.5266665938313846, + "y": 0.5098332816704686 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416107448_qehcgjy4c", + "x": 0.45666659810384524, + "y": 0.48583328362359346 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416109473_47rxyw72t", + "x": 0.12166661855062141, + "y": 0.4791666174994615, + "width": 0.2739999832763682, + "height": 0.4999999593098991 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416111249_v2slo3rih", + "x": 0.19266661421712558, + "y": 0.3538332943657801, + "width": 0.36699997760009895, + "height": 0.42933329839410006 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方抬升中小麦面包掉落桌面", + "correction_plan": "爪夹张开向爪夹前下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹为完全抓取小麦面包向爪夹上方抬升小麦面包掉落桌面", + "frame": 456, + "progress": 15, + "progress_explanation": "爪夹向爪夹上方抬升中小麦面包掉落桌面进度下降为15%", + "state_description": "当前状态为爪夹合拢小麦面包落在桌面\n为完成将小麦面包完全放在油盘里的任务：爪夹张开向爪夹前下方移动靠近小麦面包", + "time": 15.215529, + "annotations": { + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416114216_zck7zgst7", + "x": 0.5026665952962283, + "y": 0.37916662563748166, + "width": 0.18599998864746156, + "height": 0.2839999768880227 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416118688_ore4ee4pm", + "x": 0.31566660670980184, + "y": 0.5338332797173438, + "width": 0.16899998968505922, + "height": 0.2986666423611131 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416120944_mkzxvm2qk", + "x": 0.48666659627279074, + "y": 0.48716661684841983 + } + ] + }, + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416122520_o51r9cdx3", + "x": 0.4986665955403689, + "y": 0.4791666174994615 + } + ] + } + } + }, + { + "action_description": "爪夹打开", + "correction_plan": "爪夹向爪夹前下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹抓取小麦面包向爪夹上方抬升过程中失败的使小麦面包掉落", + "frame": 494, + "progress": 20, + "progress_explanation": "爪夹抓取小麦面包向爪夹上方抬升过程中小麦面包掉落进度下降为20%", + "state_description": "当前状态为爪夹张开位于小麦面包后上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹前下方移动靠近小麦面包", + "time": 16.461188948988013, + "annotations": { + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416125384_11s1fjy7m", + "x": 0.6126665885823614, + "y": 0.48183328394911423 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416127232_ke2xvjt2v", + "x": 0.379666602803552, + "y": 0.49649994942220466 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416129178_irjyox00v", + "x": 0.29466660799154, + "y": 0.5471666119656078, + "width": 0.23399998571777428, + "height": 0.35733330425347454 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416131040_mixehwco1", + "x": 0.48466659639486104, + "y": 0.4111666230333152, + "width": 0.20899998724365307, + "height": 0.2573333123914948 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下方移动靠近小麦面包", + "correction_plan": "爪夹合拢抓取小麦面包，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹前下方移动成功靠近小麦面包", + "frame": 549, + "progress": 25, + "progress_explanation": "爪夹张开靠近小麦面包进度上升为25%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹合拢抓取小麦面包", + "time": 18.300226610590126, + "annotations": { + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416136648_w0w58q7hp", + "x": 0.3346666055501339, + "y": 0.3444999617919953, + "width": 0.35399997839355596, + "height": 0.3479999716796898 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416140232_jwlup0h95", + "x": 0.10466661958821902, + "y": 0.6644999357503308, + "width": 0.3119999809570324, + "height": 0.325333306857641 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416142080_yqt1uy7xl", + "x": 0.3726666032307981, + "y": 0.49383328297255186 + } + ] + }, + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416143753_kzrobdku5", + "x": 0.6126665885823614, + "y": 0.4831666171739407 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取小麦面包", + "frame": 572, + "progress": 50, + "progress_explanation": "爪夹合拢抓取小麦面包进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧小麦面包\n为完成将小麦面包完全放在油盘里的任务：爪夹保持合拢向爪夹上方抬升", + "time": 19.054388, + "annotations": { + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416146720_vzx5hw09r", + "x": 0.5196665942586307, + "y": 0.4791666174994615 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416148496_799jr3vtt", + "x": 0.471666597188318, + "y": 0.4951666161973783 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416150408_f28fcf6pj", + "x": 0.42866659981282956, + "y": 0.28049996700032825, + "width": 0.24499998504638762, + "height": 0.45999996256510717 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416152306_j4jitoups", + "x": 0.0896666205037463, + "y": 0.6271666054551915, + "width": 0.3759999770507826, + "height": 0.3133333078342035 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹后上方抬升", + "correction_plan": "爪夹向爪夹后上方至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹抓取小麦面包向爪夹后上方成功抬升", + "frame": 633, + "progress": 75, + "progress_explanation": "爪夹抓取小麦面包抬升移动进度上升为75%", + "state_description": "当前状态为爪夹抓取小麦面包位于瓷碗后上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹后上方至油盘右上方", + "time": 21.085827774487445, + "annotations": { + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416155200_5gnlm0j1s", + "x": 0.2626666099446649, + "y": 0.6738332683241155, + "width": 0.2709999834594737, + "height": 0.2919999762369811 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416157482_xfns2s34y", + "x": 0.4556665981648805, + "y": 0.2551666357286267, + "width": 0.15599999047851618, + "height": 0.47866662771267676 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416159536_2rt59hxbo", + "x": 0.471666597188318, + "y": 0.4951666161973783 + } + ] + }, + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416161104_6878hgtn4", + "x": 0.5126665946858767, + "y": 0.48183328394911423 + } + ] + } + } + }, + { + "action_description": "爪夹抓取小麦面包向爪夹前移动至瓷碗上方", + "correction_plan": "夹向爪夹后上方至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹抓取小麦面包向爪夹前错误移动", + "frame": 657, + "progress": 60, + "progress_explanation": "爪夹抓取小麦面包向爪夹前移动远离油盘进度下降为60%", + "state_description": "当前状态为爪夹抓取小麦面包位于瓷碗上方\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹后方移动至油盘右上方", + "time": 21.89974, + "annotations": { + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416163808_9vnzdrp63", + "x": 0.5096665948689822, + "y": 0.4898332832980727 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416165208_nxp3knyl8", + "x": 0.47966659670003675, + "y": 0.49383328297255186 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416169112_ygq7hqfv9", + "x": 0.44266659895833743, + "y": 0.25916663540310586, + "width": 0.17099998956298892, + "height": 0.44399996386719043 + } + ] + } + } + }, + { + "action_description": "爪夹抓取小麦面包向爪夹下方移动靠近错误", + "correction_plan": "爪夹向爪夹上方抬升，爪夹向爪夹后上方至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹向爪夹下方错误移动靠近瓷碗", + "frame": 698, + "progress": 55, + "progress_explanation": "爪夹抓取小麦面包靠近瓷碗进度下降为55%", + "state_description": "当前状态为爪夹抓取小麦面包靠近瓷碗\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹上方抬升", + "time": 23.276446165513487, + "annotations": { + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416171280_pc7psk2o9", + "x": 0.3766666029866575, + "y": 0.2244999715576195, + "width": 0.2519999846191416, + "height": 0.3759999694010442 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416173249_0n1dxhwy7", + "x": 0.15166661671956685, + "y": 0.7218332644178659, + "width": 0.28699998248291114, + "height": 0.25866664561632113 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416177864_k3jq2un3h", + "x": 0.471666597188318, + "y": 0.48583328362359346 + } + ] + }, + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416179377_0pys2f813", + "x": 0.5166665944417361, + "y": 0.49383328297255186 + } + ] + } + } + }, + { + "action_description": "爪夹打开将小麦面包放进瓷碗中", + "correction_plan": "爪夹向爪夹下方移动靠近小麦面包，爪夹合拢抓取小麦面包，爪夹向爪夹上方抬升，爪夹向爪夹后上方至油盘右上方，爪夹向爪夹左方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将小麦面包放在油盘中", + "error_success_analysis": "爪夹打开错误将小麦面包放入瓷碗中", + "frame": 726, + "progress": 5, + "progress_explanation": "爪夹将小麦面包方在瓷碗中进度下降为5%", + "state_description": "当前状态为爪夹张开小麦面包在瓷碗中\n为完成将小麦面包完全放在油盘里的任务：爪夹向爪夹下方移动靠近小麦面包", + "time": 24.195303, + "annotations": { + "point_1769415998432": { + "type": "point", + "instances": [ + { + "id": "point_1769415998432_1769416181840_elu1etctv", + "x": 0.615666588399256, + "y": 0.48049995072428786 + } + ] + }, + "point_1769415998288": { + "type": "point", + "instances": [ + { + "id": "point_1769415998288_1769416183384_01nchivaw", + "x": 0.38366660255941143, + "y": 0.4898332832980727 + } + ] + }, + "bbox_1769415997544": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997544_1769416186536_n6fxhb9hs", + "x": 0.15566661647542623, + "y": 0.745833262464741, + "width": 0.23299998577880948, + "height": 0.2306666478949668 + } + ] + }, + "bbox_1769415997392": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415997392_1769416188288_4dttg5i0g", + "x": 0.38766660231527084, + "y": 0.20316663996039713, + "width": 0.2859999825439464, + "height": 0.4573332961154544 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769415997392", + "name": "小麦面包", + "color": "#4CAF50" + }, + { + "id": "bbox_1769415997544", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769415998288", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769415998432", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-094329-put-beefsteak-oil-plate-good/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-094329-put-beefsteak-oil-plate-good/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..953756ad01d89f963b025853c0924e66da06392f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-094329-put-beefsteak-oil-plate-good/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,394 @@ +{ + "task_description": "把牛排放在油盘里\n开始移动：0%\n爪夹靠近牛排：25%\n抓紧牛排：50%\n移动牛排:75%\n将牛排完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整爪夹角度向爪夹前方移动至牛排右上角，爪夹向爪夹左方移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘中", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "当前爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成抓取牛排放在油盘的任务应该：爪夹调整爪夹角度向爪夹前方移动至牛排右上角", + "time": 0.480984449631118, + "annotations": { + "bbox_1769415891913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415891913_1769415915504_dp33nd4ud", + "x": 0.3746666031087278, + "y": 0.39783329078505125, + "width": 0.23299998577880948, + "height": 0.18666665147569564 + } + ] + }, + "point_1769415892817": { + "type": "point", + "instances": [ + { + "id": "point_1769415892817_1769415918256_tuft35mr5", + "x": 0.3396666052449581, + "y": 0.41249995625814156 + } + ] + }, + "point_1769415892969": { + "type": "point", + "instances": [ + { + "id": "point_1769415892969_1769415921441_3h3veq9wq", + "x": 0.46566659755452894, + "y": 0.4458332868788016 + } + ] + }, + "bbox_1769415892090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415892090_1769415924497_l733am04r", + "x": 0.4686665973714234, + "y": 0.0498333191053614, + "width": 0.4259999739990251, + "height": 0.27333331108941156 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方抬升", + "correction_plan": "爪夹调整爪夹角度向爪夹前方移动至牛排右上角，爪夹向爪夹左方移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘中", + "error_success_analysis": "爪夹向爪夹上方错误抬升", + "frame": 64, + "progress": -5, + "progress_explanation": "当前爪夹向爪夹上方抬升远离牛排进度下降为-5%", + "state_description": "当前状态为爪夹张开远离牛排\n为完成抓取牛排放在油盘的任务应该：爪夹调整爪夹进度向爪夹前移动至牛排右上方", + "time": 2.121396680432338, + "annotations": { + "bbox_1769415892090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415892090_1769415927897_cqp7v0ouy", + "x": 0.46166659779866953, + "y": 0.04316665298122942, + "width": 0.3519999785156262, + "height": 0.3186666407335091 + } + ] + }, + "point_1769415892969": { + "type": "point", + "instances": [ + { + "id": "point_1769415892969_1769415930193_q54hyllbw", + "x": 0.4526665983479859, + "y": 0.3338332959933841 + } + ] + }, + "bbox_1769415891913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415891913_1769415932834_vn4zpof1c", + "x": 0.37366660316976297, + "y": 0.3444999617919953, + "width": 0.19299998822021558, + "height": 0.2613333120659739 + } + ] + }, + "point_1769415892817": { + "type": "point", + "instances": [ + { + "id": "point_1769415892817_1769415939659_jjyirfxu2", + "x": 0.31866660652669637, + "y": 0.2871666331244602 + } + ] + } + } + }, + { + "action_description": "爪夹调整爪夹角度向爪夹掐移动至牛排右后方的上方", + "correction_plan": "爪夹向爪夹左前方移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘中", + "error_success_analysis": "爪夹向爪夹前移动成功移动至爪夹的右后上方", + "frame": 111, + "progress": 15, + "progress_explanation": "爪夹向爪夹前移动至牛排的右后上方上升为15%", + "state_description": "当前状态为爪夹张开位于牛排的右后上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹左前方移动至牛排上方", + "time": 3.6858639005483163, + "annotations": { + "bbox_1769415891913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415891913_1769415945360_i9rs2fup6", + "x": 0.4276665998738647, + "y": 0.3658332933892177, + "width": 0.15999999023437567, + "height": 0.26666664496527953 + } + ] + }, + "bbox_1769415892090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415892090_1769415948208_lpu55a579", + "x": 0.4746665970052126, + "y": 0.06449998457845178, + "width": 0.33899997930908315, + "height": 0.27066664463975876 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方的左下方移动靠近牛排", + "correction_plan": "爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘中", + "error_success_analysis": "爪夹向爪夹前方的左下方移动靠近牛排", + "frame": 161, + "progress": 25, + "progress_explanation": "当前爪夹向爪夹前方的左下方移动靠近牛排进度上升为25%", + "state_description": "当前状态为爪夹张开靠近牛排\n为完成抓取牛排放在油盘的任务应该：爪夹合拢抓取牛排", + "time": 5.36464, + "annotations": { + "bbox_1769415892090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415892090_1769415951016_v9j3rw184", + "x": 0.5016665953572634, + "y": 0.037833320081923826, + "width": 0.31699998065185664, + "height": 0.2919999762369811 + } + ] + }, + "bbox_1769415891913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415891913_1769415952864_oypd95brx", + "x": 0.36666660359700903, + "y": 0.40316662368435685, + "width": 0.24799998486328212, + "height": 0.17333331922743173 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取牛排", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘中", + "error_success_analysis": "爪夹合拢成功抓取牛排", + "frame": 194, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取牛排进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧牛排\n为完成抓取牛排放在油盘的任务应该：爪夹保持合拢向爪夹上方抬升", + "time": 6.460625, + "annotations": { + "bbox_1769415891913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415891913_1769415955281_1rwg30qyj", + "x": 0.40766660109456776, + "y": 0.3658332933892177, + "width": 0.16399998999023496, + "height": 0.2559999791666684 + } + ] + }, + "bbox_1769415892090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415892090_1769415957408_phfbu0gvg", + "x": 0.4966665956624392, + "y": 0.03916665330675022, + "width": 0.3229999802856457, + "height": 0.29466664268663395 + } + ] + } + } + }, + { + "action_description": "爪夹保持向爪夹上方抬升", + "correction_plan": "爪夹向爪夹前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘中", + "error_success_analysis": "爪夹抓取牛排向爪夹上方成功抬升", + "frame": 283, + "progress": 75, + "progress_explanation": "当前爪夹抓取牛排向爪夹上方移动抬升进度上升为75%", + "state_description": "当前状态为爪夹抓取牛排位于油盘后上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹前移动至油盘上方", + "time": 9.420843, + "annotations": { + "bbox_1769415892090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415892090_1769415960944_0bmb4qmuk", + "x": 0.5016665953572634, + "y": 0.06849998425293097, + "width": 0.3029999815063489, + "height": 0.28133331043836995 + } + ] + }, + "bbox_1769415891913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415891913_1769415962897_4ktu1xgle", + "x": 0.3936666019490599, + "y": 0.14183331161838283, + "width": 0.13599999169921925, + "height": 0.17066665277777895 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动至油盘上方", + "correction_plan": "爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘中", + "error_success_analysis": "爪夹抓取牛排向爪夹前移动成功移动至油盘上方", + "frame": 333, + "progress": 0, + "progress_explanation": "当前爪夹抓取牛排位于油盘上方进度上升为80%", + "state_description": "当前状态为爪夹抓取牛排位于油盘上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹下方移动靠近油盘", + "time": 11.108933, + "annotations": { + "bbox_1769415891913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415891913_1769415966329_3832xck9x", + "x": 0.5346665933431034, + "y": 0.008499989135743072, + "width": 0.0989999939575199, + "height": 0.117333323784723 + } + ] + }, + "bbox_1769415892090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415892090_1769415968738_arku8bi1c", + "x": 0.48266659651693133, + "y": 0.04583331943088221, + "width": 0.36699997760009906, + "height": 0.2946666426866339 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近油盘", + "correction_plan": "爪夹打开将牛排放在油盘中", + "error_success_analysis": "爪夹抓取牛排向爪夹下方移动成功靠近油盘", + "frame": 375, + "progress": 95, + "progress_explanation": "当前爪夹抓取牛排靠近油盘进度上升为95%", + "state_description": "当前状态为爪夹抓取牛排靠近油盘\n为完成抓取牛排放在油盘的任务应该：爪夹打开将牛排放在油盘中", + "time": 12.510674142173396, + "annotations": { + "bbox_1769415892090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415892090_1769415971073_dku6lf6bj", + "x": 0.48466659639486104, + "y": 0.06316665135362538, + "width": 0.37199997729492323, + "height": 0.25733331239149476 + } + ] + }, + "bbox_1769415891913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415891913_1769415972656_aq2asnaf3", + "x": 0.5496665924275761, + "y": 0.1084999809977229, + "width": 0.10799999340820357, + "height": 0.137333322157119 + } + ] + } + } + }, + { + "action_description": "爪夹打开将牛排放在油盘中", + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将牛排放在油盘上", + "frame": 420, + "progress": 100, + "progress_explanation": "当前爪夹打开将牛排放在油盘中任务完成进度上升为100%", + "state_description": "当前状态为爪夹打开将牛排放在油盘中任务完成", + "time": 14.004467, + "annotations": { + "bbox_1769415891913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415891913_1769415976912_mcp5sghmy", + "x": 0.5656665914510136, + "y": 0.11783331357150768, + "width": 0.13899999151611384, + "height": 0.13599998893229256 + } + ] + }, + "bbox_1769415892090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415892090_1769415979049_4m98prfli", + "x": 0.5016665953572634, + "y": 0.060499984903972584, + "width": 0.3779999769287123, + "height": 0.3346666394314258 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769415891913", + "name": "牛排", + "color": "#4CAF50" + }, + { + "id": "bbox_1769415892090", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769415892817", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769415892969", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-100336-put-beefsteak-oil-plate-mix/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-100336-put-beefsteak-oil-plate-mix/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..85529624d99a9ce538f65bfd59e9b474b9a3551c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-100336-put-beefsteak-oil-plate-mix/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,1182 @@ +{ + "task_description": "把牛排放在油盘里\n开始移动：0%\n爪夹靠近牛排：25%\n抓紧牛排：50%\n移动牛排:75%\n将牛排完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整爪夹角度并向爪夹前方移动至牛排右上方，爪夹向爪夹右移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "当前爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成抓取牛排放在油盘的任务应该：爪夹调整爪夹角度并向爪夹前方移动至牛排右上方", + "time": 0.14320607496626866, + "annotations": { + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415680253_idco97hi3", + "x": 0.31366660683187214, + "y": 0.5338332797173438, + "width": 0.16299999005127014, + "height": 0.17199998600260524 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415681906_p3qnz8ruy", + "x": 0.40666660115560294, + "y": 0.2164999722086611, + "width": 0.30699998126220807, + "height": 0.2986666423611131 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415683697_tenwnla6a", + "x": 0.40766660109456776, + "y": 0.24316663670518907 + } + ] + }, + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415685593_uiv9lcmkx", + "x": 0.5056665951131227, + "y": 0.2551666357286267 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方抬升", + "correction_plan": "爪夹调整爪夹角度并向爪夹前方移动至牛排右上方，爪夹向爪夹右移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹向爪夹上方错误抬升", + "frame": 47, + "progress": -5, + "progress_explanation": "当前爪夹远离牛排进度下降为-5%", + "state_description": "当前状态为爪夹张开远离牛排\n为完成抓取牛排放在油盘的任务应该：爪夹调整爪夹角度并向爪夹前方移动至牛排右上方", + "time": 1.559347, + "annotations": { + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415688353_08kcxeorc", + "x": 0.5076665949910525, + "y": 0.1578333103162996 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415690833_1mxq44g4l", + "x": 0.3986666016438841, + "y": 0.15516664386664683 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415697132_fgdictqex", + "x": 0.3016666075642939, + "y": 0.5324999464925174, + "width": 0.17999998901367253, + "height": 0.20666664984809166 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415698745_i8ar3xpu9", + "x": 0.4226666001790405, + "y": 0.20316663996039713, + "width": 0.32099998040771605, + "height": 0.31466664105902986 + } + ] + } + } + }, + { + "action_description": "爪夹调整爪夹角度向爪夹前移动", + "correction_plan": "爪夹向爪夹右下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹向爪夹前成功移动至牛排右上方", + "frame": 72, + "progress": 5, + "progress_explanation": "爪夹向爪夹前方移动进度上升为5%", + "state_description": "当前状态为爪夹张开位于牛排右上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹右下方移动靠近牛排", + "time": 2.383377780400052, + "annotations": { + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415701553_annhq5vdj", + "x": 0.4166666005452514, + "y": 0.21249997253418193, + "width": 0.31799998059082146, + "height": 0.30133330881076587 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415704113_rwu409kdt", + "x": 0.25766661024984067, + "y": 0.5524999448649133, + "width": 0.21499998687744223, + "height": 0.16533331987847338 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415705873_qlw37qiwv", + "x": 0.40366660133870835, + "y": 0.24716663637966826 + } + ] + }, + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415707977_7s6peyphf", + "x": 0.5236665940144901, + "y": 0.24049997025553627 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左下移动靠近瓷杯", + "correction_plan": "爪夹向爪夹右移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹错误向爪夹左下方移动", + "frame": 124, + "progress": -10, + "progress_explanation": "当前爪夹向爪夹左移动靠近非目标物进度上升为-10", + "state_description": "当前状态为爪夹张开位于牛排右方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹右移动至牛排上方", + "time": 4.134994, + "annotations": { + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415711265_ogjly4pej", + "x": 0.6366665871175179, + "y": 0.5991666077338372 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415713563_0fup3bnj9", + "x": 0.543666592793787, + "y": 0.6338332715793236 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415715593_f3col5vq9", + "x": 0.30466660738118845, + "y": 0.5658332771131774, + "width": 0.13999999145507863, + "height": 0.1933333175998276 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415717641_d1xxdallc", + "x": 0.43266659956868897, + "y": 0.22316663833279313, + "width": 0.2969999818725597, + "height": 0.31066664138455075 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下移动", + "correction_plan": "爪夹向爪夹右方移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹向爪夹右下移动错误的使爪夹右一边靠近牛排", + "frame": 163, + "progress": 20, + "progress_explanation": "当前爪夹右靠近牛排进度上升为20%", + "state_description": "当前状态为爪夹张开爪夹右靠近牛排\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹右方移动至牛排上方", + "time": 5.431176, + "annotations": { + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415720385_6tiao7p22", + "x": 0.41266660078939205, + "y": 0.1804999751383484, + "width": 0.3299999798583996, + "height": 0.3333333062065994 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415722489_jqr7phacq", + "x": 0.28866660835775093, + "y": 0.5404999458414758, + "width": 0.16299999005127014, + "height": 0.22799998144531403 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415725929_9gefz1lmd", + "x": 0.4696665973103883, + "y": 0.6244999390055388 + } + ] + }, + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415728130_el6llv4gs", + "x": 0.5786665906575567, + "y": 0.5978332745090109 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前上方移动靠近瓷杯", + "correction_plan": "爪夹向爪夹右方移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹错误的向爪夹前上方移动", + "frame": 210, + "progress": -10, + "progress_explanation": "爪夹向爪夹前上移动靠近瓷杯进度下降为-10%", + "state_description": "当前状态为爪夹张开靠近瓷杯\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹右上移动至牛排上方", + "time": 7.006761, + "annotations": { + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415732665_9jh75gvch", + "x": 0.5736665909627324, + "y": 0.6324999383544972 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415735145_1fq8ne4e9", + "x": 0.445666598775232, + "y": 0.6391666044786292 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415737945_bawtewsci", + "x": 0.4226666001790405, + "y": 0.24583330315484186, + "width": 0.3049999813842785, + "height": 0.24266664691840442 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415740225_jibq67u4u", + "x": 0.2826666087239619, + "y": 0.5591666109890453, + "width": 0.16699998980712955, + "height": 0.150666654405383 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取瓷杯", + "correction_plan": "爪夹打开向爪夹右上移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹错误合拢抓取瓷杯", + "frame": 236, + "progress": -15, + "progress_explanation": "爪夹合拢抓取下班进度下降为-15%", + "state_description": "当前状态为爪夹张开抓紧瓷杯\n为完成抓取牛排放在油盘的任务应该：爪夹打开向爪夹右上移动至牛排上方", + "time": 7.862431, + "annotations": { + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415743521_foj54tc8q", + "x": 0.27866660896810247, + "y": 0.5684999435628302, + "width": 0.1749999893188483, + "height": 0.12399998990885498 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415745849_021nkiiha", + "x": 0.425666599995935, + "y": 0.20849997285970273, + "width": 0.3039999814453137, + "height": 0.2959999759114603 + } + ] + } + } + }, + { + "action_description": "爪夹抓取瓷杯向爪夹上方抬升", + "correction_plan": "爪夹打开放下瓷杯向爪夹右移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹错误抓取瓷杯向爪夹上方抬升", + "frame": 262, + "progress": -20, + "progress_explanation": "当前爪夹抓取瓷杯移动进度下降为-20%", + "state_description": "当前状态为爪夹抓取瓷杯位于牛排右上方\n为完成抓取牛排放在油盘的任务应该：爪夹打开放下瓷杯向爪夹右移动至牛排上方", + "time": 8.735645493068452, + "annotations": { + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415750721_ryhtjyp41", + "x": 0.3976666017049193, + "y": 0.20316663996039713, + "width": 0.33499997955322386, + "height": 0.3119999746093771 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415752609_tgma5ku0p", + "x": 0.28866660835775093, + "y": 0.5271666135932118, + "width": 0.18999998840332105, + "height": 0.20399998339843883 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右后方移动", + "correction_plan": "爪夹打开放下瓷杯向爪夹右前方移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹错误抓取瓷杯向爪夹右后方移动", + "frame": 285, + "progress": -25, + "progress_explanation": "当前爪夹抓取瓷杯移动至牛排前上方进度下降为-25%", + "state_description": "当前状态为爪夹抓取瓷杯位于牛排前方的右上方\n为完成抓取牛排放在油盘的任务应该：爪夹打开放下瓷杯向爪夹右前方移动至牛排上方", + "time": 9.495566, + "annotations": { + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415755953_yog029uyk", + "x": 0.30966660707601273, + "y": 0.5351666129421702, + "width": 0.13899999151611375, + "height": 0.1773333189019109 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415757426_nk7ech3oe", + "x": 0.4476665986531617, + "y": 0.21516663898383473, + "width": 0.3049999813842784, + "height": 0.40799996679687767 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415759122_o628l9c9a", + "x": 0.39266660201009507, + "y": 0.4604999523518919 + } + ] + }, + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415761313_scj3w5qku", + "x": 0.4526665983479859, + "y": 0.4591666191270655 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "爪夹向爪夹前方移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹错误移动瓷杯至牛排前上方", + "frame": 310, + "progress": -30, + "progress_explanation": "爪夹抓取瓷杯移动瓷杯至牛排前上方进度下降为-30%", + "state_description": "当前状态为爪夹张开位于牛排前上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹前方移动至牛排上方", + "time": 10.32003, + "annotations": { + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415764169_0kdtobula", + "x": 0.38866660225423566, + "y": 0.47516661782498226 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415766234_rhj51dgzv", + "x": 0.32766660597737995, + "y": 0.4538332862277599 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415770625_5dl4dl1sq", + "x": 0.39266660201009507, + "y": 0.19649997383626516, + "width": 0.30299998150634877, + "height": 0.30666664171007146 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415773202_kw53w10r3", + "x": 0.2826666087239619, + "y": 0.531166613267691, + "width": 0.17099998956298892, + "height": 0.19999998372395963 + } + ] + } + } + }, + { + "action_description": "爪夹打开放下瓷杯", + "correction_plan": "爪夹向爪夹前方移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹打开成功放下瓷杯", + "frame": 344, + "progress": 10, + "progress_explanation": "当前爪夹张开放下瓷杯进度上升为10%", + "state_description": "当前状态为爪夹张开位于牛排前上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹前方移动至牛排上方", + "time": 11.464456, + "annotations": { + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415775585_6c5rtzxr3", + "x": 0.2826666087239619, + "y": 0.5498332784152605, + "width": 0.2019999876708992, + "height": 0.1959999840494805 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415777777_ze7n7chu8", + "x": 0.4316665996297241, + "y": 0.22049997188314033, + "width": 0.29499998199463, + "height": 0.2879999765625019 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415779467_b5poikw5a", + "x": 0.31166660695394244, + "y": 0.4791666174994615 + } + ] + }, + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415781178_x2mb9hpxb", + "x": 0.41266660078939205, + "y": 0.48849995007324626 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前上方移动至牛排上方", + "correction_plan": "爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹向爪夹前上方成功移动至牛排上方", + "frame": 391, + "progress": 20, + "progress_explanation": "当前爪夹向爪夹前上方移动至牛排上方进度上升为20%", + "state_description": "当前状态为爪夹张开位于牛排上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹下方移动靠近牛排", + "time": 13.031865202119544, + "annotations": { + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415784704_yo28ssrq0", + "x": 0.3966666017659545, + "y": 0.5351666129421702 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415786441_7nsirmts1", + "x": 0.31266660689290726, + "y": 0.5018332823215103 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415788585_ajaax5zxx", + "x": 0.3936666019490599, + "y": 0.21249997253418193, + "width": 0.3049999813842785, + "height": 0.3213333071831619 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415790402_up1qlzn4u", + "x": 0.2996666076863642, + "y": 0.5018332823215103, + "width": 0.14999999084472715, + "height": 0.21599998242187646 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方并向下方移动下降靠近牛排", + "correction_plan": "爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹向爪夹前下方移动成功靠近牛排", + "frame": 426, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近牛排进度上升为25%", + "state_description": "当前状态为爪夹张开靠近牛排\n为完成抓取牛排放在油盘的任务应该：爪夹合拢抓取牛排", + "time": 14.197981980290553, + "annotations": { + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415792857_tpeomx4xj", + "x": 0.29466660799154, + "y": 0.5804999425862677, + "width": 0.21199998706054765, + "height": 0.1359999889322926 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415794873_ujbj2ja8q", + "x": 0.41266660078939205, + "y": 0.20983330608452913, + "width": 0.34599997888183714, + "height": 0.36933330327691216 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415796641_pe2agmax7", + "x": 0.32766660597737995, + "y": 0.6284999386800181 + } + ] + }, + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415798641_d4pbloht5", + "x": 0.3956666018269896, + "y": 0.6871666005723794 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取牛排", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹合拢成功抓取牛排", + "frame": 486, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取牛排进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧牛排\n为完成抓取牛排放在油盘的任务应该：爪夹保持合拢向爪夹上方抬升", + "time": 16.192655416635706, + "annotations": { + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415801274_0ovxrhn2z", + "x": 0.36966660341390356, + "y": 0.6738332683241155 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415802977_0dmaz93hc", + "x": 0.31666660664876667, + "y": 0.6431666041531084 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415810426_xg1fccqnm", + "x": 0.40966660097249746, + "y": 0.22316663833279313, + "width": 0.2929999821167003, + "height": 0.28133331043836995 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415811944_83mykqaoj", + "x": 0.27666660909017277, + "y": 0.5711666100124829, + "width": 0.24099998529052824, + "height": 0.12933332280816062 + } + ] + } + } + }, + { + "action_description": "爪夹合拢向爪夹上方抬升牛排掉落桌面", + "correction_plan": "爪夹打开向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹抓取牛排向爪夹上方抬升过程中失败的使牛排掉落", + "frame": 536, + "progress": 15, + "progress_explanation": "当前爪夹合拢但牛排掉落进度下降为15", + "state_description": "当前状态为爪夹合拢牛排在桌面上\n为完成抓取牛排放在油盘的任务应该：爪夹打开向爪夹下方移动靠近牛排", + "time": 17.879479, + "annotations": { + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415814217_ievsmfcuv", + "x": 0.30966660707601273, + "y": 0.5258332803683854, + "width": 0.19599998803711002, + "height": 0.16399998665364693 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415816137_ie6crmdcz", + "x": 0.3176666065877315, + "y": 0.5738332764621357 + } + ] + }, + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415817938_c0dv3gqnv", + "x": 0.33566660548909877, + "y": 0.5764999429117885 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415819882_iv2zaql85", + "x": 0.40866660103353264, + "y": 0.20716663963487633, + "width": 0.3239999802246105, + "height": 0.3226666404079882 + } + ] + } + } + }, + { + "action_description": "爪夹打开", + "correction_plan": "爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹成功打开", + "frame": 578, + "progress": 20, + "progress_explanation": "当前爪夹打开进度上升为20%", + "state_description": "当前状态为爪夹张开位于牛排上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹下方移动靠近牛排", + "time": 19.261383780243623, + "annotations": { + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415822225_ysx4ggikb", + "x": 0.40666660115560294, + "y": 0.185833308037654, + "width": 0.27499998321533303, + "height": 0.27599997753906436 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415824593_w7v048sc7", + "x": 0.30466660738118845, + "y": 0.4564999526774127, + "width": 0.18799998852539135, + "height": 0.2173333156467028 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415827258_s52ymdv4s", + "x": 0.2986666077473994, + "y": 0.5591666109890453 + } + ] + }, + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415829137_rsn6ngfaj", + "x": 0.3726666032307981, + "y": 0.6244999390055388 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近牛排", + "correction_plan": "爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹向爪夹下方移动成功靠近牛排", + "frame": 606, + "progress": 25, + "progress_explanation": "当前爪夹靠近牛排进度上升为25%", + "state_description": "当前状态为爪夹张开靠近牛排\n为完成抓取牛排放在油盘的任务应该：爪夹合拢抓取牛排", + "time": 20.211566, + "annotations": { + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415831745_xkefxjgr1", + "x": 0.4046666012776733, + "y": 0.6391666044786292 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415833553_dlq53t1ap", + "x": 0.4016666014607787, + "y": 0.22049997188314033, + "width": 0.46999997131347826, + "height": 0.345333305230037 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415835657_kx4ohq7r4", + "x": 0.2626666099446649, + "y": 0.5084999484456422, + "width": 0.25399998449707123, + "height": 0.17333331922743173 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取牛排", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹合拢成功抓取牛排", + "frame": 634, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取牛排进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧牛排\n为完成抓取牛排放在油盘的任务应该：爪夹保持合拢向爪夹上方抬升", + "time": 21.139548, + "annotations": { + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415837833_7867218xm", + "x": 0.281666608784997, + "y": 0.4778332842746351, + "width": 0.20099998773193434, + "height": 0.21466664919705003 + } + ] + }, + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415840889_efhgwaxku", + "x": 0.3726666032307981, + "y": 0.6138332732069276 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415842682_4bxjseehy", + "x": 0.4316665996297241, + "y": 0.20049997351074433, + "width": 0.380999976745607, + "height": 0.3626666371527802 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升", + "correction_plan": "爪夹向爪夹后方移动至油盘左上方，爪夹向爪夹左移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹抓取牛排向爪夹上方成功抬升", + "frame": 720, + "progress": 75, + "progress_explanation": "当前爪夹抓取牛排向爪夹上方抬升进度上升为75%", + "state_description": "当前状态为爪夹抓取牛排垂直桌面\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹后方移动至油盘左上方", + "time": 23.987225460199827, + "annotations": { + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415844801_6rdfegkc8", + "x": 0.4186666004231811, + "y": 0.17916664191352197, + "width": 0.31899998052978634, + "height": 0.4226666322699681 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415846817_41afevt4a", + "x": 0.2986666077473994, + "y": 0.47649995104980863 + } + ] + }, + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415848713_mxc4xiiwc", + "x": 0.3346666055501339, + "y": 0.5298332800428646 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415851080_jxx7natm3", + "x": 0.2826666087239619, + "y": 0.4111666230333152, + "width": 0.13899999151611375, + "height": 0.2159999824218764 + } + ] + } + } + }, + { + "action_description": "爪夹抓取牛排向爪夹左后方移动至牛排上方", + "correction_plan": "爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹向爪夹左后方成功移动孩子牛排上方", + "frame": 772, + "progress": 85, + "progress_explanation": "当前爪夹抓取牛排位于油盘上方进度上升为85%", + "state_description": "当前状态为爪夹抓取牛排位于油盘上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹下方移动靠近油盘", + "time": 25.748166, + "annotations": { + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415854938_dttnjjmqi", + "x": 0.5456665926717167, + "y": 0.16183330999077883, + "width": 0.13199999194335987, + "height": 0.14133332183159816 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415857249_823p0orkd", + "x": 0.38366660255941143, + "y": 0.19516664061143876, + "width": 0.3359999794921887, + "height": 0.4013333006727457 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415859344_tdoud50wo", + "x": 0.5876665901082403, + "y": 0.2524999692789739 + } + ] + }, + "point_1769415663817": { + "type": "point", + "instances": [ + { + "id": "point_1769415663817_1769415861929_4q5lvltxf", + "x": 0.6396665869344124, + "y": 0.2324999709065779 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近油盘", + "correction_plan": "爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹抓取牛排向爪夹下方成功移动靠近油盘", + "frame": 832, + "progress": 95, + "progress_explanation": "当前爪夹抓取牛排靠近油盘进度上升为95%", + "state_description": "当前状态为爪夹抓取牛排靠近油盘\n为完成抓取牛排放在油盘的任务应该：爪夹打开将牛排放在油盘上", + "time": 27.748472, + "annotations": { + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415866744_jbm239j8c", + "x": 0.5626665916341191, + "y": 0.38449995853678726 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415868881_ikh4d4v00", + "x": 0.536666593221033, + "y": 0.2924999660237658, + "width": 0.09299999432373082, + "height": 0.15066665440538293 + } + ] + }, + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415870842_knzun7dca", + "x": 0.3846666024983763, + "y": 0.14583331129286206, + "width": 0.3919999760742202, + "height": 0.5599999544270869 + } + ] + } + } + }, + { + "action_description": "爪夹打开将牛排放在油盘上", + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将牛排放在油盘上", + "frame": 867, + "progress": 100, + "progress_explanation": "当前爪夹打开将牛排放在油盘上任务完成进度上升为100%", + "state_description": "当前状态爪夹打开牛排放在油盘上任务完成", + "time": 28.89719084197251, + "annotations": { + "bbox_1769415662985": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662985_1769415873281_c9qzrpfl2", + "x": 0.42666659993489986, + "y": 0.2244999715576195, + "width": 0.2969999818725596, + "height": 0.3026666420355923 + } + ] + }, + "point_1769415663673": { + "type": "point", + "instances": [ + { + "id": "point_1769415663673_1769415875035_4do61k9mf", + "x": 0.543666592793787, + "y": 0.3991666240098776 + } + ] + }, + "bbox_1769415662843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415662843_1769415877105_1fr5i38pe", + "x": 0.504666595174158, + "y": 0.27916663377550177, + "width": 0.11499999298095745, + "height": 0.1999999837239597 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769415662843", + "name": "牛排", + "color": "#4CAF50" + }, + { + "id": "bbox_1769415662985", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769415663673", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769415663817", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-102938-put-beefsteak-oil-plate-bad/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-102938-put-beefsteak-oil-plate-bad/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..36df07d14bda400ce7d91b51f6a675a8c986ae13 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-102938-put-beefsteak-oil-plate-bad/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,749 @@ +{ + "task_description": "把牛排放在油盘里\n开始移动：0%\n爪夹靠近牛排：25%\n抓紧牛排：50%\n移动牛排:75%\n将牛排完全放在油盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整爪夹角度向爪夹前方移动至牛排左上方，爪夹向爪夹右移动至牛排上方，爪夹向爪夹下方移动靠近牛排。爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "当前爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成抓取牛排放在油盘的任务应该：爪夹调整爪夹角度向爪夹前方移动至牛排左上方", + "time": 0.25035413024901526, + "annotations": { + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415487777_yy8ww9trr", + "x": 0.5416665929158573, + "y": 0.30849996472168256, + "width": 0.08399999487304717, + "height": 0.1679999863281261 + } + ] + }, + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415489777_v4l4wcg1t", + "x": 0.29266660811361034, + "y": 0.11649998034668128, + "width": 0.2519999846191416, + "height": 0.27599997753906436 + } + ] + }, + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415491689_tpevs96v9", + "x": 0.6686665851643929, + "y": 0.3124999643961618 + } + ] + }, + "point_1769415472169": { + "type": "point", + "instances": [ + { + "id": "point_1769415472169_1769415494105_c9mx0t80z", + "x": 0.7246665817464244, + "y": 0.25649996895345306 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方抬升调整爪夹进度", + "correction_plan": "爪夹向爪夹前方移动至牛排左上方，爪夹向爪夹右移动至牛排上方，爪夹向爪夹下方移动靠近牛排。爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹向爪夹上方错误抬升", + "frame": 73, + "progress": -5, + "progress_explanation": "爪夹向爪夹上方抬升远离牛排进度下降为-5%", + "state_description": "当前状态为爪夹张开远离牛排\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹前方移动至牛排左上方", + "time": 2.4331375300154834, + "annotations": { + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415499833_lzns0f54b", + "x": 0.7286665815022838, + "y": 0.13516664549425086 + } + ] + }, + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415502969_xwikpi39c", + "x": 0.2826666087239619, + "y": 0.1031666480984173, + "width": 0.2669999837036142, + "height": 0.26666664496527953 + } + ] + }, + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415504929_k48v87xjx", + "x": 0.5586665918782597, + "y": 0.30583329827202976, + "width": 0.08399999487304717, + "height": 0.19733331727430686 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前移动", + "correction_plan": "爪夹向爪夹前方右下侧的牛排移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹向爪夹前正确移动", + "frame": 102, + "progress": 5, + "progress_explanation": "当前爪夹向爪夹前移动进度上升为5%", + "state_description": "当前状态为爪夹张开位于牛排左测的和上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹前方右下侧的牛排移动靠近牛排", + "time": 3.392233, + "annotations": { + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415508089_6zkxt0wxl", + "x": 0.5466665926106816, + "y": 0.3391666288926897, + "width": 0.11099999322509806, + "height": 0.15066665440538293 + } + ] + }, + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415510234_eyhwawj8b", + "x": 0.2656666097615594, + "y": 0.09916664842393812, + "width": 0.28199998278808697, + "height": 0.2586666456163212 + } + ] + }, + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415512659_663h4rpef", + "x": 0.6136665885213264, + "y": 0.07249998392741015 + } + ] + }, + "point_1769415472169": { + "type": "point", + "instances": [ + { + "id": "point_1769415472169_1769415514921_fhhabl2xj", + "x": 0.6796665844930063, + "y": 0.06983331747775737 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹I前方的右下方移动", + "correction_plan": "爪夹向爪夹上方抬升，爪夹向爪夹后移动至牛排右上方，爪夹向爪夹左移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹向爪夹前方的右下方错误移动", + "frame": 153, + "progress": -10, + "progress_explanation": "当前爪夹靠小麦面包进度下降为-10%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹上方抬升", + "time": 5.097296, + "annotations": { + "point_1769415472169": { + "type": "point", + "instances": [ + { + "id": "point_1769415472169_1769415518921_oisv00ieg", + "x": 0.6146665884602911, + "y": 0.2778333005506754 + } + ] + }, + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415521321_fy6o8ov1s", + "x": 0.5476665925496464, + "y": 0.30849996472168256 + } + ] + }, + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415529458_7pnulph03", + "x": 0.5296665936482792, + "y": 0.3404999621175161, + "width": 0.1279999921875005, + "height": 0.137333322157119 + } + ] + }, + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415531745_b8ump3df4", + "x": 0.27766660902913765, + "y": 0.09516664874945892, + "width": 0.2699999835205088, + "height": 0.2733333110894115 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取小麦面包", + "correction_plan": "爪夹打开向爪夹上方抬升，，爪夹向爪夹后移动至牛排右上方，爪夹向爪夹左移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹错误合拢抓取小麦面包", + "frame": 174, + "progress": -15, + "progress_explanation": "当前爪夹抓取小麦面包进度下降为-15%", + "state_description": "当前状态为爪夹合拢抓取小麦面包\n为完成抓取牛排放在油盘的任务应该：爪夹打开向爪夹上方抬升", + "time": 5.816202, + "annotations": { + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415534873_bko0acxa5", + "x": 0.2566666103108758, + "y": 0.1071666477728965, + "width": 0.31299998089599723, + "height": 0.2506666462673628 + } + ] + }, + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415537009_y0146ol2x", + "x": 0.5036665952351931, + "y": 0.3418332953423425, + "width": 0.15399999060058658, + "height": 0.1613333202039941 + } + ] + }, + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415538993_8betdle4h", + "x": 0.5756665908406621, + "y": 0.296499965698245 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升", + "correction_plan": "爪夹打开放下小麦面包向爪夹左后方移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹抓取错误物品向爪夹上方抬升", + "frame": 269, + "progress": -20, + "progress_explanation": "当前爪夹抓取小麦面包抬升进度下降为-20￥", + "state_description": "当前状态为爪夹抓取小麦面包远离桌面\n为完成抓取牛排放在油盘的任务应该：爪夹打开放下小麦面包向爪夹左后方移动至牛排上方", + "time": 8.981487729314889, + "annotations": { + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415542721_eva5d47v0", + "x": 0.6016665892537482, + "y": 0.015166655259875062 + } + ] + }, + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415547753_efsg16ihv", + "x": 0.537666593159998, + "y": 0.3338332959933841, + "width": 0.11099999322509806, + "height": 0.1519999876302093 + } + ] + }, + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415550129_dekc1hpkp", + "x": 0.2646666098225946, + "y": 0.14316664484320926, + "width": 0.3099999810791027, + "height": 0.18799998470052207 + } + ] + } + } + }, + { + "action_description": "爪夹打开放下小麦面包", + "correction_plan": "爪夹向爪夹左下方移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹成功打开放下小麦面包", + "frame": 317, + "progress": 10, + "progress_explanation": "当前爪夹打开放下小麦面包进度上升为10%", + "state_description": "当前状态为爪夹张开小麦面包落在桌面\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹左下方移动至牛排上方", + "time": 10.55367, + "annotations": { + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415553401_4qs6218n4", + "x": 0.27866660896810247, + "y": 0.12049998002116048, + "width": 0.2789999829711924, + "height": 0.23599998079427242 + } + ] + }, + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415556713_nf5w1mn8w", + "x": 0.48666659627279074, + "y": 0.32583329664442573, + "width": 0.13499999176025437, + "height": 0.14799998795573016 + } + ] + }, + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415558633_o1m6bxbfs", + "x": 0.5556665920613651, + "y": 0.015166655259875062 + } + ] + }, + "point_1769415472169": { + "type": "point", + "instances": [ + { + "id": "point_1769415472169_1769415561353_wbdqbw19n", + "x": 0.6146665884602911, + "y": 0.005833322686090276 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹后方移动", + "correction_plan": "爪夹向爪夹前移动至牛排右上方，爪夹向爪夹左移动至牛排上方，爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪机向爪夹后方错误移动", + "frame": 385, + "progress": 5, + "progress_explanation": "当前爪夹向爪夹后方移动进度下降为5%", + "state_description": "当前状态为爪夹张开位于牛排后上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹前移动至牛排右上方", + "time": 12.84527, + "annotations": { + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415567145_arth36qhi", + "x": 0.6756665847371469, + "y": 0.008499989135743072 + } + ] + }, + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415569802_gv9b0r504", + "x": 0.27766660902913765, + "y": 0.11516664712185488, + "width": 0.29699998187255966, + "height": 0.2373333140190988 + } + ] + }, + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415571857_n8eo4h4ld", + "x": 0.5216665941365604, + "y": 0.30849996472168256, + "width": 0.10799999340820347, + "height": 0.1719999860026053 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左下方移动并调整爪夹靠近牛排", + "correction_plan": "爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹向爪夹左下方移动成功靠近牛排", + "frame": 472, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近牛排进度上升为25%", + "state_description": "当前状态为爪夹张卡靠近牛排\n为完成抓取牛排放在油盘的任务应该：爪夹合拢抓取牛排", + "time": 15.740482, + "annotations": { + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415574017_dzqq2mkt2", + "x": 0.543666592793787, + "y": 0.29516663247341857, + "width": 0.11899999273681683, + "height": 0.2106666495225709 + } + ] + }, + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415577345_r4uuwwr0f", + "x": 0.281666608784997, + "y": 0.08183331650119494, + "width": 0.2629999839477549, + "height": 0.27066664463975876 + } + ] + }, + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415579481_bw8dyvaja", + "x": 0.5726665910237676, + "y": 0.38183329208713446 + } + ] + }, + "point_1769415472169": { + "type": "point", + "instances": [ + { + "id": "point_1769415472169_1769415581465_y150wg3iu", + "x": 0.6166665883382209, + "y": 0.3898332914360928 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取牛排", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "抓紧爱合拢成功抓取牛排", + "frame": 492, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取牛排进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧牛排\n为完成抓取牛排放在油盘的任务应该：爪夹保持合拢向爪夹上方抬升", + "time": 16.396168, + "annotations": { + "point_1769415472169": { + "type": "point", + "instances": [ + { + "id": "point_1769415472169_1769415585651_6dgoq0esn", + "x": 0.6266665877278694, + "y": 0.38583329176161363 + } + ] + }, + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415587953_8b2wybpu8", + "x": 0.5846665902913457, + "y": 0.37383329273817606 + } + ] + }, + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415590225_0y06pwlki", + "x": 0.2836666086629267, + "y": 0.11916664679633408, + "width": 0.2729999833374034, + "height": 0.26666664496527953 + } + ] + }, + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415592441_xa7o8482w", + "x": 0.5596665918172246, + "y": 0.3324999627685577, + "width": 0.0729999955444339, + "height": 0.15733332052951496 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升", + "correction_plan": "爪夹向爪夹前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹抓取牛排成功向爪夹上方抬升", + "frame": 551, + "progress": 75, + "progress_explanation": "当前爪夹抓取牛排抬升移动进度上升为75%", + "state_description": "当前状态为爪夹抓取牛排垂直桌面 \n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹前移动至油盘上方", + "time": 18.369803427235183, + "annotations": { + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415595770_hekgsbv8r", + "x": 0.5856665902303106, + "y": 0.19383330738661236, + "width": 0.10099999383544951, + "height": 0.2133333159722236 + }, + { + "id": "bbox_1769415470946_1769415602155_q38q4n5yu", + "x": 0.25366661049398126, + "y": 0.05383331877984059, + "width": 0.29199998217773543, + "height": 0.351999971354169 + } + ] + }, + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415599657_sv4hdz6zn", + "x": 0.6016665892537482, + "y": 0.2164999722086611 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹右后方移动", + "correction_plan": "爪夹向爪夹左前方移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹抓取牛排向爪夹右后方错误移动", + "frame": 605, + "progress": 70, + "progress_explanation": "当前爪夹抓取牛排位于瓷碗上方进度下降为70%", + "state_description": "当前状态为爪夹抓取牛排位于瓷碗上方\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹左前方移动至油盘上方", + "time": 20.174121, + "annotations": { + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415612369_wu4jn8x0a", + "x": 0.7676665791219128, + "y": 0.09916664842393812, + "width": 0.1499999908447271, + "height": 0.2506666462673628 + } + ] + }, + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415616041_e9668rgyg", + "x": 0.25366661049398126, + "y": 0.1044999813232437, + "width": 0.2999999816894542, + "height": 0.29066664301215467 + } + ] + }, + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415617849_60dxmnb2m", + "x": 0.7936665775349988, + "y": 0.14183331161838283 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹下方移动靠近瓷碗", + "correction_plan": "爪夹向爪夹上方抬升向爪夹左前方移至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹抓取牛排向爪夹下方错误移动", + "frame": 638, + "progress": 65, + "progress_explanation": "当前爪夹抓取牛排靠近瓷碗进度下降为65%", + "state_description": "当前状态为爪夹抓取牛排靠近瓷碗\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹上方抬升向爪夹左前方移动至油盘上方", + "time": 21.277872, + "annotations": { + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415621673_50xk5pbgn", + "x": 0.8036665769246474, + "y": 0.2724999676513698 + } + ] + }, + "point_1769415472169": { + "type": "point", + "instances": [ + { + "id": "point_1769415472169_1769415623753_82kqdpm1l", + "x": 0.8486665741780655, + "y": 0.26849996797689063 + } + ] + }, + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415631305_74q26nk9l", + "x": 0.2456666109822625, + "y": 0.11649998034668128, + "width": 0.29599998193359484, + "height": 0.24133331369357797 + } + ] + }, + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415633985_d0t1nx0a8", + "x": 0.7556665798543347, + "y": 0.2271666380072723, + "width": 0.14399999121093793, + "height": 0.21199998274739723 + } + ] + } + } + }, + { + "action_description": "爪夹打开放下牛排", + "correction_plan": "爪夹向爪夹下方移动靠近牛排，爪夹合拢抓取牛排，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹右前移动至油盘上方，爪夹向爪夹下方移动靠近油盘，爪夹打开将牛排放在油盘上", + "error_success_analysis": "爪夹打开错误的将牛排放在瓷碗中", + "frame": 665, + "progress": 20, + "progress_explanation": "当前爪夹位于瓷碗上方进度下降为20%", + "state_description": "当前状态为爪夹打开牛排在瓷碗中\n为完成抓取牛排放在油盘的任务应该：爪夹向爪夹下方移动靠近牛排", + "time": 22.150005, + "annotations": { + "bbox_1769415470946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415470946_1769415637017_xr9fi8dkz", + "x": 0.726666581624354, + "y": 0.17916664191352197, + "width": 0.14599999108886771, + "height": 0.25733331239149476 + } + ] + }, + "bbox_1769415471089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415471089_1769415639305_s32mliqod", + "x": 0.2586666101888055, + "y": 0.1071666477728965, + "width": 0.3329999796752942, + "height": 0.26533331174045316 + } + ] + }, + "point_1769415472018": { + "type": "point", + "instances": [ + { + "id": "point_1769415472018_1769415641474_rka2u156j", + "x": 0.7756665786336316, + "y": 0.2671666347520642 + } + ] + }, + "point_1769415472169": { + "type": "point", + "instances": [ + { + "id": "point_1769415472169_1769415643881_yr9ill9on", + "x": 0.8296665753377332, + "y": 0.28583329989963385 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769415470946", + "name": "牛排", + "color": "#4CAF50" + }, + { + "id": "bbox_1769415471089", + "name": "油盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769415472018", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769415472169", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-104402-put-goggles-porcelain-bowl-good/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-104402-put-goggles-porcelain-bowl-good/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..f72623bbcd2a5abea59d5a975db9525ecf1c1d94 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-104402-put-goggles-porcelain-bowl-good/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,504 @@ +{ + "task_description": "把护目镜放进瓷碗里\n开始移动：0%\n爪夹靠近护目镜：25%\n抓紧护目镜：50%\n移动护目镜:75%\n将护目镜完全放在瓷碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1769415352498": { + "instances": [ + { + "height": 0.1639999866536469, + "id": "bbox_1769415352498_1769415370394_nfevge5zn", + "width": 0.163999989990235, + "x": 0.29566660793050487, + "y": 0.1979814654403511 + } + ], + "type": "bbox" + }, + "bbox_1769415353945": { + "instances": [ + { + "height": 0.3373333058810786, + "id": "bbox_1769415353945_1769415375355_35mt5qg51", + "width": 0.18299998883056706, + "x": 0.4726665971272829, + "y": 0.46598144363045707 + } + ], + "type": "bbox" + }, + "point_1769415354738": { + "instances": [ + { + "id": "point_1769415354738_1769415377298_0khdpzpi7", + "x": 0.43266659956868897, + "y": 0.25131479443340704 + } + ], + "type": "point" + }, + "point_1769415354873": { + "instances": [ + { + "id": "point_1769415354873_1769415379745_pl45y9mk0", + "x": 0.5296665936482792, + "y": 0.25398146088305984 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹进度向爪夹右移动至护目镜上方，爪夹向爪夹下移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至瓷碗左上方，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "当前爪夹为开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成抓取护目镜放在瓷碗的任务应该：爪夹调整爪夹进度向爪夹右移动至护目镜上方", + "time": 1.4712479829492953 + }, + { + "action_description": "爪夹向爪夹上方抬升并调整爪夹角度", + "annotations": { + "bbox_1769415352498": { + "instances": [ + { + "height": 0.20933331629774443, + "id": "bbox_1769415352498_1769415389866_oerzvb3ol", + "width": 0.17399998937988345, + "x": 0.28966660829671576, + "y": 0.19783330706109153 + } + ], + "type": "bbox" + }, + "bbox_1769415353945": { + "instances": [ + { + "height": 0.2906666430121547, + "id": "bbox_1769415353945_1769415387521_vqb90k1t1", + "width": 0.19299998822021552, + "x": 0.4766665968831423, + "y": 0.49116661652289906 + } + ], + "type": "bbox" + }, + "point_1769415354738": { + "instances": [ + { + "id": "point_1769415354738_1769415384801_vpiqlj8fn", + "x": 0.41466660066732175, + "y": 0.20583330641004993 + } + ], + "type": "point" + }, + "point_1769415354873": { + "instances": [ + { + "id": "point_1769415354873_1769415382690_bjuz943tg", + "x": 0.5086665949300173, + "y": 0.20316663996039713 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右移动至护目镜上方，爪夹向爪夹下移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至瓷碗左上方，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹上方错误抬升", + "frame": 82, + "progress": -5, + "progress_explanation": "当前爪夹垂直桌面但远离护目镜进度下降为-5%", + "state_description": "当前状态为爪夹张开爪夹垂直桌面\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹右移动至护目镜上方", + "time": 2.742641 + }, + { + "action_description": "爪夹向爪夹右前方移动至护目镜上方", + "annotations": { + "bbox_1769415352498": { + "instances": [ + { + "height": 0.2319999811197932, + "id": "bbox_1769415352498_1769415392385_jb16pbz1k", + "width": 0.18999998840332105, + "x": 0.2866666084798212, + "y": 0.20983330608452913 + } + ], + "type": "bbox" + }, + "bbox_1769415353945": { + "instances": [ + { + "height": 0.32533330685764106, + "id": "bbox_1769415353945_1769415394402_mcfcec0bl", + "width": 0.2029999876098641, + "x": 0.45866659798177495, + "y": 0.48049995072428786 + } + ], + "type": "bbox" + }, + "point_1769415354738": { + "instances": [ + { + "id": "point_1769415354738_1769415397129_xsgo4b7gx", + "x": 0.35466660432943087, + "y": 0.2551666357286267 + } + ], + "type": "point" + }, + "point_1769415354873": { + "instances": [ + { + "id": "point_1769415354873_1769415399897_n7elam1xc", + "x": 0.4416665990193726, + "y": 0.26849996797689063 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹下移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至瓷碗左上方，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "", + "frame": 114, + "progress": 10, + "progress_explanation": "当前爪夹张开位于护目镜上方进度上升为10%", + "state_description": "当前状态为爪夹张开位于护目镜上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹下移动靠近护目镜", + "time": 3.806444 + }, + { + "action_description": "爪夹向爪夹左下移动靠近护目镜", + "annotations": { + "bbox_1769415352498": { + "instances": [ + { + "height": 0.1666666531032997, + "id": "bbox_1769415352498_1769415407146_1xwwmd8lm", + "width": 0.17999998901367248, + "x": 0.2846666086018915, + "y": 0.20716663963487633 + } + ], + "type": "bbox" + }, + "bbox_1769415353945": { + "instances": [ + { + "height": 0.31199997460937706, + "id": "bbox_1769415353945_1769415408899_pq5z1jd7d", + "width": 0.1809999889526373, + "x": 0.4726665971272829, + "y": 0.4724999513753295 + } + ], + "type": "bbox" + }, + "point_1769415354873": { + "instances": [ + { + "id": "point_1769415354873_1769415403618_jec25ci23", + "x": 0.4666665974934937, + "y": 0.30983329794650893 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至瓷碗左上方，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹左下移动成功靠近护目镜", + "frame": 150, + "progress": 25, + "progress_explanation": "爪夹张开靠近护目镜进度上升为25%", + "state_description": "当前状态为爪夹张开靠近护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹合拢抓取护目镜", + "time": 5.013335 + }, + { + "action_description": "爪夹合拢抓取护目镜", + "annotations": { + "bbox_1769415352498": { + "instances": [ + { + "height": 0.21733331564670286, + "id": "bbox_1769415352498_1769415416578_acee23qry", + "width": 0.12199999255371137, + "x": 0.34266660506185265, + "y": 0.18183330836317477 + } + ], + "type": "bbox" + }, + "bbox_1769415353945": { + "instances": [ + { + "height": 0.2946666426866339, + "id": "bbox_1769415353945_1769415412361_fx0y604e8", + "width": 0.19299998822021552, + "x": 0.45966659792073983, + "y": 0.4724999513753295 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹前移动至瓷碗左上方，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹合拢成功抓取护目镜", + "frame": 170, + "progress": 50, + "progress_explanation": "当前爪夹抓取护目镜进度上升为50%", + "state_description": "当前状态为爪夹合拢夹紧护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹保持合拢向爪夹上方抬升", + "time": 5.683069 + }, + { + "action_description": "爪夹抓取护目镜向爪夹上方抬升", + "annotations": { + "bbox_1769415352498": { + "instances": [ + { + "height": 0.19999998372395966, + "id": "bbox_1769415352498_1769415420418_vui1n74as", + "width": 0.1839999887695319, + "x": 0.29566660793050487, + "y": 0.18849997448730677 + } + ], + "type": "bbox" + }, + "bbox_1769415353945": { + "instances": [ + { + "height": 0.25066664626736285, + "id": "bbox_1769415353945_1769415427785_i4d43eizq", + "width": 0.2009999877319343, + "x": 0.4736665970662477, + "y": 0.5031666155463366 + } + ], + "type": "bbox" + }, + "point_1769415354738": { + "instances": [ + { + "id": "point_1769415354738_1769415423033_yg2wqhamz", + "x": 0.3826666026204466, + "y": 0.2724999676513698 + } + ], + "type": "point" + }, + "point_1769415354873": { + "instances": [ + { + "id": "point_1769415354873_1769415425457_wiqkhmycw", + "x": 0.4166666005452514, + "y": 0.27516663410102266 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前移动至瓷碗左上方，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹抓取护目镜向爪夹上方成功抬升", + "frame": 245, + "progress": 75, + "progress_explanation": "当前爪夹抓取护目镜抬升进度上升为75%", + "state_description": "当前状态为爪夹抓取护目镜垂直桌面\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹前移动至瓷碗左上方", + "time": 8.182202 + }, + { + "action_description": "爪夹向爪就爱左前方移动至瓷碗上方", + "annotations": { + "bbox_1769415352498": { + "instances": [ + { + "height": 0.2106666495225708, + "id": "bbox_1769415352498_1769415434201_9v46yb53q", + "width": 0.2259999862060555, + "x": 0.4436665988973023, + "y": 0.38449995853678726 + } + ], + "type": "bbox" + }, + "bbox_1769415353945": { + "instances": [ + { + "height": 0.2613333120659739, + "id": "bbox_1769415353945_1769415431938_ma0xxtvmf", + "width": 0.20999998718261798, + "x": 0.45166659840902107, + "y": 0.4724999513753295 + } + ], + "type": "bbox" + }, + "point_1769415354738": { + "instances": [ + { + "id": "point_1769415354738_1769415436993_ly43l2jit", + "x": 0.5936665897420295, + "y": 0.4658332852511975 + } + ], + "type": "point" + }, + "point_1769415354873": { + "instances": [ + { + "id": "point_1769415354873_1769415438922_wcr8lrvd3", + "x": 0.6326665873616585, + "y": 0.4538332862277599 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹左前方移动至瓷碗上方", + "frame": 286, + "progress": 85, + "progress_explanation": "当前爪夹黄钻前护目镜靠近瓷碗进度上升为85%", + "state_description": "当前状态为爪夹抓取护目镜位于瓷碗上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹下方移动靠近下午", + "time": 9.526436 + }, + { + "action_description": "爪夹向爪夹左方的前下方移动靠近瓷碗", + "annotations": { + "bbox_1769415352498": { + "instances": [ + { + "height": 0.13333332248263982, + "id": "bbox_1769415352498_1769415446977_2vz8d1pye", + "width": 0.14299999127197321, + "x": 0.569666591206873, + "y": 0.5924999416097053 + } + ], + "type": "bbox" + }, + "bbox_1769415353945": { + "instances": [ + { + "height": 0.3146666410590298, + "id": "bbox_1769415353945_1769415448882_da6fwbsz9", + "width": 0.23299998577880948, + "x": 0.4696665973103883, + "y": 0.5044999487711631 + } + ], + "type": "bbox" + }, + "point_1769415354738": { + "instances": [ + { + "id": "point_1769415354738_1769415444585_x82gk7oeo", + "x": 0.6586665857747445, + "y": 0.6484999370524139 + } + ], + "type": "point" + }, + "point_1769415354873": { + "instances": [ + { + "id": "point_1769415354873_1769415442169_5douztnng", + "x": 0.6886665839436898, + "y": 0.6404999377034557 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹左方前下方成功移动靠近瓷碗", + "frame": 316, + "progress": 95, + "progress_explanation": "当前爪夹抓取护目镜靠近瓷碗进度上升为95%", + "state_description": "当前状态为爪夹抓取护目镜靠近瓷碗\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开将护目镜放在瓷碗中", + "time": 10.519163 + }, + { + "action_description": "爪夹打开将护目镜放在瓷碗中", + "annotations": { + "bbox_1769415352498": { + "instances": [ + { + "height": 0.1853333182508693, + "id": "bbox_1769415352498_1769415454514_dekvzknsh", + "width": 0.17099998956298892, + "x": 0.5346665933431034, + "y": 0.6098332735324484 + } + ], + "type": "bbox" + }, + "bbox_1769415353945": { + "instances": [ + { + "height": 0.2626666452908004, + "id": "bbox_1769415353945_1769415452433_xiuhlzvyg", + "width": 0.18999998840332105, + "x": 0.4686665973714234, + "y": 0.5058332819959894 + } + ], + "type": "bbox" + }, + "point_1769415354738": { + "instances": [ + { + "id": "point_1769415354738_1769415457025_8rb5eqey4", + "x": 0.5956665896199591, + "y": 0.6871666005723794 + } + ], + "type": "point" + }, + "point_1769415354873": { + "instances": [ + { + "id": "point_1769415354873_1769415459322_mk4z9yqm6", + "x": 0.6976665833943735, + "y": 0.6564999364013724 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将护目镜放在瓷碗中", + "frame": 349, + "progress": 100, + "progress_explanation": "当前爪夹打开将护目镜放在瓷碗中任务完成进度上升为100%", + "state_description": "当前状态为爪夹打开将护目镜放在瓷碗中任务完成\n", + "time": 11.632114 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769415352498", + "name": "护目镜" + }, + { + "color": "#FF9800", + "id": "bbox_1769415353945", + "name": "瓷碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769415354738", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769415354873", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..bf374c0340f788b76e810490877dbcc913df4ff8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,562 @@ +{ + "task_description": "把护目镜放进瓷碗里\n开始移动：0%\n爪夹靠近护目镜：25%\n抓紧护目镜：50%\n移动护目镜:75%\n将护目镜完全放在瓷碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整爪夹角度向爪夹掐方移动至护目镜左上方，爪夹向爪夹右方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "当前爪夹为开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成抓取护目镜放在瓷碗的任务应该：爪夹调整爪夹角度向爪夹掐方移动至护目镜左上方", + "time": 0.7100515592783505, + "annotations": { + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502717200_zd90hi8lh", + "x": 0.6401427200857022, + "y": 0.6174363765373483, + "width": 0.15471049977552864, + "height": 0.27803045702322005 + } + ] + }, + "point_1769502698792": { + "type": "point", + "instances": [ + { + "id": "point_1769502698792_1769502718744_4toxxfvqn", + "x": 0.6805019808967097, + "y": 0.6308894631675042 + } + ] + }, + "point_1769502698648": { + "type": "point", + "instances": [ + { + "id": "point_1769502698648_1769502721016_9aozr4yre", + "x": 0.5482132926828517, + "y": 0.6592904238311663 + } + ] + }, + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502723872_vw9c58alz", + "x": 0.31838972417572575, + "y": 0.48141072283243963, + "width": 0.22982356850712593, + "height": 0.27803045702322 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右上抬升", + "correction_plan": "爪夹向爪夹前下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹向爪夹上方错误抬升", + "frame": 48, + "progress": -5, + "progress_explanation": "当前爪夹向上抬升远离护目镜进度下降为-5%", + "state_description": "当前状态为抓紧爱张开位于护目镜后上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹前下方移动靠近护目镜", + "time": 1.5979, + "annotations": { + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502728320_9vw8swkcu", + "x": 0.3139053618633916, + "y": 0.44689472149548803, + "width": 0.22309702503862475, + "height": 0.3064314176868822 + } + ] + }, + "point_1769502698792": { + "type": "point", + "instances": [ + { + "id": "point_1769502698792_1769502730752_mpt2teim3", + "x": 0.8722084697489952, + "y": 0.42297812304187776 + } + ] + }, + "point_1769502698648": { + "type": "point", + "instances": [ + { + "id": "point_1769502698648_1769502732721_tma8nrap6", + "x": 0.7556150496283068, + "y": 0.3766397135380078 + } + ] + }, + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502736648_g3x4344eh", + "x": 0.6479903541322869, + "y": 0.59039431221715, + "width": 0.13116759763577432, + "height": 0.3318428035438431 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方右下方的牛排移动靠近牛排", + "correction_plan": "爪夹向爪夹上方抬升，爪夹向爪夹左后方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹向爪夹右下方错误移动", + "frame": 101, + "progress": -10, + "progress_explanation": "当前爪夹靠近牛排进度下降为-10%", + "state_description": "当前状态为爪夹张开靠近牛排\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹上方抬升", + "time": 3.353832, + "annotations": { + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502739632_jn8ef0mm5", + "x": 0.6524747164446211, + "y": 0.5830562662602835, + "width": 0.16480031497828057, + "height": 0.3019470554768303 + } + ] + }, + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502741552_ne5xhnuo1", + "x": 0.3273584488003941, + "y": 0.43344163486533227, + "width": 0.19058539827420207, + "height": 0.3004522680734796 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取牛排", + "correction_plan": "爪夹打开向爪夹上方抬升，爪夹向爪夹左后方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹错误合拢抓取牛排", + "frame": 126, + "progress": -15, + "progress_explanation": "当前爪夹抓取牛排进度下降为-15%", + "state_description": "当前状态为爪夹合拢抓紧牛排\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开向爪夹上方抬升", + "time": 4.185609, + "annotations": { + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502751192_lz2toi494", + "x": 0.3195108147538093, + "y": 0.45749412437882936, + "width": 0.19619085116461976, + "height": 0.28550439403997313 + } + ] + }, + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502753136_v7nauje9p", + "x": 0.6580801693350388, + "y": 0.5621292426133745, + "width": 0.10986687665218708, + "height": 0.31838971691368734 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升", + "correction_plan": "爪夹打开放下牛排，爪夹向爪夹左后方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹抓取牛排向爪夹上方错误抬升", + "frame": 173, + "progress": -20, + "progress_explanation": "当前爪夹抓取牛排抬升进度下降为-20%", + "state_description": "当前状态为爪夹抓取牛排垂直桌面\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开放下牛排", + "time": 5.767133, + "annotations": { + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502758648_vzh7viw4s", + "x": 0.6569590787569553, + "y": 0.6427118713344225, + "width": 0.1423785034166097, + "height": 0.264577370393064 + } + ] + }, + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502760985_ixpq0wvv5", + "x": 0.3408115357373966, + "y": 0.46483217033569585, + "width": 0.1961908511646197, + "height": 0.28849396884667444 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右上方抬升移动", + "correction_plan": "爪夹打开放下牛排，爪夹向爪夹右后方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹抓取牛排向爪夹左上方错误抬升移动", + "frame": 199, + "progress": -25, + "progress_explanation": "当前爪抓取煎牛排位于瓷碗右上方进度下降为-25", + "state_description": "当前状态为爪夹抓取牛排为语瓷碗右上方的\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开放下牛排", + "time": 6.617680532474226, + "annotations": { + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502764288_2ald0r44h", + "x": 0.36435443787715094, + "y": 0.4710831077710333, + "width": 0.15919486208786288, + "height": 0.2526190711662589 + } + ] + }, + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502766616_x5jiby7pi", + "x": 0.6939550678337121, + "y": 0.6246385285832473, + "width": 0.09641378971518452, + "height": 0.18834321282218128 + } + ] + } + } + }, + { + "action_description": "爪夹打开放下牛排", + "correction_plan": "爪夹向爪夹右后方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹打开成功放下牛排", + "frame": 223, + "progress": -5, + "progress_explanation": "当前爪夹放下牛排进度上升为-5%", + "state_description": "当前状态为爪夹打开位于护目镜左上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹右后方移动至护目镜上方", + "time": 7.422476, + "annotations": { + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502771816_tmic6gcaa", + "x": 0.6177209085240313, + "y": 0.5920249906803874, + "width": 0.13116759763577432, + "height": 0.1898380002255319 + } + ] + }, + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502774000_pbwggntrv", + "x": 0.325116267644227, + "y": 0.49187423465589414, + "width": 0.21300720983587285, + "height": 0.27504088221651857 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右后方移动至护目镜上方", + "correction_plan": "爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹向爪夹右后方成功移动至护目镜上方", + "frame": 279, + "progress": 10, + "progress_explanation": "当前爪夹移动桌子护目镜上方进度上升为10%", + "state_description": "当前状态为爪夹张卡位于护目镜上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向方爪夹下右方靠近护目镜", + "time": 9.293533, + "annotations": { + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502776673_0rj4irnxi", + "x": 0.32399517706614345, + "y": 0.4710831077710333, + "width": 0.24215556486604495, + "height": 0.2899887562500251 + } + ] + }, + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502778944_9fw6f6s18", + "x": 0.6827441620528767, + "y": 0.6128161232674096, + "width": 0.09192942740285037, + "height": 0.30493663028353146 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近护目镜", + "correction_plan": "爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹向爪夹下方移动成功靠近护目镜", + "frame": 313, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近护目镜进度上升为25%", + "state_description": "当前状态为爪夹张开靠近护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹合拢抓取护目镜", + "time": 10.432266, + "annotations": { + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502781961_b8h9g30of", + "x": 0.5986623686966112, + "y": 0.6056139740725913, + "width": 0.1939486700084526, + "height": 0.2331868349227006 + } + ] + }, + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502788768_udcwly7hv", + "x": 0.34193262631548016, + "y": 0.46918063863478027, + "width": 0.19170648885228556, + "height": 0.2840096066366225 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取护目镜", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左前方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹合拢成功抓取护目镜", + "frame": 335, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取护目镜进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹保持合拢向爪夹上方抬升", + "time": 11.167243593839077, + "annotations": { + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502791680_2obsnupe7", + "x": 0.29708900319213843, + "y": 0.4501560841241243, + "width": 0.25112428949071325, + "height": 0.30194705547683026 + } + ] + } + } + }, + { + "action_description": "爪夹抓取护目镜向爪夹上方抬升", + "correction_plan": "爪夹向爪夹左前方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹抓取护目镜向爪夹上方成功抬升", + "frame": 396, + "progress": 75, + "progress_explanation": "当前爪夹抓取护目镜向爪夹上方抬升移动进度上升为75%", + "state_description": "当前状态为爪夹抓取护目镜催着桌面\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹左移动至瓷碗上方", + "time": 13.205633, + "annotations": { + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502803512_uqh1l5bbx", + "x": 0.6849863432090438, + "y": 0.45137908370554, + "width": 0.1132301483864376, + "height": 0.11061426784794773 + } + ] + }, + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502805744_0dnrq5bqt", + "x": 0.325116267644227, + "y": 0.49771749320941, + "width": 0.18834321711803498, + "height": 0.25112428376290835 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动至瓷碗上方", + "correction_plan": "爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹抓取护目镜向爪夹左成功移动至瓷碗上方", + "frame": 469, + "progress": 85, + "progress_explanation": "当前爪夹抓取护目镜位于瓷碗上方进度上升为85%", + "state_description": "当前状态为爪夹抓取煮面机位于瓷碗上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹下方移动靠近瓷碗", + "time": 15.630601658247421, + "annotations": { + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502810440_oatp1pud5", + "x": 0.432740963140247, + "y": 0.4559993369754787, + "width": 0.12107778243302247, + "height": 0.2003015120489864 + } + ] + }, + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502814360_dy312k49b", + "x": 0.3195108147538093, + "y": 0.41265050227830996, + "width": 0.042601441967174566, + "height": 0.09417160641109064 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近瓷碗 ", + "correction_plan": "爪夹打开将护目镜放置瓷碗中 ", + "error_success_analysis": "爪夹抓取护目镜向爪夹下方移动成功开进瓷碗", + "frame": 497, + "progress": 95, + "progress_explanation": "当前爪夹抓取护目镜靠近瓷碗进度上升为95%", + "state_description": "当前状态为爪夹抓取护目镜靠近瓷碗\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开将护目镜放置瓷碗中 ", + "time": 16.577337070618558, + "annotations": { + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502817520_xqwbh4dym", + "x": 0.4293776914059963, + "y": 0.5577807771653708, + "width": 0.05269125716992651, + "height": 0.06278107094072709 + } + ] + }, + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502820144_sar1lbite", + "x": 0.34865916978398137, + "y": 0.4603478081256439, + "width": 0.22309702503862475, + "height": 0.29148354365337575 + } + ] + } + } + }, + { + "action_description": "爪夹打开将护目镜放置瓷碗中 ", + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将护目镜放置瓷碗中 ", + "frame": 534, + "progress": 100, + "progress_explanation": "当前爪夹打开将护目镜放置瓷碗中任务完成进度上升为100%", + "state_description": "当前状态为爪夹张开护目镜位于瓷碗中任务完成\n", + "time": 17.795130535984025, + "annotations": { + "bbox_1769502697888": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697888_1769502823168_l5juiowff", + "x": 0.4148035138909103, + "y": 0.45912480854422816, + "width": 0.14349959399469334, + "height": 0.21076502387244087 + } + ] + }, + "bbox_1769502697737": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769502697737_1769502826024_j1roz6kfl", + "x": 0.31054209012914097, + "y": 0.4887487687893061, + "width": 0.038117079654840416, + "height": 0.08370809458763612 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769502697737", + "name": "护目镜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769502697888", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769502698648", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769502698792", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..21948657aecd596cd51b0e6fffe110cc046008f5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,641 @@ +{ + "task_description": "把护目镜放进瓷碗里\n开始移动：0%\n爪夹靠近护目镜：25%\n抓紧护目镜：50%\n移动护目镜:75%\n将护目镜完全放在瓷碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整爪夹进度向爪夹前移动至护目镜左上方，爪夹向爪夹右移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成抓取护目镜放在瓷碗的任务应该：爪夹调整爪夹进度向爪夹前移动至护目镜左上方", + "time": 0.6117299710271134, + "annotations": { + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503131056_ir0mouwir", + "x": 0.7193750000000001, + "y": 0.14019791666666667, + "width": 0.196, + "height": 0.2786666666666667 + } + ] + }, + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503133720_rlzqiov3z", + "x": 0.700375, + "y": 0.4921979166666667, + "width": 0.20099999999999998, + "height": 0.2800000000000001 + } + ] + }, + "point_1769503105304": { + "type": "point", + "instances": [ + { + "id": "point_1769503105304_1769503135552_edxbhwa4c", + "x": 0.556375, + "y": 0.65353125 + }, + { + "id": "point_1769503105304_1769503137880_lxsur3xt1", + "x": 0.670375, + "y": 0.6441979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方抬升并调整爪夹角度", + "correction_plan": "爪夹向爪夹前移动至护目镜左上方，爪夹向爪夹右移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹上方错误抬升", + "frame": 44, + "progress": -10, + "progress_explanation": "当前爪夹向爪夹上方抬升远离护目镜角度下降为-10%", + "state_description": "当前状态为爪机张开远离护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹前移动至护目镜左上方", + "time": 1.4804854176546391, + "annotations": { + "point_1769503105304": { + "type": "point", + "instances": [ + { + "id": "point_1769503105304_1769503147784_q6cjkr1ic", + "x": 0.5743750000000001, + "y": 0.6388645833333334 + } + ] + }, + "point_1769503105456": { + "type": "point", + "instances": [ + { + "id": "point_1769503105456_1769503150064_k2rllhfiy", + "x": 0.6943750000000001, + "y": 0.63753125 + } + ] + }, + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503152344_4454rynf9", + "x": 0.697375, + "y": 0.5228645833333333, + "width": 0.203, + "height": 0.22800000000000006 + } + ] + }, + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503154520_9wyky1uun", + "x": 0.734375, + "y": 0.1908645833333333, + "width": 0.17699999999999996, + "height": 0.20000000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动并调整爪夹角度", + "correction_plan": "爪夹向爪夹右前方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹右前方成功移动至护目镜左后方", + "frame": 92, + "progress": 15, + "progress_explanation": "当前爪夹向爪夹右前方移动至护目镜左后方角度上升为15%", + "state_description": "当前状态为爪夹张开位于瓷碗上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹右前方移动至护目镜上方", + "time": 3.075333, + "annotations": { + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503157232_4yeivdzuw", + "x": 0.731375, + "y": 0.17753125, + "width": 0.1160000000000001, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503159424_41lrxgwdz", + "x": 0.725375, + "y": 0.5401979166666667, + "width": 0.19000000000000003, + "height": 0.2306666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左下方移动靠近小麦面包", + "correction_plan": "爪夹向爪夹上方抬升向爪夹右前方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹左下方错误移动靠近小麦面包", + "frame": 136, + "progress": 10, + "progress_explanation": "当前爪夹张开位于护目镜左下方进度下降为10%", + "state_description": "当前状态为爪夹张开靠近小麦面包\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹上方抬升向爪夹右前方移动至护目镜上方", + "time": 4.539724, + "annotations": { + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503164176_kb73qysm8", + "x": 0.6903750000000001, + "y": 0.5388645833333334, + "width": 0.176, + "height": 0.19066666666666662 + } + ] + }, + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503166408_pzyhk268s", + "x": 0.749375, + "y": 0.15886458333333334, + "width": 0.158, + "height": 0.252 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹打开向爪夹上方抬升向爪夹右前方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹合拢错误", + "frame": 160, + "progress": -5, + "progress_explanation": "当前爪夹合拢靠近小麦面包进度下降为-5%", + "state_description": "当前状态为爪夹合拢靠近小麦面包\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开向爪夹上方抬升向爪夹右前方移动至护目镜上方", + "time": 5.330313654768041, + "annotations": { + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503169584_8sx0nwo7w", + "x": 0.750375, + "y": 0.18019791666666668, + "width": 0.15099999999999997, + "height": 0.22666666666666668 + } + ] + }, + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503172120_t9mxljts1", + "x": 0.726375, + "y": 0.5188645833333333, + "width": 0.14900000000000002, + "height": 0.284 + } + ] + } + } + }, + { + "action_description": "爪夹合拢向爪夹上方抬升", + "correction_plan": "爪夹打开向爪夹右下方移动靠近护目镜，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹上方成功抬升", + "frame": 202, + "progress": 10, + "progress_explanation": "当前爪夹合拢在瓷碗上方进度上升为10%", + "state_description": "当前状态为爪夹合拢位于瓷碗上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开向爪夹右下方移动靠近护目镜", + "time": 6.740581, + "annotations": { + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503175120_6nrhmch7d", + "x": 0.6873750000000001, + "y": 0.5041979166666667, + "width": 0.16900000000000004, + "height": 0.25466666666666665 + } + ] + }, + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503177128_9wuhk2ui4", + "x": 0.729375, + "y": 0.16019791666666666, + "width": 0.17299999999999996, + "height": 0.23333333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹打开", + "correction_plan": "爪夹向爪夹右前方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹成功张开", + "frame": 215, + "progress": 15, + "progress_explanation": "爪夹打开进度上升为15%", + "state_description": "当前状态为爪夹张开位于护目镜左方的后上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹右前方移动至护目镜上方", + "time": 7.164643579510311, + "annotations": { + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503180056_e7apl79u7", + "x": 0.749375, + "y": 0.1908645833333333, + "width": 0.166, + "height": 0.30933333333333335 + } + ] + }, + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503184664_7r6fasthz", + "x": 0.729375, + "y": 0.5108645833333333, + "width": 0.146, + "height": 0.24799999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方的右下方移动靠近护目镜", + "correction_plan": "爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹前方的右下方移动靠近护目镜", + "frame": 254, + "progress": 25, + "progress_explanation": "当前爪夹卡进护目镜进度上升为25%", + "state_description": "当前状态为爪夹张开爪夹右靠近护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹合拢抓取护目镜", + "time": 8.473028, + "annotations": { + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503189216_0178tklma", + "x": 0.857375, + "y": 0.5601979166666666, + "width": 0.04900000000000002, + "height": 0.22533333333333339 + } + ] + }, + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503191360_wk7x130zs", + "x": 0.835375, + "y": 0.26419791666666664, + "width": 0.07599999999999998, + "height": 0.2066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹打开向爪夹右移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹合拢抓取护目镜失败", + "frame": 299, + "progress": 35, + "progress_explanation": "当前爪夹合拢靠近护目镜进度上升为35%", + "state_description": "当前状态为爪夹合拢靠近护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开向爪夹右移动靠近护目镜", + "time": 9.972753587757733, + "annotations": { + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503195864_mspziyu67", + "x": 0.735375, + "y": 0.13886458333333335, + "width": 0.04400000000000004, + "height": 0.10400000000000001 + } + ] + }, + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503198296_cvxnkj6e1", + "x": 0.709375, + "y": 0.5308645833333333, + "width": 0.18100000000000005, + "height": 0.2293333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升", + "correction_plan": "爪夹打开向爪夹右下方的护目镜移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹抓取护目镜失败向爪夹上方抬升", + "frame": 342, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹上方抬升进度下降为10%", + "state_description": "当前状态为爪夹合拢位于小麦面包上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开向爪夹右下方的护目镜移动靠近护目镜", + "time": 11.400581, + "annotations": { + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503202048_ye0euhglt", + "x": 0.6753750000000001, + "y": 0.50553125, + "width": 0.18699999999999992, + "height": 0.25866666666666666 + } + ] + }, + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503204288_h3ndvosbh", + "x": 0.730375, + "y": 0.17619791666666668, + "width": 0.11700000000000008, + "height": 0.18266666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹打开", + "correction_plan": "爪夹向爪夹前方移动至护目镜上方，爪夹向爪夹下方移靠近就护目镜，，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "", + "frame": 390, + "progress": 15, + "progress_explanation": "爪夹成功打开", + "state_description": "当前状态为爪夹张开位于小麦面包上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹前方移动至护目镜上方，爪夹向爪夹下方移靠近就护目镜，", + "time": 13.007324080541238, + "annotations": { + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503206760_u80x9pron", + "x": 0.7193750000000001, + "y": 0.13753125, + "width": 0.14500000000000002, + "height": 0.2946666666666667 + } + ] + }, + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503208672_eg0fo9l2h", + "x": 0.6953750000000001, + "y": 0.5241979166666667, + "width": 0.20599999999999996, + "height": 0.3026666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方的左下方移动靠近护目镜", + "correction_plan": "爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹前方的左下方移动成功靠近护目镜", + "frame": 432, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近护目镜进度上升为25%", + "state_description": "当前状态为爪夹张开靠近护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹合拢抓取护目镜", + "time": 14.411379084664947, + "annotations": { + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503211849_q9ma8vdrg", + "x": 0.706375, + "y": 0.50553125, + "width": 0.18600000000000003, + "height": 0.304 + } + ] + }, + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503214121_g3nnmyuey", + "x": 0.722375, + "y": 0.16553125, + "width": 0.10499999999999998, + "height": 0.17733333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取护目镜", + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左后方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹合拢成功抓取护目镜", + "frame": 462, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取护目镜进度上升为50%", + "state_description": "当前状态为爪夹合拢爪紧护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹保持合拢向爪夹上方抬升", + "time": 15.40780521662371, + "annotations": { + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503216304_7css9fiin", + "x": 0.717375, + "y": 0.12286458333333333, + "width": 0.10199999999999995, + "height": 0.33066666666666666 + } + ] + }, + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503218353_rnuvrx7ow", + "x": 0.732375, + "y": 0.5108645833333333, + "width": 0.13399999999999998, + "height": 0.23866666666666672 + } + ] + } + } + }, + { + "action_description": "爪夹抓取护目镜向爪夹后上方抬升移动", + "correction_plan": "爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹抓取护目镜成功向爪夹后上方抬升", + "frame": 544, + "progress": 75, + "progress_explanation": "当前爪夹抓取护目镜位于瓷碗上方进度上升为75%", + "state_description": "当前状态为爪夹抓取护目镜位于瓷碗上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹下移动靠近瓷碗", + "time": 18.1253310310567, + "annotations": { + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503220602_nh1v3q1i4", + "x": 0.705375, + "y": 0.51353125, + "width": 0.13999999999999996, + "height": 0.2586666666666667 + } + ] + }, + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503223080_87e08wl1s", + "x": 0.8403750000000001, + "y": 0.31753125, + "width": 0.13699999999999993, + "height": 0.38533333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动靠近瓷碗", + "correction_plan": "爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹下方成功移动靠近瓷碗", + "frame": 574, + "progress": 95, + "progress_explanation": "当前爪夹抓取护目镜靠近瓷碗进度上升为95%", + "state_description": "当前状态为爪夹抓取护目镜靠近瓷碗\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开将护目镜放在瓷碗中", + "time": 19.144403211469072, + "annotations": { + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503226344_ycd3wrnvx", + "x": 0.7813749999999999, + "y": 0.4241979166666667, + "width": 0.13500000000000006, + "height": 0.3026666666666666 + } + ] + }, + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503228409_rsb4zn1u6", + "x": 0.705375, + "y": 0.5228645833333333, + "width": 0.22600000000000006, + "height": 0.348 + } + ] + } + } + }, + { + "action_description": "爪夹打开当下护目镜", + "correction_plan": "", + "error_success_analysis": "爪夹打开中国将护目镜放在瓷碗中", + "frame": 601, + "progress": 100, + "progress_explanation": "当前爪夹打开将护目镜放在瓷碗中任务完成进度上升为100%", + "state_description": "当前状态为爪夹张开护目镜放在瓷碗任务完成\n", + "time": 20.032769, + "annotations": { + "bbox_1769503104176": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503104176_1769503231928_4ge8w2oq1", + "x": 0.697375, + "y": 0.5201979166666667, + "width": 0.1830000000000001, + "height": 0.26933333333333337 + } + ] + }, + "bbox_1769503103880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769503103880_1769503234039_w5uhi8dzm", + "x": 0.790375, + "y": 0.4401979166666667, + "width": 0.10600000000000005, + "height": 0.26933333333333326 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769503103880", + "name": "护目镜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769503104176", + "name": "瓷碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769503105304", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769503105456", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..3deec375a6efc948a40991251785d16eadef8da5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,514 @@ +{ + "task_description": "把护目镜放进瓷碗里\n开始移动：0%\n爪夹靠近护目镜：25%\n抓紧护目镜：50%\n移动护目镜:75%\n将护目镜完全放在瓷碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1769502880104": { + "instances": [ + { + "height": 0.2705565200064667, + "id": "bbox_1769502880104_1769502901120_io1woc47g", + "width": 0.12556214474535654, + "x": 0.8127906691105675, + "y": 0.09127121055792137 + } + ], + "type": "bbox" + }, + "bbox_1769502880248": { + "instances": [ + { + "height": 0.24514513414950576, + "id": "bbox_1769502880248_1769502904288_0ae46wkun", + "width": 0.23094465908520956, + "x": 0.4955220355129253, + "y": 0.02699535221384364 + } + ], + "type": "bbox" + }, + "point_1769502881058": { + "instances": [ + { + "id": "point_1769502881058_1769502906864_akgghhqw4", + "x": 0.3374482640031459, + "y": 0.39172347863140095 + } + ], + "type": "point" + }, + "point_1769502881200": { + "instances": [ + { + "id": "point_1769502881200_1769502909032_v4m3jrkk0", + "x": 0.4663736804827532, + "y": 0.41862965189171253 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹进度向爪夹前移动至护目镜左上方，爪夹向爪夹右方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "当前爪夹未开始移动进度为0%", + "state_description": "当前为初始状态，爪夹张开，未开始移动\n为完成抓取护目镜放在瓷碗的任务应该：爪夹调整爪夹进度向爪夹前移动至护目镜左上方", + "time": 0.48565791857432455 + }, + { + "action_description": "爪夹向爪夹上方抬升", + "annotations": { + "bbox_1769502880104": { + "instances": [ + { + "height": 0.2780304570232199, + "id": "bbox_1769502880104_1769502918624_2rhvwf829", + "width": 0.22085484388245763, + "x": 0.7735524988776435, + "y": 0.11668259641488232 + } + ], + "type": "bbox" + }, + "bbox_1769502880248": { + "instances": [ + { + "height": 0.2526190711662589, + "id": "bbox_1769502880248_1769502916072_mhxipfwfn", + "width": 0.18161667364953377, + "x": 0.5381234774800998, + "y": 0.03297450182724622 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹前移动孩子护目镜左上方，爪夹向爪夹右方移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪机向爪夹上方错误抬升", + "frame": 49, + "progress": -5, + "progress_explanation": "当前爪夹张开远离护目镜进度下降为-5%", + "state_description": "当前状态为爪夹张开远离护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹前移动孩子护目镜左上方", + "time": 1.645221 + }, + { + "action_description": "爪夹向爪夹右前方移动", + "annotations": { + "bbox_1769502880104": { + "instances": [ + { + "height": 0.3602437642075054, + "id": "bbox_1769502880104_1769502930608_znayfztcp", + "width": 0.1603159526659465, + "x": 0.7903688575488966, + "y": 0.10322950978472652 + } + ], + "type": "bbox" + }, + "bbox_1769502880248": { + "instances": [ + { + "height": 0.22870247271264865, + "id": "bbox_1769502880248_1769502932561_dxngyveja", + "width": 0.18497994538378437, + "x": 0.5078540318718442, + "y": 0.08230248613781749 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹前移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹前正确移动", + "frame": 90, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹前移动进度上升为10%", + "state_description": "当前状态为爪夹张开位于油盘左上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹前移动至护目镜上方", + "time": 2.997607 + }, + { + "action_description": "爪夹向爪夹前下方移动", + "annotations": { + "bbox_1769502880104": { + "instances": [ + { + "height": 0.20927023646909026, + "id": "bbox_1769502880104_1769502939424_4o4mpmqah", + "width": 0.11771451069877195, + "x": 0.843060114718823, + "y": 0.1673694770689175 + } + ], + "type": "bbox" + }, + "bbox_1769502880248": { + "instances": [ + { + "height": 0.2541138585696096, + "id": "bbox_1769502880248_1769502936153_ixzybdx0m", + "width": 0.13453086937002495, + "x": 0.5336391151677657, + "y": 0.039089548202696965 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹前移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹前下方成功移动至护目镜后方", + "frame": 140, + "progress": 20, + "progress_explanation": "当前爪夹位于护目镜后方进度上升为20\n%", + "state_description": "当前状态为爪夹张开位于护目镜后方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹前移动靠近护目镜", + "time": 4.661652 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769502880104": { + "instances": [ + { + "height": 0.27286821705426356, + "id": "bbox_1769502880104_1769502959672_41qy6vs4b", + "width": 0.10930232558139519, + "x": 0.8395348837209303, + "y": 0.13229971005935076 + } + ], + "type": "bbox" + }, + "bbox_1769502880248": { + "instances": [ + { + "height": 0.2294573643410853, + "id": "bbox_1769502880248_1769502962112_ozcjwvh9z", + "width": 0.1395348837209302, + "x": 0.5627906976744186, + "y": 0.04547800463299419 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹打开向爪夹前移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹合拢错误", + "frame": 161, + "progress": 15, + "progress_explanation": "当前爪夹合拢位于护目镜后方进度下降为15%", + "state_description": "当前状态为爪夹合拢位于护目镜后方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开向爪夹前移动靠近护目镜", + "time": 5.378951780927835 + }, + { + "action_description": "爪夹合拢向爪夹后上方抬升", + "annotations": { + "bbox_1769502880104": { + "instances": [ + { + "height": 0.26046511627906976, + "id": "bbox_1769502880104_1769502969400_tf5xsj5nm", + "width": 0.15116279069767433, + "x": 0.8116279069767443, + "y": 0.11989660928415698 + } + ], + "type": "bbox" + }, + "bbox_1769502880248": { + "instances": [ + { + "height": 0.24806201550387597, + "id": "bbox_1769502880248_1769502966952_j11pziz3c", + "width": 0.18139534883720926, + "x": 0.5534883720930233, + "y": 0.04547800463299419 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹打开向爪夹前移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹合拢向爪夹后上方错误抬升", + "frame": 207, + "progress": 5, + "progress_explanation": "当前爪夹合拢向爪夹后上方移动进度下降为5%", + "state_description": "当前状态为爪夹张开位于护目镜后上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开向爪夹前移动至护目镜上方", + "time": 6.906516490844318 + }, + { + "action_description": "爪夹打开", + "annotations": { + "bbox_1769502880104": { + "instances": [ + { + "height": 0.2573643410852713, + "id": "bbox_1769502880104_1769502977312_r5bzba6at", + "width": 0.13953488372093012, + "x": 0.8093023255813954, + "y": 0.10232558139534884 + } + ], + "type": "bbox" + }, + "bbox_1769502880248": { + "instances": [ + { + "height": 0.23565891472868217, + "id": "bbox_1769502880248_1769502979768_g14zanxtm", + "width": 0.15813953488372096, + "x": 0.5348837209302325, + "y": 0.0434108527131783 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹前移动至护目镜上方，爪夹向爪夹下方移动靠近护目镜，爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹成功打开", + "frame": 227, + "progress": 10, + "progress_explanation": "当前爪夹打开进度上升为10%", + "state_description": "当前状态为爪夹张开位于护目镜后上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹前移动至护目镜上方", + "time": 7.575766 + }, + { + "action_description": "爪夹向爪夹前方的下方移动靠近护目镜", + "annotations": { + "bbox_1769502880104": { + "instances": [ + { + "height": 0.18294573643410852, + "id": "bbox_1769502880104_1769502987776_qwnpkkck5", + "width": 0.10930232558139537, + "x": 0.8441860465116278, + "y": 0.18294573643410852 + } + ], + "type": "bbox" + }, + "bbox_1769502880248": { + "instances": [ + { + "height": 0.1736434108527132, + "id": "bbox_1769502880248_1769502985664_jn5hibnaa", + "width": 0.23720930232558138, + "x": 0.5023255813953489, + "y": 0.04857877982679263 + } + ], + "type": "bbox" + }, + "point_1769502881058": { + "instances": [ + { + "id": "point_1769502881058_1769502993288_e133ytleq", + "x": 0.8279069767441861, + "y": 0.30284238120382145 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取护目镜，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪机向爪夹前下方移动成功靠近护目镜", + "frame": 278, + "progress": 25, + "progress_explanation": "当前爪夹张开靠近护目镜进度上升为25%", + "state_description": "当前状态为爪夹打开靠近护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹合拢抓取护目镜", + "time": 9.25857 + }, + { + "action_description": "爪夹合拢抓取护目镜", + "annotations": { + "bbox_1769502880248": { + "instances": [ + { + "height": 0.16434108527131783, + "id": "bbox_1769502880248_1769502999184_9crrzps9o", + "width": 0.16046511627906979, + "x": 0.5232558139534883, + "y": 0.018604651162790697 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢向爪夹上方抬升，爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹合拢成功抓取护目镜", + "frame": 304, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取护目镜进度上升为50%", + "state_description": "当前状态为爪夹合拢抓紧护目镜\n为完成抓取护目镜放在瓷碗的任务应该：爪夹保持合拢向爪夹上方抬升", + "time": 10.127247 + }, + { + "action_description": "爪夹保持合拢向爪夹上方抬升", + "annotations": { + "bbox_1769502880104": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1769502880104_1769503003696_2u0sdbjjb", + "width": 0.10930232558139537, + "x": 0.6, + "y": 0.11989660928415698 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹左移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹抓取护目镜向爪夹上方成功抬升", + "frame": 331, + "progress": 75, + "progress_explanation": "当前爪夹抓取护目镜向爪夹上方抬升就上升为75%", + "state_description": "当前状态为爪夹抓紧护目镜位于瓷碗右上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹左移动至瓷碗上方", + "time": 11.043556 + }, + { + "action_description": "爪夹合拢向爪夹左上移动并稍微向爪夹上方抬升", + "annotations": { + "bbox_1769502880248": { + "instances": [ + { + "height": 0.2226666666666667, + "id": "bbox_1769502880248_1769503023792_i0m6o2gnd", + "width": 0.17, + "x": 0.545375, + "y": 0.05086458333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹左方移动至瓷碗上方，爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹左上成功移动并稍微向爪夹上方抬升", + "frame": 355, + "progress": 80, + "progress_explanation": "当前爪夹向爪夹左上移动并稍微向爪夹上方抬升进度上升为80%", + "state_description": "当前状态为爪夹张开位于瓷碗右上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹左方移动至瓷碗上方", + "time": 11.831999 + }, + { + "action_description": "爪夹向爪夹左方移动至瓷碗上方", + "annotations": { + "bbox_1769502880248": { + "instances": [ + { + "height": 0.23599999999999996, + "id": "bbox_1769502880248_1769503026872_xs309fk2j", + "width": 0.16400000000000006, + "x": 0.530375, + "y": 0.04019791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹下方移动靠近瓷碗，爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹左成功移动至瓷碗上方", + "frame": 391, + "progress": 90, + "progress_explanation": "当前爪夹抓取护目镜在瓷碗上方进度上升为90%", + "state_description": "当前状态为爪夹抓取护目镜位于瓷碗上方\n为完成抓取护目镜放在瓷碗的任务应该：爪夹向爪夹下方移动靠近瓷碗", + "time": 13.034428429768042 + }, + { + "action_description": "爪夹向爪夹下方移动靠近瓷碗", + "annotations": { + "bbox_1769502880248": { + "instances": [ + { + "height": 0.2666666666666667, + "id": "bbox_1769502880248_1769503030248_in2xqa9br", + "width": 0.21000000000000005, + "x": 0.526375, + "y": 0.04286458333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹打开将护目镜放在瓷碗中", + "error_success_analysis": "爪夹向爪夹下方移动成功靠近瓷碗", + "frame": 408, + "progress": 95, + "progress_explanation": "爪夹抓取护目镜开瓷碗进度上升为95%", + "state_description": "当前状态为爪夹抓取护目镜靠近瓷碗\n为完成抓取护目镜放在瓷碗的任务应该：爪夹打开将护目镜放在瓷碗中", + "time": 13.593500583376288 + }, + { + "action_description": "爪夹打开将护目镜放在瓷碗中", + "annotations": { + "bbox_1769502880104": { + "instances": [ + { + "height": 0.14266666666666666, + "id": "bbox_1769502880104_1769503038457_vu2rg3n4a", + "width": 0.16399999999999998, + "x": 0.592375, + "y": 0.10019791666666666 + } + ], + "type": "bbox" + }, + "bbox_1769502880248": { + "instances": [ + { + "height": 0.29333333333333333, + "id": "bbox_1769502880248_1769503035552_eh7llc21p", + "width": 0.24800000000000005, + "x": 0.522375, + "y": 0.01753125 + } + ], + "type": "bbox" + }, + "point_1769502881058": { + "instances": [ + { + "id": "point_1769502881058_1769503041128_lsigd9333", + "x": 0.637375, + "y": 0.11353125000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹打开成功将护目镜放在瓷碗", + "frame": 427, + "progress": 0, + "progress_explanation": "爪夹打开将护目镜放在瓷碗中任务完成进度上升为100%", + "state_description": "当前状态为爪夹张开护目镜放在瓷碗中任务完成\n", + "time": 14.231237 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769502880104", + "name": "护目镜" + }, + { + "color": "#FF9800", + "id": "bbox_1769502880248", + "name": "瓷碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769502881058", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769502881200", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..b901ff5c4e0458bd6c507f10f543b006f290441c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-111831-put-goggles-porcelain-bowl-mix/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,446 @@ +{ + "task_description": "抓取护目镜放入碗里：\n准备开始移动：0%\n爪夹靠近护目镜：20%\n爪夹抓取护目镜：40%\n爪夹抓紧护目镜接近碗：60%\n爪夹将护目镜放入碗：80%\n爪夹松开护目镜落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768801109240": { + "instances": [ + { + "height": 0.12399998990885504, + "id": "bbox_1768801109240_1768804455869_0gc66bi9v", + "width": 0.1959999880371101, + "x": 0.31566660670980184, + "y": 0.4206481082643141 + } + ], + "type": "bbox" + }, + "bbox_1768801120368": { + "instances": [ + { + "height": 0.22533331499566123, + "id": "bbox_1768801120368_1768804461564_6f5wldgb2", + "width": 0.19299998822021552, + "x": 0.6046665890706426, + "y": 0.07131480335979791 + } + ], + "type": "bbox" + }, + "point_1768801124568": { + "instances": [ + { + "id": "point_1768801124568_1768804470269_aku65t06y", + "x": 0.4166666005452514, + "y": 0.4313147740629253 + } + ], + "type": "point" + }, + "point_1768801130632": { + "instances": [ + { + "id": "point_1768801130632_1768804474229_d5ke2kugv", + "x": 0.536666593221033, + "y": 0.500648101753898 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正前方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "当前为初始状态，远离护目镜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离护目镜，未开始移动。\n为完成抓取护目镜落入碗的任务应当：爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 0.838166 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "annotations": { + "bbox_1768801109240": { + "instances": [ + { + "height": 0.13466665570746617, + "id": "bbox_1768801109240_1768804484269_vc3nqg9c4", + "width": 0.2249999862670906, + "x": 0.30966660707601273, + "y": 0.42331477471396695 + } + ], + "type": "bbox" + }, + "bbox_1768801120368": { + "instances": [ + { + "height": 0.2306666478949668, + "id": "bbox_1768801120368_1768804490141_hheqmhvb2", + "width": 0.1999999877929695, + "x": 0.5986665894368536, + "y": 0.06598147046049231 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正前方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹接近垂直于桌面，水平上接近了护目镜。", + "frame": 63, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，接近垂直于桌面，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。接近了护目镜。\n为完成抓取护目镜落入碗的任务应当：爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 2.1081319550065216 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1768801109240": { + "instances": [ + { + "height": 0.12933332280816057, + "id": "bbox_1768801109240_1768804504476_8jl1nyndv", + "width": 0.20599998742675857, + "x": 0.3176666065877315, + "y": 0.4166481085898349 + } + ], + "type": "bbox" + }, + "bbox_1768801120368": { + "instances": [ + { + "height": 0.23066664789496683, + "id": "bbox_1768801120368_1768804500013_1ymrzdufp", + "width": 0.1989999878540046, + "x": 0.5986665894368536, + "y": 0.06998147013497151 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的正前方移动，角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正前方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹角度垂直于桌面，缩短了护目镜之间的距离。方便后续抓取护目镜。", + "frame": 97, + "progress": 15, + "progress_explanation": "爪夹角度垂直于桌面，水平上接近了护目镜，更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度垂直于桌面。\n为完成抓取护目镜落入碗的任务应当：爪夹向爪夹方向的正前方移动，角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 3.2479944049326215 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768801109240": { + "instances": [ + { + "height": 0.11599999055989661, + "id": "bbox_1768801109240_1768804510845_2xo0hi1l5", + "width": 0.1999999877929695, + "x": 0.33166660573323936, + "y": 0.43798144018705726 + } + ], + "type": "bbox" + }, + "bbox_1768801120368": { + "instances": [ + { + "height": 0.2373333140190988, + "id": "bbox_1768801120368_1768804515797_35wqjxbry", + "width": 0.19399998815918035, + "x": 0.6036665891316779, + "y": 0.06464813723566591 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抬升并重新打开，向爪夹方向的左侧移动，直至护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正前方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹没有移动至护目镜的正上方，爪夹右抵在面包片上，导致爪夹合拢没有夹到东西。", + "frame": 138, + "progress": 5, + "progress_explanation": "爪夹合拢没有夹到护目镜，因此进度降至为5%。", + "state_description": "爪夹合拢垂直于桌面，抵在面包片上。\n为完成抓取护目镜落入碗的任务应当：爪夹抬升并重新打开，向爪夹方向的左侧移动，直至护目镜的正上方。", + "time": 4.590090515329481 + }, + { + "action_description": "爪夹抬升并重新打开。", + "annotations": { + "bbox_1768801109240": { + "instances": [ + { + "height": 0.1266666563585078, + "id": "bbox_1768801109240_1768804529388_r50h91wo7", + "width": 0.2549999844360361, + "x": 0.27866660896810247, + "y": 0.42864810761327254 + } + ], + "type": "bbox" + }, + "bbox_1768801120368": { + "instances": [ + { + "height": 0.24133331369357797, + "id": "bbox_1768801120368_1768804525269_amodfe2d1", + "width": 0.19099998834228585, + "x": 0.6066665889485724, + "y": 0.06198147078601312 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正前方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹重新打开并接近了护目镜，方便抓取护目镜，", + "frame": 212, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了护目镜，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近于垂直桌面，水平上接近了护目镜。\n为完成抓取护目镜落入碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 7.061999 + }, + { + "action_description": "爪夹向爪夹方向的正前方微调并下降爪夹。\n", + "annotations": { + "bbox_1768801109240": { + "instances": [ + { + "height": 0.11066665766059108, + "id": "bbox_1768801109240_1768804537109_fh6zg1hrd", + "width": 0.20899998724365307, + "x": 0.30966660707601273, + "y": 0.43798144018705726 + } + ], + "type": "bbox" + }, + "bbox_1768801120368": { + "instances": [ + { + "height": 0.2359999807942724, + "id": "bbox_1768801120368_1768804541293_mtsz9k93i", + "width": 0.1959999880371101, + "x": 0.602666589192713, + "y": 0.06198147078601312 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正前方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了护目镜，方便抓取。", + "frame": 242, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了护目镜。\n为完成抓取护目镜落入碗的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正前方的碗接近", + "time": 8.064832499781627 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768801109240": { + "instances": [ + { + "height": 0.23066664789496674, + "id": "bbox_1768801109240_1768804554117_h2vy51g63", + "width": 0.20299998760986399, + "x": 0.30466660738118845, + "y": 0.39664811021743895 + } + ], + "type": "bbox" + }, + "bbox_1768801120368": { + "instances": [ + { + "height": 0.2199999820963556, + "id": "bbox_1768801120368_1768804561165_kfje7ryb5", + "width": 0.1979999879150398, + "x": 0.5986665894368536, + "y": 0.07398146980945071 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹正前方的碗接近，直至碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到护目镜。\n", + "frame": 277, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜落入碗的任务应当：抓紧护目镜垂直升高爪夹并向爪夹正前方的碗接近，直至碗的正上方。", + "time": 9.219833 + }, + { + "action_description": "爪夹夹紧护目镜垂直升高。", + "annotations": { + "bbox_1768801109240": { + "instances": [ + { + "height": 0.18266665180121652, + "id": "bbox_1768801109240_1768804581564_9opazz5dj", + "width": 0.22699998614502026, + "x": 0.3486666046956418, + "y": 0.19398146004382646 + } + ], + "type": "bbox" + }, + "bbox_1768801120368": { + "instances": [ + { + "height": 0.2306666478949668, + "id": "bbox_1768801120368_1768804568509_nce5hjyj9", + "width": 0.19599998803711002, + "x": 0.602666589192713, + "y": 0.06331480401083951 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹正前方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了碗。更加方便接近碗。", + "frame": 346, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹正前方的碗接近，缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了碗。\n为完成抓取护目镜落入碗的任务应当：继续向爪夹正前方的碗接近，水平到达碗的正上方后将护目镜放入碗", + "time": 11.520333 + }, + { + "action_description": "爪夹夹紧护目镜，向爪夹方向的正前方移动", + "annotations": { + "bbox_1768801109240": { + "instances": [ + { + "height": 0.049333329318576716, + "id": "bbox_1768801109240_1768804596173_wa2ku77nq", + "width": 0.10499999359130899, + "x": 0.602666589192713, + "y": -0.0006851907808275732 + } + ], + "type": "bbox" + }, + "bbox_1768801120368": { + "instances": [ + { + "height": 0.22399998177083477, + "id": "bbox_1768801120368_1768804601061_hc1eqv34a", + "width": 0.18999998840332094, + "x": 0.6056665890096076, + "y": 0.07131480335979791 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "到了爪夹正前方碗的正上方，方便将护目镜放入碗。", + "frame": 412, + "progress": 60, + "progress_explanation": "爪夹夹紧护目镜，到了爪夹正前方碗的正上方，方便将护目镜放入碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，位于碗的正上方。\n为完成抓取护目镜落入碗的任务应当：将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "time": 13.745759871187513 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "annotations": { + "bbox_1768801109240": { + "instances": [ + { + "height": 0.22666664822048763, + "id": "bbox_1768801109240_1768804618901_gek1teu7s", + "width": 0.13799999157714896, + "x": 0.654666586018885, + "y": 0.0166481411419156 + } + ], + "type": "bbox" + }, + "bbox_1768801120368": { + "instances": [ + { + "height": 0.23333331434461962, + "id": "bbox_1768801120368_1768804624757_ph2lgfb8e", + "width": 0.19799998791503964, + "x": 0.6016665892537483, + "y": 0.06864813691014511 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使护目镜落入碗。", + "error_success_analysis": "护目镜放入碗，方便护目镜落入碗。", + "frame": 457, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，护目镜放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，护目镜放入碗。\n为完成抓取护目镜落入碗的任务应当：松开爪夹，使护目镜落入碗。", + "time": 15.247959336984534 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768801109240": { + "instances": [ + { + "height": 0.2199999820963556, + "id": "bbox_1768801109240_1768804653053_36rz52tzo", + "width": 0.17199998950195372, + "x": 0.6346665872395881, + "y": 0.02198147404122119 + } + ], + "type": "bbox" + }, + "bbox_1768801120368": { + "instances": [ + { + "height": 0.23333331434461962, + "id": "bbox_1768801120368_1768804659572_bye3pi63c", + "width": 0.1959999880371101, + "x": 0.6006665893147833, + "y": 0.06198147078601311 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，护目镜落入碗。", + "frame": 491, + "progress": 100, + "progress_explanation": "爪夹张开，护目镜落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开护目镜落入碗的任务目标完成。", + "time": 16.369436979252576 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768801109240", + "name": "护目镜" + }, + { + "color": "#FF9800", + "id": "bbox_1768801120368", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768801124568", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768801130632", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-131806-put-goggles-porcelain-bowl-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-131806-put-goggles-porcelain-bowl-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..845da00f102e0d6cfeb4ad57a5893a9157953e5b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-131806-put-goggles-porcelain-bowl-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,480 @@ +{ + "task_description": "抓取护目镜放入盘子里：\n准备开始移动：0%\n爪夹靠近护目镜：20%\n爪夹抓取护目镜：40%\n爪夹抓紧护目镜接近盘子：60%\n爪夹将护目镜放入盘子：80%\n爪夹松开护目镜落入盘子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768804847868": { + "instances": [ + { + "height": 0.16799998632812616, + "id": "bbox_1768804847868_1768809128192_3s7qryobx", + "width": 0.14899999090576221, + "x": 0.6986665833333384, + "y": 0.484203655256864 + } + ], + "type": "bbox" + }, + "bbox_1768804854596": { + "instances": [ + { + "height": 0.27066664463975876, + "id": "bbox_1768804854596_1768809123537_djuoy5oxa", + "width": 0.27999998291015726, + "x": 0.425666599995935, + "y": 0.23487034221432762 + } + ], + "type": "bbox" + }, + "point_1768804859820": { + "instances": [ + { + "id": "point_1768804859820_1768809133752_nk8cno9lo", + "x": 0.5356665932820682, + "y": 0.6495369751353374 + } + ], + "type": "point" + }, + "point_1768804866580": { + "instances": [ + { + "id": "point_1768804866580_1768809139464_4g2sx1c24", + "x": 0.6496665863240608, + "y": 0.634870309662247 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "当前为初始状态，远离护目镜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离护目镜，未开始移动。\n为完成抓取护目镜落入盘子的任务应当：爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 0.989333 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "annotations": { + "bbox_1768804847868": { + "instances": [ + { + "height": 0.19999998372395963, + "id": "bbox_1768804847868_1768809112760_gza4ggs9k", + "width": 0.15799999035644588, + "x": 0.6896665838826548, + "y": 0.47620365590790564 + } + ], + "type": "bbox" + }, + "bbox_1768804854596": { + "instances": [ + { + "height": 0.27733331076389073, + "id": "bbox_1768804854596_1768809117233_6a7o5m8hk", + "width": 0.28499998260498155, + "x": 0.4236666001180053, + "y": 0.22687034286536925 + } + ], + "type": "bbox" + }, + "point_1768804859820": { + "instances": [ + { + "id": "point_1768804859820_1768809108344_68f40qbfv", + "x": 0.5416665929158573, + "y": 0.5468703168237047 + } + ], + "type": "point" + } + }, + "correction_plan": "夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹接近垂直于桌面，水平上接近了护目镜。", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，接近垂直于桌面，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。接近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 2.3251996146624303 + }, + { + "action_description": "爪夹向爪夹方向的右侧移动并下降。", + "annotations": { + "bbox_1768804847868": { + "instances": [ + { + "height": 0.24266664691840437, + "id": "bbox_1768804847868_1768809082087_8e1mufmps", + "width": 0.14199999133300825, + "x": 0.7006665832112681, + "y": 0.48553698848169036 + } + ], + "type": "bbox" + }, + "bbox_1768804854596": { + "instances": [ + { + "height": 0.27066664463975876, + "id": "bbox_1768804854596_1768809077504_v9wics9ev", + "width": 0.28199998278808697, + "x": 0.4226666001790405, + "y": 0.23220367576467485 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹向爪夹方向的右侧移动并下降，靠近了护目镜，方便抓取。", + "frame": 117, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近", + "time": 3.891522569713187 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768804854596": { + "instances": [ + { + "height": 0.2826666436631963, + "id": "bbox_1768804854596_1768809069033_ahuldakn1", + "width": 0.2809999828491221, + "x": 0.4246666000569702, + "y": 0.22287034319089002 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近，直至盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到护目镜。", + "frame": 168, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜落入盘子的任务应当：抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近，直至盘子的正上方。", + "time": 5.603549985698898 + }, + { + "action_description": "爪夹夹紧护目镜垂直升高，并向爪夹方向的左侧移动。", + "annotations": { + "bbox_1768804847868": { + "instances": [ + { + "height": 0.24799997981771002, + "id": "bbox_1768804847868_1768809052472_f9j3kjfae", + "width": 0.08699999468994175, + "x": 0.6256665877889045, + "y": 0.4295369930389817 + } + ], + "type": "bbox" + }, + "bbox_1768804854596": { + "instances": [ + { + "height": 0.28933330978732835, + "id": "bbox_1768804854596_1768809057416_dm72qt8rk", + "width": 0.27499998321533303, + "x": 0.42866659981282956, + "y": 0.22020367674123725 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹方向的正前方移动，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了盘子。更加方便接近盘子。", + "frame": 225, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹左前方的盘子接近，缩短了与盘子的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了盘子。\n为完成抓取护目镜落入盘子的任务应当：继续向爪夹方向的正前方移动，水平到达盘子的正上方后将护目镜放入盘子", + "time": 7.497707977853301 + }, + { + "action_description": "爪夹夹紧护目镜向爪夹左侧微调，爪夹张开", + "annotations": { + "bbox_1768804847868": { + "instances": [ + { + "height": 0.2173333156467029, + "id": "bbox_1768804847868_1768809038024_09cyvqu4p", + "width": 0.1499999908447271, + "x": 0.5476665925496464, + "y": 0.4428703252872456 + } + ], + "type": "bbox" + }, + "bbox_1768804854596": { + "instances": [ + { + "height": 0.2933333094618076, + "id": "bbox_1768804854596_1768809032369_x09bjovyz", + "width": 0.28499998260498155, + "x": 0.4236666001180053, + "y": 0.22553700964054282 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度接近垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹张开，护目镜掉落桌面，需要重新抓取护目镜。\n", + "frame": 260, + "progress": 10, + "progress_explanation": "爪夹张开，水平上远离了护目镜，护目镜掉落桌面，需要重新抓取护目镜，因此进度降低为10%", + "state_description": "爪夹张开，水平上远离了护目镜，护目镜掉落桌面。\n为完成抓取护目镜落入盘子的任务应当：调整爪夹角度接近垂直于桌面，并移动到护目镜的正上方。", + "time": 8.656666 + }, + { + "action_description": "爪夹垂直向下移动。", + "annotations": { + "bbox_1768804847868": { + "instances": [ + { + "height": 0.2573333123914947, + "id": "bbox_1768804847868_1768809015465_tpjs2nvxv", + "width": 0.13899999151611375, + "x": 0.5456665926717167, + "y": 0.4388703256127665 + } + ], + "type": "bbox" + }, + "bbox_1768804854596": { + "instances": [ + { + "height": 0.27866664398871716, + "id": "bbox_1768804854596_1768809022241_2y5zgvhc1", + "width": 0.2849999826049815, + "x": 0.42866659981282956, + "y": 0.23087034253984842 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹垂直向下移动，靠近了护目镜，方便抓取。", + "frame": 331, + "progress": 20, + "progress_explanation": "爪夹重新移动，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近", + "time": 11.049254213142806 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768804847868": { + "instances": [ + { + "height": 0.26799997819010596, + "id": "bbox_1768804847868_1768809003232_390qcqzpj", + "width": 0.07399999548339871, + "x": 0.602666589192713, + "y": 0.3722036643714466 + } + ], + "type": "bbox" + }, + "bbox_1768804854596": { + "instances": [ + { + "height": 0.2866666433376755, + "id": "bbox_1768804854596_1768809008272_ohn24sa2t", + "width": 0.2999999816894542, + "x": 0.41166660085042717, + "y": 0.22420367641571645 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，直至盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到护目镜。", + "frame": 369, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜落入盘子的任务应当：抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，直至盘子的正上方。", + "time": 12.313666 + }, + { + "action_description": "爪夹夹紧护目镜垂直升高。", + "annotations": { + "bbox_1768804847868": { + "instances": [ + { + "height": 0.3413333055555578, + "id": "bbox_1768804847868_1768808988584_8llmlp7if", + "width": 0.08799999462890655, + "x": 0.654666586018885, + "y": 0.1362036835771742 + } + ], + "type": "bbox" + }, + "bbox_1768804854596": { + "instances": [ + { + "height": 0.2853333101128491, + "id": "bbox_1768804854596_1768808993688_nr8kctf8g", + "width": 0.2809999828491222, + "x": 0.4236666001180053, + "y": 0.22553700964054282 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹方向的正前方移动，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了盘子。更加方便接近盘子。", + "frame": 407, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹正前方的盘子接近，缩短了与盘子的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了盘子。\n为完成抓取护目镜落入盘子的任务应当：继续向爪夹方向的正前方移动，水平到达盘子的正上方后将护目镜放入盘子", + "time": 13.550333 + }, + { + "action_description": "爪夹夹紧护目镜向爪夹方向的正前方移动。", + "annotations": { + "bbox_1768804847868": { + "instances": [ + { + "height": 0.30666664171007146, + "id": "bbox_1768804847868_1768808974248_t5tb0sgl0", + "width": 0.09099999444580105, + "x": 0.48666659627279074, + "y": 0.1308703506778686 + } + ], + "type": "bbox" + }, + "bbox_1768804854596": { + "instances": [ + { + "height": 0.27466664431423793, + "id": "bbox_1768804854596_1768808981176_p53dfhi3l", + "width": 0.28299998272705185, + "x": 0.4236666001180053, + "y": 0.23220367576467485 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "到了爪夹正前方盘子的正上方，方便将护目镜放入盘子。", + "frame": 437, + "progress": 60, + "progress_explanation": "爪夹夹紧护目镜，到了爪夹正前方盘子的正上方，方便将护目镜放入盘子。因此进度提升为 60%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，位于盘子的正上方。\n为完成抓取护目镜落入盘子的任务应当：将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "time": 14.575 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "annotations": { + "bbox_1768804847868": { + "instances": [ + { + "height": 0.24799997981770996, + "id": "bbox_1768804847868_1768808948296_y5l3or9iw", + "width": 0.0989999939575199, + "x": 0.4896665960896852, + "y": 0.22153700996606365 + } + ], + "type": "bbox" + }, + "bbox_1768804854596": { + "instances": [ + { + "height": 0.2813333104383699, + "id": "bbox_1768804854596_1768808954777_ch3hmlpax", + "width": 0.27999998291015726, + "x": 0.425666599995935, + "y": 0.22553700964054282 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "护目镜放入盘子，方便护目镜落入盘子。", + "frame": 475, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，护目镜放入盘子。因此进度提升为 80%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，护目镜放入盘子。\n为完成抓取护目镜落入盘子的任务应当：松开爪夹，使护目镜落入盘子。", + "time": 15.847 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768804847868": { + "instances": [ + { + "height": 0.1986666504991333, + "id": "bbox_1768804847868_1768808933464_bv3qq8eac", + "width": 0.0999999938964847, + "x": 0.48466659639486104, + "y": 0.2508703409122444 + } + ], + "type": "bbox" + }, + "bbox_1768804854596": { + "instances": [ + { + "height": 0.30933330815972426, + "id": "bbox_1768804854596_1768808938408_gauehvzly", + "width": 0.29099998223877055, + "x": 0.4226666001790405, + "y": 0.21753701029158445 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，护目镜落入盘子", + "frame": 500, + "progress": 100, + "progress_explanation": "爪夹张开，护目镜落入盘子，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开护目镜落入盘子的任务目标完成。", + "time": 16.677333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768804847868", + "name": "护目镜" + }, + { + "color": "#FF9800", + "id": "bbox_1768804854596", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768804859820", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768804866580", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-132543-put-goggles-oil-plate-good/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-132543-put-goggles-oil-plate-good/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..38fc013b2261be9372da8ad0171afbd6ed0b744f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-132543-put-goggles-oil-plate-good/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,346 @@ +{ + "task_description": "抓取护目镜放入盘子里：\n准备开始移动：0%\n爪夹靠近护目镜：20%\n爪夹抓取护目镜：40%\n爪夹抓紧护目镜接近盘子：60%\n爪夹将护目镜放入盘子：80%\n爪夹松开护目镜落入盘子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768809261000": { + "instances": [ + { + "height": 0.23999998046875165, + "id": "bbox_1768809261000_1768812284845_icmqevy4b", + "width": 0.18899998846435614, + "x": 0.5686665912679082, + "y": 0.5508703164981839 + } + ], + "type": "bbox" + }, + "bbox_1768809268336": { + "instances": [ + { + "height": 0.3293333065321203, + "id": "bbox_1768809268336_1768812297901_7wm0aejv0", + "width": 0.3769999769897474, + "x": 0.6216665880330451, + "y": 0.09620368683238226 + } + ], + "type": "bbox" + }, + "point_1768809273776": { + "instances": [ + { + "id": "point_1768809273776_1768812280629_wqvgrm0u0", + "x": 0.3746666031087278, + "y": 0.3855369966197106 + } + ], + "type": "point" + }, + "point_1768809280584": { + "instances": [ + { + "id": "point_1768809280584_1768812274669_tyeog7bcd", + "x": 0.4996665954793337, + "y": 0.4495369914113777 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "当前为初始状态，远离护目镜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离护目镜，未开始移动。\n为完成抓取护目镜落入盘子的任务应当：爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 1.2553258361611381 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "annotations": { + "bbox_1768809261000": { + "instances": [ + { + "height": 0.25066664626736285, + "id": "bbox_1768809261000_1768812259101_47xhxlklg", + "width": 0.19299998822021552, + "x": 0.5666665913899785, + "y": 0.545685141342355 + } + ], + "type": "bbox" + }, + "bbox_1768809268336": { + "instances": [ + { + "height": 0.33333330620659946, + "id": "bbox_1768809268336_1768812246172_3gmvzftwe", + "width": 0.3829999766235366, + "x": 0.6216665880330451, + "y": 0.09620368683238226 + } + ], + "type": "bbox" + }, + "point_1768809273776": { + "instances": [ + { + "id": "point_1768809273776_1768812263413_pzzrz69up", + "x": 0.3596666040242551, + "y": 0.23901849963228358 + } + ], + "type": "point" + }, + "point_1768809280584": { + "instances": [ + { + "id": "point_1768809280584_1768812268381_vi2qd6r74", + "x": 0.4996665954793337, + "y": 0.2923518286253394 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "向接近垂直于桌面调整角度，水平上未接近护目镜。", + "frame": 70, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，调整爪夹角度，方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 2.3274907171510857 + }, + { + "action_description": "爪夹向爪夹方向的右侧移动并向下微调。", + "annotations": { + "bbox_1768809261000": { + "instances": [ + { + "height": 0.2719999778645851, + "id": "bbox_1768809261000_1768812231957_0i8l9p1th", + "width": 0.1959999880371101, + "x": 0.5726665910237676, + "y": 0.524203652001656 + } + ], + "type": "bbox" + }, + "bbox_1768809268336": { + "instances": [ + { + "height": 0.3866666351996554, + "id": "bbox_1768809268336_1768812237949_3xq46mss7", + "width": 0.3709999773559584, + "x": 0.6266665877278694, + "y": 0.04287035783932635 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了护目镜之间的距离。方便后续抓取护目镜。", + "frame": 102, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了护目镜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至护目镜的正上方。", + "time": 3.393 + }, + { + "action_description": "爪夹垂直向下移动。", + "annotations": { + "bbox_1768809261000": { + "instances": [ + { + "height": 0.2559999791666684, + "id": "bbox_1768809261000_1768812197149_203oc8nu2", + "width": 0.20599998742675857, + "x": 0.563666591573084, + "y": 0.5495369832733575 + } + ], + "type": "bbox" + }, + "bbox_1768809268336": { + "instances": [ + { + "height": 0.32799997330729386, + "id": "bbox_1768809268336_1768812209589_08gq1x937", + "width": 0.379999976806642, + "x": 0.6186665882161505, + "y": 0.10775925840175306 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹垂直向下移动，靠近了护目镜，方便抓取。", + "frame": 138, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近。", + "time": 4.605841089254723 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768809261000": { + "instances": [ + { + "height": 0.18266665180121652, + "id": "bbox_1768809261000_1768812192244_epaxfel58", + "width": 0.21799998669433673, + "x": 0.5236665940144901, + "y": 0.5308703181257879 + } + ], + "type": "bbox" + }, + "bbox_1768809268336": { + "instances": [ + { + "height": 0.32533330685764106, + "id": "bbox_1768809268336_1768812183653_v7ntb3id0", + "width": 0.3789999768676773, + "x": 0.6186665882161505, + "y": 0.09887035328203504 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到护目镜。\n", + "frame": 187, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜落入盘子的任务应当：抓紧护目镜垂直升高爪夹并向爪夹左前方的盘子接近，水平到达盘子的正上方", + "time": 6.22749047175202 + }, + { + "action_description": "爪夹夹紧护目镜垂直升高。", + "annotations": { + "bbox_1768809261000": { + "instances": [ + { + "height": 0.16133332020399413, + "id": "bbox_1768809261000_1768812163134_twyy9xsq4", + "width": 0.1999999877929695, + "x": 0.6576665858357796, + "y": 0.16687034774818132 + } + ], + "type": "bbox" + }, + "bbox_1768809268336": { + "instances": [ + { + "height": 0.4199999658203153, + "id": "bbox_1768809268336_1768812168468_2ph3jkz5r", + "width": 0.3989999756469741, + "x": 0.5966665895589239, + "y": 0.020203693017277587 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹方向的正前方移动，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了盘子。更加方便接近盘子。", + "frame": 227, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹正前方的盘子接近，缩短了与盘子的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了盘子。\n为完成抓取护目镜落入盘子的任务应当：继续向爪夹方向的正前方移动，水平到达盘子的正上方后将护目镜放入盘子", + "time": 7.579 + }, + { + "action_description": "爪夹夹紧护目镜向爪夹方向的正前方移动。", + "annotations": { + "bbox_1768809268336": { + "instances": [ + { + "height": 0.3959999677734401, + "id": "bbox_1768809268336_1768812147909_j7duth8qc", + "width": 0.3809999767456067, + "x": 0.6176665882771858, + "y": 0.032203692040715166 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "到了爪夹正前方盘子的正上方，方便将护目镜放入盘子。", + "frame": 285, + "progress": 60, + "progress_explanation": "爪夹夹紧护目镜，到了爪夹正前方盘子的正上方，方便将护目镜放入盘子。因此进度提升为 60%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，位于盘子的正上方。\n为完成抓取护目镜落入盘子的任务应当：将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "time": 9.49759335877136 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768809261000": { + "instances": [ + { + "height": 0.15733332052951493, + "id": "bbox_1768809261000_1768812114781_bb2qm6qjj", + "width": 0.19199998828125064, + "x": 0.7526665800374401, + "y": 0.1295370174530422 + } + ], + "type": "bbox" + }, + "bbox_1768809268336": { + "instances": [ + { + "height": 0.36533330360243293, + "id": "bbox_1768809268336_1768812120694_z24gmi72s", + "width": 0.3789999768676773, + "x": 0.6186665882161505, + "y": 0.061537022986895916 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，护目镜落入盘子", + "frame": 352, + "progress": 100, + "progress_explanation": "爪夹张开，护目镜落入盘子，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开护目镜落入盘子的任务目标完成。", + "time": 11.739 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768809261000", + "name": "护目镜" + }, + { + "color": "#FF9800", + "id": "bbox_1768809268336", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768809273776", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768809280584", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-135654-put-goggles-oil-plate-mix/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-135654-put-goggles-oil-plate-mix/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..35616e8d07d1c648bc45bc55dba26670cf56463b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-135654-put-goggles-oil-plate-mix/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,608 @@ +{ + "task_description": "抓取护目镜放入盘子里：\n准备开始移动：0%\n爪夹靠近护目镜：20%\n爪夹抓取护目镜：40%\n爪夹抓紧护目镜接近盘子：60%\n爪夹将护目镜放入盘子：80%\n爪夹松开护目镜落入盘子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.09200000000000003, + "id": "bbox_1768809840687_1768815774002_qt2f7twta", + "width": 0.13900000000000007, + "x": 0.464375, + "y": 0.15053124999999998 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.2506666666666667, + "id": "bbox_1768809846888_1768815779154_wyminlvuc", + "width": 0.23700000000000002, + "x": 0.612375, + "y": 0.18119791666666668 + } + ], + "type": "bbox" + }, + "point_1768809851407": { + "instances": [ + { + "id": "point_1768809851407_1768815769801_zj86jhwzo", + "x": 0.672375, + "y": 0.28519791666666666 + } + ], + "type": "point" + }, + "point_1768809857720": { + "instances": [ + { + "id": "point_1768809857720_1768815764713_ii4qmnsho", + "x": 0.742375, + "y": 0.22919791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "当前为初始状态，远离护目镜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离护目镜，未开始移动。\n为完成抓取护目镜落入盘子的任务应当：爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 1.027866 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1768809840687_1768815750330_44a80jpkn", + "width": 0.142, + "x": 0.46237500000000004, + "y": 0.14386458333333335 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.22400000000000003, + "id": "bbox_1768809846888_1768815740738_dbgwusr5e", + "width": 0.2720000000000001, + "x": 0.607375, + "y": 0.20519791666666667 + } + ], + "type": "bbox" + }, + "point_1768809851407": { + "instances": [ + { + "id": "point_1768809851407_1768815754866_3726gc7td", + "x": 0.611375, + "y": 0.11053125 + } + ], + "type": "point" + }, + "point_1768809857720": { + "instances": [ + { + "id": "point_1768809857720_1768815758449_7be1us6re", + "x": 0.684375, + "y": 0.10119791666666668 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "向接近垂直于桌面调整角度，水平上接近了护目镜。", + "frame": 66, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，调整爪夹角度，方便抓取。因此进度提升为 10%。", + "state_description": "爪夹张开，调整爪夹角度，接近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 2.213866 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动并下降。", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.092, + "id": "bbox_1768809840687_1768815722954_azxc3a0te", + "width": 0.14799999999999996, + "x": 0.46237500000000004, + "y": 0.14253125000000003 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.22533333333333336, + "id": "bbox_1768809846888_1768815727914_2he1idcvw", + "width": 0.2750000000000001, + "x": 0.607375, + "y": 0.20386458333333335 + } + ], + "type": "bbox" + }, + "point_1768809851407": { + "instances": [ + { + "id": "point_1768809851407_1768815715994_xap9r0tn4", + "x": 0.584375, + "y": 0.21453125 + } + ], + "type": "point" + }, + "point_1768809857720": { + "instances": [ + { + "id": "point_1768809857720_1768815719386_e6dxlo3c1", + "x": 0.6523749999999999, + "y": 0.19853125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向正前方移动，同时调整爪夹的角度使其垂直于桌面，直至护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了护目镜之间的距离，方便后续抓取护目镜。", + "frame": 94, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了护目镜，更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹继续向正前方移动，同时调整爪夹的角度使其垂直于桌面，直至护目镜的正上方。", + "time": 3.1429 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1768809840687_1768815706930_az9y3h8cu", + "width": 0.17, + "x": 0.455375, + "y": 0.14253125000000003 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.22666666666666668, + "id": "bbox_1768809846888_1768815697826_hi0dsmigh", + "width": 0.26900000000000013, + "x": 0.611375, + "y": 0.20519791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抬升并重新打开，向爪夹方向的正前方移动，直至护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹还没有移动至护目镜的正上方就合拢爪夹，需重新夹取护目镜", + "frame": 130, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到护目镜，因此进度降至为5%。", + "state_description": "爪夹合拢把杯子夹倒在桌面。\n为完成抓取护目镜落入盘子的任务应当：爪夹抬升并重新打开，向爪夹方向的正前方移动，直至护目镜的正上方。", + "time": 4.348666 + }, + { + "action_description": "爪夹抬升并重新打开爪夹。", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.10933333333333334, + "id": "bbox_1768809840687_1768815681034_ppnagqiu3", + "width": 0.15100000000000008, + "x": 0.456375, + "y": 0.13853125000000002 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.22133333333333333, + "id": "bbox_1768809846888_1768815686002_qten1sqtv", + "width": 0.27400000000000013, + "x": 0.607375, + "y": 0.20386458333333335 + } + ], + "type": "bbox" + }, + "point_1768809851407": { + "instances": [ + { + "id": "point_1768809851407_1768815671210_twfmiompo", + "x": 0.616375, + "y": 0.027864583333333335 + } + ], + "type": "point" + }, + "point_1768809857720": { + "instances": [ + { + "id": "point_1768809857720_1768815675354_gwy64ummy", + "x": 0.6913750000000001, + "y": 0.029197916666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹重新打开并接近了护目镜，方便抓取护目镜", + "frame": 189, + "progress": 10, + "progress_explanation": "爪夹抬升并打开爪夹，准备重新抓取护目镜，因此进度提升为10%。", + "state_description": "爪夹重新打开，还未接近护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 6.2858 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动并下降", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.10666666666666667, + "id": "bbox_1768809840687_1768815651274_5ijgtjpmp", + "width": 0.16900000000000004, + "x": 0.446375, + "y": 0.13586458333333334 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.23466666666666663, + "id": "bbox_1768809846888_1768815655714_8ygsv8emb", + "width": 0.2800000000000001, + "x": 0.602375, + "y": 0.21053125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹向爪夹方向的正前方移动并下降，靠近了护目镜，方便抓取。", + "frame": 241, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近。", + "time": 8.025266 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.10666666666666667, + "id": "bbox_1768809840687_1768815640954_ksf0vpr6g", + "width": 0.14500000000000002, + "x": 0.44737499999999997, + "y": 0.13053125000000002 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.2306666666666667, + "id": "bbox_1768809846888_1768815637266_qtm9yhr1n", + "width": 0.275, + "x": 0.602375, + "y": 0.20119791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抬升并重新打开，向爪夹方向的正下方移动，直至护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹合拢没有抓取到护目镜，需要重新抓取护目镜。", + "frame": 286, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到护目镜，因此进度降至为5%", + "state_description": "爪夹合拢位于护目镜的上空。\n为完成抓取护目镜落入盘子的任务应当：爪夹抬升并重新打开，向爪夹方向的正下方移动，直至护目镜的正上方。", + "time": 9.527533 + }, + { + "action_description": "爪夹抬升并重新打开爪夹。", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.11466666666666668, + "id": "bbox_1768809840687_1768815619018_ik4dnho8k", + "width": 0.15099999999999997, + "x": 0.450375, + "y": 0.12919791666666666 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.22666666666666666, + "id": "bbox_1768809846888_1768815625050_bdx21myg1", + "width": 0.2739999999999999, + "x": 0.6083750000000001, + "y": 0.20919791666666668 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直向下移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹重新打开并接近了护目镜，方便抓取护目镜", + "frame": 333, + "progress": 10, + "progress_explanation": "爪夹抬升并打开爪夹，准备重新抓取护目镜，因此进度提升为10%。", + "state_description": "爪夹重新打开，接近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹垂直向下移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 11.0891 + }, + { + "action_description": "爪夹垂直向下移动。", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.10266666666666667, + "id": "bbox_1768809840687_1768815605906_ltc82mmsy", + "width": 0.13500000000000006, + "x": 0.460375, + "y": 0.12786458333333334 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.23599999999999996, + "id": "bbox_1768809846888_1768815595193_65ei52r7z", + "width": 0.2760000000000001, + "x": 0.605375, + "y": 0.20919791666666668 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹垂直向下移动，靠近了护目镜，方便抓取。", + "frame": 358, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近。", + "time": 11.9193 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.10133333333333334, + "id": "bbox_1768809840687_1768815567738_k252mzase", + "width": 0.1419999999999999, + "x": 0.4633750000000001, + "y": 0.09719791666666665 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.22266666666666665, + "id": "bbox_1768809846888_1768815574274_5w6m1t0mr", + "width": 0.269, + "x": 0.612375, + "y": 0.20786458333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到护目镜。", + "frame": 402, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜落入盘子的任务应当：抓紧护目镜垂直升高爪夹并向爪夹正后方的盘子接近，水平到达盘子的正上方", + "time": 13.4018 + }, + { + "action_description": "爪夹夹紧护目镜垂直升高。", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.058666666666666666, + "id": "bbox_1768809840687_1768815554682_vb2e6nz3i", + "width": 0.07700000000000004, + "x": 0.610375, + "y": 0.00253125 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.2306666666666667, + "id": "bbox_1768809846888_1768815544601_0cqjkdavk", + "width": 0.2720000000000001, + "x": 0.607375, + "y": 0.20386458333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹方向的正后方移动，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了盘子。更加方便接近盘子。", + "frame": 440, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹正后方的盘子接近，缩短了与盘子的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了盘子。\n为完成抓取护目镜落入盘子的任务应当：继续向爪夹方向的正后方移动，水平到达盘子的正上方后将护目镜放入盘子", + "time": 14.666866 + }, + { + "action_description": "爪夹夹紧护目镜向爪夹方向的正后方移动。", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.164, + "id": "bbox_1768809840687_1768815529906_zds8lyex7", + "width": 0.10900000000000007, + "x": 0.762375, + "y": -0.00146875 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.22133333333333335, + "id": "bbox_1768809846888_1768815536785_9s1eq4x0v", + "width": 0.269, + "x": 0.611375, + "y": 0.21053125 + } + ], + "type": "bbox" + }, + "point_1768809851407": { + "instances": [ + { + "id": "point_1768809851407_1768815524034_1x7sgbi92", + "x": 0.8473750000000001, + "y": 0.08919791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "到了爪夹正后方盘子的正上方，方便将护目镜放入盘子。", + "frame": 478, + "progress": 60, + "progress_explanation": "爪夹夹紧护目镜，到了爪夹正后方盘子的正上方，方便将护目镜放入盘子。因此进度提升为 60%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，位于盘子的正上方。\n为完成抓取护目镜落入盘子的任务应当：将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "time": 15.943243396005156 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "annotations": { + "bbox_1768809840687": { + "instances": [ + { + "height": 0.12800000000000003, + "id": "bbox_1768809840687_1768815505498_y30kaewb9", + "width": 0.12300000000000004, + "x": 0.6823750000000001, + "y": 0.19053124999999999 + } + ], + "type": "bbox" + }, + "bbox_1768809846888": { + "instances": [ + { + "height": 0.2346666666666667, + "id": "bbox_1768809846888_1768815510225_m048e4tyr", + "width": 0.288, + "x": 0.597375, + "y": 0.20253125 + } + ], + "type": "bbox" + }, + "point_1768809851407": { + "instances": [ + { + "id": "point_1768809851407_1768815499874_rz1l8mt7r", + "x": 0.7813749999999999, + "y": 0.2678645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "护目镜放入盘子，方便护目镜落入盘子。", + "frame": 518, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，护目镜放入盘子。因此进度提升为 80%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，护目镜放入盘子。\n为完成抓取护目镜落入盘子的任务应当：松开爪夹，使护目镜落入盘子。", + "time": 17.276066 + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，护目镜落入盘子", + "frame": 543, + "progress": 100, + "progress_explanation": "爪夹张开，护目镜落入盘子，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开护目镜落入盘子的任务目标完成。", + "time": 18.106266 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768809840687", + "name": "护目镜" + }, + { + "color": "#FF9800", + "id": "bbox_1768809846888", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768809851407", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768809857720", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-135654-put-goggles-oil-plate-mix/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-135654-put-goggles-oil-plate-mix/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..d5c6776682cc524877d9c3173459d4db6bb42a8c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-135654-put-goggles-oil-plate-mix/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,590 @@ +{ + "task_description": "抓取护目镜放入盘子里：\n准备开始移动：0%\n爪夹靠近护目镜：20%\n爪夹抓取护目镜：40%\n爪夹抓紧护目镜接近盘子：60%\n爪夹将护目镜放入盘子：80%\n爪夹松开护目镜落入盘子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.23199999999999996, + "id": "bbox_1768871860577_1768887417898_s2byu4a6c", + "width": 0.15099999999999997, + "x": 0.526375, + "y": 0.41919791666666667 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.39599999999999996, + "id": "bbox_1768871866034_1768887406282_bvakqhefe", + "width": 0.26800000000000007, + "x": 0.731375, + "y": 0.11786458333333334 + } + ], + "type": "bbox" + }, + "point_1768871871826": { + "instances": [ + { + "id": "point_1768871871826_1768887421514_7ghgkz3ga", + "x": 0.42037500000000005, + "y": 0.42853125 + } + ], + "type": "point" + }, + "point_1768871880714": { + "instances": [ + { + "id": "point_1768871880714_1768887432682_7wqsrkn0e", + "x": 0.542375, + "y": 0.5018645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "当前为初始状态，远离护目镜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离护目镜，未开始移动。\n为完成抓取护目镜落入盘子的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 0.9662500125 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动，调整爪夹角度。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.22933333333333342, + "id": "bbox_1768871860577_1768887379122_hhbi4ra0f", + "width": 0.15, + "x": 0.522375, + "y": 0.4261979166666666 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.3906666666666666, + "id": "bbox_1768871866034_1768887388210_l1dlfppc2", + "width": 0.267, + "x": 0.732375, + "y": 0.12086458333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹向爪夹方向的正前方移动，水平上接近了护目镜。", + "frame": 104, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的正前方移动，调整爪夹角度，方便抓取。因此进度提升为 10%。", + "state_description": "爪夹张开，调整爪夹角度，接近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 3.452733 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动并下降。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.2373333333333333, + "id": "bbox_1768871860577_1768887369930_6hg6ae0wz", + "width": 0.15099999999999997, + "x": 0.520375, + "y": 0.4168645833333333 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.3893333333333333, + "id": "bbox_1768871866034_1768887357834_dwe1cu4z9", + "width": 0.26099999999999984, + "x": 0.7343750000000001, + "y": 0.11953125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的正后方微调，同时调整爪夹的角度使其垂直于桌面，直至护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了护目镜之间的距离，方便后续抓取护目镜。", + "frame": 152, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了护目镜，更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹向爪夹的正后方微调，同时调整爪夹的角度使其垂直于桌面，直至护目镜的正上方。", + "time": 5.076033 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.2346666666666667, + "id": "bbox_1768871860577_1768887327930_jqgsviquz", + "width": 0.15699999999999995, + "x": 0.520375, + "y": 0.4208645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.3973333333333333, + "id": "bbox_1768871866034_1768887334402_g21npvenj", + "width": 0.25900000000000006, + "x": 0.738375, + "y": 0.11819791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抬升并重新打开，向爪夹方向的正后方移动，直至护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹移动超过了护目镜的正上方，需重新夹取护目镜", + "frame": 224, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到护目镜，因此进度降至为5%。", + "state_description": "爪夹合拢处于杯子的上方。\n为完成抓取护目镜落入盘子的任务应当：爪夹抬升并重新打开，向爪夹方向的正后方移动，直至护目镜的正上方。", + "time": 7.474325698067012 + }, + { + "action_description": "爪夹打开并向爪夹的正后方移动。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.2413333333333334, + "id": "bbox_1768871860577_1768887309163_4x04vyat9", + "width": 0.15999999999999998, + "x": 0.519375, + "y": 0.41419791666666667 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.3866666666666667, + "id": "bbox_1768871866034_1768887298938_h64nfllap", + "width": 0.2580000000000001, + "x": 0.738375, + "y": 0.12086458333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹重新打开并接近了护目镜，方便抓取护目镜", + "frame": 288, + "progress": 10, + "progress_explanation": "爪夹重新打开并向爪夹的正后方，调整爪夹角度，方便抓取。因此进度提升为 10%。", + "state_description": "爪夹张开，调整爪夹角度，接近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 9.610966 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.23733333333333337, + "id": "bbox_1768871860577_1768887274658_m9uhoqtkl", + "width": 0.14800000000000005, + "x": 0.517375, + "y": 0.41286458333333337 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.3893333333333333, + "id": "bbox_1768871866034_1768887280906_mdyv87vqs", + "width": 0.26000000000000006, + "x": 0.737375, + "y": 0.12086458333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹垂直下降，靠近了护目镜，方便抓取。", + "frame": 326, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近。", + "time": 10.873533 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.24666666666666667, + "id": "bbox_1768871860577_1768887269610_lpxc41vrn", + "width": 0.11099999999999995, + "x": 0.540375, + "y": 0.40186458333333336 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.3973333333333333, + "id": "bbox_1768871866034_1768887260306_0b1p4cqkp", + "width": 0.259, + "x": 0.7373750000000001, + "y": 0.12186458333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到护目镜。", + "frame": 380, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜落入盘子的任务应当：抓紧护目镜垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方", + "time": 12.654222672293814 + }, + { + "action_description": "爪夹夹紧护目镜垂直升高。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.30799999999999994, + "id": "bbox_1768871860577_1768887238482_z4eem1ngp", + "width": 0.13000000000000006, + "x": 0.579375, + "y": 0.0018645833333333325 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.39333333333333337, + "id": "bbox_1768871866034_1768887249826_5exiyvb98", + "width": 0.2610000000000001, + "x": 0.735375, + "y": 0.11919791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹方向的正前方移动，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了盘子。更加方便接近盘子。", + "frame": 442, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹正前方的盘子接近，缩短了与盘子的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了盘子。\n为完成抓取护目镜落入盘子的任务应当：继续向爪夹方向的正前方移动，水平到达盘子的正上方后将护目镜放入盘子", + "time": 14.738533 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.16666666666666666, + "id": "bbox_1768871860577_1768887122227_leivbjafv", + "width": 0.158, + "x": 0.460375, + "y": 0.20086458333333332 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.392, + "id": "bbox_1768871866034_1768887128042_r8m1skiuu", + "width": 0.2660000000000001, + "x": 0.731375, + "y": 0.12086458333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，调整爪夹角度接近垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹张开，护目镜掉落桌面，需要重新抓取护目镜。\n", + "frame": 492, + "progress": 10, + "progress_explanation": "爪夹张开，护目镜掉落桌面，水平上远离了护目镜，需要重新抓取护目镜，因此进度降低为10%", + "state_description": "爪夹张开，护目镜掉落桌面，水平上远离了护目镜。\n为完成抓取护目镜落入盘子的任务应当：爪夹向爪夹方向的左侧移动，调整爪夹角度接近垂直于桌面，并移动到护目镜的正上方。", + "time": 16.399686638273195 + }, + { + "action_description": "爪夹向爪夹方向的左侧移动并下降。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.17066666666666666, + "id": "bbox_1768871860577_1768887104570_cyz2cvenf", + "width": 0.15500000000000008, + "x": 0.460375, + "y": 0.19286458333333334 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.3986666666666666, + "id": "bbox_1768871866034_1768887093530_un0ryxdwj", + "width": 0.26400000000000007, + "x": 0.733375, + "y": 0.11553125000000002 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动并下降，靠近了护目镜，方便抓取。", + "frame": 551, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了护目镜。\n为完成抓取护目镜落入盘子的任务应当：合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右前方的盘子接近。", + "time": 18.365391131056704 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.24400000000000002, + "id": "bbox_1768871860577_1768887076074_sco5zfrfm", + "width": 0.08200000000000003, + "x": 0.475375, + "y": 0.13953125 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.4013333333333334, + "id": "bbox_1768871866034_1768887080970_bmbiqlce1", + "width": 0.265, + "x": 0.734375, + "y": 0.10886458333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹右前方的盘子接近，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到护目镜。", + "frame": 604, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜落入盘子的任务应当：抓紧护目镜垂直升高爪夹并向爪夹右前方的盘子接近，水平到达盘子的正上方\n", + "time": 20.149533 + }, + { + "action_description": "爪夹夹紧护目镜垂直升高。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.19866666666666666, + "id": "bbox_1768871860577_1768887060739_sry5do2dc", + "width": 0.09700000000000006, + "x": 0.518375, + "y": 0.0041979166666666675 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.388, + "id": "bbox_1768871866034_1768887051826_7mw7gcon0", + "width": 0.25699999999999995, + "x": 0.737375, + "y": 0.12419791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹方向的右前方移动，水平到达盘子的正上方后将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了盘子。更加方便接近盘子。", + "frame": 667, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹右前方的盘子接近，缩短了与盘子的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了盘子。\n为完成抓取护目镜落入盘子的任务应当：继续向爪夹方向的右前方移动，水平到达盘子的正上方后将护目镜放入盘子", + "time": 22.2171093939433 + }, + { + "action_description": "爪夹夹紧护目镜向爪夹方向的右前方移动。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.15733333333333333, + "id": "bbox_1768871860577_1768887029667_e1r1xk3e9", + "width": 0.12699999999999995, + "x": 0.8153750000000001, + "y": -0.00046875000000000004 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.43333333333333335, + "id": "bbox_1768871866034_1768887041650_hxpoviqfk", + "width": 0.2660000000000001, + "x": 0.731375, + "y": 0.07953125000000001 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "到了爪夹右前方盘子的正上方，方便将护目镜放入盘子。", + "frame": 698, + "progress": 60, + "progress_explanation": "爪夹夹紧护目镜，到了爪夹右前方盘子的正上方，方便将护目镜放入盘子。因此进度提升为 60%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，位于盘子的正上方。\n为完成抓取护目镜落入盘子的任务应当：将护目镜放入盘子，松开爪夹，使护目镜落入盘子。", + "time": 23.253088788788663 + }, + { + "action_description": "调整爪夹角度垂直向下移动。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.29333333333333333, + "id": "bbox_1768871860577_1768887007147_56oiw2yjo", + "width": 0.11800000000000015, + "x": 0.8313749999999999, + "y": 0.07686458333333333 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.4653333333333334, + "id": "bbox_1768871866034_1768887018130_1j4mpq88s", + "width": 0.2950000000000001, + "x": 0.701375, + "y": 0.055531250000000004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使护目镜落入盘子。", + "error_success_analysis": "护目镜放入盘子，方便护目镜落入盘子。", + "frame": 726, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，护目镜放入盘子。因此进度提升为 80%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，护目镜放入盘子。\n为完成抓取护目镜落入盘子的任务应当：松开爪夹，使护目镜落入盘子。", + "time": 24.1949 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768871860577": { + "instances": [ + { + "height": 0.24000000000000002, + "id": "bbox_1768871860577_1768886985994_p7leufe19", + "width": 0.08800000000000008, + "x": 0.834375, + "y": 0.15686458333333334 + } + ], + "type": "bbox" + }, + "bbox_1768871866034": { + "instances": [ + { + "height": 0.42400000000000004, + "id": "bbox_1768871866034_1768886991602_iwjd88jop", + "width": 0.269, + "x": 0.730375, + "y": 0.08486458333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，护目镜落入盘子", + "frame": 757, + "progress": 100, + "progress_explanation": "爪夹张开，护目镜落入盘子，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开护目镜落入盘子的任务目标完成。", + "time": 25.225566 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768871860577", + "name": "护目镜" + }, + { + "color": "#FF9800", + "id": "bbox_1768871866034", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768871871826", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768871880714", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-141825-put-goggles-oil-plate-bad/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-141825-put-goggles-oil-plate-bad/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..0f3e685791d5d80cb087086e8d6b138504e00993 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-141825-put-goggles-oil-plate-bad/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,794 @@ +{ + "task_description": "抓取护目镜放入碗里：\n准备开始移动：0%\n爪夹靠近护目镜：20%\n爪夹抓取护目镜：40%\n爪夹抓紧护目镜接近碗：60%\n爪夹将护目镜放入碗：80%\n爪夹松开护目镜落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.12133333333333335, + "id": "bbox_1768894249779_1768894557443_3njhbzuwv", + "width": 0.18000000000000002, + "x": 0.182375, + "y": 0.41286458333333337 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.20133333333333334, + "id": "bbox_1768894254075_1768894561475_ys1jce2h7", + "width": 0.15100000000000002, + "x": 0.264375, + "y": 0.19553125000000002 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894565514_93ilh59x1", + "x": 0.422375, + "y": 0.25686458333333334 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894568970_9gt8kdis1", + "x": 0.521375, + "y": 0.25553125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "当前为初始状态，远离护目镜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离护目镜，未开始移动。\n为完成抓取护目镜落入碗的任务应当：爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 0.862366 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动。", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.11600000000000002, + "id": "bbox_1768894249779_1768894551299_2rbg7erw3", + "width": 0.171, + "x": 0.179375, + "y": 0.41286458333333337 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.184, + "id": "bbox_1768894254075_1768894540219_fpgmf62me", + "width": 0.15899999999999997, + "x": 0.255375, + "y": 0.19953125000000002 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894543419_gz63ujvtc", + "x": 0.360375, + "y": 0.37953125000000004 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894545963_au362moyx", + "x": 0.460375, + "y": 0.39286458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹接近垂直于桌面，水平上接近了护目镜。", + "frame": 85, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的正前方移动，接近垂直于桌面，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。接近了护目镜。\n为完成抓取护目镜落入碗的任务应当：爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 2.827031742139175 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动并下降。", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.12666666666666668, + "id": "bbox_1768894249779_1768894530219_awkrxs4em", + "width": 0.166, + "x": 0.180375, + "y": 0.40353125 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.19733333333333333, + "id": "bbox_1768894254075_1768894534819_hcdb5ueer", + "width": 0.13999999999999999, + "x": 0.264375, + "y": 0.18353125 + } + ], + "type": "bbox" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894524514_0c2w7xyes", + "x": 0.434375, + "y": 0.52753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抬升并打开爪夹，向爪夹的右侧移动并调整爪夹角度，直至护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹向正前方移动至肉排的上方下降，夹错目标。", + "frame": 139, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向的正前方移动并下降，爪夹夹到肉排，目标错误，因此进度降低为5%", + "state_description": "爪夹合拢夹住肉排。\n为完成抓取护目镜落入碗的任务应当：爪夹抬升并打开爪夹，向爪夹的右侧移动并调整爪夹角度，直至护目镜的正上方。", + "time": 4.648475012242268 + }, + { + "action_description": "爪夹向爪夹的正上方移动。", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.12133333333333335, + "id": "bbox_1768894249779_1768894494995_5u1cat8r7", + "width": 0.16399999999999998, + "x": 0.179375, + "y": 0.40486458333333336 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.18266666666666667, + "id": "bbox_1768894254075_1768894505203_3zi7nz92i", + "width": 0.16499999999999998, + "x": 0.260375, + "y": 0.19953125000000002 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894513547_xi29zyftf", + "x": 0.387375, + "y": 0.38086458333333334 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894516747_5002021cd", + "x": 0.397375, + "y": 0.3821979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹打开并向爪夹方向的右侧移动，调整爪夹角度，直至护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹离开错误目标需重新抓取。", + "frame": 199, + "progress": 10, + "progress_explanation": "爪夹向上移动离开错误目标，因此进度提升为10%", + "state_description": "爪夹合拢，离开错误目标。\n为完成抓取护目镜落入碗的任务应当：爪夹打开并向爪夹方向的右侧移动，调整爪夹角度，直至护目镜的正上方。", + "time": 6.643389069974226 + }, + { + "action_description": "爪夹打开", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.12533333333333332, + "id": "bbox_1768894249779_1768894484059_agm7861oz", + "width": 0.16100000000000003, + "x": 0.182375, + "y": 0.40219791666666665 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.196, + "id": "bbox_1768894254075_1768894479611_19nojevu3", + "width": 0.156, + "x": 0.260375, + "y": 0.19019791666666666 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894475147_tbvx48b9s", + "x": 0.321375, + "y": 0.2821979166666667 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894471979_5en81mqbv", + "x": 0.421375, + "y": 0.3008645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹打开准备抓取护目镜。", + "frame": 255, + "progress": 15, + "progress_explanation": "爪夹打开，接近垂直于桌面，方便抓取。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。接近了护目镜。\n为完成抓取护目镜落入碗的任务应当：爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 8.497466 + }, + { + "action_description": "爪夹向爪夹的右侧微调并下降", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.12266666666666666, + "id": "bbox_1768894249779_1768894459923_gmbttt3sh", + "width": 0.176, + "x": 0.181375, + "y": 0.41019791666666666 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.20533333333333334, + "id": "bbox_1768894254075_1768894453795_2u34l9pae", + "width": 0.14900000000000002, + "x": 0.27137500000000003, + "y": 0.18353125 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894462731_25a4ne4we", + "x": 0.19737500000000002, + "y": 0.43953125 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894466859_jmkmenx0k", + "x": 0.27537500000000004, + "y": 0.4941979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹向爪夹的右侧微调并下降，靠近了护目镜，方便抓取。", + "frame": 295, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了护目镜。\n为完成抓取护目镜落入碗的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近", + "time": 9.843599 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.1373333333333333, + "id": "bbox_1768894249779_1768894437227_jokvl6dk8", + "width": 0.15999999999999998, + "x": 0.165375, + "y": 0.39553125 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.19333333333333333, + "id": "bbox_1768894254075_1768894447491_acz3k60hb", + "width": 0.156, + "x": 0.28137500000000004, + "y": 0.17419791666666665 + } + ], + "type": "bbox" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894429379_48fto4o6u", + "x": 0.252375, + "y": 0.47553125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，直至碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到护目镜。", + "frame": 328, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜落入碗的任务应当：抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，直至碗的正上方。", + "time": 10.937333 + }, + { + "action_description": "爪夹向上移动，护目镜掉在桌面。", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.13200000000000003, + "id": "bbox_1768894249779_1768894408771_sk1r5ykwj", + "width": 0.15400000000000005, + "x": 0.157375, + "y": 0.39819791666666665 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.17466666666666666, + "id": "bbox_1768894254075_1768894403227_7mbahq10d", + "width": 0.154, + "x": 0.28737500000000005, + "y": 0.18619791666666666 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894418491_m57tl92ws", + "x": 0.19437500000000002, + "y": 0.35019791666666666 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894423131_q9fu5t1pu", + "x": 0.205375, + "y": 0.3541979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹打开并垂直下降直至护目镜的正上方，接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹没有夹紧护目镜导致脱落掉在桌面，需重新抓取护目镜。", + "frame": 368, + "progress": 5, + "progress_explanation": "爪夹合拢夹着护目镜上升瞬间护目镜掉在桌面，因此进度降至为5%。", + "state_description": "爪夹合拢处于护目镜的正上方。\n为完成抓取护目镜落入碗的任务应当：爪夹打开并垂直下降直至护目镜的正上方，接着落下爪夹靠近护目镜", + "time": 12.259505819458763 + }, + { + "action_description": "爪夹打开。", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.13733333333333336, + "id": "bbox_1768894249779_1768894383035_tds2umpks", + "width": 0.15600000000000003, + "x": 0.15437499999999998, + "y": 0.39686458333333335 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.19066666666666665, + "id": "bbox_1768894254075_1768894397819_susqo7jiw", + "width": 0.15500000000000003, + "x": 0.286375, + "y": 0.17286458333333335 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894390067_j4dlg6nqd", + "x": 0.147375, + "y": 0.31286458333333333 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894392979_dwxcuzl2y", + "x": 0.230375, + "y": 0.37686458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹重新打开，方便抓取。", + "frame": 426, + "progress": 10, + "progress_explanation": "爪夹重新打开，接近垂直于桌面，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。\n为完成抓取护目镜落入碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 14.211052180283506 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.1506666666666667, + "id": "bbox_1768894249779_1768894375739_g7v8bdk9q", + "width": 0.18, + "x": 0.15437499999999998, + "y": 0.38353125 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.20266666666666666, + "id": "bbox_1768894254075_1768894365507_vnwmqccme", + "width": 0.14500000000000002, + "x": 0.292375, + "y": 0.16619791666666667 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894371635_y1ka7r47k", + "x": 0.22737500000000002, + "y": 0.43419791666666663 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894368395_sqrdpp48i", + "x": 0.307375, + "y": 0.48753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹垂直下降，靠近了护目镜，方便抓取。", + "frame": 452, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了护目镜。\n为完成抓取护目镜落入碗的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近", + "time": 15.059866 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.17866666666666664, + "id": "bbox_1768894249779_1768894355835_fhh3l8ti7", + "width": 0.155, + "x": 0.149375, + "y": 0.37553125 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.2, + "id": "bbox_1768894254075_1768894360211_y3zg3nsxh", + "width": 0.148, + "x": 0.28137500000000004, + "y": 0.15286458333333333 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894351195_10ej8yntf", + "x": 0.260375, + "y": 0.45286458333333335 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894347907_z5453d801", + "x": 0.270375, + "y": 0.45686458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，直至碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到护目镜。", + "frame": 473, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜落入碗的任务应当：抓紧护目镜垂直升高爪夹并向爪夹正后方的碗接近，直至碗的正上方。", + "time": 15.753966 + }, + { + "action_description": "爪夹夹紧护目镜垂直上升", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.096, + "id": "bbox_1768894249779_1768894336251_ivzpv6wwr", + "width": 0.183, + "x": 0.08937500000000001, + "y": 0.24619791666666666 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.18400000000000002, + "id": "bbox_1768894254075_1768894329523_opgapexxc", + "width": 0.15500000000000003, + "x": 0.26937500000000003, + "y": 0.17286458333333335 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894339483_3en7b89uo", + "x": 0.23737500000000003, + "y": 0.2888645833333333 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894342499_t923598m8", + "x": 0.23937500000000003, + "y": 0.28619791666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹正后方的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了碗。更加方便接近碗。", + "frame": 528, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹正后方的碗接近，缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了碗。\n为完成抓取护目镜落入碗的任务应当：继续向爪夹正后方的碗接近，水平到达碗的正上方后将护目镜放入碗", + "time": 17.615416387499998 + }, + { + "action_description": "爪夹夹紧护目镜向爪夹方向的正后方移动。", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.1413333333333333, + "id": "bbox_1768894249779_1768894302420_ktactjctu", + "width": 0.14700000000000002, + "x": 0.234375, + "y": 0.17286458333333335 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.18266666666666664, + "id": "bbox_1768894254075_1768894318507_nzyvsnua3", + "width": 0.15600000000000006, + "x": 0.272375, + "y": 0.16753125000000002 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894306051_y8buxbh1j", + "x": 0.345375, + "y": 0.23286458333333335 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894309171_trz12otzp", + "x": 0.354375, + "y": 0.23286458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "error_success_analysis": "到了爪夹正后方碗的正上方，方便将护目镜放入碗。", + "frame": 569, + "progress": 60, + "progress_explanation": "爪夹夹紧护目镜，到了爪夹正后方碗的正上方，方便将护目镜放入碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，位于碗的正上方。\n为完成抓取护目镜落入碗的任务应当：将护目镜放入碗，松开爪夹，使护目镜落入碗。", + "time": 18.951033 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768894249779": { + "instances": [ + { + "height": 0.09333333333333335, + "id": "bbox_1768894249779_1768894285603_umnvy612i", + "width": 0.13799999999999998, + "x": 0.246375, + "y": 0.22219791666666666 + } + ], + "type": "bbox" + }, + "bbox_1768894254075": { + "instances": [ + { + "height": 0.19733333333333333, + "id": "bbox_1768894254075_1768894293203_ma4lpsb86", + "width": 0.14700000000000002, + "x": 0.274375, + "y": 0.16353125000000002 + } + ], + "type": "bbox" + }, + "point_1768894258362": { + "instances": [ + { + "id": "point_1768894258362_1768894280315_cnur5vxp4", + "x": 0.32637499999999997, + "y": 0.19553125000000002 + } + ], + "type": "point" + }, + "point_1768894264243": { + "instances": [ + { + "id": "point_1768894264243_1768894276899_9wsdaetpk", + "x": 0.40037500000000004, + "y": 0.23686458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，护目镜落入碗", + "frame": 603, + "progress": 100, + "progress_explanation": "爪夹张开，护目镜落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开护目镜落入碗的任务目标完成。", + "time": 20.10905895966495 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768894249779", + "name": "护目镜" + }, + { + "color": "#FF9800", + "id": "bbox_1768894254075", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768894258362", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768894264243", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-142907-put-beaker-porcelain-bowl-good/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-142907-put-beaker-porcelain-bowl-good/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..e9460041d26b708257bd7f6378ba8fbce72c6b35 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-142907-put-beaker-porcelain-bowl-good/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,380 @@ +{ + "task_description": "抓取塑料杯放入碗里：\n准备开始移动：0%\n爪夹靠近塑料杯：20%\n爪夹抓取塑料杯：40%\n爪夹抓紧塑料杯接近碗：60%\n爪夹将塑料杯放入碗：80%\n爪夹松开塑料杯落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768894674283": { + "instances": [ + { + "height": 0.07999999999999995, + "id": "bbox_1768894674283_1768896975177_vygzt5cie", + "width": 0.06200000000000001, + "x": 0.580375, + "y": 0.68353125 + } + ], + "type": "bbox" + }, + "bbox_1768894681274": { + "instances": [ + { + "height": 0.2226666666666667, + "id": "bbox_1768894681274_1768896971888_yvb2o4s8g", + "width": 0.17299999999999996, + "x": 0.529375, + "y": 0.37286458333333333 + } + ], + "type": "bbox" + }, + "point_1768894685355": { + "instances": [ + { + "id": "point_1768894685355_1768896980392_rxy7sgdll", + "x": 0.5623750000000001, + "y": 0.6488645833333333 + } + ], + "type": "point" + }, + "point_1768894690731": { + "instances": [ + { + "id": "point_1768894690731_1768896983536_2xaoycj8q", + "x": 0.6743750000000001, + "y": 0.6528645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到塑料杯的正上方。接着落下爪夹靠近塑料杯，接近塑料杯后爪夹合拢抓取塑料杯。抓紧塑料杯垂直升高爪夹并向爪夹正前方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "当前为初始状态，远离塑料杯，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离塑料杯，未开始移动。\n为完成抓取塑料杯落入碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到塑料杯的正上方。", + "time": 0.6546048300257732 + }, + { + "action_description": "爪夹向上微抬并调整爪夹角度。", + "annotations": { + "bbox_1768894674283": { + "instances": [ + { + "height": 0.07999999999999995, + "id": "bbox_1768894674283_1768896962913_jczt1jxoi", + "width": 0.050999999999999976, + "x": 0.591375, + "y": 0.68353125 + } + ], + "type": "bbox" + }, + "bbox_1768894681274": { + "instances": [ + { + "height": 0.2226666666666667, + "id": "bbox_1768894681274_1768896966857_qhiim5tyq", + "width": 0.16500000000000004, + "x": 0.5353749999999999, + "y": 0.37686458333333334 + } + ], + "type": "bbox" + }, + "point_1768894685355": { + "instances": [ + { + "id": "point_1768894685355_1768896955536_p6uujcqj6", + "x": 0.610375, + "y": 0.63953125 + } + ], + "type": "point" + }, + "point_1768894690731": { + "instances": [ + { + "id": "point_1768894690731_1768896958664_3tdnx5m0y", + "x": 0.734375, + "y": 0.64753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到塑料杯的正上方。接着落下爪夹靠近塑料杯，接近塑料杯后爪夹合拢抓取塑料杯。抓紧塑料杯垂直升高爪夹并向爪夹正前方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗。", + "error_success_analysis": "向接近垂直于桌面调整角度，水平上未接近塑料杯。", + "frame": 58, + "progress": 5, + "progress_explanation": "爪夹向上微抬并调整爪夹角度，方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近塑料杯。\n为完成抓取塑料杯落入碗的任务应当：爪夹继续垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到塑料杯的正上方。", + "time": 1.943127204252577 + }, + { + "action_description": "爪夹继续调整爪夹角度使其接近垂直于桌面", + "annotations": { + "bbox_1768894674283": { + "instances": [ + { + "height": 0.07466666666666673, + "id": "bbox_1768894674283_1768896947824_d0j1u9j81", + "width": 0.06500000000000003, + "x": 0.581375, + "y": 0.6928645833333333 + } + ], + "type": "bbox" + }, + "bbox_1768894681274": { + "instances": [ + { + "height": 0.23200000000000004, + "id": "bbox_1768894681274_1768896943817_inhy0p5pe", + "width": 0.17, + "x": 0.534375, + "y": 0.36353125000000003 + } + ], + "type": "bbox" + }, + "point_1768894685355": { + "instances": [ + { + "id": "point_1768894685355_1768896950353_52awvhlbr", + "x": 0.604375, + "y": 0.7128645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至塑料杯的正上方。接着落下爪夹靠近塑料杯，接近塑料杯后爪夹合拢抓取塑料杯。抓紧塑料杯垂直升高爪夹并向爪夹正前方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了塑料杯之间的距离。方便后续抓取塑料杯。", + "frame": 93, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了塑料杯。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了塑料杯。\n为完成抓取塑料杯落入碗的任务应当：爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至塑料杯的正上方。", + "time": 3.096 + }, + { + "action_description": "爪夹垂直向下移动。", + "annotations": { + "bbox_1768894674283": { + "instances": [ + { + "height": 0.07466666666666662, + "id": "bbox_1768894674283_1768896934209_vtnhaeqz1", + "width": 0.06399999999999997, + "x": 0.575375, + "y": 0.6888645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768894681274": { + "instances": [ + { + "height": 0.2146666666666667, + "id": "bbox_1768894681274_1768896938656_8ftqblbkm", + "width": 0.17, + "x": 0.534375, + "y": 0.38086458333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢抓取塑料杯，抓紧塑料杯垂直升高爪夹并向爪夹正前方的碗接近。水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了塑料杯，方便抓取。", + "frame": 128, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了塑料杯。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了塑料杯。\n为完成抓取塑料杯落入碗的任务应当：合拢抓取塑料杯，抓紧塑料杯垂直升高爪夹并向爪夹正前方的碗接近。", + "time": 4.271924522809278 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768894674283": { + "instances": [ + { + "height": 0.06533333333333337, + "id": "bbox_1768894674283_1768896930993_tbda94be5", + "width": 0.039999999999999945, + "x": 0.5823750000000001, + "y": 0.6875312499999999 + } + ], + "type": "bbox" + }, + "bbox_1768894681274": { + "instances": [ + { + "height": 0.2333333333333334, + "id": "bbox_1768894681274_1768896923784_h8j0jf165", + "width": 0.17099999999999999, + "x": 0.530375, + "y": 0.36753125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧塑料杯垂直升高爪夹并向爪夹正前方的碗接近，直至碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到塑料杯。", + "frame": 158, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到塑料杯，因此进度提升为40%", + "state_description": "爪夹合拢抓取到塑料杯，爪夹角度与桌面接近垂直。\n为完成抓取塑料杯落入碗的任务应当：抓紧塑料杯垂直升高爪夹并向爪夹正前方的碗接近，直至碗的正上方。", + "time": 5.264914242396906 + }, + { + "action_description": "爪夹夹紧塑料杯垂直上升。", + "annotations": { + "bbox_1768894674283": { + "instances": [ + { + "height": 0.0733333333333333, + "id": "bbox_1768894674283_1768896916401_cmddf5ugt", + "width": 0.06200000000000001, + "x": 0.625375, + "y": 0.6421979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768894681274": { + "instances": [ + { + "height": 0.2320000000000001, + "id": "bbox_1768894681274_1768896919872_cjidympz3", + "width": 0.17699999999999996, + "x": 0.525375, + "y": 0.36753125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹正前方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗。", + "error_success_analysis": "爪夹合拢继续夹紧塑料杯，水平上接近了碗。更加方便接近碗。", + "frame": 207, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧塑料杯，垂直升高并向爪夹正前方的碗接近，缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧塑料杯，水平上接近了碗。\n为完成抓取塑料杯落入碗的任务应当：继续向爪夹正前方的碗接近，水平到达碗的正上方后将塑料杯放入碗", + "time": 6.902933 + }, + { + "action_description": "爪夹夹紧塑料杯向爪夹方向的正前方移动。", + "annotations": { + "bbox_1768894674283": { + "instances": [ + { + "height": 0.05599999999999999, + "id": "bbox_1768894674283_1768896907705_vrxlwsz5r", + "width": 0.040000000000000036, + "x": 0.631375, + "y": 0.42353125 + } + ], + "type": "bbox" + }, + "bbox_1768894681274": { + "instances": [ + { + "height": 0.23733333333333337, + "id": "bbox_1768894681274_1768896894128_wsmnnd284", + "width": 0.16400000000000006, + "x": 0.5263749999999999, + "y": 0.35953125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将塑料杯放入碗，松开爪夹，使塑料杯落入碗。", + "error_success_analysis": "到了爪夹正前方碗的正上方，方便将塑料杯放入碗。", + "frame": 243, + "progress": 60, + "progress_explanation": "爪夹夹紧塑料杯，到了爪夹正前方碗的正上方，方便将塑料杯放入碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧塑料杯，爪夹角度接近垂直于桌面，位于碗的正上方。\n为完成抓取塑料杯落入碗的任务应当：将塑料杯放入碗，松开爪夹，使塑料杯落入碗。", + "time": 8.084 + }, + { + "action_description": "调整爪夹角度垂直向下移动", + "annotations": { + "bbox_1768894681274": { + "instances": [ + { + "height": 0.27599999999999997, + "id": "bbox_1768894681274_1768896889304_7g2ltgt2w", + "width": 0.20699999999999993, + "x": 0.515375, + "y": 0.35019791666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使塑料杯落入碗。", + "error_success_analysis": "塑料杯放入碗，方便塑料杯落入碗。", + "frame": 278, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，塑料杯放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧塑料杯，爪夹角度接近垂直于桌面，塑料杯放入碗。\n为完成抓取塑料杯落入碗的任务应当：松开爪夹，使塑料杯落入碗。", + "time": 9.272337039304123 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768894681274": { + "instances": [ + { + "height": 0.25199999999999995, + "id": "bbox_1768894681274_1768896884945_onm7l8ggq", + "width": 0.16199999999999992, + "x": 0.544375, + "y": 0.3568645833333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，塑料杯落入碗", + "frame": 309, + "progress": 100, + "progress_explanation": "爪夹张开，塑料杯落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开塑料杯落入碗的任务目标完成。", + "time": 10.2856 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768894674283", + "name": "塑料杯" + }, + { + "color": "#FF9800", + "id": "bbox_1768894681274", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768894685355", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768894690731", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-154515-put-beaker-porcelain-bowl-mix1/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-154515-put-beaker-porcelain-bowl-mix1/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..fcf3c57282ba948ecb0e27e1582955f242db252c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-154515-put-beaker-porcelain-bowl-mix1/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,631 @@ +{ + "task_description": "抓取护目镜和塑料杯放入碗里：\n准备开始移动：0%\n爪夹靠近护目镜和塑料杯：20%\n爪夹抓取护目镜和塑料杯：40%\n爪夹抓紧护目镜和塑料杯接近碗：60%\n爪夹将护目镜和塑料杯放入碗：80%\n爪夹松开护目镜和塑料杯落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.28, + "id": "bbox_1768897191208_1768900913805_ykm0kijmi", + "width": 0.08399999999999999, + "x": 0.611375, + "y": 0.44886458333333334 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1768897196984_1768900917997_x99w377un", + "width": 0.06800000000000006, + "x": 0.756375, + "y": 0.18086458333333333 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.24133333333333337, + "id": "bbox_1768897203216_1768900899973_f7q18pwux", + "width": 0.20000000000000004, + "x": 0.357375, + "y": 0.24886458333333333 + } + ], + "type": "bbox" + }, + "point_1768897207288": { + "instances": [ + { + "id": "point_1768897207288_1768900905340_hhg8jaif1", + "x": 0.397375, + "y": 0.4088645833333333 + } + ], + "type": "point" + }, + "point_1768897213424": { + "instances": [ + { + "id": "point_1768897213424_1768900908980_w3ymhqvpg", + "x": 0.520375, + "y": 0.45553125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗目标一完成，然后向爪夹方向的右前方移动，直至塑料杯目标二的正上方，接着落下爪夹靠近塑料杯，接近塑料杯后爪夹合拢抓取塑料杯。抓紧塑料杯垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗目标二完成。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "当前为初始状态，远离护目镜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离护目镜，未开始移动。\n为完成抓取护目镜和塑料杯落入碗的任务应当：爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 0.6848 + }, + { + "action_description": "爪夹向正前方微抬并调整爪夹角度。", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.2853333333333333, + "id": "bbox_1768897191208_1768900889476_cohsbf6ul", + "width": 0.09500000000000001, + "x": 0.601375, + "y": 0.45019791666666664 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.13466666666666668, + "id": "bbox_1768897196984_1768900885205_ytzmhhvla", + "width": 0.08899999999999997, + "x": 0.746375, + "y": 0.18086458333333333 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.24933333333333332, + "id": "bbox_1768897203216_1768900893820_6mv12n456", + "width": 0.213, + "x": 0.34137500000000004, + "y": 0.23419791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹的右前方微调，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗目标一完成，然后向爪夹方向的右前方移动，直至塑料杯目标二的正上方，接着落下爪夹靠近塑料杯，接近塑料杯后爪夹合拢抓取塑料杯。抓紧塑料杯垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗目标二完成。", + "error_success_analysis": "向接近垂直于桌面调整角度，水平上未接近护目镜。", + "frame": 59, + "progress": 10, + "progress_explanation": "爪夹向上微抬并调整爪夹角度，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近护目镜。\n为完成抓取护目镜和塑料杯落入碗的任务应当：爪夹继续向爪夹的右前方微调，同时调整爪夹的角度使其垂直于桌面，并移动到护目镜的正上方。", + "time": 1.968799 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调并下降。", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.29600000000000004, + "id": "bbox_1768897191208_1768900870332_37noyjh6n", + "width": 0.092, + "x": 0.605375, + "y": 0.44353125000000004 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.13733333333333334, + "id": "bbox_1768897196984_1768900880420_1yq4i1yp2", + "width": 0.07999999999999999, + "x": 0.747375, + "y": 0.17953125 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.25066666666666665, + "id": "bbox_1768897203216_1768900862493_2ntqsk7c8", + "width": 0.189, + "x": 0.352375, + "y": 0.23286458333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗目标一完成，然后向爪夹方向的右前方移动，直至塑料杯目标二的正上方，接着落下爪夹靠近塑料杯，接近塑料杯后爪夹合拢抓取塑料杯。抓紧塑料杯垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗目标二完成。", + "error_success_analysis": "爪夹向爪夹方向的右前方微调并下降，靠近了护目镜，方便抓取。", + "frame": 91, + "progress": 15, + "progress_explanation": "爪夹角度垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为15%。", + "state_description": "爪夹角度垂直于桌面，靠近了护目镜。\n为完成抓取护目镜和塑料杯落入碗的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹左侧的碗接近", + "time": 3.017399 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.2346666666666667, + "id": "bbox_1768897191208_1768900849125_yar6e959v", + "width": 0.10499999999999998, + "x": 0.607375, + "y": 0.46753125 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.11333333333333334, + "id": "bbox_1768897196984_1768900842453_ul8fkb5n8", + "width": 0.071, + "x": 0.754375, + "y": 0.19953125000000002 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.2533333333333333, + "id": "bbox_1768897203216_1768900857829_h80ecm2r3", + "width": 0.186, + "x": 0.360375, + "y": 0.22753125000000002 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹左侧的碗接近，直至碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗目标一完成，然后向爪夹方向的右前方移动，直至塑料杯目标二的正上方，接着落下爪夹靠近塑料杯，接近塑料杯后爪夹合拢抓取塑料杯。抓紧塑料杯垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗目标二完成。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到护目镜。", + "frame": 135, + "progress": 20, + "progress_explanation": "爪夹合拢抓取到护目镜，因此进度提升为20%", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜和塑料杯落入碗的任务应当：抓紧护目镜垂直升高爪夹并向爪夹左侧的碗接近，直至碗的正上方。", + "time": 4.508891752577319 + }, + { + "action_description": "爪夹夹紧护目镜垂直升高并向爪夹的左侧微调。", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.296, + "id": "bbox_1768897191208_1768900829837_4qqz6p2fn", + "width": 0.11200000000000002, + "x": 0.5403749999999999, + "y": 0.21419791666666668 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.12800000000000003, + "id": "bbox_1768897196984_1768900838157_p8htb61pu", + "width": 0.079, + "x": 0.746375, + "y": 0.19286458333333334 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.24799999999999997, + "id": "bbox_1768897203216_1768900823949_4w36hode0", + "width": 0.18600000000000003, + "x": 0.359375, + "y": 0.23553125000000003 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹左侧的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗目标一完成，然后向爪夹方向的右前方移动，直至塑料杯目标二的正上方，接着落下爪夹靠近塑料杯，接近塑料杯后爪夹合拢抓取塑料杯。抓紧塑料杯垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗目标二完成。", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了碗。更加方便接近碗。", + "frame": 196, + "progress": 25, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹左侧的碗接近，缩短了与碗的距离。因此进度提升为 25%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了碗。\n为完成抓取护目镜和塑料杯落入碗的任务应当：继续向爪夹左侧的碗接近，水平到达碗的正上方后将护目镜放入碗", + "time": 6.538582474226804 + }, + { + "action_description": "爪夹打开", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.24933333333333335, + "id": "bbox_1768897191208_1768900801157_njbnyhnbz", + "width": 0.15199999999999997, + "x": 0.512375, + "y": 0.28353125 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.13066666666666665, + "id": "bbox_1768897196984_1768900796500_czxdnpe16", + "width": 0.07400000000000002, + "x": 0.752375, + "y": 0.18353125 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.24799999999999997, + "id": "bbox_1768897203216_1768900817981_yykb2xykt", + "width": 0.188, + "x": 0.366375, + "y": 0.23286458333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降，调整爪夹角度接近垂直于桌面，直至护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将护目镜放入碗，松开爪夹，使护目镜落入碗目标一完成，然后向爪夹方向的右前方移动，直至塑料杯目标二的正上方，接着落下爪夹靠近塑料杯，接近塑料杯后爪夹合拢抓取塑料杯。抓紧塑料杯垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗目标二完成。", + "error_success_analysis": "爪夹张开，护目镜掉落桌面，需要重新抓取护目镜。", + "frame": 230, + "progress": 5, + "progress_explanation": "爪夹张开，护目镜掉落桌面，水平上远离了护目镜，需要重新抓取护目镜，因此进度降低为5%", + "state_description": "爪夹张开，护目镜掉落桌面，水平上远离了护目镜\n为完成抓取护目镜和塑料杯落入碗的任务应当：爪夹垂直下降，调整爪夹角度接近垂直于桌面，直至护目镜的正上方。", + "time": 7.682599 + }, + { + "action_description": "爪夹向爪夹的正前方移动。", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.2373333333333333, + "id": "bbox_1768897191208_1768900780604_rx3v0wrgz", + "width": 0.129, + "x": 0.511375, + "y": 0.27953125 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.12533333333333335, + "id": "bbox_1768897196984_1768900790149_zdwjgc6ly", + "width": 0.07999999999999999, + "x": 0.746375, + "y": 0.19019791666666666 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.228, + "id": "bbox_1768897203216_1768900776037_zz6zb4mr4", + "width": 0.18800000000000003, + "x": 0.369375, + "y": 0.25286458333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹放弃目标一抓取目标二，爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至塑料杯的正上方。接着落下爪夹靠近塑料杯，接近塑料杯后爪夹合拢抓取塑料杯。抓紧塑料杯垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗目标二完成。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了塑料杯之间的距离。方便后续抓取塑料杯。", + "frame": 315, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了塑料杯。方便抓取。因此进度提升为 10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了塑料杯。\n为完成抓取护目镜和塑料杯落入碗的任务应当：爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至塑料杯的正上方。", + "time": 10.487654639175256 + }, + { + "action_description": "爪夹向下移动。", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.24933333333333335, + "id": "bbox_1768897191208_1768900758325_i6sj40lpj", + "width": 0.11299999999999999, + "x": 0.524375, + "y": 0.26086458333333334 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.10933333333333334, + "id": "bbox_1768897196984_1768900753652_sv9tjkitq", + "width": 0.07199999999999988, + "x": 0.740375, + "y": 0.20353125000000002 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.23599999999999996, + "id": "bbox_1768897203216_1768900763740_2g0xxyoc6", + "width": 0.18999999999999995, + "x": 0.366375, + "y": 0.23953125000000003 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢抓取塑料杯，抓紧塑料杯垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗目标二完成。", + "error_success_analysis": "爪夹向下移动，靠近了塑料杯，方便抓取。", + "frame": 352, + "progress": 15, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了塑料杯。方便抓取，因此进度提升为15%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了塑料杯。\n为完成抓取护目镜和塑料杯落入碗的任务应当：合拢抓取塑料杯，抓紧塑料杯垂直升高爪夹并向爪夹左后方的碗接近。", + "time": 11.727199 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.25733333333333336, + "id": "bbox_1768897191208_1768900744900_dy1o9rksg", + "width": 0.12199999999999997, + "x": 0.517375, + "y": 0.2661979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1768897196984_1768900749557_nc5s7113s", + "width": 0.05, + "x": 0.774375, + "y": 0.22219791666666666 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.25866666666666666, + "id": "bbox_1768897203216_1768900739636_apkonqe0u", + "width": 0.176, + "x": 0.375375, + "y": 0.23553125000000003 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧塑料杯垂直升高爪夹并向爪夹左后方的碗接近，直至碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗目标二完成。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到护目镜。", + "frame": 394, + "progress": 20, + "progress_explanation": "爪夹合拢抓取到塑料杯，因此进度提升为20%。", + "state_description": "爪夹合拢抓取到塑料杯，爪夹角度与桌面接近垂直。\n为完成抓取护目镜和塑料杯落入碗的任务应当：抓紧塑料杯垂直升高爪夹并向爪夹左后方的碗接近，直至碗的正上方。", + "time": 13.135077319587628 + }, + { + "action_description": "爪夹夹紧塑料杯垂直升高并向爪夹的后侧移动", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.24800000000000003, + "id": "bbox_1768897191208_1768900713396_cqy38anzu", + "width": 0.12499999999999992, + "x": 0.5163750000000001, + "y": 0.27153124999999995 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.104, + "id": "bbox_1768897196984_1768900726188_71upv0d9v", + "width": 0.06800000000000006, + "x": 0.701375, + "y": 0.03553125 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.22000000000000003, + "id": "bbox_1768897203216_1768900731773_8arodttbg", + "width": 0.19599999999999995, + "x": 0.364375, + "y": 0.25686458333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹左后方的碗接近，水平到达碗的正上方后将塑料杯放入碗，松开爪夹，使塑料杯落入碗目标二完成。", + "error_success_analysis": "爪夹合拢继续夹紧塑料杯，水平上接近了碗。更加方便接近碗。", + "frame": 470, + "progress": 25, + "progress_explanation": "爪夹合拢夹紧塑料杯，垂直升高并向爪夹左后方的碗接近，缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧塑料杯，水平上接近了碗。\n为完成抓取护目镜和塑料杯落入碗的任务应当：继续向爪夹左后方的碗接近，水平到达碗的正上方后将塑料杯放入碗", + "time": 15.664799 + }, + { + "action_description": "爪夹夹紧塑料杯向爪夹方向的左后方移动并下降。", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.256, + "id": "bbox_1768897191208_1768900699725_34y842xll", + "width": 0.15199999999999997, + "x": 0.515375, + "y": 0.25953125 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.08133333333333331, + "id": "bbox_1768897196984_1768900695829_6notflsq6", + "width": 0.052000000000000046, + "x": 0.43937499999999996, + "y": 0.31553125000000004 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.24000000000000002, + "id": "bbox_1768897203216_1768900704157_kqehyypo4", + "width": 0.19799999999999995, + "x": 0.354375, + "y": 0.23686458333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将塑料杯放入碗，松开爪夹，使塑料杯落入碗。", + "error_success_analysis": "到了爪夹左后方碗的正上方，方便将塑料杯放入碗。", + "frame": 536, + "progress": 30, + "progress_explanation": "爪夹夹紧塑料杯，到了爪夹左后方碗的正上方，方便将塑料杯放入碗。因此进度提升为30%。", + "state_description": "爪夹夹紧塑料杯，爪夹角度接近垂直于桌面，位于碗的正上方。\n为完成抓取护目镜和塑料杯落入碗的任务应当：将塑料杯放入碗，松开爪夹，使塑料杯落入碗。", + "time": 17.85631443298969 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768897191208": { + "instances": [ + { + "height": 0.2573333333333333, + "id": "bbox_1768897191208_1768900666517_il1j0xfa1", + "width": 0.12000000000000002, + "x": 0.521375, + "y": 0.2621979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768897196984": { + "instances": [ + { + "height": 0.07466666666666667, + "id": "bbox_1768897196984_1768900681421_a2rq1f93i", + "width": 0.07000000000000002, + "x": 0.42737499999999995, + "y": 0.33286458333333335 + } + ], + "type": "bbox" + }, + "bbox_1768897203216": { + "instances": [ + { + "height": 0.26, + "id": "bbox_1768897203216_1768900685525_7ktjzdiqg", + "width": 0.18700000000000006, + "x": 0.357375, + "y": 0.22886458333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，塑料杯落入碗", + "frame": 606, + "progress": 50, + "progress_explanation": "爪夹张开，塑料杯落入碗，夹取任务目标二完成。因此进度提升为 50%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开护目镜和塑料杯落入碗的任务目标二完成。", + "time": 20.194871134020616 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768897191208", + "name": "护目镜" + }, + { + "color": "#FF9800", + "id": "bbox_1768897196984", + "name": "塑料杯" + }, + { + "color": "#2196F3", + "id": "bbox_1768897203216", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768897207288", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768897213424", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-161018-put-beaker-porcelain-bowl-mix2/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-161018-put-beaker-porcelain-bowl-mix2/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..9d1e0f8b5b29efafdf2bb96a0ff8eddcf471a16f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-161018-put-beaker-porcelain-bowl-mix2/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,580 @@ +{ + "task_description": "抓取烧杯放入碗里：\n准备开始移动：0%\n爪夹靠近烧杯：20%\n爪夹抓取烧杯：40%\n爪夹抓紧烧杯接近碗：60%\n爪夹将烧杯放入碗：80%\n爪夹松开烧杯落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768958112159": { + "instances": [ + { + "height": 0.08400000000000005, + "id": "bbox_1768958112159_1768964107233_9l2h33zjn", + "width": 0.06399999999999997, + "x": 0.41237500000000005, + "y": 0.27019791666666665 + } + ], + "type": "bbox" + }, + "bbox_1768958120918": { + "instances": [ + { + "height": 0.21333333333333335, + "id": "bbox_1768958120918_1768964111400_najao1sce", + "width": 0.1929999999999999, + "x": 0.619375, + "y": 0.38886458333333335 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768964094504_2cyd23s0q", + "x": 0.726375, + "y": 0.07553125000000001 + } + ], + "type": "point" + }, + "point_1768958132551": { + "instances": [ + { + "id": "point_1768958132551_1768964098816_5e253ojwo", + "x": 0.780375, + "y": 0.046197916666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始状态，远离烧杯，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离烧杯，未开始移动。\n为完成抓取烧杯落入碗的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 0.589666 + }, + { + "action_description": "爪夹向爪夹的正前方移动并下降。", + "annotations": { + "bbox_1768958112159": { + "instances": [ + { + "height": 0.08266666666666668, + "id": "bbox_1768958112159_1768964071728_gny65dw5s", + "width": 0.07000000000000002, + "x": 0.406375, + "y": 0.27019791666666665 + } + ], + "type": "bbox" + }, + "bbox_1768958120918": { + "instances": [ + { + "height": 0.2146666666666667, + "id": "bbox_1768958120918_1768964075192_0sm5x16jv", + "width": 0.19400000000000003, + "x": 0.621375, + "y": 0.38086458333333334 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768964066288_05f7kzii3", + "x": 0.510375, + "y": 0.19553125000000002 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动，缩短了与烧杯之间的距离。方便后续抓取烧杯。", + "frame": 54, + "progress": 10, + "progress_explanation": "爪夹向爪夹的正前方移动，水平上接近了烧杯。方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，接近了烧杯。\n为完成抓取烧杯落入碗的任务应当：爪夹继续向正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 1.789333 + }, + { + "action_description": "爪夹向下移动并合拢爪夹。", + "annotations": { + "bbox_1768958112159": { + "instances": [ + { + "height": 0.08266666666666668, + "id": "bbox_1768958112159_1768964049865_tf96dm1xl", + "width": 0.06499999999999995, + "x": 0.40737500000000004, + "y": 0.27019791666666665 + } + ], + "type": "bbox" + }, + "bbox_1768958120918": { + "instances": [ + { + "height": 0.21466666666666664, + "id": "bbox_1768958120918_1768964045217_84pskebbp", + "width": 0.19899999999999993, + "x": 0.612375, + "y": 0.3821979166666667 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768964057920_lh5etnbky", + "x": 0.552375, + "y": 0.3301979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抬升并重新打开，向爪夹方向的正前方移动，直至烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹还没有移动至烧杯的正上方下降，需重新打开爪夹抓取烧杯。", + "frame": 104, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到烧杯，因此进度降至为5%。", + "state_description": "爪夹合拢抵在面包片上。\n为完成抓取烧杯落入碗的任务应当：爪夹抬升并重新打开，向爪夹方向的正前方移动，直至烧杯的正上方。", + "time": 3.466623654510309 + }, + { + "action_description": "爪夹上升并重新打开爪夹。", + "annotations": { + "bbox_1768958112159": { + "instances": [ + { + "height": 0.08533333333333334, + "id": "bbox_1768958112159_1768964031328_t1oijkpvk", + "width": 0.06500000000000003, + "x": 0.406375, + "y": 0.26886458333333335 + } + ], + "type": "bbox" + }, + "bbox_1768958120918": { + "instances": [ + { + "height": 0.21733333333333338, + "id": "bbox_1768958120918_1768964039841_rkrduvire", + "width": 0.18899999999999997, + "x": 0.622375, + "y": 0.37686458333333334 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768964035248_iomiiums6", + "x": 0.499375, + "y": 0.12886458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向正前方移动，同时调整爪夹的角度使其垂直于桌面，直至烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹上升并重新打开爪夹，离开错误目标，需重新抓取烧杯。", + "frame": 166, + "progress": 10, + "progress_explanation": "爪夹上升并重新打开爪夹，离开错误目标，因此进度提升为10%。", + "state_description": "爪夹上升并重新打开爪夹，离开错误目标。\n为完成抓取烧杯落入碗的任务应当：爪夹继续向正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方，接着落下爪夹靠近烧杯", + "time": 5.530666 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动下降，并合拢爪夹。", + "annotations": { + "bbox_1768958120918": { + "instances": [ + { + "height": 0.21600000000000008, + "id": "bbox_1768958120918_1768963997441_2ec4bgq13", + "width": 0.19299999999999998, + "x": 0.616375, + "y": 0.3848645833333333 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768964006569_wu4cuptku", + "x": 0.402375, + "y": 0.35953125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抬升并重新打开，向爪夹方向的右侧移动，直至烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹没有移动至烧杯的正上方下降，需重新打开爪夹抓取烧杯。", + "frame": 249, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到烧杯，因此进度降至为5%。", + "state_description": "爪夹合拢抵在肉排上。\n为完成抓取烧杯落入碗的任务应当：爪夹抬升并重新打开，向爪夹方向的右侧移动，直至烧杯的正上方。", + "time": 8.287929417396906 + }, + { + "action_description": "爪夹上升并重新打开爪夹。", + "annotations": { + "bbox_1768958112159": { + "instances": [ + { + "height": 0.07600000000000001, + "id": "bbox_1768958112159_1768963980400_a634jdbnq", + "width": 0.07800000000000003, + "x": 0.42737499999999995, + "y": 0.2541979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768958120918": { + "instances": [ + { + "height": 0.2213333333333333, + "id": "bbox_1768958120918_1768963992481_ev02znq6g", + "width": 0.18599999999999994, + "x": 0.626375, + "y": 0.3821979166666667 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768963986353_xh243dyvd", + "x": 0.429375, + "y": 0.17553125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方，接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹上升并重新打开爪夹，离开错误目标，需重新抓取烧杯。", + "frame": 325, + "progress": 10, + "progress_explanation": "爪夹上升并重新打开爪夹，离开错误目标，因此进度提升为10%。", + "state_description": "爪夹上升并重新打开爪夹，接近了烧杯。\n为完成抓取烧杯落入碗的任务应当：爪夹向爪夹的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方，接着落下爪夹靠近烧杯", + "time": 10.837666 + }, + { + "action_description": "爪夹向爪夹的右侧微调并下降。", + "annotations": { + "bbox_1768958112159": { + "instances": [ + { + "height": 0.0666666666666667, + "id": "bbox_1768958112159_1768963965217_iyugvkx53", + "width": 0.07700000000000004, + "x": 0.42737499999999995, + "y": 0.25953125 + } + ], + "type": "bbox" + }, + "bbox_1768958120918": { + "instances": [ + { + "height": 0.22533333333333333, + "id": "bbox_1768958120918_1768963943073_x1t16sjzo", + "width": 0.188, + "x": 0.621375, + "y": 0.38353125 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768963959425_uiq1k0dyx", + "x": 0.43537499999999996, + "y": 0.32086458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹向爪夹的右侧微调并下降，靠近了烧杯，方便抓取。", + "frame": 365, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了烧杯。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了烧杯。\n为完成抓取烧杯落入碗的任务应当：合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近。", + "time": 12.179666 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768958112159": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1768958112159_1768963930073_bglm8u7dp", + "width": 0.07199999999999998, + "x": 0.430375, + "y": 0.26886458333333335 + } + ], + "type": "bbox" + }, + "bbox_1768958120918": { + "instances": [ + { + "height": 0.22666666666666663, + "id": "bbox_1768958120918_1768963934432_nolelwidr", + "width": 0.188, + "x": 0.621375, + "y": 0.37686458333333334 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768963926169_9bv3amtdd", + "x": 0.45137499999999997, + "y": 0.30353125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，直至碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到烧杯。", + "frame": 401, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到烧杯，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到烧杯，爪夹角度与桌面接近垂直。\n为完成抓取烧杯落入碗的任务应当：抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，直至碗的正上方。", + "time": 13.379333 + }, + { + "action_description": "爪夹夹紧烧杯垂直上升并向爪夹的正后方移动。", + "annotations": { + "bbox_1768958112159": { + "instances": [ + { + "height": 0.08533333333333333, + "id": "bbox_1768958112159_1768963904665_81eu0vsrp", + "width": 0.071, + "x": 0.481375, + "y": 0.07419791666666667 + } + ], + "type": "bbox" + }, + "bbox_1768958120918": { + "instances": [ + { + "height": 0.23066666666666666, + "id": "bbox_1768958120918_1768963900513_a0z2dwxh8", + "width": 0.184, + "x": 0.625375, + "y": 0.3621979166666666 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768963909025_qs470yg3r", + "x": 0.504375, + "y": 0.12219791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹合拢继续夹紧烧杯，水平上接近了碗。更加方便接近碗。", + "frame": 453, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧烧杯，垂直升高并向爪夹正后方的碗接近，缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧烧杯，水平上接近了碗。\n为完成抓取烧杯落入碗的任务应当：继续向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗", + "time": 15.087333 + }, + { + "action_description": "爪夹夹紧烧杯向爪夹的正后方移动。", + "annotations": { + "bbox_1768958112159": { + "instances": [ + { + "height": 0.12399999999999999, + "id": "bbox_1768958112159_1768963816457_lb43hkr1w", + "width": 0.09500000000000001, + "x": 0.701375, + "y": 0.13553125000000002 + } + ], + "type": "bbox" + }, + "bbox_1768958120918": { + "instances": [ + { + "height": 0.2133333333333334, + "id": "bbox_1768958120918_1768963807473_2yr4e23jv", + "width": 0.19399999999999995, + "x": 0.616375, + "y": 0.38619791666666664 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768963811329_dxplobmk5", + "x": 0.731375, + "y": 0.19286458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "到了爪夹正后方碗的正上方，方便将烧杯放入碗。", + "frame": 499, + "progress": 60, + "progress_explanation": "爪夹夹紧烧杯，到了爪夹正后方碗的正上方，方便将烧杯放入碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧烧杯，爪夹角度接近垂直于桌面，位于碗的正上方。\n为完成抓取烧杯落入碗的任务应当：将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "time": 16.632666 + }, + { + "action_description": "调整爪夹角度垂直向下移动", + "annotations": { + "bbox_1768958112159": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1768958112159_1768963795969_bxybi32m8", + "width": 0.07999999999999999, + "x": 0.659375, + "y": 0.4261979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768958120918": { + "instances": [ + { + "height": 0.2293333333333333, + "id": "bbox_1768958120918_1768963800729_zaw7bk8go", + "width": 0.18899999999999997, + "x": 0.621375, + "y": 0.3741979166666667 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768963791801_pxcxzhcu9", + "x": 0.684375, + "y": 0.4808645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使烧杯落入碗。", + "error_success_analysis": "烧杯放入碗，方便烧杯落入碗。", + "frame": 544, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，烧杯放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧烧杯，爪夹角度接近垂直于桌面，烧杯放入碗。\n为完成抓取烧杯落入碗的任务应当：松开爪夹，使烧杯落入碗。", + "time": 18.137333 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768958112159": { + "instances": [ + { + "height": 0.07599999999999998, + "id": "bbox_1768958112159_1768963779737_4qdx7f2as", + "width": 0.06699999999999999, + "x": 0.672375, + "y": 0.45453125 + } + ], + "type": "bbox" + }, + "bbox_1768958120918": { + "instances": [ + { + "height": 0.22666666666666674, + "id": "bbox_1768958120918_1768963784833_t75vv3wjq", + "width": 0.183, + "x": 0.626375, + "y": 0.37053125 + } + ], + "type": "bbox" + }, + "point_1768958125567": { + "instances": [ + { + "id": "point_1768958125567_1768963775033_ba2g680se", + "x": 0.670375, + "y": 0.49453125 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，烧杯落入碗", + "frame": 580, + "progress": 100, + "progress_explanation": "爪夹张开，烧杯落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开烧杯落入碗的任务目标完成。", + "time": 19.336999 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768958112159", + "name": "烧杯" + }, + { + "color": "#FF9800", + "id": "bbox_1768958120918", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768958125567", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768958132551", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-162949-put-beaker-porcelain-bowl-bad/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-162949-put-beaker-porcelain-bowl-bad/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f31cee685c58776c6197a56c37146f3852216c91 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-162949-put-beaker-porcelain-bowl-bad/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,595 @@ +{ + "task_description": "抓取烧杯和胶头滴管放入碗里：\n准备开始移动：0%\n爪夹靠近烧杯和胶头滴管：20%\n爪夹抓取烧杯和胶头滴管：40%\n爪夹抓紧烧杯和胶头滴管接近碗：60%\n爪夹将烧杯和胶头滴管放入碗：80%\n爪夹松开烧杯和胶头滴管落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768967979325": { + "instances": [ + { + "height": 0.1120000000000001, + "id": "bbox_1768967979325_1768978249003_u3h6nlj7t", + "width": 0.09900000000000002, + "x": 0.581375, + "y": 0.6821979166666666 + } + ], + "type": "bbox" + }, + "bbox_1768967984781": { + "instances": [ + { + "height": 0.07066666666666659, + "id": "bbox_1768967984781_1768978244579_n58rj62n0", + "width": 0.158, + "x": 0.491375, + "y": 0.7168645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.24266666666666664, + "id": "bbox_1768967993269_1768978240123_ygudkkg6b", + "width": 0.21000000000000002, + "x": 0.299375, + "y": 0.3061979166666667 + } + ], + "type": "bbox" + }, + "point_1768967999349": { + "instances": [ + { + "id": "point_1768967999349_1768978252811_iom7rxn2y", + "x": 0.367375, + "y": 0.3661979166666667 + } + ], + "type": "point" + }, + "point_1768968005598": { + "instances": [ + { + "id": "point_1768968005598_1768978256507_ubk19h82f", + "x": 0.502375, + "y": 0.43553125000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗目标一完成，然后向爪夹方向的右侧移动，直至胶头滴管目标二的正上方，接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗目标二完成。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "当前为初始状态，远离烧杯，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离烧杯，未开始移动。\n为完成抓取烧杯和胶头滴管落入碗的任务应当：爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 0.5729166784793814 + }, + { + "action_description": "爪夹向正前方微抬并调整爪夹角度。", + "annotations": { + "bbox_1768967979325": { + "instances": [ + { + "height": 0.1013333333333333, + "id": "bbox_1768967979325_1768978226699_2i1bbuiy6", + "width": 0.07599999999999998, + "x": 0.605375, + "y": 0.6941979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768967984781": { + "instances": [ + { + "height": 0.08000000000000007, + "id": "bbox_1768967984781_1768978216738_07dif6reu", + "width": 0.15200000000000005, + "x": 0.491375, + "y": 0.70753125 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.22000000000000006, + "id": "bbox_1768967993269_1768978233074_ljiqhegge", + "width": 0.20299999999999999, + "x": 0.307375, + "y": 0.3061979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗目标一完成，然后向爪夹方向的右侧移动，直至胶头滴管目标二的正上方，接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗目标二完成。", + "error_success_analysis": "向接近垂直于桌面调整角度，水平上未接近烧杯。", + "frame": 49, + "progress": 10, + "progress_explanation": "爪夹向正前方微抬并调整爪夹角度，因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近烧杯。\n为完成抓取烧杯和胶头滴管落入碗的任务应当：爪夹继续垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 1.622916700128866 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1768967979325": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1768967979325_1768978197923_qjc19hhi1", + "width": 0.07600000000000007, + "x": 0.606375, + "y": 0.6901979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768967984781": { + "instances": [ + { + "height": 0.09200000000000016, + "id": "bbox_1768967984781_1768978203211_jbqklh8xy", + "width": 0.162, + "x": 0.491375, + "y": 0.6928645833333333 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.24799999999999997, + "id": "bbox_1768967993269_1768978193211_4lulb872i", + "width": 0.19899999999999998, + "x": 0.302375, + "y": 0.29419791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗目标一完成，然后向爪夹方向的右侧移动，直至胶头滴管目标二的正上方，接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗目标二完成。", + "error_success_analysis": "爪夹垂直下降，靠近了烧杯，方便抓取。", + "frame": 74, + "progress": 15, + "progress_explanation": "爪夹角度垂直于桌面，靠近了烧杯。方便抓取，因此进度提升为15%。", + "state_description": "爪夹角度垂直于桌面，靠近了烧杯。\n为完成抓取烧杯和胶头滴管落入碗的任务应当：爪夹合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹左侧的碗接近", + "time": 2.45625005064433 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768967979325": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1768967979325_1768978155043_ueiqgo7zq", + "width": 0.08500000000000005, + "x": 0.584375, + "y": 0.6888645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768967984781": { + "instances": [ + { + "height": 0.06933333333333327, + "id": "bbox_1768967984781_1768978160195_t13ltzdky", + "width": 0.14499999999999993, + "x": 0.48237500000000005, + "y": 0.7141979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.2320000000000001, + "id": "bbox_1768967993269_1768978173731_icvty6id4", + "width": 0.20199999999999996, + "x": 0.304375, + "y": 0.3021979166666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧烧杯垂直升高爪夹并向爪夹左侧的碗接近，直至碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗目标一完成，然后向爪夹方向的右侧移动，直至胶头滴管目标二的正上方，接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗目标二完成。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到烧杯。", + "frame": 112, + "progress": 20, + "progress_explanation": "爪夹合拢抓取到烧杯，因此进度提升为20%。", + "state_description": "爪夹合拢抓取到烧杯，爪夹角度与桌面接近垂直。\n为完成抓取烧杯和胶头滴管落入碗的任务应当：抓紧烧杯垂直升高爪夹并向爪夹左侧的碗接近，直至碗的正上方。", + "time": 3.7395834104381445 + }, + { + "action_description": "爪夹夹紧烧杯垂直升高并向爪夹的左侧微移。", + "annotations": { + "bbox_1768967979325": { + "instances": [ + { + "height": 0.08666666666666666, + "id": "bbox_1768967979325_1768978143123_xvutcvwk1", + "width": 0.10299999999999994, + "x": 0.510375, + "y": 0.37686458333333334 + } + ], + "type": "bbox" + }, + "bbox_1768967984781": { + "instances": [ + { + "height": 0.10399999999999991, + "id": "bbox_1768967984781_1768978134259_y81vl3sgj", + "width": 0.15, + "x": 0.467375, + "y": 0.6768645833333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹左侧的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗目标一完成，然后向爪夹方向的右侧移动，直至胶头滴管目标二的正上方，接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗目标二完成。", + "error_success_analysis": "爪夹合拢继续夹紧烧杯，水平上接近了碗。更加方便接近碗。", + "frame": 165, + "progress": 25, + "progress_explanation": "爪夹合拢夹紧烧杯，垂直升高并向爪夹左侧的碗接近，缩短了与碗的距离。因此进度提升为 25%", + "state_description": "爪夹合拢夹紧烧杯，水平上接近了碗。\n为完成抓取烧杯和胶头滴管落入碗的任务应当：继续向爪夹左侧的碗接近，水平到达碗的正上方后将烧杯放入碗", + "time": 5.489583446520619 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768967979325": { + "instances": [ + { + "height": 0.10400000000000004, + "id": "bbox_1768967979325_1768978124131_xzxuq90ig", + "width": 0.08399999999999999, + "x": 0.497375, + "y": 0.5288645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768967984781": { + "instances": [ + { + "height": 0.10399999999999991, + "id": "bbox_1768967984781_1768978115043_7io2zj6ac", + "width": 0.14699999999999996, + "x": 0.46637500000000004, + "y": 0.67553125 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.26, + "id": "bbox_1768967993269_1768978127955_b53iszfrj", + "width": 0.179, + "x": 0.276375, + "y": 0.27019791666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降，调整爪夹角度接近垂直于桌面，直至烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗目标一完成，然后向爪夹方向的右侧移动，直至胶头滴管目标二的正上方，接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗目标二完成。", + "error_success_analysis": "爪夹张开，烧杯掉落桌面，需要重新抓取烧杯。", + "frame": 202, + "progress": 5, + "progress_explanation": "爪夹张开，烧杯掉落桌面，水平上远离了烧杯，需要重新抓取烧杯，因此进度降低为5%", + "state_description": "爪夹张开，烧杯掉落桌面，水平上远离了烧杯\n为完成抓取烧杯和胶头滴管落入碗的任务应当：爪夹垂直下降，调整爪夹角度接近垂直于桌面，直至烧杯的正上方。", + "time": 6.7415 + }, + { + "action_description": "爪夹向爪夹方向的右侧移动。", + "annotations": { + "bbox_1768967984781": { + "instances": [ + { + "height": 0.11066666666666668, + "id": "bbox_1768967984781_1768978106251_jbygyvo6r", + "width": 0.14500000000000002, + "x": 0.471375, + "y": 0.6768645833333333 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.22933333333333336, + "id": "bbox_1768967993269_1768978102003_1gqxpiv5t", + "width": 0.19099999999999998, + "x": 0.306375, + "y": 0.29953125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹放弃目标一抓取目标二，爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至胶头滴管的正上方。接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗目标二完成。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了与胶头滴管之间的距离，方便后续抓取胶头滴管。", + "frame": 245, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了胶头滴管，方便抓取。因此进度提升为 10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了胶头滴管。\n为完成抓取烧杯和胶头滴管落入碗的任务应当：爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至胶头滴管的正上方。", + "time": 8.164166 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1768967984781": { + "instances": [ + { + "height": 0.10533333333333333, + "id": "bbox_1768967984781_1768978079859_ttnik37d3", + "width": 0.14900000000000002, + "x": 0.46637500000000004, + "y": 0.6715312499999999 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.22666666666666668, + "id": "bbox_1768967993269_1768978076243_ugegv2ohx", + "width": 0.21100000000000002, + "x": 0.300375, + "y": 0.30353125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢抓取胶头滴管，抓紧胶头滴管垂直升高爪夹并向爪夹左侧的碗接近，水平到达碗的正上方后将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗目标二完成。", + "error_success_analysis": "爪夹垂直下降，靠近了胶头滴管，方便抓取。", + "frame": 276, + "progress": 15, + "progress_explanation": "爪夹角度垂直于桌面，靠近了胶头滴管。方便抓取，因此进度提升为15%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了胶头滴管。\n为完成抓取烧杯和胶头滴管落入碗的任务应当：合拢抓取胶头滴管，抓紧胶头滴管垂直升高爪夹并向爪夹左侧的碗接近。", + "time": 9.198833 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768967984781": { + "instances": [ + { + "height": 0.20666666666666664, + "id": "bbox_1768967984781_1768978065859_3gvp4nlgw", + "width": 0.12200000000000007, + "x": 0.502375, + "y": 0.63953125 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.2413333333333333, + "id": "bbox_1768967993269_1768978071523_uuftwzu6c", + "width": 0.213, + "x": 0.292375, + "y": 0.3021979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧胶头滴管垂直升高爪夹并向爪夹左侧的碗接近，直至碗的正上方后将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗目标二完成。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到胶头滴管。", + "frame": 310, + "progress": 20, + "progress_explanation": "爪夹合拢抓取到胶头滴管，因此进度提升为20%。", + "state_description": "爪夹合拢抓取到胶头滴管，爪夹角度与桌面接近垂直。\n为完成抓取烧杯和胶头滴管落入碗的任务应当：抓紧胶头滴管垂直升高爪夹并向爪夹左侧的碗接近，直至碗的正上方。", + "time": 10.32291687951031 + }, + { + "action_description": "爪夹夹紧胶头滴管垂直上升。", + "annotations": { + "bbox_1768967984781": { + "instances": [ + { + "height": 0.19999999999999993, + "id": "bbox_1768967984781_1768978048890_0qmo1kve3", + "width": 0.11500000000000003, + "x": 0.557375, + "y": 0.45953125000000006 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.22666666666666663, + "id": "bbox_1768967993269_1768978044139_xe7p8yo9k", + "width": 0.18400000000000002, + "x": 0.306375, + "y": 0.2928645833333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹左侧的碗接近，水平到达碗的正上方后将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗目标二完成。", + "error_success_analysis": "爪夹合拢继续夹紧胶头滴管，水平上接近了碗。更加方便接近碗。", + "frame": 356, + "progress": 25, + "progress_explanation": "爪夹合拢夹紧胶头滴管，垂直升高并向爪夹左侧的碗接近，缩短了与碗的距离。因此进度提升为 25%", + "state_description": "爪夹合拢夹紧胶头滴管，水平上接近了碗。\n为完成抓取烧杯和胶头滴管落入碗的任务应当：继续向爪夹左侧的碗接近，水平到达碗的正上方后将胶头滴管放入碗", + "time": 11.872916911469073 + }, + { + "action_description": "爪夹夹紧胶头滴管向爪夹方向的左侧移动。", + "annotations": { + "bbox_1768967979325": { + "instances": [ + { + "height": 0.11999999999999998, + "id": "bbox_1768967979325_1768978030883_4z8thwkpo", + "width": 0.075, + "x": 0.511375, + "y": 0.51553125 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.27466666666666667, + "id": "bbox_1768967993269_1768978035603_hxl8ow3ng", + "width": 0.20099999999999998, + "x": 0.301375, + "y": 0.2661979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗。", + "error_success_analysis": "到了爪夹左侧的碗的正上方，方便将胶头滴管放入碗。", + "frame": 399, + "progress": 30, + "progress_explanation": "爪夹夹紧胶头滴管，到了爪夹左侧碗的正上方，方便将胶头滴管放入碗。因此进度提升为30%。", + "state_description": "爪夹夹紧胶头滴管，爪夹角度接近垂直于桌面，位于碗的正上方。\n为完成抓取烧杯和胶头滴管落入碗的任务应当：将胶头滴管放入碗，松开爪夹，使胶头滴管落入碗。", + "time": 13.28958360734536 + }, + { + "action_description": "调整爪夹角度垂直向下移动", + "annotations": { + "bbox_1768967979325": { + "instances": [ + { + "height": 0.1293333333333333, + "id": "bbox_1768967979325_1768978018298_b3pkv7h7t", + "width": 0.08100000000000004, + "x": 0.509375, + "y": 0.5115312500000001 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.2653333333333333, + "id": "bbox_1768967993269_1768978015011_4aumqyphq", + "width": 0.191, + "x": 0.309375, + "y": 0.2821979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使胶头滴管落入碗。", + "error_success_analysis": "胶头滴管放入碗，方便胶头滴管落入碗。", + "frame": 427, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，胶头滴管放入碗。因此进度提升为40%。", + "state_description": "爪夹夹紧胶头滴管，爪夹角度接近垂直于桌面，胶头滴管放入碗。\n为完成抓取烧杯和胶头滴管落入碗的任务应当：松开爪夹，使胶头滴管落入碗。", + "time": 14.242833 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768967979325": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1768967979325_1768977989187_hj7lky7ma", + "width": 0.08100000000000004, + "x": 0.509375, + "y": 0.5128645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768967984781": { + "instances": [ + { + "height": 0.14533333333333331, + "id": "bbox_1768967984781_1768977993219_az0liwe8u", + "width": 0.04499999999999993, + "x": 0.40037500000000004, + "y": 0.3621979166666666 + } + ], + "type": "bbox" + }, + "bbox_1768967993269": { + "instances": [ + { + "height": 0.2533333333333333, + "id": "bbox_1768967993269_1768978005971_oipezysps", + "width": 0.20400000000000001, + "x": 0.297375, + "y": 0.2821979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，胶头滴管落入碗", + "frame": 447, + "progress": 50, + "progress_explanation": "爪夹张开，胶头滴管落入碗，夹取任务目标二完成。因此进度提升为 50%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开烧杯和胶头滴管落入碗的任务目标二完成。", + "time": 14.8895 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768967979325", + "name": "烧杯" + }, + { + "color": "#FF9800", + "id": "bbox_1768967984781", + "name": "胶头滴管" + }, + { + "color": "#2196F3", + "id": "bbox_1768967993269", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768967999349", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768968005598", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-170035-put-steak-bread rack-mix/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-170035-put-steak-bread rack-mix/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..73238b33c81fab3613a91122c196f091f773ff38 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-170035-put-steak-bread rack-mix/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,866 @@ +{ + "task_description": "抓取肉排放在面包架上：\n准备开始移动：0%\n爪夹靠近肉排：20%\n爪夹抓取肉排：40%\n爪夹抓紧肉排接近面包架：60%\n爪夹将肉排放入面包架：80%\n爪夹松开肉排落在面包架：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.17733333333333334, + "id": "bbox_1768978876730_1768987337293_3fsgikq7n", + "width": 0.03300000000000001, + "x": 0.522375, + "y": 0.4371979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.16400000000000006, + "id": "bbox_1768978884674_1768987333981_29m7lxxhh", + "width": 0.195, + "x": 0.135375, + "y": 0.5278645833333333 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987344421_thaiagowu", + "x": 0.45437500000000003, + "y": 0.22386458333333334 + } + ], + "type": "point" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987348229_5bjmyzktn", + "x": 0.551375, + "y": 0.22253124999999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到肉排的正上方。接着落下爪夹靠近肉排，接近肉排后爪夹合拢抓取肉排。抓紧肉排垂直升高爪夹并向爪夹右侧的面包架接近，水平到达面包架的正上方后将肉排放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "当前为初始状态，远离肉排，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离肉排，未开始移动。\n为完成抓取肉排落在面包架上的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到肉排的正上方。", + "time": 0.9384 + }, + { + "action_description": "爪夹向爪夹的正前方移动并调整爪夹。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1768978876730_1768987311262_vq6ntacbi", + "width": 0.03099999999999996, + "x": 0.525375, + "y": 0.4318645833333334 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.17466666666666672, + "id": "bbox_1768978884674_1768987324693_vancjqfz5", + "width": 0.19, + "x": 0.141375, + "y": 0.5171979166666668 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987307365_ut4fajhjl", + "x": 0.40737500000000004, + "y": 0.24919791666666669 + } + ], + "type": "point" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987304285_0s0joq0yg", + "x": 0.499375, + "y": 0.24386458333333336 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到肉排的正上方。接着落下爪夹靠近肉排，接近肉排后爪夹合拢抓取肉排。抓紧肉排垂直升高爪夹并向爪夹右侧的面包架接近，水平到达面包架的正上方后将肉排放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "向接近垂直于桌面调整角度，水平上未接近肉排。", + "frame": 88, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，调整爪夹角度，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近肉排。\n为完成抓取肉排落在面包架上的任务应当：爪夹向爪夹方向的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到肉排的正上方。", + "time": 2.945533 + }, + { + "action_description": "爪夹向爪夹的正前方移动并下降。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.18133333333333326, + "id": "bbox_1768978876730_1768987282077_tnc1j8rz1", + "width": 0.053000000000000026, + "x": 0.514375, + "y": 0.4371979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.18266666666666667, + "id": "bbox_1768978884674_1768987285525_l201cnwwh", + "width": 0.185, + "x": 0.141375, + "y": 0.5211979166666667 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987292229_auogobb40", + "x": 0.370375, + "y": 0.42253124999999997 + } + ], + "type": "point" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987295925_8n60tkwnm", + "x": 0.456375, + "y": 0.4118645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上移动并向爪夹的左前方移动，调整爪夹角度，直至肉排的正上方。接着落下爪夹靠近肉排，接近肉排后爪夹合拢抓取肉排。抓紧肉排垂直升高爪夹并向爪夹右侧的面包架接近，水平到达面包架的正上方后将肉排放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了肉排之间的距离。方便后续抓取肉排。", + "frame": 133, + "progress": 15, + "progress_explanation": "爪夹向爪夹的正前方移动，水平上接近了肉排。因此进度提升为 15%。", + "state_description": "爪夹打开垂直于桌面。\n为完成抓取肉排落在面包架上的任务应当：爪夹向上移动并向爪夹的左前方移动，调整爪夹角度，直至肉排的正上方。", + "time": 4.444097994974226 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.18933333333333333, + "id": "bbox_1768978876730_1768987277845_jmorr1f1g", + "width": 0.04700000000000006, + "x": 0.514375, + "y": 0.42119791666666667 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.18133333333333337, + "id": "bbox_1768978884674_1768987272389_oy550sly3", + "width": 0.195, + "x": 0.139375, + "y": 0.51853125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抬升并重新打开爪夹，向爪夹方向的左前方移动，直至肉排的正上方。接着落下爪夹靠近肉排，接近肉排后爪夹合拢抓取肉排。抓紧肉排垂直升高爪夹并向爪夹右侧的面包架接近，水平到达面包架的正上方后将肉排放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "爪夹没有移动到肉排的正上方下降，导致爪夹合拢抓不到肉排，需重新抓取。", + "frame": 195, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到肉排，因此进度降至为5%。", + "state_description": "爪夹合拢垂直于桌面。\n为完成抓取肉排落在面包架上的任务应当：爪夹抬升并重新打开爪夹，向爪夹方向的左前方移动，直至肉排的正上方。", + "time": 6.513307643427835 + }, + { + "action_description": "爪夹向上抬升并重新打开爪夹。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.1773333333333333, + "id": "bbox_1768978876730_1768987257261_56kl5d3f9", + "width": 0.04400000000000004, + "x": 0.517375, + "y": 0.43453125000000004 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.1866666666666667, + "id": "bbox_1768978884674_1768987250093_i9np9xiqa", + "width": 0.2, + "x": 0.135375, + "y": 0.5158645833333334 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987260661_ove98qtkk", + "x": 0.33937500000000004, + "y": 0.15853124999999998 + } + ], + "type": "point" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987263085_wv8ho1bbb", + "x": 0.45237499999999997, + "y": 0.15453124999999998 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到肉排的正上方。接着落下爪夹靠近肉排，接近肉排后爪夹合拢抓取肉排。抓紧肉排垂直升高爪夹并向爪夹右侧的面包架接近，水平到达面包架的正上方后将肉排放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "爪夹上升并重新打开爪夹，离开错误目标，需重新抓取肉排。", + "frame": 238, + "progress": 10, + "progress_explanation": "爪夹上升并重新打开爪夹，离开错误目标，因此进度提升为10%。", + "state_description": "爪夹上升并重新打开爪夹，离开错误目标。\n为完成抓取肉排落在面包架上的任务应当：爪夹向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到肉排的正上方", + "time": 7.924266 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.16266666666666668, + "id": "bbox_1768978876730_1768987242405_rxcdcqml2", + "width": 0.028000000000000025, + "x": 0.5273749999999999, + "y": 0.43586458333333333 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.1773333333333333, + "id": "bbox_1768978884674_1768987245965_jvn55akg9", + "width": 0.20200000000000004, + "x": 0.129375, + "y": 0.5238645833333334 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987237525_2atpxkw43", + "x": 0.49037500000000006, + "y": 0.47453125 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取肉排，抓紧肉排垂直升高爪夹并向爪夹左侧的面包架接近，水平到达面包架的正上方后将肉排放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，靠近了肉排，方便抓取。", + "frame": 290, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了肉排。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了肉排。\n为完成抓取肉排落在面包架上的任务应当：合拢抓取肉排，抓紧肉排垂直升高爪夹并向爪夹左侧的面包架接近。", + "time": 9.670733 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.18800000000000003, + "id": "bbox_1768978876730_1768987225125_qb1yh5ehf", + "width": 0.11100000000000003, + "x": 0.575375, + "y": 0.41053125 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.17466666666666666, + "id": "bbox_1768978884674_1768987220556_9cmu7jenw", + "width": 0.191, + "x": 0.144375, + "y": 0.53053125 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987228709_ivoiep0e8", + "x": 0.521375, + "y": 0.45453125 + } + ], + "type": "point" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987231885_rlv3cpwni", + "x": 0.530375, + "y": 0.45453125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抬升并重新打开，向爪夹方向的正前方移动，直至肉排的正上方。接着落下爪夹靠近肉排，接近肉排后爪夹合拢抓取肉排。抓紧肉排垂直升高爪夹并向爪夹右侧的面包架接近，水平到达面包架的正上方后将肉排放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "爪夹没有在肉排的正上方下降，合拢时爪夹把肉排抵走了，需重新抓取肉排。", + "frame": 335, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到肉排，因此进度降至为5%。", + "state_description": "爪夹合拢垂直于桌面处于肉排的右下方。\n为完成抓取肉排落在面包架上的任务应当：爪夹抬升并重新打开，向爪夹方向的正前方移动，直至肉排的正上方。", + "time": 11.156533 + }, + { + "action_description": "爪夹向上抬升并重新打开爪夹。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.19466666666666665, + "id": "bbox_1768978876730_1768987209038_qiz44mvmc", + "width": 0.10899999999999999, + "x": 0.576375, + "y": 0.41586458333333337 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.17066666666666663, + "id": "bbox_1768978884674_1768987213476_aft0ijrcl", + "width": 0.2, + "x": 0.130375, + "y": 0.5251979166666667 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987205117_11ifvwav7", + "x": 0.491375, + "y": 0.3051979166666667 + } + ], + "type": "point" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987202013_nve37tma1", + "x": 0.567375, + "y": 0.28253125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到肉排的正上方。接着落下爪夹靠近肉排，接近肉排后爪夹合拢抓取肉排。抓紧肉排垂直升高爪夹并向爪夹右侧的面包架接近，水平到达面包架的正上方后将肉排放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "爪夹向上抬升并重新打开爪夹，接近了肉排。", + "frame": 389, + "progress": 10, + "progress_explanation": "爪夹向上抬升并重新打开爪夹，调整爪夹角度，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，接近了肉排。\n为完成抓取肉排落在面包架上的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到肉排的正上方", + "time": 12.962792261984536 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.19066666666666673, + "id": "bbox_1768978876730_1768987191869_z3iam4dky", + "width": 0.12000000000000002, + "x": 0.572375, + "y": 0.41719791666666667 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.184, + "id": "bbox_1768978884674_1768987188141_mq870svag", + "width": 0.2, + "x": 0.132375, + "y": 0.5211979166666667 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987194549_ciyis3cla", + "x": 0.595375, + "y": 0.4758645833333333 + } + ], + "type": "point" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987198333_wzj6pi8bb", + "x": 0.644375, + "y": 0.47053125 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取肉排，抓紧肉排垂直升高爪夹并向爪夹右侧的面包架接近，水平到达面包架的正上方后将肉排放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，靠近了肉排，方便抓取。", + "frame": 463, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了肉排。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了肉排。\n为完成抓取肉排落在面包架上的任务应当：合拢抓取肉排，抓紧肉排垂直升高爪夹并向爪夹右侧的面包架接近。", + "time": 15.435094699097938 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.1773333333333333, + "id": "bbox_1768978876730_1768987176269_j9cnqk1ln", + "width": 0.12600000000000006, + "x": 0.5393749999999999, + "y": 0.43453125000000004 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.17999999999999997, + "id": "bbox_1768978884674_1768987180301_tp1uexw7y", + "width": 0.199, + "x": 0.133375, + "y": 0.5198645833333334 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987171837_liagulvse", + "x": 0.591375, + "y": 0.5051979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧肉排垂直升高爪夹并向爪夹右侧的面包架接近，直至面包架的正上方后将肉排放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到肉排。", + "frame": 525, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到肉排，因此进度提升至40%。", + "state_description": "爪夹合拢抓取到肉排，爪夹角度与桌面接近垂直。\n为完成抓取肉排落在面包架上的任务应当：抓紧肉排垂直升高爪夹并向爪夹右侧的面包架接近，直至面包架的正上方。", + "time": 17.504304347551543 + }, + { + "action_description": "爪夹夹紧肉排垂直升高。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1768978876730_1768987158269_k3gcfc5sa", + "width": 0.06299999999999999, + "x": 0.47437500000000005, + "y": 0.33053125 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.17866666666666664, + "id": "bbox_1768978884674_1768987162325_60amnmk2j", + "width": 0.194, + "x": 0.141375, + "y": 0.5211979166666668 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987154629_tcdeccufc", + "x": 0.502375, + "y": 0.38386458333333334 + } + ], + "type": "point" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987150285_ytrbl0p4i", + "x": 0.524375, + "y": 0.38253125000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右侧的面包架接近，水平到达面包架的正上方后将肉排放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "爪夹合拢继续夹紧肉排，水平上接近了面包架。更加方便接近面包架。", + "frame": 569, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧肉排，垂直升高并向爪夹右侧的面包架接近，缩短了与面包架的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧肉排，水平上接近了面包架。\n为完成抓取肉排落在面包架上的任务应当：继续向爪夹右侧的面包架接近，水平到达面包架的正上方后将肉排放入面包架", + "time": 18.955438386726804 + }, + { + "action_description": "爪夹夹紧肉排向爪夹方向的右侧移动。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.1866666666666667, + "id": "bbox_1768978876730_1768987131076_eb018nb28", + "width": 0.039999999999999994, + "x": 0.254375, + "y": 0.40386458333333336 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.18933333333333333, + "id": "bbox_1768978884674_1768987141220_7qbltyev5", + "width": 0.18800000000000003, + "x": 0.142375, + "y": 0.5251979166666667 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987125893_bp7qceo69", + "x": 0.26737500000000003, + "y": 0.47719791666666667 + } + ], + "type": "point" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987122742_18sxg0htw", + "x": 0.291375, + "y": 0.47853124999999996 + } + ], + "type": "point" + } + }, + "correction_plan": "将肉排放入面包架，松开爪夹，使肉排落入面包架。", + "error_success_analysis": "到了爪夹右侧的面包架的正上方，方便将肉排放入面包架。", + "frame": 616, + "progress": 60, + "progress_explanation": "爪夹夹紧肉排，到了爪夹右侧的面包架的正上方，方便将肉排放入面包架。因此进度提升为 60%。", + "state_description": "爪夹夹紧肉排，爪夹角度接近垂直于桌面，位于面包架的正上方。\n为完成抓取肉排落在面包架上的任务应当：将肉排放入面包架，松开爪夹，使肉排落入面包架。", + "time": 20.540533 + }, + { + "action_description": "爪夹夹紧肉排垂直下降。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.1573333333333334, + "id": "bbox_1768978876730_1768987108196_mpisdi572", + "width": 0.039999999999999994, + "x": 0.27037500000000003, + "y": 0.45053125 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.17466666666666672, + "id": "bbox_1768978884674_1768987116940_fbks7rv0x", + "width": 0.177, + "x": 0.159375, + "y": 0.5171979166666667 + } + ], + "type": "bbox" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987103749_09jxvc91h", + "x": 0.309375, + "y": 0.5091979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "肉排放入面包架，方便肉排落在面包架", + "frame": 662, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，肉排放入面包架。因此进度提升为 80%。", + "state_description": "爪夹夹紧肉排，爪夹角度接近垂直于桌面，肉排放入面包架。\n为完成抓取肉排落在面包架上的任务应当：松开爪夹，使肉排落在面包架上。", + "time": 22.078466 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.12533333333333338, + "id": "bbox_1768978876730_1768987094222_r69du7mba", + "width": 0.052000000000000005, + "x": 0.272375, + "y": 0.45053125 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.18933333333333333, + "id": "bbox_1768978884674_1768987098229_9ul4l8bct", + "width": 0.174, + "x": 0.162375, + "y": 0.5051979166666667 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987089877_voegcm86c", + "x": 0.246375, + "y": 0.4958645833333334 + } + ], + "type": "point" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987086909_b9l67kjd4", + "x": 0.345375, + "y": 0.5091979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢，夹紧肉排向爪夹的正前方微调，使肉排落在面包架上。", + "error_success_analysis": "爪夹夹紧肉排偏离面包架的正上方，导致爪夹张开肉排边抵在桌面。", + "frame": 691, + "progress": 85, + "progress_explanation": "爪夹打开，肉排没有正好落在面包架上，肉排边抵在桌面上，因此进度提升为85%。", + "state_description": "爪夹张开位于肉排的正上方。\n为完成抓取肉排落在面包架上的任务应当：爪夹合拢，夹紧肉排向爪夹的正前方微调，使肉排落在面包架上。", + "time": 23.040111978479377 + }, + { + "action_description": "爪夹向爪夹正前方微调并合拢爪夹。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.14000000000000004, + "id": "bbox_1768978876730_1768987072957_u7nlvr69s", + "width": 0.05699999999999998, + "x": 0.290375, + "y": 0.46919791666666666 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.19066666666666662, + "id": "bbox_1768978884674_1768987077141_9umszjdcz", + "width": 0.17200000000000001, + "x": 0.187375, + "y": 0.50653125 + } + ], + "type": "bbox" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987066093_ltdwrhv5q", + "x": 0.317375, + "y": 0.5411979166666666 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "爪夹合拢时把肉排更好的放入面包架，方便肉排落入面包架。", + "frame": 730, + "progress": 90, + "progress_explanation": "爪夹角度接近垂直于桌面，肉排放入面包架。因此进度提升为 90%。", + "state_description": "爪夹夹紧肉排，爪夹角度接近垂直于桌面，肉排放入面包架。\n为完成抓取肉排落在面包架上的任务应当：松开爪夹，使肉排落在面包架上。", + "time": 24.33000890219072 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768978876730": { + "instances": [ + { + "height": 0.1653333333333333, + "id": "bbox_1768978876730_1768987047277_hx90tst5p", + "width": 0.05299999999999998, + "x": 0.292375, + "y": 0.45853125 + } + ], + "type": "bbox" + }, + "bbox_1768978884674": { + "instances": [ + { + "height": 0.21200000000000005, + "id": "bbox_1768978884674_1768987054821_bkt66ph5v", + "width": 0.194, + "x": 0.176375, + "y": 0.4918645833333333 + } + ], + "type": "bbox" + }, + "point_1768978891058": { + "instances": [ + { + "id": "point_1768978891058_1768987041476_orhnl67sj", + "x": 0.270375, + "y": 0.5251979166666667 + } + ], + "type": "point" + }, + "point_1768978896978": { + "instances": [ + { + "id": "point_1768978896978_1768987038501_yf9t6jjkn", + "x": 0.367375, + "y": 0.54253125 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，肉排落在面包架", + "frame": 769, + "progress": 100, + "progress_explanation": "爪夹张开，肉排落在面包架，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开肉排落在面包架的任务目标完成。", + "time": 25.623533 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768978876730", + "name": "肉排" + }, + { + "color": "#FF9800", + "id": "bbox_1768978884674", + "name": "面包架" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768978891058", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768978896978", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-173048-put-steak-bread rack-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-173048-put-steak-bread rack-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..03f006d15ded4807ccdc01f8f9dc77b5c36ddfaf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-173048-put-steak-bread rack-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,496 @@ +{ + "task_description": "抓取面包片放在面包架上：\n准备开始移动：0%\n爪夹靠近面包片：20%\n爪夹抓取面包片：40%\n爪夹抓紧面包片接近面包架：60%\n爪夹将面包片放入面包架：80%\n爪夹松开面包片落在面包架：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768984915308": { + "instances": [ + { + "height": 0.22666666666666668, + "id": "bbox_1768984915308_1768990180600_lvvln6aiz", + "width": 0.15200000000000005, + "x": 0.669375, + "y": 0.24386458333333336 + } + ], + "type": "bbox" + }, + "bbox_1768984924860": { + "instances": [ + { + "height": 0.28800000000000003, + "id": "bbox_1768984924860_1768990185769_2fsjlhx2w", + "width": 0.16800000000000007, + "x": 0.38637499999999997, + "y": 0.22653125000000002 + } + ], + "type": "bbox" + }, + "point_1768984931501": { + "instances": [ + { + "id": "point_1768984931501_1768990194088_cxloy4egy", + "x": 0.5693750000000001, + "y": 0.6558645833333333 + } + ], + "type": "point" + }, + "point_1768984939508": { + "instances": [ + { + "id": "point_1768984939508_1768990197816_rh09612or", + "x": 0.6903750000000001, + "y": 0.65053125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到面包片的正上方。接着落下爪夹靠近面包片，接近面包片后爪夹合拢抓取面包片。抓紧面包片垂直升高爪夹并向爪夹左侧的面包架接近，水平到达面包架的正上方后将面包片放入面包架，松开爪夹，使面包片落在面包架上。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "当前为初始状态，远离面包片，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离面包片，未开始移动。\n为完成抓取面包片落在面包架上的任务应当：爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到面包片的正上方。", + "time": 0.9957216494845361 + }, + { + "action_description": "爪夹向爪夹的正前方微调并下降爪夹。", + "annotations": { + "bbox_1768984915308": { + "instances": [ + { + "height": 0.22533333333333333, + "id": "bbox_1768984915308_1768990175928_uyr4xj5lm", + "width": 0.14500000000000002, + "x": 0.670375, + "y": 0.24386458333333336 + } + ], + "type": "bbox" + }, + "bbox_1768984924860": { + "instances": [ + { + "height": 0.2373333333333333, + "id": "bbox_1768984924860_1768990167184_mpc3hlrak", + "width": 0.19200000000000003, + "x": 0.373375, + "y": 0.27053125000000006 + } + ], + "type": "bbox" + }, + "point_1768984931501": { + "instances": [ + { + "id": "point_1768984931501_1768990161816_6nt2vwfvy", + "x": 0.6823750000000001, + "y": 0.5878645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到面包片的正上方。接着落下爪夹靠近面包片，接近面包片后爪夹合拢抓取面包片。抓紧面包片垂直升高爪夹并向爪夹左侧的面包架接近，水平到达面包架的正上方后将面包片放入面包架，松开爪夹，使面包片落在面包架上。", + "error_success_analysis": "向接近垂直于桌面调整角度，水平上未接近面包片。", + "frame": 80, + "progress": 15, + "progress_explanation": "爪夹向爪夹正前方移动，调整爪夹角度，方便抓取。因此进度提升为15%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近面包片。\n为完成抓取面包片落在面包架上的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到面包片的正上方。", + "time": 2.6625257731958762 + }, + { + "action_description": "爪夹垂直下降并合拢爪夹。", + "annotations": { + "bbox_1768984915308": { + "instances": [ + { + "height": 0.22666666666666666, + "id": "bbox_1768984915308_1768990150272_cnxluald1", + "width": 0.154, + "x": 0.662375, + "y": 0.24253125 + } + ], + "type": "bbox" + }, + "bbox_1768984924860": { + "instances": [ + { + "height": 0.252, + "id": "bbox_1768984924860_1768990145896_ptmq42q3e", + "width": 0.16699999999999998, + "x": 0.387375, + "y": 0.25586458333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抬升并重新打开爪夹，向爪夹方向的正前方移动，并调整爪夹角度，直至面包片的正上方。接着落下爪夹靠近面包片，接近面包片后爪夹合拢抓取面包片。抓紧面包片垂直升高爪夹并向爪夹左侧的面包架接近，水平到达面包架的正上方后将面包片放入面包架，松开爪夹，使面包片落在面包架上。", + "error_success_analysis": "爪夹垂直下降并合拢爪夹，夹住错误目标，需重新抓取。", + "frame": 142, + "progress": 10, + "progress_explanation": "爪夹垂直下降并合拢爪夹，夹住错误目标，因此进度降至为10%。", + "state_description": "爪夹合拢垂直于桌面。\n为完成抓取面包片落在面包架上的任务应当：爪夹抬升并重新打开爪夹，向爪夹方向的正前方移动，并调整爪夹角度，直至面包片的正上方。", + "time": 4.7363402061855675 + }, + { + "action_description": "爪夹夹紧眼药水升高向爪夹方向的正前方移动，并打开爪夹。", + "annotations": { + "bbox_1768984915308": { + "instances": [ + { + "height": 0.23733333333333334, + "id": "bbox_1768984915308_1768990132800_kckd9t921", + "width": 0.13400000000000006, + "x": 0.6873750000000001, + "y": 0.23453125 + } + ], + "type": "bbox" + }, + "bbox_1768984924860": { + "instances": [ + { + "height": 0.23333333333333334, + "id": "bbox_1768984924860_1768990128032_vm3xles08", + "width": 0.175, + "x": 0.379375, + "y": 0.26919791666666665 + } + ], + "type": "bbox" + }, + "point_1768984931501": { + "instances": [ + { + "id": "point_1768984931501_1768990135768_49e73uozg", + "x": 0.5903750000000001, + "y": 0.25853125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右侧移动，并调整爪夹角度垂直于桌面，直至面包片的正上方。接着落下爪夹靠近面包片，接近面包片后爪夹合拢抓取面包片。抓紧面包片垂直升高爪夹并向爪夹左侧的面包架接近，水平到达面包架的正上方后将面包片放入面包架，松开爪夹，使面包片落在面包架上。", + "error_success_analysis": "爪夹夹起眼药水后爪夹打开，眼药水掉落桌面，方便后续夹取面包片。", + "frame": 216, + "progress": 5, + "progress_explanation": "与上一步相比，爪夹没有从错误目标离开，而是夹起，因此进度降至为5%。", + "state_description": "爪夹打开，眼药水掉落桌面，位于眼药水的上方\n为完成抓取面包片落在面包架上的任务应当：爪夹向爪夹方向的右侧移动，并调整爪夹角度，直至面包片的正上方。", + "time": 7.19778350515464 + }, + { + "action_description": "爪夹向爪夹方向的右侧移动。", + "annotations": { + "bbox_1768984915308": { + "instances": [ + { + "height": 0.21866666666666668, + "id": "bbox_1768984915308_1768990106728_coc4w0yyi", + "width": 0.15200000000000005, + "x": 0.6643749999999999, + "y": 0.23586458333333335 + } + ], + "type": "bbox" + }, + "bbox_1768984924860": { + "instances": [ + { + "height": 0.23600000000000004, + "id": "bbox_1768984924860_1768990118336_8m7bho7ei", + "width": 0.172, + "x": 0.379375, + "y": 0.26519791666666664 + } + ], + "type": "bbox" + }, + "point_1768984931501": { + "instances": [ + { + "id": "point_1768984931501_1768990113104_6d4afp5s5", + "x": 0.645375, + "y": 0.33586458333333336 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至面包片的正上方。接着落下爪夹靠近面包片，接近面包片后爪夹合拢抓取面包片。抓紧面包片垂直升高爪夹并向爪夹左侧的面包架接近，水平到达面包架的正上方后将面包片放入面包架，松开爪夹，使面包片落在面包架上。", + "error_success_analysis": "爪夹接近垂直于桌面，水平上接近了面包片。", + "frame": 274, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的右侧移动，接近垂直于桌面，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。接近了面包片。\n为完成抓取面包片落在面包架上的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至面包片的正上方。", + "time": 9.118 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1768984915308": { + "instances": [ + { + "height": 0.192, + "id": "bbox_1768984915308_1768990101344_u3djr1xia", + "width": 0.11800000000000006, + "x": 0.696375, + "y": 0.24919791666666669 + } + ], + "type": "bbox" + }, + "bbox_1768984924860": { + "instances": [ + { + "height": 0.25333333333333335, + "id": "bbox_1768984924860_1768990093560_p2hfgjav5", + "width": 0.175, + "x": 0.382375, + "y": 0.25453125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取面包片，抓紧面包片垂直升高爪夹并向爪夹左侧的面包架接近，水平到达面包架的正上方后将面包片放入面包架，松开爪夹，使面包片落在面包架上。", + "error_success_analysis": "爪夹垂直下降，靠近了护目镜，方便抓取。", + "frame": 305, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了面包片。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了面包片。\n为完成抓取面包片落在面包架上的任务应当：爪夹合拢抓取面包片，抓紧面包片垂直升高爪夹并向爪夹左侧的面包架接近", + "time": 10.152 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768984915308": { + "instances": [ + { + "height": 0.20533333333333334, + "id": "bbox_1768984915308_1768990072880_7jae2kk2f", + "width": 0.1290000000000001, + "x": 0.685375, + "y": 0.25053125 + } + ], + "type": "bbox" + }, + "bbox_1768984924860": { + "instances": [ + { + "height": 0.24399999999999997, + "id": "bbox_1768984924860_1768990083241_utekdq8j9", + "width": 0.17400000000000002, + "x": 0.380375, + "y": 0.26519791666666664 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧面包片垂直升高爪夹并向爪夹左侧的面包架接近，直至面包架的正上方后将面包片放入面包架，松开爪夹，使面包片落在面包架上。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到面包片。", + "frame": 341, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到面包片，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到面包片，爪夹角度与桌面接近垂直。\n为完成抓取面包片落在面包架上的任务应当：抓紧面包片垂直升高爪夹并向爪夹左侧的面包架接近，直至面包架的正上方。", + "time": 11.3552 + }, + { + "action_description": "爪夹夹紧面包片垂直升高。", + "annotations": { + "bbox_1768984915308": { + "instances": [ + { + "height": 0.23066666666666666, + "id": "bbox_1768984915308_1768990062688_wxyyzlixl", + "width": 0.05999999999999996, + "x": 0.774375, + "y": 0.18386458333333333 + } + ], + "type": "bbox" + }, + "bbox_1768984924860": { + "instances": [ + { + "height": 0.24133333333333337, + "id": "bbox_1768984924860_1768990050120_ire0mviy6", + "width": 0.16999999999999998, + "x": 0.381375, + "y": 0.25986458333333334 + } + ], + "type": "bbox" + }, + "point_1768984931501": { + "instances": [ + { + "id": "point_1768984931501_1768990065713_9ogwsw0u8", + "x": 0.7853749999999999, + "y": 0.32519791666666664 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左侧的面包架接近，水平到达面包架的正上方后将面包片放入面包架，松开爪夹，使面包片落在面包架上。", + "error_success_analysis": "爪夹合拢继续夹紧面包片，水平上接近了面包架。更加方便接近面包架。", + "frame": 387, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧面包片，垂直升高并向爪夹左侧的面包架接近，缩短了与面包架的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧面包片，水平上接近了面包架。\n为完成抓取面包片落在面包架上的任务应当：继续向爪夹左侧的面包架接近，水平到达面包架的正上方后将面包片放入面包架", + "time": 12.915309278350517 + }, + { + "action_description": "爪夹夹紧面包片向爪夹方向的左侧移动。", + "annotations": { + "bbox_1768984915308": { + "instances": [ + { + "height": 0.26133333333333336, + "id": "bbox_1768984915308_1768990034872_xqg08z3fw", + "width": 0.10100000000000006, + "x": 0.43537499999999996, + "y": 0.19586458333333334 + } + ], + "type": "bbox" + }, + "bbox_1768984924860": { + "instances": [ + { + "height": 0.276, + "id": "bbox_1768984924860_1768990043736_ghyxc8x3p", + "width": 0.166, + "x": 0.384375, + "y": 0.22786458333333334 + } + ], + "type": "bbox" + }, + "point_1768984931501": { + "instances": [ + { + "id": "point_1768984931501_1768990038328_25aqfhn7h", + "x": 0.487375, + "y": 0.35453125 + } + ], + "type": "point" + } + }, + "correction_plan": "将面包片放入面包架，松开爪夹，使面包片落入面包架。", + "error_success_analysis": "到了爪夹左侧的面包架的正上方，方便将面包片放入面包架。", + "frame": 426, + "progress": 60, + "progress_explanation": "爪夹夹紧面包片，到了爪夹左侧的面包架的正上方，方便将面包片放入面包架。因此进度提升为 60%。", + "state_description": "爪夹夹紧面包片，爪夹角度接近垂直于桌面，位于面包架的正上方。\n为完成抓取面包片落在面包架上的任务应当：将面包片放入面包架，松开爪夹，使面包片落入面包架。", + "time": 14.194 + }, + { + "action_description": "爪夹夹紧面包片垂直下降。", + "annotations": { + "bbox_1768984915308": { + "instances": [ + { + "height": 0.2653333333333333, + "id": "bbox_1768984915308_1768990007912_z4iojxoy4", + "width": 0.08900000000000005, + "x": 0.398375, + "y": 0.2758645833333333 + } + ], + "type": "bbox" + }, + "bbox_1768984924860": { + "instances": [ + { + "height": 0.28400000000000003, + "id": "bbox_1768984924860_1768990019304_tuq06wxda", + "width": 0.19099999999999998, + "x": 0.381375, + "y": 0.23719791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续下降将面包片放入面包架，松开爪夹，使肉排落在面包架上。", + "error_success_analysis": "爪夹夹紧面包片垂直下降，面包片还未完全放入面包架", + "frame": 480, + "progress": 75, + "progress_explanation": "爪夹夹紧面包片垂直下降，面包片还未放入面包架，因此进度提升为75%。", + "state_description": "爪夹夹紧面包片爪夹角度接近垂直于桌面，面包片还未放入面包架。\n为完成抓取面包片落在面包架上的任务应当：继续下降将面包片放入面包架，松开爪夹，使肉排落在面包架上。", + "time": 15.9988 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768984915308": { + "instances": [ + { + "height": 0.19333333333333336, + "id": "bbox_1768984915308_1768989990440_64rab0yxw", + "width": 0.17899999999999996, + "x": 0.260375, + "y": 0.39219791666666665 + } + ], + "type": "bbox" + }, + "bbox_1768984924860": { + "instances": [ + { + "height": 0.20933333333333337, + "id": "bbox_1768984924860_1768989995233_14x5glt2z", + "width": 0.11299999999999999, + "x": 0.39637500000000003, + "y": 0.28453124999999996 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧微调并垂直下降，直至面包片的正上方。接着落下爪夹靠近面包片，接近面包片后爪夹合拢抓取面包片。抓紧面包片垂直升高爪夹并向爪夹右侧的面包架接近，水平到达面包架的正上方后将面包片放入面包架，松开爪夹，使面包片落在面包架上。", + "error_success_analysis": "爪夹下降，没有对准面包架的空，导致面包片没有完全放入面包架。", + "frame": 508, + "progress": 5, + "progress_explanation": "爪夹打开面包片掉落桌面，因此进度降至为5%。", + "state_description": "爪夹张开，垂直于桌面，面包片掉落桌面。\n为完成抓取面包片落在面包架上的任务应当：爪夹向爪夹方向的左侧微调并垂直下降，直至面包片的正上方。", + "time": 16.946649484536085 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768984915308", + "name": "面包片" + }, + { + "color": "#FF9800", + "id": "bbox_1768984924860", + "name": "面包架" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768984931501", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768984939508", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-175316-put-beaker-oil-plate-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-175316-put-beaker-oil-plate-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..7052658781328d3482b2401f798ccae7a6043a26 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-175316-put-beaker-oil-plate-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,318 @@ +{ + "task_description": "抓取烧杯杯放入盘子里：\n准备开始移动：0%\n爪夹靠近烧杯：20%\n爪夹抓取烧杯：40%\n爪夹抓紧烧杯接近盘子：60%\n爪夹将烧杯放入盘子：80%\n爪夹松开烧杯落入盘子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769044311725": { + "instances": [ + { + "height": 0.09066666666666674, + "id": "bbox_1769044311725_1769046528626_orjwcaf20", + "width": 0.04899999999999993, + "x": 0.5573750000000001, + "y": 0.7261979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769044316172": { + "instances": [ + { + "height": 0.29733333333333334, + "id": "bbox_1769044316172_1769046517026_2ypb4nbb2", + "width": 0.2909999999999999, + "x": 0.33737500000000004, + "y": 0.030197916666666668 + } + ], + "type": "bbox" + }, + "point_1769044320660": { + "instances": [ + { + "id": "point_1769044320660_1769046533225_3tqbh2d5k", + "x": 0.522375, + "y": 0.6621979166666667 + } + ], + "type": "point" + }, + "point_1769044326684": { + "instances": [ + { + "id": "point_1769044326684_1769046537546_mtqc5lyib", + "x": 0.634375, + "y": 0.6488645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向下移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "当前为初始状态，远离烧杯，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离烧杯，未开始移动。\n为完成抓取烧杯落入盘子的任务应当：爪夹向下移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 0.6868599815721649 + }, + { + "action_description": "爪夹向上微抬并调整爪夹角度。", + "annotations": { + "bbox_1769044311725": { + "instances": [ + { + "height": 0.08133333333333338, + "id": "bbox_1769044311725_1769046487881_l5a7mf52m", + "width": 0.05800000000000001, + "x": 0.552375, + "y": 0.7408645833333334 + } + ], + "type": "bbox" + }, + "bbox_1769044316172": { + "instances": [ + { + "height": 0.2893333333333334, + "id": "bbox_1769044316172_1769046504321_27racdx7q", + "width": 0.30100000000000005, + "x": 0.33137500000000003, + "y": 0.031531250000000004 + } + ], + "type": "bbox" + }, + "point_1769044320660": { + "instances": [ + { + "id": "point_1769044320660_1769046492641_2rf3j1qmc", + "x": 0.5573750000000001, + "y": 0.6488645833333333 + } + ], + "type": "point" + }, + "point_1769044326684": { + "instances": [ + { + "id": "point_1769044326684_1769046499090_tauvdr86k", + "x": 0.677375, + "y": 0.63953125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "向接近垂直于桌面调整角度，水平上未接近烧杯。", + "frame": 49, + "progress": 5, + "progress_explanation": "爪夹向上微抬并调整爪夹角度，方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近烧杯。\n为完成抓取烧杯落入盘子的任务应当：爪夹继续垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 1.649574780541237 + }, + { + "action_description": "爪夹继续调整爪夹角度使其接近垂直于桌面", + "annotations": { + "bbox_1769044311725": { + "instances": [ + { + "height": 0.06666666666666667, + "id": "bbox_1769044311725_1769046483210_iib3m7igs", + "width": 0.06499999999999995, + "x": 0.5623750000000001, + "y": 0.7461979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769044316172": { + "instances": [ + { + "height": 0.29600000000000004, + "id": "bbox_1769044316172_1769046464514_zaarb81jw", + "width": 0.30800000000000005, + "x": 0.326375, + "y": 0.028864583333333336 + } + ], + "type": "bbox" + }, + "point_1769044320660": { + "instances": [ + { + "id": "point_1769044320660_1769046479169_8zq11egx9", + "x": 0.564375, + "y": 0.73553125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了烧杯之间的距离。方便后续抓取烧杯。", + "frame": 91, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了烧杯。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了烧杯。\n为完成抓取烧杯落入盘子的任务应当：爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至烧杯的正上方。", + "time": 3.045733 + }, + { + "action_description": "爪夹垂直向下移动。", + "annotations": { + "bbox_1769044316172": { + "instances": [ + { + "height": 0.28, + "id": "bbox_1769044316172_1769046454690_zl3xzpl9r", + "width": 0.30900000000000005, + "x": 0.33537500000000003, + "y": 0.04219791666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "爪夹垂直向下移动，靠近了烧杯，方便抓取。", + "frame": 129, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了烧杯。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了烧杯。\n为完成抓取烧杯落入盘子的任务应当：合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近。", + "time": 4.3007432269329895 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769044316172": { + "instances": [ + { + "height": 0.28933333333333333, + "id": "bbox_1769044316172_1769046447641_drekxb5vz", + "width": 0.31600000000000006, + "x": 0.32037499999999997, + "y": 0.032864583333333336 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，直至盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到烧杯。", + "frame": 161, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到烧杯，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到烧杯，爪夹角度与桌面接近垂直。\n为完成抓取烧杯落入盘子的任务应当：抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，直至盘子的正上方。", + "time": 5.358766 + }, + { + "action_description": "爪夹夹紧烧杯垂直升高并向爪夹正前方移动。", + "annotations": { + "bbox_1769044316172": { + "instances": [ + { + "height": 0.2986666666666667, + "id": "bbox_1769044316172_1769046435449_bziv33is1", + "width": 0.30100000000000005, + "x": 0.331375, + "y": 0.03153125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "爪夹合拢继续夹紧烧杯，水平上接近了盘子。更加方便接近盘子。", + "frame": 209, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧烧杯，垂直升高并向爪夹正前方的盘子接近，缩短了与盘子的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧烧杯，水平上接近了盘子。\n为完成抓取烧杯落入盘子的任务应当：继续向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子", + "time": 6.953466 + }, + { + "action_description": "爪夹夹紧烧杯向爪夹的正前方移动。", + "annotations": { + "bbox_1769044316172": { + "instances": [ + { + "height": 0.2733333333333334, + "id": "bbox_1769044316172_1769046424273_ub6ihhrhp", + "width": 0.315, + "x": 0.33837500000000004, + "y": 0.048864583333333336 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "到了爪夹正前方盘子的正上方，方便将烧杯放入盘子。", + "frame": 263, + "progress": 60, + "progress_explanation": "爪夹夹紧烧杯，到了爪夹正前方盘子的正上方，方便将烧杯放入盘子。因此进度提升为 60%。", + "state_description": "爪夹夹紧烧杯，爪夹角度接近垂直于桌面，位于盘子的正上方。\n为完成抓取烧杯落入盘子的任务应当：将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "time": 8.778033 + }, + { + "action_description": "调整爪夹角度垂直向下移动", + "annotations": { + "bbox_1769044316172": { + "instances": [ + { + "height": 0.29066666666666663, + "id": "bbox_1769044316172_1769046411154_2i0l1qxzm", + "width": 0.29700000000000004, + "x": 0.334375, + "y": 0.03553125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "烧杯放入盘子，方便烧杯落入盘子", + "frame": 345, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，烧杯放入盘子。因此进度提升为 80%。", + "state_description": "爪夹夹紧烧杯，爪夹角度接近垂直于桌面，烧杯放入盘子。\n为完成抓取烧杯落入盘子的任务应当：松开爪夹，使烧杯落入盘子。", + "time": 11.498887723840207 + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，烧杯落入盘子", + "frame": 383, + "progress": 100, + "progress_explanation": "爪夹张开，烧杯落入盘子，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开烧杯落入盘子的任务目标完成。", + "time": 12.7576 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769044311725", + "name": "烧杯" + }, + { + "color": "#FF9800", + "id": "bbox_1769044316172", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769044320660", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769044326684", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-175316-put-beaker-oil-plate-good/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-175316-put-beaker-oil-plate-good/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..4b5b5f77d72cf66586228cd96098321105252498 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-175316-put-beaker-oil-plate-good/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,504 @@ +{ + "task_description": "抓取烧杯杯放入盘子里：\n准备开始移动：0%\n爪夹靠近烧杯：20%\n爪夹抓取烧杯：40%\n爪夹抓紧烧杯接近盘子：60%\n爪夹将烧杯放入盘子：80%\n爪夹松开烧杯落入盘子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769049243902": { + "instances": [ + { + "height": 0.10666666666666659, + "id": "bbox_1769049243902_1769050430772_edpz9fvg2", + "width": 0.05899999999999998, + "x": 0.700375, + "y": 0.45953125000000006 + } + ], + "type": "bbox" + }, + "bbox_1769049250246": { + "instances": [ + { + "height": 0.22133333333333335, + "id": "bbox_1769049250246_1769050425900_aoq1pnob9", + "width": 0.29400000000000004, + "x": 0.181375, + "y": 0.15553125 + } + ], + "type": "bbox" + }, + "point_1769049256014": { + "instances": [ + { + "id": "point_1769049256014_1769050433796_ktcihk5lz", + "x": 0.661375, + "y": 0.3101979166666667 + } + ], + "type": "point" + }, + "point_1769049265861": { + "instances": [ + { + "id": "point_1769049265861_1769050436997_1rxgna4md", + "x": 0.724375, + "y": 0.24086458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向下移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "当前为初始状态，远离烧杯，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离烧杯，未开始移动。\n为完成抓取烧杯落入盘子的任务应当：爪夹向下移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 1.178066 + }, + { + "action_description": "爪夹向上微抬并调整爪夹角度。", + "annotations": { + "bbox_1769049243902": { + "instances": [ + { + "height": 0.10666666666666665, + "id": "bbox_1769049243902_1769050400908_ze4vyqsd3", + "width": 0.07299999999999995, + "x": 0.6913750000000001, + "y": 0.45686458333333335 + } + ], + "type": "bbox" + }, + "bbox_1769049250246": { + "instances": [ + { + "height": 0.2466666666666667, + "id": "bbox_1769049250246_1769050415324_c1mv0my0a", + "width": 0.303, + "x": 0.177375, + "y": 0.14353125 + } + ], + "type": "bbox" + }, + "point_1769049256014": { + "instances": [ + { + "id": "point_1769049256014_1769050406356_9kqfwsnyw", + "x": 0.701375, + "y": 0.21686458333333333 + } + ], + "type": "point" + }, + "point_1769049265861": { + "instances": [ + { + "id": "point_1769049265861_1769050410196_vfuq4y80n", + "x": 0.771375, + "y": 0.14353125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "向接近垂直于桌面调整角度，水平上未接近烧杯。", + "frame": 69, + "progress": 5, + "progress_explanation": "爪夹向上微抬并调整爪夹角度，方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近烧杯。\n为完成抓取烧杯落入盘子的任务应当：爪夹继续垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 2.3160696413659796 + }, + { + "action_description": "爪夹继续调整爪夹角度，使其接近垂直于桌面", + "annotations": { + "bbox_1769049243902": { + "instances": [ + { + "height": 0.1066666666666667, + "id": "bbox_1769049243902_1769050396348_qgfyrskmi", + "width": 0.083, + "x": 0.681375, + "y": 0.46086458333333336 + } + ], + "type": "bbox" + }, + "bbox_1769049250246": { + "instances": [ + { + "height": 0.23600000000000002, + "id": "bbox_1769049250246_1769050369900_ojvmtfnxa", + "width": 0.30599999999999994, + "x": 0.174375, + "y": 0.14753125 + } + ], + "type": "bbox" + }, + "point_1769049256014": { + "instances": [ + { + "id": "point_1769049256014_1769050383540_udzto0go3", + "x": 0.717375, + "y": 0.39286458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了烧杯之间的距离。方便后续抓取烧杯。", + "frame": 90, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了烧杯。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了烧杯。\n为完成抓取烧杯落入盘子的任务应当：爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至烧杯的正上方。", + "time": 3.002633 + }, + { + "action_description": "爪夹垂直向下移动。", + "annotations": { + "bbox_1769049243902": { + "instances": [ + { + "height": 0.11199999999999997, + "id": "bbox_1769049243902_1769050336932_xn46ax6q0", + "width": 0.06699999999999999, + "x": 0.689375, + "y": 0.46353125 + } + ], + "type": "bbox" + }, + "bbox_1769049250246": { + "instances": [ + { + "height": 0.23200000000000007, + "id": "bbox_1769049250246_1769050355388_r9kd9l8e0", + "width": 0.29500000000000004, + "x": 0.183375, + "y": 0.15419791666666666 + } + ], + "type": "bbox" + }, + "point_1769049256014": { + "instances": [ + { + "id": "point_1769049256014_1769050346500_wiqbfd8l8", + "x": 0.705375, + "y": 0.5341979166666667 + } + ], + "type": "point" + }, + "point_1769049265861": { + "instances": [ + { + "id": "point_1769049265861_1769050349444_ayavm7pj1", + "x": 0.751375, + "y": 0.4541979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "爪夹垂直向下移动，靠近了烧杯，方便抓取。", + "frame": 137, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了烧杯。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了烧杯。\n为完成抓取烧杯落入盘子的任务应当：合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近。", + "time": 4.582966 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769049243902": { + "instances": [ + { + "height": 0.1013333333333333, + "id": "bbox_1769049243902_1769050332540_ne1x9dq53", + "width": 0.05700000000000003, + "x": 0.697375, + "y": 0.4621979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769049250246": { + "instances": [ + { + "height": 0.24000000000000002, + "id": "bbox_1769049250246_1769050318084_07d2tluy5", + "width": 0.30399999999999994, + "x": 0.181375, + "y": 0.14086458333333332 + } + ], + "type": "bbox" + }, + "point_1769049256014": { + "instances": [ + { + "id": "point_1769049256014_1769050328220_oh3h2eviz", + "x": 0.717375, + "y": 0.51553125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，直至盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到烧杯。", + "frame": 165, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到烧杯，因此进度提升为40%.", + "state_description": "爪夹合拢抓取到烧杯，爪夹角度与桌面接近垂直。\n为完成抓取烧杯落入盘子的任务应当：抓紧烧杯垂直升高爪夹并向爪夹正前方的盘子接近，直至盘子的正上方。", + "time": 5.488066 + }, + { + "action_description": "爪夹夹紧烧杯垂直升高，并向爪夹的正前方移动。", + "annotations": { + "bbox_1769049243902": { + "instances": [ + { + "height": 0.11866666666666668, + "id": "bbox_1769049243902_1769050297220_u0q84k579", + "width": 0.06899999999999995, + "x": 0.616375, + "y": 0.19419791666666666 + } + ], + "type": "bbox" + }, + "bbox_1769049250246": { + "instances": [ + { + "height": 0.23600000000000002, + "id": "bbox_1769049250246_1769050308364_3e66pg97f", + "width": 0.30699999999999994, + "x": 0.175375, + "y": 0.14486458333333332 + } + ], + "type": "bbox" + }, + "point_1769049256014": { + "instances": [ + { + "id": "point_1769049256014_1769050301980_bmmhw3x8x", + "x": 0.640375, + "y": 0.25686458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "爪夹合拢继续夹紧烧杯，水平上接近了盘子。更加方便接近盘子。", + "frame": 214, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧烧杯，垂直升高并向爪夹正前方的盘子接近，缩短了与盘子的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧烧杯，水平上接近了盘子。\n为完成抓取烧杯落入盘子的任务应当：继续向爪夹正前方的盘子接近，水平到达盘子的正上方后将烧杯放入盘子", + "time": 7.144454633118556 + }, + { + "action_description": "爪夹夹紧烧杯向爪夹的正前方移动。", + "annotations": { + "bbox_1769049243902": { + "instances": [ + { + "height": 0.08666666666666668, + "id": "bbox_1769049243902_1769050290348_ef6zps4kl", + "width": 0.05899999999999994, + "x": 0.360375, + "y": 0.04219791666666666 + } + ], + "type": "bbox" + }, + "bbox_1769049250246": { + "instances": [ + { + "height": 0.22533333333333333, + "id": "bbox_1769049250246_1769050269836_ebjo8b7zw", + "width": 0.29900000000000004, + "x": 0.181375, + "y": 0.15019791666666665 + } + ], + "type": "bbox" + }, + "point_1769049256014": { + "instances": [ + { + "id": "point_1769049256014_1769050285364_afl604agq", + "x": 0.376375, + "y": 0.07953125000000001 + } + ], + "type": "point" + }, + "point_1769049265861": { + "instances": [ + { + "id": "point_1769049265861_1769050280748_u09dpwx8s", + "x": 0.414375, + "y": 0.07553125000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "到了爪夹正前方盘子的正上方，方便将烧杯放入盘子。", + "frame": 274, + "progress": 60, + "progress_explanation": "爪夹夹紧烧杯，到了爪夹正前方盘子的正上方，方便将烧杯放入盘子。因此进度提升为 60%。", + "state_description": "爪夹夹紧烧杯，爪夹角度接近垂直于桌面，位于盘子的正上方。\n为完成抓取烧杯落入盘子的任务应当：将烧杯放入盘子，松开爪夹，使烧杯落入盘子。", + "time": 9.1372 + }, + { + "action_description": "调整爪夹角度垂直向下移动", + "annotations": { + "bbox_1769049243902": { + "instances": [ + { + "height": 0.07333333333333333, + "id": "bbox_1769049243902_1769050255988_qhf2g18a7", + "width": 0.06100000000000003, + "x": 0.346375, + "y": 0.22086458333333334 + } + ], + "type": "bbox" + }, + "bbox_1769049250246": { + "instances": [ + { + "height": 0.23733333333333337, + "id": "bbox_1769049250246_1769050260500_x7uu6kg6i", + "width": 0.306, + "x": 0.174375, + "y": 0.14219791666666665 + } + ], + "type": "bbox" + }, + "point_1769049256014": { + "instances": [ + { + "id": "point_1769049256014_1769050240909_7qmcp68no", + "x": 0.367375, + "y": 0.23419791666666667 + } + ], + "type": "point" + }, + "point_1769049265861": { + "instances": [ + { + "id": "point_1769049265861_1769050237388_oqvsvgzjt", + "x": 0.387375, + "y": 0.22619791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使烧杯落入盘子。", + "error_success_analysis": "烧杯放入盘子，方便烧杯落入盘子", + "frame": 345, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，烧杯放入盘子。因此进度提升为 80%。", + "state_description": "爪夹夹紧烧杯，爪夹角度接近垂直于桌面，烧杯放入盘子。\n为完成抓取烧杯落入盘子的任务应当：松开爪夹，使烧杯落入盘子。", + "time": 11.5077 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769049243902": { + "instances": [ + { + "height": 0.06800000000000003, + "id": "bbox_1769049243902_1769050221340_5vidbvj8v", + "width": 0.048, + "x": 0.349375, + "y": 0.24753125 + } + ], + "type": "bbox" + }, + "bbox_1769049250246": { + "instances": [ + { + "height": 0.23733333333333334, + "id": "bbox_1769049250246_1769050226548_qv9iw3zsl", + "width": 0.29399999999999993, + "x": 0.181375, + "y": 0.14619791666666665 + } + ], + "type": "bbox" + }, + "point_1769049256014": { + "instances": [ + { + "id": "point_1769049256014_1769050217077_izvu3q4w7", + "x": 0.344375, + "y": 0.25286458333333334 + } + ], + "type": "point" + }, + "point_1769049265861": { + "instances": [ + { + "id": "point_1769049265861_1769050211388_e8f3sgcl2", + "x": 0.399375, + "y": 0.19419791666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，烧杯落入盘子", + "frame": 386, + "progress": 100, + "progress_explanation": "爪夹张开，烧杯落入盘子，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开烧杯落入盘子的任务目标完成。", + "time": 12.872533 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769049243902", + "name": "烧杯" + }, + { + "color": "#FF9800", + "id": "bbox_1769049250246", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769049256014", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769049265861", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-183347-put-beaker-oil-plate-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-183347-put-beaker-oil-plate-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d3c9eff27257f99c1ae87ef0b3f36e4e1f93c2af --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260112-guoyijia/20260112-183347-put-beaker-oil-plate-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,600 @@ +{ + "task_description": "抓取烧杯放入碗里：\n准备开始移动：0%\n爪夹靠近烧杯：20%\n爪夹抓取烧杯：40%\n爪夹抓紧烧杯接近碗：60%\n爪夹将烧杯放入碗：80%\n爪夹松开烧杯落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769050549508": { + "instances": [ + { + "height": 0.0866666666666666, + "id": "bbox_1769050549508_1769065595752_52u64nljk", + "width": 0.072, + "x": 0.18937500000000002, + "y": 0.7901979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769050554916": { + "instances": [ + { + "height": 0.09733333333333333, + "id": "bbox_1769050554916_1769065591152_8jxui290f", + "width": 0.09300000000000001, + "x": 0.251375, + "y": 0.38353125 + } + ], + "type": "bbox" + }, + "point_1769050558636": { + "instances": [ + { + "id": "point_1769050558636_1769065580329_mdafipm6i", + "x": 0.40037500000000004, + "y": 0.22219791666666666 + } + ], + "type": "point" + }, + "point_1769050565580": { + "instances": [ + { + "id": "point_1769050565580_1769065584144_97wmz7ov4", + "x": 0.500375, + "y": 0.23953125000000003 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "当前为初始状态，远离烧杯，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离烧杯，未开始移动。\n为完成抓取烧杯落入碗的任务应当：爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 0.492033 + }, + { + "action_description": "爪夹向爪夹的正前方移动并调整爪夹。", + "annotations": { + "bbox_1769050549508": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1769050549508_1769065560207_oofl2hy9e", + "width": 0.07800000000000003, + "x": 0.186375, + "y": 0.7861979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769050554916": { + "instances": [ + { + "height": 0.1066666666666667, + "id": "bbox_1769050554916_1769065567544_v12f7pydn", + "width": 0.08700000000000001, + "x": 0.252375, + "y": 0.38086458333333334 + } + ], + "type": "bbox" + }, + "point_1769050558636": { + "instances": [ + { + "id": "point_1769050558636_1769065574248_rlbymwows", + "x": 0.302375, + "y": 0.2728645833333333 + } + ], + "type": "point" + }, + "point_1769050565580": { + "instances": [ + { + "id": "point_1769050565580_1769065570600_d3eihzwkl", + "x": 0.414375, + "y": 0.3008645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "向接近垂直于桌面调整角度，水平上未接近烧杯。", + "frame": 55, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，向接近垂直于桌面调整，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹向接近垂直于桌面调整。还未接近烧杯。\n为完成抓取烧杯落入碗的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 1.8324 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动。", + "annotations": { + "bbox_1769050549508": { + "instances": [ + { + "height": 0.09599999999999996, + "id": "bbox_1769050549508_1769065554000_mi81knxtj", + "width": 0.074, + "x": 0.185375, + "y": 0.7861979166666667 + } + ], + "type": "bbox" + }, + "point_1769050558636": { + "instances": [ + { + "id": "point_1769050558636_1769065546904_j4veao78w", + "x": 0.169375, + "y": 0.75953125 + } + ], + "type": "point" + }, + "point_1769050565580": { + "instances": [ + { + "id": "point_1769050565580_1769065549680_2wmc26cto", + "x": 0.280375, + "y": 0.80353125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向下移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了烧杯之间的距离。方便后续抓取烧杯。", + "frame": 92, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的正前方移动，水平上接近了烧杯，更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。接近了烧杯。\n为完成抓取烧杯落入碗的任务应当：爪夹向下移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 3.054 + }, + { + "action_description": "爪夹调整角度向下移动", + "annotations": { + "bbox_1769050549508": { + "instances": [ + { + "height": 0.09066666666666663, + "id": "bbox_1769050549508_1769065534464_6928d2jam", + "width": 0.06700000000000002, + "x": 0.18937500000000002, + "y": 0.7888645833333334 + } + ], + "type": "bbox" + }, + "bbox_1769050554916": { + "instances": [ + { + "height": 0.12133333333333335, + "id": "bbox_1769050554916_1769065530744_e9e4o8d6w", + "width": 0.10200000000000001, + "x": 0.242375, + "y": 0.37553125 + } + ], + "type": "bbox" + }, + "point_1769050558636": { + "instances": [ + { + "id": "point_1769050558636_1769065542104_7va3rd3on", + "x": 0.170375, + "y": 0.80353125 + } + ], + "type": "point" + }, + "point_1769050565580": { + "instances": [ + { + "id": "point_1769050565580_1769065538192_hjrcwiz3f", + "x": 0.26937500000000003, + "y": 0.84753125 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了烧杯，方便抓取。", + "frame": 135, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了烧杯。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了烧杯。\n为完成抓取烧杯落入碗的任务应当：合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近。", + "time": 4.513133 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769050549508": { + "instances": [ + { + "height": 0.0973333333333334, + "id": "bbox_1769050549508_1769065513200_evw7f0ht0", + "width": 0.07600000000000003, + "x": 0.184375, + "y": 0.8021979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769050554916": { + "instances": [ + { + "height": 0.10666666666666665, + "id": "bbox_1769050554916_1769065525888_n204mgfib", + "width": 0.08200000000000003, + "x": 0.257375, + "y": 0.3741979166666667 + } + ], + "type": "bbox" + }, + "point_1769050558636": { + "instances": [ + { + "id": "point_1769050558636_1769065519288_xoe30gtng", + "x": 0.21937500000000001, + "y": 0.8128645833333333 + } + ], + "type": "point" + }, + "point_1769050565580": { + "instances": [ + { + "id": "point_1769050565580_1769065516952_nhluiztw8", + "x": 0.230375, + "y": 0.8155312499999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抬升并重新打开爪夹，垂直下降直至烧杯的正上方，接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹合拢抵在烧杯外壁，需重新抓取烧杯。", + "frame": 168, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到烧，因此进度降至为5%。", + "state_description": "爪夹合拢抵在烧杯外壁。\n为完成抓取烧杯落入碗的任务应当：爪夹抬升并重新打开爪夹，垂直下降直至烧杯的正上方，接着落下爪夹靠近烧杯。", + "time": 5.586318838273197 + }, + { + "action_description": "爪夹抬升并重新打开爪夹。", + "annotations": { + "bbox_1769050549508": { + "instances": [ + { + "height": 0.09199999999999993, + "id": "bbox_1769050549508_1769065493136_4eji745s3", + "width": 0.07000000000000002, + "x": 0.19037500000000002, + "y": 0.79553125 + } + ], + "type": "bbox" + }, + "bbox_1769050554916": { + "instances": [ + { + "height": 0.11600000000000002, + "id": "bbox_1769050554916_1769065505944_npsflt293", + "width": 0.09100000000000001, + "x": 0.24937499999999999, + "y": 0.36753125 + } + ], + "type": "bbox" + }, + "point_1769050558636": { + "instances": [ + { + "id": "point_1769050558636_1769065499832_ocesxn1q6", + "x": 0.075375, + "y": 0.6608645833333334 + } + ], + "type": "point" + }, + "point_1769050565580": { + "instances": [ + { + "id": "point_1769050565580_1769065496432_z3yirp6qo", + "x": 0.177375, + "y": 0.7168645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向下移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方，接着落下爪夹靠近烧杯，接近烧杯后爪夹合拢抓取烧杯。抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹抬升并重新打开爪夹，方便进一步抓取烧杯。", + "frame": 221, + "progress": 15, + "progress_explanation": "爪夹抬升并重新打开爪夹，接近了烧杯，更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。接近了烧杯。\n为完成抓取烧杯落入碗的任务应当：爪夹向下移动，同时调整爪夹的角度使其垂直于桌面，并移动到烧杯的正上方。", + "time": 7.3805 + }, + { + "action_description": "爪夹下降并向爪夹方向的左侧微调。", + "annotations": { + "bbox_1769050549508": { + "instances": [ + { + "height": 0.0973333333333334, + "id": "bbox_1769050549508_1769065487584_vmicx985a", + "width": 0.077, + "x": 0.20237500000000003, + "y": 0.76353125 + } + ], + "type": "bbox" + }, + "point_1769050565580": { + "instances": [ + { + "id": "point_1769050565580_1769065482224_qkob31c1e", + "x": 0.311375, + "y": 0.8501979166666668 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹下降并向爪夹方向的左侧微调，靠近了烧杯，方便抓取。", + "frame": 253, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了烧杯。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了烧杯。\n为完成抓取烧杯落入碗的任务应当：合拢抓取烧杯，抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近。", + "time": 8.432433 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769050549508": { + "instances": [ + { + "height": 0.10133333333333343, + "id": "bbox_1769050549508_1769065474840_yc0b3yrgx", + "width": 0.077, + "x": 0.205375, + "y": 0.78753125 + } + ], + "type": "bbox" + }, + "point_1769050558636": { + "instances": [ + { + "id": "point_1769050558636_1769065469864_52fuwd4b5", + "x": 0.250375, + "y": 0.8301979166666666 + } + ], + "type": "point" + }, + "point_1769050565580": { + "instances": [ + { + "id": "point_1769050565580_1769065466768_th5ekzgth", + "x": 0.264375, + "y": 0.8355312500000001 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，直至碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到烧杯。", + "frame": 279, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到烧杯，因此进度提升为40%.", + "state_description": "爪夹合拢抓取到烧杯，爪夹角度与桌面接近垂直。\n为完成抓取烧杯落入碗的任务应当：抓紧烧杯垂直升高爪夹并向爪夹正后方的碗接近，直至碗的正上方。", + "time": 9.3147 + }, + { + "action_description": "爪夹夹紧烧杯垂直升高，并向爪夹的正后方移动。", + "annotations": { + "bbox_1769050549508": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1769050549508_1769065452592_dqq2snech", + "width": 0.073, + "x": 0.161375, + "y": 0.55153125 + } + ], + "type": "bbox" + }, + "bbox_1769050554916": { + "instances": [ + { + "height": 0.10933333333333331, + "id": "bbox_1769050554916_1769065462104_6z20dsqrm", + "width": 0.09500000000000001, + "x": 0.244375, + "y": 0.37686458333333334 + } + ], + "type": "bbox" + }, + "point_1769050558636": { + "instances": [ + { + "id": "point_1769050558636_1769065447728_coikypbet", + "x": 0.201375, + "y": 0.60753125 + } + ], + "type": "point" + }, + "point_1769050565580": { + "instances": [ + { + "id": "point_1769050565580_1769065443392_1s47tmzyx", + "x": 0.215375, + "y": 0.6101979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "爪夹合拢继续夹紧烧杯，水平上接近了碗。更加方便接近碗。", + "frame": 328, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧烧杯，垂直升高并向爪夹正后方的碗接近，缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧烧杯，水平上接近了碗。\n为完成抓取烧杯落入碗的任务应当：继续向爪夹正后方的碗接近，水平到达碗的正上方后将烧杯放入碗", + "time": 10.926533 + }, + { + "action_description": "爪夹夹紧烧杯向爪夹方向的正后方移动。", + "annotations": { + "bbox_1769050549508": { + "instances": [ + { + "height": 0.09200000000000005, + "id": "bbox_1769050549508_1769065408048_9yibr8ipy", + "width": 0.06900000000000003, + "x": 0.24537499999999998, + "y": 0.3288645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769050554916": { + "instances": [ + { + "height": 0.10933333333333331, + "id": "bbox_1769050554916_1769065412048_l111l0cwk", + "width": 0.08199999999999993, + "x": 0.2543750000000001, + "y": 0.37953125000000004 + } + ], + "type": "bbox" + }, + "point_1769050558636": { + "instances": [ + { + "id": "point_1769050558636_1769065402968_rg6sehl00", + "x": 0.284375, + "y": 0.3701979166666666 + } + ], + "type": "point" + }, + "point_1769050565580": { + "instances": [ + { + "id": "point_1769050565580_1769065399064_2vaxpw1qx", + "x": 0.296375, + "y": 0.37286458333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "error_success_analysis": "到了爪夹正后方碗的正上方，方便将烧杯放入碗。", + "frame": 374, + "progress": 60, + "progress_explanation": "爪夹夹紧烧杯，到了爪夹正后方碗的正上方，方便将烧杯放入碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧烧杯，爪夹角度接近垂直于桌面，位于碗的正上方。\n为完成抓取烧杯落入盘子的任务应当：将烧杯放入碗，松开爪夹，使烧杯落入碗。", + "time": 12.460442684664951 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769050549508": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1769050549508_1769065388712_w73c7rh5m", + "width": 0.041000000000000016, + "x": 0.27537500000000004, + "y": 0.39953125 + } + ], + "type": "bbox" + }, + "bbox_1769050554916": { + "instances": [ + { + "height": 0.12266666666666666, + "id": "bbox_1769050554916_1769065392536_e8uujg4bk", + "width": 0.10100000000000002, + "x": 0.24537499999999998, + "y": 0.36353125000000003 + } + ], + "type": "bbox" + }, + "point_1769050558636": { + "instances": [ + { + "id": "point_1769050558636_1769065382504_wo9s8uh2w", + "x": 0.24737499999999998, + "y": 0.34753125 + } + ], + "type": "point" + }, + "point_1769050565580": { + "instances": [ + { + "id": "point_1769050565580_1769065378960_mzv2culzj", + "x": 0.325375, + "y": 0.39686458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，烧杯落入碗", + "frame": 418, + "progress": 100, + "progress_explanation": "爪夹张开，烧杯落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开烧杯落入碗的任务目标完成。", + "time": 13.929721064046392 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769050549508", + "name": "烧杯" + }, + { + "color": "#FF9800", + "id": "bbox_1769050554916", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769050558636", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769050565580", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-092500-put-pink-pen-pencil-case-good/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-092500-put-pink-pen-pencil-case-good/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..0f17d120d914909468fd891b0aa4fe40916dc021 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-092500-put-pink-pen-pencil-case-good/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,386 @@ +{ + "task_description": "抓取粉色笔放入笔筒里：\n准备开始移动：0%\n爪夹靠近粉色笔：20%\n爪夹抓取粉色笔：40%\n爪夹抓紧粉色笔接近笔筒：60%\n爪夹将粉色笔放入笔筒：80%\n爪夹松开粉色笔落入笔筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769065806320": { + "instances": [ + { + "height": 0.08533333333333332, + "id": "bbox_1769065806320_1769068021501_fczvv4kxj", + "width": 0.14900000000000002, + "x": 0.48237500000000005, + "y": 0.21019791666666665 + } + ], + "type": "bbox" + }, + "bbox_1769065814168": { + "instances": [ + { + "height": 0.18133333333333326, + "id": "bbox_1769065814168_1769068030325_ty2e8myu1", + "width": 0.13799999999999998, + "x": 0.536375, + "y": 0.7395312500000001 + } + ], + "type": "bbox" + }, + "point_1769065819584": { + "instances": [ + { + "id": "point_1769065819584_1769068016125_9xep15b93", + "x": 0.509375, + "y": 0.6688645833333333 + } + ], + "type": "point" + }, + "point_1769065827392": { + "instances": [ + { + "id": "point_1769065827392_1769068010781_i6cp0vary", + "x": 0.625375, + "y": 0.63953125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔的正上方。接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹正后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "当前为初始状态，远离粉色笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离粉色笔，未开始移动。\n为完成抓取粉色笔落入笔筒的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔的正上方。", + "time": 0.692533 + }, + { + "action_description": "爪夹向爪夹的正前方移动并调整爪夹。", + "annotations": { + "bbox_1769065806320": { + "instances": [ + { + "height": 0.07733333333333334, + "id": "bbox_1769065806320_1769067987701_bjhp1ca59", + "width": 0.16100000000000012, + "x": 0.47937499999999994, + "y": 0.21686458333333333 + } + ], + "type": "bbox" + }, + "bbox_1769065814168": { + "instances": [ + { + "height": 0.2133333333333333, + "id": "bbox_1769065814168_1769067982173_yfvencg2k", + "width": 0.15999999999999998, + "x": 0.524375, + "y": 0.7461979166666667 + } + ], + "type": "bbox" + }, + "point_1769065819584": { + "instances": [ + { + "id": "point_1769065819584_1769067998765_1fq1qo2zb", + "x": 0.507375, + "y": 0.4888645833333333 + } + ], + "type": "point" + }, + "point_1769065827392": { + "instances": [ + { + "id": "point_1769065827392_1769068002445_882v9jblt", + "x": 0.635375, + "y": 0.45953125000000006 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔的正上方。接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹正后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近粉色笔移动，方便下一步抓取。", + "frame": 54, + "progress": 5, + "progress_explanation": "爪夹向爪夹的正前方移动并调整爪夹，还未接近粉色笔。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近粉色笔。\n为完成抓取粉色笔落入笔筒的任务应当：爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔的正上方。", + "time": 1.8032 + }, + { + "action_description": "爪夹向爪夹的正前方移动。", + "annotations": { + "bbox_1769065806320": { + "instances": [ + { + "height": 0.07333333333333333, + "id": "bbox_1769065806320_1769067959133_nf49b56mo", + "width": 0.14800000000000005, + "x": 0.477375, + "y": 0.2208645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769065814168": { + "instances": [ + { + "height": 0.1973333333333334, + "id": "bbox_1769065814168_1769067973237_5hxsyi7cy", + "width": 0.15400000000000008, + "x": 0.5253749999999999, + "y": 0.7448645833333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至粉色笔的正上方。接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹正后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了粉色笔之间的距离，方便后续抓取粉色笔。", + "frame": 96, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了粉色笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了粉色笔。\n为完成抓取粉色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至粉色笔的正上方。", + "time": 3.1841581568298967 + }, + { + "action_description": "爪夹垂直向下移动。", + "annotations": { + "bbox_1769065806320": { + "instances": [ + { + "height": 0.07600000000000004, + "id": "bbox_1769065806320_1769067941997_mnliyvx5u", + "width": 0.15799999999999992, + "x": 0.47437500000000005, + "y": 0.21419791666666665 + } + ], + "type": "bbox" + }, + "bbox_1769065814168": { + "instances": [ + { + "height": 0.22266666666666665, + "id": "bbox_1769065814168_1769067938213_h08l2zp9t", + "width": 0.13399999999999998, + "x": 0.526375, + "y": 0.7261979166666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢抓取粉色笔，抓紧粉色笔垂直升高爪夹并向爪夹正后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了粉色笔，方便抓取。", + "frame": 140, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了粉色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了粉色笔。\n为完成抓取粉色笔落入笔筒的任务应当：合拢抓取粉色笔，抓紧粉色笔垂直升高爪夹并向爪夹正后方的笔筒接近。", + "time": 4.651733 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769065806320": { + "instances": [ + { + "height": 0.17066666666666663, + "id": "bbox_1769065806320_1769067921622_izmnn6bci", + "width": 0.04699999999999997, + "x": 0.542375, + "y": 0.19953125000000002 + } + ], + "type": "bbox" + }, + "bbox_1769065814168": { + "instances": [ + { + "height": 0.20666666666666664, + "id": "bbox_1769065814168_1769067932909_7sy95ezss", + "width": 0.14800000000000005, + "x": 0.5273749999999999, + "y": 0.7395312500000001 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧粉色笔垂直升高爪夹并向爪夹正后方的笔筒接近，直至笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到粉色笔。", + "frame": 186, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到粉色笔，因此进度提升为40%.", + "state_description": "爪夹合拢抓取到粉色笔，爪夹角度与桌面接近垂直。\n为完成抓取粉色笔落入笔筒的任务应当：抓紧粉色笔垂直升高爪夹并向爪夹正后方的笔筒接近，直至笔筒的正上方。", + "time": 6.215086069201032 + }, + { + "action_description": "爪夹夹紧粉色笔垂直升高并向爪夹正后方移动。", + "annotations": { + "bbox_1769065806320": { + "instances": [ + { + "height": 0.272, + "id": "bbox_1769065806320_1769067900309_tcf4p75qb", + "width": 0.07500000000000018, + "x": 0.6283749999999999, + "y": 0.08219791666666666 + } + ], + "type": "bbox" + }, + "bbox_1769065814168": { + "instances": [ + { + "height": 0.21066666666666667, + "id": "bbox_1769065814168_1769067895269_ixp4f2lsw", + "width": 0.16399999999999998, + "x": 0.520375, + "y": 0.74353125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹正后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "爪夹合拢继续夹紧粉色笔，水平上接近了笔筒。更加方便接近笔筒。", + "frame": 226, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧粉色笔，垂直升高并向爪夹正后方的笔筒接近，缩短了与笔筒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧粉色笔，水平上接近了笔筒。\n为完成抓取粉色笔落入笔筒的任务应当：继续向爪夹正后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒", + "time": 7.5264 + }, + { + "action_description": "爪夹夹紧粉色笔向爪夹的正后方移动。", + "annotations": { + "bbox_1769065806320": { + "instances": [ + { + "height": 0.2120000000000001, + "id": "bbox_1769065806320_1769067877877_xobar6qe1", + "width": 0.05599999999999996, + "x": 0.595375, + "y": 0.5821979166666666 + } + ], + "type": "bbox" + }, + "bbox_1769065814168": { + "instances": [ + { + "height": 0.20133333333333342, + "id": "bbox_1769065814168_1769067873925_gkku571zb", + "width": 0.14800000000000005, + "x": 0.5273749999999999, + "y": 0.7488645833333333 + } + ], + "type": "bbox" + }, + "point_1769065819584": { + "instances": [ + { + "id": "point_1769065819584_1769067880645_wflh07iyu", + "x": 0.604375, + "y": 0.6701979166666666 + } + ], + "type": "point" + }, + "point_1769065827392": { + "instances": [ + { + "id": "point_1769065827392_1769067888101_u62l2tt3i", + "x": 0.632375, + "y": 0.66753125 + } + ], + "type": "point" + } + }, + "correction_plan": "将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "到了爪夹正后方笔筒的正上方，方便将粉色笔放入笔筒。", + "frame": 303, + "progress": 60, + "progress_explanation": "爪夹夹紧粉色笔，到了爪夹正后方笔筒的正上方，方便将粉色笔放入笔筒。因此进度提升为 60%。", + "state_description": "爪夹夹紧粉色笔，爪夹角度接近垂直于桌面，位于笔筒的正上方。\n为完成抓取粉色笔落入笔筒的任务应当：将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "time": 10.108144587757735 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769065814168": { + "instances": [ + { + "height": 0.2013333333333333, + "id": "bbox_1769065814168_1769067863365_y5fmaxocv", + "width": 0.14400000000000004, + "x": 0.525375, + "y": 0.7358645833333334 + } + ], + "type": "bbox" + }, + "point_1769065819584": { + "instances": [ + { + "id": "point_1769065819584_1769067858941_1vszobhs2", + "x": 0.547375, + "y": 0.73853125 + } + ], + "type": "point" + }, + "point_1769065827392": { + "instances": [ + { + "id": "point_1769065827392_1769067855421_z2l4qh9kl", + "x": 0.661375, + "y": 0.7078645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，粉色笔落入笔筒", + "frame": 356, + "progress": 100, + "progress_explanation": "爪夹张开，粉色笔落入笔筒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开粉色笔落入笔筒的任务目标完成。", + "time": 11.864533 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769065806320", + "name": "粉色笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769065814168", + "name": "笔筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769065819584", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769065827392", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-092500-put-pink-pen-pencil-case-good/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-092500-put-pink-pen-pencil-case-good/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..00773f11a16c6aa8f9fa58d147bf6d59247555ac --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-092500-put-pink-pen-pencil-case-good/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,444 @@ +{ + "task_description": "抓取粉色笔放入笔筒里：\n准备开始移动：0%\n爪夹靠近粉色笔：20%\n爪夹抓取粉色笔：40%\n爪夹抓紧粉色笔接近笔筒：60%\n爪夹将粉色笔放入笔筒：80%\n爪夹松开粉色笔落入笔筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769068041765": { + "instances": [ + { + "height": 0.15066666666666667, + "id": "bbox_1769068041765_1769069638163_z55p6s5vu", + "width": 0.05700000000000003, + "x": 0.380375, + "y": 0.25953125 + } + ], + "type": "bbox" + }, + "bbox_1769068045789": { + "instances": [ + { + "height": 0.22533333333333336, + "id": "bbox_1769068045789_1769069632987_2kirs3c3b", + "width": 0.14000000000000004, + "x": 0.774375, + "y": 0.21553125 + } + ], + "type": "bbox" + }, + "point_1769068049061": { + "instances": [ + { + "id": "point_1769068049061_1769069642259_a3y14ggdc", + "x": 0.662375, + "y": 0.2968645833333333 + } + ], + "type": "point" + }, + "point_1769068054845": { + "instances": [ + { + "id": "point_1769068054845_1769069646307_df219ui2e", + "x": 0.7153750000000001, + "y": 0.2541979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔的正上方。接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "当前为初始状态，远离粉色笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离粉色笔，未开始移动。\n为完成抓取粉色笔落入笔筒的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔的正上方。", + "time": 0.717833 + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动。", + "annotations": { + "bbox_1769068041765": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1769068041765_1769069624163_2hsc44kjr", + "width": 0.06000000000000005, + "x": 0.380375, + "y": 0.26353125 + } + ], + "type": "bbox" + }, + "bbox_1769068045789": { + "instances": [ + { + "height": 0.20666666666666667, + "id": "bbox_1769068045789_1769069628987_p0i8ijosv", + "width": 0.14300000000000007, + "x": 0.771375, + "y": 0.22086458333333334 + } + ], + "type": "bbox" + }, + "point_1769068049061": { + "instances": [ + { + "id": "point_1769068049061_1769069619067_pzq5o6bnj", + "x": 0.651375, + "y": 0.026197916666666668 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔的正上方。接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近粉色笔移动，方便下一步抓取。", + "frame": 49, + "progress": 5, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，还未接近粉色笔。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近粉色笔。\n为完成抓取粉色笔落入笔筒的任务应当：爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔的正上方。", + "time": 1.6227448898195878 + }, + { + "action_description": "爪夹向爪夹的正前方移动并下降。", + "annotations": { + "bbox_1769068041765": { + "instances": [ + { + "height": 0.14933333333333335, + "id": "bbox_1769068041765_1769069573483_3d6catsg0", + "width": 0.06100000000000003, + "x": 0.380375, + "y": 0.26353125 + } + ], + "type": "bbox" + }, + "bbox_1769068045789": { + "instances": [ + { + "height": 0.2066666666666667, + "id": "bbox_1769068045789_1769069568811_vx1qihv1u", + "width": 0.15099999999999988, + "x": 0.769375, + "y": 0.22219791666666666 + } + ], + "type": "bbox" + }, + "point_1769068049061": { + "instances": [ + { + "id": "point_1769068049061_1769069577691_lnx3beo6n", + "x": 0.39237500000000003, + "y": 0.10753125000000001 + } + ], + "type": "point" + }, + "point_1769068054845": { + "instances": [ + { + "id": "point_1769068054845_1769069588619_r2wzxo9vz", + "x": 0.456375, + "y": 0.08219791666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至粉色笔的正上方。接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了粉色笔之间的距离，方便后续抓取粉色笔。", + "frame": 101, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了粉色笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了粉色笔。\n为完成抓取粉色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至粉色笔的正上方。", + "time": 3.370166 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1769068041765": { + "instances": [ + { + "height": 0.15066666666666667, + "id": "bbox_1769068041765_1769069554899_vwot1gg3h", + "width": 0.07100000000000004, + "x": 0.370375, + "y": 0.25953125 + } + ], + "type": "bbox" + }, + "bbox_1769068045789": { + "instances": [ + { + "height": 0.20666666666666667, + "id": "bbox_1769068045789_1769069564243_66j3e9mpb", + "width": 0.11800000000000006, + "x": 0.772375, + "y": 0.22086458333333334 + } + ], + "type": "bbox" + }, + "point_1769068049061": { + "instances": [ + { + "id": "point_1769068049061_1769069558819_de260c0zd", + "x": 0.389375, + "y": 0.33419791666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取粉色笔，抓紧粉色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了粉色笔，方便抓取。", + "frame": 135, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了粉色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了粉色笔。\n为完成抓取粉色笔落入笔筒的任务应当：合拢抓取粉色笔，抓紧粉色笔垂直升高爪夹并向爪夹右后方的笔筒接近。", + "time": 4.4895 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769068041765": { + "instances": [ + { + "height": 0.11066666666666668, + "id": "bbox_1769068041765_1769069534267_7yc5kriyo", + "width": 0.133, + "x": 0.371375, + "y": 0.2728645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769068045789": { + "instances": [ + { + "height": 0.22266666666666665, + "id": "bbox_1769068045789_1769069542475_ezhpbc9i8", + "width": 0.10500000000000007, + "x": 0.775375, + "y": 0.20753125000000003 + } + ], + "type": "bbox" + }, + "point_1769068049061": { + "instances": [ + { + "id": "point_1769068049061_1769069538275_xqci1sdxz", + "x": 0.40037500000000004, + "y": 0.31953125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧粉色笔垂直升高爪夹并向爪夹右后方的笔筒接近，直至笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到粉色笔。", + "frame": 171, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到粉色笔，因此进度提升为40%.", + "state_description": "爪夹合拢抓取到粉色笔，爪夹角度与桌面接近垂直。\n为完成抓取粉色笔落入笔筒的任务应当：抓紧粉色笔垂直升高爪夹并向爪夹右后方的笔筒接近，直至笔筒的正上方。", + "time": 5.706166 + }, + { + "action_description": "爪夹夹紧粉色笔垂直升高并向爪夹正后方移动。", + "annotations": { + "bbox_1769068041765": { + "instances": [ + { + "height": 0.08533333333333333, + "id": "bbox_1769068041765_1769069522515_trp9ho6d8", + "width": 0.07700000000000004, + "x": 0.547375, + "y": 0.00353125 + } + ], + "type": "bbox" + }, + "bbox_1769068045789": { + "instances": [ + { + "height": 0.20800000000000005, + "id": "bbox_1769068045789_1769069516859_szxgph4uy", + "width": 0.14300000000000007, + "x": 0.771375, + "y": 0.21553125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "爪夹合拢继续夹紧粉色笔，水平上接近了笔筒。更加方便接近笔筒。", + "frame": 217, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧粉色笔，垂直升高并向爪夹右后方的笔筒接近，缩短了与笔筒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧粉色笔，水平上接近了笔筒。\n为完成抓取粉色笔落入笔筒的任务应当：继续向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒", + "time": 7.239166 + }, + { + "action_description": "爪夹夹紧粉色笔向爪夹的右后方移动。", + "annotations": { + "bbox_1769068041765": { + "instances": [ + { + "height": 0.20666666666666667, + "id": "bbox_1769068041765_1769069505043_raopwbwve", + "width": 0.09300000000000005, + "x": 0.771375, + "y": 0.006197916666666667 + } + ], + "type": "bbox" + }, + "bbox_1769068045789": { + "instances": [ + { + "height": 0.20800000000000002, + "id": "bbox_1769068045789_1769069509395_ugdelyhjs", + "width": 0.13800000000000007, + "x": 0.776375, + "y": 0.22219791666666666 + } + ], + "type": "bbox" + }, + "point_1769068049061": { + "instances": [ + { + "id": "point_1769068049061_1769069499251_2y7pmlfn1", + "x": 0.787375, + "y": 0.06619791666666668 + } + ], + "type": "point" + } + }, + "correction_plan": "将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "到了爪夹右后方笔筒的正上方，方便将粉色笔放入笔筒", + "frame": 257, + "progress": 60, + "progress_explanation": "爪夹夹紧粉色笔，到了爪夹右后方笔筒的正上方，方便将粉色笔放入笔筒。因此进度提升为 60%。", + "state_description": "爪夹夹紧粉色笔，爪夹角度接近垂直于桌面，位于笔筒的正上方。\n为完成抓取粉色笔落入笔筒的任务应当：将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "time": 8.565333 + }, + { + "action_description": "调整爪夹角度垂直下降。", + "annotations": { + "bbox_1769068041765": { + "instances": [ + { + "height": 0.2026666666666667, + "id": "bbox_1769068041765_1769069477514_hfbexmcuc", + "width": 0.06500000000000003, + "x": 0.8143750000000001, + "y": 0.12353125000000001 + } + ], + "type": "bbox" + }, + "bbox_1769068045789": { + "instances": [ + { + "height": 0.20400000000000001, + "id": "bbox_1769068045789_1769069473275_folk1o90e", + "width": 0.14799999999999996, + "x": 0.769375, + "y": 0.22353125000000001 + } + ], + "type": "bbox" + }, + "point_1769068049061": { + "instances": [ + { + "id": "point_1769068049061_1769069494779_pczankdve", + "x": 0.819375, + "y": 0.19286458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "粉色笔放入笔筒，方便粉色笔落入笔筒", + "frame": 291, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，粉色笔放入笔筒。因此进度提升为 80%。", + "state_description": "爪夹夹紧粉色笔，爪夹角度接近垂直于桌面，粉色笔放入笔筒。\n为完成抓取粉色笔落入笔筒的任务应当：松开爪夹，使粉色笔落入笔筒。", + "time": 9.712951297036083 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769068041765": { + "instances": [ + { + "height": 0.12933333333333336, + "id": "bbox_1769068041765_1769069454211_eft3e56yu", + "width": 0.03499999999999996, + "x": 0.8163750000000001, + "y": 0.19419791666666666 + } + ], + "type": "bbox" + }, + "bbox_1769068045789": { + "instances": [ + { + "height": 0.2106666666666667, + "id": "bbox_1769068045789_1769069460291_r56xa2rnz", + "width": 0.14000000000000004, + "x": 0.775375, + "y": 0.21553125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，粉色笔落入笔筒", + "frame": 327, + "progress": 100, + "progress_explanation": "爪夹张开，粉色笔落入笔筒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开粉色笔落入笔筒的任务目标完成。", + "time": 10.901333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769068041765", + "name": "粉色笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769068045789", + "name": "笔筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769068049061", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769068054845", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-094517-put-pink-pen-pencil-case-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-094517-put-pink-pen-pencil-case-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..0d32ea5f4d76234f5145498a2ee5132770aa786b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-094517-put-pink-pen-pencil-case-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,791 @@ +{ + "task_description": "抓取胶头滴管和粉色笔放入笔筒里：\n准备开始移动：0%\n爪夹靠近胶头滴管和粉色笔：20%\n爪夹抓取胶头滴管和粉色笔：40%\n爪夹抓紧胶头滴管和粉色笔接近笔筒：60%\n爪夹将胶头滴管和粉色笔放入笔筒：80%\n爪夹松开胶头滴管和粉色笔落入笔筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769069946514": { + "instances": [ + { + "height": 0.136, + "id": "bbox_1769069946514_1769074491532_kw0uaii9c", + "width": 0.05, + "x": 0.622375, + "y": 0.5168645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769069951730": { + "instances": [ + { + "height": 0.1066666666666667, + "id": "bbox_1769069951730_1769074476523_pntfiteuv", + "width": 0.0629999999999998, + "x": 0.736375, + "y": 0.4941979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769069957298": { + "instances": [ + { + "height": 0.16000000000000003, + "id": "bbox_1769069957298_1769074470628_2jvz69791", + "width": 0.083, + "x": 0.629375, + "y": 0.26753125 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074462028_8vvmmgkjd", + "x": 0.380375, + "y": 0.48753125 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074465564_ej5zzmcxy", + "x": 0.607375, + "y": 0.48219791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到胶头滴管的正上方。接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将胶头滴管放入笔筒，松开爪夹，使胶头滴管落入笔筒目标一完成，然后向爪夹方向的右后侧移动，直至粉色笔目标二的正上方，接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹左前方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒松开爪夹，使粉色笔落入笔筒目标二完成。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "当前为初始状态，远离胶头滴管，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离胶头滴管，未开始移动。\n为完成抓取胶头滴管和粉色笔落入笔筒的任务应当：爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到胶头滴管的正上方。", + "time": 0.685266 + }, + { + "action_description": "爪夹向正前方微抬并向右调整爪夹角度。", + "annotations": { + "bbox_1769069946514": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1769069946514_1769074446637_c8a17m9vy", + "width": 0.03600000000000003, + "x": 0.534375, + "y": 0.47419791666666666 + } + ], + "type": "bbox" + }, + "bbox_1769069951730": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1769069951730_1769074438108_yptdmtj3q", + "width": 0.06599999999999992, + "x": 0.645375, + "y": 0.37553125 + } + ], + "type": "bbox" + }, + "bbox_1769069957298": { + "instances": [ + { + "height": 0.18133333333333335, + "id": "bbox_1769069957298_1769074450444_idbv409g5", + "width": 0.12399999999999993, + "x": 0.507375, + "y": 0.12619791666666666 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074457132_39k6xxcqh", + "x": 0.381375, + "y": 0.4901979166666667 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074453500_325ar8fmc", + "x": 0.605375, + "y": 0.48753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到胶头滴管的正上方。接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将胶头滴管放入笔筒，松开爪夹，使胶头滴管落入笔筒目标一完成，然后向爪夹方向的右后侧移动，直至粉色笔目标二的正上方，接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹左前方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒松开爪夹，使粉色笔落入笔筒目标二完成。", + "error_success_analysis": "向接近垂直于桌面调整角度，水平上未接近胶头滴管。", + "frame": 72, + "progress": 10, + "progress_explanation": "爪夹向正前方微抬并向右调整爪夹角度，因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近胶头滴管。\n为完成抓取胶头滴管和粉色笔落入笔筒的任务应当：爪夹继续垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到胶头滴管的正上方。", + "time": 2.398433 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1769069946514": { + "instances": [ + { + "height": 0.31066666666666676, + "id": "bbox_1769069946514_1769074416628_ld3tbidws", + "width": 0.09000000000000004, + "x": 0.484375, + "y": 0.4128645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769069951730": { + "instances": [ + { + "height": 0.3546666666666667, + "id": "bbox_1769069951730_1769074411460_u8x4gv7hi", + "width": 0.17200000000000007, + "x": 0.726375, + "y": 0.23419791666666667 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074402884_8oxlkjt7f", + "x": 0.384375, + "y": 0.4928645833333334 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074406532_87wyrfjfk", + "x": 0.604375, + "y": 0.4861979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取胶头滴管，抓紧胶头滴管垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将胶头滴管放入笔筒，松开爪夹，使胶头滴管落入笔筒目标一完成，然后向爪夹方向的右后侧移动，直至粉色笔目标二的正上方，接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹左前方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒松开爪夹，使粉色笔落入笔筒目标二完成。", + "error_success_analysis": "爪夹垂直下降，靠近了胶头滴管，方便抓取。", + "frame": 128, + "progress": 15, + "progress_explanation": "爪夹角度垂直于桌面，靠近了胶头滴管。方便抓取，因此进度提升为15%。", + "state_description": "爪夹角度垂直于桌面，靠近了胶头滴管。\n为完成抓取胶头滴管和粉色笔落入笔筒的任务应当：爪夹合拢抓取胶头滴管，抓紧胶头滴管垂直升高爪夹并向爪夹正前方的笔筒接近", + "time": 4.264325522551546 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769069946514": { + "instances": [ + { + "height": 0.3346666666666666, + "id": "bbox_1769069946514_1769074392332_eeggxcplx", + "width": 0.07700000000000004, + "x": 0.459375, + "y": 0.4088645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769069951730": { + "instances": [ + { + "height": 0.36800000000000005, + "id": "bbox_1769069951730_1769074387348_0wk37tk3y", + "width": 0.18, + "x": 0.737375, + "y": 0.22219791666666666 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074398076_xqcmu5v7y", + "x": 0.47037500000000004, + "y": 0.47953125 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074395300_ejekhbqeu", + "x": 0.515375, + "y": 0.4808645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧胶头滴管垂直升高爪夹并向爪夹正前方的笔筒接近，直至笔筒的正上方后将胶头滴管放入笔筒，松开爪夹，使胶头滴管落入笔筒目标一完成，然后向爪夹方向的右后侧移动，直至粉色笔目标二的正上方，接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹左前方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒松开爪夹，使粉色笔落入笔筒目标二完成。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到胶头滴管。", + "frame": 176, + "progress": 20, + "progress_explanation": "爪夹合拢抓取到胶头滴管，因此进度提升为20%。", + "state_description": "爪夹合拢抓取到胶头滴管，爪夹角度与桌面接近垂直。\n为完成抓取胶头滴管和粉色笔落入笔筒的任务应当：抓紧胶头滴管垂直升高爪夹并向爪夹正前方的笔筒接近，直至笔筒的正上方。", + "time": 5.863157108118558 + }, + { + "action_description": "爪夹夹紧胶头滴管垂直升高并向爪夹的正前方移动。", + "annotations": { + "bbox_1769069946514": { + "instances": [ + { + "height": 0.32000000000000006, + "id": "bbox_1769069946514_1769074366300_ldrgr9ih8", + "width": 0.06299999999999999, + "x": 0.464375, + "y": 0.4088645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769069951730": { + "instances": [ + { + "height": 0.2039999999999999, + "id": "bbox_1769069951730_1769074370364_6jfamp1gp", + "width": 0.10499999999999998, + "x": 0.644375, + "y": 0.67953125 + } + ], + "type": "bbox" + }, + "bbox_1769069957298": { + "instances": [ + { + "height": 0.2426666666666667, + "id": "bbox_1769069957298_1769074373804_1bz1o9rzx", + "width": 0.184, + "x": 0.496375, + "y": 0.31286458333333333 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074361964_73z2xtb5j", + "x": 0.47037500000000004, + "y": 0.48219791666666667 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074358692_gv5b8ozlc", + "x": 0.516375, + "y": 0.4728645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将胶头滴管放入笔筒，松开爪夹，使胶头滴管落入笔筒目标一完成，然后向爪夹方向的右后侧移动，直至粉色笔目标二的正上方，接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹左前方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒松开爪夹，使粉色笔落入笔筒目标二完成。", + "error_success_analysis": "爪夹合拢继续夹紧胶头滴管，水平上接近了笔筒。更加方便接近笔筒。", + "frame": 226, + "progress": 25, + "progress_explanation": "爪夹合拢夹紧胶头滴管，垂直升高并向爪夹正前方的笔筒接近，缩短了与笔筒的距离。因此进度提升为 25%", + "state_description": "爪夹合拢夹紧胶头滴管，水平上接近了笔筒。\n为完成抓取胶头滴管和粉色笔落入笔筒的任务应当：继续向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将胶头滴管放入笔筒", + "time": 7.517761888530928 + }, + { + "action_description": "爪夹打开。", + "annotations": { + "bbox_1769069946514": { + "instances": [ + { + "height": 0.18400000000000005, + "id": "bbox_1769069946514_1769074338221_yrsg0rxmt", + "width": 0.05700000000000003, + "x": 0.460375, + "y": 0.39553125 + } + ], + "type": "bbox" + }, + "bbox_1769069957298": { + "instances": [ + { + "height": 0.27066666666666667, + "id": "bbox_1769069957298_1769074342948_fyauwley9", + "width": 0.2, + "x": 0.492375, + "y": 0.23019791666666667 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074350028_561vyiqcf", + "x": 0.381375, + "y": 0.4901979166666667 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074354852_lw08fn18q", + "x": 0.609375, + "y": 0.4888645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降，调整爪夹角度接近垂直于桌面，直至胶头滴管的正上方。接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将胶头滴管放入笔筒，松开爪夹，使胶头滴管落入笔筒目标一完成，然后向爪夹方向的右后侧移动，直至粉色笔目标二的正上方，接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹左前方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒松开爪夹，使粉色笔落入笔筒目标二完成。", + "error_success_analysis": "爪夹张开，胶头滴管掉落桌面，需要重新抓取胶头滴管。", + "frame": 259, + "progress": 5, + "progress_explanation": "爪夹张开，胶头滴管掉落桌面，水平上远离了胶头滴管，需要重新抓取胶头滴管，因此进度降低为5%", + "state_description": "爪夹张开，胶头滴管掉落桌面，水平上远离了胶头滴管\n为完成抓取胶头滴管和粉色笔落入笔筒的任务应当：爪夹垂直下降，调整爪夹角度接近垂直于桌面，直至胶头滴管的正上方。", + "time": 8.633225785438144 + }, + { + "action_description": "爪夹向爪夹方向的右后侧移动。", + "annotations": { + "bbox_1769069946514": { + "instances": [ + { + "height": 0.1013333333333333, + "id": "bbox_1769069946514_1769074324660_onexaq7ue", + "width": 0.039999999999999994, + "x": 0.292375, + "y": 0.2888645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769069951730": { + "instances": [ + { + "height": 0.26933333333333326, + "id": "bbox_1769069951730_1769074308860_hr7ralzgi", + "width": 0.06699999999999999, + "x": 0.505375, + "y": 0.34086458333333336 + } + ], + "type": "bbox" + }, + "bbox_1769069957298": { + "instances": [ + { + "height": 0.21200000000000002, + "id": "bbox_1769069957298_1769074313924_dlxinrhqq", + "width": 0.15200000000000005, + "x": 0.246375, + "y": 0.10219791666666667 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074304196_k5palepm3", + "x": 0.385375, + "y": 0.4928645833333334 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074301644_cypbr2728", + "x": 0.605375, + "y": 0.49686458333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹放弃目标一抓取目标二，爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至粉色笔的正上方，接着落下爪夹靠近粉色笔，接近粉色笔后爪夹合拢抓取粉色笔。抓紧粉色笔垂直升高爪夹并向爪夹左前方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒松开爪夹，使粉色笔落入笔筒目标二完成。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了与粉色笔之间的距离，方便后续抓取粉色笔。", + "frame": 301, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了粉色笔，方便抓取。因此进度提升为 10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了粉色笔。\n为完成抓取胶头滴管和粉色笔落入笔筒的任务应当：爪夹继续下降，同时调整爪夹的角度使其垂直于桌面，直至粉色笔的正上方。", + "time": 10.027555656572165 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1769069946514": { + "instances": [ + { + "height": 0.16666666666666669, + "id": "bbox_1769069946514_1769074289181_s64uhdoug", + "width": 0.05700000000000001, + "x": 0.039375, + "y": 0.15686458333333334 + } + ], + "type": "bbox" + }, + "bbox_1769069951730": { + "instances": [ + { + "height": 0.4640000000000001, + "id": "bbox_1769069951730_1769074255501_jqbviqmd6", + "width": 0.15799999999999992, + "x": 0.406375, + "y": 0.24353125000000003 + } + ], + "type": "bbox" + }, + "bbox_1769069957298": { + "instances": [ + { + "height": 0.21200000000000002, + "id": "bbox_1769069957298_1769074270892_792guajl7", + "width": 0.198, + "x": 0.007375, + "y": 0.004864583333333335 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074293893_ccqk0q3f2", + "x": 0.380375, + "y": 0.5021979166666667 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074297628_r93d5yxv6", + "x": 0.605375, + "y": 0.4941979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取粉色笔，抓紧粉色笔垂直升高爪夹并向爪夹左前方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒松开爪夹，使粉色笔落入笔筒目标二完成。", + "error_success_analysis": "爪夹垂直下降，靠近了粉色笔，方便抓取。", + "frame": 344, + "progress": 15, + "progress_explanation": "爪夹角度垂直于桌面，靠近了粉色笔。方便抓取，因此进度提升为15%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了粉色笔。\n为完成抓取胶头滴管和粉色笔落入笔筒的任务应当：合拢抓取粉色笔，抓紧粉色笔垂直升高爪夹并向爪夹左前方的笔筒接近。", + "time": 11.451166 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769069946514": { + "instances": [ + { + "height": 0.15866666666666665, + "id": "bbox_1769069946514_1769074236548_3uh07oylr", + "width": 0.07100000000000001, + "x": 0.051375000000000004, + "y": 0.16619791666666667 + } + ], + "type": "bbox" + }, + "bbox_1769069951730": { + "instances": [ + { + "height": 0.5, + "id": "bbox_1769069951730_1769074246364_ljyw5kwll", + "width": 0.09400000000000004, + "x": 0.450375, + "y": 0.22086458333333334 + } + ], + "type": "bbox" + }, + "bbox_1769069957298": { + "instances": [ + { + "height": 0.20933333333333334, + "id": "bbox_1769069957298_1769074223396_zh2wc5aez", + "width": 0.20400000000000004, + "x": 0.001375, + "y": 0.003531249999999999 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074211988_wqub4jbzk", + "x": 0.46637500000000004, + "y": 0.48219791666666667 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074209165_83tiqj306", + "x": 0.519375, + "y": 0.47553125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧粉色笔垂直升高爪夹并向爪夹左前方的笔筒接近，直至笔筒的正上方后将粉色笔放入笔筒松开爪夹，使粉色笔落入笔筒目标二完成。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到粉色笔。", + "frame": 379, + "progress": 20, + "progress_explanation": "爪夹合拢抓取到粉色笔，因此进度提升为20%。", + "state_description": "爪夹合拢抓取到粉色笔，爪夹角度与桌面接近垂直。\n为完成抓取胶头滴管和粉色笔落入笔筒的任务应当：抓紧粉色笔垂直升高爪夹并向爪夹左前方的笔筒接近，直至笔筒的正上方。", + "time": 12.630304749355668 + }, + { + "action_description": "爪夹夹紧粉色笔垂直升高并向爪夹的左前方移动。", + "annotations": { + "bbox_1769069946514": { + "instances": [ + { + "height": 0.12533333333333327, + "id": "bbox_1769069946514_1769074196405_wqw9qpd91", + "width": 0.07999999999999999, + "x": 0.265375, + "y": 0.44086458333333334 + } + ], + "type": "bbox" + }, + "bbox_1769069951730": { + "instances": [ + { + "height": 0.5133333333333334, + "id": "bbox_1769069951730_1769074200020_iqh7nr7t9", + "width": 0.08500000000000005, + "x": 0.45137499999999997, + "y": 0.21953125 + } + ], + "type": "bbox" + }, + "bbox_1769069957298": { + "instances": [ + { + "height": 0.23466666666666666, + "id": "bbox_1769069957298_1769074187924_nyev3qu4n", + "width": 0.18499999999999991, + "x": 0.22537500000000005, + "y": 0.25286458333333334 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074202556_xchwi22j1", + "x": 0.46537500000000004, + "y": 0.48219791666666667 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074205276_7g5786698", + "x": 0.517375, + "y": 0.48219791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左前方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒目标二完成。", + "error_success_analysis": "爪夹合拢继续夹紧粉色笔，水平上接近了笔筒。更加方便接近笔筒。", + "frame": 429, + "progress": 25, + "progress_explanation": "爪夹合拢夹紧粉色笔，垂直升高并向爪夹左前方的笔筒接近，缩短了与笔筒的距离。因此进度提升为 25%", + "state_description": "爪夹合拢夹紧粉色笔，水平上接近了笔筒。\n为完成抓取胶头滴管和粉色笔落入笔筒的任务应当：继续向爪夹左前方的笔筒接近，水平到达笔筒的正上方后将粉色笔放入笔筒", + "time": 14.300433 + }, + { + "action_description": "爪夹夹紧粉色笔向爪夹的左前方移动", + "annotations": { + "bbox_1769069951730": { + "instances": [ + { + "height": 0.5093333333333333, + "id": "bbox_1769069951730_1769074154196_rrgvld5m4", + "width": 0.09099999999999993, + "x": 0.44037500000000007, + "y": 0.21686458333333333 + } + ], + "type": "bbox" + }, + "bbox_1769069957298": { + "instances": [ + { + "height": 0.2866666666666667, + "id": "bbox_1769069957298_1769074179780_tfclklshe", + "width": 0.17700000000000005, + "x": 0.430375, + "y": 0.5008645833333333 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074170284_ogdarko36", + "x": 0.46937500000000004, + "y": 0.4808645833333333 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074173588_24fxvobkc", + "x": 0.519375, + "y": 0.47686458333333337 + } + ], + "type": "point" + } + }, + "correction_plan": "将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "error_success_analysis": "到了爪夹左前方笔筒的正上方，方便将粉色笔放入笔筒。", + "frame": 477, + "progress": 30, + "progress_explanation": "爪夹夹紧粉色笔，到了爪夹左前方笔筒的正上方，方便将粉色笔放入笔筒。因此进度提升为30%。", + "state_description": "爪夹夹紧粉色笔，爪夹角度接近垂直于桌面，位于笔筒的正上方。\n为完成抓取胶头滴管和粉色笔落入笔筒的任务应当：将粉色笔放入笔筒，松开爪夹，使粉色笔落入笔筒。", + "time": 15.88374111533505 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769069951730": { + "instances": [ + { + "height": 0.312, + "id": "bbox_1769069951730_1769074141957_dtt4tg3o2", + "width": 0.06299999999999999, + "x": 0.46637500000000004, + "y": 0.36353125000000003 + } + ], + "type": "bbox" + }, + "bbox_1769069957298": { + "instances": [ + { + "height": 0.37066666666666664, + "id": "bbox_1769069957298_1769074146092_kjr9s1le8", + "width": 0.273, + "x": 0.351375, + "y": 0.4261979166666667 + } + ], + "type": "bbox" + }, + "point_1769069956082": { + "instances": [ + { + "id": "point_1769069956082_1769074137228_pkyy7dmfe", + "x": 0.384375, + "y": 0.4941979166666667 + } + ], + "type": "point" + }, + "point_1769069967202": { + "instances": [ + { + "id": "point_1769069967202_1769074133740_296ho4kq1", + "x": 0.606375, + "y": 0.48753125 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，粉色笔落入笔筒", + "frame": 512, + "progress": 50, + "progress_explanation": "爪夹张开，粉色笔落入笔筒，夹取任务目标二完成。因此进度提升为 50%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开胶头滴管和粉色笔落入笔筒的任务目标二完成。", + "time": 17.077566 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769069946514", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769069951730", + "name": "粉色笔" + }, + { + "color": "#2196F3", + "id": "bbox_1769069957298", + "name": "笔筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769069956082", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769069967202", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-100954-put-pink-pen-pencil-case-bad/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-100954-put-pink-pen-pencil-case-bad/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..5a47bff3e53e63d8686de3481de59f07ff925876 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-100954-put-pink-pen-pencil-case-bad/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,632 @@ +{ + "task_description": "抓取粉色笔和红色笔放入碗里：\n准备开始移动：0%\n爪夹靠近粉色笔和红色笔：20%\n爪夹抓取粉色笔和红色笔：40%\n爪夹抓紧粉色笔和红色笔接近碗：60%\n爪夹将粉色笔和红色笔放入碗：80%\n爪夹松开粉色笔和红色笔落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔和红色笔的正上方。接着落下爪夹靠近粉色笔和红色笔，接近粉色笔和红色笔后爪夹合拢抓取粉色笔和红色笔。抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "当前为初始状态，远离粉色笔和红色笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离粉色笔和红色笔，未开始移动。\n为完成抓取粉色笔和红色笔落入碗的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔和红色笔的正上方。", + "time": 1.1904, + "annotations": { + "point_1769130897838": { + "type": "point", + "instances": [ + { + "id": "point_1769130897838_1769138456364_f9j1ax4t1", + "x": 0.735375, + "y": 0.24886458333333333 + } + ] + }, + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138460044_jlogi3n4w", + "x": 0.671375, + "y": 0.28753125 + } + ] + }, + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138464308_1ekz4guhc", + "x": 0.544375, + "y": 0.27019791666666665, + "width": 0.13099999999999995, + "height": 0.18266666666666667 + } + ] + }, + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138468908_dk5b46r90", + "x": 0.5543750000000001, + "y": 0.14753125, + "width": 0.16100000000000003, + "height": 0.17200000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正前方移动。", + "correction_plan": "爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔和红色笔的正上方。接着落下爪夹靠近粉色笔和红色笔，接近粉色笔和红色笔后爪夹合拢抓取粉色笔和红色笔。抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近粉色笔和红色笔移动，方便下一步抓取。", + "frame": 83, + "progress": 10, + "progress_explanation": "爪夹向爪夹的正前方移动，还未接近粉色笔和红色笔。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近粉色笔和红色笔。\n为完成抓取粉色笔和红色笔落入碗的任务应当：爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔和红色笔的正上方。", + "time": 2.778556701030928, + "annotations": { + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138438180_zgvrt654p", + "x": 0.5393749999999999, + "y": 0.2808645833333333, + "width": 0.14800000000000005, + "height": 0.17333333333333337 + } + ] + }, + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138443844_721aspz72", + "x": 0.5663750000000001, + "y": 0.14886458333333333, + "width": 0.13999999999999996, + "height": 0.19200000000000003 + } + ] + }, + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138447140_ajl05goeq", + "x": 0.692375, + "y": 0.15419791666666666 + } + ] + }, + "point_1769130897838": { + "type": "point", + "instances": [ + { + "id": "point_1769130897838_1769138451036_2ptbnud1m", + "x": 0.765375, + "y": 0.12086458333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正前方移动并调整爪夹接近垂直桌面。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至粉色笔和红色笔的正上方。接着落下爪夹靠近粉色笔和红色笔，接近粉色笔和红色笔后爪夹合拢抓取粉色笔和红色笔。抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了与粉色笔和红色笔之间的距离，方便后续抓取粉色笔和红色笔。", + "frame": 126, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了粉色笔和红色笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了粉色笔和红色笔。\n为完成抓取粉色笔和红色笔落入碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至粉色笔和红色笔的正上方。", + "time": 4.1856, + "annotations": { + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138394916_wxusz2djc", + "x": 0.561375, + "y": 0.14619791666666665, + "width": 0.13400000000000006, + "height": 0.1746666666666667 + } + ] + }, + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138405540_zesxrrnz5", + "x": 0.555375, + "y": 0.29553124999999997 + } + ] + }, + "point_1769130897838": { + "type": "point", + "instances": [ + { + "id": "point_1769130897838_1769138414780_uxnm0qb2i", + "x": 0.624375, + "y": 0.25953125 + } + ] + }, + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138430636_lqkaven7s", + "x": 0.536375, + "y": 0.2661979166666667, + "width": 0.14499999999999993, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取粉色笔和红色笔，抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "error_success_analysis": "爪夹垂直下降，靠近了粉色笔和红色笔，方便抓取。", + "frame": 168, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了粉色笔和红色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了粉色笔和红色笔。\n为完成抓取粉色笔和红色笔落入碗的任务应当：合拢抓取粉色笔和红色笔，抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近。", + "time": 5.6064, + "annotations": { + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138382236_vjshhut1y", + "x": 0.540375, + "y": 0.28353125, + "width": 0.14099999999999993, + "height": 0.16666666666666666 + } + ] + }, + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138385788_va0p85x9q", + "x": 0.5623750000000001, + "y": 0.37686458333333334 + } + ] + }, + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138389492_tvkyzqdty", + "x": 0.5693750000000001, + "y": 0.18753125, + "width": 0.11599999999999992, + "height": 0.13600000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近，直至碗的正上方后将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到粉色笔和红色笔。", + "frame": 217, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到粉色笔和红色笔，因此进度提升为40%.", + "state_description": "爪夹合拢抓取到粉色笔和红色笔，爪夹角度与桌面接近垂直。\n为完成抓取粉色笔和红色笔落入碗的任务应当：抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近，直至碗的正上方。", + "time": 7.232164948453608, + "annotations": { + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138368884_1u7rrpkiq", + "x": 0.579375, + "y": 0.15686458333333334, + "width": 0.125, + "height": 0.16266666666666665 + } + ] + }, + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138372364_s8iywiodh", + "x": 0.5663750000000001, + "y": 0.37286458333333333 + } + ] + }, + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138377092_ansa3n87s", + "x": 0.525375, + "y": 0.2901979166666667, + "width": 0.15199999999999997, + "height": 0.1573333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "爪夹抬升并重新打开爪夹，爪夹垂直下降，直至粉色笔和红色笔的正上方。接着落下爪夹靠近粉色笔和红色笔，接近粉色笔和红色笔后爪夹合拢抓取粉色笔和红色笔。抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "error_success_analysis": "爪夹合拢向上抬升时，没有夹起粉色笔和红色笔，需重新抓取。", + "frame": 261, + "progress": 5, + "progress_explanation": "爪夹合拢向上抬升时，没有夹起粉色笔和红色笔。因此进度降至为5%。", + "state_description": "爪夹合拢粉色笔和红色笔处于桌面，在红色笔的上方。\n为完成抓取粉色笔和红色笔落入碗的任务应当：爪夹抬升并重新打开爪夹，爪夹垂直下降，直至粉色笔和红色笔的正上方。", + "time": 8.6976, + "annotations": { + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138348972_6liscw0g6", + "x": 0.564375, + "y": 0.27953125, + "width": 0.13000000000000006, + "height": 0.1573333333333333 + } + ] + }, + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138357756_8de6qwkwt", + "x": 0.580375, + "y": 0.32753125 + } + ] + }, + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138362556_t9g60dv5b", + "x": 0.559375, + "y": 0.13019791666666666, + "width": 0.142, + "height": 0.18666666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升并打开爪夹。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔和红色笔的正上方。接着落下爪夹靠近粉色笔和红色笔，接近粉色笔和红色笔后爪夹合拢抓取粉色笔和红色笔。抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "error_success_analysis": "爪夹向上抬升并打开爪夹，向接近粉色笔和红色笔移动，方便下一步抓取。", + "frame": 303, + "progress": 10, + "progress_explanation": "爪夹向上抬升并打开爪夹，重新抓取粉色笔和红色笔，因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，重新抓取粉色笔和红色笔。\n为完成抓取粉色笔和红色笔落入碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到粉色笔和红色笔的正上方。", + "time": 10.102268041237114, + "annotations": { + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138325516_z8gtwyx13", + "x": 0.559375, + "y": 0.13686458333333335, + "width": 0.15200000000000005, + "height": 0.17066666666666666 + } + ] + }, + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138329756_t16e88dq1", + "x": 0.611375, + "y": 0.17286458333333335 + } + ] + }, + "point_1769130897838": { + "type": "point", + "instances": [ + { + "id": "point_1769130897838_1769138334700_42g2ani1l", + "x": 0.6863750000000001, + "y": 0.14619791666666665 + } + ] + }, + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138339396_vrs34winv", + "x": 0.563375, + "y": 0.27153124999999995, + "width": 0.13399999999999998, + "height": 0.16933333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "合拢抓取粉色笔和红色笔，抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "error_success_analysis": "爪夹向下移动，靠近了粉色笔和红色笔，方便抓取。", + "frame": 347, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了粉色笔和红色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了粉色笔和红色笔。\n为完成抓取粉色笔和红色笔落入碗的任务应当：合拢抓取粉色笔和红色笔，抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近。", + "time": 11.558399, + "annotations": { + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138307380_zp7uopb2x", + "x": 0.571375, + "y": 0.36886458333333333 + } + ] + }, + "point_1769130897838": { + "type": "point", + "instances": [ + { + "id": "point_1769130897838_1769138311500_ipxqg0dtv", + "x": 0.632375, + "y": 0.3221979166666667 + } + ] + }, + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138316124_bshnx96ml", + "x": 0.560375, + "y": 0.26086458333333334, + "width": 0.13200000000000003, + "height": 0.1733333333333333 + } + ] + }, + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138320252_e4zbqc94v", + "x": 0.5623750000000001, + "y": 0.11553125, + "width": 0.14699999999999996, + "height": 0.19066666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近，直至碗的正上方后将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到粉色笔和红色笔。", + "frame": 386, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到粉色笔和红色笔，因此进度提升为40%.", + "state_description": "爪夹合拢抓取到粉色笔和红色笔，爪夹角度与桌面接近垂直。\n为完成抓取粉色笔和红色笔落入碗的任务应当：抓紧粉色笔和红色笔垂直升高爪夹并向爪夹右前方的碗接近，直至碗的正上方。", + "time": 12.864, + "annotations": { + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138292868_ip4jfhtne", + "x": 0.537375, + "y": 0.2741979166666667, + "width": 0.13499999999999995, + "height": 0.17866666666666664 + } + ] + }, + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138297428_380r9zwto", + "x": 0.5613750000000001, + "y": 0.11553125, + "width": 0.146, + "height": 0.18400000000000002 + } + ] + }, + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138301236_tb6rum4cy", + "x": 0.5743750000000001, + "y": 0.3701979166666666 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧粉色笔和红色笔垂直升高。", + "correction_plan": "继续向爪夹右前方的碗接近，水平到达碗的正上方后将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "error_success_analysis": "爪夹合拢继续夹紧粉色笔和红色笔，水平上接近了碗。更加方便接近碗。", + "frame": 438, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧粉色笔和红色笔，垂直升高并向爪夹右侧的碗接近，缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧粉色笔和红色笔，水平上接近了碗。\n为完成抓取粉色笔和红色笔落入碗的任务应当：继续向爪夹右前方的碗接近，水平到达碗的正上方后将粉色笔和红色笔放入碗", + "time": 14.595463917525771, + "annotations": { + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138274820_y472r04qn", + "x": 0.629375, + "y": 0.10353125 + } + ] + }, + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138280796_zf6ahzxz7", + "x": 0.5653750000000001, + "y": 0.13953125, + "width": 0.142, + "height": 0.17466666666666666 + } + ] + }, + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138286444_zjgmf15ji", + "x": 0.614375, + "y": 0.006197916666666667, + "width": 0.09100000000000001, + "height": 0.24800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧粉色笔和红色笔向爪夹的右前方移动。", + "correction_plan": "将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "error_success_analysis": "到了爪夹右前方碗的正上方，方便将粉色笔和红色笔放入碗。", + "frame": 488, + "progress": 60, + "progress_explanation": "爪夹夹紧粉色笔和红色笔，到了爪夹右前方碗的正上方，方便将粉色笔和红色笔放入碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧粉色笔和红色笔，爪夹角度接近垂直于桌面，位于碗的正上方。\n为完成抓取粉色笔和红色笔落入碗的任务应当：将粉色笔和红色笔放入碗，松开爪夹，使粉色笔和红色笔落入碗。", + "time": 16.2624, + "annotations": { + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138250548_ixqi381k8", + "x": 0.5653750000000001, + "y": 0.13419791666666667, + "width": 0.14099999999999993, + "height": 0.18 + } + ] + }, + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138265172_0epklkw64", + "x": 0.605375, + "y": 0.00353125, + "width": 0.05899999999999998, + "height": 0.19333333333333336 + } + ] + }, + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138269884_qmbguvjoc", + "x": 0.615375, + "y": 0.04353125 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，粉色笔和红色笔落入笔筒", + "frame": 537, + "progress": 100, + "progress_explanation": "爪夹张开，粉色笔和红色笔落入笔筒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开粉色笔和红色笔落入碗的任务目标完成。", + "time": 17.9136, + "annotations": { + "point_1769130888934": { + "type": "point", + "instances": [ + { + "id": "point_1769130888934_1769138229357_9xlzlek4u", + "x": 0.5903750000000001, + "y": 0.08086458333333332 + } + ] + }, + "bbox_1769130859470": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769130859470_1769138234628_63ia20ydp", + "x": 0.583375, + "y": 0.10886458333333333, + "width": 0.06299999999999999, + "height": 0.1413333333333333 + } + ] + }, + "bbox_1769138215741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138215741_1769138243204_apvh2ifvg", + "x": 0.559375, + "y": 0.13953125, + "width": 0.14800000000000005, + "height": 0.16800000000000004 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769130859470", + "name": "粉色笔和红色笔" + }, + { + "id": "bbox_1769138215741", + "name": "碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769130888934", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769130897838", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-102042-put-blue-pen-pencil-case-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-102042-put-blue-pen-pencil-case-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..95e3b7217354b220af14452fb8d1522b4bc6cbcb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-102042-put-blue-pen-pencil-case-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,432 @@ +{ + "task_description": "抓取蓝色笔放入笔筒里：\n准备开始移动：0%\n爪夹靠近蓝色笔：20%\n爪夹抓取蓝色笔：40%\n爪夹抓紧蓝色笔接近笔筒：60%\n爪夹将蓝色笔放入笔筒：80%\n爪夹松开蓝色笔落入笔筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "当前为初始状态，远离蓝色笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离蓝色笔，未开始移动。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。", + "time": 0.496533, + "annotations": { + "point_1769138584124": { + "type": "point", + "instances": [ + { + "id": "point_1769138584124_1769140888713_7zctjc8h1", + "x": 0.540375, + "y": 0.67953125 + } + ] + }, + "point_1769138590276": { + "type": "point", + "instances": [ + { + "id": "point_1769138590276_1769140893073_xuu8ai1mj", + "x": 0.665375, + "y": 0.65553125 + } + ] + }, + "bbox_1769138579876": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138579876_1769140898721_guj74x9h0", + "x": 0.796375, + "y": 0.43953125, + "width": 0.16100000000000003, + "height": 0.18400000000000005 + } + ] + }, + "bbox_1769138568716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138568716_1769140903553_wi6ek2dc8", + "x": 0.49037500000000006, + "y": 0.11553125000000002, + "width": 0.08199999999999993, + "height": 0.19466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动调整爪夹。", + "correction_plan": "爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近蓝色笔移动，方便下一步抓取。", + "frame": 65, + "progress": 5, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，还未接近蓝色笔。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。", + "time": 2.1738488527061857, + "annotations": { + "bbox_1769138568716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138568716_1769140854864_2ojx2zpa6", + "x": 0.489375, + "y": 0.11819791666666667, + "width": 0.08700000000000001, + "height": 0.18799999999999997 + } + ] + }, + "bbox_1769138579876": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138579876_1769140862600_2udtmhc86", + "x": 0.7983750000000001, + "y": 0.43419791666666663, + "width": 0.15899999999999997, + "height": 0.18933333333333338 + } + ] + }, + "point_1769138584124": { + "type": "point", + "instances": [ + { + "id": "point_1769138584124_1769140874473_2zhd4gull", + "x": 0.5503750000000001, + "y": 0.5408645833333333 + } + ] + }, + "point_1769138590276": { + "type": "point", + "instances": [ + { + "id": "point_1769138590276_1769140877657_ocs7yd03i", + "x": 0.6823750000000001, + "y": 0.51553125 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正前方移动。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了蓝色笔之间的距离，方便后续抓取蓝色笔。", + "frame": 105, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了蓝色笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。", + "time": 3.5074571341494845, + "annotations": { + "bbox_1769138579876": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138579876_1769140834769_hhrv4po7b", + "x": 0.795375, + "y": 0.43553125000000004, + "width": 0.162, + "height": 0.19333333333333336 + } + ] + }, + "bbox_1769138568716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138568716_1769140846456_tlrxkgokr", + "x": 0.491375, + "y": 0.11019791666666667, + "width": 0.0839999999999999, + "height": 0.19866666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取蓝色笔，抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了蓝色笔，方便抓取。", + "frame": 143, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了蓝色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：合拢抓取蓝色笔，抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近。", + "time": 4.769333, + "annotations": { + "bbox_1769138579876": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138579876_1769140826657_9jdafzq2r", + "x": 0.801375, + "y": 0.4208645833333334, + "width": 0.15500000000000008, + "height": 0.20800000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到蓝色笔。", + "frame": 175, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到蓝色笔，因此进度提升为40%.", + "state_description": "爪夹合拢抓取到蓝色笔，爪夹角度与桌面接近垂直。\n为完成抓取蓝色笔落入笔筒的任务应当：抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，直至笔筒的正上方。", + "time": 5.827733, + "annotations": { + "bbox_1769138568716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138568716_1769140816809_8exx8bhde", + "x": 0.480375, + "y": 0.09019791666666667, + "width": 0.05499999999999998, + "height": 0.21866666666666665 + } + ] + }, + "bbox_1769138579876": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138579876_1769140821516_tcfayiza4", + "x": 0.802375, + "y": 0.42753125000000003, + "width": 0.158, + "height": 0.20266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧蓝色笔垂直升高。", + "correction_plan": "继续向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹合拢继续夹紧蓝色笔，水平上接近了笔筒。更加方便接近笔筒。", + "frame": 224, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧蓝色笔，垂直升高并向爪夹右后方的笔筒接近，缩短了与笔筒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧蓝色笔，水平上接近了笔筒。\n为完成抓取蓝色笔落入笔筒的任务应当：继续向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒", + "time": 7.474133, + "annotations": { + "bbox_1769138579876": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138579876_1769140800513_44qqcmioi", + "x": 0.790375, + "y": 0.4381979166666667, + "width": 0.17199999999999988, + "height": 0.18799999999999997 + } + ] + }, + "bbox_1769138568716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138568716_1769140811057_5nyra4pyx", + "x": 0.552375, + "y": -0.00046875000000000004, + "width": 0.052000000000000046, + "height": 0.22133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧蓝色笔向爪夹方向的右后方移动。", + "correction_plan": "将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "到了爪夹右后方笔筒的正上方，方便将蓝色笔放入笔筒。", + "frame": 264, + "progress": 60, + "progress_explanation": "爪夹夹紧蓝色笔，到了爪夹右后方笔筒的正上方，方便将蓝色笔放入笔筒。因此进度提升为 60%。", + "state_description": "爪夹夹紧蓝色笔，爪夹角度接近垂直于桌面，位于笔筒的正上方。\n为完成抓取蓝色笔落入笔筒的任务应当：将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "time": 8.806933, + "annotations": { + "bbox_1769138568716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138568716_1769140777441_9o4269r47", + "x": 0.934375, + "y": 0.41419791666666667, + "width": 0.06700000000000017, + "height": 0.156 + } + ] + }, + "point_1769138584124": { + "type": "point", + "instances": [ + { + "id": "point_1769138584124_1769140787105_8yw6yzldu", + "x": 0.9573750000000001, + "y": 0.5021979166666667 + } + ] + }, + "bbox_1769138579876": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138579876_1769140792441_j1j11xpb9", + "x": 0.795375, + "y": 0.4381979166666667, + "width": 0.15599999999999997, + "height": 0.192 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度垂直下降。", + "correction_plan": "松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "蓝色笔放入笔筒，方便蓝色笔落入笔筒", + "frame": 314, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，蓝色笔放入笔筒。因此进度提升为 80%。", + "state_description": "爪夹夹紧蓝色笔，爪夹角度接近垂直于桌面，蓝色笔放入笔筒。\n为完成抓取蓝色笔落入笔筒的任务应当：松开爪夹，使蓝色笔落入笔筒。", + "time": 10.4664, + "annotations": { + "point_1769138590276": { + "type": "point", + "instances": [ + { + "id": "point_1769138590276_1769140733273_ilweqcgjw", + "x": 0.915375, + "y": 0.4941979166666667 + } + ] + }, + "point_1769138584124": { + "type": "point", + "instances": [ + { + "id": "point_1769138584124_1769140753873_c563662ke", + "x": 0.8953749999999999, + "y": 0.4808645833333333 + } + ] + }, + "bbox_1769138579876": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138579876_1769140760121_f9jrcwun0", + "x": 0.7983750000000001, + "y": 0.4381979166666667, + "width": 0.16099999999999995, + "height": 0.192 + } + ] + }, + "bbox_1769138568716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138568716_1769140768689_jobsx66bm", + "x": 0.8863749999999999, + "y": 0.3008645833333333, + "width": 0.10899999999999999, + "height": 0.2226666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，蓝色笔落入笔筒", + "frame": 357, + "progress": 100, + "progress_explanation": "爪夹张开，蓝色笔落入笔筒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开蓝色笔落入笔筒的任务目标完成。", + "time": 11.890666, + "annotations": { + "bbox_1769138568716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138568716_1769140702625_rvr4yav9s", + "x": 0.859375, + "y": 0.4808645833333333, + "width": 0.11600000000000002, + "height": 0.09333333333333335 + } + ] + }, + "point_1769138584124": { + "type": "point", + "instances": [ + { + "id": "point_1769138584124_1769140708113_l0xg2cc6r", + "x": 0.845375, + "y": 0.49553125000000003 + } + ] + }, + "point_1769138590276": { + "type": "point", + "instances": [ + { + "id": "point_1769138590276_1769140711505_mswoxm2wx", + "x": 0.9803750000000001, + "y": 0.5461979166666667 + } + ] + }, + "bbox_1769138579876": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769138579876_1769140717201_aj6mk8cl3", + "x": 0.8003750000000001, + "y": 0.43553125000000004, + "width": 0.15699999999999995, + "height": 0.18800000000000003 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769138568716", + "name": "蓝色笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769138579876", + "name": "笔筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769138584124", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769138590276", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-103654-put-blue-pen-pencil-case-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-103654-put-blue-pen-pencil-case-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..303b3dfd166b4bff179b91b57aaf251c58f58254 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-103654-put-blue-pen-pencil-case-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,660 @@ +{ + "task_description": "抓取蓝色笔放入笔筒里：\n准备开始移动：0%\n爪夹靠近蓝色笔：20%\n爪夹抓取蓝色笔：40%\n爪夹抓紧蓝色笔接近笔筒：60%\n爪夹将蓝色笔放入笔筒：80%\n爪夹松开蓝色笔落入笔筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "当前为初始状态，远离蓝色笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离蓝色笔，未开始移动。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。", + "time": 0.529, + "annotations": { + "point_1769139022972": { + "type": "point", + "instances": [ + { + "id": "point_1769139022972_1769153598847_e2e5jgd9w", + "x": 0.467375, + "y": 0.4541979166666667 + } + ] + }, + "point_1769139017667": { + "type": "point", + "instances": [ + { + "id": "point_1769139017667_1769153602320_y8axrqcor", + "x": 0.344375, + "y": 0.4208645833333334 + } + ] + }, + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153609288_nuavuqvf6", + "x": 0.442375, + "y": 0.24753125, + "width": 0.179, + "height": 0.05200000000000002 + } + ] + }, + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153613592_suinr0ddk", + "x": 0.6643749999999999, + "y": 0.6488645833333333, + "width": 0.22800000000000004, + "height": 0.32400000000000007 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动调整爪夹。", + "correction_plan": "爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近蓝色笔移动，方便下一步抓取。", + "frame": 62, + "progress": 10, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，还未接近蓝色笔。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。", + "time": 2.0717783505154634, + "annotations": { + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153574304_mjk74kdjt", + "x": 0.6693749999999999, + "y": 0.6448645833333333, + "width": 0.22200000000000006, + "height": 0.3386666666666668 + } + ] + }, + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153583944_7pucu2t56", + "x": 0.441375, + "y": 0.24353125, + "width": 0.18199999999999994, + "height": 0.06266666666666666 + } + ] + }, + "point_1769139022972": { + "type": "point", + "instances": [ + { + "id": "point_1769139022972_1769153593824_yhh7s56ka", + "x": 0.48637500000000006, + "y": 0.19419791666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正前方移动。", + "correction_plan": "爪夹向爪夹的正前方移动，并向爪夹右调转方向，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹向爪夹的正前方移动，靠近了蓝色笔，方便抓取。", + "frame": 108, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了蓝色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹向爪夹的正前方移动，并向爪夹右调转方向，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。", + "time": 3.6130154639175256, + "annotations": { + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153558056_jfg5uksr5", + "x": 0.445375, + "y": 0.24086458333333335, + "width": 0.179, + "height": 0.05599999999999999 + } + ] + }, + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153563288_2t8dzxgos", + "x": 0.663375, + "y": 0.6461979166666667, + "width": 0.22499999999999992, + "height": 0.3306666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抬升并重新打开，并向爪夹右调转方向，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹没有移动至蓝色笔的正上方，合拢时，爪夹把蓝色笔抵走了，需重新调整位置抓取。", + "frame": 158, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到蓝色笔，因此进度降至为5%。", + "state_description": "爪夹合拢位于蓝色笔的一侧。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹抬升并重新打开，并向爪夹右调转方向，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。", + "time": 5.266999, + "annotations": { + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153536631_7rdkwwp5u", + "x": 0.6523749999999999, + "y": 0.6528645833333333, + "width": 0.23800000000000007, + "height": 0.32133333333333336 + } + ] + }, + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153542792_in6v7812l", + "x": 0.430375, + "y": 0.20219791666666667, + "width": 0.196, + "height": 0.057333333333333326 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并打开。", + "correction_plan": "爪夹向爪夹右调转方向并下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹抬升并打开，离开了错误位置，方便抓取蓝色笔", + "frame": 204, + "progress": 10, + "progress_explanation": "爪夹抬升并打开方便抓取蓝色笔，还未接近蓝色笔。因此进度提升为10%。", + "state_description": "爪夹张开，离开了错误位置。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹向爪夹右调转方向并下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。", + "time": 6.790335051546392, + "annotations": { + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153525096_pl6ksd9t1", + "x": 0.45237499999999997, + "y": 0.19953125000000002, + "width": 0.16900000000000004, + "height": 0.06666666666666667 + } + ] + }, + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153530480_6wfxwl8bx", + "x": 0.661375, + "y": 0.6528645833333333, + "width": 0.2259999999999999, + "height": 0.30800000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "爪夹向爪夹的正前方移动，并向爪夹右调转方向，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了蓝色笔，方便抓取。", + "frame": 263, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了蓝色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹向爪夹的正前方移动，并向爪夹右调转方向，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。", + "time": 8.758376288659793, + "annotations": { + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153506000_u4sdz99ac", + "x": 0.664375, + "y": 0.6528645833333333, + "width": 0.225, + "height": 0.32266666666666666 + } + ] + }, + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153516032_8ejqgdtdb", + "x": 0.44737499999999997, + "y": 0.19419791666666666, + "width": 0.21099999999999994, + "height": 0.06933333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抬升并重新打开，并向爪夹右调转方向，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹没有移动至蓝色笔的正上方，导致合拢没有抓到蓝色笔，需重新调整位置抓取。", + "frame": 330, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到蓝色笔，因此进度降至为5%。", + "state_description": "爪夹合拢位于蓝色笔的一侧。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹抬升并重新打开，并向爪夹右调转方向，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。", + "time": 10.994, + "annotations": { + "point_1769139022972": { + "type": "point", + "instances": [ + { + "id": "point_1769139022972_1769153485576_ezjialku0", + "x": 0.584375, + "y": 0.23953125000000003 + } + ] + }, + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153490760_n349glyde", + "x": 0.449375, + "y": 0.19419791666666666, + "width": 0.17300000000000004, + "height": 0.06266666666666666 + } + ] + }, + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153500560_vveou02v6", + "x": 0.666375, + "y": 0.64753125, + "width": 0.225, + "height": 0.32000000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并打开爪夹", + "correction_plan": "爪夹向爪夹右调转方向并下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右后方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹抬升并打开，离开了错误位置，方便抓取蓝色笔", + "frame": 374, + "progress": 10, + "progress_explanation": "爪夹抬升并打开方便抓取蓝色笔，还未接近蓝色笔。因此进度提升为10%。", + "state_description": "爪夹张开，离开了错误位置。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹向爪夹右调转方向并下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。", + "time": 12.45734536082474, + "annotations": { + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153465920_gp2dffih0", + "x": 0.666375, + "y": 0.6448645833333334, + "width": 0.22400000000000003, + "height": 0.3319999999999999 + } + ] + }, + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153476992_8d4vyp1an", + "x": 0.442375, + "y": 0.20086458333333335, + "width": 0.184, + "height": 0.05333333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹向上抬升并向爪夹正后方移动，向爪夹右调整方向同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右侧的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹下降时爪夹碰到蓝色笔，把蓝色笔抵走了，需重新抓取。", + "frame": 414, + "progress": 5, + "progress_explanation": "爪夹下降时爪夹碰到蓝色笔，把蓝色笔抵走了，因此进度降至为5%。", + "state_description": "爪夹打开抵在桌面。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹向上抬升并向爪夹正后方移动，向爪夹右调整方向同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。", + "time": 13.799999, + "annotations": { + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153453320_zm45wnc21", + "x": 0.430375, + "y": 0.38753125000000005, + "width": 0.184, + "height": 0.051999999999999956 + } + ] + }, + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153458144_mnmbdgqgk", + "x": 0.666375, + "y": 0.64353125, + "width": 0.2219999999999999, + "height": 0.32533333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹抬升，向爪夹的正后方移动，并向爪夹右微调方向。", + "correction_plan": "爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右侧的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹向爪夹的正后方移动，并向爪夹右微调方向方便抓取。", + "frame": 478, + "progress": 10, + "progress_explanation": "爪夹向爪夹的正后方移动，并向爪夹右微调方向方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。", + "time": 15.942912371134021, + "annotations": { + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153435080_eo7yc87q4", + "x": 0.6643749999999999, + "y": 0.6488645833333333, + "width": 0.22299999999999995, + "height": 0.3333333333333333 + } + ] + }, + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153443328_lb0uizs8c", + "x": 0.426375, + "y": 0.38086458333333334, + "width": 0.196, + "height": 0.060000000000000026 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取蓝色笔，抓紧蓝色笔垂直升高爪夹并向爪夹右侧的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了蓝色笔，方便抓取。", + "frame": 511, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了蓝色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：合拢抓取蓝色笔，抓紧蓝色笔垂直升高爪夹并向爪夹右侧的笔筒接近。", + "time": 17.02, + "annotations": { + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153420728_7js1m3fpn", + "x": 0.422375, + "y": 0.38086458333333334, + "width": 0.205, + "height": 0.05866666666666666 + } + ] + }, + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153426336_9fodh4167", + "x": 0.669375, + "y": 0.6461979166666667, + "width": 0.21599999999999991, + "height": 0.3306666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧蓝色笔垂直升高爪夹并向爪夹右侧的笔筒接近，直至笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到蓝色笔。", + "frame": 549, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到蓝色笔，因此进度提升为40%.", + "state_description": "爪夹合拢抓取到蓝色笔，爪夹角度与桌面接近垂直。\n为完成抓取蓝色笔落入笔筒的任务应当：抓紧蓝色笔垂直升高爪夹并向爪夹右侧的笔筒接近，直至笔筒的正上方。", + "time": 18.285, + "annotations": { + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153396680_4o6v7chih", + "x": 0.484375, + "y": 0.33286458333333335, + "width": 0.12999999999999998, + "height": 0.2 + } + ] + }, + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153403736_7fns02niy", + "x": 0.665375, + "y": 0.6488645833333333, + "width": 0.22099999999999992, + "height": 0.32000000000000006 + } + ] + }, + "point_1769139022972": { + "type": "point", + "instances": [ + { + "id": "point_1769139022972_1769153411992_q9j4uhu2q", + "x": 0.571375, + "y": 0.43953125 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧蓝色笔垂直升高，并向爪夹方向的右侧移动。", + "correction_plan": "继续向爪夹右侧的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹合拢继续夹紧蓝色笔，水平上接近了笔筒。更加方便接近笔筒。", + "frame": 598, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧蓝色笔，垂直升高并向爪夹右侧的笔筒接近，缩短了与笔筒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧蓝色笔，水平上接近了笔筒。\n为完成抓取蓝色笔落入笔筒的任务应当：继续向爪夹右侧的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒", + "time": 19.926417525773196, + "annotations": { + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153384248_7bstrmba7", + "x": 0.657375, + "y": 0.6421979166666667, + "width": 0.2299999999999999, + "height": 0.32533333333333336 + } + ] + }, + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153391072_tq4hk959r", + "x": 0.597375, + "y": 0.012864583333333334, + "width": 0.22000000000000003, + "height": 0.2933333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧蓝色笔向爪夹方向的右侧移动并调整方向下降。", + "correction_plan": "将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "到了爪夹右侧笔筒的正上方，方便将蓝色笔放入笔筒。", + "frame": 636, + "progress": 60, + "progress_explanation": "爪夹夹紧蓝色笔，到了爪夹右侧笔筒的正上方，方便将蓝色笔放入笔筒。因此进度提升为 60%。", + "state_description": "爪夹夹紧蓝色笔，爪夹角度接近垂直于桌面，位于笔筒的正上方。\n为完成抓取蓝色笔落入笔筒的任务应当：将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "time": 21.20682989690722, + "annotations": { + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153362688_38jtk4mpq", + "x": 0.655375, + "y": 0.64753125, + "width": 0.2250000000000001, + "height": 0.30933333333333335 + } + ] + }, + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153367873_uuxet978v", + "x": 0.735375, + "y": 0.5208645833333334, + "width": 0.13600000000000012, + "height": 0.22799999999999992 + } + ] + }, + "point_1769139017667": { + "type": "point", + "instances": [ + { + "id": "point_1769139017667_1769153372360_qc1jh2kdd", + "x": 0.8003750000000001, + "y": 0.58753125 + } + ] + }, + "point_1769139022972": { + "type": "point", + "instances": [ + { + "id": "point_1769139022972_1769153375120_9408hd0bp", + "x": 0.8313750000000001, + "y": 0.62353125 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，蓝色笔落入笔筒", + "frame": 676, + "progress": 100, + "progress_explanation": "爪夹张开，蓝色笔落入笔筒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开蓝色笔落入笔筒的任务目标完成。", + "time": 22.534664948453607, + "annotations": { + "point_1769139022972": { + "type": "point", + "instances": [ + { + "id": "point_1769139022972_1769153339368_7e0ed48ee", + "x": 0.8873749999999999, + "y": 0.7461979166666667 + } + ] + }, + "point_1769139017667": { + "type": "point", + "instances": [ + { + "id": "point_1769139017667_1769153342480_h8kb10pgg", + "x": 0.757375, + "y": 0.5955312500000001 + } + ] + }, + "bbox_1769139003299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139003299_1769153346584_kqc1wtoix", + "x": 0.701375, + "y": 0.7888645833333334, + "width": 0.22800000000000012, + "height": 0.07999999999999995 + } + ] + }, + "bbox_1769139013083": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139013083_1769153355968_hhzarzc1d", + "x": 0.6603749999999999, + "y": 0.6501979166666667, + "width": 0.23200000000000004, + "height": 0.2759999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769139003299", + "name": "蓝色笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769139013083", + "name": "笔筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769139017667", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769139022972", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-103654-put-blue-pen-pencil-case-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-103654-put-blue-pen-pencil-case-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..c1db5e74600d0d24ad82eea3c59506eaa6064709 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-103654-put-blue-pen-pencil-case-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,674 @@ +{ + "task_description": "抓取蓝色笔放入笔筒里：\n准备开始移动：0%\n爪夹靠近蓝色笔：20%\n爪夹抓取蓝色笔：40%\n爪夹抓紧蓝色笔接近笔筒：60%\n爪夹将蓝色笔放入笔筒：80%\n爪夹松开蓝色笔落入笔筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "当前为初始状态，远离蓝色笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离蓝色笔，未开始移动。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。", + "time": 0.5366924475515464, + "annotations": { + "bbox_1769154180487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154180487_1769158967088_ktovh3nc0", + "x": 0.636375, + "y": 0.2901979166666667, + "width": 0.10499999999999998, + "height": 0.164 + } + ] + }, + "point_1769154185615": { + "type": "point", + "instances": [ + { + "id": "point_1769154185615_1769158974712_3frfqvwc7", + "x": 0.381375, + "y": 0.4928645833333334 + } + ] + }, + "point_1769154195631": { + "type": "point", + "instances": [ + { + "id": "point_1769154195631_1769158978168_xv5w6m10k", + "x": 0.606375, + "y": 0.4861979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动调整爪夹。", + "correction_plan": "爪夹向爪夹的后方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近蓝色笔移动，方便下一步抓取。", + "frame": 71, + "progress": 10, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，还未接近蓝色笔。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹向爪夹的后方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。", + "time": 2.3732, + "annotations": { + "point_1769154195631": { + "type": "point", + "instances": [ + { + "id": "point_1769154195631_1769158949248_gvqn0cwuy", + "x": 0.609375, + "y": 0.48353125 + } + ] + }, + "point_1769154185615": { + "type": "point", + "instances": [ + { + "id": "point_1769154185615_1769158952128_x0z3e5mpv", + "x": 0.384375, + "y": 0.48753125 + } + ] + }, + "bbox_1769154171815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154171815_1769158955528_1ovt4anmt", + "x": 0.369375, + "y": 0.6888645833333334, + "width": 0.168, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1769154180487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154180487_1769158959049_qvc4njku6", + "x": 0.6563749999999999, + "y": 0.12086458333333333, + "width": 0.11400000000000006, + "height": 0.17200000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹向上抬升，并向爪夹的正后方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹抓错了目标，需离开错误目标，重新抬升移动抓取蓝色笔。", + "frame": 127, + "progress": 5, + "progress_explanation": "爪夹下降，夹住了肉排，远离了蓝色笔，因此进度降至为5%。", + "state_description": "爪夹打开，夹住了肉排。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹向上抬升，同时调整爪夹的角度使其垂直于桌面，并向爪夹的正后方移动，直至蓝色笔的正上方。", + "time": 4.2305756619845365, + "annotations": { + "bbox_1769154180487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154180487_1769158930784_w9jqs3szu", + "x": 0.820375, + "y": -0.0008020833333333334, + "width": 0.16100000000000012, + "height": 0.09466666666666666 + } + ] + }, + "point_1769154185615": { + "type": "point", + "instances": [ + { + "id": "point_1769154185615_1769158937216_y5bljnfmu", + "x": 0.399375, + "y": 0.48719791666666673 + } + ] + }, + "point_1769154195631": { + "type": "point", + "instances": [ + { + "id": "point_1769154195631_1769158940528_jwzjczmin", + "x": 0.584375, + "y": 0.49253125 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并打开爪夹。", + "correction_plan": "爪夹向爪夹的正后方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹抬升并打开爪夹，离开错误目标，重新抓取蓝色笔。", + "frame": 202, + "progress": 10, + "progress_explanation": "爪夹抬升并打开爪夹，离开错误目标，因此进度提升为10%。", + "state_description": "爪夹打开，接近垂直于桌面。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹向爪夹的正后方移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色笔的正上方。", + "time": 6.725146144458763, + "annotations": { + "point_1769154195631": { + "type": "point", + "instances": [ + { + "id": "point_1769154195631_1769158903273_0hun0gv2y", + "x": 0.606375, + "y": 0.49386458333333333 + } + ] + }, + "point_1769154185615": { + "type": "point", + "instances": [ + { + "id": "point_1769154185615_1769158905689_fuprgwrpp", + "x": 0.385375, + "y": 0.4991979166666667 + } + ] + }, + "bbox_1769154180487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769154180487_1769158909912_3o6h3crhf", + "x": 0.651375, + "y": 0.0005312499999999998, + "width": 0.15600000000000006, + "height": 0.18400000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正后方移动。", + "annotations": { + "bbox_1769154171815": { + "instances": [ + { + "height": 0.16000000000000003, + "id": "bbox_1769154171815_1769158859601_y1gup2ji0", + "width": 0.209, + "x": 0.40037500000000004, + "y": 0.43553125000000004 + } + ], + "type": "bbox" + }, + "bbox_1769154180487": { + "instances": [ + { + "height": 0.096, + "id": "bbox_1769154180487_1769158870209_r6b51efvw", + "width": 0.11599999999999992, + "x": 0.770375, + "y": 0.0008645833333333334 + } + ], + "type": "bbox" + }, + "point_1769154185615": { + "instances": [ + { + "id": "point_1769154185615_1769158862017_gy5onayil", + "x": 0.382375, + "y": 0.4888645833333333 + } + ], + "type": "point" + }, + "point_1769154195631": { + "instances": [ + { + "id": "point_1769154195631_1769158864744_oe9wmppuw", + "x": 0.607375, + "y": 0.4861979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了蓝色笔之间的距离，方便后续抓取蓝色笔。", + "frame": 239, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了蓝色笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。", + "time": 7.972431385695877 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1769154171815": { + "instances": [ + { + "height": 0.21466666666666664, + "id": "bbox_1769154171815_1769158853185_9phc60138", + "width": 0.30100000000000005, + "x": 0.345375, + "y": 0.38886458333333335 + } + ], + "type": "bbox" + }, + "point_1769154185615": { + "instances": [ + { + "id": "point_1769154185615_1769158849369_b1egwjhs9", + "x": 0.381375, + "y": 0.48753125 + } + ], + "type": "point" + }, + "point_1769154195631": { + "instances": [ + { + "id": "point_1769154195631_1769158845793_kqso6rd60", + "x": 0.605375, + "y": 0.4941979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取蓝色笔，抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了蓝色笔，方便抓取。", + "frame": 279, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了蓝色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：合拢抓取蓝色笔，抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近。", + "time": 9.291675390850516 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769154171815": { + "instances": [ + { + "height": 0.25733333333333336, + "id": "bbox_1769154171815_1769158837857_55tntvhtj", + "width": 0.33499999999999996, + "x": 0.316375, + "y": 0.34886458333333337 + } + ], + "type": "bbox" + }, + "point_1769154185615": { + "instances": [ + { + "id": "point_1769154185615_1769158840544_lzq3z41l5", + "x": 0.48637500000000006, + "y": 0.4808645833333333 + } + ], + "type": "point" + }, + "point_1769154195631": { + "instances": [ + { + "id": "point_1769154195631_1769158843000_tdfl5szeq", + "x": 0.500375, + "y": 0.4808645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抬升并重新打开爪夹，爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹合拢的方向和蓝色笔放的方向一致，导致爪夹合拢没有夹住蓝色笔。", + "frame": 341, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到蓝色笔，因此进度降至为5%。", + "state_description": "爪夹合拢处于蓝色笔的正上方。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹抬升并重新打开爪夹，爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。", + "time": 11.354133 + }, + { + "action_description": "爪夹抬升并重新打开。", + "annotations": { + "bbox_1769154171815": { + "instances": [ + { + "height": 0.13200000000000003, + "id": "bbox_1769154171815_1769158826600_x4ncwf9ry", + "width": 0.15999999999999998, + "x": 0.425375, + "y": 0.5088645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769154180487": { + "instances": [ + { + "height": 0.16533333333333333, + "id": "bbox_1769154180487_1769158830017_s6rkurujp", + "width": 0.10599999999999996, + "x": 0.714375, + "y": 0.05019791666666666 + } + ], + "type": "bbox" + }, + "point_1769154185615": { + "instances": [ + { + "id": "point_1769154185615_1769158822449_l1ra2e3bv", + "x": 0.384375, + "y": 0.4888645833333333 + } + ], + "type": "point" + }, + "point_1769154195631": { + "instances": [ + { + "id": "point_1769154195631_1769158820393_msp95gj49", + "x": 0.607375, + "y": 0.48753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。接着落下爪夹靠近蓝色笔，接近蓝色笔后爪夹合拢抓取蓝色笔。抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了蓝色笔之间的距离，方便后续抓取蓝色笔。", + "frame": 395, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了蓝色笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至蓝色笔的正上方。", + "time": 13.177448642396907 + }, + { + "action_description": "爪夹向爪夹左微调并垂直下降。", + "annotations": { + "bbox_1769154171815": { + "instances": [ + { + "height": 0.26533333333333337, + "id": "bbox_1769154171815_1769158810081_qujaakcef", + "width": 0.283, + "x": 0.364375, + "y": 0.4088645833333333 + } + ], + "type": "bbox" + }, + "point_1769154185615": { + "instances": [ + { + "id": "point_1769154185615_1769158813049_7wql2gqn7", + "x": 0.381375, + "y": 0.4861979166666667 + } + ], + "type": "point" + }, + "point_1769154195631": { + "instances": [ + { + "id": "point_1769154195631_1769158815849_2fs8fnydx", + "x": 0.604375, + "y": 0.4861979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取蓝色笔，抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了蓝色笔，方便抓取。", + "frame": 437, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了蓝色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了蓝色笔。\n为完成抓取蓝色笔落入笔筒的任务应当：合拢抓取蓝色笔，抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近。", + "time": 14.568651411469073 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769154171815": { + "instances": [ + { + "height": 0.38266666666666665, + "id": "bbox_1769154171815_1769158804889_ssfmck6us", + "width": 0.07999999999999999, + "x": 0.455375, + "y": 0.3461979166666667 + } + ], + "type": "bbox" + }, + "point_1769154185615": { + "instances": [ + { + "id": "point_1769154185615_1769158801008_gb5djs51p", + "x": 0.46637500000000004, + "y": 0.47686458333333337 + } + ], + "type": "point" + }, + "point_1769154195631": { + "instances": [ + { + "id": "point_1769154195631_1769158797736_bch21h28g", + "x": 0.519375, + "y": 0.47019791666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近，直至笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到蓝色笔。", + "frame": 482, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到蓝色笔，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到蓝色笔，爪夹角度与桌面接近垂直。\n为完成抓取蓝色笔落入笔筒的任务应当：抓紧蓝色笔垂直升高爪夹并向爪夹右前方的笔筒接近，直至笔筒的正上方。", + "time": 16.053999 + }, + { + "action_description": "爪夹夹紧蓝色笔垂直升高，并向爪夹的右前方移动。", + "annotations": { + "bbox_1769154171815": { + "instances": [ + { + "height": 0.37200000000000005, + "id": "bbox_1769154171815_1769158788240_8eah7r0ws", + "width": 0.06799999999999998, + "x": 0.46137500000000004, + "y": 0.3608645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769154180487": { + "instances": [ + { + "height": 0.18933333333333333, + "id": "bbox_1769154180487_1769158783777_uprosgixm", + "width": 0.14000000000000004, + "x": 0.625375, + "y": 0.0008645833333333334 + } + ], + "type": "bbox" + }, + "point_1769154185615": { + "instances": [ + { + "id": "point_1769154185615_1769158790584_uh26g6f47", + "x": 0.46937500000000004, + "y": 0.47419791666666666 + } + ], + "type": "point" + }, + "point_1769154195631": { + "instances": [ + { + "id": "point_1769154195631_1769158794753_cieobje09", + "x": 0.519375, + "y": 0.47553125 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "爪夹合拢继续夹紧蓝色笔，水平上接近了笔筒。更加方便接近笔筒。", + "frame": 546, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧蓝色笔，垂直升高并向爪夹右前方的笔筒接近，缩短了与笔筒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧蓝色笔，水平上接近了笔筒。\n为完成抓取蓝色笔落入笔筒的任务应当：继续向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将蓝色笔放入笔筒", + "time": 18.214562116623714 + }, + { + "action_description": "爪夹夹紧蓝色笔向爪夹的右前方移动。", + "annotations": { + "bbox_1769154171815": { + "instances": [ + { + "height": 0.3866666666666667, + "id": "bbox_1769154171815_1769158756632_yiffhk20i", + "width": 0.06699999999999999, + "x": 0.460375, + "y": 0.34753125 + } + ], + "type": "bbox" + }, + "bbox_1769154180487": { + "instances": [ + { + "height": 0.22933333333333342, + "id": "bbox_1769154180487_1769158767129_d0wwgebpy", + "width": 0.16500000000000004, + "x": 0.43537499999999996, + "y": 0.5661979166666666 + } + ], + "type": "bbox" + }, + "point_1769154185615": { + "instances": [ + { + "id": "point_1769154185615_1769158759401_pgji9xzt2", + "x": 0.47037500000000004, + "y": 0.47953125 + } + ], + "type": "point" + }, + "point_1769154195631": { + "instances": [ + { + "id": "point_1769154195631_1769158762441_t387h2toi", + "x": 0.520375, + "y": 0.4728645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "error_success_analysis": "到了爪夹右前方笔筒的正上方，方便将蓝色笔放入笔筒。", + "frame": 608, + "progress": 60, + "progress_explanation": "爪夹夹紧蓝色笔，到了爪夹右前方笔筒的正上方，方便将蓝色笔放入笔筒。因此进度提升为 60%。", + "state_description": "爪夹夹紧蓝色笔，爪夹角度接近垂直于桌面，位于笔筒的正上方。\n为完成抓取蓝色笔落入笔筒的任务应当：将蓝色笔放入笔筒，松开爪夹，使蓝色笔落入笔筒。", + "time": 20.25339376095361 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769154171815": { + "instances": [ + { + "height": 0.21866666666666662, + "id": "bbox_1769154171815_1769158744041_z3hqclcyi", + "width": 0.11799999999999997, + "x": 0.499375, + "y": 0.5568645833333333 + } + ], + "type": "bbox" + }, + "bbox_1769154180487": { + "instances": [ + { + "height": 0.2759999999999999, + "id": "bbox_1769154180487_1769158747713_ybee48lt1", + "width": 0.20599999999999996, + "x": 0.42437500000000006, + "y": 0.5501979166666667 + } + ], + "type": "bbox" + }, + "point_1769154185615": { + "instances": [ + { + "id": "point_1769154185615_1769158737577_gat6otm9m", + "x": 0.384375, + "y": 0.4941979166666667 + } + ], + "type": "point" + }, + "point_1769154195631": { + "instances": [ + { + "id": "point_1769154195631_1769158728473_0mi2d7x1f", + "x": 0.607375, + "y": 0.4928645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，蓝色笔落入笔筒", + "frame": 658, + "progress": 100, + "progress_explanation": "爪夹张开，蓝色笔落入笔筒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开蓝色笔落入笔筒的任务目标完成。", + "time": 21.9172 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769154171815", + "name": "蓝色笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769154180487", + "name": "笔筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769154185615", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769154195631", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-112126-put-blue-pen-pencil-case-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-112126-put-blue-pen-pencil-case-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..616af23934d48bd11c075ab798aa8f3e2fcfdcad --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-112126-put-blue-pen-pencil-case-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,646 @@ +{ + "task_description": "抓取黄色笔放入笔筒里：\n准备开始移动：0%\n爪夹靠近黄色笔：20%\n爪夹抓取黄色笔：40%\n爪夹抓紧黄色笔接近笔筒：60%\n爪夹将黄色笔放入笔筒：80%\n爪夹松开黄色笔落入笔筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。接着落下爪夹靠近黄色笔，接近黄色笔后爪夹合拢抓取黄色笔。抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黄色笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离黄色笔，未开始移动。\n为完成抓取黄色笔落入笔筒的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。", + "time": 0.6579, + "annotations": { + "point_1769217770008": { + "type": "point", + "instances": [ + { + "id": "point_1769217770008_1769224161079_ivv8mm2y3", + "x": 0.4443750000000001, + "y": 0.41286458333333337 + } + ] + }, + "point_1769217776375": { + "type": "point", + "instances": [ + { + "id": "point_1769217776375_1769224164647_fycufjlkf", + "x": 0.556375, + "y": 0.47686458333333337 + } + ] + }, + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769224168863_crxa0qgcq", + "x": 0.632375, + "y": 0.46753125, + "width": 0.15699999999999995, + "height": 0.21466666666666664 + } + ] + }, + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224173823_hi04d1qih", + "x": 0.8323750000000001, + "y": 0.10219791666666667, + "width": 0.16699999999999998, + "height": 0.25733333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正前方移动并调整爪夹的角度。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。接着落下爪夹靠近黄色笔，接近黄色笔后爪夹合拢抓取黄色笔。抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近黄色笔移动，方便下一步抓取。", + "frame": 60, + "progress": 10, + "progress_explanation": "爪夹向爪夹的正前方移动并调整爪夹的角度，接近了黄色笔。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，接近了黄色笔。\n为完成抓取黄色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。", + "time": 1.998066, + "annotations": { + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769224146711_15bfpqhoh", + "x": 0.636375, + "y": 0.46353125, + "width": 0.15599999999999997, + "height": 0.22533333333333339 + } + ] + }, + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224152487_5u4evldst", + "x": 0.842375, + "y": 0.10219791666666667, + "width": 0.15700000000000003, + "height": 0.25866666666666666 + } + ] + }, + "point_1769217770008": { + "type": "point", + "instances": [ + { + "id": "point_1769217770008_1769224156847_kx25wsre9", + "x": 0.657375, + "y": 0.35019791666666666 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "合拢抓取黄色笔，抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了黄色笔，方便抓取。", + "frame": 103, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了黄色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了黄色笔。\n为完成抓取黄色笔落入笔筒的任务应当：合拢抓取黄色笔，抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近。", + "time": 3.425777538273196, + "annotations": { + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224134855_46sn5efbm", + "x": 0.836375, + "y": 0.11419791666666666, + "width": 0.158, + "height": 0.24933333333333335 + } + ] + }, + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769224141327_jsq9iunet", + "x": 0.635375, + "y": 0.46753125, + "width": 0.15, + "height": 0.21200000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹打开黄，蓝色笔掉落桌面，重新抓取黄色笔，爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。接着落下爪夹靠近黄色笔，接近黄色笔后爪夹合拢抓取黄色笔。抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到黄色笔。", + "frame": 145, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黄色笔，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到黄色笔，同时也把蓝色笔抓起来，爪夹角度与桌面接近垂直。\n为完成抓取黄色笔落入笔筒的任务应当：爪夹打开黄，蓝色笔掉落桌面，重新抓取黄色笔，爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。", + "time": 4.848966, + "annotations": { + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769224123743_nio8j1nso", + "x": 0.605375, + "y": 0.45953125000000006, + "width": 0.137, + "height": 0.19733333333333333 + } + ] + }, + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224129103_3ktrhmh4n", + "x": 0.849375, + "y": 0.09953125, + "width": 0.15, + "height": 0.2613333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黄、蓝色笔垂直升高", + "correction_plan": "爪夹打开黄，蓝色笔掉落桌面，重新抓取黄色笔，爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。接着落下爪夹靠近黄色笔，接近黄色笔后爪夹合拢抓取黄色笔。抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹合拢继续夹紧黄色笔，水平上接近了笔筒。更加方便接近笔筒。", + "frame": 205, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黄色笔，垂直升高并向爪夹正前方的笔筒接近，缩短了与笔筒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧黄、蓝色笔，水平上接近了笔筒。\n为完成抓取黄色笔落入笔筒的任务应当：爪夹打开黄，蓝色笔掉落桌面，重新抓取黄色笔，爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。", + "time": 6.847033, + "annotations": { + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224112791_dtix0d890", + "x": 0.837375, + "y": 0.09286458333333333, + "width": 0.1620000000000001, + "height": 0.26266666666666666 + } + ] + }, + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769224118791_cfeoi30mo", + "x": 0.616375, + "y": 0.11953125, + "width": 0.10300000000000002, + "height": 0.26 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。接着落下爪夹靠近黄色笔，接近黄色笔后爪夹合拢抓取黄色笔。抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹合拢抓取到黄色笔，同时也把蓝色笔抓起来，爪夹张开，黄、蓝色笔掉落桌面，重新抓取黄色笔", + "frame": 248, + "progress": 10, + "progress_explanation": "爪夹张开，黄、蓝色笔掉落桌面，重新抓取黄色笔，因此进度降至为10%。", + "state_description": "爪夹张开，黄、蓝色笔掉落桌面。\n为完成抓取黄色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。", + "time": 8.2603, + "annotations": { + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769224097687_3mwyuc0gh", + "x": 0.646375, + "y": 0.3021979166666667, + "width": 0.15799999999999992, + "height": 0.17066666666666663 + } + ] + }, + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224102319_o3js7c5xz", + "x": 0.8303750000000001, + "y": 0.10353125, + "width": 0.16699999999999998, + "height": 0.25866666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方下降并合拢爪夹。", + "correction_plan": "爪夹抬升并重新打开爪夹，垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。接着落下爪夹靠近黄色笔，接近黄色笔后爪夹合拢抓取黄色笔。抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹向爪夹的右前方移动并下降，偏离了黄色笔的正上方。", + "frame": 320, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到黄色笔，因此进度降至为5%。", + "state_description": "爪夹合拢垂直于桌面。\n为完成抓取黄色笔落入笔筒的任务应当：爪夹抬升并重新打开爪夹，垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。", + "time": 10.6604168125, + "annotations": { + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224087903_nlv5xio3y", + "x": 0.857375, + "y": 0.10219791666666667, + "width": 0.13900000000000007, + "height": 0.2613333333333333 + } + ] + }, + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769224092359_uvabh669r", + "x": 0.644375, + "y": 0.2928645833333334, + "width": 0.14099999999999993, + "height": 0.17999999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并打开爪夹。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。接着落下爪夹靠近黄色笔，接近黄色笔后爪夹合拢抓取黄色笔。抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹抬升并打开爪夹并调整爪夹，向接近黄色笔移动，方便下一步抓取。", + "frame": 389, + "progress": 10, + "progress_explanation": "爪夹抬升并打开爪夹，调整爪夹角度，调至黄色笔的上方，接近了黄色笔。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，调至黄色笔的上方。\n为完成抓取黄色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。", + "time": 12.963066, + "annotations": { + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769224072863_y49z6dapr", + "x": 0.645375, + "y": 0.29419791666666667, + "width": 0.13999999999999996, + "height": 0.17466666666666666 + } + ] + }, + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224077359_4h58d9gk8", + "x": 0.836375, + "y": 0.10086458333333333, + "width": 0.1630000000000001, + "height": 0.26 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取黄色笔，抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了黄色笔，方便抓取。", + "frame": 446, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了黄色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了黄色笔。\n为完成抓取黄色笔落入笔筒的任务应当：合拢抓取黄色笔，抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近。", + "time": 14.863666, + "annotations": { + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224061479_thl4m5djz", + "x": 0.845375, + "y": 0.10886458333333333, + "width": 0.15400000000000008, + "height": 0.26 + } + ] + }, + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769224066895_zfb0zy5fx", + "x": 0.642375, + "y": 0.2888645833333333, + "width": 0.14699999999999996, + "height": 0.184 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抬升并重新打开爪夹，爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。接着落下爪夹靠近黄色笔，接近黄色笔后爪夹合拢抓取黄色笔。抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹没有下降至爪夹碰到桌面的位置合拢爪夹，导致爪夹合拢抓不到黄色笔。", + "frame": 475, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到黄色笔，因此进度降至为5%。", + "state_description": "爪夹合拢，位于黄色笔的上方\n为完成抓取黄色笔落入笔筒的任务应当：爪夹抬升并重新打开爪夹，爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方", + "time": 15.838333, + "annotations": { + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769224034175_l8bs0v0a2", + "x": 0.6523749999999999, + "y": 0.29553124999999997, + "width": 0.15400000000000008, + "height": 0.19200000000000006 + } + ] + }, + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224041855_33phee8dk", + "x": 0.8473750000000001, + "y": 0.09953125, + "width": 0.14699999999999988, + "height": 0.252 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并打开爪夹。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。接着落下爪夹靠近黄色笔，接近黄色笔后爪夹合拢抓取黄色笔。抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹抬升并打开爪夹并调整爪夹，向接近黄色笔移动，方便下一步抓取。", + "frame": 526, + "progress": 10, + "progress_explanation": "爪夹抬升并打开爪夹，调整爪夹角度，调至黄色笔的上方，接近了黄色笔。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，调至黄色笔的上方。\n为完成抓取黄色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄色笔的正上方。", + "time": 17.519633, + "annotations": { + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224019127_ex7x1p35u", + "x": 0.8403750000000001, + "y": 0.10619791666666667, + "width": 0.15700000000000003, + "height": 0.25333333333333335 + } + ] + }, + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769224023671_2ir4yp3hg", + "x": 0.655375, + "y": 0.31286458333333333, + "width": 0.15000000000000008, + "height": 0.16666666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取黄色笔，抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了黄色笔，方便抓取。", + "frame": 556, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了黄色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了黄色笔。\n为完成抓取黄色笔落入笔筒的任务应当：合拢抓取黄色笔，抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近。", + "time": 18.523062968170102, + "annotations": { + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769223999823_ha2sbk3h0", + "x": 0.659375, + "y": 0.2888645833333333, + "width": 0.14800000000000005, + "height": 0.19333333333333336 + } + ] + }, + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769224004375_yabdxntw7", + "x": 0.843375, + "y": 0.11153125000000001, + "width": 0.1530000000000001, + "height": 0.2426666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，直至笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到黄色笔。", + "frame": 590, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黄色笔，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到黄色笔，爪夹角度与桌面接近垂直。\n为完成抓取黄色笔落入笔筒的任务应当：抓紧黄色笔垂直升高爪夹并向爪夹正前方的笔筒接近，直至笔筒的正上方。", + "time": 19.6639, + "annotations": { + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769223978775_e5drjhi01", + "x": 0.680375, + "y": 0.3288645833333333, + "width": 0.14200000000000007, + "height": 0.1706666666666667 + } + ] + }, + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769223985631_m01exts4e", + "x": 0.8393750000000001, + "y": 0.09686458333333332, + "width": 0.158, + "height": 0.26666666666666666 + } + ] + }, + "point_1769217776375": { + "type": "point", + "instances": [ + { + "id": "point_1769217776375_1769223990136_ypt0acp02", + "x": 0.795375, + "y": 0.40353125 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黄色笔垂直升高。", + "correction_plan": "继续向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "爪夹合拢继续夹紧黄色笔，水平上接近了笔筒。更加方便接近笔筒。", + "frame": 633, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黄色笔，垂直升高并向爪夹正前方的笔筒接近，缩短了与笔筒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧黄色笔，水平上接近了笔筒。\n为完成抓取黄色笔落入笔筒的任务应当：继续向爪夹正前方的笔筒接近，水平到达笔筒的正上方后将黄色笔放入笔筒", + "time": 21.085331044458762, + "annotations": { + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769223968015_qbt66vxvz", + "x": 0.835375, + "y": 0.09553125000000001, + "width": 0.15999999999999998, + "height": 0.26666666666666666 + } + ] + }, + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769223973063_26h17vctv", + "x": 0.784375, + "y": 0.0021979166666666666, + "width": 0.041999999999999996, + "height": 0.06666666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黄色笔向爪夹方向的正前方移动。", + "correction_plan": "将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "error_success_analysis": "到了爪夹正前方笔筒的正上方，方便将黄色笔放入笔筒。", + "frame": 661, + "progress": 60, + "progress_explanation": "爪夹夹紧黄色笔，到了爪夹正前方笔筒的正上方，方便将黄色笔放入笔筒。因此进度提升为 60%。", + "state_description": "爪夹夹紧黄色笔，爪夹角度接近垂直于桌面，位于笔筒的正上方。\n为完成抓取黄色笔落入笔筒的任务应当：将黄色笔放入笔筒，松开爪夹，使黄色笔落入笔筒。", + "time": 22.027466, + "annotations": { + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769223948199_90cllarr1", + "x": 0.8393750000000001, + "y": 0.11419791666666666, + "width": 0.15999999999999998, + "height": 0.26 + } + ] + }, + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769223953456_8bdd7147c", + "x": 0.914375, + "y": 0.028864583333333336, + "width": 0.06999999999999992, + "height": 0.17200000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，黄色笔落入笔筒", + "frame": 689, + "progress": 100, + "progress_explanation": "爪夹张开，黄色笔落入笔筒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开黄色笔落入笔筒的任务目标完成。", + "time": 22.969351688788663, + "annotations": { + "bbox_1769217756015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217756015_1769223919679_nljnowwtl", + "x": 0.900375, + "y": 0.13953125, + "width": 0.09199999999999982, + "height": 0.10133333333333336 + } + ] + }, + "bbox_1769217765160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769217765160_1769223937967_i8e0jqupx", + "x": 0.837375, + "y": 0.09953125, + "width": 0.15700000000000003, + "height": 0.26 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769217756015", + "name": "黄色笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769217765160", + "name": "笔筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769217770008", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769217776375", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-133055-put-red-pen-pencil-case-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-133055-put-red-pen-pencil-case-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c23984dfe148652aa40dda7f309722e985939810 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-133055-put-red-pen-pencil-case-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,522 @@ +{ + "task_description": "抓取红色笔放入笔筒里：\n准备开始移动：0%\n爪夹靠近红色笔：20%\n爪夹抓取红色笔：40%\n爪夹抓紧红色笔接近笔筒：60%\n爪夹将红色笔放入笔筒：80%\n爪夹松开红色笔落入笔筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色笔的正上方。接着落下爪夹靠近红色笔，接近红色笔后爪夹合拢抓取红色笔。抓紧红色笔垂直升高爪夹并向爪夹右侧的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "当前为初始状态，远离红色笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离红色笔，未开始移动。\n为完成抓取红色笔落入笔筒的任务应当：爪夹向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色笔的正上方。", + "time": 0.875666, + "annotations": { + "point_1769224268855": { + "type": "point", + "instances": [ + { + "id": "point_1769224268855_1769226190052_drx1m4i4r", + "x": 0.381375, + "y": 0.4888645833333333 + } + ] + }, + "point_1769224274415": { + "type": "point", + "instances": [ + { + "id": "point_1769224274415_1769226193356_u1nvwdnvl", + "x": 0.607375, + "y": 0.4888645833333333 + } + ] + }, + "bbox_1769224264159": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224264159_1769226197340_vzy0wdt7x", + "x": 0.621375, + "y": 0.27553125, + "width": 0.10099999999999998, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1769224256375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224256375_1769226202740_ignfvpzz6", + "x": 0.405375, + "y": 0.37686458333333334, + "width": 0.05600000000000005, + "height": 0.13866666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动调整爪夹。", + "correction_plan": "爪夹继续向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色笔的正上方。接着落下爪夹靠近红色笔，接近红色笔后爪夹合拢抓取红色笔。抓紧红色笔垂直升高爪夹并向爪夹右侧的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近红色笔移动，方便下一步抓取。", + "frame": 53, + "progress": 5, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，还未接近红色笔。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近红色笔。\n为完成抓取红色笔落入笔筒的任务应当：爪夹继续向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色笔的正上方。", + "time": 1.761275723582474, + "annotations": { + "bbox_1769224256375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224256375_1769226175588_z8cywhw43", + "x": 0.39637500000000003, + "y": 0.39553125, + "width": 0.05499999999999998, + "height": 0.1506666666666667 + } + ] + }, + "bbox_1769224264159": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224264159_1769226179316_dbl1h4tiu", + "x": 0.591375, + "y": 0.2901979166666667, + "width": 0.11799999999999997, + "height": 0.15066666666666664 + } + ] + }, + "point_1769224274415": { + "type": "point", + "instances": [ + { + "id": "point_1769224274415_1769226181932_9abp9sw9f", + "x": 0.606375, + "y": 0.48353125 + } + ] + }, + "point_1769224268855": { + "type": "point", + "instances": [ + { + "id": "point_1769224268855_1769226185469_pkp657a0f", + "x": 0.381375, + "y": 0.4901979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左前方移动", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。接着落下爪夹靠近红色笔，接近红色笔后爪夹合拢抓取红色笔。抓紧红色笔垂直升高爪夹并向爪夹右侧的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了红色笔之间的距离，方便后续抓取红色笔。", + "frame": 90, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了红色笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了红色笔。\n为完成抓取红色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。", + "time": 3.005666, + "annotations": { + "point_1769224268855": { + "type": "point", + "instances": [ + { + "id": "point_1769224268855_1769226154020_am00gyxtd", + "x": 0.385375, + "y": 0.48753125 + } + ] + }, + "point_1769224274415": { + "type": "point", + "instances": [ + { + "id": "point_1769224274415_1769226156908_crirne7q9", + "x": 0.607375, + "y": 0.48353125 + } + ] + }, + "bbox_1769224264159": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224264159_1769226161124_mgn86j9y1", + "x": 0.737375, + "y": 0.25553125, + "width": 0.14300000000000007, + "height": 0.19066666666666668 + } + ] + }, + "bbox_1769224256375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224256375_1769226166556_vksmbcgrl", + "x": 0.461375, + "y": 0.3608645833333333, + "width": 0.05500000000000007, + "height": 0.2333333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取红色笔，抓紧红色笔垂直升高爪夹并向爪夹右侧的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了红色笔，方便抓取。", + "frame": 142, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了红色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了红色笔。\n为完成抓取红色笔落入笔筒的任务应当：合拢抓取红色笔，抓紧红色笔垂直升高爪夹并向爪夹右侧的笔筒接近。", + "time": 4.745166, + "annotations": { + "bbox_1769224256375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224256375_1769226130116_y9110v8ev", + "x": 0.455375, + "y": 0.23819791666666668, + "width": 0.12800000000000003, + "height": 0.4719999999999999 + } + ] + }, + "point_1769224274415": { + "type": "point", + "instances": [ + { + "id": "point_1769224274415_1769226143980_ayczavs89", + "x": 0.607375, + "y": 0.4941979166666667 + } + ] + }, + "point_1769224268855": { + "type": "point", + "instances": [ + { + "id": "point_1769224268855_1769226150164_g3zqu1o15", + "x": 0.382375, + "y": 0.4901979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧红色笔垂直升高爪夹并向爪夹右侧的笔筒接近，直至笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到红色笔。", + "frame": 173, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到红色笔，因此进度提升为40%.", + "state_description": "爪夹合拢抓取到红色笔，爪夹角度与桌面接近垂直。\n为完成抓取红色笔落入笔筒的任务应当：抓紧红色笔垂直升高爪夹并向爪夹右侧的笔筒接近，直至笔筒的正上方。", + "time": 5.750999, + "annotations": { + "point_1769224274415": { + "type": "point", + "instances": [ + { + "id": "point_1769224274415_1769226105196_aeukmzc65", + "x": 0.524375, + "y": 0.47553125 + } + ] + }, + "point_1769224268855": { + "type": "point", + "instances": [ + { + "id": "point_1769224268855_1769226108612_u3ea3bzbw", + "x": 0.46537500000000004, + "y": 0.48219791666666667 + } + ] + }, + "bbox_1769224256375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224256375_1769226114180_te5izralj", + "x": 0.449375, + "y": 0.21953125, + "width": 0.08499999999999996, + "height": 0.5133333333333334 + } + ] + }, + "bbox_1769224264159": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224264159_1769226120460_h3vlqtov5", + "x": 0.900375, + "y": 0.24886458333333333, + "width": 0.09900000000000002, + "height": 0.36000000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧红色笔垂直升高。", + "correction_plan": "继续向爪夹右侧的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹合拢继续夹紧红色笔，水平上接近了笔筒。更加方便接近笔筒。", + "frame": 225, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧红色笔，垂直升高并向爪夹右侧的笔筒接近，缩短了与笔筒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧红色笔，水平上接近了笔筒。\n为完成抓取红色笔落入笔筒的任务应当：继续向爪夹右侧的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒", + "time": 7.490499, + "annotations": { + "bbox_1769224264159": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224264159_1769226085524_fyv87phcw", + "x": 0.755375, + "y": 0.2968645833333333, + "width": 0.17700000000000005, + "height": 0.256 + } + ] + }, + "bbox_1769224256375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224256375_1769226091796_ragrdq5le", + "x": 0.45737500000000003, + "y": 0.21686458333333333, + "width": 0.06899999999999995, + "height": 0.5173333333333334 + } + ] + }, + "point_1769224268855": { + "type": "point", + "instances": [ + { + "id": "point_1769224268855_1769226094556_iozck5vt0", + "x": 0.467375, + "y": 0.47686458333333337 + } + ] + }, + "point_1769224274415": { + "type": "point", + "instances": [ + { + "id": "point_1769224274415_1769226101301_tj1aq0kax", + "x": 0.520375, + "y": 0.47553125 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧红色笔向爪夹方向的右侧移动。", + "correction_plan": "将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "到了爪夹右侧笔筒的正上方，方便将红色笔放入笔筒。", + "frame": 265, + "progress": 60, + "progress_explanation": "爪夹夹紧红色笔，到了爪夹右侧笔筒的正上方，方便将红色笔放入笔筒。因此进度提升为 60%。", + "state_description": "爪夹夹紧红色笔，爪夹角度接近垂直于桌面，位于笔筒的正上方。\n为完成抓取红色笔落入笔筒的任务应当：将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "time": 8.827666, + "annotations": { + "point_1769224268855": { + "type": "point", + "instances": [ + { + "id": "point_1769224268855_1769226067613_cymyrtpjd", + "x": 0.467375, + "y": 0.48219791666666667 + } + ] + }, + "point_1769224274415": { + "type": "point", + "instances": [ + { + "id": "point_1769224274415_1769226071244_lfiya8vbr", + "x": 0.519375, + "y": 0.47419791666666666 + } + ] + }, + "bbox_1769224256375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224256375_1769226076300_81ime66j0", + "x": 0.455375, + "y": 0.21553125, + "width": 0.07599999999999998, + "height": 0.5080000000000001 + } + ] + }, + "bbox_1769224264159": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224264159_1769226081077_uk23ohubb", + "x": 0.45237499999999997, + "y": 0.5941979166666668, + "width": 0.16400000000000006, + "height": 0.19599999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度垂直下降。", + "correction_plan": "松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "红色笔放入笔筒，方便红色笔落入笔筒", + "frame": 302, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，红色笔放入笔筒。因此进度提升为 80%。", + "state_description": "爪夹夹紧红色笔，爪夹角度接近垂直于桌面，红色笔放入笔筒。\n为完成抓取红色笔落入笔筒的任务应当：松开爪夹，使红色笔落入笔筒。", + "time": 10.070166, + "annotations": { + "bbox_1769224264159": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224264159_1769226047020_zt4nnyw69", + "x": 0.40437500000000004, + "y": 0.45953125000000006, + "width": 0.25999999999999995, + "height": 0.36800000000000005 + } + ] + }, + "bbox_1769224256375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224256375_1769226050940_8mgk7mnql", + "x": 0.449375, + "y": 0.21419791666666665, + "width": 0.08199999999999993, + "height": 0.5253333333333334 + } + ] + }, + "point_1769224274415": { + "type": "point", + "instances": [ + { + "id": "point_1769224274415_1769226054052_5ouqtp4gg", + "x": 0.520375, + "y": 0.47686458333333337 + } + ] + }, + "point_1769224268855": { + "type": "point", + "instances": [ + { + "id": "point_1769224268855_1769226057484_cu9tz8uum", + "x": 0.46637500000000004, + "y": 0.47953125 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，红色笔落入笔筒", + "frame": 324, + "progress": 100, + "progress_explanation": "爪夹张开，红色笔落入笔筒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开红色笔落入笔筒的任务目标完成。", + "time": 10.791999, + "annotations": { + "point_1769224274415": { + "type": "point", + "instances": [ + { + "id": "point_1769224274415_1769226020652_zc1ocyiye", + "x": 0.587375, + "y": 0.4891979166666667 + } + ] + }, + "point_1769224268855": { + "type": "point", + "instances": [ + { + "id": "point_1769224268855_1769226024204_q3w1wvpdi", + "x": 0.401375, + "y": 0.4878645833333334 + } + ] + }, + "bbox_1769224256375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224256375_1769226028356_p4e6rl3c7", + "x": 0.360375, + "y": 0.4758645833333333, + "width": 0.19499999999999998, + "height": 0.24799999999999997 + } + ] + }, + "bbox_1769224264159": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224264159_1769226034501_s0socgng5", + "x": 0.387375, + "y": 0.44653124999999994, + "width": 0.262, + "height": 0.36266666666666675 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769224256375", + "name": "红色笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769224264159", + "name": "笔筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769224268855", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769224274415", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-134637-put-red-pen-pencil-case-mix1/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-134637-put-red-pen-pencil-case-mix1/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..d74db4df825f4723942dd00dc5ea1a848fd8b881 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-134637-put-red-pen-pencil-case-mix1/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,814 @@ +{ + "task_description": "抓取红色笔放入笔筒里：\n准备开始移动：0%\n爪夹靠近红色笔：20%\n爪夹抓取红色笔：40%\n爪夹抓紧红色笔接近笔筒：60%\n爪夹将红色笔放入笔筒：80%\n爪夹松开红色笔落入笔筒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色笔的正上方。接着落下爪夹靠近红色笔，接近红色笔后爪夹合拢抓取红色笔。抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "当前为初始状态，远离红色笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离红色笔，未开始移动。\n为完成抓取红色笔落入笔筒的任务应当：爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色笔的正上方。", + "time": 0.768833, + "annotations": { + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233763474_aojnc0b6e", + "x": 0.631375, + "y": 0.2888645833333333, + "width": 0.09800000000000005, + "height": 0.15333333333333332 + } + ] + }, + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233768938_8lcwylcrx", + "x": 0.536375, + "y": 0.4461979166666667, + "width": 0.08399999999999999, + "height": 0.15333333333333338 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233772634_m13j6k0kf", + "x": 0.380375, + "y": 0.4941979166666667 + } + ] + }, + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233775650_pqbvnsp32", + "x": 0.609375, + "y": 0.48219791666666667 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动调整爪夹。", + "correction_plan": "爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色笔的正上方。接着落下爪夹靠近红色笔，接近红色笔后爪夹合拢抓取红色笔。抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近红色笔移动，方便下一步抓取。", + "frame": 71, + "progress": 15, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，接近了红色笔。因此进度提升为 15%。", + "state_description": "爪夹张开，调整爪夹角度，接近了红色笔。\n为完成抓取红色笔落入笔筒的任务应当：爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到红色笔的正上方。", + "time": 2.3724, + "annotations": { + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233735794_mwaxfu1b4", + "x": 0.606375, + "y": 0.49553125000000003 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233738730_q4kcvh51t", + "x": 0.380375, + "y": 0.49686458333333333 + } + ] + }, + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233753938_vk9fpb45n", + "x": 0.537375, + "y": 0.31953125, + "width": 0.11899999999999995, + "height": 0.184 + } + ] + }, + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233757370_id3sbse8f", + "x": 0.6993750000000001, + "y": 0.13019791666666666, + "width": 0.12599999999999997, + "height": 0.192 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "爪夹向爪夹右侧移动，直至红色笔的正上方。接着落下爪夹靠近红色笔，接近红色笔后爪夹合拢抓取红色笔。抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹还没有移动至红色笔的正上方下降爪夹，需向爪夹右调整位置。", + "frame": 115, + "progress": 10, + "progress_explanation": "爪夹还没有移动至红色笔的正上方下降爪夹，因此进度降至为10%。", + "state_description": "爪夹张开，位于黄色笔的上方。\n为完成抓取红色笔落入笔筒的任务应当：爪夹向爪夹右侧移动，直至红色笔的正上方。", + "time": 3.8222, + "annotations": { + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233721506_okim3tfu1", + "x": 0.950375, + "y": 0.15019791666666665, + "width": 0.04900000000000002, + "height": 0.23066666666666666 + } + ] + }, + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233725690_fbypnlq4x", + "x": 0.655375, + "y": 0.31686458333333334, + "width": 0.26000000000000006, + "height": 0.24400000000000008 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233728178_1rt78icu6", + "x": 0.379375, + "y": 0.4888645833333333 + } + ] + }, + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233731042_0xg568895", + "x": 0.606375, + "y": 0.4888645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抬升并打开爪夹，向爪夹右侧移动，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。接着落下爪夹靠近红色笔，接近红色笔后爪夹合拢抓取红色笔。抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹合拢，抓取到黄色笔，抓错目标，需离开错误目标重新抓取。", + "frame": 157, + "progress": 5, + "progress_explanation": "爪夹合拢，抓取到黄色笔，抓错目标，因此进度降至为5%。", + "state_description": "爪夹合拢，垂直于桌面，抓取到黄色笔。\n为完成抓取红色笔落入笔筒的任务应当：爪夹抬升并打开爪夹，向爪夹右侧移动，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。", + "time": 5.228066, + "annotations": { + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233698506_rpxnbly5c", + "x": 0.46937500000000004, + "y": 0.4888645833333333 + } + ] + }, + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233701346_3ok5jmy9h", + "x": 0.525375, + "y": 0.4808645833333333 + } + ] + }, + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233707090_on4x8nq8j", + "x": 0.572375, + "y": 0.29553124999999997, + "width": 0.31700000000000006, + "height": 0.31733333333333336 + } + ] + }, + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233712266_wr6bb2mwo", + "x": 0.9193749999999999, + "y": 0.10753125000000001, + "width": 0.08000000000000007, + "height": 0.27466666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并打开爪夹。", + "correction_plan": "爪夹向爪夹的右侧移动，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。接着落下爪夹靠近红色笔，接近红色笔后爪夹合拢抓取红色笔。抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹张开，黄色笔掉落桌面，重新抓取红色笔。", + "frame": 229, + "progress": 10, + "progress_explanation": "爪夹张开，黄色笔掉落桌面，离开错误目标，因此进度提升为10%。", + "state_description": "爪夹张开，黄色笔掉落桌面。\n为完成抓取红色笔落入笔筒的任务应当：爪夹向爪夹的右侧移动，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。", + "time": 7.6402105970360825, + "annotations": { + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233681234_geafmrr4x", + "x": 0.501375, + "y": 0.6021979166666667, + "width": 0.14500000000000002, + "height": 0.20400000000000004 + } + ] + }, + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233685531_fn70ehe8r", + "x": 0.7153750000000001, + "y": 0.31553125000000004, + "width": 0.14499999999999993, + "height": 0.22666666666666663 + } + ] + }, + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233689066_xpn508snu", + "x": 0.602375, + "y": 0.48753125 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233691658_8609i60od", + "x": 0.384375, + "y": 0.4928645833333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右后方移动。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。接着落下爪夹靠近红色笔，接近红色笔后爪夹合拢抓取红色笔。抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了红色笔之间的距离，方便后续抓取红色笔。", + "frame": 281, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了红色笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了红色笔。\n为完成抓取红色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。", + "time": 9.3578, + "annotations": { + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233665866_etp7wdqz0", + "x": 0.606375, + "y": 0.48753125 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233668786_3wb4tc6rk", + "x": 0.379375, + "y": 0.4941979166666667 + } + ] + }, + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233672842_b7egb7kqd", + "x": 0.610375, + "y": 0.14353125, + "width": 0.18000000000000008, + "height": 0.22533333333333336 + } + ] + }, + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233676682_saoskhdvz", + "x": 0.487375, + "y": 0.47019791666666666, + "width": 0.09399999999999994, + "height": 0.22533333333333339 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取红色笔，抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了红色笔，方便抓取。", + "frame": 322, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了红色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了红色笔。\n为完成抓取红色笔落入笔筒的任务应当：合拢抓取红色笔，抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近。", + "time": 10.7417, + "annotations": { + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233646514_hv8aodb4n", + "x": 0.6773750000000001, + "y": -0.0018020833333333337, + "width": 0.31900000000000006, + "height": 0.336 + } + ] + }, + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233656210_xk2mynbwt", + "x": 0.39637500000000003, + "y": 0.38753125000000005, + "width": 0.146, + "height": 0.33333333333333326 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233659059_dac5rfwwu", + "x": 0.381375, + "y": 0.48353125 + } + ] + }, + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233661635_wn3i54npr", + "x": 0.605375, + "y": 0.4861979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抬升并打开爪夹，垂直下降，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。接着落下爪夹靠近红色笔，接近红色笔后爪夹合拢抓取红色笔。抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹没有下降至爪夹碰到桌面的位置合拢爪夹，导致爪夹合拢抓不到黄色笔。", + "frame": 364, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到红色笔，因此进度降至为5%。", + "state_description": "爪夹合拢抵在红色笔的笔盖上。\n为完成抓取红色笔落入笔筒的任务应当：爪夹抬升并打开爪夹，垂直下降，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。", + "time": 12.1256, + "annotations": { + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233627770_q8qg8fur2", + "x": 0.39437500000000003, + "y": 0.37553125, + "width": 0.13999999999999999, + "height": 0.30400000000000005 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233631666_tpansjxvl", + "x": 0.485375, + "y": 0.4928645833333334 + } + ] + }, + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233634443_qvd46we2d", + "x": 0.499375, + "y": 0.4861979166666667 + } + ] + }, + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233639346_zr7791m8g", + "x": 0.681375, + "y": 0.0008645833333333334, + "width": 0.31800000000000006, + "height": 0.372 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并打开爪夹。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。接着落下爪夹靠近红色笔，接近红色笔后爪夹合拢抓取红色笔。抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹抬升并打开爪夹并调整爪夹，向接近红色笔移动，方便下一步抓取。", + "frame": 406, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了红色笔。更加方便抓取。因此进度提升为 10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面\n为完成抓取红色笔落入笔筒的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至红色笔的正上方。", + "time": 13.528183194974229, + "annotations": { + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233610874_2d96nphyx", + "x": 0.580375, + "y": 0.22219791666666666, + "width": 0.15, + "height": 0.19733333333333333 + } + ] + }, + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233615034_wlm8x043y", + "x": 0.602375, + "y": 0.4928645833333334 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233618138_hsb6v8wcu", + "x": 0.386375, + "y": 0.4928645833333334 + } + ] + }, + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233622755_pi776zlls", + "x": 0.492375, + "y": 0.49953125000000004, + "width": 0.07800000000000003, + "height": 0.20266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取红色笔，抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹垂直下降，靠近了红色笔，方便抓取。", + "frame": 449, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了红色笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了红色笔。\n为完成抓取红色笔落入笔筒的任务应当：合拢抓取红色笔，抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近。", + "time": 14.9593, + "annotations": { + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233592754_sulvcxiqc", + "x": 0.376375, + "y": 0.4928645833333334 + } + ] + }, + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233596098_q3zmlhvvo", + "x": 0.605375, + "y": 0.4888645833333333 + } + ] + }, + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233600810_tio4v4qgm", + "x": 0.376375, + "y": 0.41019791666666666, + "width": 0.205, + "height": 0.32933333333333337 + } + ] + }, + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233606626_xuledg4sa", + "x": 0.746375, + "y": -0.00046875000000000004, + "width": 0.25100000000000006, + "height": 0.4826666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，直至笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到红色笔。", + "frame": 489, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到红色笔，因此进度提升为40%.", + "state_description": "爪夹合拢抓取到红色笔，爪夹角度与桌面接近垂直。\n为完成抓取红色笔落入笔筒的任务应当：抓紧红色笔垂直升高爪夹并向爪夹右前方的笔筒接近，直至笔筒的正上方。", + "time": 16.291001106314436, + "annotations": { + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233575618_0n86wtifk", + "x": 0.797375, + "y": 0.012864583333333334, + "width": 0.20200000000000004, + "height": 0.484 + } + ] + }, + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233580186_oy3njuevm", + "x": 0.45437500000000003, + "y": 0.38086458333333334, + "width": 0.08499999999999996, + "height": 0.37466666666666676 + } + ] + }, + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233583530_plbdbactb", + "x": 0.519375, + "y": 0.4728645833333333 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233587306_in7wn2ikh", + "x": 0.46637500000000004, + "y": 0.47686458333333337 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧红色笔垂直升高并向爪夹方向的右侧移动。", + "correction_plan": "继续向爪夹方向的正前方移动，水平到达笔筒的正上方后将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "爪夹合拢继续夹紧红色笔，水平上接近了笔筒。更加方便接近笔筒。", + "frame": 532, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧红色笔，垂直升高并向爪夹右前方的笔筒接近，缩短了与笔筒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧红色笔，水平上接近了笔筒。\n为完成抓取红色笔落入笔筒的任务应当：继续向爪夹方向的正前方移动，水平到达笔筒的正上方后将红色笔放入笔筒", + "time": 17.7271, + "annotations": { + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233558635_wecy8x4kn", + "x": 0.455375, + "y": 0.3741979166666667, + "width": 0.07199999999999998, + "height": 0.39200000000000007 + } + ] + }, + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233560962_qec3g1nvz", + "x": 0.520375, + "y": 0.4728645833333333 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233564450_mibent8ti", + "x": 0.46537500000000004, + "y": 0.47953125 + } + ] + }, + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233568050_fnz3o3t8w", + "x": 0.46637500000000004, + "y": 0.21019791666666665, + "width": 0.203, + "height": 0.256 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧红色笔向爪夹的正前方移动。", + "correction_plan": "将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "error_success_analysis": "到了爪夹右前方笔筒的正上方，方便将红色笔放入笔筒。", + "frame": 587, + "progress": 60, + "progress_explanation": "爪夹夹紧红色笔，到了爪夹右前方笔筒的正上方，方便将红色笔放入笔筒。因此进度提升为 60%。", + "state_description": "爪夹夹紧红色笔，爪夹角度接近垂直于桌面，位于笔筒的正上方。\n为完成抓取红色笔落入笔筒的任务应当：将红色笔放入笔筒，松开爪夹，使红色笔落入笔筒。", + "time": 19.57467813208763, + "annotations": { + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233540746_c109pp9t5", + "x": 0.421375, + "y": 0.6128645833333334, + "width": 0.166, + "height": 0.20666666666666664 + } + ] + }, + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233543618_hu3bex1db", + "x": 0.519375, + "y": 0.4728645833333333 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233547074_ka3fy4jbo", + "x": 0.46637500000000004, + "y": 0.48219791666666667 + } + ] + }, + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233551258_syn5osjuj", + "x": 0.45437500000000003, + "y": 0.37286458333333333, + "width": 0.07599999999999998, + "height": 0.38400000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，红色笔落入笔筒", + "frame": 629, + "progress": 100, + "progress_explanation": "爪夹张开，红色笔落入笔筒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开红色笔落入笔筒的任务目标完成。", + "time": 20.9562, + "annotations": { + "point_1769226700724": { + "type": "point", + "instances": [ + { + "id": "point_1769226700724_1769233523906_k664g84ne", + "x": 0.607375, + "y": 0.4861979166666667 + } + ] + }, + "point_1769226695396": { + "type": "point", + "instances": [ + { + "id": "point_1769226695396_1769233526570_6dnwxl2k2", + "x": 0.384375, + "y": 0.4888645833333333 + } + ] + }, + "bbox_1769226682843": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226682843_1769233530859_vqqrmt07q", + "x": 0.484375, + "y": 0.4728645833333333, + "width": 0.06600000000000002, + "height": 0.28266666666666673 + } + ] + }, + "bbox_1769226689931": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226689931_1769233534858_f34oftlc9", + "x": 0.39437500000000003, + "y": 0.53953125, + "width": 0.23299999999999996, + "height": 0.284 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769226682843", + "name": "红色笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769226689931", + "name": "笔筒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769226695396", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769226700724", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-140256-put-red-pen-pencil-case-mix2/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-140256-put-red-pen-pencil-case-mix2/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..fda9b2ab3c8943a3550d768a546341082ccb18be --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-140256-put-red-pen-pencil-case-mix2/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,648 @@ +{ + "task_description": "抓取笔放入杯子里：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近杯子：60%\n爪夹将笔放入杯子：80%\n爪夹松开笔落入杯子：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其落入杯子的任务应当：爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。\n", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右前方的杯子接近，水平到达杯子的正上方后将笔放入杯子，松开爪夹，使笔落入杯子。", + "annotations": { + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051416600_28cwcpht8", + "x": 0.5429999999999999, + "y": 0.2577777709960938, + "width": 0.06000000000000005, + "height": 0.208 + } + ] + }, + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051420504_41crnhslb", + "x": 0.354, + "y": 0.5724444376627604, + "width": 0.15700000000000003, + "height": 0.2133333333333333 + } + ] + }, + "point_1769051400794": { + "type": "point", + "instances": [ + { + "id": "point_1769051400794_1769051423318_64jfew1hn", + "x": 0.43, + "y": 0.25111110432942707 + } + ] + }, + "point_1769051400922": { + "type": "point", + "instances": [ + { + "id": "point_1769051400922_1769051427699_f5n01qtos", + "x": 0.528, + "y": 0.25111110432942707 + } + ] + } + } + }, + { + "time": 1.185699, + "frame": 36, + "progress": 5, + "action_description": "爪夹向爪夹左方移动，调整爪夹角度。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近笔。\n为完成抓取笔使其落入杯子的任务应当：爪夹向爪夹左方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "progress_explanation": "爪夹向爪夹左方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。", + "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近笔", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右前方的杯子接近，水平到达杯子的正上方后将笔放入杯子，松开爪夹，使笔落入杯子。", + "annotations": { + "point_1769051400922": { + "type": "point", + "instances": [ + { + "id": "point_1769051400922_1769051441294_6idlvsczl", + "x": 0.575, + "y": 0.2524444376627604 + } + ] + }, + "point_1769051400794": { + "type": "point", + "instances": [ + { + "id": "point_1769051400794_1769051443842_8tzoigwr9", + "x": 0.479, + "y": 0.28177777099609375 + } + ] + }, + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051448580_72azjvodx", + "x": 0.358, + "y": 0.575111104329427, + "width": 0.14800000000000005, + "height": 0.20933333333333337 + } + ] + }, + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051456604_sl4sqg14m", + "x": 0.532, + "y": 0.2871111043294271, + "width": 0.071, + "height": 0.18666666666666665 + } + ] + } + } + }, + { + "time": 1.703399, + "frame": 51, + "progress": 15, + "action_description": "爪夹向爪夹左方移动\n", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入杯子的任务应当：爪夹向爪夹左方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右前方的杯子接近，水平到达杯子的正上方后将笔放入杯子，松开爪夹，使笔落入杯子。", + "annotations": { + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051464468_oprh3i9js", + "x": 0.532, + "y": 0.2871111043294271, + "width": 0.07199999999999998, + "height": 0.18266666666666667 + } + ] + }, + "point_1769051400922": { + "type": "point", + "instances": [ + { + "id": "point_1769051400922_1769051468842_wftxcqkr0", + "x": 0.604, + "y": 0.36311110432942706 + } + ] + }, + "point_1769051400794": { + "type": "point", + "instances": [ + { + "id": "point_1769051400794_1769051471376_juciqhrin", + "x": 0.514, + "y": 0.38444443766276043 + } + ] + }, + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051475394_rlkd26i1t", + "x": 0.35500000000000004, + "y": 0.5777777709960937, + "width": 0.14899999999999997, + "height": 0.21600000000000003 + } + ] + } + } + }, + { + "time": 2.7722, + "frame": 83, + "progress": 20, + "action_description": "爪夹向爪夹左方移动并垂直向下移动，调整爪夹角度\n", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入杯子的任务应当：爪夹合拢抓取杯子，抓紧杯子垂直升高爪夹并向爪夹右前方的杯子接近", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右前方的杯子接近，水平到达杯子的正上方后将笔放入杯子，松开爪夹，使笔落入杯子。", + "annotations": { + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051482728_tni2bhnid", + "x": 0.364, + "y": 0.5746666666666668, + "width": 0.139, + "height": 0.20666666666666664 + } + ] + }, + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051486374_fsq9ep75q", + "x": 0.522, + "y": 0.29333333333333333, + "width": 0.07800000000000003, + "height": 0.17866666666666664 + } + ] + }, + "point_1769051400794": { + "type": "point", + "instances": [ + { + "id": "point_1769051400794_1769051489510_lhao70iwt", + "x": 0.535, + "y": 0.41333333333333333 + } + ] + } + } + }, + { + "time": 4.6927, + "frame": 141, + "progress": 40, + "action_description": "爪夹合拢\n", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入杯子的任务应当：抓紧笔垂直升高爪夹并向爪夹右前方的杯子在接近", + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹右前方的杯子接近，水平到达杯子的正上方后将笔放入杯子，松开爪夹，使笔落入杯子。\n", + "annotations": { + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051500512_ehd74zfyz", + "x": 0.367, + "y": 0.5777777709960937, + "width": 0.13600000000000004, + "height": 0.20533333333333334 + } + ] + }, + "point_1769051400794": { + "type": "point", + "instances": [ + { + "id": "point_1769051400794_1769051504326_1bikzf589", + "x": 0.536, + "y": 0.4044444376627604 + } + ] + }, + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051507656_ds9aekz1z", + "x": 0.535, + "y": 0.31644443766276037, + "width": 0.05899999999999998, + "height": 0.14933333333333335 + } + ] + } + } + }, + { + "time": 6.2124, + "frame": 186, + "progress": 5, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢未抓取到笔", + "progress_explanation": "因爪夹合拢未抓取到笔，因此进度降低为5%", + "error_success_analysis": "爪夹夹取笔后准备上升，因爪夹未夹紧导致未成功抓取上升", + "correction_plan": "爪夹打开重新上升，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右前方的杯子接近，水平到达杯子的正上方后将笔放入杯子，松开爪夹，使笔落入杯子。", + "annotations": { + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051511820_3fi7mdzea", + "x": 0.523, + "y": 0.3044444376627604, + "width": 0.06899999999999995, + "height": 0.18266666666666667 + } + ] + }, + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051517460_dg0l4oj4b", + "x": 0.362, + "y": 0.5777777709960937, + "width": 0.142, + "height": 0.21066666666666667 + } + ] + } + } + }, + { + "time": 7.9826, + "frame": 239, + "progress": 15, + "action_description": "爪夹向爪夹后方移动\n", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入杯子的任务应当：爪夹向爪夹后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "correction_plan": "爪夹向爪夹后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右前方的杯子接近，水平到达杯子的正上方后将笔放入杯子，松开爪夹，使笔落入杯子。", + "annotations": { + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051522844_ik5qf503n", + "x": 0.363, + "y": 0.575111104329427, + "width": 0.14100000000000001, + "height": 0.21066666666666667 + } + ] + }, + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051528386_dlqnexmou", + "x": 0.532, + "y": 0.2791111043294271, + "width": 0.050999999999999976, + "height": 0.19600000000000004 + } + ] + }, + "point_1769051400922": { + "type": "point", + "instances": [ + { + "id": "point_1769051400922_1769051532838_2j6uomh01", + "x": 0.64, + "y": 0.3524444376627604 + } + ] + }, + "point_1769051400794": { + "type": "point", + "instances": [ + { + "id": "point_1769051400794_1769051536802_dcoz2tgsu", + "x": 0.542, + "y": 0.3644444376627604 + } + ] + } + } + }, + { + "time": 9.4188, + "frame": 283, + "progress": 20, + "action_description": "爪夹向爪夹后方移动并垂直向下移动，调整爪夹角度\n", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入杯子的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右前方的杯子接近", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右前方的杯子接近，水平到达杯子的正上方后将笔放入杯子，松开爪夹，使笔落入杯子。", + "annotations": { + "point_1769051400794": { + "type": "point", + "instances": [ + { + "id": "point_1769051400794_1769051542693_9bw8ssf2d", + "x": 0.552, + "y": 0.46444443766276045 + } + ] + }, + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051548378_m02s3ot1h", + "x": 0.532, + "y": 0.29777777099609376, + "width": 0.05800000000000001, + "height": 0.176 + } + ] + }, + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051552760_wgklkv9qv", + "x": 0.362, + "y": 0.5724444376627604, + "width": 0.142, + "height": 0.212 + } + ] + } + } + }, + { + "time": 10.5544, + "frame": 317, + "progress": 40, + "action_description": "爪夹合拢\n", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入杯子的任务应当：抓紧笔垂直升高爪夹并向爪夹右前方的杯子接近", + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "correction_plan": "抓紧蓝色方块垂直升高爪夹并向爪夹右前方的杯子接近，水平到达杯子的正上方后将笔放入杯子，松开爪夹，使笔落入杯子。\n", + "annotations": { + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051560376_3pgm5rr0e", + "x": 0.366, + "y": 0.5671111043294271, + "width": 0.13600000000000004, + "height": 0.228 + } + ] + }, + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051567434_g06bq0pow", + "x": 0.564, + "y": 0.31511110432942707, + "width": 0.040000000000000036, + "height": 0.16000000000000003 + } + ] + } + } + }, + { + "time": 12.692, + "frame": 381, + "progress": 50, + "action_description": "爪夹夹紧笔，垂直升高，向爪夹右前方移动。\n", + "state_description": "爪夹合拢夹紧笔，水平上接近了杯子。\n为完成抓取笔使其落入杯子的任务应当：继续向爪夹右前方的杯子接近，水平到达铁盒的正上方后将笔放入杯子，松开爪夹，使笔落入杯子。", + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹右前方的杯子接近。缩短了与杯子的距离。因此进度提升为 50%", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了杯子。更加方便接近杯子。", + "correction_plan": "继续向爪夹右前方的杯子接近，水平到达杯子的正上方后将笔放入杯子，松开爪夹，使笔落入杯子", + "annotations": { + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051573476_tvus5nof1", + "x": 0.544, + "y": 0.3031111043294271, + "width": 0.04299999999999997, + "height": 0.17066666666666663 + } + ] + }, + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051578380_u19dli4tj", + "x": 0.358, + "y": 0.5697777709960937, + "width": 0.14900000000000002, + "height": 0.2133333333333334 + } + ] + } + } + }, + { + "time": 13.827599, + "frame": 415, + "progress": 60, + "action_description": "爪夹夹紧笔，向爪夹右前方移动", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于杯子正上方。\n为完成抓取笔使其落入杯子的任务应当：将笔放入杯子，松开爪夹，使笔落入杯子。", + "progress_explanation": "爪夹夹紧笔，到了爪夹右前方的杯子正上方，方便放入杯子。因此进度提升为 60%。", + "error_success_analysis": "爪夹移动到了杯子正上方，方便将目标放入杯子。", + "correction_plan": "将笔放入杯子，松开爪夹，使笔落入杯子。\n", + "annotations": { + "point_1769051400922": { + "type": "point", + "instances": [ + { + "id": "point_1769051400922_1769051582542_7zc1neucc", + "x": 0.476, + "y": 0.48044443766276046 + } + ] + }, + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051587556_48f26mvof", + "x": 0.35, + "y": 0.5817777709960938, + "width": 0.16100000000000003, + "height": 0.19066666666666662 + } + ] + }, + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051590844_h076qr7e6", + "x": 0.42000000000000004, + "y": 0.3964444376627604, + "width": 0.12199999999999997, + "height": 0.09333333333333335 + } + ] + } + } + }, + { + "time": 14.996599, + "frame": 450, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，笔放入杯子。\n为完成抓取笔使其落入杯子的任务应当：松开爪夹，使笔落入杯子。", + "progress_explanation": "爪夹角度接近垂直于桌面，笔放入杯子。因此进度提升为 80%。", + "error_success_analysis": "笔放入杯子，方便笔落入杯子。", + "correction_plan": "松开爪夹，使笔落入杯子。\n", + "annotations": { + "point_1769051400922": { + "type": "point", + "instances": [ + { + "id": "point_1769051400922_1769051595927_6al4nztli", + "x": 0.42000000000000004, + "y": 0.7493333333333333 + } + ] + }, + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051600684_sw5a4qscn", + "x": 0.36, + "y": 0.5800000000000001, + "width": 0.14200000000000004, + "height": 0.20799999999999993 + } + ] + }, + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051604874_ye91lq5bf", + "x": 0.376, + "y": 0.6346666666666666, + "width": 0.07499999999999996, + "height": 0.12533333333333338 + } + ] + } + } + }, + { + "time": 16.7, + "frame": 501, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落入杯子的任务目标完成。", + "progress_explanation": "爪夹张开，笔落入杯子，任务完成。因此进度提升为 100%。", + "error_success_analysis": "爪夹张开，笔落入杯子。", + "correction_plan": "", + "annotations": { + "bbox_1769051399752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399752_1769051609544_10agp27dw", + "x": 0.363, + "y": 0.6417777709960937, + "width": 0.09300000000000005, + "height": 0.13200000000000003 + } + ] + }, + "bbox_1769051399901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769051399901_1769051614274_401mqq8v1", + "x": 0.354, + "y": 0.5764444376627604, + "width": 0.15700000000000003, + "height": 0.2026666666666666 + } + ] + }, + "point_1769051400922": { + "type": "point", + "instances": [ + { + "id": "point_1769051400922_1769051616482_obh5up485", + "x": 0.46299999999999997, + "y": 0.7431111043294272 + } + ] + }, + "point_1769051400794": { + "type": "point", + "instances": [ + { + "id": "point_1769051400794_1769051618980_umql6pqu5", + "x": 0.344, + "y": 0.7257777709960938 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769051399752", + "name": "笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769051399901", + "name": "杯子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769051400794", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769051400922", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-141735-put-red-pen-pencil-case-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-141735-put-red-pen-pencil-case-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa8e3916c24d8361ed3ac496802be1954ef1ae7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-141735-put-red-pen-pencil-case-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,744 @@ +{ + "task_description": "抓取笔放入碗里：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近碗：60%\n爪夹将笔放入碗：80%\n爪夹松开笔落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 0, + "annotations": { + "point_1769066902773": { + "type": "point", + "instances": [ + { + "id": "point_1769066902773_1769066921969_s167793xw", + "x": 0.748, + "y": 0.2471111043294271 + } + ] + }, + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769066924989_8ejhb20fl", + "x": 0.683, + "y": 0.27244443766276044 + } + ] + }, + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769066930051_zd28vlg21", + "x": 0.34700000000000003, + "y": 0.4604444376627604, + "width": 0.15100000000000002, + "height": 0.15866666666666665 + } + ] + }, + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769066938195_ma74zi8sk", + "x": 0.632, + "y": 0.3111111043294271, + "width": 0.18000000000000008, + "height": 0.20800000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹的角度与桌面呈 60 度。水平上未接近笔\n", + "frame": 61, + "progress": 5, + "progress_explanation": "爪夹向爪夹左前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 60 度。还未接近笔。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 2.033332, + "annotations": { + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769066942985_75ba61dqk", + "x": 0.634, + "y": 0.30977777099609377, + "width": 0.176, + "height": 0.20400000000000004 + } + ] + }, + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769066946947_djmy5j4lu", + "x": 0.343, + "y": 0.4551111043294271, + "width": 0.15500000000000003, + "height": 0.16533333333333342 + } + ] + }, + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769066951471_xjm1ciuqb", + "x": 0.6990000000000001, + "y": 0.10844443766276042 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 98, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 3.253333, + "annotations": { + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769066956201_so0se0z48", + "x": 0.5429999999999999, + "y": 0.29244443766276046 + } + ] + }, + "point_1769066902773": { + "type": "point", + "instances": [ + { + "id": "point_1769066902773_1769066960191_19c63veve", + "x": 0.6060000000000001, + "y": 0.23111110432942708 + } + ] + }, + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769066964757_ksydfjgyd", + "x": 0.346, + "y": 0.4631111043294271, + "width": 0.15300000000000002, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769066969939_wzw5nz8p5", + "x": 0.626, + "y": 0.3137777709960938, + "width": 0.18900000000000006, + "height": 0.19733333333333333 + } + ] + } + } + }, + { + "action_description": "抓夹合拢", + "correction_plan": "爪夹重新上升后同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹在错误目标位置上方下降，爪夹合拢未抓取到", + "frame": 150, + "progress": 5, + "progress_explanation": "因抓夹合拢未抓取到目标物，因此进度降低为15%", + "state_description": "抓夹合拢为抓取到物品", + "time": 5.001999, + "annotations": { + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769066975117_8uyrw9xzv", + "x": 0.619, + "y": 0.2711111043294271, + "width": 0.17099999999999999, + "height": 0.21333333333333335 + } + ] + }, + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769066978095_7d1y7p20o", + "x": 0.523, + "y": 0.40044443766276044 + } + ] + }, + "point_1769066902773": { + "type": "point", + "instances": [ + { + "id": "point_1769066902773_1769066980989_qf9v1iq41", + "x": 0.527, + "y": 0.4057777709960938 + } + ] + }, + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769066985531_sduqbsf7l", + "x": 0.343, + "y": 0.4537777709960938, + "width": 0.152, + "height": 0.164 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动\n", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 212, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 7.075999, + "annotations": { + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769066990679_uh0qvnz26", + "x": 0.346, + "y": 0.46444443766276045, + "width": 0.15, + "height": 0.15333333333333332 + } + ] + }, + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769066995505_d0pw01am6", + "x": 0.66, + "y": 0.3244444376627604, + "width": 0.17099999999999999, + "height": 0.18800000000000003 + } + ] + }, + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769066998725_hh7lj2k54", + "x": 0.576, + "y": 0.2391111043294271 + } + ] + }, + "point_1769066902773": { + "type": "point", + "instances": [ + { + "id": "point_1769066902773_1769067002193_7d3wj66o5", + "x": 0.643, + "y": 0.19244443766276043 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。", + "frame": 261, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入碗的任务应当：爪夹合拢抓取笔，抓紧蓝色方块垂直升高爪夹并向爪夹右后方的碗接近", + "time": 8.702666, + "annotations": { + "point_1769066902773": { + "type": "point", + "instances": [ + { + "id": "point_1769066902773_1769067007413_cxfbca56g", + "x": 0.575, + "y": 0.4524444376627604 + } + ] + }, + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769067009897_o6sc094ch", + "x": 0.534, + "y": 0.5324444376627604 + } + ] + }, + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769067015733_hwioth0ne", + "x": 0.34700000000000003, + "y": 0.45777777099609374, + "width": 0.14899999999999997, + "height": 0.16133333333333333 + } + ] + }, + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769067020111_q9ldvtt2x", + "x": 0.654, + "y": 0.3191111043294271, + "width": 0.17700000000000005, + "height": 0.1973333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓夹重新上升后同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹未成功夹取起目标物品", + "frame": 317, + "progress": 5, + "progress_explanation": "因爪夹合拢未抓取到物品，因此进度降低为5%", + "state_description": "爪夹再次合拢", + "time": 10.573333, + "annotations": { + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769067024491_q798hg8gk", + "x": 0.659, + "y": 0.31511110432942707, + "width": 0.17699999999999996, + "height": 0.19866666666666669 + } + ] + }, + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769067027463_uv7m9eqol", + "x": 0.584, + "y": 0.3991111043294271 + } + ] + }, + "point_1769066902773": { + "type": "point", + "instances": [ + { + "id": "point_1769066902773_1769067030109_qiqfj9sij", + "x": 0.592, + "y": 0.40044443766276044 + } + ] + }, + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769067035585_rvw4qswx9", + "x": 0.34700000000000003, + "y": 0.4604444376627604, + "width": 0.14499999999999996, + "height": 0.15866666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动\n", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 372, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 12.403333, + "annotations": { + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769067041281_js0ecxrj8", + "x": 0.343, + "y": 0.4604444376627604, + "width": 0.15500000000000003, + "height": 0.15866666666666665 + } + ] + }, + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769067044251_p3j8ps8lu", + "x": 0.499, + "y": 0.18844443766276042 + } + ] + }, + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769067049545_7bza2q0ny", + "x": 0.656, + "y": 0.3137777709960938, + "width": 0.17799999999999994, + "height": 0.19466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "frame": 406, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入碗的任务应当：爪夹合拢抓取笔，抓紧蓝色方块垂直升高爪夹并向爪夹右后方的碗接近", + "time": 13.541999, + "annotations": { + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769067054829_1d3ohile0", + "x": 0.655, + "y": 0.3244444376627604, + "width": 0.18, + "height": 0.18400000000000005 + } + ] + }, + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769067058075_1pyilt1hw", + "x": 0.404, + "y": 0.5724444376627604 + } + ] + }, + "point_1769066902773": { + "type": "point", + "instances": [ + { + "id": "point_1769066902773_1769067060575_xkr11rrst", + "x": 0.45600000000000007, + "y": 0.4857777709960937 + } + ] + }, + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769067065407_ir88a573c", + "x": 0.35, + "y": 0.46577777099609374, + "width": 0.14500000000000002, + "height": 0.15733333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 440, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入碗的任务应当：抓紧笔垂直升高爪夹并向爪夹右后方的碗接近", + "time": 14.660333, + "annotations": { + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769067069971_c79b4hmrl", + "x": 0.35100000000000003, + "y": 0.46577777099609374, + "width": 0.17600000000000002, + "height": 0.11466666666666665 + } + ] + }, + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769067074559_d4pkooyl8", + "x": 0.655, + "y": 0.3244444376627604, + "width": 0.17700000000000005, + "height": 0.19200000000000006 + } + ] + }, + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769067077955_225dsgkrt", + "x": 0.42400000000000004, + "y": 0.5351111043294271 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹右后方移动。", + "correction_plan": "继续向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了碗。更加方便接近碗。", + "frame": 498, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹右后边的碗接近。缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了碗。\n为完成抓取笔使其落入碗的任务应当：继续向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "time": 16.612333, + "annotations": { + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769067084187_1ny1ajiuo", + "x": 0.52, + "y": 0.18933333333333333 + } + ] + }, + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769067088919_b8314b2ow", + "x": 0.45600000000000007, + "y": 0.068, + "width": 0.15199999999999997, + "height": 0.2386666666666667 + } + ] + }, + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769067093349_i2cfs5fh8", + "x": 0.652, + "y": 0.32266666666666666, + "width": 0.19099999999999992, + "height": 0.1866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，向爪夹右后方移动", + "correction_plan": "将笔放入碗，松开爪夹，使笔落入碗。\n", + "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放入碗。", + "frame": 528, + "progress": 60, + "progress_explanation": "爪夹夹紧笔，到了爪夹右后方的碗正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取笔使其落入碗的任务应当：将笔放入碗，松开爪夹，使笔落入碗。", + "time": 17.588333, + "annotations": { + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769067097829_ca7o44wth", + "x": 0.655, + "y": 0.31644443766276037, + "width": 0.17700000000000005, + "height": 0.20133333333333336 + } + ] + }, + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769067101159_ib6glvryc", + "x": 0.771, + "y": 0.1511111043294271 + } + ] + }, + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769067107173_z3g5ur9hv", + "x": 0.76, + "y": 0.00977777099609375, + "width": 0.054000000000000006, + "height": 0.28800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使笔落入碗。\n", + "error_success_analysis": "笔放入碗，方便笔落入碗。", + "frame": 549, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，笔放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，笔放入碗。\n为完成抓取笔使其落入碗的任务应当：松开爪夹，使笔落入碗。", + "time": 18.299999, + "annotations": { + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769067112309_ib9we9vja", + "x": 0.6950000000000001, + "y": 0.17111110432942708, + "width": 0.08399999999999999, + "height": 0.23866666666666667 + } + ] + }, + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769067121469_zhgveseq0", + "x": 0.663, + "y": 0.3257777709960938, + "width": 0.1750000000000001, + "height": 0.18666666666666665 + } + ] + }, + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769067125321_jrhxayv7d", + "x": 0.718, + "y": 0.2884444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，笔落入碗。", + "frame": 610, + "progress": 100, + "progress_explanation": "爪夹张开，笔落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落入碗的任务目标完成。", + "time": 20.333333, + "annotations": { + "point_1769066902663": { + "type": "point", + "instances": [ + { + "id": "point_1769066902663_1769067128743_hbrdkspm3", + "x": 0.6980000000000001, + "y": 0.31644443766276037 + } + ] + }, + "bbox_1769066901885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066901885_1769067133951_03pclvaup", + "x": 0.666, + "y": 0.28977777099609375, + "width": 0.10099999999999998, + "height": 0.192 + } + ] + }, + "bbox_1769066902013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066902013_1769067144193_fdyh7a9xv", + "x": 0.664, + "y": 0.32977777099609373, + "width": 0.1629999999999999, + "height": 0.19333333333333336 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769066901885", + "name": "笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769066902013", + "name": "碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769066902663", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769066902773", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-141735-put-red-pen-pencil-case-bad/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-141735-put-red-pen-pencil-case-bad/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..8e90ca7d128035b96754988951fa9cdbf4075fdf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-141735-put-red-pen-pencil-case-bad/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,644 @@ +{ + "task_description": "抓取笔放入碗里：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近碗：60%\n爪夹将笔放入碗：80%\n爪夹松开笔落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 0, + "annotations": { + "point_1769066172039": { + "type": "point", + "instances": [ + { + "id": "point_1769066172039_1769066191277_7amixxxb3", + "x": 0.55, + "y": 0.5231111043294271 + } + ] + }, + "point_1769066171879": { + "type": "point", + "instances": [ + { + "id": "point_1769066171879_1769066195565_4mat8stka", + "x": 0.42700000000000005, + "y": 0.4284444376627604 + } + ] + }, + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066200363_7jvnudz64", + "x": 0.244, + "y": 0.3044444376627604, + "width": 0.17100000000000004, + "height": 0.22266666666666665 + } + ] + }, + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066210941_mrjt8fcft", + "x": 0.41900000000000004, + "y": 0.5057777709960938, + "width": 0.23599999999999993, + "height": 0.29066666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹的角度与桌面呈 60 度。水平上未接近笔\n", + "frame": 41, + "progress": 5, + "progress_explanation": "爪夹向爪夹左前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 60 度。还未接近笔。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 1.382666, + "annotations": { + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066218663_u6cfoup5m", + "x": 0.42000000000000004, + "y": 0.5084444376627605, + "width": 0.24799999999999994, + "height": 0.2866666666666667 + } + ] + }, + "point_1769066172039": { + "type": "point", + "instances": [ + { + "id": "point_1769066172039_1769066221503_pde1a3bgd", + "x": 0.56, + "y": 0.4924444376627604 + } + ] + }, + "point_1769066171879": { + "type": "point", + "instances": [ + { + "id": "point_1769066171879_1769066224279_92xz4oci9", + "x": 0.434, + "y": 0.3991111043294271 + } + ] + }, + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066229641_55ntjsfqs", + "x": 0.29900000000000004, + "y": 0.30577777099609377, + "width": 0.121, + "height": 0.19733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动\n", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 97, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 3.249140840206185, + "annotations": { + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066237251_3fny28dxn", + "x": 0.302, + "y": 0.29777777099609376, + "width": 0.11400000000000002, + "height": 0.20266666666666666 + } + ] + }, + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066242197_740t8vnlf", + "x": 0.41200000000000003, + "y": 0.5124444376627604, + "width": 0.25599999999999995, + "height": 0.2946666666666667 + } + ] + } + } + }, + { + "action_description": "抓夹合拢", + "correction_plan": "爪夹重新上升后同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹在错误目标位置上方下降，爪夹合拢未抓取到", + "frame": 163, + "progress": 5, + "progress_explanation": "因抓夹合拢未抓取到目标物，因此进度降低为15%", + "state_description": "抓夹合拢为抓取到物品", + "time": 5.449333, + "annotations": { + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066248727_hta2n52e9", + "x": 0.434, + "y": 0.47377777099609375, + "width": 0.258, + "height": 0.272 + } + ] + }, + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066253465_b6zkv1k8g", + "x": 0.29500000000000004, + "y": 0.3044444376627604, + "width": 0.11600000000000002, + "height": 0.20133333333333336 + } + ] + } + } + }, + { + "time": 7.238666, + "frame": 217, + "progress": 15, + "action_description": "爪夹向爪夹左前方移动\n", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "annotations": { + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066267247_cyv0b9r8y", + "x": 0.302, + "y": 0.2884444376627604, + "width": 0.11700000000000003, + "height": 0.21333333333333335 + } + ] + }, + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066272785_32x5kipgb", + "x": 0.414, + "y": 0.5404444376627604, + "width": 0.25200000000000006, + "height": 0.30400000000000005 + } + ] + } + } + }, + { + "time": 8.702666, + "frame": 261, + "progress": 20, + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入碗的任务应当：爪夹合拢抓取笔，抓紧蓝色方块垂直升高爪夹并向爪夹右后方的碗接近", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "annotations": { + "point_1769066171879": { + "type": "point", + "instances": [ + { + "id": "point_1769066171879_1769066279355_5a9t7lx5b", + "x": 0.406, + "y": 0.5124444376627604 + } + ] + }, + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066283818_b8wgr7xez", + "x": 0.4, + "y": 0.5377777709960938, + "width": 0.27599999999999997, + "height": 0.28800000000000003 + } + ] + }, + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066289097_dqghklyiw", + "x": 0.298, + "y": 0.3084444376627605, + "width": 0.11000000000000001, + "height": 0.192 + } + ] + } + } + }, + { + "time": 10.552999, + "frame": 317, + "progress": 5, + "action_description": "爪夹合拢", + "state_description": "爪夹再次合拢", + "progress_explanation": "因爪夹合拢未抓取到物品，因此进度降低为5%", + "error_success_analysis": "爪夹未成功夹取起目标物品", + "correction_plan": "抓夹重新上升后同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "annotations": { + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066295083_8ljqw2tyj", + "x": 0.296, + "y": 0.2871111043294271, + "width": 0.10700000000000003, + "height": 0.21466666666666664 + } + ] + }, + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066300141_pvpsalvyr", + "x": 0.418, + "y": 0.5391111043294271, + "width": 0.25200000000000006, + "height": 0.30933333333333335 + } + ] + } + } + }, + { + "time": 12.464333, + "frame": 374, + "progress": 15, + "action_description": "爪夹向爪夹左前方移动\n", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "correction_plan": "爪夹向爪夹左前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将放入碗，松开爪夹，使笔落入碗。", + "annotations": { + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066319091_bxiu17gro", + "x": 0.41100000000000003, + "y": 0.5351111043294271, + "width": 0.26099999999999995, + "height": 0.30800000000000005 + } + ] + }, + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066324731_pz68lm9jg", + "x": 0.294, + "y": 0.3031111043294271, + "width": 0.11700000000000003, + "height": 0.1933333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "frame": 413, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入碗的任务应当：爪夹合拢抓取笔，抓紧蓝色方块垂直升高爪夹并向爪夹右后方的碗接近", + "time": 13.765666, + "annotations": { + "point_1769066171879": { + "type": "point", + "instances": [ + { + "id": "point_1769066171879_1769066334553_59a0twk5q", + "x": 0.33799999999999997, + "y": 0.40177777099609374 + } + ] + }, + "point_1769066172039": { + "type": "point", + "instances": [ + { + "id": "point_1769066172039_1769066337627_i4ncf1808", + "x": 0.42400000000000004, + "y": 0.4044444376627604 + } + ] + }, + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066342457_0xzj7gql8", + "x": 0.302, + "y": 0.29777777099609376, + "width": 0.11000000000000001, + "height": 0.20266666666666666 + } + ] + }, + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066347135_7myo9bo48", + "x": 0.41600000000000004, + "y": 0.5444444376627604, + "width": 0.24800000000000005, + "height": 0.3 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 445, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入碗的任务应当：抓紧笔垂直升高爪夹并向爪夹右后方的碗接近", + "time": 14.822999, + "annotations": { + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066352909_ej8s3xaww", + "x": 0.40700000000000003, + "y": 0.5324444376627604, + "width": 0.26399999999999996, + "height": 0.3053333333333334 + } + ] + }, + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066356879_ygoh2cfgl", + "x": 0.33599999999999997, + "y": 0.30577777099609377, + "width": 0.08199999999999999, + "height": 0.20800000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹右后方移动。\n", + "correction_plan": "继续向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了碗。更加方便接近碗。", + "frame": 498, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹右后边的碗接近。缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了碗。\n为完成抓取笔使其落入碗的任务应当：继续向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "time": 16.591999, + "annotations": { + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066363623_gncggjcbx", + "x": 0.31, + "y": 0.021333333333333333, + "width": 0.08900000000000001, + "height": 0.3253333333333333 + } + ] + }, + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066369595_kt4q8me8m", + "x": 0.426, + "y": 0.5466666666666666, + "width": 0.23400000000000007, + "height": 0.30533333333333346 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，向爪夹右后方移动", + "correction_plan": "将笔放入碗，松开爪夹，使笔落入碗。\n", + "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放入碗。", + "frame": 524, + "progress": 60, + "progress_explanation": "爪夹夹紧笔，到了爪夹右后方的碗正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取笔使其落入碗的任务应当：将笔放入碗，松开爪夹，使笔落入碗。", + "time": 17.466333, + "annotations": { + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066375703_buvxqcm0h", + "x": 0.41600000000000004, + "y": 0.5404444376627604, + "width": 0.266, + "height": 0.30933333333333335 + } + ] + }, + "point_1769066172039": { + "type": "point", + "instances": [ + { + "id": "point_1769066172039_1769066378671_ut9dnrfhv", + "x": 0.48, + "y": 0.3791111043294271 + } + ] + }, + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066383267_9pqszmn1z", + "x": 0.41100000000000003, + "y": 0.16177777099609375, + "width": 0.09299999999999997, + "height": 0.3866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使笔落入碗。\n", + "error_success_analysis": "笔放入碗，方便笔落入碗。", + "frame": 543, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，笔放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，笔放入碗。\n为完成抓取笔使其落入碗的任务应当：松开爪夹，使笔落入碗。", + "time": 18.096666, + "annotations": { + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066388411_o813wt97u", + "x": 0.49400000000000005, + "y": 0.3684444376627604, + "width": 0.08999999999999994, + "height": 0.34800000000000003 + } + ] + }, + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066393053_wdu45c13e", + "x": 0.418, + "y": 0.5284444376627604, + "width": 0.257, + "height": 0.32000000000000006 + } + ] + }, + "point_1769066172039": { + "type": "point", + "instances": [ + { + "id": "point_1769066172039_1769066396537_9v4xx97pl", + "x": 0.556, + "y": 0.5324444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，笔落入碗。", + "frame": 610, + "progress": 100, + "progress_explanation": "爪夹张开，笔落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落入碗的任务目标完成。", + "time": 20.333333, + "annotations": { + "point_1769066172039": { + "type": "point", + "instances": [ + { + "id": "point_1769066172039_1769066406609_eiwq3u3us", + "x": 0.604, + "y": 0.5817777709960938 + } + ] + }, + "point_1769066171879": { + "type": "point", + "instances": [ + { + "id": "point_1769066171879_1769066409053_ewwlgvmd3", + "x": 0.491, + "y": 0.5124444376627604 + } + ] + }, + "bbox_1769066171047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066171047_1769066412763_6wix4gp3m", + "x": 0.414, + "y": 0.5231111043294271, + "width": 0.261, + "height": 0.30799999999999994 + } + ] + }, + "bbox_1769066170903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769066170903_1769066416869_muebptkqx", + "x": 0.523, + "y": 0.5071111043294271, + "width": 0.11499999999999995, + "height": 0.30400000000000005 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769066170903", + "name": "笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769066171047", + "name": "碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769066171879", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769066172039", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-143906-put-purple-pen-pencil-case-good/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-143906-put-purple-pen-pencil-case-good/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..150bb9f4a4a5e298b760670e99b13d95c280a5c0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-143906-put-purple-pen-pencil-case-good/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,514 @@ +{ + "task_description": "抓取笔放入笔盒里：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近笔盒：60%\n爪夹将笔放入笔盒：80%\n爪夹松开笔落入笔盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 0, + "annotations": { + "point_1769074634480": { + "type": "point", + "instances": [ + { + "id": "point_1769074634480_1769074654576_kajwmhb8d", + "x": 0.522, + "y": 0.23511110432942708 + } + ] + }, + "point_1769074634328": { + "type": "point", + "instances": [ + { + "id": "point_1769074634328_1769074657884_kzfobmagl", + "x": 0.42300000000000004, + "y": 0.2471111043294271 + } + ] + }, + "bbox_1769074633538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633538_1769074663884_t2qcsp4z5", + "x": 0.33799999999999997, + "y": 0.41777777099609376, + "width": 0.16500000000000004, + "height": 0.045333333333333316 + } + ] + }, + "bbox_1769074633648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633648_1769074667478_20k3q71p3", + "x": 0.41500000000000004, + "y": 0.6444444376627605, + "width": 0.15599999999999997, + "height": 0.19466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹的角度与桌面呈 60 度。水平上未接近笔", + "frame": 33, + "progress": 5, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 60 度。还未接近蓝色方块。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 1.084599, + "annotations": { + "bbox_1769074633648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633648_1769074678620_ugnpmw4fl", + "x": 0.41900000000000004, + "y": 0.6364444376627604, + "width": 0.14799999999999996, + "height": 0.19200000000000006 + } + ] + }, + "bbox_1769074633538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633538_1769074689038_6nemwym1q", + "x": 0.34199999999999997, + "y": 0.4057777709960938, + "width": 0.154, + "height": 0.064 + } + ] + }, + "point_1769074634328": { + "type": "point", + "instances": [ + { + "id": "point_1769074634328_1769074691706_ohnc21gti", + "x": 0.41500000000000004, + "y": 0.23511110432942708 + } + ] + }, + "point_1769074634480": { + "type": "point", + "instances": [ + { + "id": "point_1769074634480_1769074694720_fhf1zbhgh", + "x": 0.514, + "y": 0.22577777099609378 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动\n", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 54, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 1.797033, + "annotations": { + "point_1769074634480": { + "type": "point", + "instances": [ + { + "id": "point_1769074634480_1769074698188_a2ya8rryw", + "x": 0.41, + "y": 0.36977777099609377 + } + ] + }, + "point_1769074634328": { + "type": "point", + "instances": [ + { + "id": "point_1769074634328_1769074701886_99lm44lv3", + "x": 0.331, + "y": 0.3324444376627604 + } + ] + }, + "bbox_1769074633538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633538_1769074706826_vzhpci0o6", + "x": 0.34199999999999997, + "y": 0.41644443766276046, + "width": 0.154, + "height": 0.04399999999999995 + } + ] + }, + "bbox_1769074633648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633648_1769074710466_e6nesbwwb", + "x": 0.41900000000000004, + "y": 0.6337777709960938, + "width": 0.14399999999999996, + "height": 0.20933333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "frame": 81, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近", + "time": 2.6857387474226804, + "annotations": { + "bbox_1769074633648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633648_1769074714652_a35hkw2tm", + "x": 0.42000000000000004, + "y": 0.6386666666666667, + "width": 0.13799999999999998, + "height": 0.20400000000000004 + } + ] + }, + "bbox_1769074633538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633538_1769074719562_9kzt63cxt", + "x": 0.34199999999999997, + "y": 0.4093333333333334, + "width": 0.15300000000000002, + "height": 0.05466666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 102, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入笔盒的任务应当：抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近", + "time": 3.413299, + "annotations": { + "point_1769074634480": { + "type": "point", + "instances": [ + { + "id": "point_1769074634480_1769074725690_dle68kohu", + "x": 0.37, + "y": 0.4537777709960938 + } + ] + }, + "point_1769074634328": { + "type": "point", + "instances": [ + { + "id": "point_1769074634328_1769074729132_mvuwyniww", + "x": 0.352, + "y": 0.4417777709960938 + } + ] + }, + "bbox_1769074633538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633538_1769074734642_wlxy7rdm8", + "x": 0.33599999999999997, + "y": 0.31644443766276037, + "width": 0.127, + "height": 0.13733333333333336 + } + ] + }, + "bbox_1769074633648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633648_1769074738120_175jxv2vb", + "x": 0.41200000000000003, + "y": 0.6351111043294271, + "width": 0.158, + "height": 0.20266666666666672 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹前方移动。\n", + "correction_plan": "继续向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 181, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹前边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了笔盒。\n为完成抓取笔使其落入笔盒的任务应当：继续向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 6.039733, + "annotations": { + "bbox_1769074633648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633648_1769074741692_7but21rj8", + "x": 0.40800000000000003, + "y": 0.6266666666666667, + "width": 0.17400000000000002, + "height": 0.20400000000000004 + } + ] + }, + "point_1769074634480": { + "type": "point", + "instances": [ + { + "id": "point_1769074634480_1769074745642_vhtqiuakn", + "x": 0.36, + "y": 0.38666666666666666 + } + ] + }, + "point_1769074634328": { + "type": "point", + "instances": [ + { + "id": "point_1769074634328_1769074747836_bwxbx7nxq", + "x": 0.332, + "y": 0.37866666666666665 + } + ] + }, + "bbox_1769074633538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633538_1769074752158_eta335983", + "x": 0.311, + "y": 0.2613333333333333, + "width": 0.12500000000000006, + "height": 0.12666666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，向爪夹前方移动", + "correction_plan": "将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹移动到了笔盒正上方，方便将目标放入笔盒。", + "frame": 205, + "progress": 60, + "progress_explanation": "爪夹夹紧笔，到了爪夹前方的笔盒正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于笔盒正上方。\n为完成抓取笔使其落入笔盒的任务应当：将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 6.847866, + "annotations": { + "bbox_1769074633648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633648_1769074768566_960ihlgh3", + "x": 0.41600000000000004, + "y": 0.6337777709960938, + "width": 0.15599999999999997, + "height": 0.19866666666666669 + } + ] + }, + "point_1769074634480": { + "type": "point", + "instances": [ + { + "id": "point_1769074634480_1769074772710_b0vbsntbx", + "x": 0.503, + "y": 0.49111110432942706 + } + ] + }, + "point_1769074634328": { + "type": "point", + "instances": [ + { + "id": "point_1769074634328_1769074775120_pa3o9p2dn", + "x": 0.472, + "y": 0.49111110432942706 + } + ] + }, + "bbox_1769074633538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633538_1769074778638_teoujw3ij", + "x": 0.46699999999999997, + "y": 0.4044444376627604, + "width": 0.04800000000000004, + "height": 0.10800000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "笔放入笔盒，方便笔落入笔盒。", + "frame": 250, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，笔放入笔盒。因此进度提升为 80%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面\n为完成抓取笔使其落入笔盒的任务应当：松开爪夹，使笔落入笔盒。", + "time": 8.347166, + "annotations": { + "bbox_1769074633538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633538_1769074791388_ff0wb2vy8", + "x": 0.471, + "y": 0.6711111043294271, + "width": 0.05700000000000003, + "height": 0.15066666666666664 + } + ] + }, + "point_1769074634480": { + "type": "point", + "instances": [ + { + "id": "point_1769074634480_1769074794750_dsv191p3x", + "x": 0.519, + "y": 0.8071111043294271 + } + ] + }, + "point_1769074634328": { + "type": "point", + "instances": [ + { + "id": "point_1769074634328_1769074798076_m96r161gu", + "x": 0.49400000000000005, + "y": 0.8151111043294271 + } + ] + }, + "bbox_1769074633648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633648_1769074802688_ewpunj166", + "x": 0.422, + "y": 0.6471111043294271, + "width": 0.13800000000000007, + "height": 0.1960000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，笔落入笔盒。", + "frame": 304, + "progress": 100, + "progress_explanation": "爪夹张开，笔落入笔盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落入笔盒的任务目标完成。", + "time": 10.140034046391753, + "annotations": { + "bbox_1769074633648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633648_1769074807294_2s22u67gf", + "x": 0.41900000000000004, + "y": 0.6457777709960938, + "width": 0.15199999999999997, + "height": 0.19599999999999998 + } + ] + }, + "point_1769074634328": { + "type": "point", + "instances": [ + { + "id": "point_1769074634328_1769074809782_m2h5acqfw", + "x": 0.43600000000000005, + "y": 0.831111104329427 + } + ] + }, + "point_1769074634480": { + "type": "point", + "instances": [ + { + "id": "point_1769074634480_1769074813524_6kzncb3zj", + "x": 0.554, + "y": 0.8217777709960938 + } + ] + }, + "bbox_1769074633538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769074633538_1769074817928_uyashml7y", + "x": 0.426, + "y": 0.7057777709960937, + "width": 0.09700000000000006, + "height": 0.08399999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769074633538", + "name": "笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769074633648", + "name": "笔盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769074634328", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769074634480", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-143906-put-purple-pen-pencil-case-good/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-143906-put-purple-pen-pencil-case-good/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..1999081e0ba0327faea5d40e1eabf44b8800891c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-143906-put-purple-pen-pencil-case-good/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,464 @@ +{ + "task_description": "抓取笔放入笔盒里：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近笔盒：60%\n爪夹将笔放入笔盒：80%\n爪夹松开笔落入笔盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769075090744": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1769075090744_1769075128722_2j4tef173", + "width": 0.11000000000000006, + "x": 0.572, + "y": 0.35377777099609375 + } + ], + "type": "bbox" + }, + "bbox_1769075090855": { + "instances": [ + { + "height": 0.20400000000000001, + "id": "bbox_1769075090855_1769075134112_nmh6hdcry", + "width": 0.123, + "x": 0.35100000000000003, + "y": 0.11644443766276043 + } + ], + "type": "bbox" + }, + "point_1769075091472": { + "instances": [ + { + "id": "point_1769075091472_1769075136984_qc8uhm0lq", + "x": 0.6679999999999999, + "y": 0.2871111043294271 + } + ], + "type": "point" + }, + "point_1769075091592": { + "instances": [ + { + "id": "point_1769075091592_1769075140396_7390xz806", + "x": 0.728, + "y": 0.24177777099609374 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。", + "annotations": { + "bbox_1769075090744": { + "instances": [ + { + "height": 0.12666666666666662, + "id": "bbox_1769075090744_1769075158310_e762thqzy", + "width": 0.10300000000000002, + "x": 0.576, + "y": 0.3471111043294271 + } + ], + "type": "bbox" + }, + "bbox_1769075090855": { + "instances": [ + { + "height": 0.20133333333333336, + "id": "bbox_1769075090855_1769075153378_8ojtvuomi", + "width": 0.11699999999999999, + "x": 0.354, + "y": 0.12444443766276042 + } + ], + "type": "bbox" + }, + "point_1769075091472": { + "instances": [ + { + "id": "point_1769075091472_1769075147298_hgjiz436l", + "x": 0.667, + "y": 0.2391111043294271 + } + ], + "type": "point" + }, + "point_1769075091592": { + "instances": [ + { + "id": "point_1769075091592_1769075143774_cvpaddov3", + "x": 0.7270000000000001, + "y": 0.1831111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹的角度与桌面呈 60 度。水平上未接近笔", + "frame": 34, + "progress": 5, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 60 度。还未接近笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 1.127133 + }, + { + "action_description": "爪夹向爪夹右前方移动\n", + "annotations": { + "bbox_1769075090744": { + "instances": [ + { + "height": 0.11466666666666665, + "id": "bbox_1769075090744_1769075163128_6oxsvonl6", + "width": 0.10099999999999998, + "x": 0.579, + "y": 0.35377777099609375 + } + ], + "type": "bbox" + }, + "bbox_1769075090855": { + "instances": [ + { + "height": 0.21066666666666664, + "id": "bbox_1769075090855_1769075169360_km9urtn7r", + "width": 0.10899999999999999, + "x": 0.358, + "y": 0.11377777099609375 + } + ], + "type": "bbox" + }, + "point_1769075091472": { + "instances": [ + { + "id": "point_1769075091472_1769075173800_b4otadcqr", + "x": 0.634, + "y": 0.2564444376627604 + } + ], + "type": "point" + }, + "point_1769075091592": { + "instances": [ + { + "id": "point_1769075091592_1769075176814_xd7la5vk1", + "x": 0.718, + "y": 0.2777777709960938 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 58, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 1.9403092175257732 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度\n", + "annotations": { + "bbox_1769075090744": { + "instances": [ + { + "height": 0.11333333333333334, + "id": "bbox_1769075090744_1769075189272_imzqccaw7", + "width": 0.10199999999999995, + "x": 0.5780000000000001, + "y": 0.356 + } + ], + "type": "bbox" + }, + "bbox_1769075090855": { + "instances": [ + { + "height": 0.20666666666666664, + "id": "bbox_1769075090855_1769075194066_fu75vcfew", + "width": 0.10800000000000001, + "x": 0.359, + "y": 0.116 + } + ], + "type": "bbox" + }, + "point_1769075091472": { + "instances": [ + { + "id": "point_1769075091472_1769075184804_1txlbtnji", + "x": 0.619, + "y": 0.384 + } + ], + "type": "point" + }, + "point_1769075091592": { + "instances": [ + { + "id": "point_1769075091592_1769075181874_4wyys8ldu", + "x": 0.6990000000000001, + "y": 0.37733333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "frame": 84, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近", + "time": 2.796566 + }, + { + "action_description": "爪夹合拢\n", + "annotations": { + "bbox_1769075090744": { + "instances": [ + { + "height": 0.184, + "id": "bbox_1769075090744_1769075205188_too9j0ri0", + "width": 0.07399999999999993, + "x": 0.644, + "y": 0.3431111043294271 + } + ], + "type": "bbox" + }, + "bbox_1769075090855": { + "instances": [ + { + "height": 0.20533333333333334, + "id": "bbox_1769075090855_1769075199996_snfbba922", + "width": 0.12200000000000003, + "x": 0.352, + "y": 0.11911110432942708 + } + ], + "type": "bbox" + }, + "point_1769075091472": { + "instances": [ + { + "id": "point_1769075091472_1769075208722_ju8btzm67", + "x": 0.655, + "y": 0.3911111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 111, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入笔盒的任务应当：抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近", + "time": 3.689766 + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹前方移动。\n", + "annotations": { + "bbox_1769075090744": { + "instances": [ + { + "height": 0.18266666666666667, + "id": "bbox_1769075090744_1769075231532_8n4txafub", + "width": 0.10800000000000001, + "x": 0.663, + "y": 0.164 + } + ], + "type": "bbox" + }, + "bbox_1769075090855": { + "instances": [ + { + "height": 0.21600000000000003, + "id": "bbox_1769075090855_1769075227184_otd8cnhjf", + "width": 0.12899999999999995, + "x": 0.35100000000000003, + "y": 0.11733333333333333 + } + ], + "type": "bbox" + }, + "point_1769075091472": { + "instances": [ + { + "id": "point_1769075091472_1769075212986_3np1k14wg", + "x": 0.666, + "y": 0.18133333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 168, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹前边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了笔盒。\n为完成抓取笔使其落入笔盒的任务应当：继续向爪夹前方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 5.603766 + }, + { + "action_description": "爪夹夹紧笔，向爪夹前方移动", + "annotations": { + "bbox_1769075090744": { + "instances": [ + { + "height": 0.068, + "id": "bbox_1769075090744_1769075237134_4x6ij07dr", + "width": 0.04399999999999995, + "x": 0.499, + "y": 0.0017777709960937501 + } + ], + "type": "bbox" + }, + "bbox_1769075090855": { + "instances": [ + { + "height": 0.21200000000000005, + "id": "bbox_1769075090855_1769075247186_3q9apbxte", + "width": 0.11999999999999997, + "x": 0.352, + "y": 0.11911110432942708 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹移动到了笔盒正上方，方便将目标放入笔盒。", + "frame": 208, + "progress": 60, + "progress_explanation": "爪夹夹紧笔，到了爪夹前方的笔盒正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于笔盒正上方。\n为完成抓取笔使其落入笔盒的任务应当：将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 6.922299 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "annotations": { + "bbox_1769075090744": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1769075090744_1769075263982_mh2oza4to", + "width": 0.07300000000000004, + "x": 0.363, + "y": -0.0008888956705729168 + } + ], + "type": "bbox" + }, + "bbox_1769075090855": { + "instances": [ + { + "height": 0.2, + "id": "bbox_1769075090855_1769075258828_67ek0jk03", + "width": 0.121, + "x": 0.354, + "y": 0.12177777099609374 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "笔放入笔盒，方便笔落入笔盒。", + "frame": 248, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，笔放入笔盒。因此进度提升为 80%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面\n为完成抓取笔使其落入笔盒的任务应当：松开爪夹，使笔落入笔盒。", + "time": 8.272733 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769075090744": { + "instances": [ + { + "height": 0.17866666666666664, + "id": "bbox_1769075090744_1769075270662_0j04ik6xm", + "width": 0.03499999999999996, + "x": 0.40800000000000003, + "y": 0.09511110432942708 + } + ], + "type": "bbox" + }, + "bbox_1769075090855": { + "instances": [ + { + "height": 0.20666666666666664, + "id": "bbox_1769075090855_1769075275326_34ns6qr8x", + "width": 0.11499999999999999, + "x": 0.35500000000000004, + "y": 0.11244443766276042 + } + ], + "type": "bbox" + }, + "point_1769075091472": { + "instances": [ + { + "id": "point_1769075091472_1769075279368_dz0k5xtrs", + "x": 0.346, + "y": 0.12444443766276042 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，笔落入笔盒。", + "frame": 319, + "progress": 100, + "progress_explanation": "爪夹张开，笔落入笔盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落入笔盒的任务目标完成。", + "time": 10.633333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769075090744", + "name": "笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769075090855", + "name": "笔盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769075091472", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769075091592", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-145246-put-purple-pen-pencil-case-mix/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-145246-put-purple-pen-pencil-case-mix/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..681d17981b6856e23574a4b856f552624dd9fe92 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-145246-put-purple-pen-pencil-case-mix/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,620 @@ +{ + "task_description": "抓取笔放入笔盒里：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近笔盒：60%\n爪夹将笔放入笔盒：80%\n爪夹松开笔落入笔盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769148030184": { + "instances": [ + { + "height": 0.060000000000000026, + "id": "bbox_1769148030184_1769148077954_b0iaa579v", + "width": 0.13599999999999995, + "x": 0.5900000000000001, + "y": 0.24577777099609374 + } + ], + "type": "bbox" + }, + "bbox_1769148030296": { + "instances": [ + { + "height": 0.2293333333333333, + "id": "bbox_1769148030296_1769148083004_2eldkukqd", + "width": 0.16499999999999998, + "x": 0.322, + "y": 0.2671111043294271 + } + ], + "type": "bbox" + }, + "point_1769148031056": { + "instances": [ + { + "id": "point_1769148031056_1769148053946_czyrgt97i", + "x": 0.663, + "y": 0.30577777099609377 + } + ], + "type": "point" + }, + "point_1769148031194": { + "instances": [ + { + "id": "point_1769148031194_1769148050368_f3em2s3tu", + "x": 0.7270000000000001, + "y": 0.24444443766276042 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。", + "annotations": { + "bbox_1769148030184": { + "instances": [ + { + "height": 0.054666666666666655, + "id": "bbox_1769148030184_1769148096984_j05451s4z", + "width": 0.12199999999999997, + "x": 0.5980000000000001, + "y": 0.24977777099609375 + } + ], + "type": "bbox" + }, + "bbox_1769148030296": { + "instances": [ + { + "height": 0.2346666666666667, + "id": "bbox_1769148030296_1769148089168_3v3frtyvx", + "width": 0.152, + "x": 0.326, + "y": 0.2711111043294271 + } + ], + "type": "bbox" + }, + "point_1769148031056": { + "instances": [ + { + "id": "point_1769148031056_1769148099824_88yjsz50e", + "x": 0.7020000000000001, + "y": 0.16577777099609375 + } + ], + "type": "point" + }, + "point_1769148031194": { + "instances": [ + { + "id": "point_1769148031194_1769148104234_bpmm3bqag", + "x": 0.768, + "y": 0.10311110432942708 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹的角度与桌面呈 60 度。水平上未接近笔", + "frame": 63, + "progress": 5, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 60 度。还未接近笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 2.084133 + }, + { + "action_description": "爪夹向爪夹右前方移动\n", + "annotations": { + "bbox_1769148030184": { + "instances": [ + { + "height": 0.05466666666666668, + "id": "bbox_1769148030184_1769148119360_t47m1yxh6", + "width": 0.12400000000000003, + "x": 0.596, + "y": 0.25111110432942707 + } + ], + "type": "bbox" + }, + "bbox_1769148030296": { + "instances": [ + { + "height": 0.23600000000000002, + "id": "bbox_1769148030296_1769148124458_qlohjybi5", + "width": 0.13599999999999998, + "x": 0.335, + "y": 0.2711111043294271 + } + ], + "type": "bbox" + }, + "point_1769148031056": { + "instances": [ + { + "id": "point_1769148031056_1769148112554_4h5sxyxkq", + "x": 0.646, + "y": 0.20177777099609376 + } + ], + "type": "point" + }, + "point_1769148031194": { + "instances": [ + { + "id": "point_1769148031194_1769148108820_l1se2tgr8", + "x": 0.7060000000000001, + "y": 0.16711110432942708 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 110, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 3.683166 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1769148030184": { + "instances": [ + { + "height": 0.068, + "id": "bbox_1769148030184_1769148134754_melhat5t0", + "width": 0.14000000000000004, + "x": 0.575, + "y": 0.2084444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769148030296": { + "instances": [ + { + "height": 0.24000000000000005, + "id": "bbox_1769148030296_1769148129576_9cjayn84e", + "width": 0.156, + "x": 0.33, + "y": 0.26844443766276044 + } + ], + "type": "bbox" + }, + "point_1769148031056": { + "instances": [ + { + "id": "point_1769148031056_1769148140614_mn480hg7i", + "x": 0.603, + "y": 0.29911110432942706 + } + ], + "type": "point" + }, + "point_1769148031194": { + "instances": [ + { + "id": "point_1769148031194_1769148137784_kxu35seu8", + "x": 0.66, + "y": 0.2631111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新上升后同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹未在合适位置下降，触碰到笔使笔向前移动", + "frame": 144, + "progress": 10, + "progress_explanation": "因爪夹下降碰到笔，因此进度降低为10%", + "state_description": "爪夹下降将笔触碰到", + "time": 4.7971 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹重新上升后同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹未在笔的上方合拢抓紧，而是在空中合拢未抓取到物品", + "frame": 199, + "progress": 5, + "progress_explanation": "因爪夹合拢未抓取到任何物品，因此进度降低为5%", + "state_description": "爪夹合拢未抓取到物品", + "time": 6.647666 + }, + { + "action_description": "爪夹向爪夹前方移动", + "annotations": { + "bbox_1769148030184": { + "instances": [ + { + "height": 0.05200000000000002, + "id": "bbox_1769148030184_1769148166256_19cenrwvb", + "width": 0.121, + "x": 0.567, + "y": 0.2044444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769148030296": { + "instances": [ + { + "height": 0.23600000000000002, + "id": "bbox_1769148030296_1769148172432_8l38o4khw", + "width": 0.13999999999999999, + "x": 0.335, + "y": 0.2711111043294271 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 256, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 8.534166 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1769148030184": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1769148030184_1769148183498_kgfxmti5u", + "width": 0.125, + "x": 0.591, + "y": 0.2404444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769148030296": { + "instances": [ + { + "height": 0.24800000000000005, + "id": "bbox_1769148030296_1769148179658_eyd57uzlh", + "width": 0.15100000000000002, + "x": 0.331, + "y": 0.26844443766276044 + } + ], + "type": "bbox" + }, + "point_1769148031056": { + "instances": [ + { + "id": "point_1769148031056_1769148187984_l42ii13nj", + "x": 0.568, + "y": 0.26844443766276044 + } + ], + "type": "point" + }, + "point_1769148031194": { + "instances": [ + { + "id": "point_1769148031194_1769148190474_pi0j86s7d", + "x": 0.616, + "y": 0.22444443766276043 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新上升后同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹在错误位置下降，未触碰到目标物", + "frame": 316, + "progress": 10, + "progress_explanation": "因爪夹未在合适位置下降爪夹内无任何物品，因此进度降低为10%", + "state_description": "爪夹下降触碰到桌子，但爪夹内未存在物品", + "time": 10.528466 + }, + { + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度\n", + "annotations": { + "bbox_1769148030184": { + "instances": [ + { + "height": 0.054666666666666655, + "id": "bbox_1769148030184_1769148200882_sgpblsmzq", + "width": 0.12699999999999995, + "x": 0.591, + "y": 0.2391111043294271 + } + ], + "type": "bbox" + }, + "bbox_1769148030296": { + "instances": [ + { + "height": 0.24533333333333332, + "id": "bbox_1769148030296_1769148205518_xix9azcey", + "width": 0.14100000000000001, + "x": 0.33399999999999996, + "y": 0.27244443766276044 + } + ], + "type": "bbox" + }, + "point_1769148031056": { + "instances": [ + { + "id": "point_1769148031056_1769148196182_nrm6zjat3", + "x": 0.62, + "y": 0.2951111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "frame": 361, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹合拢抓取笔，抓紧蓝色方块垂直升高爪夹并向爪夹右后方的碗接近", + "time": 12.0197 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769148030184": { + "instances": [ + { + "height": 0.10933333333333331, + "id": "bbox_1769148030184_1769148227016_apqyn43j9", + "width": 0.12800000000000003, + "x": 0.599, + "y": 0.22577777099609378 + } + ], + "type": "bbox" + }, + "bbox_1769148030296": { + "instances": [ + { + "height": 0.24399999999999997, + "id": "bbox_1769148030296_1769148211288_h5wyhxihe", + "width": 0.152, + "x": 0.327, + "y": 0.2631111043294271 + } + ], + "type": "bbox" + }, + "point_1769148031056": { + "instances": [ + { + "id": "point_1769148031056_1769148230788_aoa9m2ewh", + "x": 0.635, + "y": 0.2777777709960938 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 386, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入笔盒的任务应当：抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近", + "time": 12.864133 + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹左方移动。\n", + "annotations": { + "bbox_1769148030184": { + "instances": [ + { + "height": 0.128, + "id": "bbox_1769148030184_1769148243924_ovury8gi4", + "width": 0.1, + "x": 0.603, + "y": -0.0008888956705729168 + } + ], + "type": "bbox" + }, + "bbox_1769148030296": { + "instances": [ + { + "height": 0.25333333333333335, + "id": "bbox_1769148030296_1769148248696_yzj8af5r5", + "width": 0.15199999999999997, + "x": 0.328, + "y": 0.26044443766276043 + } + ], + "type": "bbox" + }, + "point_1769148031056": { + "instances": [ + { + "id": "point_1769148031056_1769148236184_qti6g8dhs", + "x": 0.603, + "y": 0.0017777709960937501 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 431, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹左边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了笔盒。\n为完成抓取笔使其落入笔盒的任务应当：继续向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 14.373333600000002 + }, + { + "action_description": "爪夹夹紧笔，向爪夹左方移动", + "annotations": { + "bbox_1769148030296": { + "instances": [ + { + "height": 0.25066666666666665, + "id": "bbox_1769148030296_1769148255862_pwkajiwer", + "width": 0.15199999999999997, + "x": 0.328, + "y": 0.2564444376627604 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹移动到了笔盒正上方，方便将目标放入笔盒", + "frame": 462, + "progress": 60, + "progress_explanation": "爪夹夹紧笔，到了爪夹左方的笔盒正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于笔盒正上方。\n为完成抓取笔使其落入笔盒的任务应当：将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 15.410584478350515 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "annotations": { + "bbox_1769148030184": { + "instances": [ + { + "height": 0.20400000000000001, + "id": "bbox_1769148030184_1769148271508_x8ftc2e70", + "width": 0.15300000000000002, + "x": 0.30300000000000005, + "y": 0.132 + } + ], + "type": "bbox" + }, + "bbox_1769148030296": { + "instances": [ + { + "height": 0.24400000000000002, + "id": "bbox_1769148030296_1769148262476_2nnjlmgpz", + "width": 0.154, + "x": 0.324, + "y": 0.2613333333333333 + } + ], + "type": "bbox" + }, + "point_1769148031056": { + "instances": [ + { + "id": "point_1769148031056_1769148265702_o14jp44ko", + "x": 0.344, + "y": 0.224 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "笔放入笔盒，方便笔落入笔盒。", + "frame": 489, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，笔放入笔盒。因此进度提升为 80%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，笔放入笔盒。\n为完成抓取笔使其落入笔盒的任务应当：松开爪夹，使笔落入笔盒。", + "time": 16.295766 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769148030184": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1769148030184_1769148278976_msfdtjip4", + "width": 0.12599999999999997, + "x": 0.32, + "y": 0.3417777709960938 + } + ], + "type": "bbox" + }, + "bbox_1769148030296": { + "instances": [ + { + "height": 0.2426666666666667, + "id": "bbox_1769148030296_1769148285750_svp8nva03", + "width": 0.14299999999999996, + "x": 0.332, + "y": 0.27377777099609374 + } + ], + "type": "bbox" + }, + "point_1769148031056": { + "instances": [ + { + "id": "point_1769148031056_1769148289738_gvzfxcmr7", + "x": 0.331, + "y": 0.2711111043294271 + } + ], + "type": "point" + }, + "point_1769148031194": { + "instances": [ + { + "id": "point_1769148031194_1769148293036_uav0f466x", + "x": 0.38, + "y": 0.18844443766276042 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，笔落入笔盒。", + "frame": 539, + "progress": 100, + "progress_explanation": "爪夹张开，笔落入笔盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落入笔盒的任务目标完成。", + "time": 17.966667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769148030184", + "name": "笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769148030296", + "name": "笔盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769148031056", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769148031194", + "name": "抓夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-151545-put-purple-pen-pencil-case-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-151545-put-purple-pen-pencil-case-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..2ca42feba8160c90ce325ba3dabc50f26e0858d8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-151545-put-purple-pen-pencil-case-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,590 @@ +{ + "task_description": "抓取笔放入碗里：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近碗：60%\n爪夹将笔放入碗：80%\n爪夹松开笔落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "", + "frame": 37, + "progress": 0, + "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 1.242133, + "annotations": { + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152526479_vx9rdqzai", + "x": 0.8160000000000001, + "y": 0.24577777099609374, + "width": 0.18200000000000002, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152533327_ivpywnu5e", + "x": 0.763, + "y": 0.47377777099609375, + "width": 0.23500000000000004, + "height": 0.328 + } + ] + }, + "point_1769152472969": { + "type": "point", + "instances": [ + { + "id": "point_1769152472969_1769152536712_awrxd2ww3", + "x": 0.399, + "y": 0.42177777099609376 + } + ] + }, + "point_1769152473137": { + "type": "point", + "instances": [ + { + "id": "point_1769152473137_1769152539457_xgic3flcn", + "x": 0.512, + "y": 0.4711111043294271 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹的角度与桌面呈 60 度。水平上未接近笔", + "frame": 70, + "progress": 5, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 60 度。还未接近笔。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 2.319866, + "annotations": { + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152553859_1k1m98b8l", + "x": 0.762, + "y": 0.4764444376627604, + "width": 0.23600000000000004, + "height": 0.31466666666666665 + } + ] + }, + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152558385_ycwamecg2", + "x": 0.8140000000000001, + "y": 0.24577777099609374, + "width": 0.18100000000000005, + "height": 0.148 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 102, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 3.3976, + "annotations": { + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152564547_f76bjc642", + "x": 0.8220000000000001, + "y": 0.24577777099609374, + "width": 0.17199999999999988, + "height": 0.14933333333333335 + } + ] + }, + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152578051_w41kx39fh", + "x": 0.767, + "y": 0.48044443766276046, + "width": 0.23200000000000004, + "height": 0.3213333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。", + "frame": 148, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入碗的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右后方的碗接近", + "time": 4.932, + "annotations": { + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152584907_0tajj19eh", + "x": 0.768, + "y": 0.48000000000000004, + "width": 0.23100000000000004, + "height": 0.3093333333333333 + } + ] + }, + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152592513_z2m1eymge", + "x": 0.8109999999999999, + "y": 0.232, + "width": 0.1870000000000001, + "height": 0.16 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 214, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入碗的任务应当：抓紧笔垂直升高爪夹并向爪夹后方的碗接近", + "time": 7.142266, + "annotations": { + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152600133_mldi7e9ly", + "x": 0.8230000000000001, + "y": 0.20977777099609377, + "width": 0.15299999999999994, + "height": 0.18933333333333333 + } + ] + }, + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152605535_5x8pzqn22", + "x": 0.764, + "y": 0.46444443766276045, + "width": 0.23499999999999996, + "height": 0.34 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹前方移动。", + "correction_plan": "继续向爪夹后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了碗。更加方便接近碗。", + "frame": 268, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹后边的碗接近。缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了碗。\n为完成抓取笔使其落入碗的任务应当：继续向爪夹后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "time": 8.9324, + "annotations": { + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152613289_7mbkbwbke", + "x": 0.764, + "y": 0.4697777709960938, + "width": 0.23499999999999996, + "height": 0.324 + } + ] + }, + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152624875_y0dw1511z", + "x": 0.783, + "y": -0.0008888956705729168, + "width": 0.1710000000000001, + "height": 0.2 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，向爪夹后方移动", + "correction_plan": "将笔放入碗，松开爪夹，使笔落入碗。\n", + "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放入碗。", + "frame": 300, + "progress": 60, + "progress_explanation": "爪夹夹紧笔，到了爪夹后方的碗正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取笔使其落入碗的任务应当：将笔放入碗，松开爪夹，使笔落入碗。", + "time": 9.991866, + "annotations": { + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152632859_fhsdwj64x", + "x": 0.72, + "y": 0.2813333333333333, + "width": 0.21100000000000002, + "height": 0.20133333333333336 + } + ] + }, + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152639781_krcmu0m7q", + "x": 0.759, + "y": 0.4746666666666667, + "width": 0.23900000000000005, + "height": 0.31733333333333336 + } + ] + } + } + }, + { + "action_description": "抓夹张开", + "correction_plan": "抓夹重新调整位置使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "抓夹未在正确位置打开，导致笔掉落", + "frame": 327, + "progress": 5, + "progress_explanation": "因抓夹在错误位置打开，因此进度降低为5%", + "state_description": "抓夹张开使笔掉落", + "time": 10.886933, + "annotations": { + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152648331_h50p0nc81", + "x": 0.767, + "y": 0.4711111043294271, + "width": 0.23200000000000004, + "height": 0.31466666666666665 + } + ] + }, + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152652645_o4znh9676", + "x": 0.622, + "y": 0.4231111043294271, + "width": 0.19400000000000003, + "height": 0.11733333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左方移动", + "correction_plan": "爪夹向爪夹左方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 361, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入碗的任务应当：爪夹向爪夹左方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 12.037733, + "annotations": { + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152657843_zy0b4hwel", + "x": 0.618, + "y": 0.42577777099609376, + "width": 0.20099999999999998, + "height": 0.11200000000000004 + } + ] + }, + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152665989_vzft8g27k", + "x": 0.764, + "y": 0.4764444376627604, + "width": 0.23399999999999999, + "height": 0.31466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。", + "frame": 384, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入碗的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹右后方的碗接近", + "time": 12.804933, + "annotations": { + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152676573_s013fsd4a", + "x": 0.764, + "y": 0.4746666666666667, + "width": 0.23499999999999996, + "height": 0.31466666666666665 + } + ] + }, + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152681459_jbfta13e5", + "x": 0.615, + "y": 0.4266666666666667, + "width": 0.20299999999999993, + "height": 0.10666666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 410, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入碗的任务应当：抓紧笔垂直升高爪夹并向爪夹右后方的碗接近", + "time": 13.681733, + "annotations": { + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152687327_mnvk6dl7u", + "x": 0.646, + "y": 0.4311111043294271, + "width": 0.15599999999999997, + "height": 0.15600000000000006 + } + ] + }, + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152694081_wgfvi6aoc", + "x": 0.768, + "y": 0.48977777099609376, + "width": 0.23100000000000004, + "height": 0.30666666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹右后方移动。", + "correction_plan": "继续向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了碗。更加方便接近碗。", + "frame": 471, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹右后边的碗接近。缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了碗。\n为完成抓取笔使其落入碗的任务应当：继续向爪夹右后方的碗接近，水平到达碗的正上方后将笔放入碗，松开爪夹，使笔落入碗。", + "time": 15.691066, + "annotations": { + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152699085_o7hkgnzqs", + "x": 0.767, + "y": 0.4924444376627604, + "width": 0.23200000000000004, + "height": 0.31200000000000006 + } + ] + }, + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152704465_rxwr9yosy", + "x": 0.6799999999999999, + "y": 0.18577777099609377, + "width": 0.21399999999999997, + "height": 0.27999999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，向爪夹后方移动", + "correction_plan": "将笔放入碗，松开爪夹，使笔落入碗。\n", + "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放入碗。", + "frame": 480, + "progress": 60, + "progress_explanation": "爪夹夹紧笔，到了爪夹后方的碗正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取笔使其落入碗的任务应当：将笔放入碗，松开爪夹，使笔落入碗。", + "time": 16.0016, + "annotations": { + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152718569_ixxgo7bgw", + "x": 0.774, + "y": 0.4053333333333333, + "width": 0.22100000000000009, + "height": 0.14800000000000005 + } + ] + }, + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152723523_63xpsp1co", + "x": 0.766, + "y": 0.4746666666666667, + "width": 0.233, + "height": 0.33066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使笔落入碗。\n", + "error_success_analysis": "笔放入碗，方便笔落入碗。", + "frame": 508, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，笔放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，笔放入碗。\n为完成抓取笔使其落入碗的任务应当：松开爪夹，使笔落入碗。", + "time": 16.948453917525775, + "annotations": { + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152733657_mbyh09p8y", + "x": 0.77, + "y": 0.4591111043294271, + "width": 0.22800000000000004, + "height": 0.348 + } + ] + }, + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152736955_d6foodxt7", + "x": 0.8480000000000001, + "y": 0.49777777099609377, + "width": 0.15, + "height": 0.14266666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，笔落入碗。", + "frame": 548, + "progress": 100, + "progress_explanation": "爪夹张开，笔落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落入碗的任务目标完成。", + "time": 18.266667, + "annotations": { + "bbox_1769152472055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472055_1769152744109_k0xpvgduz", + "x": 0.8150000000000001, + "y": 0.5857777709960937, + "width": 0.184, + "height": 0.10133333333333343 + } + ] + }, + "bbox_1769152472183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769152472183_1769152751713_7i34dg2f0", + "x": 0.772, + "y": 0.49777777099609377, + "width": 0.22700000000000004, + "height": 0.2906666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769152472055", + "name": "笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769152472183", + "name": "碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769152472969", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769152473137", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-153052-put-yellow-pen-pencil-case-good/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-153052-put-yellow-pen-pencil-case-good/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b60f3614b0866faeb720b387fd4a1c580c422445 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-153052-put-yellow-pen-pencil-case-good/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,402 @@ +{ + "task_description": "抓取笔放入笔盒里：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近笔盒：60%\n爪夹将笔放入笔盒：80%\n爪夹松开笔落入笔盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 0.0125, + "annotations": { + "point_1769139134983": { + "type": "point", + "instances": [ + { + "id": "point_1769139134983_1769139163438_go9ncpijf", + "x": 0.492, + "y": 0.4697777709960938 + } + ] + }, + "point_1769139134864": { + "type": "point", + "instances": [ + { + "id": "point_1769139134864_1769139172950_jbw04fg93", + "x": 0.371, + "y": 0.43377777099609377 + } + ] + }, + "bbox_1769139134112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134112_1769139181257_7y7txetu2", + "x": 0.804, + "y": 0.2631111043294271, + "width": 0.19499999999999992, + "height": 0.08266666666666665 + } + ] + }, + "bbox_1769139134233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134233_1769139186333_mdv2e0l6l", + "x": 0.503, + "y": 0.5551111043294271, + "width": 0.192, + "height": 0.2826666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹的角度与桌面呈 60 度。水平上未接近笔", + "frame": 56, + "progress": 5, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 60 度。还未接近蓝色方块。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 1.85, + "annotations": { + "bbox_1769139134233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134233_1769139194309_pxm6tg5zi", + "x": 0.491, + "y": 0.5431111043294271, + "width": 0.205, + "height": 0.284 + } + ] + }, + "bbox_1769139134112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134112_1769139201581_o6c2xf2is", + "x": 0.8109999999999999, + "y": 0.26044443766276043, + "width": 0.18800000000000008, + "height": 0.08533333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动\n", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 89, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 2.9625, + "annotations": { + "bbox_1769139134112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134112_1769139209157_d3h5fjqce", + "x": 0.808, + "y": 0.26044443766276043, + "width": 0.191, + "height": 0.08266666666666665 + } + ] + }, + "bbox_1769139134233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134233_1769139215207_5bisx2fdp", + "x": 0.496, + "y": 0.5511111043294271, + "width": 0.18600000000000003, + "height": 0.28666666666666674 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "frame": 138, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近", + "time": 4.6125, + "annotations": { + "bbox_1769139134233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134233_1769139226152_n2ig1q6ug", + "x": 0.503, + "y": 0.5533333333333333, + "width": 0.184, + "height": 0.284 + } + ] + }, + "bbox_1769139134112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134112_1769139234195_qjfmqt27b", + "x": 0.8240000000000001, + "y": 0.2613333333333333, + "width": 0.175, + "height": 0.0786666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 162, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入笔盒的任务应当：抓紧笔垂直升高爪夹并向爪夹后方的笔盒接近", + "time": 5.3875, + "annotations": { + "bbox_1769139134112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134112_1769139239403_ss5rjtc9u", + "x": 0.8460000000000001, + "y": 0.1911111043294271, + "width": 0.10399999999999991, + "height": 0.15733333333333333 + } + ] + }, + "bbox_1769139134233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134233_1769139244811_30ptlebgq", + "x": 0.49800000000000005, + "y": 0.5497777709960938, + "width": 0.18099999999999997, + "height": 0.2826666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹前方移动。", + "correction_plan": "继续向爪夹后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 210, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹后边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了笔盒。\n为完成抓取笔使其落入笔盒的任务应当：继续向爪夹后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 7.0125, + "annotations": { + "bbox_1769139134233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134233_1769139253855_kmjppmcqf", + "x": 0.487, + "y": 0.544, + "width": 0.2, + "height": 0.29066666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，向爪夹后方移动", + "correction_plan": "将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹移动到了笔盒正上方，方便将目标放入笔盒。", + "frame": 246, + "progress": 60, + "progress_explanation": "爪夹夹紧笔，到了爪夹后方的笔盒正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于笔盒正上方。\n为完成抓取笔使其落入笔盒的任务应当：将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 8.1875, + "annotations": { + "bbox_1769139134233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134233_1769139261487_w2b9l5hze", + "x": 0.483, + "y": 0.5457777709960937, + "width": 0.209, + "height": 0.2973333333333334 + } + ] + }, + "bbox_1769139134112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134112_1769139272565_uhr7q2x41", + "x": 0.53, + "y": 0.0017777709960937501, + "width": 0.20400000000000001, + "height": 0.4093333333333334 + } + ] + }, + "point_1769139134983": { + "type": "point", + "instances": [ + { + "id": "point_1769139134983_1769139276019_atireq3nn", + "x": 0.616, + "y": 0.28177777099609375 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使笔落入笔盒。", + "error_success_analysis": "笔放入笔盒，方便笔落入笔盒。", + "frame": 293, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，笔放入笔盒。因此进度提升为 80%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面\n为完成抓取笔使其落入笔盒的任务应当：松开爪夹，使笔落入笔盒。", + "time": 9.775, + "annotations": { + "point_1769139134983": { + "type": "point", + "instances": [ + { + "id": "point_1769139134983_1769139279935_6i1zvcp40", + "x": 0.611, + "y": 0.6457777709960938 + } + ] + }, + "bbox_1769139134233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134233_1769139283757_d72koakip", + "x": 0.47000000000000003, + "y": 0.5484444376627605, + "width": 0.221, + "height": 0.296 + } + ] + }, + "bbox_1769139134112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134112_1769139289139_k16hyurgd", + "x": 0.548, + "y": 0.39377777099609373, + "width": 0.14399999999999996, + "height": 0.3600000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，笔落入笔盒。", + "frame": 375, + "progress": 100, + "progress_explanation": "爪夹张开，笔落入笔盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落入笔盒的任务目标完成。", + "time": 12.5, + "annotations": { + "bbox_1769139134112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134112_1769139294967_scan0jycb", + "x": 0.546, + "y": 0.4791111043294271, + "width": 0.06400000000000006, + "height": 0.34933333333333333 + } + ] + }, + "point_1769139134864": { + "type": "point", + "instances": [ + { + "id": "point_1769139134864_1769139297493_w2agzkaga", + "x": 0.568, + "y": 0.5377777709960938 + } + ] + }, + "point_1769139134983": { + "type": "point", + "instances": [ + { + "id": "point_1769139134983_1769139300131_o4kkpxpjj", + "x": 0.686, + "y": 0.6084444376627604 + } + ] + }, + "bbox_1769139134233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139134233_1769139305225_2qark4n3j", + "x": 0.5, + "y": 0.5484444376627605, + "width": 0.18, + "height": 0.2879999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769139134112", + "name": "笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769139134233", + "name": "笔盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769139134864", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769139134983", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-155735-put-yellow-pen-pencil-case-mix/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-155735-put-yellow-pen-pencil-case-mix/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..62579b4e1d08f6f82323dd0a18a7cf07cdfc73a8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-155735-put-yellow-pen-pencil-case-mix/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,852 @@ +{ + "task_description": "抓取笔放入笔盒里：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近笔盒：60%\n爪夹将笔放入笔盒：80%\n爪夹松开笔落入笔盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.030666666666666665, + "id": "bbox_1769153422075_1769153457237_303exwb2m", + "width": 0.13399999999999998, + "x": 0.682, + "y": 0.36977777099609377 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.22533333333333339, + "id": "bbox_1769153422211_1769153474883_p61ngssws", + "width": 0.16500000000000004, + "x": 0.579, + "y": 0.3404444376627604 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153477163_krhzxidj9", + "x": 0.656, + "y": 0.3137777709960938 + } + ], + "type": "point" + }, + "point_1769153423091": { + "instances": [ + { + "id": "point_1769153423091_1769153480117_jgxfwgacq", + "x": 0.7060000000000001, + "y": 0.27644443766276044 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹右前方移动\n", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.036000000000000004, + "id": "bbox_1769153422075_1769153514057_zml7z9e5g", + "width": 0.13899999999999996, + "x": 0.6719999999999999, + "y": 0.3684444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.21599999999999994, + "id": "bbox_1769153422211_1769153519687_5la3nysuh", + "width": 0.15, + "x": 0.5820000000000001, + "y": 0.3431111043294271 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153508625_winubchmc", + "x": 0.63, + "y": 0.1591111043294271 + } + ], + "type": "point" + }, + "point_1769153423091": { + "instances": [ + { + "id": "point_1769153423091_1769153505695_y449cxks4", + "x": 0.7060000000000001, + "y": 0.15377777099609377 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 63, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 2.104599 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.036000000000000004, + "id": "bbox_1769153422075_1769153539781_6hmaahqzv", + "width": 0.14400000000000004, + "x": 0.663, + "y": 0.3684444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.2226666666666666, + "id": "bbox_1769153422211_1769153526409_81fh8uocz", + "width": 0.15600000000000006, + "x": 0.583, + "y": 0.33644443766276044 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153529133_6ect5ojgo", + "x": 0.642, + "y": 0.32044443766276043 + } + ], + "type": "point" + }, + "point_1769153423091": { + "instances": [ + { + "id": "point_1769153423091_1769153534067_111ryzc6w", + "x": 0.647, + "y": 0.3217777709960937 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新上升后同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹未在合适位置下降，未抓取到目标", + "frame": 109, + "progress": 5, + "progress_explanation": "因爪夹合拢未抓取到物品，因此进度降低未5%", + "state_description": "爪夹合拢未下降", + "time": 3.631466 + }, + { + "action_description": "爪夹向爪夹右前方移动", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.05066666666666665, + "id": "bbox_1769153422075_1769153544527_x476mg3u7", + "width": 0.15199999999999997, + "x": 0.658, + "y": 0.3564444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.2226666666666666, + "id": "bbox_1769153422211_1769153549331_e9nlclan3", + "width": 0.15300000000000002, + "x": 0.583, + "y": 0.33644443766276044 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153554083_eldmxz5lj", + "x": 0.632, + "y": 0.18044443766276042 + } + ], + "type": "point" + }, + "point_1769153423091": { + "instances": [ + { + "id": "point_1769153423091_1769153557623_ajyt2didf", + "x": 0.712, + "y": 0.17777777099609376 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 147, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 4.890099 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度\n", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.22000000000000006, + "id": "bbox_1769153422075_1769153570353_yr1rrxtv7", + "width": 0.15499999999999997, + "x": 0.583, + "y": 0.3351111043294271 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.037333333333333364, + "id": "bbox_1769153422211_1769153575445_jk1tyqllb", + "width": 0.14399999999999996, + "x": 0.664, + "y": 0.3684444376627604 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153564973_c9e5yp1u6", + "x": 0.6100000000000001, + "y": 0.3417777709960938 + } + ], + "type": "point" + }, + "point_1769153423091": { + "instances": [ + { + "id": "point_1769153423091_1769153562435_s8j3vbjfe", + "x": 0.683, + "y": 0.33777777099609374 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "frame": 168, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹前方的笔盒接近", + "time": 5.591633 + }, + { + "action_description": "爪夹合拢\n", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.046666666666666676, + "id": "bbox_1769153422075_1769153596051_q91th3oog", + "width": 0.15499999999999997, + "x": 0.704, + "y": 0.3644444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.22533333333333339, + "id": "bbox_1769153422211_1769153591269_8o2z9au5c", + "width": 0.16899999999999996, + "x": 0.5780000000000001, + "y": 0.3351111043294271 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 187, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入笔盒的任务应当：抓紧笔垂直升高爪夹并向爪夹左方的铁盒接近", + "time": 6.232542854639175 + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹左方移动。\n", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.046666666666666676, + "id": "bbox_1769153422075_1769153609349_0cicdnq1d", + "width": 0.15200000000000005, + "x": 0.7030000000000001, + "y": 0.3684444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.22400000000000003, + "id": "bbox_1769153422211_1769153614739_dpkd6qis1", + "width": 0.14700000000000008, + "x": 0.584, + "y": 0.3324444376627604 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153602481_r4uz5sjy8", + "x": 0.687, + "y": 0.16711110432942708 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 229, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹左边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了笔盒。\n为完成抓取笔使其落入笔盒的任务应当：继续向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 7.634333 + }, + { + "action_description": "爪夹夹紧笔，向爪夹左方移动", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.04933333333333335, + "id": "bbox_1769153422075_1769153626771_6e7lc63vn", + "width": 0.16099999999999995, + "x": 0.6990000000000001, + "y": 0.36311110432942706 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.2213333333333333, + "id": "bbox_1769153422211_1769153621905_e8fpuj1fq", + "width": 0.14000000000000004, + "x": 0.588, + "y": 0.33777777099609374 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153630843_rypjg3kgu", + "x": 0.6020000000000001, + "y": 0.1751111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹移动到了笔盒正上方，方便将目标放入笔盒。", + "frame": 245, + "progress": 60, + "progress_explanation": "爪夹夹紧笔，到了爪夹左方的笔盒正上方，方便放入笔盒。因此进度提升为 60%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于笔盒正上方。\n为完成抓取笔使其落入笔盒的任务应当：将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 8.170799 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.045333333333333316, + "id": "bbox_1769153422075_1769153646121_j4hmqqpkv", + "width": 0.15500000000000008, + "x": 0.7, + "y": 0.3644444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.22799999999999992, + "id": "bbox_1769153422211_1769153641817_ug88hubv2", + "width": 0.13900000000000007, + "x": 0.584, + "y": 0.3311111043294271 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153636275_l5wt06luk", + "x": 0.5940000000000001, + "y": 0.25111110432942707 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "笔放入笔盒，方便笔落入笔盒。", + "frame": 273, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，笔放入笔盒。因此进度提升为 80%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，笔放入笔盒。\n为完成抓取笔使其落入笔盒的任务应当：松开爪夹，使笔落入笔盒。", + "time": 9.104192292783505 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹重新向爪夹右侧移动并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹在笔盒上方错误位置张开爪夹导致笔掉落在桌面", + "frame": 311, + "progress": 5, + "progress_explanation": "因爪夹张开导致笔掉落，因此进度降低为5%", + "state_description": "爪夹张开导致笔掉落", + "time": 10.380480931958763, + "annotations": { + "point_1769153423091": { + "type": "point", + "instances": [ + { + "id": "point_1769153423091_1769154646127_wg4z3acra", + "x": 0.631, + "y": 0.24177777099609374 + } + ] + }, + "point_1769153422963": { + "type": "point", + "instances": [ + { + "id": "point_1769153422963_1769154649215_1bxk0zl30", + "x": 0.563, + "y": 0.25111110432942707 + } + ] + }, + "bbox_1769153422075": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153422075_1769154657095_8car4d4az", + "x": 0.7020000000000001, + "y": 0.3724444376627604, + "width": 0.15599999999999997, + "height": 0.04400000000000001 + } + ] + }, + "bbox_1769153422211": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769153422211_1769154661563_d25ix8q7x", + "x": 0.5820000000000001, + "y": 0.33644443766276044, + "width": 0.158, + "height": 0.22 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.04266666666666671, + "id": "bbox_1769153422075_1769153688683_zxns7spm8", + "width": 0.15499999999999997, + "x": 0.7030000000000001, + "y": 0.3684444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.22799999999999992, + "id": "bbox_1769153422211_1769153682893_2jmry363w", + "width": 0.154, + "x": 0.576, + "y": 0.3311111043294271 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153666071_rixvy5k09", + "x": 0.708, + "y": 0.29377777099609376 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 356, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 11.864166 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.04800000000000004, + "id": "bbox_1769153422075_1769153693401_fr0g534nr", + "width": 0.15800000000000008, + "x": 0.696, + "y": 0.36311110432942706 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.23199999999999996, + "id": "bbox_1769153422211_1769153698321_z7xg9dd8u", + "width": 0.154, + "x": 0.58, + "y": 0.3324444376627604 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "frame": 380, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近", + "time": 12.677800482474227 + }, + { + "action_description": "爪夹合拢\n", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.12666666666666662, + "id": "bbox_1769153422075_1769153714099_ji56l66fi", + "width": 0.11800000000000006, + "x": 0.736, + "y": 0.36977777099609377 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.2293333333333333, + "id": "bbox_1769153422211_1769153704815_rmp0188rt", + "width": 0.15100000000000008, + "x": 0.58, + "y": 0.3351111043294271 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153708493_gnlgawp82", + "x": 0.73, + "y": 0.3951111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 410, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入笔盒的任务应当：抓紧笔垂直升高爪夹并向爪夹左方的铁盒接近", + "time": 13.659266 + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹左方移动。", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.2386666666666667, + "id": "bbox_1769153422075_1769153720245_nrfjoakec", + "width": 0.06500000000000003, + "x": 0.73, + "y": 0.07511110432942708 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.22933333333333336, + "id": "bbox_1769153422211_1769153730977_tailjmbmg", + "width": 0.14000000000000004, + "x": 0.588, + "y": 0.3324444376627604 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153723481_uu8zvmd4c", + "x": 0.7350000000000001, + "y": 0.08977777099609376 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 483, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹左边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了笔盒。\n为完成抓取笔使其落入笔盒的任务应当：继续向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 16.114633 + }, + { + "action_description": "爪夹夹紧笔，向爪夹左方移动", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.2546666666666667, + "id": "bbox_1769153422075_1769153741055_6kophbrpd", + "width": 0.053000000000000026, + "x": 0.683, + "y": 0.0004444376627604167 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.2213333333333333, + "id": "bbox_1769153422211_1769153736353_g8xdhyb2l", + "width": 0.14900000000000002, + "x": 0.5860000000000001, + "y": 0.3324444376627604 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹移动到了笔盒正上方，方便将目标放入笔盒。", + "frame": 537, + "progress": 60, + "progress_explanation": "爪夹夹紧笔，到了爪夹左方的笔盒正上方，方便放入笔盒。因此进度提升为 60%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于笔盒正上方。\n为完成抓取笔使其落入笔盒的任务应当：将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 17.8893124257732 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.24000000000000002, + "id": "bbox_1769153422075_1769153749137_o2am2vwnt", + "width": 0.08099999999999996, + "x": 0.6140000000000001, + "y": 0.20311110432942708 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.2333333333333334, + "id": "bbox_1769153422211_1769153757061_ml562f945", + "width": 0.13600000000000004, + "x": 0.588, + "y": 0.3324444376627604 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153751795_c8iwhqkzx", + "x": 0.622, + "y": 0.23511110432942708 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使笔落入笔盒。", + "error_success_analysis": "笔放入笔盒，方便笔落入笔盒。", + "frame": 563, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，笔放入笔盒。因此进度提升为 80%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，笔放入笔盒。\n为完成抓取笔使其落入笔盒的任务应当：松开爪夹，使笔落入笔盒。", + "time": 18.776333 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769153422075": { + "instances": [ + { + "height": 0.1493333333333334, + "id": "bbox_1769153422075_1769153767419_lvp1gt9r2", + "width": 0.03600000000000003, + "x": 0.638, + "y": 0.39377777099609373 + } + ], + "type": "bbox" + }, + "bbox_1769153422211": { + "instances": [ + { + "height": 0.22933333333333336, + "id": "bbox_1769153422211_1769153762707_dvb2rodth", + "width": 0.15200000000000005, + "x": 0.584, + "y": 0.3311111043294271 + } + ], + "type": "bbox" + }, + "point_1769153422963": { + "instances": [ + { + "id": "point_1769153422963_1769153770335_6240l0y60", + "x": 0.6, + "y": 0.2671111043294271 + } + ], + "type": "point" + }, + "point_1769153423091": { + "instances": [ + { + "id": "point_1769153423091_1769153777365_8ra3yslen", + "x": 0.648, + "y": 0.20177777099609376 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，笔落入笔盒。", + "frame": 619, + "progress": 100, + "progress_explanation": "爪夹张开，笔落入笔盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落入笔盒的任务目标完成。", + "time": 20.633333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769153422075", + "name": "笔" + }, + { + "color": "#FF9800", + "id": "bbox_1769153422211", + "name": "笔盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769153422963", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769153423091", + "name": "抓夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-163640-put-yellow-pen-pencil-case-bad2/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-163640-put-yellow-pen-pencil-case-bad2/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ee17b4deb20de960abd0f9ba69154d2cfd8d9cf6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-163640-put-yellow-pen-pencil-case-bad2/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,684 @@ +{ + "task_description": "抓取笔放入笔盒里：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近笔盒：60%\n爪夹将笔放入笔盒：80%\n爪夹松开笔落入笔盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离笔，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离笔，未开始移动。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 0, + "annotations": { + "point_1769411013853": { + "type": "point", + "instances": [ + { + "id": "point_1769411013853_1769411080010_y4sx23byw", + "x": 0.484, + "y": 0.25111110432942707 + } + ] + }, + "point_1769411013726": { + "type": "point", + "instances": [ + { + "id": "point_1769411013726_1769411089308_ygztleiu8", + "x": 0.387, + "y": 0.2471111043294271 + } + ] + }, + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411101203_3louzun4f", + "x": 0.33599999999999997, + "y": 0.32044443766276043, + "width": 0.11200000000000006, + "height": 0.14933333333333335 + } + ] + }, + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411109245_71mahv97n", + "x": 0.46299999999999997, + "y": 0.2364444376627604, + "width": 0.12000000000000002, + "height": 0.19200000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近笔", + "frame": 45, + "progress": 5, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 1.4896907216494844, + "annotations": { + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411114042_dp93nrlcb", + "x": 0.45899999999999996, + "y": 0.2391111043294271, + "width": 0.125, + "height": 0.18266666666666664 + } + ] + }, + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411119357_8gk89uwh7", + "x": 0.328, + "y": 0.3244444376627604, + "width": 0.12000000000000002, + "height": 0.13866666666666666 + } + ] + }, + "point_1769411013853": { + "type": "point", + "instances": [ + { + "id": "point_1769411013853_1769411122589_gp9obq0h1", + "x": 0.462, + "y": 0.40977777099609375 + } + ] + }, + "point_1769411013726": { + "type": "point", + "instances": [ + { + "id": "point_1769411013726_1769411125547_y0mhtcb91", + "x": 0.35500000000000004, + "y": 0.3964444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动\n", + "correction_plan": "爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 83, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右前方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 2.751546391752577, + "annotations": { + "point_1769411013726": { + "type": "point", + "instances": [ + { + "id": "point_1769411013726_1769411131459_16hm7wx91", + "x": 0.40800000000000003, + "y": 0.4924444376627604 + } + ] + }, + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411136253_so9g4k73w", + "x": 0.328, + "y": 0.32044443766276043, + "width": 0.11399999999999996, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411139898_ic9hz7fsm", + "x": 0.43, + "y": 0.22577777099609378, + "width": 0.14500000000000002, + "height": 0.24400000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "frame": 121, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹后方的笔盒接近", + "time": 4.029, + "annotations": { + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411144943_wgfo2l6mx", + "x": 0.44699999999999995, + "y": 0.23333333333333334, + "width": 0.12800000000000003, + "height": 0.19733333333333333 + } + ] + }, + "point_1769411013726": { + "type": "point", + "instances": [ + { + "id": "point_1769411013726_1769411153725_j8pn53zqm", + "x": 0.422, + "y": 0.5546666666666666 + } + ] + }, + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411157490_7ap5v8w5k", + "x": 0.331, + "y": 0.31466666666666665, + "width": 0.11499999999999999, + "height": 0.14666666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 158, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入笔盒的任务应当：抓紧笔垂直升高爪夹并向爪夹后方的笔盒接近", + "time": 5.275257731958763, + "annotations": { + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411162039_qs5qxz0tk", + "x": 0.328, + "y": 0.30977777099609377, + "width": 0.12299999999999996, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411166005_g34kiy1gp", + "x": 0.44000000000000006, + "y": 0.23511110432942708, + "width": 0.12799999999999995, + "height": 0.20133333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹后方移动。\n", + "correction_plan": "继续向爪夹后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使蓝笔落入笔盒。\n", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 199, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹后边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了笔盒。\n为完成抓取笔使其落入笔盒的任务应当：继续向爪夹后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 6.647, + "annotations": { + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411170129_hc8eei2j3", + "x": 0.426, + "y": 0.23733333333333334, + "width": 0.13799999999999998, + "height": 0.20533333333333337 + } + ] + }, + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411175689_diel9vyzz", + "x": 0.33, + "y": 0.3253333333333333, + "width": 0.11599999999999996, + "height": 0.13333333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹重新上升，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左后方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹下降抓取到错误目标", + "frame": 244, + "progress": 5, + "progress_explanation": "因爪夹夹取到错误物品，因此进度降低为5%", + "state_description": "爪夹夹取到错误物品", + "time": 8.125999, + "annotations": { + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411179757_x8niz4d5r", + "x": 0.33, + "y": 0.30977777099609377, + "width": 0.12499999999999996, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411184119_8r0h03sbw", + "x": 0.438, + "y": 0.2404444376627604, + "width": 0.12999999999999998, + "height": 0.20133333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右后方移动", + "correction_plan": "爪夹向爪夹右后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。接着落下爪夹靠近笔，接近笔后爪夹合拢抓取笔。抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了笔之间的距离。方便后续抓取笔。", + "frame": 284, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了笔。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹向爪夹右后方的笔移动，同时调整爪夹的角度使其垂直与桌面，并移动到笔的正上方。", + "time": 9.469, + "annotations": { + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411193041_8474aqbh7", + "x": 0.45, + "y": 0.24577777099609374, + "width": 0.11600000000000002, + "height": 0.18266666666666667 + } + ] + }, + "point_1769411013726": { + "type": "point", + "instances": [ + { + "id": "point_1769411013726_1769411196339_tw78ofl56", + "x": 0.332, + "y": 0.40977777099609375 + } + ] + }, + "point_1769411013853": { + "type": "point", + "instances": [ + { + "id": "point_1769411013853_1769411199289_v1874ecy5", + "x": 0.43, + "y": 0.41777777099609376 + } + ] + }, + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411204017_vt0qhpcbl", + "x": 0.327, + "y": 0.3031111043294271, + "width": 0.12900000000000006, + "height": 0.15999999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹后方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了笔，方便抓取。\n", + "frame": 318, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了笔。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了笔。准备抓取笔。\n为完成抓取笔使其落入笔盒的任务应当：爪夹合拢抓取笔，抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近", + "time": 10.585567010309278, + "annotations": { + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411208501_qomg9udix", + "x": 0.322, + "y": 0.2853333333333333, + "width": 0.14099999999999996, + "height": 0.17733333333333334 + } + ] + }, + "point_1769411013853": { + "type": "point", + "instances": [ + { + "id": "point_1769411013853_1769411211497_u3d83hbkk", + "x": 0.42300000000000004, + "y": 0.43200000000000005 + } + ] + }, + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411215463_9kai3fv4d", + "x": 0.44299999999999995, + "y": 0.24266666666666667, + "width": 0.133, + "height": 0.18666666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到笔", + "frame": 341, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到笔。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到笔，爪夹角度与桌面接近垂直。\n为完成抓取笔使其落入笔盒的任务应当：抓紧笔垂直升高爪夹并向爪夹左方的笔盒接近", + "time": 11.373, + "annotations": { + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411220095_svq82mjsm", + "x": 0.375, + "y": 0.1831111043294271, + "width": 0.137, + "height": 0.18400000000000002 + } + ] + }, + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411223899_9xt36hwen", + "x": 0.339, + "y": 0.30977777099609377, + "width": 0.07099999999999995, + "height": 0.16933333333333334 + } + ] + }, + "point_1769411013853": { + "type": "point", + "instances": [ + { + "id": "point_1769411013853_1769411227255_8eux8gru5", + "x": 0.382, + "y": 0.4551111043294271 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，垂直升高，向爪夹左方移动。", + "correction_plan": "继续向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使蓝笔落入笔盒。", + "error_success_analysis": "爪夹合拢继续夹紧笔，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 393, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧笔，垂直升高并向爪夹左边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧笔，水平上接近了笔盒。\n为完成抓取笔使其落入笔盒的任务应当：继续向爪夹左方的笔盒接近，水平到达笔盒的正上方后将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 13.107, + "annotations": { + "point_1769411013853": { + "type": "point", + "instances": [ + { + "id": "point_1769411013853_1769411232776_pik7fyolw", + "x": 0.363, + "y": 0.3186666666666667 + } + ] + }, + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411237363_llu201pdx", + "x": 0.316, + "y": 0.23333333333333334, + "width": 0.09500000000000001, + "height": 0.11333333333333334 + } + ] + }, + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411242043_1may97ato", + "x": 0.438, + "y": 0.15866666666666665, + "width": 0.11600000000000002, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧笔，向爪夹左方移动", + "correction_plan": "将笔放入笔盒，松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "爪夹移动到了笔盒正上方，方便将目标放入笔盒。", + "frame": 426, + "progress": 60, + "progress_explanation": "爪夹夹紧笔，到了爪夹左方的笔盒正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，位于笔盒正上方。\n为完成抓取笔使其落入笔盒的任务应当：将笔放入笔盒，松开爪夹，使笔落入笔盒。", + "time": 14.195, + "annotations": { + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411247593_ddju21ysx", + "x": 0.44000000000000006, + "y": 0.14977777099609377, + "width": 0.11200000000000002, + "height": 0.18533333333333332 + } + ] + }, + "point_1769411013726": { + "type": "point", + "instances": [ + { + "id": "point_1769411013726_1769411251355_pfzdoynip", + "x": 0.556, + "y": 0.1764444376627604 + } + ] + }, + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411256999_pe8l8r0vh", + "x": 0.48600000000000004, + "y": 0.1404444376627604, + "width": 0.11699999999999999, + "height": 0.037333333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使笔落入笔盒。\n", + "error_success_analysis": "笔放入笔盒，方便笔落入笔盒。", + "frame": 453, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，笔放入笔盒。因此进度提升为 80%。", + "state_description": "爪夹夹紧笔，爪夹角度接近垂直于桌面，笔放入笔盒。\n为完成抓取笔使其落入笔盒的任务应当：松开爪夹，使笔落入笔盒。", + "time": 15.113, + "annotations": { + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411262343_w6fb2xuxp", + "x": 0.47400000000000003, + "y": 0.2044444376627604, + "width": 0.12599999999999997, + "height": 0.06800000000000003 + } + ] + }, + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411266473_ncuyp98db", + "x": 0.434, + "y": 0.1591111043294271, + "width": 0.12000000000000002, + "height": 0.18133333333333332 + } + ] + }, + "point_1769411013726": { + "type": "point", + "instances": [ + { + "id": "point_1769411013726_1769411270221_okbif4bl0", + "x": 0.552, + "y": 0.2524444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，笔落入笔盒。", + "frame": 508, + "progress": 100, + "progress_explanation": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落入笔盒的任务目标完成。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开笔落入笔盒的任务目标完成。", + "time": 16.932, + "annotations": { + "point_1769411013726": { + "type": "point", + "instances": [ + { + "id": "point_1769411013726_1769411274149_qz8xuekrx", + "x": 0.523, + "y": 0.26844443766276044 + } + ] + }, + "point_1769411013853": { + "type": "point", + "instances": [ + { + "id": "point_1769411013853_1769411276549_ctrr8pehk", + "x": 0.5900000000000001, + "y": 0.22577777099609378 + } + ] + }, + "bbox_1769411012974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411012974_1769411280737_5ng5qw2gl", + "x": 0.46299999999999997, + "y": 0.22977777099609373, + "width": 0.040000000000000036, + "height": 0.060000000000000026 + } + ] + }, + "bbox_1769411013085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411013085_1769411285316_n64zupgkq", + "x": 0.438, + "y": 0.15644443766276042, + "width": 0.11400000000000006, + "height": 0.18133333333333332 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769411012974", + "name": "笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1769411013085", + "name": "笔盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769411013726", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769411013853", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-164217-put-goggles-pencil-case-good/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-164217-put-goggles-pencil-case-good/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..3d0c6de6aa2b30f55a1f517a1271298bce8d33ce --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-164217-put-goggles-pencil-case-good/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,484 @@ +{ + "task_description": "抓取护目镜放入笔盒里：\n准备开始移动：0%\n爪夹靠近护目镜：20%\n爪夹抓取护目镜：40%\n爪夹抓紧护目镜接近笔盒：60%\n爪夹将护目镜放入笔盒：80%\n爪夹松开护目镜落入笔盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离护目镜，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离护目镜，未开始移动。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 0, + "annotations": { + "point_1769413874259": { + "type": "point", + "instances": [ + { + "id": "point_1769413874259_1769413919107_4mvogu4e9", + "x": 0.722, + "y": 0.2364444376627604 + } + ] + }, + "point_1769413874123": { + "type": "point", + "instances": [ + { + "id": "point_1769413874123_1769413921721_hgidi6x69", + "x": 0.66, + "y": 0.3084444376627605 + } + ] + }, + "bbox_1769413873291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873291_1769413930033_yew4971n0", + "x": 0.31, + "y": 0.37377777099609377, + "width": 0.164, + "height": 0.18133333333333337 + } + ] + }, + "bbox_1769413873419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873419_1769413937855_4y11rinia", + "x": 0.607, + "y": 0.3351111043294271, + "width": 0.15999999999999998, + "height": 0.2 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹的角度与桌面呈 50 度。水平上未接近护目镜", + "frame": 46, + "progress": 5, + "progress_explanation": "爪夹向爪夹左前方移动，爪夹角度与桌面呈 50 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 50 度。还未接近护目镜。\n为完成抓取护目镜使其落入铁盒的任务应当：爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 1.530171862886598, + "annotations": { + "bbox_1769413873419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873419_1769413943855_0vffpckaa", + "x": 0.615, + "y": 0.3311111043294271, + "width": 0.15199999999999997, + "height": 0.20266666666666666 + } + ] + }, + "point_1769413874259": { + "type": "point", + "instances": [ + { + "id": "point_1769413874259_1769413946923_87c1x95ny", + "x": 0.708, + "y": 0.10177777099609374 + } + ] + }, + "point_1769413874123": { + "type": "point", + "instances": [ + { + "id": "point_1769413874123_1769413950077_rpcs21rvq", + "x": 0.652, + "y": 0.1764444376627604 + } + ] + }, + "bbox_1769413873291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873291_1769413956481_dp0g69fll", + "x": 0.311, + "y": 0.3777777709960938, + "width": 0.15500000000000003, + "height": 0.16799999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动\n", + "correction_plan": "爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了护目镜之间的距离。方便后续抓取护目镜。", + "frame": 89, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了护目镜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 2.968533, + "annotations": { + "bbox_1769413873291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873291_1769413961581_5tmm4o16p", + "x": 0.311, + "y": 0.3777777709960938, + "width": 0.15299999999999997, + "height": 0.16666666666666666 + } + ] + }, + "point_1769413874259": { + "type": "point", + "instances": [ + { + "id": "point_1769413874259_1769413966393_fjzw6z3xh", + "x": 0.42400000000000004, + "y": 0.1724444376627604 + } + ] + }, + "point_1769413874123": { + "type": "point", + "instances": [ + { + "id": "point_1769413874123_1769413969141_3y2sy8luf", + "x": 0.37, + "y": 0.24577777099609374 + } + ] + }, + "bbox_1769413873419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873419_1769413974365_qsd06zvj8", + "x": 0.607, + "y": 0.3271111043294271, + "width": 0.15599999999999997, + "height": 0.21066666666666672 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了护目镜，方便抓取。\n", + "frame": 139, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了护目镜。准备抓取护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右后方的笔盒接近", + "time": 4.624533, + "annotations": { + "bbox_1769413873419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873419_1769413979803_tcogo1z38", + "x": 0.618, + "y": 0.3324444376627604, + "width": 0.14400000000000004, + "height": 0.20800000000000002 + } + ] + }, + "point_1769413874259": { + "type": "point", + "instances": [ + { + "id": "point_1769413874259_1769413983155_gynl89kdy", + "x": 0.38, + "y": 0.37377777099609377 + } + ] + }, + "point_1769413874123": { + "type": "point", + "instances": [ + { + "id": "point_1769413874123_1769413986071_z274urjbk", + "x": 0.322, + "y": 0.4324444376627604 + } + ] + }, + "bbox_1769413873291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873291_1769413990887_5edn9dfwq", + "x": 0.314, + "y": 0.3751111043294271, + "width": 0.148, + "height": 0.17333333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧蓝色方块垂直升高爪夹并向爪夹右后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到护目镜", + "frame": 157, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜使其落入笔盒的任务应当：抓紧护目镜垂直升高爪夹并向爪夹右后方的笔盒接近", + "time": 5.2256, + "annotations": { + "bbox_1769413873291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873291_1769413995299_u9q4w1htg", + "x": 0.318, + "y": 0.3324444376627604, + "width": 0.14099999999999996, + "height": 0.2213333333333333 + } + ] + }, + "point_1769413874123": { + "type": "point", + "instances": [ + { + "id": "point_1769413874123_1769413998051_89cxm8cjf", + "x": 0.346, + "y": 0.4204444376627604 + } + ] + }, + "bbox_1769413873419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873419_1769414005509_z41pb5dik", + "x": 0.616, + "y": 0.3257777709960938, + "width": 0.15, + "height": 0.21733333333333338 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧护目镜，垂直升高，向爪夹右后方移动。\n", + "correction_plan": "继续向爪夹右后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 206, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹右后边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了笔盒。\n为完成抓取护目镜使其落入笔盒的任务应当：继续向爪夹右后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "time": 6.8816, + "annotations": { + "bbox_1769413873419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873419_1769414009891_5ymvpys9l", + "x": 0.6140000000000001, + "y": 0.3244444376627604, + "width": 0.15, + "height": 0.2146666666666667 + } + ] + }, + "point_1769413874123": { + "type": "point", + "instances": [ + { + "id": "point_1769413874123_1769414015347_dzkftf92g", + "x": 0.384, + "y": 0.1751111043294271 + } + ] + }, + "bbox_1769413873291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873291_1769414020217_g19gc5986", + "x": 0.364, + "y": 0.06577777099609375, + "width": 0.15799999999999997, + "height": 0.2773333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧护目镜，向爪夹右前方移动", + "correction_plan": "将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "爪夹移动到了笔盒正上方，方便将目标放入笔盒。", + "frame": 245, + "progress": 60, + "progress_explanation": "爪夹夹紧护目镜，到了爪夹右后方的笔盒正上方，方便放入笔盒。因此进度提升为 60%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，位于笔盒正上方。\n为完成抓取护目镜使其落入笔盒的任务应当：将放入笔盒，松开爪夹，使护目镜落入笔盒。", + "time": 8.181865, + "annotations": { + "bbox_1769413873291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873291_1769414030193_1bmpga794", + "x": 0.644, + "y": 0.0017777709960937501, + "width": 0.10800000000000001, + "height": 0.136 + } + ] + }, + "bbox_1769413873419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873419_1769414035717_lc2eouj1t", + "x": 0.612, + "y": 0.32977777099609373, + "width": 0.15499999999999997, + "height": 0.20933333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "护目镜放入笔盒，方便护目镜落入笔盒。", + "frame": 278, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，护目镜放入笔盒。因此进度提升为 80%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，护目镜放入笔盒。\n为完成抓取护目镜使其落入笔盒的任务应当：松开爪夹，使护目镜落入笔盒。", + "time": 9.2736, + "annotations": { + "bbox_1769413873419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873419_1769414040243_ryvwnvkhe", + "x": 0.619, + "y": 0.32933333333333337, + "width": 0.15099999999999997, + "height": 0.20933333333333332 + } + ] + }, + "point_1769413874123": { + "type": "point", + "instances": [ + { + "id": "point_1769413874123_1769414042967_3yx1rn3df", + "x": 0.67, + "y": 0.19733333333333333 + } + ] + }, + "bbox_1769413873291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873291_1769414049721_pa99mq2b7", + "x": 0.656, + "y": 0.10133333333333333, + "width": 0.13099999999999995, + "height": 0.3186666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，护目镜落入笔盒。", + "frame": 331, + "progress": 100, + "progress_explanation": "爪夹张开，护目镜落入笔盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开护目镜落入笔盒的任务目标完成。", + "time": 11.027354251546392, + "annotations": { + "bbox_1769413873291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873291_1769414053385_3grwbw2o5", + "x": 0.658, + "y": 0.2777777709960938, + "width": 0.09800000000000005, + "height": 0.22 + } + ] + }, + "point_1769413874123": { + "type": "point", + "instances": [ + { + "id": "point_1769413874123_1769414057053_hxbo95tav", + "x": 0.632, + "y": 0.2617777709960938 + } + ] + }, + "point_1769413874259": { + "type": "point", + "instances": [ + { + "id": "point_1769413874259_1769414059767_pu61eydzv", + "x": 0.696, + "y": 0.18177777099609377 + } + ] + }, + "bbox_1769413873419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413873419_1769414067593_k6flwkdjm", + "x": 0.616, + "y": 0.3271111043294271, + "width": 0.14800000000000005, + "height": 0.21200000000000005 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769413873291", + "name": "护目镜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769413873419", + "name": "笔盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769413874123", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769413874259", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-170127-put-goggles-pencil-case-mix/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-170127-put-goggles-pencil-case-mix/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..3197c6d7a70356a36e7d6145ce0184d781454271 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-170127-put-goggles-pencil-case-mix/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,794 @@ +{ + "task_description": "抓取护目镜放入笔盒里：\n准备开始移动：0%\n爪夹靠近护目镜：20%\n爪夹抓取护目镜：40%\n爪夹抓紧护目镜接近笔盒：60%\n爪夹将护目镜放入笔盒：80%\n爪夹松开护目镜落入笔盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离护目镜，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离护目镜，未开始移动。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 0, + "annotations": { + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415638427_jqc2uwvig", + "x": 0.519, + "y": 0.4124444376627604, + "width": 0.06399999999999997, + "height": 0.2133333333333333 + } + ] + }, + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415647641_oq7vn9lv1", + "x": 0.094, + "y": 0.4604444376627604, + "width": 0.146, + "height": 0.18533333333333335 + } + ] + }, + "point_1769415608383": { + "type": "point", + "instances": [ + { + "id": "point_1769415608383_1769415650345_zxic9fgss", + "x": 0.399, + "y": 0.24577777099609374 + } + ] + }, + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415654625_oerkijrou", + "x": 0.502, + "y": 0.2471111043294271 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动\n", + "correction_plan": "爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了护目镜之间的距离。方便后续抓取护目镜。", + "frame": 51, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了护目镜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 1.6902, + "annotations": { + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415659511_ha0kum6a9", + "x": 0.595, + "y": 0.3217777709960937 + } + ] + }, + "point_1769415608383": { + "type": "point", + "instances": [ + { + "id": "point_1769415608383_1769415663701_hy8nrd557", + "x": 0.499, + "y": 0.3324444376627604 + } + ] + }, + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415668891_mxcnkifx5", + "x": 0.511, + "y": 0.4151111043294271, + "width": 0.07299999999999995, + "height": 0.20266666666666666 + } + ] + }, + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415677705_5wo84mq7t", + "x": 0.087, + "y": 0.4524444376627604, + "width": 0.16299999999999998, + "height": 0.20400000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了护目镜，方便抓取。\n", + "frame": 91, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了护目镜。准备抓取护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近", + "time": 3.025666, + "annotations": { + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415683181_trkfziwcd", + "x": 0.095, + "y": 0.4591111043294271, + "width": 0.14699999999999996, + "height": 0.18266666666666662 + } + ] + }, + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415686857_0wg2tt1bi", + "x": 0.571, + "y": 0.44844443766276043 + } + ] + }, + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415692497_wdbdm6ix5", + "x": 0.518, + "y": 0.4151111043294271, + "width": 0.06600000000000002, + "height": 0.21599999999999994 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓夹重新上升，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹下降后合拢未抓取到护目镜", + "frame": 134, + "progress": 5, + "progress_explanation": "因爪夹合拢未抓取到目标物，因此进度降低为5%", + "state_description": "爪夹合拢未抓取到目标物", + "time": 4.465466, + "annotations": { + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415697503_gned2q8ch", + "x": 0.48600000000000004, + "y": 0.4284444376627604, + "width": 0.09399999999999994, + "height": 0.2 + } + ] + }, + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415703393_74gk02iaw", + "x": 0.086, + "y": 0.4537777709960938, + "width": 0.158, + "height": 0.20800000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动", + "correction_plan": "爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了护目镜之间的距离。方便后续抓取护目镜。", + "frame": 188, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了护目镜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 6.26, + "annotations": { + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415710497_gks7dge1w", + "x": 0.088, + "y": 0.4591111043294271, + "width": 0.15, + "height": 0.192 + } + ] + }, + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415715053_os3reoig9", + "x": 0.479, + "y": 0.4204444376627604, + "width": 0.096, + "height": 0.20800000000000002 + } + ] + }, + "point_1769415608383": { + "type": "point", + "instances": [ + { + "id": "point_1769415608383_1769415718141_83xtqeulc", + "x": 0.458, + "y": 0.26044443766276043 + } + ] + }, + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415721789_io9qvyel7", + "x": 0.564, + "y": 0.26044443766276043 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了护目镜，方便抓取。\n", + "frame": 222, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了护目镜。准备抓取护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近", + "time": 7.3868, + "annotations": { + "point_1769415608383": { + "type": "point", + "instances": [ + { + "id": "point_1769415608383_1769415727189_f17xa9n2x", + "x": 0.507, + "y": 0.46577777099609374 + } + ] + }, + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415731945_pfm5uos2v", + "x": 0.48600000000000004, + "y": 0.42177777099609376, + "width": 0.08999999999999994, + "height": 0.20800000000000002 + } + ] + }, + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415736509_8gygqow3d", + "x": 0.088, + "y": 0.4631111043294271, + "width": 0.152, + "height": 0.19333333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到护目镜\n", + "frame": 251, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜使其落入笔盒的任务应当：抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近", + "time": 8.367533, + "annotations": { + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415747399_wcep4vbae", + "x": 0.083, + "y": 0.46444443766276045, + "width": 0.16299999999999998, + "height": 0.1933333333333333 + } + ] + }, + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415751099_y7n0r66x0", + "x": 0.491, + "y": 0.4071111043294271, + "width": 0.05899999999999998, + "height": 0.19599999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧护目镜，垂直升高，向爪夹右方移动。\n", + "correction_plan": "继续向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 289, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹右边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了笔盒。\n为完成抓取护目镜使其落入笔盒的任务应当：继续向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "time": 9.619533, + "annotations": { + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415757063_ytll76j3p", + "x": 0.18, + "y": 0.33777777099609374, + "width": 0.179, + "height": 0.18000000000000002 + } + ] + }, + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415761612_heo1pu5nt", + "x": 0.088, + "y": 0.4604444376627604, + "width": 0.146, + "height": 0.192 + } + ] + }, + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415763979_6udoosbnb", + "x": 0.332, + "y": 0.4057777709960938 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "抓夹重新上升，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹未在笔盒正上方松开导致护目镜掉落", + "frame": 340, + "progress": 5, + "progress_explanation": "因爪夹打开导致护目镜掉落，因此进度降低为5%", + "state_description": "爪夹未在笔盒正上方打开导致护目镜掉落", + "time": 11.3306, + "annotations": { + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415767655_djo1gz8qo", + "x": 0.3, + "y": 0.48177777099609376 + } + ] + }, + "point_1769415608383": { + "type": "point", + "instances": [ + { + "id": "point_1769415608383_1769415770639_iqrnalmx3", + "x": 0.20600000000000002, + "y": 0.4417777709960938 + } + ] + }, + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415775765_r3hujeysq", + "x": 0.086, + "y": 0.4631111043294271, + "width": 0.152, + "height": 0.19866666666666669 + } + ] + }, + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415779327_vcl0syh09", + "x": 0.22600000000000003, + "y": 0.5324444376627604, + "width": 0.10200000000000001, + "height": 0.23066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动", + "correction_plan": "爪夹向爪夹前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了护目镜之间的距离。方便后续抓取护目镜。", + "frame": 381, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了护目镜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 12.713608450515462, + "annotations": { + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415784063_x0rcmuvy5", + "x": 0.22600000000000003, + "y": 0.5284444376627604, + "width": 0.11699999999999999, + "height": 0.228 + } + ] + }, + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415789267_m3f9mjg8j", + "x": 0.09, + "y": 0.4604444376627604, + "width": 0.152, + "height": 0.21333333333333335 + } + ] + }, + "point_1769415608383": { + "type": "point", + "instances": [ + { + "id": "point_1769415608383_1769415792859_g1trmp8c8", + "x": 0.23399999999999999, + "y": 0.5177777709960938 + } + ] + }, + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415796683_g2erlnppy", + "x": 0.33799999999999997, + "y": 0.5551111043294271 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了护目镜，方便抓取。\n", + "frame": 414, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了护目镜。准备抓取护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近", + "time": 13.78920984226804, + "annotations": { + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415801605_ltrwieebt", + "x": 0.36, + "y": 0.7297777709960938 + } + ] + }, + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415806685_ijsx139a6", + "x": 0.22800000000000004, + "y": 0.5564444376627604, + "width": 0.12599999999999997, + "height": 0.1973333333333334 + } + ] + }, + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415810489_vky2p8i2f", + "x": 0.088, + "y": 0.46444443766276045, + "width": 0.15, + "height": 0.18533333333333335 + } + ] + } + } + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 470, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.65, + "annotations": { + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415814405_nyhjh93r4", + "x": 0.091, + "y": 0.4537777709960938, + "width": 0.14299999999999996, + "height": 0.21200000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到护目镜\n", + "frame": 470, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜使其落入笔盒的任务应当：抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近", + "time": 15.65 + }, + { + "action_description": "爪夹夹紧护目镜，垂直升高，向爪夹右后方移动。\n", + "correction_plan": "继续向爪夹右后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 511, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹右后边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了笔盒。\n为完成抓取护目镜使其落入笔盒的任务应当：继续向爪夹右后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "time": 17.048066, + "annotations": { + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415819707_gch78s3yl", + "x": 0.088, + "y": 0.4631111043294271, + "width": 0.15500000000000003, + "height": 0.19466666666666665 + } + ] + }, + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415824635_q13uvkksr", + "x": 0.175, + "y": 0.3804444376627604, + "width": 0.077, + "height": 0.24533333333333326 + } + ] + }, + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415827573_8ksvdg5pr", + "x": 0.244, + "y": 0.5817777709960938 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧护目镜，向爪夹右后方移动", + "correction_plan": "将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "爪夹移动到了笔盒正上方，方便将目标插入孔洞。", + "frame": 539, + "progress": 60, + "progress_explanation": "爪夹夹紧护目镜，到了爪夹右后方的笔盒正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，位于笔盒正上方。\n为完成抓取护目镜使其落入笔盒的任务应当：将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "time": 17.9662, + "annotations": { + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415831311_wktg0ne5l", + "x": 0.086, + "y": 0.4844444376627604 + } + ] + }, + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415836233_gtivuiau5", + "x": 0.031, + "y": 0.3804444376627604, + "width": 0.16699999999999998, + "height": 0.15999999999999998 + } + ] + }, + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415843751_313k6a0xw", + "x": 0.086, + "y": 0.46577777099609374, + "width": 0.154, + "height": 0.18000000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "护目镜放入笔盒，方便护目镜落入笔盒。", + "frame": 557, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，护目镜放入笔盒。因此进度提升为 80%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，护目镜放入笔盒。\n为完成抓取护目镜使其落入笔盒的任务应当：松开爪夹，使护目镜落入笔盒。", + "time": 18.571333, + "annotations": { + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415848293_eb53410wr", + "x": 0.074, + "y": 0.45866666666666667, + "width": 0.161, + "height": 0.19733333333333333 + } + ] + }, + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415850859_ejy5w0g7l", + "x": 0.08399999999999999, + "y": 0.5813333333333334 + } + ] + }, + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415854453_6vxogbzf5", + "x": 0.043, + "y": 0.4426666666666667, + "width": 0.163, + "height": 0.1759999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，护目镜落入笔盒。", + "frame": 626, + "progress": 100, + "progress_explanation": "爪夹张开，护目镜落入笔盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开护目镜落入笔盒的任务目标完成。", + "time": 20.866667, + "annotations": { + "bbox_1769415607501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607501_1769415863251_b56f10ijt", + "x": 0.071, + "y": 0.44844443766276043, + "width": 0.152, + "height": 0.18666666666666665 + } + ] + }, + "point_1769415608511": { + "type": "point", + "instances": [ + { + "id": "point_1769415608511_1769415865631_dck0xu9x2", + "x": 0.198, + "y": 0.5271111043294271 + } + ] + }, + "point_1769415608383": { + "type": "point", + "instances": [ + { + "id": "point_1769415608383_1769415868461_ef0q5r2mx", + "x": 0.096, + "y": 0.4844444376627604 + } + ] + }, + "bbox_1769415607637": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415607637_1769415873389_zi40szu27", + "x": 0.086, + "y": 0.4591111043294271, + "width": 0.152, + "height": 0.20266666666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769415607501", + "name": "护目镜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769415607637", + "name": "笔盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769415608383", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769415608511", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-173043-put-goggles-pencil-case-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-173043-put-goggles-pencil-case-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..cc1252e937357490bf9114453e54938350648fcc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-173043-put-goggles-pencil-case-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,886 @@ +{ + "task_description": "把护目镜放进笔盒里\n开始移动 0%\n接近护目镜 20%\n夹取护目镜 40%\n移动护目镜 50%\n到达笔盒上方 80%\n松开爪夹 100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离护目镜，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离护目镜，未开始移动。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹右前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 0, + "annotations": { + "point_1769418143758": { + "type": "point", + "instances": [ + { + "id": "point_1769418143758_1769418168122_t8msipxdd", + "x": 0.612, + "y": 0.4871111043294271 + } + ] + }, + "point_1769418143622": { + "type": "point", + "instances": [ + { + "id": "point_1769418143622_1769418170180_xkcxc1j0e", + "x": 0.38, + "y": 0.48977777099609376 + } + ] + }, + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418174488_k6zy7ljrs", + "x": 0.46299999999999997, + "y": 0.3217777709960937, + "width": 0.15600000000000006, + "height": 0.25866666666666666 + } + ] + }, + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418179030_5gk86cgx2", + "x": 0.632, + "y": 0.3471111043294271, + "width": 0.11799999999999997, + "height": 0.148 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近护目镜", + "frame": 41, + "progress": 5, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹右前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 1.377966, + "annotations": { + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418183314_f45udaj7a", + "x": 0.5469999999999999, + "y": 0.36311110432942706, + "width": 0.12800000000000003, + "height": 0.1853333333333334 + } + ] + }, + "point_1769418143758": { + "type": "point", + "instances": [ + { + "id": "point_1769418143758_1769418185482_t6edwfvxx", + "x": 0.607, + "y": 0.48977777099609376 + } + ] + }, + "point_1769418143622": { + "type": "point", + "instances": [ + { + "id": "point_1769418143622_1769418188568_o8uf9op3o", + "x": 0.38, + "y": 0.4951111043294271 + } + ] + }, + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418192770_oxryo4ddw", + "x": 0.387, + "y": 0.4417777709960938, + "width": 0.14299999999999996, + "height": 0.19733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动\n", + "correction_plan": "爪夹向爪夹右前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了护目镜之间的距离。方便后续抓取护目镜。", + "frame": 70, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了护目镜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹右前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 2.3446, + "annotations": { + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418198912_a91owvysu", + "x": 0.21200000000000002, + "y": 0.7617777709960938, + "width": 0.17099999999999999, + "height": 0.17200000000000001 + } + ] + }, + "point_1769418143622": { + "type": "point", + "instances": [ + { + "id": "point_1769418143622_1769418201916_8owj4t86c", + "x": 0.38, + "y": 0.4871111043294271 + } + ] + }, + "point_1769418143758": { + "type": "point", + "instances": [ + { + "id": "point_1769418143758_1769418204736_gk0u835h2", + "x": 0.611, + "y": 0.48044443766276046 + } + ] + }, + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418209502_rsl7p7wsu", + "x": 0.398, + "y": 0.4857777709960937, + "width": 0.174, + "height": 0.2240000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了护目镜，方便抓取。\n", + "frame": 109, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了护目镜。准备抓取护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右前方的笔盒接近", + "time": 3.6403, + "annotations": { + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418219616_dy48aiycl", + "x": 0.359, + "y": 0.36177777099609376, + "width": 0.271, + "height": 0.3706666666666667 + } + ] + }, + "point_1769418143622": { + "type": "point", + "instances": [ + { + "id": "point_1769418143622_1769418222474_ie5k9x2au", + "x": 0.378, + "y": 0.4857777709960937 + } + ] + }, + "point_1769418143758": { + "type": "point", + "instances": [ + { + "id": "point_1769418143758_1769418225434_qasaexghb", + "x": 0.608, + "y": 0.4844444376627604 + } + ] + }, + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418232664_rcbm0bdww", + "x": 0.139, + "y": 0.7804444376627604, + "width": 0.268, + "height": 0.21600000000000003 + } + ] + } + } + }, + { + "time": 5.018266, + "frame": 151, + "progress": 5, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢未抓取到正确目标", + "progress_explanation": "因爪夹合拢未抓取到目标，因此进度降低为5%", + "error_success_analysis": "爪夹未在合适位置合拢，未抓取到护目镜", + "correction_plan": "爪夹打开同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "annotations": { + "point_1769418143622": { + "type": "point", + "instances": [ + { + "id": "point_1769418143622_1769420293806_jaagmfh4v", + "x": 0.48200000000000004, + "y": 0.4871111043294271 + } + ] + }, + "point_1769418143758": { + "type": "point", + "instances": [ + { + "id": "point_1769418143758_1769420296398_ib5776p8q", + "x": 0.49800000000000005, + "y": 0.4764444376627604 + } + ] + }, + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769420301888_d9gose4sv", + "x": 0.378, + "y": 0.34577777099609375, + "width": 0.26399999999999996, + "height": 0.34933333333333333 + } + ] + }, + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769420306858_vfzmtxymm", + "x": 0.136, + "y": 0.7697777709960937, + "width": 0.2819999999999999, + "height": 0.228 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动\n", + "correction_plan": "爪夹向爪夹右前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了护目镜之间的距离。方便后续抓取护目镜。", + "frame": 193, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了护目镜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹右前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 6.4168, + "annotations": { + "point_1769418143758": { + "type": "point", + "instances": [ + { + "id": "point_1769418143758_1769418257906_4fshcjode", + "x": 0.612, + "y": 0.48977777099609376 + } + ] + }, + "point_1769418143622": { + "type": "point", + "instances": [ + { + "id": "point_1769418143622_1769418260536_vny33i4w4", + "x": 0.378, + "y": 0.4857777709960937 + } + ] + }, + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418267106_5vbzh9796", + "x": 0.44699999999999995, + "y": 0.4844444376627604, + "width": 0.14800000000000005, + "height": 0.18933333333333333 + } + ] + }, + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418271534_rye8vzfiv", + "x": 0.286, + "y": 0.7137777709960937, + "width": 0.148, + "height": 0.18266666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹左方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了护目镜，方便抓取。", + "frame": 215, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了护目镜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了护目镜。准备抓取护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹合拢抓取护目镜，抓紧护目镜垂直升高爪夹并向爪夹右前方的笔盒接近", + "time": 7.177766, + "annotations": { + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418276564_ku6rgtkvm", + "x": 0.151, + "y": 0.7751111043294271, + "width": 0.25600000000000006, + "height": 0.22266666666666665 + } + ] + }, + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418281142_h23h2r1aa", + "x": 0.394, + "y": 0.3524444376627604, + "width": 0.294, + "height": 0.39333333333333337 + } + ] + }, + "point_1769418143622": { + "type": "point", + "instances": [ + { + "id": "point_1769418143622_1769418283834_ij7pdeab8", + "x": 0.38, + "y": 0.48977777099609376 + } + ] + }, + "point_1769418143758": { + "type": "point", + "instances": [ + { + "id": "point_1769418143758_1769418286190_eclzgt0pd", + "x": 0.608, + "y": 0.4764444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧护目镜垂直升高爪夹并向爪夹左后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到护目镜", + "frame": 242, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到护目镜。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到护目镜，爪夹角度与桌面接近垂直。\n为完成抓取护目镜使其落入笔盒的任务应当：抓紧护目镜垂直升高爪夹并向爪夹左后方的笔盒接近", + "time": 8.0827, + "annotations": { + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418295088_dio633dvn", + "x": 0.476, + "y": 0.30577777099609377, + "width": 0.13500000000000006, + "height": 0.5 + } + ] + }, + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418300340_6zlc7bzv7", + "x": 0.144, + "y": 0.7537777709960938, + "width": 0.22800000000000004, + "height": 0.24399999999999988 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧护目镜，垂直升高，向爪夹左后方移动。\n", + "correction_plan": "继续向爪夹左后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "爪夹合拢继续夹紧护目镜，水平上接近了笔盒。更加方便接近笔盒。", + "frame": 267, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧护目镜，垂直升高并向爪夹左后边的笔盒接近。缩短了与笔盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧护目镜，水平上接近了笔盒。\n为完成抓取护目镜使其落入笔盒的任务应当：继续向爪夹左后方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "time": 8.905366, + "annotations": { + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418309676_9dwvcocqz", + "x": 0.476, + "y": 0.31644443766276037, + "width": 0.15200000000000005, + "height": 0.5226666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧护目镜，向爪夹右方移动", + "correction_plan": "将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。\n", + "error_success_analysis": "爪夹移动到了笔盒正上方，方便将目标放入笔盒。", + "frame": 291, + "progress": 60, + "progress_explanation": "爪夹夹紧护目镜，到了爪夹右方的笔盒正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧护目镜，爪夹角度接近垂直于桌面，位于笔盒正上方。\n为完成抓取护目镜使其落入笔盒的任务应当：将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "time": 9.689656514432988, + "annotations": { + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418318480_ztmrjlmg0", + "x": 0.476, + "y": 0.3351111043294271, + "width": 0.19400000000000003, + "height": 0.5026666666666667 + } + ] + }, + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418321528_tayh0v30c", + "x": 0.5740000000000001, + "y": 0.4231111043294271, + "width": 0.18499999999999997, + "height": 0.26 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近护目镜", + "frame": 339, + "progress": 5, + "progress_explanation": "爪夹向爪夹前方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 11.311666, + "annotations": { + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418325778_y41pfz9zj", + "x": 0.55, + "y": 0.3964444376627604, + "width": 0.21000000000000005, + "height": 0.26 + } + ] + }, + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418329460_liv8lclc6", + "x": 0.454, + "y": 0.3511111043294271, + "width": 0.129, + "height": 0.29066666666666663 + } + ] + }, + "point_1769418143622": { + "type": "point", + "instances": [ + { + "id": "point_1769418143622_1769418331886_2wg76d9xy", + "x": 0.384, + "y": 0.4871111043294271 + } + ] + }, + "point_1769418143758": { + "type": "point", + "instances": [ + { + "id": "point_1769418143758_1769418334308_oavv9qwzw", + "x": 0.607, + "y": 0.4844444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动", + "correction_plan": "爪夹向爪夹前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了护目镜之间的距离。方便后续抓取护目镜。", + "frame": 379, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了护目镜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了护目镜。\n为完成抓取护目镜使其落入笔盒的任务应当：爪夹向爪夹前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。", + "time": 12.636838692783506, + "annotations": { + "point_1769418143758": { + "type": "point", + "instances": [ + { + "id": "point_1769418143758_1769418338164_pe9602mzg", + "x": 0.611, + "y": 0.48044443766276046 + } + ] + }, + "point_1769418143622": { + "type": "point", + "instances": [ + { + "id": "point_1769418143622_1769418341268_a703ir646", + "x": 0.38, + "y": 0.4871111043294271 + } + ] + }, + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418345502_qjyr0f9zh", + "x": 0.43500000000000005, + "y": 0.33777777099609374, + "width": 0.121, + "height": 0.22933333333333336 + } + ] + }, + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418348862_db03i69ex", + "x": 0.518, + "y": 0.3244444376627604, + "width": 0.17, + "height": 0.22533333333333339 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右后方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹重新上升后爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹未向护目镜移动，而是停在了错误目标的正上方", + "frame": 432, + "progress": -5, + "progress_explanation": "因爪夹处于错误目标的正上方，因此进度降低为-5%", + "state_description": "爪夹处于错误目标的正上方", + "time": 14.396666, + "annotations": { + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418356296_fe3cg12fu", + "x": 0, + "y": 0.0004444376627604167, + "width": 0.38, + "height": 0.4013333333333333 + } + ] + }, + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418366876_a2bkaelor", + "x": 0.003, + "y": 0.02177777099609375, + "width": 0.16699999999999998, + "height": 0.4226666666666667 + } + ] + }, + "point_1769418143622": { + "type": "point", + "instances": [ + { + "id": "point_1769418143622_1769418370202_q149pyyev", + "x": 0.38, + "y": 0.48177777099609376 + } + ] + }, + "point_1769418143758": { + "type": "point", + "instances": [ + { + "id": "point_1769418143758_1769418373178_v285647aa", + "x": 0.6100000000000001, + "y": 0.4857777709960937 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹松开，重新上升后爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹夹取目标错误，未上升重新移动夹取护目镜", + "frame": 460, + "progress": -10, + "progress_explanation": "因爪夹夹取错误目标，因此进度降低为-10%", + "state_description": "爪夹合拢抓取到错误目标", + "time": 15.342733, + "annotations": { + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418385312_19fba90qc", + "x": 0.002, + "y": 0.08977777099609376, + "width": 0.265, + "height": 0.5146666666666667 + } + ] + }, + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418389698_d3nz5klm1", + "x": 0.011, + "y": 0.3324444376627604, + "width": 0.22400000000000003, + "height": 0.27599999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧错误目标，垂直上升，向爪夹方向的左前方移动", + "correction_plan": "爪夹松开，重新上升后爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹夹取目标错误，未打开重新移动夹取护目镜", + "frame": 494, + "progress": -20, + "progress_explanation": "因爪夹夹取错误目标上升，因此进度降低为-20%", + "state_description": "爪夹合拢夹紧错误目标，水平上接近了笔盒。\n", + "time": 16.453333, + "annotations": { + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418395382_z7hnnwidg", + "x": 0.20800000000000002, + "y": 0.3791111043294271, + "width": 0.20599999999999996, + "height": 0.15333333333333332 + } + ] + }, + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418399140_spp8o9n97", + "x": 0.175, + "y": 0.1551111043294271, + "width": 0.297, + "height": 0.3346666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧错误目标，向爪夹左前方移动", + "correction_plan": "爪夹松开将错误目标丢弃，重新上升后爪夹向爪夹左前方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹未丢弃错误目标而是将错误目标移动至笔盒正上方", + "frame": 525, + "progress": -30, + "progress_explanation": "因爪夹抓取错误目标移动至笔盒正上方，因此进度降低为-30%", + "state_description": "爪夹夹紧错误目标移动到笔盒正上方", + "time": 17.502233, + "annotations": { + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418403636_xr87hksuh", + "x": 0.41600000000000004, + "y": 0.5337777709960938, + "width": 0.179, + "height": 0.1853333333333333 + } + ] + }, + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418406976_iufb0oe1z", + "x": 0.404, + "y": 0.6137777709960938, + "width": 0.12000000000000002, + "height": 0.15333333333333338 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "爪夹离开笔盒正上方后爪夹松开将错误目标丢弃，重新上升后爪夹向爪夹左方的护目镜移动，同时调整爪夹的角度使其垂直与桌面，并移动到护目镜的正上方。接着落下爪夹靠近护目镜，接近护目镜后爪夹合拢抓取护目镜。抓紧护目镜垂直升高爪夹并向爪夹右方的笔盒接近，水平到达笔盒的正上方后将护目镜放入笔盒，松开爪夹，使护目镜落入笔盒。", + "error_success_analysis": "爪夹继续夹取错误目标下降，未丢弃错误目标", + "frame": 547, + "progress": -40, + "progress_explanation": "因爪夹抓取错误目标下降，因此进度降低为-40%", + "state_description": "爪夹夹紧错误目标，爪夹角度接近垂直于桌面，", + "time": 18.242633, + "annotations": { + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418414166_8j2gb3weq", + "x": 0.388, + "y": 0.5284444376627604, + "width": 0.21100000000000002, + "height": 0.21733333333333332 + } + ] + }, + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418417638_hvhokap8a", + "x": 0.374, + "y": 0.6337777709960938, + "width": 0.09699999999999998, + "height": 0.16000000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹未将错误目标丢弃而是将错误目标放入笔盒", + "frame": 581, + "progress": -50, + "progress_explanation": "因爪夹张开导致错误目标落入笔盒，因此进度降低为-50%", + "state_description": "爪夹张开导致错误目标落入笔盒", + "time": 19.3738, + "annotations": { + "bbox_1769418142895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418142895_1769418423330_382eq3jw3", + "x": 0.332, + "y": 0.5831111043294271, + "width": 0.13499999999999995, + "height": 0.16933333333333328 + } + ] + }, + "bbox_1769418143014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769418143014_1769418427572_wubnjbcd5", + "x": 0.38, + "y": 0.4604444376627604, + "width": 0.227, + "height": 0.26133333333333336 + } + ] + }, + "point_1769418143622": { + "type": "point", + "instances": [ + { + "id": "point_1769418143622_1769418430308_rptnzrjlx", + "x": 0.378, + "y": 0.4871111043294271 + } + ] + }, + "point_1769418143758": { + "type": "point", + "instances": [ + { + "id": "point_1769418143758_1769418433050_izn189ujx", + "x": 0.607, + "y": 0.4764444376627604 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769418142895", + "name": "护目镜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769418143014", + "name": "笔盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769418143622", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769418143758", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-174419-put-pestle-bowl-good/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-174419-put-pestle-bowl-good/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f6c2f678d912b1aaa373d3bbb09b73acb8250cc3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-174419-put-pestle-bowl-good/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,440 @@ +{ + "task_description": "抓取杵放入碗里：\n准备开始移动：0%\n爪夹靠近杵：20%\n爪夹抓取杵：40%\n爪夹抓紧杵接近碗：60%\n爪夹将杵放入碗：80%\n爪夹松开杵落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹左前方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离杵，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离杵，未开始移动。\n为完成抓取杵使其落入碗的任务应当：爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。", + "time": 0, + "annotations": { + "bbox_1769477555435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555435_1769477574615_cbobjgqbs", + "x": 0.404, + "y": 0.5128888854980469, + "width": 0.04299999999999997, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1769477555571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555571_1769477577849_ew2pb52o0", + "x": 0.46299999999999997, + "y": 0.7595555521647135, + "width": 0.09300000000000005, + "height": 0.13999999999999999 + } + ] + }, + "point_1769477556221": { + "type": "point", + "instances": [ + { + "id": "point_1769477556221_1769477581027_c72ka974i", + "x": 0.396, + "y": 0.2568888854980469 + } + ] + }, + "point_1769477556367": { + "type": "point", + "instances": [ + { + "id": "point_1769477556367_1769477584537_leqic61ub", + "x": 0.492, + "y": 0.25955555216471354 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹左前方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹的角度与桌面呈 50 度。水平上未接近杵", + "frame": 39, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈 50 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 50 度。还未接近杵。\n为完成抓取杵使其落入碗的任务应当：爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。", + "time": 1.3038, + "annotations": { + "point_1769477556367": { + "type": "point", + "instances": [ + { + "id": "point_1769477556367_1769477594651_fk20z40kg", + "x": 0.46699999999999997, + "y": 0.21155555216471356 + } + ] + }, + "point_1769477556221": { + "type": "point", + "instances": [ + { + "id": "point_1769477556221_1769477597697_pvbedshtc", + "x": 0.352, + "y": 0.21155555216471356 + } + ] + }, + "bbox_1769477555435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555435_1769477603383_fkgcz4phr", + "x": 0.41100000000000003, + "y": 0.5155555521647136, + "width": 0.03099999999999996, + "height": 0.14266666666666664 + } + ] + }, + "bbox_1769477555571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555571_1769477608899_gt8g0wleh", + "x": 0.46299999999999997, + "y": 0.7662222188313802, + "width": 0.09300000000000005, + "height": 0.12533333333333338 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动\n", + "correction_plan": "爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹左前方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 80 度，缩短了杵之间的距离。方便后续抓取杵。", + "frame": 65, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了杵。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 80 度。水平上接近了杵。\n为完成抓取杵使其落入碗的任务应当：爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。", + "time": 2.1624, + "annotations": { + "bbox_1769477555571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555571_1769477615937_7i4shuote", + "x": 0.46299999999999997, + "y": 0.7582222188313802, + "width": 0.09300000000000005, + "height": 0.1293333333333333 + } + ] + }, + "bbox_1769477555435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555435_1769477621643_2r82pafff", + "x": 0.40700000000000003, + "y": 0.5182222188313802, + "width": 0.041000000000000016, + "height": 0.13866666666666674 + } + ] + }, + "point_1769477556367": { + "type": "point", + "instances": [ + { + "id": "point_1769477556367_1769477624669_gz1rv0zs9", + "x": 0.46299999999999997, + "y": 0.5408888854980469 + } + ] + }, + "point_1769477556221": { + "type": "point", + "instances": [ + { + "id": "point_1769477556221_1769477627937_d1m4hqgu6", + "x": 0.362, + "y": 0.5422222188313802 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取杵，抓紧杵垂直升高爪夹并向爪夹左前方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了杵，方便抓取。\n", + "frame": 113, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了杵。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了杵。准备抓取杵。\n为完成抓取杵使其落入碗的任务应当：爪夹合拢抓取杵，抓紧杵垂直升高爪夹并向爪夹左前方的碗接近", + "time": 3.7736, + "annotations": { + "point_1769477556221": { + "type": "point", + "instances": [ + { + "id": "point_1769477556221_1769477632619_frzziz0s8", + "x": 0.382, + "y": 0.5955555521647136 + } + ] + }, + "point_1769477556367": { + "type": "point", + "instances": [ + { + "id": "point_1769477556367_1769477635337_2wn277dv3", + "x": 0.476, + "y": 0.6102222188313802 + } + ] + }, + "bbox_1769477555571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555571_1769477639607_3a383sjva", + "x": 0.4600000000000001, + "y": 0.7635555521647136, + "width": 0.10299999999999994, + "height": 0.12399999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧杵垂直升高爪夹并向爪夹左前方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到杵", + "frame": 135, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到杵。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到杵，爪夹角度与桌面接近垂直。\n为完成抓取杵使其落入碗的任务应当：抓紧杵垂直升高爪夹并向爪夹左前方的碗接近", + "time": 4.505, + "annotations": { + "bbox_1769477555571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555571_1769477644073_lj7t2sg1r", + "x": 0.45899999999999996, + "y": 0.7595555521647135, + "width": 0.10100000000000006, + "height": 0.13200000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧杵，垂直升高，向爪夹左前方移动。\n", + "correction_plan": "继续向爪夹左前方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。\n", + "error_success_analysis": "爪夹合拢继续夹紧杵，水平上接近了碗。更加方便接近碗。", + "frame": 181, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧杵，垂直升高并向爪夹左前边的碗接近。缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧杵，水平上接近了碗。\n为完成抓取杵使其落入碗的任务应当：继续向爪夹左前方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "time": 6.020799, + "annotations": { + "bbox_1769477555571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555571_1769477649717_6ddy12b7p", + "x": 0.46399999999999997, + "y": 0.7662222188313802, + "width": 0.09500000000000001, + "height": 0.12266666666666677 + } + ] + }, + "bbox_1769477555435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555435_1769477654087_p32v9fgpl", + "x": 0.40700000000000003, + "y": 0.568888885498047, + "width": 0.05999999999999996, + "height": 0.1426666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧杵，向爪夹左前方移动", + "correction_plan": "将杵放入碗，松开爪夹，使杵落入碗。\n", + "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放入碗。", + "frame": 203, + "progress": 60, + "progress_explanation": "爪夹夹紧杵，到了爪夹左前方的碗正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧杵，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取杵使其落入碗的任务应当：将杵放入碗，松开爪夹，使杵落入碗。", + "time": 6.7522, + "annotations": { + "bbox_1769477555435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555435_1769477660115_k6scdmv4p", + "x": 0.487, + "y": 0.6795555521647135, + "width": 0.04299999999999997, + "height": 0.17600000000000005 + } + ] + }, + "point_1769477556221": { + "type": "point", + "instances": [ + { + "id": "point_1769477556221_1769477664725_6rau91eod", + "x": 0.49000000000000005, + "y": 0.7715555521647135 + } + ] + }, + "bbox_1769477555571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555571_1769477671667_uxenks2ov", + "x": 0.46299999999999997, + "y": 0.7715555521647135, + "width": 0.096, + "height": 0.11733333333333344 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使杵落入碗。\n", + "error_success_analysis": "杵放入碗，方便杵落入碗。", + "frame": 239, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，杵放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧杵，爪夹角度接近垂直于桌面，杵放入碗。\n为完成抓取杵使其落入碗的任务应当：松开爪夹，使杵落入碗。", + "time": 7.960599, + "annotations": { + "bbox_1769477555571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555571_1769477675501_mn8uq5qiz", + "x": 0.45899999999999996, + "y": 0.7595555521647135, + "width": 0.10499999999999998, + "height": 0.13200000000000003 + } + ] + }, + "point_1769477556221": { + "type": "point", + "instances": [ + { + "id": "point_1769477556221_1769477678537_3ujp70ebd", + "x": 0.484, + "y": 0.7742222188313802 + } + ] + }, + "bbox_1769477555435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555435_1769477683511_yowwmso61", + "x": 0.471, + "y": 0.6835555521647136, + "width": 0.06299999999999999, + "height": 0.16266666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，杵落入碗。", + "frame": 275, + "progress": 100, + "progress_explanation": "爪夹张开，杵落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开杵落入碗的任务目标完成。", + "time": 9.169, + "annotations": { + "bbox_1769477555435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555435_1769477689201_yggmmyobf", + "x": 0.47800000000000004, + "y": 0.7048888854980468, + "width": 0.05800000000000001, + "height": 0.15466666666666667 + } + ] + }, + "point_1769477556221": { + "type": "point", + "instances": [ + { + "id": "point_1769477556221_1769477692279_3nykws36b", + "x": 0.434, + "y": 0.7808888854980469 + } + ] + }, + "bbox_1769477555571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477555571_1769477700021_ppbbtu9re", + "x": 0.458, + "y": 0.7648888854980469, + "width": 0.10499999999999998, + "height": 0.13200000000000003 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769477555435", + "name": "杵", + "color": "#4CAF50" + }, + { + "id": "bbox_1769477555571", + "name": "碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769477556221", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769477556367", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-182550-put-pestle-bowl-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-182550-put-pestle-bowl-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..5ffe44aed8262eddd519697de2634981a16e1669 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-182550-put-pestle-bowl-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,660 @@ +{ + "task_description": "抓取杵放入碗里：\n准备开始移动：0%\n爪夹靠近杵：20%\n爪夹抓取杵：40%\n爪夹抓紧杵接近碗：60%\n爪夹将杵放入碗：80%\n爪夹松开杵落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.128, + "id": "bbox_1769479203063_1769479246605_o87n7jn7p", + "width": 0.12999999999999998, + "x": 0.7100000000000001, + "y": 0.34488888549804686 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.09066666666666674, + "id": "bbox_1769479207523_1769479241761_jo5y77uvz", + "width": 0.09999999999999998, + "x": 0.136, + "y": 0.5502222188313801 + } + ], + "type": "bbox" + }, + "point_1769479208243": { + "instances": [ + { + "id": "point_1769479208243_1769479236715_hdt8gp49d", + "x": 0.335, + "y": 0.3968888854980469 + } + ], + "type": "point" + }, + "point_1769479208355": { + "instances": [ + { + "id": "point_1769479208355_1769479225657_ppn929vvw", + "x": 0.466, + "y": 0.43955555216471354 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离杵，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离杵，未开始移动。\n为完成抓取杵使其落入碗的任务应当：爪夹向爪夹右前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.13466666666666668, + "id": "bbox_1769479203063_1769479274121_i8p4n6j3y", + "width": 0.12699999999999995, + "x": 0.7150000000000001, + "y": 0.3422222188313802 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.14933333333333335, + "id": "bbox_1769479207523_1769479278799_ioarg825u", + "width": 0.10600000000000001, + "x": 0.148, + "y": 0.5128888854980469 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹的角度与桌面呈 60 度。水平上未接近杵\n", + "frame": 36, + "progress": 5, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 60 度。还未接近杵。\n为完成抓取杵使其落入碗的任务应当：爪夹向爪夹右前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。", + "time": 1.183399 + }, + { + "action_description": "爪夹向爪夹右前方移动\n", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.12666666666666668, + "id": "bbox_1769479203063_1769479299335_kycccv0kb", + "width": 0.121, + "x": 0.7190000000000001, + "y": 0.34888888549804686 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了杵之间的距离。方便后续抓取杵。", + "frame": 62, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了杵。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了杵。\n为完成抓取杵使其落入碗的任务应当：爪夹向爪夹右前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。", + "time": 2.0564 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度\n", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.13199999999999998, + "id": "bbox_1769479203063_1769479304289_4dv8rrzac", + "width": 0.13000000000000006, + "x": 0.718, + "y": 0.34355555216471356 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.14399999999999996, + "id": "bbox_1769479207523_1769479308011_es9ot65n5", + "width": 0.11600000000000002, + "x": 0.139, + "y": 0.5102222188313802 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取杵，抓紧杵垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了杵，方便抓取。\n", + "frame": 90, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了杵。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了杵。准备抓取杵。\n为完成抓取杵使其落入碗的任务应当：爪夹合拢抓取杵，抓紧杵垂直升高爪夹并向爪夹左后方的碗接近", + "time": 3.006999 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.148, + "id": "bbox_1769479203063_1769479318491_95jnh49f0", + "width": 0.11499999999999995, + "x": 0.72, + "y": 0.3342222188313802 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.15066666666666664, + "id": "bbox_1769479207523_1769479314539_xr2blkc48", + "width": 0.088, + "x": 0.144, + "y": 0.5075555521647136 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹打开同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹合拢但未夹紧导致目标脱落", + "frame": 124, + "progress": 5, + "progress_explanation": "因爪夹未抓取起目标，因此进度降低为5%", + "state_description": "爪夹合拢未抓取起目标", + "time": 4.14 + }, + { + "action_description": "爪夹向爪夹右前方移动\n\n", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.14533333333333331, + "id": "bbox_1769479203063_1769479326191_j1zoz4rr8", + "width": 0.11699999999999999, + "x": 0.726, + "y": 0.33688888549804685 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.15466666666666667, + "id": "bbox_1769479207523_1769479329837_75zyijpwp", + "width": 0.12200000000000003, + "x": 0.144, + "y": 0.5088888854980469 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了杵之间的距离。方便后续抓取杵。", + "frame": 155, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了杵。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了杵。\n为完成抓取杵使其落入碗的任务应当：爪夹向爪夹右前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。", + "time": 5.18 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度\n", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.14133333333333334, + "id": "bbox_1769479203063_1769479343631_vpj4wbd7p", + "width": 0.11799999999999997, + "x": 0.724, + "y": 0.34488888549804686 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.16000000000000003, + "id": "bbox_1769479207523_1769479339125_mwbsrf7y0", + "width": 0.118, + "x": 0.14, + "y": 0.5035555521647136 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取杵，抓紧杵垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了杵，方便抓取。\n\n", + "frame": 198, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了杵。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了杵。准备抓取杵。\n为完成抓取杵使其落入碗的任务应当：爪夹合拢抓取杵，抓紧杵垂直升高爪夹并向爪夹左后方的碗接近", + "time": 6.6154 + }, + { + "action_description": "爪夹合拢\n", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1769479203063_1769479349001_b2ant70f1", + "width": 0.13100000000000006, + "x": 0.708, + "y": 0.3168888854980469 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.15466666666666662, + "id": "bbox_1769479207523_1769479354263_a0yvtj6t6", + "width": 0.11699999999999999, + "x": 0.139, + "y": 0.5048888854980469 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧杵垂直升高爪夹并向爪夹左后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到杵", + "frame": 226, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到杵。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到杵，爪夹角度与桌面接近垂直。\n为完成抓取杵使其落入碗的任务应当：抓紧杵垂直升高爪夹并向爪夹左后方的碗接近", + "time": 7.5466 + }, + { + "action_description": "爪夹夹紧杵，垂直升高，向爪夹右前方移动。\n", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.20400000000000001, + "id": "bbox_1769479203063_1769479366811_qrm8bcr9r", + "width": 0.12100000000000008, + "x": 0.734, + "y": 0.03955555216471354 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.14800000000000005, + "id": "bbox_1769479207523_1769479361209_6jdlotibj", + "width": 0.129, + "x": 0.135, + "y": 0.5088888854980469 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹左后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗", + "error_success_analysis": "爪夹合拢继续夹紧杵，水平上接近了碗。更加方便接近碗。", + "frame": 253, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧杵，垂直升高并向爪夹左后边的碗接近。缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧杵，水平上接近了碗。\n为完成抓取杵使其落入碗的任务应当：继续向爪夹左后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "time": 8.42 + }, + { + "action_description": "爪夹夹紧杵，向爪夹左后方移动", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.22000000000000003, + "id": "bbox_1769479203063_1769479372401_w38uqvga4", + "width": 0.08800000000000001, + "x": 0.14, + "y": 0.2568888854980469 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.1306666666666666, + "id": "bbox_1769479207523_1769479376323_4vxgusxzq", + "width": 0.128, + "x": 0.132, + "y": 0.5128888854980469 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将杵放入碗，松开爪夹，使杵落入碗。\n", + "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放入碗。", + "frame": 290, + "progress": 60, + "progress_explanation": "爪夹夹紧杵，到了爪夹左后方的碗正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧杵，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取杵使其落入碗的任务应当：将杵放入碗，松开爪夹，使杵落入碗。", + "time": 9.6612 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.19066666666666668, + "id": "bbox_1769479203063_1769479383915_s8l9sflf0", + "width": 0.04900000000000002, + "x": 0.259, + "y": 0.4622222188313802 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.14133333333333328, + "id": "bbox_1769479207523_1769479380601_wgle6xkeg", + "width": 0.137, + "x": 0.119, + "y": 0.5075555521647136 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹左方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹未移动到碗的正上方导致杵未落入碗中", + "frame": 343, + "progress": 5, + "progress_explanation": "因爪夹未在合适位置打开导致杵掉落，因此进度降低为5%", + "state_description": "爪夹未再合适位置打开", + "time": 11.445999 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度\n", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.17199999999999996, + "id": "bbox_1769479203063_1769479388293_e7kqn6m98", + "width": 0.04699999999999997, + "x": 0.264, + "y": 0.47155555216471357 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.148, + "id": "bbox_1769479207523_1769479394679_joy8x57fh", + "width": 0.132, + "x": 0.134, + "y": 0.5102222188313802 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取杵，抓紧杵垂直升高爪夹并向爪夹左方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了杵，方便抓取。\n", + "frame": 398, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了杵。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了杵。准备抓取杵。\n为完成抓取杵使其落入碗的任务应当：爪夹合拢抓取杵，抓紧杵垂直升高爪夹并向爪夹左后方的碗接近", + "time": 13.250199 + }, + { + "action_description": "爪夹合拢\n", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.18800000000000003, + "id": "bbox_1769479203063_1769479403269_hgu83erc8", + "width": 0.04900000000000002, + "x": 0.302, + "y": 0.4542222188313802 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.14800000000000005, + "id": "bbox_1769479207523_1769479400197_g48woopei", + "width": 0.136, + "x": 0.128, + "y": 0.5035555521647136 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧杵垂直升高爪夹并向爪夹左方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到杵", + "frame": 439, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到杵。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到杵，爪夹角度与桌面接近垂直。\n为完成抓取杵使其落入碗的任务应当：抓紧杵垂直升高爪夹并向爪夹左方的碗接近", + "time": 14.6276 + }, + { + "action_description": "爪夹夹紧杵，垂直升高，向爪夹左方移动。", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.20400000000000004, + "id": "bbox_1769479203063_1769479408685_29snl56xk", + "width": 0.050999999999999976, + "x": 0.276, + "y": 0.37555555216471354 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1769479207523_1769479412345_pzic0yobh", + "width": 0.13299999999999998, + "x": 0.13, + "y": 0.5142222188313802 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹左方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗", + "error_success_analysis": "爪夹合拢继续夹紧杵，水平上接近了碗。更加方便接近碗。", + "frame": 464, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧杵，垂直升高并向爪夹左边的碗接近。缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧杵，水平上接近了碗。\n为完成抓取杵使其落入碗的任务应当：继续向爪夹左方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "time": 15.481199 + }, + { + "action_description": "爪夹夹紧杵，向爪夹左方移动", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.21866666666666662, + "id": "bbox_1769479203063_1769479425137_u7nwes66m", + "width": 0.08800000000000001, + "x": 0.138, + "y": 0.48088888549804687 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.17466666666666666, + "id": "bbox_1769479207523_1769479415607_05trg6utv", + "width": 0.128, + "x": 0.138, + "y": 0.4888888854980469 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放入碗。", + "frame": 500, + "progress": 60, + "progress_explanation": "爪夹夹紧杵，到了爪夹左方的碗正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧杵，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取杵使其落入碗的任务应当：将杵放入碗，松开爪夹，使杵落入碗。", + "time": 16.6646 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.21066666666666667, + "id": "bbox_1769479203063_1769479429619_87i8gm8gx", + "width": 0.07700000000000003, + "x": 0.147, + "y": 0.47555555216471357 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1769479207523_1769479433055_3l48bqqx3", + "width": 0.10400000000000001, + "x": 0.154, + "y": 0.5075555521647136 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使杵落入碗。\n", + "error_success_analysis": "杵放入碗，方便杵落入碗。", + "frame": 527, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，杵放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧杵，爪夹角度接近垂直于桌面，杵放入碗。\n为完成抓取杵使其落入碗的任务应当：松开爪夹，使杵落入碗。", + "time": 17.557 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769479203063": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1769479203063_1769479441205_87n4f29n4", + "width": 0.06699999999999999, + "x": 0.152, + "y": 0.5315555521647135 + } + ], + "type": "bbox" + }, + "bbox_1769479207523": { + "instances": [ + { + "height": 0.13999999999999999, + "id": "bbox_1769479207523_1769479438091_h9m9wnz7j", + "width": 0.13599999999999998, + "x": 0.139, + "y": 0.5128888854980469 + } + ], + "type": "bbox" + }, + "point_1769479208243": { + "instances": [ + { + "id": "point_1769479208243_1769479444793_lllq7qifn", + "x": 0.147, + "y": 0.6568888854980469 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，杵落入碗。", + "frame": 574, + "progress": 100, + "progress_explanation": "爪夹张开，杵落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开杵落入碗的任务目标完成。", + "time": 19.147799 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769479203063", + "name": "杵" + }, + { + "color": "#FF9800", + "id": "bbox_1769479207523", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769479208243", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769479208355", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-184731-put-pestle-bowl-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-184731-put-pestle-bowl-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ddc11607bd3a5e5317b27150dc7036795330d2f9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-guoyijia/20260113-guoyijia/20260113-184731-put-pestle-bowl-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,590 @@ +{ + "task_description": "抓取杵放入碗里：\n准备开始移动：0%\n爪夹靠近杵：20%\n爪夹抓取杵：40%\n爪夹抓紧杵接近碗：60%\n爪夹将杵放入碗：80%\n爪夹松开杵落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769493258255": { + "instances": [ + { + "height": 0.12000000000000005, + "id": "bbox_1769493258255_1769493285973_h7ovpjuil", + "width": 0.10200000000000005, + "x": 0.43, + "y": 0.6737777709960937 + } + ], + "type": "bbox" + }, + "bbox_1769493258446": { + "instances": [ + { + "height": 0.19200000000000003, + "id": "bbox_1769493258446_1769493294329_6qe7bwnj3", + "width": 0.16199999999999998, + "x": 0.38, + "y": 0.24977777099609375 + } + ], + "type": "bbox" + }, + "point_1769493259311": { + "instances": [ + { + "id": "point_1769493259311_1769493297251_ikg6vi1ir", + "x": 0.45899999999999996, + "y": 0.2391111043294271 + } + ], + "type": "point" + }, + "point_1769493259433": { + "instances": [ + { + "id": "point_1769493259433_1769493300355_vh92spqe7", + "x": 0.558, + "y": 0.21244443766276042 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始状态，远离杵，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离杵，未开始移动。\n为完成抓取杵使其落入碗的任务应当：爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。", + "time": 0.593233 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "annotations": { + "bbox_1769493258255": { + "instances": [ + { + "height": 0.10799999999999994, + "id": "bbox_1769493258255_1769493340574_r7n9sykoq", + "width": 0.10400000000000001, + "x": 0.43100000000000005, + "y": 0.6777777709960938 + } + ], + "type": "bbox" + }, + "bbox_1769493258446": { + "instances": [ + { + "height": 0.19066666666666665, + "id": "bbox_1769493258446_1769493335515_j00znxr35", + "width": 0.16399999999999998, + "x": 0.379, + "y": 0.2524444376627604 + } + ], + "type": "bbox" + }, + "point_1769493259311": { + "instances": [ + { + "id": "point_1769493259311_1769493330486_ea0pfftx9", + "x": 0.4600000000000001, + "y": 0.3244444376627604 + } + ], + "type": "point" + }, + "point_1769493259433": { + "instances": [ + { + "id": "point_1769493259433_1769493327150_vqrlykul5", + "x": 0.568, + "y": 0.3111111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近杵", + "frame": 49, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近杵。\n为完成抓取杵使其落入碗的任务应当：爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。", + "time": 1.635399 + }, + { + "action_description": "爪夹向爪夹前方移动\n", + "annotations": { + "bbox_1769493258255": { + "instances": [ + { + "height": 0.10933333333333325, + "id": "bbox_1769493258255_1769493345877_ndeqor74c", + "width": 0.10599999999999996, + "x": 0.42800000000000005, + "y": 0.6764444376627605 + } + ], + "type": "bbox" + }, + "bbox_1769493258446": { + "instances": [ + { + "height": 0.18666666666666668, + "id": "bbox_1769493258446_1769493350901_mzqxhv0db", + "width": 0.186, + "x": 0.38, + "y": 0.24977777099609375 + } + ], + "type": "bbox" + }, + "point_1769493259311": { + "instances": [ + { + "id": "point_1769493259311_1769493354001_1b5rjmu1n", + "x": 0.414, + "y": 0.49111110432942706 + } + ], + "type": "point" + }, + "point_1769493259433": { + "instances": [ + { + "id": "point_1769493259433_1769493358191_q1gc49i9m", + "x": 0.514, + "y": 0.4871111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了杵之间的距离。方便后续抓取杵。", + "frame": 67, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了杵。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了杵。\n为完成抓取杵使其落入碗的任务应当：爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。", + "time": 2.228633 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1769493258255": { + "instances": [ + { + "height": 0.11333333333333329, + "id": "bbox_1769493258255_1769493368821_f90016fbc", + "width": 0.09900000000000002, + "x": 0.43200000000000005, + "y": 0.6764444376627605 + } + ], + "type": "bbox" + }, + "bbox_1769493258446": { + "instances": [ + { + "height": 0.20800000000000005, + "id": "bbox_1769493258446_1769493372685_8lih9rpo4", + "width": 0.17299999999999996, + "x": 0.374, + "y": 0.24177777099609374 + } + ], + "type": "bbox" + }, + "point_1769493259311": { + "instances": [ + { + "id": "point_1769493259311_1769493364479_fddl9dj15", + "x": 0.532, + "y": 0.5271111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新上升，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹未在正确位置下降，导致爪夹触碰到错误目标", + "frame": 97, + "progress": 10, + "progress_explanation": "因爪夹下降碰到错误目标，因此进度降低为10%", + "state_description": "爪夹下降碰到错误目标", + "time": 3.238733 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769493258255": { + "instances": [ + { + "height": 0.11199999999999997, + "id": "bbox_1769493258255_1769493385151_o7ktds92r", + "width": 0.1, + "x": 0.43200000000000005, + "y": 0.6791111043294271 + } + ], + "type": "bbox" + }, + "bbox_1769493258446": { + "instances": [ + { + "height": 0.20266666666666666, + "id": "bbox_1769493258446_1769493376957_87c4satds", + "width": 0.16799999999999998, + "x": 0.379, + "y": 0.2404444376627604 + } + ], + "type": "bbox" + }, + "point_1769493259311": { + "instances": [ + { + "id": "point_1769493259311_1769493379810_ajo5u4djx", + "x": 0.554, + "y": 0.5191111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开后垂直上升同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹下降后抓取到错误目标", + "frame": 143, + "progress": 5, + "progress_explanation": "因爪夹抓取到错误目标，因此进度降低为5%", + "state_description": "爪夹合拢抓取到错误目标", + "time": 4.777933 + }, + { + "action_description": "爪夹向爪夹前方移动", + "annotations": { + "bbox_1769493258255": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1769493258255_1769493391223_m7n3crw0d", + "width": 0.10400000000000001, + "x": 0.42800000000000005, + "y": 0.6724444376627604 + } + ], + "type": "bbox" + }, + "bbox_1769493258446": { + "instances": [ + { + "height": 0.19466666666666668, + "id": "bbox_1769493258446_1769493399776_y785w2dwg", + "width": 0.17300000000000004, + "x": 0.375, + "y": 0.24977777099609375 + } + ], + "type": "bbox" + }, + "point_1769493259311": { + "instances": [ + { + "id": "point_1769493259311_1769493395287_pic29d5u7", + "x": 0.55, + "y": 0.5137777709960938 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。接着落下爪夹靠近杵，接近杵后爪夹合拢抓取杵。抓紧杵垂直升高爪夹并向爪夹后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了杵之间的距离。方便后续抓取杵。", + "frame": 204, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了杵。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了杵。\n为完成抓取杵使其落入碗的任务应当：爪夹向爪夹前方的杵移动，同时调整爪夹的角度使其垂直与桌面，并移动到杵的正上方。", + "time": 6.814166 + }, + { + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度\n", + "annotations": { + "bbox_1769493258255": { + "instances": [ + { + "height": 0.11866666666666663, + "id": "bbox_1769493258255_1769493411835_etg0sdy7u", + "width": 0.1, + "x": 0.43200000000000005, + "y": 0.6671111043294271 + } + ], + "type": "bbox" + }, + "bbox_1769493258446": { + "instances": [ + { + "height": 0.19200000000000003, + "id": "bbox_1769493258446_1769493416175_xmqzh8d51", + "width": 0.17299999999999996, + "x": 0.378, + "y": 0.2471111043294271 + } + ], + "type": "bbox" + }, + "point_1769493259311": { + "instances": [ + { + "id": "point_1769493259311_1769493422543_73ptqb18w", + "x": 0.42800000000000005, + "y": 0.7164444376627604 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取杵，抓紧杵垂直升高爪夹并向爪夹后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了杵，方便抓取。\n", + "frame": 268, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了杵。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了杵。准备抓取杵。\n为完成抓取杵使其落入碗的任务应当：爪夹合拢抓取杵，抓紧杵垂直升高爪夹并向爪夹后方的碗接近", + "time": 8.930566 + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧杵垂直升高爪夹并向爪夹后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到杵", + "frame": 288, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到杵。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到杵，爪夹角度与桌面接近垂直。\n为完成抓取杵使其落入碗的任务应当：抓紧杵垂直升高爪夹并向爪夹后方的碗接近", + "time": 9.603966, + "annotations": { + "bbox_1769493258446": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493258446_1769493503191_4rcl2anqs", + "x": 0.374, + "y": 0.24444443766276042, + "width": 0.18499999999999997, + "height": 0.20933333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧杵，垂直升高，向爪夹后方移动。\n", + "correction_plan": "继续向爪夹后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。\n", + "error_success_analysis": "爪夹合拢继续夹紧杵，水平上接近了碗。更加方便接近碗。", + "frame": 333, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧杵，垂直升高并向爪夹后边的碗接近。缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧杵，水平上接近了碗。\n为完成抓取杵使其落入碗的任务应当：继续向爪夹后方的碗接近，水平到达碗的正上方后将杵放入碗，松开爪夹，使杵落入碗。", + "time": 11.111099, + "annotations": { + "bbox_1769493258446": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493258446_1769493511281_qb31pms8w", + "x": 0.384, + "y": 0.24933333333333335, + "width": 0.162, + "height": 0.19333333333333336 + } + ] + }, + "bbox_1769493258255": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493258255_1769493515255_9bq6wtlqz", + "x": 0.396, + "y": 0.48000000000000004, + "width": 0.083, + "height": 0.21200000000000005 + } + ] + }, + "point_1769493259433": { + "type": "point", + "instances": [ + { + "id": "point_1769493259433_1769493518569_4p88xowgd", + "x": 0.446, + "y": 0.6213333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧杵，向爪夹后方移动", + "correction_plan": "将杵放入碗，松开爪夹，使杵落入碗。\n", + "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放入碗。", + "frame": 353, + "progress": 60, + "progress_explanation": "爪夹夹紧杵，到了爪夹后方的碗正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧杵，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取杵使其落入碗任务应当：将杵放入碗，松开爪夹，使杵落入碗。", + "time": 11.752433, + "annotations": { + "point_1769493259433": { + "type": "point", + "instances": [ + { + "id": "point_1769493259433_1769493533621_elg59lvmx", + "x": 0.43899999999999995, + "y": 0.3466666666666667 + } + ] + }, + "bbox_1769493258255": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493258255_1769493537733_8v9wl6vb4", + "x": 0.399, + "y": 0.28, + "width": 0.05899999999999998, + "height": 0.12533333333333332 + } + ] + }, + "bbox_1769493258446": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493258446_1769493541221_vv68sus84", + "x": 0.38, + "y": 0.23733333333333334, + "width": 0.16299999999999995, + "height": 0.21466666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使杵落入碗。\n", + "error_success_analysis": "杵放入碗，方便杵落入碗。", + "frame": 383, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，杵放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧杵，爪夹角度接近垂直于桌面，杵放入碗。\n为完成抓取杵使其落入碗的任务应当：松开爪夹，使杵落入碗。", + "time": 12.762533, + "annotations": { + "bbox_1769493258446": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493258446_1769493544765_qmvxiadai", + "x": 0.375, + "y": 0.2564444376627604, + "width": 0.17300000000000004, + "height": 0.19599999999999998 + } + ] + }, + "bbox_1769493258255": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493258255_1769493548841_9ozkqwcwn", + "x": 0.44800000000000006, + "y": 0.2577777709960938, + "width": 0.05599999999999996, + "height": 0.15733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，杵落入碗。", + "frame": 432, + "progress": 100, + "progress_explanation": "爪夹张开，杵落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开杵落入碗的任务目标完成。", + "time": 14.397933, + "annotations": { + "bbox_1769493258255": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493258255_1769493555100_3bzi68q3c", + "x": 0.43899999999999995, + "y": 0.29333333333333333, + "width": 0.05700000000000003, + "height": 0.12666666666666662 + } + ] + }, + "bbox_1769493258446": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493258446_1769493559785_n05cbdpl7", + "x": 0.378, + "y": 0.2506666666666667, + "width": 0.172, + "height": 0.196 + } + ] + }, + "point_1769493259311": { + "type": "point", + "instances": [ + { + "id": "point_1769493259311_1769493563142_t5eqg4c7j", + "x": 0.43200000000000005, + "y": 0.27466666666666667 + } + ] + }, + "point_1769493259433": { + "type": "point", + "instances": [ + { + "id": "point_1769493259433_1769493566618_rh4bk8j2t", + "x": 0.527, + "y": 0.2613333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769493258255", + "name": "杵" + }, + { + "color": "#FF9800", + "id": "bbox_1769493258446", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769493259311", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769493259433", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260106-180014-put-cucumber-plastic-good-1/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260106-180014-put-cucumber-plastic-good-1/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..8693e0ca704a648c30b1a3974ae414e9e4c52b08 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260106-180014-put-cucumber-plastic-good-1/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,346 @@ +{ + "task_description": "抓取黄瓜放入碗里：\n准备开始移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓紧黄瓜接近碗：60%\n爪夹将黄瓜放入碗：80%\n爪夹松开黄瓜落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769494245759": { + "instances": [ + { + "height": 0.336, + "id": "bbox_1769494245759_1769494482602_qwcx7uhk4", + "width": 0.04800000000000004, + "x": 0.563, + "y": 0.29777777099609376 + } + ], + "type": "bbox" + }, + "bbox_1769494245894": { + "instances": [ + { + "height": 0.22133333333333333, + "id": "bbox_1769494245894_1769494495956_t4vdrpkqc", + "width": 0.16799999999999998, + "x": 0.483, + "y": 0.047111104329427084 + } + ], + "type": "bbox" + }, + "point_1769494246566": { + "instances": [ + { + "id": "point_1769494246566_1769494486294_quyylnq8j", + "x": 0.5740000000000001, + "y": 0.47377777099609375 + } + ], + "type": "point" + }, + "point_1769494246702": { + "instances": [ + { + "id": "point_1769494246702_1769494489622_gibuft53q", + "x": 0.678, + "y": 0.4631111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黄瓜，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离黄瓜，未开始移动。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。", + "time": 0.88 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹的角度与桌面呈60 度。水平上未接近黄瓜\n", + "frame": 39, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 60 度。还未接近黄瓜。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。", + "time": 1.303499, + "annotations": { + "point_1769494246702": { + "type": "point", + "instances": [ + { + "id": "point_1769494246702_1769495896648_asymjrtfv", + "x": 0.7, + "y": 0.4231111043294271 + } + ] + }, + "point_1769494246566": { + "type": "point", + "instances": [ + { + "id": "point_1769494246566_1769495899114_8cldxiqvz", + "x": 0.587, + "y": 0.44711110432942713 + } + ] + }, + "bbox_1769494245759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245759_1769495904116_wa63w26vg", + "x": 0.567, + "y": 0.29777777099609376, + "width": 0.04500000000000002, + "height": 0.3426666666666666 + } + ] + }, + "bbox_1769494245894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245894_1769495907442_wolb3m6bc", + "x": 0.479, + "y": 0.047111104329427084, + "width": 0.183, + "height": 0.224 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动\n", + "correction_plan": "爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了黄瓜之间的距离。方便后续抓取黄瓜。", + "frame": 51, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了黄瓜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了黄瓜。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。", + "time": 1.6995, + "annotations": { + "bbox_1769494245894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245894_1769495911114_6xq2ocq6i", + "x": 0.483, + "y": 0.027111104329427083, + "width": 0.17700000000000005, + "height": 0.24533333333333338 + } + ] + }, + "bbox_1769494245759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245759_1769495915838_j0yehqrhs", + "x": 0.5700000000000001, + "y": 0.33644443766276044, + "width": 0.051999999999999956, + "height": 0.292 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黄瓜，方便抓取。\n", + "frame": 65, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黄瓜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了黄瓜。准备抓取黄瓜。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近", + "time": 2.161499, + "annotations": { + "bbox_1769494245759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245759_1769495920658_x4ue355lw", + "x": 0.571, + "y": 0.36666666666666664, + "width": 0.04500000000000002, + "height": 0.2546666666666667 + } + ] + }, + "bbox_1769494245894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245894_1769495924914_fgizhqqhd", + "x": 0.491, + "y": 0.04533333333333334, + "width": 0.16100000000000003, + "height": 0.21466666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黄瓜", + "frame": 79, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黄瓜。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到黄瓜，爪夹角度与桌面接近垂直。\n为完成抓取黄瓜使其落入碗的任务应当：抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近", + "time": 2.6235, + "annotations": { + "bbox_1769494245894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245894_1769495930986_bctiy9iqg", + "x": 0.48, + "y": 0.037777770996093744, + "width": 0.17600000000000007, + "height": 0.23866666666666667 + } + ] + }, + "bbox_1769494245759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245759_1769495935084_th7kl3p0i", + "x": 0.558, + "y": 0.3591111043294271, + "width": 0.07199999999999998, + "height": 0.25466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黄瓜，垂直升高，向爪夹前方移动。\n", + "correction_plan": "继续向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗", + "error_success_analysis": "爪夹合拢继续夹紧黄瓜，水平上接近了碗。更加方便接近碗。", + "frame": 96, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黄瓜，垂直升高并向爪夹前边的碗接近。缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧黄瓜，水平上接近了碗。\n为完成抓取黄瓜使其落入碗的任务应当：继续向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "time": 3.206499, + "annotations": { + "bbox_1769494245894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245894_1769495943290_muxt53e2b", + "x": 0.487, + "y": 0.033777770996093755, + "width": 0.16299999999999998, + "height": 0.23466666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黄瓜，向爪夹前方移动", + "correction_plan": "将黄瓜放入碗，松开爪夹，使黄瓜落入碗。\n", + "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放入碗。", + "frame": 105, + "progress": 60, + "progress_explanation": "爪夹夹紧黄瓜，到了爪夹前方的碗正上。因此进度提升为 60%。", + "state_description": "爪夹夹紧黄瓜，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取黄瓜使其落入碗的任务应当：将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "time": 3.5035, + "annotations": { + "bbox_1769494245894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245894_1769495948706_hwa2kkuwk", + "x": 0.48200000000000004, + "y": 0.052000000000000005, + "width": 0.17, + "height": 0.21466666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使黄瓜落入碗。\n", + "error_success_analysis": "黄瓜放入碗，方便黄瓜落入碗。", + "frame": 113, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，黄瓜放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧黄瓜，爪夹角度接近垂直于桌面，黄瓜放入碗。\n为完成抓取黄瓜使其落入碗的任务应当：松开爪夹，使黄瓜落入碗。", + "time": 3.762, + "annotations": { + "bbox_1769494245894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245894_1769495955134_223zp0x0v", + "x": 0.483, + "y": 0.04311110432942709, + "width": 0.18100000000000005, + "height": 0.23866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，黄瓜落入碗。", + "frame": 144, + "progress": 100, + "progress_explanation": "爪夹张开，黄瓜落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开黄瓜落入碗的任务目标完成。", + "time": 4.8015, + "annotations": { + "bbox_1769494245894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769494245894_1769495959642_vztmkegfa", + "x": 0.484, + "y": 0.05377777099609375, + "width": 0.187, + "height": 0.22533333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769494245759", + "name": "黄瓜" + }, + { + "color": "#FF9800", + "id": "bbox_1769494245894", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769494246566", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769494246702", + "name": "抓夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260106-180014-put-cucumber-plastic-good-1/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260106-180014-put-cucumber-plastic-good-1/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..e684b36173f2c64b723376d4a60b314fa86591c8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260106-180014-put-cucumber-plastic-good-1/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,438 @@ +{ + "task_description": "抓取黄瓜放入碗里：\n准备开始移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓紧黄瓜接近碗：60%\n爪夹将黄瓜放入碗：80%\n爪夹松开黄瓜落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769496044974": { + "instances": [ + { + "height": 0.404, + "id": "bbox_1769496044974_1769496067610_5pb1ggbc9", + "width": 0.09400000000000004, + "x": 0.442, + "y": 0.4391111043294271 + } + ], + "type": "bbox" + }, + "bbox_1769496045102": { + "instances": [ + { + "height": 0.17600000000000002, + "id": "bbox_1769496045102_1769496071004_d5vxt8de7", + "width": 0.16299999999999998, + "x": 0.42000000000000004, + "y": 0.2551111043294271 + } + ], + "type": "bbox" + }, + "point_1769496046006": { + "instances": [ + { + "id": "point_1769496046006_1769496073206_9t7oqnk2e", + "x": 0.41600000000000004, + "y": 0.4951111043294271 + } + ], + "type": "point" + }, + "point_1769496046142": { + "instances": [ + { + "id": "point_1769496046142_1769496076928_kho8salwx", + "x": 0.643, + "y": 0.4951111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黄瓜，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离黄瓜，未开始移动。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。", + "time": 0.8195 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "annotations": { + "bbox_1769496044974": { + "instances": [ + { + "height": 0.38133333333333336, + "id": "bbox_1769496044974_1769496089170_xyhq0pr56", + "width": 0.08100000000000004, + "x": 0.446, + "y": 0.4631111043294271 + } + ], + "type": "bbox" + }, + "bbox_1769496045102": { + "instances": [ + { + "height": 0.16933333333333334, + "id": "bbox_1769496045102_1769496097198_on943z813", + "width": 0.15199999999999997, + "x": 0.42300000000000004, + "y": 0.27244443766276044 + } + ], + "type": "bbox" + }, + "point_1769496046006": { + "instances": [ + { + "id": "point_1769496046006_1769496084252_p0oddzjnj", + "x": 0.41900000000000004, + "y": 0.4871111043294271 + } + ], + "type": "point" + }, + "point_1769496046142": { + "instances": [ + { + "id": "point_1769496046142_1769496080118_3cmho8sjx", + "x": 0.643, + "y": 0.49111110432942706 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹的角度与桌面呈60 度。水平上未接近黄瓜", + "frame": 38, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 60 度。还未接近黄瓜。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。", + "time": 1.265 + }, + { + "action_description": "爪夹向爪夹前方移动\n", + "annotations": { + "bbox_1769496044974": { + "instances": [ + { + "height": 0.4226666666666667, + "id": "bbox_1769496044974_1769496112186_xvucpka4j", + "width": 0.10400000000000001, + "x": 0.442, + "y": 0.4377777709960938 + } + ], + "type": "bbox" + }, + "bbox_1769496045102": { + "instances": [ + { + "height": 0.26666666666666666, + "id": "bbox_1769496045102_1769496103716_bpa1n9xdb", + "width": 0.21899999999999994, + "x": 0.40700000000000003, + "y": 0.1404444376627604 + } + ], + "type": "bbox" + }, + "point_1769496046006": { + "instances": [ + { + "id": "point_1769496046006_1769496115004_4uzi2zy9r", + "x": 0.41600000000000004, + "y": 0.48044443766276046 + } + ], + "type": "point" + }, + "point_1769496046142": { + "instances": [ + { + "id": "point_1769496046142_1769496118386_87zznhpc3", + "x": 0.642, + "y": 0.48044443766276046 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了黄瓜之间的距离。方便后续抓取黄瓜。", + "frame": 52, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了黄瓜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了黄瓜。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。", + "time": 1.7215 + }, + { + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度\n", + "annotations": { + "bbox_1769496044974": { + "instances": [ + { + "height": 0.8320000000000001, + "id": "bbox_1769496044974_1769496133440_8p3cu3f48", + "width": 0.14299999999999996, + "x": 0.5, + "y": 0.00977777099609375 + } + ], + "type": "bbox" + }, + "point_1769496046006": { + "instances": [ + { + "id": "point_1769496046006_1769496126508_3jpafz60g", + "x": 0.41900000000000004, + "y": 0.4791111043294271 + } + ], + "type": "point" + }, + "point_1769496046142": { + "instances": [ + { + "id": "point_1769496046142_1769496123076_r1sfl2t49", + "x": 0.644, + "y": 0.4791111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黄瓜，方便抓取。", + "frame": 66, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黄瓜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了黄瓜。准备抓取黄瓜。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近", + "time": 2.2165 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769496044974": { + "instances": [ + { + "height": 0.8493333333333334, + "id": "bbox_1769496044974_1769496140076_qlkr1bnz1", + "width": 0.16199999999999992, + "x": 0.4600000000000001, + "y": -0.0008888956705729168 + } + ], + "type": "bbox" + }, + "point_1769496046006": { + "instances": [ + { + "id": "point_1769496046006_1769496145292_qje566wf1", + "x": 0.49400000000000005, + "y": 0.4791111043294271 + } + ], + "type": "point" + }, + "point_1769496046142": { + "instances": [ + { + "id": "point_1769496046142_1769496147932_3ddj8i38o", + "x": 0.5700000000000001, + "y": 0.4791111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黄瓜", + "frame": 79, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黄瓜。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到黄瓜，爪夹角度与桌面接近垂直。\n为完成抓取黄瓜使其落入碗的任务应当：抓紧黄瓜垂直升高爪夹并向爪夹前方的碗接近", + "time": 2.6235 + }, + { + "action_description": "爪夹夹紧黄瓜，垂直升高，向爪夹前方移动。", + "annotations": { + "bbox_1769496044974": { + "instances": [ + { + "height": 0.872, + "id": "bbox_1769496044974_1769496160090_g11k9232k", + "width": 0.15900000000000009, + "x": 0.45099999999999996, + "y": -0.0008888956705729168 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗", + "error_success_analysis": "爪夹合拢继续夹紧黄瓜，水平上接近了碗。更加方便接近碗。", + "frame": 98, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黄瓜，垂直升高并向爪夹前边的碗接近。缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧黄瓜，水平上接近了碗。\n为完成抓取黄瓜使其落入碗的任务应当：继续向爪夹前方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "time": 3.2615 + }, + { + "action_description": "爪夹夹紧黄瓜，向爪夹前方移动", + "annotations": { + "bbox_1769496044974": { + "instances": [ + { + "height": 0.8586666666666667, + "id": "bbox_1769496044974_1769496170004_mxo4gjf1l", + "width": 0.15200000000000005, + "x": 0.46299999999999997, + "y": 0.0017777709960937501 + } + ], + "type": "bbox" + }, + "bbox_1769496045102": { + "instances": [ + { + "height": 0.35733333333333334, + "id": "bbox_1769496045102_1769496174200_g06ncpie0", + "width": 0.252, + "x": 0.348, + "y": 0.4711111043294271 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将黄瓜放入碗，松开爪夹，使黄瓜落入碗。\n", + "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放入碗。", + "frame": 110, + "progress": 60, + "progress_explanation": "爪夹夹紧黄瓜，到了爪夹前方的碗正上。因此进度提升为 60%。", + "state_description": "爪夹夹紧黄瓜，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取黄瓜使其落入碗的任务应当：将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "time": 3.6795 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "annotations": { + "bbox_1769496044974": { + "instances": [ + { + "height": 0.8293333333333333, + "id": "bbox_1769496044974_1769496188230_v90r6i4zd", + "width": 0.13000000000000006, + "x": 0.48, + "y": -0.0008888956705729168 + } + ], + "type": "bbox" + }, + "bbox_1769496045102": { + "instances": [ + { + "height": 0.49466666666666664, + "id": "bbox_1769496045102_1769496181634_5reeyicq1", + "width": 0.326, + "x": 0.31, + "y": 0.3684444376627604 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "黄瓜放入碗，方便黄瓜落入碗。", + "frame": 120, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，黄瓜放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧黄瓜，爪夹角度接近垂直于桌面，黄瓜放入碗。\n为完成抓取黄瓜使其落入碗的任务应当：松开爪夹，使黄瓜落入碗。", + "time": 3.993 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769496044974": { + "instances": [ + { + "height": 0.536, + "id": "bbox_1769496044974_1769496195818_zhncdstr3", + "width": 0.12799999999999995, + "x": 0.43100000000000005, + "y": 0.18044443766276042 + } + ], + "type": "bbox" + }, + "bbox_1769496045102": { + "instances": [ + { + "height": 0.36399999999999993, + "id": "bbox_1769496045102_1769496201166_hca905j6e", + "width": 0.261, + "x": 0.34700000000000003, + "y": 0.40044443766276044 + } + ], + "type": "bbox" + }, + "point_1769496046006": { + "instances": [ + { + "id": "point_1769496046006_1769496203778_w8ovhpgcx", + "x": 0.41600000000000004, + "y": 0.48044443766276046 + } + ], + "type": "point" + }, + "point_1769496046142": { + "instances": [ + { + "id": "point_1769496046142_1769496206512_h4iukk904", + "x": 0.643, + "y": 0.48177777099609376 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，黄瓜落入碗。", + "frame": 152, + "progress": 100, + "progress_explanation": "爪夹张开，黄瓜落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开黄瓜落入碗的任务目标完成。", + "time": 5.052061855670103 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769496044974", + "name": "黄瓜" + }, + { + "color": "#FF9800", + "id": "bbox_1769496045102", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769496046006", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769496046142", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260106-181543-put-cucumber-plastic-mix-1/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260106-181543-put-cucumber-plastic-mix-1/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..8e4b06ad05cb84a037170f24c348ed898c0dc9fa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260106-181543-put-cucumber-plastic-mix-1/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,578 @@ +{ + "task_description": "抓取黄瓜放入碗里：\n准备开始移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓紧黄瓜接近碗：60%\n爪夹将黄瓜放入碗：80%\n爪夹松开黄瓜落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹右方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黄瓜，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离黄瓜，未开始移动。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。", + "time": 0.8313402061855669, + "annotations": { + "point_1769500310181": { + "type": "point", + "instances": [ + { + "id": "point_1769500310181_1769500327812_4pbj1r286", + "x": 0.644, + "y": 0.4951111043294271 + } + ] + }, + "point_1769500309990": { + "type": "point", + "instances": [ + { + "id": "point_1769500309990_1769500330601_wtckjtlrv", + "x": 0.42000000000000004, + "y": 0.4871111043294271 + } + ] + }, + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500335792_cxy7ep635", + "x": 0.48, + "y": 0.4111111043294271, + "width": 0.07200000000000006, + "height": 0.3506666666666666 + } + ] + }, + "bbox_1769500309292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309292_1769500339126_vwn5h0pmg", + "x": 0.662, + "y": 0.41777777099609376, + "width": 0.18500000000000005, + "height": 0.23200000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹右方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近黄瓜", + "frame": 40, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近黄瓜。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹向爪夹前方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。", + "time": 1.3176, + "annotations": { + "bbox_1769500309292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309292_1769500343864_vzxthu7k6", + "x": 0.656, + "y": 0.4377777709960938, + "width": 0.15, + "height": 0.25733333333333336 + } + ] + }, + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500348621_k10bfibc2", + "x": 0.488, + "y": 0.3964444376627604, + "width": 0.07800000000000003, + "height": 0.3360000000000001 + } + ] + }, + "point_1769500309990": { + "type": "point", + "instances": [ + { + "id": "point_1769500309990_1769500350583_pxfy08tl1", + "x": 0.41600000000000004, + "y": 0.4924444376627604 + } + ] + }, + "point_1769500310181": { + "type": "point", + "instances": [ + { + "id": "point_1769500310181_1769500353734_bh2c2i76o", + "x": 0.644, + "y": 0.4951111043294271 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹上升同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹右方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹未到黄瓜正上方下降而是处于错误目标上方", + "frame": 59, + "progress": -10, + "progress_explanation": "因爪夹处于错误目标上方，因此进度降低为10%", + "state_description": "爪夹垂直于桌面，处于错误目标上方", + "time": 1.98, + "annotations": { + "point_1769500310181": { + "type": "point", + "instances": [ + { + "id": "point_1769500310181_1769500358283_ku2fhrbs5", + "x": 0.644, + "y": 0.4857777709960937 + } + ] + }, + "point_1769500309990": { + "type": "point", + "instances": [ + { + "id": "point_1769500309990_1769500360831_0angixeka", + "x": 0.41900000000000004, + "y": 0.48044443766276046 + } + ] + }, + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500367214_30gnn8qd6", + "x": 0.8620000000000001, + "y": 0.0004444376627604167, + "width": 0.10999999999999996, + "height": 0.612 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹打开后垂直上升，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹右方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹未重新上升而是夹取到错误目标", + "frame": 81, + "progress": -20, + "progress_explanation": "因爪夹抓取到错误目标，因此进度降低为20%", + "state_description": "爪夹合拢抓取到错误目标", + "time": 2.6856, + "annotations": { + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500372667_v3x5dm111", + "x": 0.851, + "y": 0.0004444376627604167, + "width": 0.11100000000000013, + "height": 0.6026666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹右方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近黄瓜", + "frame": 113, + "progress": 5, + "progress_explanation": "爪夹向爪夹右方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近黄瓜。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹向爪夹右方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。", + "time": 3.78, + "annotations": { + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500378683_72it8kqii", + "x": 0.662, + "y": 0.13377777099609375, + "width": 0.12000000000000002, + "height": 0.5079999999999999 + } + ] + }, + "bbox_1769500309292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309292_1769500382952_8ompcg4cs", + "x": 0.8310000000000001, + "y": 0.3351111043294271, + "width": 0.15099999999999997, + "height": 0.2733333333333333 + } + ] + }, + "point_1769500309990": { + "type": "point", + "instances": [ + { + "id": "point_1769500309990_1769500386653_rgc81kxc9", + "x": 0.41900000000000004, + "y": 0.4764444376627604 + } + ] + }, + "point_1769500310181": { + "type": "point", + "instances": [ + { + "id": "point_1769500310181_1769500389004_au4neiv6d", + "x": 0.643, + "y": 0.4764444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动\n", + "correction_plan": "爪夹向爪夹右方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹右方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了黄瓜之间的距离。方便后续抓取黄瓜。", + "frame": 122, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了黄瓜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了黄瓜。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹向爪夹右方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方", + "time": 4.067999, + "annotations": { + "point_1769500310181": { + "type": "point", + "instances": [ + { + "id": "point_1769500310181_1769500470115_bai1rnqwa", + "x": 0.642, + "y": 0.48177777099609376 + } + ] + }, + "point_1769500309990": { + "type": "point", + "instances": [ + { + "id": "point_1769500309990_1769500472437_vj29y9zmy", + "x": 0.414, + "y": 0.48177777099609376 + } + ] + }, + "bbox_1769500309292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309292_1769500476121_e2ul8qcio", + "x": 0.6839999999999999, + "y": 0.3137777709960938, + "width": 0.1960000000000001, + "height": 0.3253333333333333 + } + ] + }, + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500481926_gsij0y42r", + "x": 0.488, + "y": 0.2391111043294271, + "width": 0.07400000000000002, + "height": 0.4586666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹右方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黄瓜，方便抓取。\n", + "frame": 138, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黄瓜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了黄瓜。准备抓取黄瓜。\n为完成抓取黄瓜使其落入碗的任务应当：爪夹合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹右方的碗接近", + "time": 4.5936, + "annotations": { + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500487639_c8hb47cax", + "x": 0.466, + "y": 0.06044443766276042, + "width": 0.12000000000000002, + "height": 0.84 + } + ] + }, + "bbox_1769500309292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309292_1769500496773_566bqpmth", + "x": 0.774, + "y": 0.33644443766276044, + "width": 0.225, + "height": 0.45999999999999996 + } + ] + }, + "point_1769500309990": { + "type": "point", + "instances": [ + { + "id": "point_1769500309990_1769500499695_sv0pbad2y", + "x": 0.41900000000000004, + "y": 0.4764444376627604 + } + ] + }, + "point_1769500310181": { + "type": "point", + "instances": [ + { + "id": "point_1769500310181_1769500502470_a6x49hhnx", + "x": 0.644, + "y": 0.4844444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧黄瓜垂直升高爪夹并向爪夹右方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黄瓜", + "frame": 151, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黄瓜。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到黄瓜，爪夹角度与桌面接近垂直。\n为完成抓取黄瓜使其落入碗的任务应当：抓紧黄瓜垂直升高爪夹并向爪夹右方的碗接近", + "time": 5.0256, + "annotations": { + "bbox_1769500309292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309292_1769500519033_od3sbjsef", + "x": 0.795, + "y": 0.35777777099609376, + "width": 0.20400000000000001, + "height": 0.4146666666666667 + } + ] + }, + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500523846_hlzifnfaw", + "x": 0.488, + "y": 0.06844443766276041, + "width": 0.13100000000000006, + "height": 0.844 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黄瓜，垂直升高，向爪夹右方移动。\n", + "correction_plan": "继续向爪夹右方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗", + "error_success_analysis": "爪夹合拢继续夹紧黄瓜，水平上接近了碗。更加方便接近碗。", + "frame": 161, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黄瓜，垂直升高并向爪夹右边的碗接近。缩短了与碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧黄瓜，水平上接近了碗。\n为完成抓取黄瓜使其落入碗的任务应当：继续向爪夹右方的碗接近，水平到达碗的正上方后将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "time": 5.3712, + "annotations": { + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500534252_5btdanno0", + "x": 0.484, + "y": 0.09644443766276042, + "width": 0.12800000000000003, + "height": 0.8119999999999999 + } + ] + }, + "bbox_1769500309292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309292_1769500538037_cjhfot0en", + "x": 0.656, + "y": 0.4071111043294271, + "width": 0.20199999999999996, + "height": 0.352 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黄瓜，向爪夹右方移动", + "correction_plan": "将黄瓜放入碗，松开爪夹，使黄瓜落入碗。\n", + "error_success_analysis": "爪夹移动到了碗正上方，方便将目标放入碗。", + "frame": 171, + "progress": 60, + "progress_explanation": "爪夹夹紧黄瓜，到了爪夹右方的碗正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧黄瓜，爪夹角度接近垂直于桌面，位于碗正上方。\n为完成抓取黄瓜使其落入碗的任务应当：将黄瓜放入碗，松开爪夹，使黄瓜落入碗。", + "time": 5.7024, + "annotations": { + "bbox_1769500309292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309292_1769500541649_od033pwhu", + "x": 0.43899999999999995, + "y": 0.4497777709960938, + "width": 0.24900000000000003, + "height": 0.36000000000000004 + } + ] + }, + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500546568_qnr2jy6e4", + "x": 0.495, + "y": 0.08444443766276041, + "width": 0.11600000000000002, + "height": 0.7866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使黄瓜落入碗。\n", + "error_success_analysis": "黄瓜放入碗，方便黄瓜落入碗。", + "frame": 182, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，黄瓜放入碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧黄瓜，爪夹角度接近垂直于桌面，黄瓜放入碗。\n为完成抓取黄瓜使其落入碗任务应当：松开爪夹，使黄瓜落入碗。", + "time": 6.0552, + "annotations": { + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500550966_gehn7pt0d", + "x": 0.488, + "y": 0.08266666666666667, + "width": 0.12200000000000007, + "height": 0.764 + } + ] + }, + "bbox_1769500309292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309292_1769500554409_dn7icf297", + "x": 0.374, + "y": 0.47866666666666663, + "width": 0.301, + "height": 0.4253333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，黄瓜落入碗。", + "frame": 203, + "progress": 100, + "progress_explanation": "爪夹张开，黄瓜落入碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开黄瓜落入碗的任务目标完成。", + "time": 6.768, + "annotations": { + "bbox_1769500309292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309292_1769500558079_rhg7obhzv", + "x": 0.312, + "y": 0.4764444376627604, + "width": 0.36, + "height": 0.42400000000000004 + } + ] + }, + "bbox_1769500309172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769500309172_1769500566191_sxiehrzmj", + "x": 0.48600000000000004, + "y": 0.2231111043294271, + "width": 0.08999999999999994, + "height": 0.6053333333333334 + } + ] + }, + "point_1769500309990": { + "type": "point", + "instances": [ + { + "id": "point_1769500309990_1769500569726_s45wgrty0", + "x": 0.422, + "y": 0.4791111043294271 + } + ] + }, + "point_1769500310181": { + "type": "point", + "instances": [ + { + "id": "point_1769500310181_1769500572250_p1k76j3p6", + "x": 0.643, + "y": 0.48044443766276046 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769500309172", + "name": "黄瓜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769500309292", + "name": "碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769500309990", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769500310181", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-134052-put-cucumber-plastic-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-134052-put-cucumber-plastic-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..015889257d295fd149e09671dc5b7287ab151a21 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-134052-put-cucumber-plastic-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,401 @@ +{ + "task_description": "抓取萝卜放入塑料碗里：\n准备开始移动：0%\n爪夹靠近萝卜：20%\n爪夹抓取萝卜：40%\n爪夹抓紧萝卜接近塑料碗：60%\n爪夹将萝卜放入塑料碗：80%\n爪夹松开萝卜落入塑料碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到萝卜的正上方。接着落下爪夹靠近萝卜，接近萝卜后爪夹合拢抓取萝卜。抓紧萝卜垂直升高爪夹并向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将萝卜放入塑料碗，松开爪夹，使萝卜落入塑料碗。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "当前为初始状态，远离萝卜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离萝卜，未开始移动。\n为完成抓取萝卜落入塑料碗的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到萝卜的正上方。", + "time": 1.2702517561756406, + "annotations": { + "point_1769493685353": { + "type": "point", + "instances": [ + { + "id": "point_1769493685353_1769495211327_8r8ybxmro", + "x": 0.4226666001790405, + "y": 0.49620365428030155 + } + ] + }, + "point_1769493691890": { + "type": "point", + "instances": [ + { + "id": "point_1769493691890_1769495214623_7arm7dl78", + "x": 0.6386665869954475, + "y": 0.4935369878306488 + } + ] + }, + "bbox_1769493674993": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493674993_1769495219991_s8vdqsy4z", + "x": 0.4996665954793337, + "y": 0.4335369927134609, + "width": 0.12999999206543017, + "height": 0.2893333097873283 + }, + { + "id": "bbox_1769493674993_1769495224047_imshtbzk2", + "x": 0.5566665920003301, + "y": 0.3122036692542587, + "width": 0.176999989196778, + "height": 0.221333315321182 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动调整爪夹。", + "correction_plan": "爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到萝卜的正上方。接着落下爪夹靠近萝卜，接近萝卜后爪夹合拢抓取萝卜。抓紧萝卜垂直升高爪夹并向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将萝卜放入塑料碗，松开爪夹，使萝卜落入塑料碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近萝卜移动，方便下一步抓取。", + "frame": 55, + "progress": 5, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，接近了萝卜。因此进度提升为5%。", + "state_description": "爪夹张开，调整爪夹角度，接近了萝卜。\n为完成抓取萝卜落入塑料碗的任务应当：爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到萝卜的正上方。", + "time": 1.839566, + "annotations": { + "point_1769493691890": { + "type": "point", + "instances": [ + { + "id": "point_1769493691890_1769495191303_6y5kjcv3a", + "x": 0.6376665870564826, + "y": 0.49620365428030155 + } + ] + }, + "point_1769493685353": { + "type": "point", + "instances": [ + { + "id": "point_1769493685353_1769495195967_qbz4jz2mj", + "x": 0.4196666003621459, + "y": 0.49087032138099596 + } + ] + }, + "bbox_1769493674993": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493674993_1769495201759_4j7vpq4e2", + "x": 0.48566659633382586, + "y": 0.5268703184513087, + "width": 0.11199999316406295, + "height": 0.23866664724392522 + } + ] + }, + "bbox_1769493680337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493680337_1769495205967_i1wy0qosa", + "x": 0.5336665934041386, + "y": 0.4108703278914121, + "width": 0.15899999029541076, + "height": 0.19199998437500135 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的正前方移动并调整爪夹角度。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至萝卜的正上方。接着落下爪夹靠近萝卜，接近萝卜后爪夹合拢抓取萝卜。抓紧萝卜垂直升高爪夹并向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将萝卜放入塑料碗，松开爪夹，使萝卜落入塑料碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了萝卜之间的距离，方便后续抓取萝卜。", + "frame": 75, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了萝卜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了萝卜。\n为完成抓取萝卜落入塑料碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至萝卜的正上方。", + "time": 2.5085, + "annotations": { + "bbox_1769493680337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493680337_1769495145263_mxtg0nyrf", + "x": 0.6016665892537482, + "y": 0.08687035425859747, + "width": 0.24499998504638754, + "height": 0.3239999736328147 + } + ] + }, + "bbox_1769493674993": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493674993_1769495152951_z2k3u4hw4", + "x": 0.5016665953572634, + "y": 0.29620367055634195, + "width": 0.1979999879150398, + "height": 0.3599999707031273 + } + ] + }, + "point_1769493685353": { + "type": "point", + "instances": [ + { + "id": "point_1769493685353_1769495162351_ipj9wexc3", + "x": 0.4176666004842162, + "y": 0.4828703220320376 + } + ] + }, + "point_1769493691890": { + "type": "point", + "instances": [ + { + "id": "point_1769493691890_1769495166128_ti3emnv3o", + "x": 0.6396665869344124, + "y": 0.48553698848169036 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取萝卜，抓紧萝卜垂直升高爪夹并向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将萝卜放入塑料碗，松开爪夹，使萝卜落入塑料碗。", + "error_success_analysis": "爪夹垂直下降，靠近了萝卜，方便抓取。", + "frame": 92, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了萝卜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了萝卜。\n为完成抓取萝卜落入塑料碗的任务应当：合拢抓取萝卜，抓紧萝卜垂直升高爪夹并向爪夹右前方的塑料碗接近。", + "time": 3.056333, + "annotations": { + "bbox_1769493674993": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493674993_1769495116959_d0oh0x2m2", + "x": 0.4526665983479859, + "y": 0.17753701354679252, + "width": 0.32399998022461063, + "height": 0.5479999554036495 + } + ] + }, + "point_1769493685353": { + "type": "point", + "instances": [ + { + "id": "point_1769493685353_1769495120391_havp9swsp", + "x": 0.4196666003621459, + "y": 0.4788703223575584 + } + ] + }, + "point_1769493691890": { + "type": "point", + "instances": [ + { + "id": "point_1769493691890_1769495125543_46tki736a", + "x": 0.6396665869344124, + "y": 0.48553698848169036 + } + ] + }, + "bbox_1769493680337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493680337_1769495132335_rex8xxga7", + "x": 0.5086665949300173, + "y": 0.0028703610945344164, + "width": 0.4739999710693376, + "height": 0.32666664008246743 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧萝卜垂直升高爪夹并向爪夹右前方的塑料碗接近，直至塑料碗的正上方后将萝卜放入塑料碗，松开爪夹，使萝卜落入塑料碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到萝卜。", + "frame": 103, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到萝卜，因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到萝卜，爪夹角度与桌面接近垂直。\n为完成抓取萝卜落入塑料碗的任务应当：抓紧萝卜垂直升高爪夹并向爪夹右前方的塑料碗接近，直至塑料碗的正上方。", + "time": 3.419633, + "annotations": { + "bbox_1769493674993": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493674993_1769495109063_twf0u9dye", + "x": 0.38866660225423566, + "y": 0.11487036215247705, + "width": 0.5459999666748067, + "height": 0.5906666185980942 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧萝卜垂直升高。", + "correction_plan": "继续向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将萝卜放入塑料碗，松开爪夹，使萝卜落入塑料碗。", + "error_success_analysis": "爪夹合拢继续夹紧萝卜，水平上接近了塑料碗。更加方便接近塑料碗。", + "frame": 121, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧萝卜，垂直升高并向爪夹右前方的塑料碗接近，缩短了与塑料碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧萝卜，水平上接近了塑料碗。\n为完成抓取萝卜落入塑料碗的任务应当：继续向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将萝卜放入塑料碗", + "time": 4.019366, + "annotations": { + "bbox_1769493674993": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493674993_1769495089119_wl3l02i16", + "x": 0.3816666026814818, + "y": 0.04287035783932635, + "width": 0.5639999655761738, + "height": 0.6453332808159765 + } + ] + }, + "bbox_1769493680337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493680337_1769495093151_8tqjzaclg", + "x": 0.4046666012776733, + "y": 0.3175370021535643, + "width": 0.25699998431396576, + "height": 0.391999968098961 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧萝卜向爪夹方向的右前方移动。", + "correction_plan": "将萝卜放入塑料碗，松开爪夹，使萝卜落入塑料碗。", + "error_success_analysis": "到了爪夹右前方的塑料碗的正上方，方便将萝卜放入塑料碗。", + "frame": 133, + "progress": 60, + "progress_explanation": "爪夹夹紧萝卜，到了爪夹右前方的塑料碗的正上方，方便将萝卜放入塑料碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧萝卜，爪夹角度接近垂直于桌面，位于塑料碗的正上方。\n为完成抓取萝卜落入塑料碗的任务应当：将萝卜放入塑料碗，松开爪夹，使萝卜落入塑料碗。", + "time": 4.4461, + "annotations": { + "bbox_1769493674993": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493674993_1769495078151_o4rzrpy0f", + "x": 0.379666602803552, + "y": 0.034870358490367966, + "width": 0.5519999663085958, + "height": 0.6506666137152821 + } + ] + }, + "bbox_1769493680337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493680337_1769495081927_g5nnuudre", + "x": 0.3236666062215206, + "y": 0.2922036708818627, + "width": 0.3199999804687511, + "height": 0.3733333029513914 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，萝卜落入塑料碗", + "frame": 148, + "progress": 100, + "progress_explanation": "爪夹张开，萝卜落入塑料碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开萝卜落入塑料碗的任务目标完成。", + "time": 4.918966, + "annotations": { + "bbox_1769493674993": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493674993_1769495055071_35ananmot", + "x": 0.4486665985921266, + "y": 0.23087034253984842, + "width": 0.1469999910278325, + "height": 0.32799997330729386 + } + ] + }, + "bbox_1769493680337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769493680337_1769495063839_gbx3p3072", + "x": 0.3466666048177121, + "y": 0.3068703363549531, + "width": 0.27499998321533303, + "height": 0.3426666387803843 + } + ] + }, + "point_1769493685353": { + "type": "point", + "instances": [ + { + "id": "point_1769493685353_1769495066519_49m2fqw5q", + "x": 0.4196666003621459, + "y": 0.4788703223575584 + } + ] + }, + "point_1769493691890": { + "type": "point", + "instances": [ + { + "id": "point_1769493691890_1769495069943_y01z5o3xz", + "x": 0.6386665869954475, + "y": 0.48553698848169036 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769493674993", + "name": "萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1769493680337", + "name": "塑料碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769493685353", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769493691890", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-140739-put-chili pepper-blue-plastic-good/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-140739-put-chili pepper-blue-plastic-good/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3b519add1abf4be2259a001d0c0d4a5ed72bc1e2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-140739-put-chili pepper-blue-plastic-good/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,494 @@ +{ + "task_description": "抓取黄瓜放入塑料碗里：\n准备开始移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓紧黄瓜接近塑料碗：60%\n爪夹将黄瓜放入塑料碗：80%\n爪夹松开黄瓜落入塑料碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黄瓜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离黄瓜，未开始移动。\n为完成抓取黄瓜落入塑料碗的任务应当：爪夹向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黄瓜的正上方。", + "time": 1.159333, + "annotations": { + "bbox_1769491223605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491223605_1769493331073_sddxtpxwe", + "x": 0.3436666050008176, + "y": 0.5388703174747463, + "width": 0.17299998944091857, + "height": 0.22133331532118194 + } + ] + }, + "bbox_1769491218300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491218300_1769493335153_ak9n2x9eu", + "x": 0.46366659767659923, + "y": 0.4535369910858568, + "width": 0.1529999906616216, + "height": 0.15066665440538293 + } + ] + }, + "point_1769491251900": { + "type": "point", + "instances": [ + { + "id": "point_1769491251900_1769493343705_kjxayx72c", + "x": 0.4746665970052126, + "y": 0.20953701094262606 + } + ] + }, + "point_1769491243044": { + "type": "point", + "instances": [ + { + "id": "point_1769491243044_1769493348665_yih23wkup", + "x": 0.38866660225423566, + "y": 0.20287034481849409 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动调整爪夹。", + "correction_plan": "爪夹继续向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近黄瓜移动，方便下一步抓取。", + "frame": 54, + "progress": 5, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，接近了黄瓜。因此进度提升为5%。", + "state_description": "爪夹张开，调整爪夹角度，接近了黄瓜。\n为完成抓取黄瓜落入塑料碗的任务应当：爪夹继续向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黄瓜的正上方。", + "time": 1.793859971670251, + "annotations": { + "point_1769491243044": { + "type": "point", + "instances": [ + { + "id": "point_1769491243044_1769493309761_1ls8dxwpt", + "x": 0.3786666028645872, + "y": 0.1468703493757854 + } + ] + }, + "point_1769491251900": { + "type": "point", + "instances": [ + { + "id": "point_1769491251900_1769493313049_6lab7wcae", + "x": 0.48366659645589616, + "y": 0.15620368194957016 + } + ] + }, + "bbox_1769491218300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491218300_1769493317570_awj5uuq16", + "x": 0.45966659792073983, + "y": 0.4455369917368985, + "width": 0.1549999905395513, + "height": 0.15999998697916773 + } + ] + }, + "bbox_1769491223605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491223605_1769493323474_nr7h8ntog", + "x": 0.3416666051228878, + "y": 0.5388703174747463, + "width": 0.1729999894409186, + "height": 0.21866664887152917 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了黄瓜之间的距离，方便后续抓取黄瓜。", + "frame": 72, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了黄瓜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了黄瓜。\n为完成抓取黄瓜落入塑料碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至黄瓜的正上方。", + "time": 2.414066151201817, + "annotations": { + "bbox_1769491218300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491218300_1769493286707_o448tucox", + "x": 0.4666665974934937, + "y": 0.4388703256127665, + "width": 0.1489999909057623, + "height": 0.16799998632812616 + } + ] + }, + "bbox_1769491223605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491223605_1769493290978_lsc1tatw5", + "x": 0.3446666049397824, + "y": 0.5282036516761351, + "width": 0.17399998937988342, + "height": 0.23199998111979317 + } + ] + }, + "point_1769491251900": { + "type": "point", + "instances": [ + { + "id": "point_1769491251900_1769493297674_epc1xkz29", + "x": 0.5596665918172246, + "y": 0.45220365786103045 + } + ] + }, + "point_1769491243044": { + "type": "point", + "instances": [ + { + "id": "point_1769491243044_1769493304586_zwhadg48i", + "x": 0.48666659627279074, + "y": 0.4748703226830792 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "爪夹抬升并向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，直至黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹下降爪夹右触碰到黄瓜，导致黄瓜移开，爪夹偏离了黄瓜的正上方。", + "frame": 86, + "progress": 10, + "progress_explanation": "爪夹下降爪夹偏离了黄瓜的正上方，因此进度降至为10%。", + "state_description": "爪夹打开，垂直于桌面，位于黄瓜一侧。\n为完成抓取黄瓜落入塑料碗的任务应当：爪夹抬升并向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，直至黄瓜的正上方。", + "time": 2.863866, + "annotations": { + "bbox_1769491223605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491223605_1769493257506_um4799wfj", + "x": 0.34266660506185265, + "y": 0.5388703174747463, + "width": 0.18099998895263741, + "height": 0.22399998177083483 + } + ] + }, + "point_1769491243044": { + "type": "point", + "instances": [ + { + "id": "point_1769491243044_1769493260722_sw23p7uyr", + "x": 0.4996665954793337, + "y": 0.5522036497230103 + } + ] + }, + "point_1769491251900": { + "type": "point", + "instances": [ + { + "id": "point_1769491251900_1769493265458_dahi9whrm", + "x": 0.563666591573084, + "y": 0.524203652001656 + } + ] + }, + "bbox_1769491218300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491218300_1769493273073_kuk0ijett", + "x": 0.5496665924275761, + "y": 0.4170925665614773, + "width": 0.0759999953613284, + "height": 0.1813333185763901 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并向爪夹方向的左侧移动。", + "correction_plan": "合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹抬升并向爪夹方向的左侧移动，靠近了黄瓜，方便抓取。", + "frame": 100, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了黄瓜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了黄瓜。\n为完成抓取黄瓜落入塑料碗的任务应当：合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹右前方的塑料碗接近。", + "time": 3.340133, + "annotations": { + "point_1769491243044": { + "type": "point", + "instances": [ + { + "id": "point_1769491243044_1769493227682_xh3nmm4nv", + "x": 0.5476665925496464, + "y": 0.5015369871796072 + } + ] + }, + "bbox_1769491218300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491218300_1769493231322_kudzcjo2v", + "x": 0.5536665921834355, + "y": 0.40020366209280095, + "width": 0.0729999955444339, + "height": 0.2053333166232653 + } + ] + }, + "bbox_1769491223605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491223605_1769493235282_0bh09hqf0", + "x": 0.3416666051228878, + "y": 0.5308703181257879, + "width": 0.176999989196778, + "height": 0.23866664724392528 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧黄瓜垂直升高爪夹并向爪夹右前方的塑料碗接近，直至塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到黄瓜。", + "frame": 109, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黄瓜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到黄瓜，爪夹角度与桌面接近垂直。\n为完成抓取黄瓜落入塑料碗的任务应当：抓紧黄瓜垂直升高爪夹并向爪夹右前方的塑料碗接近，直至塑料碗的正上方。", + "time": 3.622133, + "annotations": { + "bbox_1769491223605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491223605_1769493196786_mlqci095z", + "x": 0.3466666048177121, + "y": 0.5322036513506143, + "width": 0.17099998956298892, + "height": 0.23066664789496685 + } + ] + }, + "point_1769491243044": { + "type": "point", + "instances": [ + { + "id": "point_1769491243044_1769493215873_ilh2w9ch5", + "x": 0.5556665920613651, + "y": 0.4988703207299544 + } + ] + }, + "bbox_1769491218300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491218300_1769493220738_33wmxrvxv", + "x": 0.5496665924275761, + "y": 0.4175369940155441, + "width": 0.07999999511718778, + "height": 0.1826666518012164 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黄瓜垂直升高并向爪夹方向的右侧移动。", + "correction_plan": "继续向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹合拢继续夹紧黄瓜，水平上接近了塑料碗。更加方便接近塑料碗。", + "frame": 129, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黄瓜，垂直升高并向爪夹右前方的塑料碗接近，缩短了与塑料碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧黄瓜，水平上接近了塑料碗。\n为完成抓取黄瓜落入塑料碗的任务应当：继续向爪夹右前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗", + "time": 4.298933, + "annotations": { + "point_1769491243044": { + "type": "point", + "instances": [ + { + "id": "point_1769491243044_1769493183226_3m5be0hvi", + "x": 0.5536665921834355, + "y": 0.38687032984453695 + } + ] + }, + "bbox_1769491218300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491218300_1769493187594_yr9r50no4", + "x": 0.5346665933431034, + "y": 0.3095370028046059, + "width": 0.13099999200439508, + "height": 0.1226666566840286 + } + ] + }, + "bbox_1769491223605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491223605_1769493190922_fj8k5k5nq", + "x": 0.33566660548909877, + "y": 0.5322036513506143, + "width": 0.18799998852539135, + "height": 0.23066664789496685 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黄瓜向爪夹方向的右前方移动", + "correction_plan": "将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "到了爪夹右前方的塑料碗的正上方，方便将黄瓜放入塑料碗。", + "frame": 142, + "progress": 60, + "progress_explanation": "爪夹夹紧黄瓜，到了爪夹右前方的塑料碗的正上方，方便将黄瓜放入塑料碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧黄瓜，爪夹角度接近垂直于桌面，位于塑料碗的正上方。\n为完成抓取黄瓜落入塑料碗的任务应当：将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "time": 4.726918362371614, + "annotations": { + "point_1769491243044": { + "type": "point", + "instances": [ + { + "id": "point_1769491243044_1769493167082_1212u3xnh", + "x": 0.3766666029866575, + "y": 0.6095369783905454 + } + ] + }, + "bbox_1769491218300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491218300_1769493171530_tlls2fljn", + "x": 0.3636666037801145, + "y": 0.524203652001656, + "width": 0.09299999432373078, + "height": 0.19199998437500126 + } + ] + }, + "bbox_1769491223605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491223605_1769493175250_gj8hec1ka", + "x": 0.34566660487874723, + "y": 0.5322036513506143, + "width": 0.17199998950195378, + "height": 0.23199998111979317 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，黄瓜落入塑料碗", + "frame": 162, + "progress": 100, + "progress_explanation": "爪夹张开，黄瓜落入塑料碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开黄瓜落入塑料碗的任务目标完成。", + "time": 5.4144, + "annotations": { + "point_1769491251900": { + "type": "point", + "instances": [ + { + "id": "point_1769491251900_1769493141578_a31f34sb3", + "x": 0.46166659779866953, + "y": 0.6228703106388094 + } + ] + }, + "point_1769491243044": { + "type": "point", + "instances": [ + { + "id": "point_1769491243044_1769493144442_xz15m2w5x", + "x": 0.3726666032307981, + "y": 0.6228703106388094 + } + ] + }, + "bbox_1769491218300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491218300_1769493149826_udxdb5z5y", + "x": 0.40566660121663806, + "y": 0.6122036448401982, + "width": 0.06899999578857452, + "height": 0.1666666531032997 + } + ] + }, + "bbox_1769491223605": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769491223605_1769493154258_w03572usa", + "x": 0.3446666049397824, + "y": 0.5282036516761353, + "width": 0.1749999893188483, + "height": 0.24399998014323068 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769491218300", + "name": "黄瓜" + }, + { + "color": "#FF9800", + "id": "bbox_1769491223605", + "name": "塑料碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769491243044", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769491251900", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-141436-put-chili pepper-blue-plastic-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-141436-put-chili pepper-blue-plastic-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5da228d5dd64159447f1a98228892071388d53d1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-141436-put-chili pepper-blue-plastic-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,506 @@ +{ + "task_description": "抓取黄瓜放入塑料碗里：\n准备开始移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓紧黄瓜接近塑料碗：60%\n爪夹将黄瓜放入塑料碗：80%\n爪夹松开黄瓜落入塑料碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹正前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黄瓜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离黄瓜，未开始移动。\n为完成抓取黄瓜落入塑料碗的任务应当：爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黄瓜的正上方。", + "time": 0.8096788825368424, + "annotations": { + "point_1769484786949": { + "type": "point", + "instances": [ + { + "id": "point_1769484786949_1769486466451_qplfpkvbs", + "x": 0.6386665869954475, + "y": 0.4935369878306488 + } + ] + }, + "point_1769484781397": { + "type": "point", + "instances": [ + { + "id": "point_1769484781397_1769486470883_c9vjquwiz", + "x": 0.42166660024007563, + "y": 0.49220365460582244 + } + ] + }, + "bbox_1769484773805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484773805_1769486475123_oxtygi8jf", + "x": 0.5946665896809942, + "y": 0.464203656884468, + "width": 0.1289999921264653, + "height": 0.25466664594184196 + } + ] + }, + "bbox_1769484777269": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484777269_1769486479155_x0kpzg81u", + "x": 0.4726665971272829, + "y": 0.28553700475773075, + "width": 0.1539999906005865, + "height": 0.16533331987847333 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动调整爪夹。", + "correction_plan": "爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹正前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近黄瓜移动，方便下一步抓取。", + "frame": 46, + "progress": 10, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，接近了黄瓜。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，接近了黄瓜。\n为完成抓取黄瓜落入塑料碗的任务应当：爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到黄瓜的正上方。", + "time": 1.5492664298143253, + "annotations": { + "bbox_1769484777269": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484777269_1769486447883_hzspbbbmp", + "x": 0.46166659779866953, + "y": 0.2922036708818627, + "width": 0.1539999906005865, + "height": 0.19199998437500126 + } + ] + }, + "bbox_1769484773805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484773805_1769486451955_abzjyyo02", + "x": 0.5676665913289434, + "y": 0.5068703200789128, + "width": 0.07899999517822298, + "height": 0.24533331336805725 + } + ] + }, + "point_1769484781397": { + "type": "point", + "instances": [ + { + "id": "point_1769484781397_1769486454899_z150lsk8m", + "x": 0.4226666001790405, + "y": 0.49220365460582244 + } + ] + }, + "point_1769484786949": { + "type": "point", + "instances": [ + { + "id": "point_1769484786949_1769486460227_uzqn6yn6g", + "x": 0.6386665869954475, + "y": 0.49620365428030155 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动并下降。", + "correction_plan": "合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹正前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹垂直下降，靠近了黄瓜，方便抓取。", + "frame": 66, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了黄瓜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了黄瓜。\n为完成抓取黄瓜落入塑料碗的任务应当：合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹正前方的塑料碗接近。", + "time": 2.209094535718746, + "annotations": { + "bbox_1769484773805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484773805_1769486424635_2f6ccqz87", + "x": 0.4696665973103883, + "y": 0.2442036747881124, + "width": 0.13499999176025437, + "height": 0.4853332938368088 + } + ] + }, + "point_1769484781397": { + "type": "point", + "instances": [ + { + "id": "point_1769484781397_1769486428467_5xvmer4j5", + "x": 0.42166660024007563, + "y": 0.4788703223575584 + } + ] + }, + "point_1769484786949": { + "type": "point", + "instances": [ + { + "id": "point_1769484786949_1769486433067_e8x17x157", + "x": 0.6376665870564826, + "y": 0.484203655256864 + } + ] + }, + "bbox_1769484777269": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484777269_1769486438315_3954p6l6b", + "x": 0.2076666133015983, + "y": 0.0002036946448816207, + "width": 0.3429999790649427, + "height": 0.20533331662326526 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抬升并重新打开爪夹，同时调整爪夹的角度使其垂直于桌面，爪夹垂直下降直至黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹正前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹下降没有下降至桌面合拢爪夹，导致抓不到黄瓜，需重新抓取。", + "frame": 84, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到黄瓜，因此进度降至为5%。", + "state_description": "爪夹合拢抵在黄瓜上。\n为完成抓取黄瓜落入塑料碗的任务应当：爪夹抬升并重新打开爪夹，同时调整爪夹的角度使其垂直于桌面，爪夹垂直下降直至黄瓜的正上方。", + "time": 2.813333, + "annotations": { + "bbox_1769484777269": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484777269_1769486400891_tsv8rtuqe", + "x": 0.2246666122640007, + "y": 0.005537027544187212, + "width": 0.3519999785156263, + "height": 0.1466666547309038 + } + ] + }, + "point_1769484781397": { + "type": "point", + "instances": [ + { + "id": "point_1769484781397_1769486408627_eld9os912", + "x": 0.5216665941365604, + "y": 0.47620365590790564 + } + ] + }, + "point_1769484786949": { + "type": "point", + "instances": [ + { + "id": "point_1769484786949_1769486412059_eqbwklc5d", + "x": 0.536666593221033, + "y": 0.4748703226830792 + } + ] + }, + "bbox_1769484773805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484773805_1769486418883_ufkf6udmk", + "x": 0.45966659792073983, + "y": 0.2442036747881124, + "width": 0.13899999151611375, + "height": 0.5106666251085104 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并打开爪夹。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹正前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹抬升并打开爪夹，向接近黄瓜移动，方便下一步抓取。", + "frame": 110, + "progress": 10, + "progress_explanation": "爪夹抬升并打开爪夹，重新抓取黄瓜，因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，接近了黄瓜。\n为完成抓取黄瓜落入塑料碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，并移动到黄瓜的正上方。", + "time": 3.650299, + "annotations": { + "point_1769484786949": { + "type": "point", + "instances": [ + { + "id": "point_1769484786949_1769486365323_hftrkffd4", + "x": 0.5786665906575567, + "y": 0.484203655256864 + } + ] + }, + "point_1769484781397": { + "type": "point", + "instances": [ + { + "id": "point_1769484781397_1769486374891_f36ua4pfl", + "x": 0.471666597188318, + "y": 0.4788703223575584 + } + ] + }, + "bbox_1769484773805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484773805_1769486380747_h466k346d", + "x": 0.4546665982259156, + "y": 0.2975370037811683, + "width": 0.12899999212646537, + "height": 0.43866663096788483 + } + ] + }, + "bbox_1769484777269": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484777269_1769486388331_0b6mresra", + "x": 0.25766661024984067, + "y": -0.0011296385799447772, + "width": 0.3259999801025403, + "height": 0.1906666511501749 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹正前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹垂直下降，靠近了黄瓜，方便抓取。", + "frame": 125, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了黄瓜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了黄瓜。\n为完成抓取黄瓜落入塑料碗的任务应当：合拢抓取黄瓜，抓紧黄瓜垂直升高爪夹并向爪夹正前方的塑料碗接近。", + "time": 4.159575420205442, + "annotations": { + "point_1769484781397": { + "type": "point", + "instances": [ + { + "id": "point_1769484781397_1769486347235_4sshqwcle", + "x": 0.43566659938558355, + "y": 0.484203655256864 + } + ] + }, + "bbox_1769484773805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484773805_1769486354763_vep3p79ix", + "x": 0.4766665968831423, + "y": 0.23487034221432762, + "width": 0.1549999905395513, + "height": 0.5746666199001775 + } + ] + }, + "point_1769484786949": { + "type": "point", + "instances": [ + { + "id": "point_1769484786949_1769486359779_wb512mipz", + "x": 0.6196665881551154, + "y": 0.4882036549313432 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧黄瓜垂直升高爪夹并向爪夹正前方的塑料碗接近，直至塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到黄瓜。", + "frame": 137, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黄瓜，因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到黄瓜，爪夹角度与桌面接近垂直。\n为完成抓取黄瓜落入塑料碗的任务应当：抓紧黄瓜垂直升高爪夹并向爪夹正前方的塑料碗接近，直至塑料碗的正上方。", + "time": 4.557599, + "annotations": { + "bbox_1769484773805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484773805_1769486334051_3gtb4yht3", + "x": 0.451666598409021, + "y": 0.18153701322127172, + "width": 0.15499999053955138, + "height": 0.6279999488932334 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黄瓜垂直升高并向爪夹的正前方移动。", + "correction_plan": "继续向爪夹正前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "爪夹合拢继续夹紧黄瓜，水平上接近了塑料碗。更加方便接近塑料碗。", + "frame": 148, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧黄瓜，垂直升高并向爪夹正前方的塑料碗接近，缩短了与塑料碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧黄瓜，水平上接近了塑料碗。\n为完成抓取黄瓜落入塑料碗的任务应当：继续向爪夹正前方的塑料碗接近，水平到达塑料碗的正上方后将黄瓜放入塑料碗", + "time": 4.942668117322777, + "annotations": { + "bbox_1769484777269": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484777269_1769486319659_j5id4lh7t", + "x": 0.38766660231527084, + "y": 0.29620367055634195, + "width": 0.21599998681640703, + "height": 0.25999997884114756 + } + ] + }, + "bbox_1769484773805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484773805_1769486326603_wm4np2iae", + "x": 0.45866659798177495, + "y": 0.1988703451440149, + "width": 0.14699999102783262, + "height": 0.5986666179470527 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧黄瓜向爪夹方向的正前方移动。", + "correction_plan": "将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "error_success_analysis": "到了爪夹正前方的塑料碗的正上方，方便将黄瓜放入塑料碗。", + "frame": 165, + "progress": 60, + "progress_explanation": "爪夹夹紧黄瓜，到了爪夹正前方的塑料碗的正上方，方便将黄瓜放入塑料碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧黄瓜，爪夹角度接近垂直于桌面，位于塑料碗的正上方。\n为完成抓取黄瓜落入塑料碗的任务应当：将黄瓜放入塑料碗，松开爪夹，使黄瓜落入塑料碗。", + "time": 5.514133, + "annotations": { + "bbox_1769484773805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484773805_1769486301995_l4ypvvg2d", + "x": 0.46366659767659923, + "y": 0.1908703457950565, + "width": 0.13999999145507863, + "height": 0.6413332811414973 + } + ] + }, + "bbox_1769484777269": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484777269_1769486313147_ddhg6cwbr", + "x": 0.24666661092122735, + "y": 0.41887032724037054, + "width": 0.28299998272705185, + "height": 0.37199996972656496 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，黄瓜落入塑料碗", + "frame": 183, + "progress": 100, + "progress_explanation": "爪夹张开，黄瓜落入塑料碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开黄瓜落入塑料碗的任务目标完成。", + "time": 6.083833, + "annotations": { + "bbox_1769484773805": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484773805_1769486276963_3q96lh1uy", + "x": 0.41166660085042717, + "y": 0.38420366339488415, + "width": 0.12999999206543017, + "height": 0.3439999720052106 + } + ] + }, + "bbox_1769484777269": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769484777269_1769486282003_0zsv27doo", + "x": 0.3326666056722042, + "y": 0.46153699043481516, + "width": 0.2589999841918955, + "height": 0.3506666381293427 + } + ] + }, + "point_1769484781397": { + "type": "point", + "instances": [ + { + "id": "point_1769484781397_1769486290651_g2q7twsu5", + "x": 0.42166660024007563, + "y": 0.484203655256864 + } + ] + }, + "point_1769484786949": { + "type": "point", + "instances": [ + { + "id": "point_1769484786949_1769486293835_63zsn8n92", + "x": 0.6396665869344124, + "y": 0.49087032138099596 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769484773805", + "name": "黄瓜" + }, + { + "color": "#FF9800", + "id": "bbox_1769484777269", + "name": "塑料碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769484781397", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769484786949", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-143752-put-carrot-blue-plastic-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-143752-put-carrot-blue-plastic-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..8d499fdba7334d877f3557bcfc093a9667971f4d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-143752-put-carrot-blue-plastic-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,348 @@ +{ + "task_description": "抓取胡萝卜放入塑料碗里：\n准备开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓紧胡萝卜接近塑料碗：60%\n爪夹将胡萝卜放入塑料碗：80%\n爪夹松开胡萝卜落入塑料碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769483229271": { + "instances": [ + { + "height": 0.241333313693578, + "id": "bbox_1769483229271_1769484252998_dp2dsu608", + "width": 0.06899999578857452, + "x": 0.608666588826502, + "y": 0.20405552538610636 + } + ], + "type": "bbox" + }, + "bbox_1769483234631": { + "instances": [ + { + "height": 0.2253333149956612, + "id": "bbox_1769483234631_1769484258326_q2tesj86u", + "width": 0.16599998986816464, + "x": 0.4736665970662477, + "y": 0.06405553677933458 + } + ], + "type": "bbox" + }, + "point_1769483240023": { + "instances": [ + { + "id": "point_1769483240023_1769484238942_qcgavzybj", + "x": 0.5886665900472051, + "y": 0.4720555035762123 + } + ], + "type": "point" + }, + "point_1769483246711": { + "instances": [ + { + "id": "point_1769483246711_1769484246550_n4h4cw6b0", + "x": 0.6886665839436898, + "y": 0.47605550325069146 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，远离胡萝卜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。\n为完成抓取胡萝卜落入塑料碗的任务应当：爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 1.493166 + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动调整爪夹。", + "annotations": { + "bbox_1769483229271": { + "instances": [ + { + "height": 0.24133331369357797, + "id": "bbox_1769483229271_1769484218206_tqu4gfgc2", + "width": 0.06999999572753932, + "x": 0.6136665885213264, + "y": 0.20672219183575916 + } + ], + "type": "bbox" + }, + "bbox_1769483234631": { + "instances": [ + { + "height": 0.221333315321182, + "id": "bbox_1769483234631_1769484222222_7hz5ms1eg", + "width": 0.176999989196778, + "x": 0.4666665974934937, + "y": 0.06805553645381376 + } + ], + "type": "bbox" + }, + "point_1769483240023": { + "instances": [ + { + "id": "point_1769483240023_1769484227478_0nrxqbbq6", + "x": 0.5816665904744512, + "y": 0.4384258981586997 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近胡萝卜移动，方便下一步抓取。", + "frame": 57, + "progress": 5, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，接近了胡萝卜。因此进度提升为5%。", + "state_description": "爪夹张开，调整爪夹角度，接近了胡萝卜。\n为完成抓取胡萝卜落入塑料碗的任务应当：爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 1.899770691218193 + }, + { + "action_description": "爪夹向爪夹的右前方移动。", + "annotations": { + "bbox_1769483229271": { + "instances": [ + { + "height": 0.25199997949218916, + "id": "bbox_1769483229271_1769484209990_wg4nal3iq", + "width": 0.060999996276855664, + "x": 0.62266658797201, + "y": 0.2213888573088495 + } + ], + "type": "bbox" + }, + "bbox_1769483234631": { + "instances": [ + { + "height": 0.23066664789496683, + "id": "bbox_1769483234631_1769484205526_va11490cl", + "width": 0.17999998901367248, + "x": 0.46566659755452894, + "y": 0.05472220420554979 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了胡萝卜之间的距离，方便后续抓取胡萝卜。", + "frame": 69, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了胡萝卜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了胡萝卜。\n为完成抓取胡萝卜落入塑料碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至胡萝卜的正上方。", + "time": 2.299255227937161 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1769483229271": { + "instances": [ + { + "height": 0.24266664691840442, + "id": "bbox_1769483229271_1769484190798_7si541wqt", + "width": 0.06399999609375025, + "x": 0.6346665872395881, + "y": 0.2187221908591967 + } + ], + "type": "bbox" + }, + "bbox_1769483234631": { + "instances": [ + { + "height": 0.21333331597222363, + "id": "bbox_1769483234631_1769484195198_6u9qvh3v6", + "width": 0.16499998992919976, + "x": 0.4746665970052126, + "y": 0.07072220290346656 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢抓取胡萝卜，抓紧胡萝卜垂直升高爪夹并向爪夹左前方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹垂直下降，靠近了胡萝卜，方便抓取。", + "frame": 78, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了胡萝卜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了胡萝卜。\n为完成抓取胡萝卜落入塑料碗的任务应当：合拢抓取胡萝卜，抓紧胡萝卜垂直升高爪夹并向爪夹左前方的塑料碗接近。", + "time": 2.6081899363331633 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769483229271": { + "instances": [ + { + "height": 0.20399998339843883, + "id": "bbox_1769483229271_1769484171814_75kq1svgk", + "width": 0.0509999968872072, + "x": 0.6176665882771857, + "y": 0.2693888534025998 + } + ], + "type": "bbox" + }, + "bbox_1769483234631": { + "instances": [ + { + "height": 0.2319999811197932, + "id": "bbox_1769483234631_1769484167934_6y064pijv", + "width": 0.16299999005127014, + "x": 0.4756665969441774, + "y": 0.05605553743037619 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧胡萝卜垂直升高爪夹并向爪夹左前方的塑料碗接近，直至塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到胡萝卜。", + "frame": 90, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到胡萝卜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到胡萝卜，爪夹角度与桌面接近垂直。\n为完成抓取胡萝卜落入塑料碗的任务应当：抓紧胡萝卜垂直升高爪夹并向爪夹左前方的塑料碗接近，直至塑料碗的正上方。", + "time": 3.012166 + }, + { + "action_description": "爪夹夹紧胡萝卜垂直升高向爪夹方向的左侧移动", + "annotations": { + "bbox_1769483229271": { + "instances": [ + { + "height": 0.15733332052951493, + "id": "bbox_1769483229271_1769484157198_zweile510", + "width": 0.0499999969482424, + "x": 0.6536665860799202, + "y": -0.0012777912371589163 + } + ], + "type": "bbox" + }, + "bbox_1769483234631": { + "instances": [ + { + "height": 0.21333331597222363, + "id": "bbox_1769483234631_1769484162606_qccpwd6b9", + "width": 0.16999998962402402, + "x": 0.4736665970662477, + "y": 0.06405553677933458 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹左前方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹合拢继续夹紧胡萝卜，水平上接近了塑料碗。更加方便接近塑料碗。", + "frame": 103, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧胡萝卜，垂直升高并向爪夹左前方的塑料碗接近，缩短了与塑料碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧胡萝卜，水平上接近了塑料碗。\n为完成抓取胡萝卜落入塑料碗的任务应当：继续向爪夹左前方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗", + "time": 3.449770693687788 + }, + { + "action_description": "爪夹夹紧胡萝卜向爪夹方向的左前方移动。", + "annotations": { + "bbox_1769483229271": { + "instances": [ + { + "height": 0.15466665407986213, + "id": "bbox_1769483229271_1769484132214_o3sbmnq3i", + "width": 0.05999999633789086, + "x": 0.4666665974934937, + "y": 0.0040555416621466745 + } + ], + "type": "bbox" + }, + "bbox_1769483234631": { + "instances": [ + { + "height": 0.21733331564670286, + "id": "bbox_1769483234631_1769484096502_dsco3vczw", + "width": 0.18499998870849677, + "x": 0.4546665982259156, + "y": 0.07487035523515989 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "到了爪夹左前方的塑料碗的正上方，方便将胡萝卜放入塑料碗。", + "frame": 113, + "progress": 60, + "progress_explanation": "爪夹夹紧胡萝卜，到了爪夹左前方的塑料碗的正上方，方便将胡萝卜放入塑料碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧胡萝卜，爪夹角度接近垂直于桌面，位于塑料碗的正上方。\n为完成抓取胡萝卜落入塑料碗的任务应当：将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "time": 3.761333 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769483229271": { + "instances": [ + { + "height": 0.16533331987847333, + "id": "bbox_1769483229271_1769484146830_33v977566", + "width": 0.05499999664306658, + "x": 0.5026665952962283, + "y": 0.09605553417516811 + } + ], + "type": "bbox" + }, + "bbox_1769483234631": { + "instances": [ + { + "height": 0.20266665017361246, + "id": "bbox_1769483234631_1769484089022_g0qev6hpl", + "width": 0.19099998834228585, + "x": 0.46366659767659923, + "y": 0.07753702168481268 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，胡萝卜落入塑料碗", + "frame": 125, + "progress": 100, + "progress_explanation": "爪夹张开，胡萝卜落入塑料碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开胡萝卜落入塑料碗的任务目标完成。", + "time": 4.179833 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769483229271", + "name": "胡萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1769483234631", + "name": "塑料碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769483240023", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769483246711", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-145027-put-carrot-blue-plastic-mix-1/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-145027-put-carrot-blue-plastic-mix-1/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..032d734a6741815242e3038449475a4cf8db28f2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-145027-put-carrot-blue-plastic-mix-1/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,634 @@ +{ + "task_description": "抓取胡萝卜放入塑料碗里：\n准备开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓紧胡萝卜接近塑料碗：60%\n爪夹将胡萝卜放入塑料碗：80%\n爪夹松开胡萝卜落入塑料碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左后方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "当前为初始状态，远离胡萝卜，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。\n为完成抓取胡萝卜落入塑料碗的任务应当：爪夹向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 0.945166, + "annotations": { + "point_1769234662786": { + "type": "point", + "instances": [ + { + "id": "point_1769234662786_1769241474088_ocvfyjlmb", + "x": 0.41937499999999994, + "y": 0.4901979166666667 + } + ] + }, + "point_1769234668289": { + "type": "point", + "instances": [ + { + "id": "point_1769234668289_1769241476887_vrtkdmacn", + "x": 0.637375, + "y": 0.49686458333333333 + } + ] + }, + "bbox_1769234656545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234656545_1769241481168_2pkc360cd", + "x": 0.45437500000000003, + "y": 0.34753125, + "width": 0.233, + "height": 0.26666666666666666 + } + ] + }, + "bbox_1769234651522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234651522_1769241486120_02u3j936d", + "x": 0.615375, + "y": 0.2848645833333333, + "width": 0.11299999999999999, + "height": 0.19866666666666669 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动调整爪夹。", + "correction_plan": "爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左后方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近胡萝卜移动，方便下一步抓取。", + "frame": 46, + "progress": 10, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，接近了胡萝卜。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，接近了胡萝卜。\n为完成抓取胡萝卜落入塑料碗的任务应当：爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 1.536999, + "annotations": { + "bbox_1769234656545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234656545_1769241459400_cnpunp7dk", + "x": 0.459375, + "y": 0.45286458333333335, + "width": 0.2, + "height": 0.2613333333333333 + } + ] + }, + "bbox_1769234651522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234651522_1769241463112_wb4hhxv5t", + "x": 0.622375, + "y": 0.31286458333333333, + "width": 0.07300000000000004, + "height": 0.23333333333333334 + } + ] + }, + "point_1769234668289": { + "type": "point", + "instances": [ + { + "id": "point_1769234668289_1769241467304_yovozbs53", + "x": 0.639375, + "y": 0.4928645833333334 + } + ] + }, + "point_1769234662786": { + "type": "point", + "instances": [ + { + "id": "point_1769234662786_1769241470000_bcowg67f7", + "x": 0.421375, + "y": 0.4888645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左后方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了胡萝卜之间的距离，方便后续抓取胡萝卜。", + "frame": 64, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了胡萝卜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了胡萝卜。\n为完成抓取胡萝卜落入塑料碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至胡萝卜的正上方。", + "time": 2.146499, + "annotations": { + "bbox_1769234651522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234651522_1769241439953_j75nqwsme", + "x": 0.379375, + "y": 0.4341979166666667, + "width": 0.19000000000000003, + "height": 0.316 + } + ] + }, + "point_1769234662786": { + "type": "point", + "instances": [ + { + "id": "point_1769234662786_1769241447280_nv8ktwkdq", + "x": 0.41937499999999994, + "y": 0.48353125 + } + ] + }, + "point_1769234668289": { + "type": "point", + "instances": [ + { + "id": "point_1769234668289_1769241449800_uhuc55fjf", + "x": 0.639375, + "y": 0.4861979166666667 + } + ] + }, + "bbox_1769234656545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234656545_1769241454376_4b5lhdafi", + "x": 0.262375, + "y": 0.7688645833333333, + "width": 0.199, + "height": 0.2146666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正前方移动并下降。", + "correction_plan": "爪夹向爪夹的左后方移动，同时调整爪夹的角度使其垂直于桌面，直至胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左后方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并下降，位于白萝卜的正上方，需重新移动抓取胡萝卜。", + "frame": 85, + "progress": 10, + "progress_explanation": "爪夹向爪夹的正前方移动并下降，位于白萝卜的正上方，因此进度降至为10%。", + "state_description": "爪夹张开，位于白萝卜的正上方。\n为完成抓取胡萝卜落入塑料碗的任务应当：爪夹向爪夹的左后方移动，同时调整爪夹的角度使其垂直于桌面，直至胡萝卜的正上方。", + "time": 2.817833, + "annotations": { + "point_1769234668289": { + "type": "point", + "instances": [ + { + "id": "point_1769234668289_1769241427248_m5406utqw", + "x": 0.640375, + "y": 0.4861979166666667 + } + ] + }, + "point_1769234662786": { + "type": "point", + "instances": [ + { + "id": "point_1769234662786_1769241430080_oxcep634t", + "x": 0.41937499999999994, + "y": 0.48353125 + } + ] + }, + "bbox_1769234651522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234651522_1769241434096_er80k1wks", + "x": 0.109375, + "y": 0.38619791666666664, + "width": 0.272, + "height": 0.5133333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抬升并重新打开爪夹，向爪夹的左后方移动，同时调整爪夹的角度使其垂直于桌面，直至胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左后方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹在白萝卜上方合拢爪夹,需向爪夹的左后方移动，抓取胡萝卜。", + "frame": 107, + "progress": 5, + "progress_explanation": "爪夹在白萝卜上方合拢爪夹，没有抓取到，因此进度降至为5%.", + "state_description": "爪夹合拢位于白萝卜的正上方。\n为完成抓取胡萝卜落入塑料碗的任务应当：爪夹抬升并重新打开爪夹，向爪夹的左后方移动，同时调整爪夹的角度使其垂直于桌面，直至胡萝卜的正上方", + "time": 3.5549612060567006, + "annotations": { + "bbox_1769234651522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234651522_1769241414744_3tl6larwp", + "x": 0.246375, + "y": 0.4541979166666667, + "width": 0.17299999999999996, + "height": 0.3253333333333333 + } + ] + }, + "bbox_1769234656545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234656545_1769241418273_bx19xpfsk", + "x": 0.175375, + "y": 0.8328645833333334, + "width": 0.20099999999999998, + "height": 0.16133333333333333 + } + ] + }, + "point_1769234662786": { + "type": "point", + "instances": [ + { + "id": "point_1769234662786_1769241420752_j6l9m1lkw", + "x": 0.524375, + "y": 0.47419791666666666 + } + ] + }, + "point_1769234668289": { + "type": "point", + "instances": [ + { + "id": "point_1769234668289_1769241423416_7ajacc6ib", + "x": 0.536375, + "y": 0.4728645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左后方移动并重新打开爪夹。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左后方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了胡萝卜之间的距离，方便后续抓取胡萝卜。", + "frame": 139, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了胡萝卜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了胡萝卜。\n为完成抓取胡萝卜落入塑料碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至胡萝卜的正上方。", + "time": 4.620425083376289, + "annotations": { + "point_1769234668289": { + "type": "point", + "instances": [ + { + "id": "point_1769234668289_1769241398184_ul8nlaczo", + "x": 0.627375, + "y": 0.48353125 + } + ] + }, + "point_1769234662786": { + "type": "point", + "instances": [ + { + "id": "point_1769234662786_1769241401113_03skr4my6", + "x": 0.43237500000000006, + "y": 0.48219791666666667 + } + ] + }, + "bbox_1769234656545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234656545_1769241405392_18hxlw9zd", + "x": 0.21937500000000001, + "y": 0.7168645833333334, + "width": 0.211, + "height": 0.24533333333333332 + } + ] + }, + "bbox_1769234651522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234651522_1769241410425_aq8btgyb1", + "x": 0.43537499999999996, + "y": 0.20353125000000002, + "width": 0.179, + "height": 0.5426666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取胡萝卜，抓紧胡萝卜垂直升高爪夹并向爪夹左后方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹垂直下降，靠近了胡萝卜，方便抓取。", + "frame": 150, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了胡萝卜。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了胡萝卜。\n为完成抓取胡萝卜落入塑料碗的任务应当：合拢抓取胡萝卜，抓紧胡萝卜垂直升高爪夹并向爪夹左后方的塑料碗接近。", + "time": 4.999666, + "annotations": { + "bbox_1769234656545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234656545_1769241380808_zyyjv0pg9", + "x": 0.19437500000000002, + "y": 0.7688645833333333, + "width": 0.22100000000000003, + "height": 0.22133333333333335 + } + ] + }, + "bbox_1769234651522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234651522_1769241385968_6b5nyhlzj", + "x": 0.43537499999999996, + "y": 0.18886458333333334, + "width": 0.18200000000000002, + "height": 0.6146666666666666 + } + ] + }, + "point_1769234662786": { + "type": "point", + "instances": [ + { + "id": "point_1769234662786_1769241389496_epdu5uu6c", + "x": 0.417375, + "y": 0.47953125 + } + ] + }, + "point_1769234668289": { + "type": "point", + "instances": [ + { + "id": "point_1769234668289_1769241393272_tq3yxflca", + "x": 0.639375, + "y": 0.4861979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧胡萝卜垂直升高爪夹并向爪夹左后方的塑料碗接近，直至塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到胡萝卜。", + "frame": 166, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到胡萝卜，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到胡萝卜，爪夹角度与桌面接近垂直。\n为完成抓取胡萝卜落入塑料碗的任务应当：抓紧胡萝卜垂直升高爪夹并向爪夹左后方的塑料碗接近，直至塑料碗的正上方。", + "time": 5.538499, + "annotations": { + "point_1769234662786": { + "type": "point", + "instances": [ + { + "id": "point_1769234662786_1769241364408_uw6p1rooa", + "x": 0.471375, + "y": 0.47553125 + } + ] + }, + "point_1769234668289": { + "type": "point", + "instances": [ + { + "id": "point_1769234668289_1769241367024_0g9iwisip", + "x": 0.585375, + "y": 0.47019791666666666 + } + ] + }, + "bbox_1769234651522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234651522_1769241371976_biris3dzc", + "x": 0.375375, + "y": 0.17553125, + "width": 0.225, + "height": 0.62 + } + ] + }, + "bbox_1769234656545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234656545_1769241376416_9zsyr4ohj", + "x": 0.174375, + "y": 0.7608645833333334, + "width": 0.23499999999999996, + "height": 0.2293333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧胡萝卜垂直升高并向爪夹左后方移动。", + "correction_plan": "继续向爪夹左后方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "爪夹合拢继续夹紧胡萝卜，水平上接近了塑料碗。更加方便接近塑料碗。", + "frame": 186, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧胡萝卜，垂直升高并向爪夹左后方的塑料碗接近，缩短了与塑料碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧胡萝卜，水平上接近了塑料碗。\n为完成抓取胡萝卜落入塑料碗的任务应当：继续向爪夹左后方的塑料碗接近，水平到达塑料碗的正上方后将胡萝卜放入塑料碗", + "time": 6.214067634922681, + "annotations": { + "bbox_1769234656545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234656545_1769241347505_xbq9o3pua", + "x": 0.32637499999999997, + "y": 0.5661979166666666, + "width": 0.251, + "height": 0.26800000000000007 + } + ] + }, + "bbox_1769234651522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234651522_1769241352072_jb7k5old6", + "x": 0.375375, + "y": 0.15419791666666666, + "width": 0.225, + "height": 0.6120000000000001 + } + ] + }, + "point_1769234668289": { + "type": "point", + "instances": [ + { + "id": "point_1769234668289_1769241354928_ou2g1u68g", + "x": 0.584375, + "y": 0.47019791666666666 + } + ] + }, + "point_1769234662786": { + "type": "point", + "instances": [ + { + "id": "point_1769234662786_1769241357744_1jquiw80p", + "x": 0.472375, + "y": 0.47953125 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧胡萝卜向爪夹方向的左后方移动，又向爪夹的右前方微调。", + "correction_plan": "将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "error_success_analysis": "到了爪夹左后方的塑料碗的正上方，方便将胡萝卜放入塑料碗。", + "frame": 206, + "progress": 60, + "progress_explanation": "爪夹夹紧胡萝卜，到了爪夹左后方的塑料碗的正上方，方便将胡萝卜放入塑料碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧胡萝卜，爪夹角度接近垂直于桌面，位于塑料碗的正上方。\n为完成抓取胡萝卜落入塑料碗的任务应当：将胡萝卜放入塑料碗，松开爪夹，使胡萝卜落入塑料碗。", + "time": 6.854666, + "annotations": { + "bbox_1769234651522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234651522_1769241332432_ga78raebd", + "x": 0.364375, + "y": 0.18619791666666666, + "width": 0.24700000000000003, + "height": 0.6080000000000001 + } + ] + }, + "point_1769234668289": { + "type": "point", + "instances": [ + { + "id": "point_1769234668289_1769241335312_oys63jwk8", + "x": 0.5823750000000001, + "y": 0.4728645833333333 + } + ] + }, + "point_1769234662786": { + "type": "point", + "instances": [ + { + "id": "point_1769234662786_1769241337513_rqclq0dmx", + "x": 0.47437500000000005, + "y": 0.47686458333333337 + } + ] + }, + "bbox_1769234656545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234656545_1769241342153_uossuqpfe", + "x": 0.410375, + "y": 0.3221979166666667, + "width": 0.27, + "height": 0.3786666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，胡萝卜落入塑料碗", + "frame": 226, + "progress": 100, + "progress_explanation": "爪夹张开，胡萝卜落入塑料碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开胡萝卜落入塑料碗的任务目标完成。", + "time": 7.517166, + "annotations": { + "point_1769234668289": { + "type": "point", + "instances": [ + { + "id": "point_1769234668289_1769241305880_gt3n60c51", + "x": 0.641375, + "y": 0.48219791666666667 + } + ] + }, + "point_1769234662786": { + "type": "point", + "instances": [ + { + "id": "point_1769234662786_1769241308608_9982dt5fl", + "x": 0.42037500000000005, + "y": 0.48219791666666667 + } + ] + }, + "bbox_1769234651522": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234651522_1769241312640_ceft24h1y", + "x": 0.405375, + "y": 0.31686458333333334, + "width": 0.191, + "height": 0.35600000000000004 + } + ] + }, + "bbox_1769234656545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234656545_1769241319265_df5ziguum", + "x": 0.44037500000000007, + "y": 0.43553125, + "width": 0.25999999999999995, + "height": 0.3386666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769234651522", + "name": "胡萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1769234656545", + "name": "塑料碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769234662786", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769234668289", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-153143-put-carrot-blue-plastic-bad-1/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-153143-put-carrot-blue-plastic-bad-1/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..fe87bc15a4d095cad1dc1d5299f35b826f1ac088 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-153143-put-carrot-blue-plastic-bad-1/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,376 @@ +{ + "task_description": "抓取玉米放入塑料碗里：\n准备开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓紧玉米接近塑料碗：60%\n爪夹将玉米放入塑料碗：80%\n爪夹松开玉米落入塑料碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到玉米的正上方。接着落下爪夹靠近玉米，接近玉米后爪夹合拢抓取玉米。抓紧玉米垂直升高爪夹并向爪夹左侧的塑料碗接近，水平到达塑料碗的正上方后将玉米放入塑料碗，松开爪夹，使玉米落入塑料碗。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "当前为初始状态，远离玉米，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离玉米，未开始移动。\n为完成抓取玉米落入塑料碗的任务应当：爪夹向爪夹的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到玉米的正上方。", + "time": 1.1397552011597938, + "annotations": { + "point_1769234756121": { + "type": "point", + "instances": [ + { + "id": "point_1769234756121_1769243216382_hh16ukgjt", + "x": 0.530375, + "y": 0.48219791666666667 + } + ] + }, + "point_1769234761385": { + "type": "point", + "instances": [ + { + "id": "point_1769234761385_1769243220237_qucqd5flj", + "x": 0.632375, + "y": 0.46086458333333336 + } + ] + }, + "bbox_1769234749889": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234749889_1769243224310_433esccoq", + "x": 0.445375, + "y": 0.2781979166666666, + "width": 0.17400000000000002, + "height": 0.22800000000000006 + } + ] + }, + "bbox_1769234746137": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234746137_1769243233702_8643muvsf", + "x": 0.8703749999999999, + "y": 0.39953125, + "width": 0.075, + "height": 0.20800000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向爪夹的正前方移动调整爪夹。", + "correction_plan": "爪夹继续向爪夹的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到玉米的正上方。接着落下爪夹靠近玉米，接近玉米后爪夹合拢抓取玉米。抓紧玉米垂直升高爪夹并向爪夹左侧的塑料碗接近，水平到达塑料碗的正上方后将玉米放入塑料碗，松开爪夹，使玉米落入塑料碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近玉米移动，方便下一步抓取。", + "frame": 56, + "progress": 5, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，还未接近玉米。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近玉米。\n为完成抓取玉米落入塑料碗的任务应当：爪夹继续向爪夹的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到玉米的正上方。", + "time": 1.870166, + "annotations": { + "bbox_1769234749889": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234749889_1769243188438_8zlh07x3x", + "x": 0.45237499999999997, + "y": 0.2728645833333333, + "width": 0.17300000000000004, + "height": 0.22933333333333336 + } + ] + }, + "bbox_1769234746137": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234746137_1769243192886_wizr6vlvn", + "x": 0.8713750000000001, + "y": 0.3901979166666667, + "width": 0.06999999999999992, + "height": 0.21066666666666667 + } + ] + }, + "point_1769234761385": { + "type": "point", + "instances": [ + { + "id": "point_1769234761385_1769243200758_9eoxgifwk", + "x": 0.7073750000000001, + "y": 0.2541979166666667 + } + ] + }, + "point_1769234756121": { + "type": "point", + "instances": [ + { + "id": "point_1769234756121_1769243207070_grefaw7i2", + "x": 0.5823750000000001, + "y": 0.26886458333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧移动。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至玉米的正上方。接着落下爪夹靠近玉米，接近玉米后爪夹合拢抓取玉米。抓紧玉米垂直升高爪夹并向爪夹左侧的塑料碗接近，水平到达塑料碗的正上方后将玉米放入塑料碗，松开爪夹，使玉米落入塑料碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了玉米之间的距离，方便后续抓取玉米。", + "frame": 76, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了玉米。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了玉米。\n为完成抓取玉米落入塑料碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至玉米的正上方。", + "time": 2.5205112712628868, + "annotations": { + "bbox_1769234749889": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234749889_1769243182965_1g2rzgepc", + "x": 0.450375, + "y": 0.2728645833333333, + "width": 0.17400000000000002, + "height": 0.23600000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢抓取玉米，抓紧玉米垂直升高爪夹并向爪夹左侧的塑料碗接近，水平到达塑料碗的正上方后将玉米放入塑料碗，松开爪夹，使玉米落入塑料碗。", + "error_success_analysis": "爪夹垂直下降，靠近了玉米，方便抓取。", + "frame": 98, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了玉米。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了玉米。\n为完成抓取玉米落入塑料碗的任务应当：合拢抓取玉米，抓紧玉米垂直升高爪夹并向爪夹左侧的塑料碗接近。", + "time": 3.283, + "annotations": { + "bbox_1769234749889": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234749889_1769243167309_td8a67xrd", + "x": 0.43637500000000007, + "y": 0.27553125, + "width": 0.18599999999999994, + "height": 0.24533333333333338 + } + ] + }, + "bbox_1769234746137": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234746137_1769243170694_kzdl04cey", + "x": 0.865375, + "y": 0.40353125, + "width": 0.07199999999999988, + "height": 0.1960000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧玉米垂直升高爪夹并向爪夹左侧的塑料碗接近，直至塑料碗的正上方后将玉米放入塑料碗，松开爪夹，使玉米落入塑料碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到玉米。", + "frame": 114, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到玉米，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到玉米，爪夹角度与桌面接近垂直。\n为完成抓取玉米落入塑料碗的任务应当：抓紧玉米垂直升高爪夹并向爪夹左侧的塑料碗接近，直至塑料碗的正上方。", + "time": 3.7833979207474235, + "annotations": { + "bbox_1769234749889": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234749889_1769243094445_0bjh0rpcq", + "x": 0.446375, + "y": 0.2728645833333333, + "width": 0.183, + "height": 0.24400000000000002 + } + ] + }, + "bbox_1769234746137": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234746137_1769243099198_vbse73why", + "x": 0.866375, + "y": 0.38753125000000005, + "width": 0.06400000000000006, + "height": 0.21599999999999994 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧玉米垂直升高并向爪夹方向的左侧移动。", + "correction_plan": "继续向爪夹左侧的塑料碗接近，水平到达塑料碗的正上方后将玉米放入塑料碗，松开爪夹，使玉米落入塑料碗。", + "error_success_analysis": "爪夹合拢继续夹紧玉米，水平上接近了塑料碗。更加方便接近塑料碗。", + "frame": 147, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧玉米，垂直升高并向爪夹左侧的塑料碗接近，缩短了与塑料碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧玉米，水平上接近了塑料碗。\n为完成抓取玉米落入塑料碗的任务应当：继续向爪夹左侧的塑料碗接近，水平到达塑料碗的正上方后将玉米放入塑料碗", + "time": 4.903157416623712, + "annotations": { + "bbox_1769234746137": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234746137_1769243064238_mn3raibom", + "x": 0.802375, + "y": 0.09419791666666663, + "width": 0.08100000000000004, + "height": 0.2813333333333334 + } + ] + }, + "bbox_1769234749889": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234749889_1769243108950_er2gm9sb2", + "x": 0.43137499999999995, + "y": 0.27019791666666665, + "width": 0.20500000000000007, + "height": 0.252 + } + ] + }, + "point_1769234756121": { + "type": "point", + "instances": [ + { + "id": "point_1769234756121_1769243140581_ncjf9435s", + "x": 0.8053750000000001, + "y": 0.2728645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧玉米向爪夹方向的左侧移动。", + "correction_plan": "将玉米放入塑料碗，松开爪夹，使玉米落入塑料碗。", + "error_success_analysis": "到了爪夹左侧的塑料碗的正上方，方便将玉米放入塑料碗。", + "frame": 171, + "progress": 60, + "progress_explanation": "爪夹夹紧玉米，到了爪夹左侧的塑料碗的正上方，方便将玉米放入塑料碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧玉米，爪夹角度接近垂直于桌面，位于塑料碗的正上方。\n为完成抓取玉米落入塑料碗的任务应当：将玉米放入塑料碗，松开爪夹，使玉米落入塑料碗。", + "time": 5.686147139304124, + "annotations": { + "bbox_1769234749889": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234749889_1769243054502_u7xu73zw9", + "x": 0.4443750000000001, + "y": 0.2741979166666667, + "width": 0.16699999999999998, + "height": 0.23333333333333334 + } + ] + }, + "bbox_1769234746137": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234746137_1769243057966_bc7otmc7n", + "x": 0.48237500000000005, + "y": 0.18753125, + "width": 0.079, + "height": 0.18266666666666664 + } + ] + }, + "point_1769234756121": { + "type": "point", + "instances": [ + { + "id": "point_1769234756121_1769243155046_h50otfzro", + "x": 0.5273749999999999, + "y": 0.33953125 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，玉米落入塑料碗", + "frame": 194, + "progress": 100, + "progress_explanation": "爪夹张开，玉米落入塑料碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开玉米落入塑料碗的任务目标完成。", + "time": 6.451666, + "annotations": { + "bbox_1769234746137": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234746137_1769243046214_fnys297gd", + "x": 0.491375, + "y": 0.28619791666666666, + "width": 0.08499999999999996, + "height": 0.18000000000000002 + } + ] + }, + "bbox_1769234749889": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769234749889_1769243049406_5dj2jn3ce", + "x": 0.45137499999999997, + "y": 0.26886458333333335, + "width": 0.175, + "height": 0.23066666666666666 + } + ] + }, + "point_1769234756121": { + "type": "point", + "instances": [ + { + "id": "point_1769234756121_1769243151101_cvs6n3909", + "x": 0.516375, + "y": 0.35953125 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769234746137", + "name": "玉米" + }, + { + "color": "#FF9800", + "id": "bbox_1769234749889", + "name": "塑料碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769234756121", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769234761385", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-153750-put-bell peppers-white-box-good-1/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-153750-put-bell peppers-white-box-good-1/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..babec08e914333e112d85256f88f956e8edc7ab3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-153750-put-bell peppers-white-box-good-1/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,386 @@ +{ + "task_description": "爪夹把红色甜椒放进白色盒子里。\n开始移动:0%\n爪夹靠近红色甜椒:20%\n爪夹抓取红色甜椒:40%\n爪夹抓住红色甜椒接近白色盒子:60%\n爪夹将红色甜椒放入白色盒子:80%\n爪夹松开，红色甜椒落入白色盒子:100%\n\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768894226921": { + "instances": [ + { + "height": 0.5058275058275059, + "id": "bbox_1768894226921_1768897936631_le4kyybtw", + "width": 0.4370629370629371, + "x": 0.11538461538461539, + "y": 0 + } + ], + "type": "bbox" + }, + "bbox_1768897838527": { + "instances": [ + { + "height": 0.14685314685314682, + "id": "bbox_1768897838527_1768897949423_apt0tzzxk", + "width": 0.06293706293706292, + "x": 0.5506993006993007, + "y": 0.3076923076923077 + } + ], + "type": "bbox" + }, + "point_1768895151682": { + "instances": [ + { + "id": "point_1768895151682_1768904496962_onkb4tzxj", + "x": 0.5611888111888113, + "y": 0.4778554778554779 + } + ], + "type": "point" + }, + "point_1768895157420": { + "instances": [ + { + "id": "point_1768895157420_1768904498847_8vtu24fp8", + "x": 0.6660839160839161, + "y": 0.46386946386946387 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹左方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹没有移动。爪夹处于张开状态。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 0.5490775129151292 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768894226921": { + "instances": [ + { + "height": 0.49650349650349657, + "id": "bbox_1768894226921_1768898585636_3w3phfaz6", + "width": 0.4353146853146853, + "x": 0.1188811188811189, + "y": 0.006993006993006993 + } + ], + "type": "bbox" + }, + "bbox_1768897838527": { + "instances": [ + { + "height": 0.14452214452214449, + "id": "bbox_1768897838527_1768898593600_eairlr6mm", + "width": 0.06993006993006992, + "x": 0.5472027972027973, + "y": 0.3123543123543124 + } + ], + "type": "bbox" + }, + "point_1768895151682": { + "instances": [ + { + "id": "point_1768895151682_1768904503195_na0hzo50c", + "x": 0.5664335664335665, + "y": 0.4102564102564103 + } + ], + "type": "point" + }, + "point_1768895157420": { + "instances": [ + { + "id": "point_1768895157420_1768904505049_woh5z94k6", + "x": 0.6870629370629371, + "y": 0.38927738927738925 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹左方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向前方移动。朝红色甜椒的方向移动。方便向爪夹前方移动。", + "frame": 46, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 1.5252153136531366 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768894226921": { + "instances": [ + { + "height": 0.5011655011655012, + "id": "bbox_1768894226921_1768898604022_yofcytrxm", + "width": 0.44230769230769235, + "x": 0.11363636363636365, + "y": 0.006993006993006993 + } + ], + "type": "bbox" + }, + "bbox_1768897838527": { + "instances": [ + { + "height": 0.14452214452214457, + "id": "bbox_1768897838527_1768898607744_2hj8rz9zk", + "width": 0.06818181818181816, + "x": 0.5611888111888114, + "y": 0.3100233100233101 + } + ], + "type": "bbox" + }, + "point_1768895151682": { + "instances": [ + { + "id": "point_1768895151682_1768904700933_cqyt3nvbw", + "x": 0.5611888111888113, + "y": 0.24009324009324012 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹左方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向前方移动。朝红色甜椒的方向移动。方便向爪夹前方移动。", + "frame": 66, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。\n因此进度提升至15%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.1963100516605167 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768894226921": { + "instances": [ + { + "height": 0.5081585081585082, + "id": "bbox_1768894226921_1768897920680_nfru4ljeu", + "width": 0.44405594405594406, + "x": 0.11013986013986014, + "y": 0 + } + ], + "type": "bbox" + }, + "bbox_1768897838527": { + "instances": [ + { + "height": 0.1585081585081585, + "id": "bbox_1768897838527_1768897965469_tie8xslfc", + "width": 0.09790209790209792, + "x": 0.5506993006993007, + "y": 0.3053613053613054 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹左方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地朝前方移动。方便爪夹合拢。", + "frame": 83, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。在红色甜椒正上方。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹合拢。", + "time": 2.760639717712177 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768894226921": { + "instances": [ + { + "height": 0.5011655011655012, + "id": "bbox_1768894226921_1768897906813_he2mr9mes", + "width": 0.43881118881118886, + "x": 0.1118881118881119, + "y": 0.002331002331002331 + } + ], + "type": "bbox" + }, + "bbox_1768897838527": { + "instances": [ + { + "height": 0.1585081585081585, + "id": "bbox_1768897838527_1768897970469_arnles43y", + "width": 0.10314685314685317, + "x": 0.5506993006993007, + "y": 0.31468531468531474 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直抬升，向爪夹左方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取红色甜椒。方便向爪夹左上方移动。", + "frame": 125, + "progress": 40, + "progress_explanation": "与上一进度相比，红色甜椒被抓取。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。红色甜椒被抓取。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹左上方移动。", + "time": 4.179089959409595 + }, + { + "action_description": "向爪夹上方移动。", + "annotations": { + "bbox_1768894226921": { + "instances": [ + { + "height": 0.5058275058275058, + "id": "bbox_1768894226921_1768897887607_2aor7l60u", + "width": 0.4370629370629371, + "x": 0.11363636363636365, + "y": -0.0023310023310022816 + } + ], + "type": "bbox" + }, + "bbox_1768897838527": { + "instances": [ + { + "height": 0.16783216783216784, + "id": "bbox_1768897838527_1768897976285_i7bipzlhh", + "width": 0.11713286713286716, + "x": 0.5437062937062938, + "y": 0.09324009324009325 + } + ], + "type": "bbox" + }, + "point_1768895151682": { + "instances": [ + { + "id": "point_1768895151682_1768904716459_t15msrbqn", + "x": 0.5472027972027973, + "y": 0.17482517482517484 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取红色甜椒。方便向爪夹左方移动。", + "frame": 148, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹合拢抓取红色甜椒。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。红色甜椒悬于空中。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹左方移动。", + "time": 4.941697616236162 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1768894226921": { + "instances": [ + { + "height": 0.5058275058275058, + "id": "bbox_1768894226921_1768897871078_dn7o18k7o", + "width": 0.4335664335664336, + "x": 0.11713286713286712, + "y": 0.004662004662004662 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向左方移动。红色甜椒靠近白色盒子。方便爪夹张开。", + "frame": 183, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹将红色甜椒朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。红色甜椒在白色盒子上方。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹张开。", + "time": 6.100861254612546 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768894226921": { + "instances": [ + { + "height": 0.5034965034965035, + "id": "bbox_1768894226921_1768897852046_sbzpymqxu", + "width": 0.4370629370629371, + "x": 0.11538461538461539, + "y": -4.625929269271486e-19 + } + ], + "type": "bbox" + }, + "bbox_1768897838527": { + "instances": [ + { + "height": 0.1794871794871795, + "id": "bbox_1768897838527_1768897990533_xpraesz58", + "width": 0.12762237762237763, + "x": 0.38461538461538464, + "y": 0.0815850815850816 + } + ], + "type": "bbox" + }, + "point_1768895151682": { + "instances": [ + { + "id": "point_1768895151682_1768904736235_9de1515k4", + "x": 0.27972027972027974, + "y": 0.09090909090909091 + } + ], + "type": "point" + }, + "point_1768895157420": { + "instances": [ + { + "id": "point_1768895157420_1768904739592_509wnet1j", + "x": 0.3653846153846154, + "y": 0.002331002331002331 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。红色甜椒落在白色盒子里。\n已完成爪夹把红色甜椒放进白色盒子里的任务。", + "frame": 223, + "progress": 100, + "progress_explanation": "与上一进度相比，红色甜椒落在白色盒子里。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。红色甜椒落在白色盒子里。\n已完成爪夹把红色甜椒放进白色盒子里的任务。", + "time": 7.427798577490775 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768894226921", + "name": "白色盒子" + }, + { + "color": "#FF9800", + "id": "bbox_1768897838527", + "name": "红色甜椒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768895151682", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768895157420", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-154212-put-bell peppers-white-box-good-1/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-154212-put-bell peppers-white-box-good-1/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..ec536ffeef5f028fb1d91a6fd0fc175db907f498 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-154212-put-bell peppers-white-box-good-1/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,442 @@ +{ + "task_description": "爪夹把红色甜椒放进白色盒子里。\n开始移动:0%\n爪夹靠近红色甜椒:20%\n爪夹抓取红色甜椒:40%\n爪夹抓住红色甜椒接近白色盒子:60%\n爪夹将红色甜椒放入白色盒子:80%\n爪夹松开，红色甜椒落入白色盒子:100%\n\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768898968834": { + "instances": [ + { + "height": 0.14452214452214457, + "id": "bbox_1768898968834_1768899151430_xao9y1kmc", + "width": 0.09440559440559446, + "x": 0.3916083916083916, + "y": 0.34032634032634035 + } + ], + "type": "bbox" + }, + "bbox_1768898984344": { + "instances": [ + { + "height": 0.6783216783216783, + "id": "bbox_1768898984344_1768899189038_70kqk2dh3", + "width": 0.34965034965034986, + "x": 0.6416083916083916, + "y": 0.17016317016317017 + } + ], + "type": "bbox" + }, + "point_1768898993853": { + "instances": [ + { + "id": "point_1768898993853_1768904548365_6vjpo0m4b", + "x": 0.3898601398601399, + "y": 0.331002331002331 + } + ], + "type": "point" + }, + "point_1768898999210": { + "instances": [ + { + "id": "point_1768898999210_1768904550687_wqk8xko0h", + "x": 0.4860139860139861, + "y": 0.344988344988345 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹没有移动。爪夹处于张开状态。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 0.9793972638376383 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768898968834": { + "instances": [ + { + "height": 0.15384615384615388, + "id": "bbox_1768898968834_1768901664629_hv067r54l", + "width": 0.11713286713286712, + "x": 0.38461538461538464, + "y": 0.3356643356643357 + } + ], + "type": "bbox" + }, + "bbox_1768898984344": { + "instances": [ + { + "height": 0.6876456876456877, + "id": "bbox_1768898984344_1768901486099_s2n7125t6", + "width": 0.3479020979020979, + "x": 0.6468531468531469, + "y": 0.16083916083916086 + } + ], + "type": "bbox" + }, + "point_1768898993853": { + "instances": [ + { + "id": "point_1768898993853_1768904578867_9ybvwnc9w", + "x": 0.3723776223776224, + "y": 0.18181818181818182 + } + ], + "type": "point" + }, + "point_1768898999210": { + "instances": [ + { + "id": "point_1768898999210_1768904584829_07k03ndzm", + "x": 0.4842657342657343, + "y": 0.18181818181818182 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向前方移动。与红色甜椒距离减小。\n方便向爪夹前方移动。", + "frame": 46, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。\n因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与红色甜椒距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 1.5190651439114389 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768898968834": { + "instances": [ + { + "height": 0.14452214452214457, + "id": "bbox_1768898968834_1768901650353_c3i7ne3m9", + "width": 0.10839160839160847, + "x": 0.38111888111888115, + "y": 0.3496503496503497 + } + ], + "type": "bbox" + }, + "bbox_1768898984344": { + "instances": [ + { + "height": 0.6759906759906761, + "id": "bbox_1768898984344_1768901713001_j44vlqkv6", + "width": 0.36013986013986016, + "x": 0.6346153846153847, + "y": 0.17016317016317017 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向前方移动。与红色甜椒距离减小。方便向爪夹前方移动。", + "frame": 83, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与红色甜椒距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.7782901974169745 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768898968834": { + "instances": [ + { + "height": 0.1398601398601399, + "id": "bbox_1768898968834_1768901641255_qjtaduze4", + "width": 0.11363636363636367, + "x": 0.37762237762237766, + "y": 0.3473193473193473 + } + ], + "type": "bbox" + }, + "bbox_1768898984344": { + "instances": [ + { + "height": 0.6946386946386947, + "id": "bbox_1768898984344_1768901515939_nm9qsswrf", + "width": 0.35314685314685307, + "x": 0.6433566433566436, + "y": 0.16550116550116553 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹后方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹错误地向前方移动。与红色甜椒距离增加。因此进度减小。", + "frame": 133, + "progress": 8, + "progress_explanation": "与上一进度相比，爪夹朝远离红色甜椒的方向移动。因此进度减小至8%。\n", + "state_description": "爪夹处于张开状态。与红色甜椒距离增加。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹后方移动。", + "time": 4.437269236162362 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768898968834": { + "instances": [ + { + "height": 0.14452214452214457, + "id": "bbox_1768898968834_1768901630449_mi2bpzc9f", + "width": 0.12587412587412591, + "x": 0.34090909090909094, + "y": 0.36130536130536134 + } + ], + "type": "bbox" + }, + "bbox_1768898984344": { + "instances": [ + { + "height": 0.6643356643356644, + "id": "bbox_1768898984344_1768901364939_qx2f2ihp4", + "width": 0.395104895104895, + "x": 0.6101398601398602, + "y": 0.19114219114219114 + } + ], + "type": "bbox" + }, + "point_1768898993853": { + "instances": [ + { + "id": "point_1768898993853_1768904604963_c9feuzs16", + "x": 0.36363636363636365, + "y": 0.44755244755244755 + } + ], + "type": "point" + }, + "point_1768898999210": { + "instances": [ + { + "id": "point_1768898999210_1768904606983_72q4f1lkz", + "x": 0.45979020979020985, + "y": 0.42191142191142195 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向前方移动。朝红色甜椒的方向移动。", + "frame": 158, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。在红色甜椒正上方。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹合拢。", + "time": 5.267771574947971 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768898968834": { + "instances": [ + { + "height": 0.14452214452214457, + "id": "bbox_1768898968834_1768901619127_57uvune8g", + "width": 0.13111888111888118, + "x": 0.3496503496503497, + "y": 0.2703962703962704 + } + ], + "type": "bbox" + }, + "bbox_1768898984344": { + "instances": [ + { + "height": 0.6526806526806527, + "id": "bbox_1768898984344_1768901316373_fhyzzv2sb", + "width": 0.3951048951048951, + "x": 0.6013986013986015, + "y": 0.20046620046620048 + } + ], + "type": "bbox" + }, + "point_1768898993853": { + "instances": [ + { + "id": "point_1768898993853_1768904776866_7uu9nnaod", + "x": 0.3653846153846154, + "y": 0.3962703962703963 + } + ], + "type": "point" + }, + "point_1768898999210": { + "instances": [ + { + "id": "point_1768898999210_1768904767651_211augeaj", + "x": 0.4650349650349651, + "y": 0.372960372960373 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取红色甜椒。方便向爪夹右上方移动。", + "frame": 198, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取红色甜椒。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。红色甜椒被抓取。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹右上方移动。", + "time": 6.6159284557195575 + }, + { + "action_description": "向爪夹右上方移动。", + "annotations": { + "bbox_1768898984344": { + "instances": [ + { + "height": 0.655011655011655, + "id": "bbox_1768898984344_1768901223379_i9knys2jf", + "width": 0.38986013986013973, + "x": 0.6048951048951049, + "y": 0.1934731934731935 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子", + "error_success_analysis": "爪夹朝白色盒子的方向移动。方便向爪夹右上方移动。", + "frame": 233, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。红色甜椒与白色盒子的距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹右上方移动。", + "time": 7.755227313653137 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1768898968834": { + "instances": [ + { + "height": 0.1724941724941725, + "id": "bbox_1768898968834_1768901083571_btl3cwv2s", + "width": 0.16433566433566443, + "x": 0.666083916083916, + "y": 0.1794871794871795 + } + ], + "type": "bbox" + }, + "bbox_1768898984344": { + "instances": [ + { + "height": 0.6550116550116551, + "id": "bbox_1768898984344_1768901275137_3n68ggip2", + "width": 0.38636363636363635, + "x": 0.6031468531468531, + "y": 0.1934731934731935 + } + ], + "type": "bbox" + }, + "point_1768898999210": { + "instances": [ + { + "id": "point_1768898999210_1768904653684_r2n2idjfi", + "x": 0.8006993006993008, + "y": 0.29836829836829837 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向右方移动。方便爪夹张开。", + "frame": 258, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。红色甜椒与白色盒子的距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹张开。", + "time": 8.594710682656826 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768898968834": { + "instances": [ + { + "height": 0.16317016317016317, + "id": "bbox_1768898968834_1768901067613_78d2kdwzf", + "width": 0.13986013986013993, + "x": 0.7587412587412589, + "y": 0.43589743589743596 + } + ], + "type": "bbox" + }, + "bbox_1768898984344": { + "instances": [ + { + "height": 0.6550116550116551, + "id": "bbox_1768898984344_1768901138929_21jz77dga", + "width": 0.3933566433566435, + "x": 0.6066433566433567, + "y": 0.1958041958041958 + } + ], + "type": "bbox" + }, + "point_1768898999210": { + "instances": [ + { + "id": "point_1768898999210_1768904658005_n4hejg9nq", + "x": 0.8111888111888111, + "y": 0.2937062937062937 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。红色甜椒落入白色盒子里。\n已完成爪夹把红色甜椒放进白色盒子里。", + "frame": 277, + "progress": 100, + "progress_explanation": "与上一进度相比，红色甜椒落入白色盒子里。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。红色甜椒落入白色盒子里。\n已完成爪夹把红色甜椒放进白色盒子里。", + "time": 9.234317059040588 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768898968834", + "name": "红色甜椒" + }, + { + "color": "#FF9800", + "id": "bbox_1768898984344", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768898993853", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768898999210", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-154212-put-bell peppers-white-box-good-1/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-154212-put-bell peppers-white-box-good-1/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..f35ba62432d83fe51cdde16b1f63e3e1b0c28a65 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-154212-put-bell peppers-white-box-good-1/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,382 @@ +{ + "task_description": "爪夹把红色甜椒放进白色盒子里。\n开始移动:0%\n爪夹靠近红色甜椒:20%\n爪夹抓取红色甜椒:40%\n爪夹抓住红色甜椒接近白色盒子:60%\n爪夹将红色甜椒放入白色盒子:80%\n爪夹松开，红色甜椒落入白色盒子:100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768903998520": { + "instances": [ + { + "height": 0.1678321678321679, + "id": "bbox_1768903998520_1768904033401_ifv4hie6l", + "width": 0.09615384615384617, + "x": 0.5174825174825175, + "y": 0.32634032634032634 + } + ], + "type": "bbox" + }, + "bbox_1768904006173": { + "instances": [ + { + "height": 0.34032634032634035, + "id": "bbox_1768904006173_1768904042213_rf7cs3qu3", + "width": 0.45629370629370625, + "x": 0.31643356643356646, + "y": 0.004662004662004662 + } + ], + "type": "bbox" + }, + "point_1768904014795": { + "instances": [ + { + "id": "point_1768904014795_1768904843808_j4klspa6y", + "x": 0.3933566433566434, + "y": 0.3053613053613054 + } + ], + "type": "point" + }, + "point_1768904019206": { + "instances": [ + { + "id": "point_1768904019206_1768904841354_ytpouqxjd", + "x": 0.5052447552447552, + "y": 0.344988344988345 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹前上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹没有移动。爪夹处于张开状态。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 0.6656826568265681 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768903998520": { + "instances": [ + { + "height": 0.15850815850815855, + "id": "bbox_1768903998520_1768904055821_3q41pfomw", + "width": 0.09440559440559441, + "x": 0.5192307692307693, + "y": 0.32867132867132864 + } + ], + "type": "bbox" + }, + "bbox_1768904006173": { + "instances": [ + { + "height": 0.3356643356643357, + "id": "bbox_1768904006173_1768904063990_7dlt113og", + "width": 0.4493006993006993, + "x": 0.3094405594405595, + "y": 0.009324009324009324 + } + ], + "type": "bbox" + }, + "point_1768904014795": { + "instances": [ + { + "id": "point_1768904014795_1768904827868_ojjbc1wyc", + "x": 0.3881118881118881, + "y": 0.1958041958041958 + } + ], + "type": "point" + }, + "point_1768904019206": { + "instances": [ + { + "id": "point_1768904019206_1768904836279_1ibb73e0n", + "x": 0.506993006993007, + "y": 0.24009324009324012 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹前上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向前方移动。方便继续向爪夹前方移动。", + "frame": 37, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与红色甜椒距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 1.240590405904059 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768903998520": { + "instances": [ + { + "height": 0.15151515151515155, + "id": "bbox_1768903998520_1768904140489_wupg1lkk3", + "width": 0.09615384615384617, + "x": 0.5192307692307693, + "y": 0.3356643356643357 + } + ], + "type": "bbox" + }, + "bbox_1768904006173": { + "instances": [ + { + "height": 0.3496503496503497, + "id": "bbox_1768904006173_1768904097595_vio9jo0v1", + "width": 0.42132867132867136, + "x": 0.33566433566433573, + "y": -0.0046620046620046655 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹前上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向前方移动。继续向爪夹前方移动。", + "frame": 52, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与红色甜椒距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 1.739852398523985 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768903998520": { + "instances": [ + { + "height": 0.16783216783216784, + "id": "bbox_1768903998520_1768904153196_00pgn37yy", + "width": 0.10139860139860142, + "x": 0.5157342657342657, + "y": 0.3216783216783217 + } + ], + "type": "bbox" + }, + "bbox_1768904006173": { + "instances": [ + { + "height": 0.34032634032634035, + "id": "bbox_1768904006173_1768904156504_p8hwuiice", + "width": 0.43881118881118886, + "x": 0.3216783216783217, + "y": 0.0023310023310023314 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹前上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向前方移动。继续向爪夹前方移动。", + "frame": 67, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与红色甜椒距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.2239852398523983 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768903998520": { + "instances": [ + { + "height": 0.1468531468531469, + "id": "bbox_1768903998520_1768904175877_9pg0ogo1m", + "width": 0.10839160839160841, + "x": 0.5052447552447552, + "y": 0.3356643356643357 + } + ], + "type": "bbox" + }, + "bbox_1768904006173": { + "instances": [ + { + "height": 0.3473193473193473, + "id": "bbox_1768904006173_1768904170914_lvahfrgby", + "width": 0.44230769230769235, + "x": 0.31818181818181823, + "y": 0.002331002331002331 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹前上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向前方移动。朝红色甜椒的方向移动。方便爪夹合拢。", + "frame": 80, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。在红色甜椒正上方。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹合拢。", + "time": 2.677859778597786 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768903998520": { + "instances": [ + { + "height": 0.1491841491841492, + "id": "bbox_1768903998520_1768904186399_otytsy161", + "width": 0.10839160839160841, + "x": 0.4982517482517482, + "y": 0.3356643356643357 + } + ], + "type": "bbox" + }, + "bbox_1768904006173": { + "instances": [ + { + "height": 0.344988344988345, + "id": "bbox_1768904006173_1768904182587_ml3jfdxw8", + "width": 0.43881118881118886, + "x": 0.32342657342657344, + "y": 0 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直抬升，向爪夹前上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取红色甜椒。方便向爪夹前上方移动。", + "frame": 100, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取红色甜椒。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。红色甜椒被抓取。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前上方移动。", + "time": 3.3435424354243533 + }, + { + "action_description": "向爪夹前上方移动。", + "annotations": { + "bbox_1768903998520": { + "instances": [ + { + "height": 0.17715617715617718, + "id": "bbox_1768903998520_1768904192143_j8nje30gf", + "width": 0.11013986013986017, + "x": 0.541958041958042, + "y": 0.037296037296037296 + } + ], + "type": "bbox" + }, + "bbox_1768904006173": { + "instances": [ + { + "height": 0.344988344988345, + "id": "bbox_1768904006173_1768904197385_s3p5tu1nm", + "width": 0.4493006993006993, + "x": 0.3094405594405595, + "y": 0.004662004662004662 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向前上方移动。继续向爪夹前上方移动。", + "frame": 141, + "progress": 60, + "progress_explanation": "与上一进度相比，红色甜椒与白色盒子距离减小。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。红色甜椒与白色盒子距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前上方移动。", + "time": 4.6900369003690034 + }, + { + "action_description": "向爪夹前上方移动。", + "annotations": { + "bbox_1768904006173": { + "instances": [ + { + "height": 0.344988344988345, + "id": "bbox_1768904006173_1768904252169_0a5ubbsy1", + "width": 0.44580419580419595, + "x": 0.3111888111888112, + "y": 0.004662004662004661 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "红色甜椒与白色盒子距离减小。方便爪夹张开。", + "frame": 153, + "progress": 80, + "progress_explanation": "与上一进度相比，红色甜椒与白色盒子距离减小。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。红色甜椒与白色盒子距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹张开。", + "time": 5.113653136531365 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768903998520": { + "instances": [ + { + "height": 0.10722610722610725, + "id": "bbox_1768903998520_1768904289061_6tnwhhdjo", + "width": 0.09615384615384617, + "x": 0.5244755244755245, + "y": 0.05827505827505828 + } + ], + "type": "bbox" + }, + "bbox_1768904006173": { + "instances": [ + { + "height": 0.36363636363636365, + "id": "bbox_1768904006173_1768904297118_cb703x842", + "width": 0.44580419580419595, + "x": 0.3146853146853147, + "y": -0.009324009324009326 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。红色甜椒落入白色盒子。\n已完成爪夹把红色甜椒放进白色盒子里的任务。", + "frame": 202, + "progress": 100, + "progress_explanation": "与上一进度相比，红色甜椒落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。红色甜椒落入白色盒子。\n已完成爪夹把红色甜椒放进白色盒子里的任务。", + "time": 6.732199 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768903998520", + "name": "红色甜椒" + }, + { + "color": "#FF9800", + "id": "bbox_1768904006173", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768904014795", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768904019206", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-161410-put-bell peppers-white-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-161410-put-bell peppers-white-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f9b3432d51b0540d8864124ac3b9a71df0c98e07 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-161410-put-bell peppers-white-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,646 @@ +{ + "task_description": "爪夹把红色甜椒放进白色盒子里。\n开始移动:0%\n爪夹靠近红色甜椒:20%\n爪夹抓取红色甜椒:40%\n爪夹抓住红色甜椒接近白色盒子:60%\n爪夹将红色甜椒放入白色盒子:80%\n爪夹松开，红色甜椒落入白色盒子:100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768958156620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958156620_1768961345363_f0kxceyzy", + "x": 0.48484313718576855, + "y": 0.43666314247724874, + "width": 0.06583633244816882, + "height": 0.1300327922426576 + } + ] + }, + "bbox_1768958167452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958167452_1768961352503_2jpzuhx1l", + "x": 0.0038240917782026776, + "y": 0.17590822179732316, + "width": 0.37284894837476107, + "height": 0.5659655831739961 + } + ] + }, + "point_1768958179014": { + "type": "point", + "instances": [ + { + "id": "point_1768958179014_1768961384722_p7ytylfwc", + "x": 0.39961759082217974, + "y": 0.27788400254939455 + } + ] + }, + "point_1768958188800": { + "type": "point", + "instances": [ + { + "id": "point_1768958188800_1768961386766_67cx77x1n", + "x": 0.4952198852772467, + "y": 0.26513702995538563 + } + ] + } + }, + "correction_plan": "向爪夹前方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，垂直抬升爪夹，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹没有移动。爪夹处于张开状态。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.006634482065341 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768958156620": { + "instances": [ + { + "height": 0.1376673040152964, + "id": "bbox_1768958156620_1768961396940_smjhk4o28", + "width": 0.07456978967495216, + "x": 0.48183556405353734, + "y": 0.4308476736775016 + } + ], + "type": "bbox" + }, + "bbox_1768958167452": { + "instances": [ + { + "height": 0.5634161886551946, + "id": "bbox_1768958167452_1768961409815_rtsjz9qtu", + "width": 0.378585086042065, + "x": -0.0019120458891013384, + "y": 0.1759082217973231 + } + ], + "type": "bbox" + }, + "point_1768958179014": { + "instances": [ + { + "id": "point_1768958179014_1768961391380_2qciv85s9", + "x": 0.49330783938814526, + "y": 0.4716379859783302 + } + ], + "type": "point" + }, + "point_1768958188800": { + "instances": [ + { + "id": "point_1768958188800_1768961393444_5qm7u4a26", + "x": 0.5640535372848948, + "y": 0.4894837476099427 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取红色甜椒，垂直抬升爪夹，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。爪夹与红色甜椒的距离减小。方便爪夹合拢。", + "frame": 85, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与红色甜椒的距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹合拢。", + "time": 2.8380663387423937 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768958156620": { + "instances": [ + { + "height": 0.14276609305289986, + "id": "bbox_1768958156620_1768961435588_zpnfa1i2a", + "width": 0.07456978967495224, + "x": 0.4760994263862333, + "y": 0.41810070108349273 + } + ], + "type": "bbox" + }, + "bbox_1768958167452": { + "instances": [ + { + "height": 0.5710643722115998, + "id": "bbox_1768958167452_1768961427579_6ucejd5u9", + "width": 0.37667304015296366, + "x": 0, + "y": 0.1759082217973231 + } + ], + "type": "bbox" + }, + "point_1768958179014": { + "instances": [ + { + "id": "point_1768958179014_1768961443590_p61bh91lo", + "x": 0.48565965583174, + "y": 0.46908859145952836 + } + ], + "type": "point" + }, + "point_1768958188800": { + "instances": [ + { + "id": "point_1768958188800_1768961456359_bzkwatocv", + "x": 0.5487571701720841, + "y": 0.5175270873167623 + } + ], + "type": "point" + } + }, + "correction_plan": "垂直抬升爪夹，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢。红色甜椒被抓取。方便向爪夹右上方移动。", + "frame": 104, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取红色甜椒。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。红色甜椒被抓取。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹右上方移动。", + "time": 3.477013584202954 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1768958156620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958156620_1768961500574_e06da46q3", + "x": 0.6129297046100544, + "y": 0.22944550669216063, + "width": 0.08495679133918221, + "height": 0.12893042903190927 + } + ] + }, + "bbox_1768958167452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958167452_1768961464298_pypyjtpml", + "x": 0, + "y": 0.17590822179732316, + "width": 0.377001673040153, + "height": 0.5710643722115998 + } + ] + }, + "point_1768958179014": { + "type": "point", + "instances": [ + { + "id": "point_1768958179014_1768961509499_me0w1iwf4", + "x": 0.6042065009560229, + "y": 0.3008285532186106 + } + ] + }, + "point_1768958188800": { + "type": "point", + "instances": [ + { + "id": "point_1768958188800_1768961511533_1ynagdy1r", + "x": 0.6826003824091778, + "y": 0.2829827915869981 + } + ] + } + }, + "correction_plan": "向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹错误地向爪夹左上方移动。红色甜椒与白色盒子的距离增大。因此进度减小。", + "frame": 139, + "progress": 25, + "progress_explanation": "与上一进度相比，爪夹朝远离白色盒子的方向移动。因此进度减小至25%。", + "state_description": "爪夹处于合拢状态。红色甜椒与白色盒子的距离增大。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹右上方移动。", + "time": 4.639621492900608 + }, + { + "action_description": "向爪夹右上方移动。", + "annotations": { + "bbox_1768958156620": { + "instances": [ + { + "height": 0.12492033142128743, + "id": "bbox_1768958156620_1768961544300_s8n6gmuy2", + "width": 0.09369024856596564, + "x": 0.5430210325047801, + "y": 0.22179732313575526 + } + ], + "type": "bbox" + }, + "bbox_1768958167452": { + "instances": [ + { + "height": 0.5736137667304015, + "id": "bbox_1768958167452_1768961565395_t701qfv10", + "width": 0.372848948374761, + "x": 0.0019120458891013384, + "y": 0.17590822179732316 + } + ], + "type": "bbox" + }, + "point_1768958179014": { + "instances": [ + { + "id": "point_1768958179014_1768961575689_18qj3kn2w", + "x": 0.5487571701720841, + "y": 0.2804333970681963 + } + ], + "type": "point" + }, + "point_1768958188800": { + "instances": [ + { + "id": "point_1768958188800_1768961578001_1sh101qal", + "x": 0.6233269598470363, + "y": 0.26513702995538563 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右上方移动。红色甜椒与白色盒子的距离减小。因此进度提升至30%。", + "frame": 152, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至30%。", + "state_description": "爪夹处于合拢状态。红色甜椒与白色盒子距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹右上方移动。", + "time": 5.059161734279919 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768958156620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958156620_1768961602054_g8s09122h", + "x": 0.3952354818496601, + "y": 0.36237236155092517, + "width": 0.0923362198711812, + "height": 0.11765783131348678 + } + ] + }, + "bbox_1768958167452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958167452_1768961594652_6bvj4hz11", + "x": 0.0019120458891013384, + "y": 0.17335882727852134, + "width": 0.37476099426386233, + "height": 0.5659655831739963 + } + ] + }, + "point_1768958179014": { + "type": "point", + "instances": [ + { + "id": "point_1768958179014_1768961605139_kjad74lxn", + "x": 0.42829827915869984, + "y": 0.2523900573613767 + } + ] + }, + "point_1768958188800": { + "type": "point", + "instances": [ + { + "id": "point_1768958188800_1768961607276_ifyvmahfk", + "x": 0.5239005736137667, + "y": 0.27533460803059273 + } + ] + } + }, + "correction_plan": "向爪夹右下方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹错误地张开。红色甜椒落入白色盒子外。", + "frame": 207, + "progress": 25, + "progress_explanation": "与上一进度相比，红色甜椒落入白色盒子外。因此进度减小至25%。", + "state_description": "爪夹处于张开状态。红色甜椒落入白色盒子外。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹右下方移动。", + "time": 6.910074563894524 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768958156620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958156620_1768961632663_xz0tdou8u", + "x": 0.403700184052037, + "y": 0.3769383771178259, + "width": 0.08387151766880438, + "height": 0.10781859311935141 + } + ] + }, + "bbox_1768958167452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958167452_1768961614446_7o7w6sbtg", + "x": 0.0019120458891013381, + "y": 0.16826003824091776, + "width": 0.3709369024856596, + "height": 0.5812619502868069 + } + ] + }, + "point_1768958179014": { + "type": "point", + "instances": [ + { + "id": "point_1768958179014_1768961650339_04s2jjk4e", + "x": 0.38432122370936905, + "y": 0.3900573613766731 + } + ] + }, + "point_1768958188800": { + "type": "point", + "instances": [ + { + "id": "point_1768958188800_1768961652721_pushf3adr", + "x": 0.47227533460803056, + "y": 0.4181007010834927 + } + ] + } + }, + "correction_plan": "爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右下方移动。方便爪夹合拢。", + "frame": 235, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。因此进度减小至30%。", + "state_description": "爪夹处于张开状态。与红色甜椒距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹合拢。", + "time": 7.836255157599173 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768958156620": { + "instances": [ + { + "height": 0.11982154238368388, + "id": "bbox_1768958156620_1768961664589_20dbleuat", + "width": 0.1089866156787763, + "x": 0.37858508604206503, + "y": 0.3696622052262588 + } + ], + "type": "bbox" + }, + "bbox_1768958167452": { + "instances": [ + { + "height": 0.5710643722115998, + "id": "bbox_1768958167452_1768961660701_pjcx1zc3l", + "width": 0.37284894837476096, + "x": 0.0076481835564053535, + "y": 0.17335882727852134 + } + ], + "type": "bbox" + }, + "point_1768958179014": { + "instances": [ + { + "id": "point_1768958179014_1768961667457_otegx4g5d", + "x": 0.39579349904397704, + "y": 0.41045251752708733 + } + ], + "type": "point" + }, + "point_1768958188800": { + "instances": [ + { + "id": "point_1768958188800_1768961670257_8htfxa3pp", + "x": 0.47801147227533464, + "y": 0.4563416188655195 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取红色甜椒。方便向爪夹右上方移动。", + "frame": 248, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取红色甜椒。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。红色甜椒被抓取。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹右上方移动。", + "time": 8.267410638945234 + }, + { + "action_description": "向爪夹右上方移动。", + "annotations": { + "bbox_1768958167452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958167452_1768961677933_hh85jnn7e", + "x": 3.4694469519536144e-19, + "y": 0.17335882727852134, + "width": 0.37667304015296366, + "height": 0.5685149776927979 + } + ] + }, + "point_1768958179014": { + "type": "point", + "instances": [ + { + "id": "point_1768958179014_1769076004315_vout4mco1", + "x": 0.4106489208938614, + "y": 0.3564060755857653 + } + ] + }, + "point_1768958188800": { + "type": "point", + "instances": [ + { + "id": "point_1768958188800_1769076005952_4flnxnix6", + "x": 0.5061486796214083, + "y": 0.3782345912604666 + } + ] + }, + "bbox_1768958156620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958156620_1769076105968_mdk0hp6xv", + "x": 0.4161060499640069, + "y": 0.3018347863990121, + "width": 0.09140691192493788, + "height": 0.12369492215664064 + } + ] + } + }, + "correction_plan": "向爪夹右上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右上方移动。红色甜椒与白色盒子地距离减小。方便向爪夹右上方移动。", + "frame": 274, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。红色甜椒与白色盒子地距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹右上方移动。", + "time": 9.131169959432048 + }, + { + "action_description": "向爪夹右上方移动。", + "annotations": { + "bbox_1768958156620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958156620_1768961709662_t71lpl2w6", + "x": 0.3646119869057828, + "y": 0.2228586709952041, + "width": 0.09561254802781893, + "height": 0.13039113212372927 + } + ] + }, + "bbox_1768958167452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958167452_1768961705105_7iqn1im8x", + "x": 0.0057361376673040155, + "y": 0.17080943275971955, + "width": 0.37093690248565964, + "height": 0.5736137667304015 + } + ] + }, + "point_1768958179014": { + "type": "point", + "instances": [ + { + "id": "point_1768958179014_1769076033394_bjg5lwb70", + "x": 0.3588061947274787, + "y": 0.28364435667009436 + } + ] + }, + "point_1768958188800": { + "type": "point", + "instances": [ + { + "id": "point_1768958188800_1769076044979_l7bi6gp8n", + "x": 0.45294167118748935, + "y": 0.30365382937190394 + } + ] + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹右上方移动。红色甜椒与白色盒子地距离减小。方便爪夹张开。", + "frame": 283, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。红色甜椒与白色盒子地距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹张开。", + "time": 9.427724303442234 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768958167452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958167452_1768961728503_rfpr9sfu6", + "x": -0.00764818355640535, + "y": 0.16571064372211597, + "width": 0.3804971319311664, + "height": 0.568514977692798 + } + ] + }, + "point_1768958179014": { + "type": "point", + "instances": [ + { + "id": "point_1768958179014_1769076050690_p54ygcqtn", + "x": 0.17735665314513943, + "y": 0.32912043099238875 + } + ] + }, + "point_1768958188800": { + "type": "point", + "instances": [ + { + "id": "point_1768958188800_1769076052566_ccr2zwveg", + "x": 0.20600658076340356, + "y": 0.3418537318026312 + } + ] + }, + "bbox_1768958156620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768958156620_1769076097152_80jrjxlyf", + "x": 0.04229270865903727, + "y": 0.44190109531167876, + "width": 0.07367124244696481, + "height": 0.09095214864458873 + } + ] + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。红色甜椒落入白色盒子。\n已完成爪夹把红色甜椒放进白色盒子里的任务。", + "frame": 297, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，红色甜椒落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。红色甜椒落入白色盒子。\n已完成爪夹把红色甜椒放进白色盒子里的任务。", + "time": 9.912084478264035 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768958156620", + "name": "红色甜椒" + }, + { + "color": "#FF9800", + "id": "bbox_1768958167452", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768958179014", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768958188800", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-161410-put-bell peppers-white-box-mix/annotations/chunk-000/observation.images.right/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-161410-put-bell peppers-white-box-mix/annotations/chunk-000/observation.images.right/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..ec16c2162a2050cb8a5fc2e272050b4093a3b0e6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-161410-put-bell peppers-white-box-mix/annotations/chunk-000/observation.images.right/episode_000006.json @@ -0,0 +1,440 @@ +{ + "task_description": "爪夹把红色甜椒放进白色盒子里。\n开始移动:0%\n爪夹靠近红色甜椒:20%\n爪夹抓取红色甜椒:40%\n爪夹抓住红色甜椒接近白色盒子:60%\n爪夹将红色甜椒放入白色盒子:80%\n爪夹松开，红色甜椒落入白色盒子:100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768964159795": { + "instances": [ + { + "height": 0.16316124920331418, + "id": "bbox_1768964159795_1768964199331_x2fayfedu", + "width": 0.12428298279158696, + "x": 0.6806883365200764, + "y": 0.3696622052262588 + } + ], + "type": "bbox" + }, + "bbox_1768964169497": { + "instances": [ + { + "height": 0.48438495857233904, + "id": "bbox_1768964169497_1768964203402_ue2hoilv5", + "width": 0.5066921606118547, + "x": 0.036328871892925434, + "y": 0.05353728489483752 + } + ], + "type": "bbox" + }, + "point_1768964178436": { + "instances": [ + { + "id": "point_1768964178436_1768964240828_jav5cc9i4", + "x": 0.40726577437858513, + "y": 0.3467176545570427 + } + ], + "type": "point" + }, + "point_1768964185149": { + "instances": [ + { + "id": "point_1768964185149_1768964235985_we0lb6s9x", + "x": 0.5124282982791587, + "y": 0.3798597833014659 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前下方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹没有移动。爪夹处于张开状态。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前下方移动。", + "time": 0.9736308073022312 + }, + { + "action_description": "向爪夹前下方移动。", + "annotations": { + "bbox_1768964159795": { + "instances": [ + { + "height": 0.17080943275971958, + "id": "bbox_1768964159795_1768964273958_a4mjfp18t", + "width": 0.13193116634799235, + "x": 0.6730401529636711, + "y": 0.35946462715105165 + } + ], + "type": "bbox" + }, + "bbox_1768964169497": { + "instances": [ + { + "height": 0.5022307202039515, + "id": "bbox_1768964169497_1768964253162_ih0k98vcx", + "width": 0.502868068833652, + "x": 0.03824091778202677, + "y": 0.04843849585723391 + } + ], + "type": "bbox" + }, + "point_1768964178436": { + "instances": [ + { + "id": "point_1768964178436_1768964281597_4iy1t9oxv", + "x": 0.40726577437858513, + "y": 0.367112810707457 + } + ], + "type": "point" + }, + "point_1768964185149": { + "instances": [ + { + "id": "point_1768964185149_1768964283327_v4au46l7m", + "x": 0.5105162523900574, + "y": 0.4002549394518802 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前下方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动。与红色甜椒距离减小。方便向爪夹前下方移动。", + "frame": 49, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。\n因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与红色甜椒距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前下方移动。", + "time": 1.6497633123732252 + }, + { + "action_description": "向爪夹前下方移动。", + "annotations": { + "bbox_1768964159795": { + "instances": [ + { + "height": 0.165710643722116, + "id": "bbox_1768964159795_1768964298678_yh3hevb6j", + "width": 0.1300191204588909, + "x": 0.6749521988527725, + "y": 0.36456341618865523 + } + ], + "type": "bbox" + }, + "bbox_1768964169497": { + "instances": [ + { + "height": 0.5149776927979605, + "id": "bbox_1768964169497_1768964290700_hm2mjjcum", + "width": 0.4722753346080307, + "x": 0.07456978967495219, + "y": 0.05098789037603569 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前下方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动。与红色甜椒距离减小。方便向爪夹前下方移动。", + "frame": 76, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与红色甜椒距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹前下方移动。", + "time": 2.5422582190669365 + }, + { + "action_description": "向爪夹前下方移动。", + "annotations": { + "bbox_1768964159795": { + "instances": [ + { + "height": 0.15806246016571066, + "id": "bbox_1768964159795_1768964325831_fd167clj9", + "width": 0.11472275334608026, + "x": 0.6845124282982792, + "y": 0.37476099426386233 + } + ], + "type": "bbox" + }, + "bbox_1768964169497": { + "instances": [ + { + "height": 0.568514977692798, + "id": "bbox_1768964169497_1768964321705_icu2rq7r9", + "width": 0.5564053537284895, + "x": 0.0248565965583174, + "y": 0.0025493945188017845 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前下方移动到红色甜椒正上方，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动。与红色甜椒距离减小。方便爪夹合拢。", + "frame": 91, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与红色甜椒距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹合拢。", + "time": 3.0290736227180526 + }, + { + "action_description": "向爪夹前下方移动。", + "annotations": { + "bbox_1768964159795": { + "instances": [ + { + "height": 0.17845761631612486, + "id": "bbox_1768964159795_1768964555534_my0272e6o", + "width": 0.12237093690248564, + "x": 0.6711281070745698, + "y": 0.35946462715105165 + } + ], + "type": "bbox" + }, + "bbox_1768964169497": { + "instances": [ + { + "height": 0.5583173996175907, + "id": "bbox_1768964169497_1768964334803_dr6sxy7nn", + "width": 0.4952198852772467, + "x": 0.04588910133843212, + "y": 0.007648183556405354 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动。与红色甜椒距离减小。方便爪夹合拢。", + "frame": 109, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝红色甜椒的方向移动。\n因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与红色甜椒距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹合拢。", + "time": 3.6240702271805274 + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹张开，爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹合拢，但未抓取到青色甜椒。爪夹再次张开。", + "frame": 135, + "progress": 4, + "progress_explanation": "与上一进度相比，爪夹合拢，但未抓取到红色甜椒。\n因此进度减小至-4%。", + "state_description": "爪夹处于合拢状态。但未抓取到红色甜椒。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：爪夹张开。", + "time": 4.516565133874238 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768964159795": { + "instances": [ + { + "height": 0.15296367112810702, + "id": "bbox_1768964159795_1768964550646_f3if8vxha", + "width": 0.10133843212237101, + "x": 0.7074569789674953, + "y": 0.36711281070745705 + } + ], + "type": "bbox" + }, + "bbox_1768964169497": { + "instances": [ + { + "height": 0.5710643722115998, + "id": "bbox_1768964169497_1768964542032_t6xu8tkng", + "width": 0.51434034416826, + "x": 0.03441682600382409, + "y": 0.0025493945188017806 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取红色甜椒，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹张开。方便爪夹合拢抓取红色甜椒。", + "frame": 195, + "progress": 35, + "progress_explanation": "与上一进度相比，爪夹张开。\n因此进度提升至35%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹合拢。", + "time": 6.490872048681541 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768964159795": { + "instances": [ + { + "height": 0.17590822179732318, + "id": "bbox_1768964159795_1768964510156_sgui3kyey", + "width": 0.08795411089866159, + "x": 0.7131931166347992, + "y": 0.34416826003824086 + } + ], + "type": "bbox" + }, + "bbox_1768964169497": { + "instances": [ + { + "height": 0.568514977692798, + "id": "bbox_1768964169497_1768964493147_pggj0pui8", + "width": 0.5009560229445507, + "x": 0.04015296367112812, + "y": 0.0025493945188018213 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取到红色甜椒。方便向爪夹左上方移动。", + "frame": 234, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取到红色甜椒。\n因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。红色甜椒被抓取。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹左上方移动。", + "time": 7.791467970232216 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1768964159795": { + "instances": [ + { + "height": 0.16826003824091776, + "id": "bbox_1768964159795_1768964592524_m7byo8yu2", + "width": 0.11089866156787762, + "x": 0.5659655831739963, + "y": 0.08922880815806247 + } + ], + "type": "bbox" + }, + "bbox_1768964169497": { + "instances": [ + { + "height": 0.4920331421287444, + "id": "bbox_1768964169497_1768964600194_nxtq9s1se", + "width": 0.5143403441682601, + "x": 0.05162523900573614, + "y": 0.07393244104525175 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，红色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。方便继续向爪夹左上方移动。", + "frame": 280, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。\n因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。红色甜椒与白色盒子距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：向爪夹左上方移动。", + "time": 9.330628569979716 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1768964159795": { + "instances": [ + { + "height": 0.14021669853409816, + "id": "bbox_1768964159795_1768964622586_75r2fb7qe", + "width": 0.11854684512428296, + "x": 0.2275334608030593, + "y": 0.0841300191204589 + } + ], + "type": "bbox" + }, + "bbox_1768964169497": { + "instances": [ + { + "height": 0.5098789037603569, + "id": "bbox_1768964169497_1768964615434_ubumd47vs", + "width": 0.5028680688336521, + "x": 0.043977055449330796, + "y": 0.06373486297004462 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。方便爪夹张开。", + "frame": 340, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。\n因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。红色甜椒与白色盒子距离减小。\n为完成爪夹把红色甜椒放进白色盒子里的任务应当：爪夹张开。", + "time": 11.331980784989858 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768964159795": { + "instances": [ + { + "height": 0.1351179094964946, + "id": "bbox_1768964159795_1768964683110_kcu09rnn9", + "width": 0.14722753346080308, + "x": 0.37093690248565964, + "y": 0.2498406628425749 + } + ], + "type": "bbox" + }, + "bbox_1768964169497": { + "instances": [ + { + "height": 0.5277246653919695, + "id": "bbox_1768964169497_1768964641320_348v2afqt", + "width": 0.5028680688336521, + "x": 0.04206500956022945, + "y": 0.043339706819630335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。红色甜椒落入白色盒子。\n已完成爪夹把红色甜椒放进白色盒子里的任务。", + "frame": 367, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，红色甜椒落入白色盒子。\n因此进度提升至100%。", + "state_description": "爪夹处于张开状态。红色甜椒落入白色盒子。\n已完成爪夹把红色甜椒放进白色盒子里的任务。", + "time": 12.22447569168357 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768964159795", + "name": "红色甜椒" + }, + { + "color": "#FF9800", + "id": "bbox_1768964169497", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768964178436", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768964185149", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-163711-put-bell peppers-white-box-bad-1/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-163711-put-bell peppers-white-box-bad-1/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..0dead142dbe0e75c3b3d91da2acf043fc2ea6b5e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-163711-put-bell peppers-white-box-bad-1/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,573 @@ +{ + "task_description": "爪夹抓取青色甜椒放入白色盒子里。\n开始移动:0%\n爪夹靠近青色甜椒:20%\n爪夹抓取青色甜椒:40%\n爪夹抓住青色甜椒接近白色盒子:60%\n爪夹将青色甜椒放入白色盒子:80%\n爪夹松开，青色甜椒落入白色盒子:100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768967715688": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967715688_1768967747718_9gn94uq2v", + "x": 0.5086042065009561, + "y": 0.1631612492033142, + "width": 0.10325047801147225, + "height": 0.17845761631612492 + } + ] + }, + "bbox_1768967724492": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768967724492_1768967754331_x2s5n74mz", + "x": 0.02294455066921606, + "y": 0.005098789037603569, + "width": 0.5009560229445508, + "height": 0.49713193116634796 + } + ] + }, + "point_1768967736665": { + "type": "point", + "instances": [ + { + "id": "point_1768967736665_1769075124682_n6jatb4yw", + "x": 0.6998767616115751, + "y": 0.16722560640502085 + } + ] + }, + "point_1768967732280": { + "type": "point", + "instances": [ + { + "id": "point_1768967732280_1769075132490_sw9yy1azn", + "x": 0.5866413334060552, + "y": 0.19087316505261392 + } + ] + } + }, + "correction_plan": "向爪夹前下方移动到青色甜椒正上方，爪夹合拢抓取青色甜椒，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，青色甜椒落入白色盒子。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹没有移动。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：向爪夹前下方移动。", + "time": 1.1969574462474646 + }, + { + "action_description": "向爪夹前下方移动。", + "annotations": { + "bbox_1768967715688": { + "instances": [ + { + "height": 0.25493945188017847, + "id": "bbox_1768967715688_1768967787307_496d6tl69", + "width": 0.11663479923518158, + "x": 0.5066921606118547, + "y": 0.14786488209050352 + } + ], + "type": "bbox" + }, + "bbox_1768967724492": { + "instances": [ + { + "height": 0.48693435309114086, + "id": "bbox_1768967724492_1768967793517_1s54z0vt9", + "width": 0.49904397705544934, + "x": 0.0248565965583174, + "y": 0.010197578075207138 + } + ], + "type": "bbox" + }, + "point_1768967732280": { + "instances": [ + { + "id": "point_1768967732280_1768967807915_fqtvukvl6", + "x": 0.6405353728489483, + "y": 0.11472275334608031 + } + ], + "type": "point" + }, + "point_1768967736665": { + "instances": [ + { + "id": "point_1768967736665_1768967810143_hfgmzy5rt", + "x": 0.7361376673040153, + "y": 0.045889101338432124 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前下方移动到青色甜椒正上方，爪夹合拢抓取青色甜椒，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，青色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动。与青色甜椒的距离减小。方便继续向爪夹前下方移动。", + "frame": 45, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝青色甜椒的方向移动。\n因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与青色甜椒的距离减小。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：向爪夹前下方移动。", + "time": 1.5009466389452335 + }, + { + "action_description": "向爪夹前下方移动。", + "annotations": { + "bbox_1768967715688": { + "instances": [ + { + "height": 0.1861057998725303, + "id": "bbox_1768967715688_1768967816999_lk8tkihp8", + "width": 0.10516252390057365, + "x": 0.5047801147227533, + "y": 0.15296367112810708 + } + ], + "type": "bbox" + }, + "bbox_1768967724492": { + "instances": [ + { + "height": 0.497131931166348, + "id": "bbox_1768967724492_1768967821481_4l96wrbsn", + "width": 0.49330783938814526, + "x": 0.02676864244741874, + "y": 0.0025493945188017845 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前下方移动到青色甜椒正上方，爪夹合拢抓取青色甜椒，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，青色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动。与青色甜椒的距离减小。方便继续向爪夹前下方移动。", + "frame": 61, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝青色甜椒的方向移动。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与青色甜椒的距离减小。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：向爪夹前下方移动。", + "time": 2.0329277261663288 + }, + { + "action_description": "向爪夹前下方移动。", + "annotations": { + "bbox_1768967715688": { + "instances": [ + { + "height": 0.15041427660930534, + "id": "bbox_1768967715688_1768967867025_575fa3bfh", + "width": 0.08413001912045895, + "x": 0.502868068833652, + "y": 0.15551306564690887 + } + ], + "type": "bbox" + }, + "bbox_1768967724492": { + "instances": [ + { + "height": 0.4996813256851498, + "id": "bbox_1768967724492_1768967830108_ki2n3e4vh", + "width": 0.49904397705544934, + "x": 0.024856596558317425, + "y": -0.010197578075207181 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前下方移动到青色甜椒正上方，爪夹合拢抓取青色甜椒，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，青色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动。与青色甜椒的距离减小。方便继续向爪夹前下方移动。", + "frame": 74, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹朝青色甜椒的方向移动。\n因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与青色甜椒的距离减小。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：向爪夹前下方移动。", + "time": 2.4699121906693713 + }, + { + "action_description": "向爪夹前下方移动。", + "annotations": { + "bbox_1768967715688": { + "instances": [ + { + "height": 0.15551306564690884, + "id": "bbox_1768967715688_1768967886544_93a9wnryr", + "width": 0.08413001912045895, + "x": 0.5105162523900574, + "y": 0.17335882727852134 + } + ], + "type": "bbox" + }, + "bbox_1768967724492": { + "instances": [ + { + "height": 0.49203314212874444, + "id": "bbox_1768967724492_1768967874407_vu3ejp6y5", + "width": 0.497131931166348, + "x": 0.02676864244741874, + "y": 0.007648183556405354 + } + ], + "type": "bbox" + }, + "point_1768967732280": { + "instances": [ + { + "id": "point_1768967732280_1768967899711_mo3jbe749", + "x": 0.5487571701720841, + "y": 0.22434671765455702 + } + ], + "type": "point" + }, + "point_1768967736665": { + "instances": [ + { + "id": "point_1768967736665_1768967903663_cjeg81fwy", + "x": 0.6080305927342257, + "y": 0.22689611217335884 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取青色甜椒，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，青色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动。与青色甜椒的距离减小。方便爪夹合拢。", + "frame": 93, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝青色甜椒的方向移动。\n因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与青色甜椒的距离减小。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：爪夹合拢。", + "time": 3.096889900608519 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768967724492": { + "instances": [ + { + "height": 0.5022307202039517, + "id": "bbox_1768967724492_1768967913437_fylw10to1", + "width": 0.4952198852772467, + "x": 0.0248565965583174, + "y": -0.00509878903760357 + }, + { + "height": 0.1631612492033142, + "id": "bbox_1768967724492_1768967925456_l4yo2jb0i", + "width": 0.08986615678776291, + "x": 0.5239005736137667, + "y": 0.15806246016571063 + } + ], + "type": "bbox" + }, + "point_1768967732280": { + "instances": [ + { + "id": "point_1768967732280_1768967935197_3d3i763p8", + "x": 0.5812619502868068, + "y": 0.2141491395793499 + } + ], + "type": "point" + }, + "point_1768967736665": { + "instances": [ + { + "id": "point_1768967736665_1768967937031_wfrc870y8", + "x": 0.5965583173996176, + "y": 0.22179732313575526 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹合拢抓取青色甜椒，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，青色甜椒落入白色盒子。", + "error_success_analysis": "爪夹合拢，但未抓取到青色甜椒。爪夹再次张开。", + "frame": 120, + "progress": 4, + "progress_explanation": "与上一进度相比，爪夹合拢，但未抓取到青色甜椒。\n因此进度减小至4%。", + "state_description": "爪夹处于合拢状态。但未抓取到青色甜椒。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：爪夹张开。", + "time": 3.989858154158215 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768967715688": { + "instances": [ + { + "height": 0.13766730401529642, + "id": "bbox_1768967715688_1768967964199_59vgbaw18", + "width": 0.10133843212237093, + "x": 0.531548757170172, + "y": 0.19120458891013384 + } + ], + "type": "bbox" + }, + "bbox_1768967724492": { + "instances": [ + { + "height": 0.4920331421287445, + "id": "bbox_1768967724492_1768967954547_0oyeaeo02", + "width": 0.4933078393881454, + "x": 0.0248565965583174, + "y": 0.00509878903760357 + } + ], + "type": "bbox" + }, + "point_1768967732280": { + "instances": [ + { + "id": "point_1768967732280_1768967941691_y2w3s9ds1", + "x": 0.5583173996175909, + "y": 0.1988527724665392 + } + ], + "type": "point" + }, + "point_1768967736665": { + "instances": [ + { + "id": "point_1768967736665_1768967946481_yz5kxdqv8", + "x": 0.6118546845124283, + "y": 0.19375398342893563 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取青色甜椒，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，青色甜椒落入白色盒子。", + "error_success_analysis": "爪夹张开。方便爪夹合拢抓取青色甜椒。", + "frame": 164, + "progress": 35, + "progress_explanation": "与上一进度相比，爪夹张开。\n因此进度提升至35%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：爪夹合拢。\n", + "time": 5.471805468559838 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768967715688": { + "instances": [ + { + "height": 0.11217335882727854, + "id": "bbox_1768967715688_1768967986653_p24ndmwsj", + "width": 0.11089866156787762, + "x": 0.5219885277246654, + "y": 0.21159974506054813 + } + ], + "type": "bbox" + }, + "bbox_1768967724492": { + "instances": [ + { + "height": 0.4996813256851498, + "id": "bbox_1768967724492_1768967973593_weacju3u7", + "width": 0.4933078393881454, + "x": 0.0248565965583174, + "y": -0.002549394518801784 + } + ], + "type": "bbox" + }, + "point_1768967732280": { + "instances": [ + { + "id": "point_1768967732280_1768967979143_k9l5boabz", + "x": 0.5717017208413002, + "y": 0.21669853409815168 + } + ], + "type": "point" + }, + "point_1768967736665": { + "instances": [ + { + "id": "point_1768967736665_1768967981133_o7z45tn4l", + "x": 0.5965583173996176, + "y": 0.22689611217335884 + } + ], + "type": "point" + } + }, + "correction_plan": "垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，青色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取青色甜椒。方便向爪夹左上方移动。", + "frame": 184, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取青色甜椒。\n因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。青色甜椒被抓取到。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：向爪夹左上方移动。\n", + "time": 6.136781827586208 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1768967715688": { + "instances": [ + { + "height": 0.12746972594008923, + "id": "bbox_1768967715688_1768967992401_05zkrzo53", + "width": 0.11089866156787762, + "x": 0.5850860420650096, + "y": 0.09687699171446781 + } + ], + "type": "bbox" + }, + "bbox_1768967724492": { + "instances": [ + { + "height": 0.48693435309114086, + "id": "bbox_1768967724492_1768968012374_xfey9fqi2", + "width": 0.4952198852772466, + "x": 0.0248565965583174, + "y": 0.005098789037603569 + } + ], + "type": "bbox" + }, + "point_1768967732280": { + "instances": [ + { + "id": "point_1768967732280_1768967995815_mzk7hdktz", + "x": 0.6252390057361377, + "y": 0.13001912045889102 + } + ], + "type": "point" + }, + "point_1768967736665": { + "instances": [ + { + "id": "point_1768967736665_1768967997923_pcvnsrkk6", + "x": 0.6577437858508605, + "y": 0.13766730401529637 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，青色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确的向爪夹左上方移动。青色甜椒与白色盒子距离减小。方便向爪夹左上方移动。", + "frame": 203, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子地方向移动。\n因此进度提升至50%。", + "state_description": "爪夹处于合拢状态。青色甜椒与白色盒子距离减小。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：向爪夹左上方移动。", + "time": 6.763759537525355 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1768967724492": { + "instances": [ + { + "height": 0.4894837476099426, + "id": "bbox_1768967724492_1768968028289_ltinke37d", + "width": 0.497131931166348, + "x": 0.022944550669216062, + "y": 0.010197578075207138 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，青色甜椒落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。方便继续向爪夹左上方移动。", + "frame": 226, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子地方向移动。\n因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。青色甜椒与白色盒子距离减小。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：向爪夹左上方移动。", + "time": 7.523732519269778 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1768967724492": { + "instances": [ + { + "height": 0.4894837476099427, + "id": "bbox_1768967724492_1768968060025_imdj3i09l", + "width": 0.5047801147227534, + "x": 0.0248565965583174, + "y": 0.002549394518801784 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。方便继续向爪夹左上方移动。", + "frame": 237, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子地方向移动。\n因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。青色甜椒与白色盒子距离减小。\n为完成爪夹抓取青色甜椒放入白色盒子里的任务应当：爪夹张开。", + "time": 7.903719010141987 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768967715688": { + "instances": [ + { + "height": 0.20395156150414273, + "id": "bbox_1768967715688_1768968084691_4h0c5hipe", + "width": 0.10898661567877621, + "x": 0.2715105162523901, + "y": 0.15296367112810708 + } + ], + "type": "bbox" + }, + "bbox_1768967724492": { + "instances": [ + { + "height": 0.49203314212874444, + "id": "bbox_1768967724492_1768968090067_i0deysexy", + "width": 0.48565965583174, + "x": 0.022944550669216062, + "y": 0.005098789037603569 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。青色甜椒落入白色盒子。\n已完成爪夹抓取青色甜椒放入白色盒子里的任务。", + "frame": 256, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，青色甜椒落入白色盒子。\n因此进度提升至100%。", + "state_description": "爪夹处于张开状态。青色甜椒落入白色盒子。\n已完成爪夹抓取青色甜椒放入白色盒子里的任务。", + "time": 8.531392056185567 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768967715688", + "name": "青色甜椒" + }, + { + "color": "#FF9800", + "id": "bbox_1768967724492", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768967732280", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768967736665", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-164303-put-onion-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-164303-put-onion-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..d6057c7a7fd634ce258552775d2067d3b94f2d27 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-164303-put-onion-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,420 @@ +{ + "task_description": "爪夹抓取洋葱放入白色盒子。\n开始移动:0%\n爪夹靠近洋葱:20%\n爪夹抓取洋葱:40%\n爪夹抓住洋葱接近白色盒子:60%\n爪夹将洋葱放入白色盒子:80%\n爪夹松开，洋葱落入白色盒子:100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768973842702": { + "instances": [ + { + "height": 0.11316113161131615, + "id": "bbox_1768973842702_1768975756425_616yf34pa", + "width": 0.09040590405904059, + "x": 0.6291512915129152, + "y": 0.18450184501845018 + } + ], + "type": "bbox" + }, + "bbox_1768973849197": { + "instances": [ + { + "height": 0.5092250922509226, + "id": "bbox_1768973849197_1768975763227_aqim5vjzl", + "width": 0.4538745387453874, + "x": 0.11254612546125461, + "y": 0.08118081180811808 + } + ], + "type": "bbox" + }, + "point_1768973856428": { + "instances": [ + { + "id": "point_1768973856428_1768975772929_ys26aazbd", + "x": 0.570110701107011, + "y": 0.46248462484624847 + } + ], + "type": "point" + }, + "point_1768973861442": { + "instances": [ + { + "id": "point_1768973861442_1768975774760_ay9qpjfzt", + "x": 0.6752767527675276, + "y": 0.4600246002460025 + } + ], + "type": "point" + } + }, + "correction_plan": "向前移动爪夹直到洋葱正上方，爪夹向下抓取洋葱，垂直抬起爪夹，然后向爪夹方向的左边移动，直至爪夹处于白色盒子的正上方。下降将洋葱放入白色盒子中，松开爪夹。", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹没有移动。爪夹处于张开状态。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前上方移动。", + "time": 0.9108817922381659 + }, + { + "action_description": "向爪夹前上方移动。", + "annotations": { + "bbox_1768973842702": { + "instances": [ + { + "height": 0.12792127921279214, + "id": "bbox_1768973842702_1768975792203_nk67r6qph", + "width": 0.08118081180811813, + "x": 0.6328413284132841, + "y": 0.17466174661746617 + } + ], + "type": "bbox" + }, + "bbox_1768973849197": { + "instances": [ + { + "height": 0.49446494464944646, + "id": "bbox_1768973849197_1768975782775_4yir9pbnc", + "width": 0.4612546125461254, + "x": 0.10516605166051662, + "y": 0.0910209102091021 + } + ], + "type": "bbox" + }, + "point_1768973856428": { + "instances": [ + { + "id": "point_1768973856428_1768975800193_ry1hesjg8", + "x": 0.5904059040590406, + "y": 0.42066420664206644 + } + ], + "type": "point" + }, + "point_1768973861442": { + "instances": [ + { + "id": "point_1768973861442_1768975842891_a2eh6iapr", + "x": 0.6992619926199262, + "y": 0.3862238622386224 + } + ], + "type": "point" + } + }, + "correction_plan": "向前移动爪夹直到洋葱正上方，爪夹向下抓取洋葱，垂直抬起爪夹，然后向爪夹方向的左边移动，直至爪夹处于白色盒子的正上方。下降将洋葱放入白色盒子中，松开爪夹。", + "error_success_analysis": "爪夹正确地向爪夹前上方移动。与洋葱距离减小。方便向爪夹前上方移动。", + "frame": 50, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前上方移动。\n", + "time": 1.6640625585937499 + }, + { + "action_description": "向爪夹前上方移动。", + "annotations": { + "bbox_1768973849197": { + "instances": [ + { + "height": 0.5116851168511685, + "id": "bbox_1768973849197_1768975810635_zky6tr57k", + "width": 0.45387453874538747, + "x": 0.11439114391143912, + "y": 0.08610086100861009 + } + ], + "type": "bbox" + }, + "point_1768973856428": { + "instances": [ + { + "id": "point_1768973856428_1768975821873_0a530iyoo", + "x": 0.5738007380073801, + "y": 0.16236162361623616 + } + ], + "type": "point" + } + }, + "correction_plan": "向前移动爪夹直到洋葱正上方，爪夹向下抓取洋葱，垂直抬起爪夹，然后向爪夹方向的左边移动，直至爪夹处于白色盒子的正上方。下降将洋葱放入白色盒子中，松开爪夹。", + "error_success_analysis": "爪夹正确地向爪夹前上方移动。与洋葱距离减小。方便继续向爪夹前上方移动。", + "frame": 66, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前上方移动。\n", + "time": 2.1893697293178453 + }, + { + "action_description": "向爪夹前上方移动。", + "annotations": { + "bbox_1768973849197": { + "instances": [ + { + "height": 0.5092250922509225, + "id": "bbox_1768973849197_1768975852925_i3a8zfqlg", + "width": 0.4612546125461255, + "x": 0.1107011070110701, + "y": 0.07872078720787208 + } + ], + "type": "bbox" + }, + "point_1768973856428": { + "instances": [ + { + "id": "point_1768973856428_1768975864400_7sbyyhddh", + "x": 0.5719557195571956, + "y": 0.08118081180811808 + } + ], + "type": "point" + } + }, + "correction_plan": "向前移动爪夹直到洋葱正上方，爪夹向下抓取洋葱，垂直抬起爪夹，然后向爪夹方向的左边移动，直至爪夹处于白色盒子的正上方。下降将洋葱放入白色盒子中，松开爪夹。", + "error_success_analysis": "爪夹正确地向爪夹前上方移动。与洋葱距离减小。方便向爪夹前方移动。", + "frame": 82, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前方移动。\n", + "time": 2.717968845703125 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768973849197": { + "instances": [ + { + "height": 0.5067650676506764, + "id": "bbox_1768973849197_1768975872857_ijdyzb94b", + "width": 0.4538745387453876, + "x": 0.11439114391143912, + "y": 0.08610086100861009 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向下抓取洋葱，垂直抬起爪夹，然后向爪夹方向的左边移动，直至爪夹处于白色盒子的正上方。下降将洋葱放入白色盒子中，松开爪夹。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱距离减小。方便继续向爪夹前方移动。", + "frame": 100, + "progress": 18, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至18%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前方移动。\n", + "time": 3.3281251171874997 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768973849197": { + "instances": [ + { + "height": 0.5092250922509225, + "id": "bbox_1768973849197_1768975890447_h03naa1ob", + "width": 0.4464944649446494, + "x": 0.11808118081180811, + "y": 0.07872078720787207 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向下抓取洋葱，垂直抬起爪夹，然后向爪夹方向的左边移动，直至爪夹处于白色盒子的正上方。下降将洋葱放入白色盒子中，松开爪夹。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱距离减小。方便爪夹合拢。", + "frame": 121, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：爪夹合拢。\n", + "time": 4.03072930859375 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768973849197": { + "instances": [ + { + "height": 0.5190651906519065, + "id": "bbox_1768973849197_1768975907369_wuzfez42n", + "width": 0.4575645756457566, + "x": 0.11439114391143909, + "y": 0.07872078720787208 + } + ], + "type": "bbox" + } + }, + "correction_plan": "垂直抬起爪夹，然后向爪夹方向的左边移动，直至爪夹处于白色盒子的正上方。下降将洋葱放入白色盒子中，松开爪夹。", + "error_success_analysis": "爪夹正确地合拢抓取洋葱。方便向爪夹左上方移动。", + "frame": 159, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取洋葱。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。洋葱被抓取。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 5.306510603515624 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1768973842702": { + "instances": [ + { + "height": 0.11070110701107007, + "id": "bbox_1768973842702_1768975932545_ludg76wsi", + "width": 0.09040590405904059, + "x": 0.49446494464944646, + "y": 0.12300123001230014 + } + ], + "type": "bbox" + }, + "bbox_1768973849197": { + "instances": [ + { + "height": 0.5092250922509225, + "id": "bbox_1768973849197_1768975944795_96fzmf4il", + "width": 0.45571955719557183, + "x": 0.11254612546125467, + "y": 0.08118081180811808 + } + ], + "type": "bbox" + }, + "point_1768973856428": { + "instances": [ + { + "id": "point_1768973856428_1768975953576_i6jg14jt1", + "x": 0.496309963099631, + "y": 0.17220172201722017 + } + ], + "type": "point" + } + }, + "correction_plan": "垂直抬起爪夹，然后向爪夹方向的左边移动，直至爪夹处于白色盒子的正上方。下降将洋葱放入白色盒子中，松开爪夹。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。方便向爪夹左下方移动。", + "frame": 188, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。洋葱与白色盒子距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹左下方移动。", + "time": 6.2785792379925445 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768973842702": { + "instances": [ + { + "height": 0.12300123001230011, + "id": "bbox_1768973842702_1768975970517_xyk3vxsbr", + "width": 0.09778597785977858, + "x": 0.3025830258302583, + "y": 0.23616236162361623 + } + ], + "type": "bbox" + }, + "bbox_1768973849197": { + "instances": [ + { + "height": 0.5043050430504306, + "id": "bbox_1768973849197_1768975980363_s3yqymoem", + "width": 0.4538745387453873, + "x": 0.11439114391143912, + "y": 0.08856088560885608 + } + ], + "type": "bbox" + }, + "point_1768973856428": { + "instances": [ + { + "id": "point_1768973856428_1768975998862_thuox54nr", + "x": 0.29704797047970477, + "y": 0.3198031980319803 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的左边移动，直至爪夹处于白色盒子的正上方。下降将洋葱放入白色盒子中，松开爪夹。", + "error_success_analysis": "爪夹正确地向爪夹左下方移动。方便爪夹张开。", + "frame": 226, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。洋葱与白色盒子距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：爪夹张开。", + "time": 7.5437502656249995 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768973842702": { + "instances": [ + { + "height": 0.11808118081180811, + "id": "bbox_1768973842702_1768976004739_mvpj6hzgt", + "width": 0.09409594095940962, + "x": 0.3284132841328413, + "y": 0.39114391143911437 + } + ], + "type": "bbox" + }, + "bbox_1768973849197": { + "instances": [ + { + "height": 0.5067650676506764, + "id": "bbox_1768973849197_1768976014444_dio684ffm", + "width": 0.45387453874538747, + "x": 0.11439114391143912, + "y": 0.08610086100861009 + } + ], + "type": "bbox" + }, + "point_1768973856428": { + "instances": [ + { + "id": "point_1768973856428_1768976007670_za8yo029v", + "x": 0.2988929889298893, + "y": 0.3247232472324723 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。洋葱落入白色盒子。\n已完成爪夹抓取洋葱放入白色盒子的任务。", + "frame": 267, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，洋葱落入白色盒子。因此提升至100%。", + "state_description": "爪夹处于张开状态。洋葱落入白色盒子。\n已完成爪夹抓取洋葱放入白色盒子的任务。", + "time": 8.91197948046875 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768973842702", + "name": "洋葱" + }, + { + "color": "#FF9800", + "id": "bbox_1768973849197", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768973856428", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768973861442", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-164303-put-onion-white-box-good/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-164303-put-onion-white-box-good/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..b73275f791cdbc66f21793c9238a21ba78aa4ad0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-164303-put-onion-white-box-good/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,478 @@ +{ + "task_description": "爪夹抓取洋葱放入白色盒子。\n开始移动:0%\n爪夹靠近洋葱:20%\n爪夹抓取洋葱:40%\n爪夹抓住洋葱接近白色盒子:60%\n爪夹将洋葱放入白色盒子:80%\n爪夹松开，洋葱落入白色盒子:100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768977630079": { + "instances": [ + { + "height": 0.10578105781057813, + "id": "bbox_1768977630079_1768977678367_79qf46o8z", + "width": 0.07933579335793359, + "x": 0.2933579335793358, + "y": 0.29028290282902824 + } + ], + "type": "bbox" + }, + "bbox_1768977656407": { + "instances": [ + { + "height": 0.6100861008610087, + "id": "bbox_1768977656407_1768977686637_5x8slluuo", + "width": 0.46863468634686345, + "x": 0.00922509225092251, + "y": 0.3222632226322263 + } + ], + "type": "bbox" + }, + "point_1768977664120": { + "instances": [ + { + "id": "point_1768977664120_1768977690275_ntceccela", + "x": 0.39114391143911437, + "y": 0.1869618696186962 + } + ], + "type": "point" + }, + "point_1768977668533": { + "instances": [ + { + "id": "point_1768977668533_1768977692813_gzph5aj83", + "x": 0.485239852398524, + "y": 0.1820418204182042 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到洋葱正上方，爪夹合拢抓取洋葱，爪夹垂直抬升，向爪夹前方移动白色正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前方移动。", + "time": 1.1687500000000002 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768977630079": { + "instances": [ + { + "height": 0.11562115621156212, + "id": "bbox_1768977630079_1768977722765_jvviof78z", + "width": 0.0738007380073801, + "x": 0.2988929889298893, + "y": 0.28044280442804426 + } + ], + "type": "bbox" + }, + "bbox_1768977656407": { + "instances": [ + { + "height": 0.6174661746617465, + "id": "bbox_1768977656407_1768977700419_nbnffk9ax", + "width": 0.47047970479704804, + "x": 0.0036900369003690036, + "y": 0.3247232472324723 + } + ], + "type": "bbox" + }, + "point_1768977664120": { + "instances": [ + { + "id": "point_1768977664120_1768977726122_kzckv3glz", + "x": 0.3856088560885609, + "y": 0.14022140221402213 + } + ], + "type": "point" + }, + "point_1768977668533": { + "instances": [ + { + "id": "point_1768977668533_1768977728053_810ow63ia", + "x": 0.485239852398524, + "y": 0.13776137761377613 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到洋葱正上方，爪夹合拢抓取洋葱，爪夹垂直抬升，向爪夹前方移动白色正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱距离减小。方便继续向爪夹前方移动。", + "frame": 50, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝洋葱方向移动。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前方移动。", + "time": 1.6671875 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768977630079": { + "instances": [ + { + "height": 0.10086100861008612, + "id": "bbox_1768977630079_1768977746493_tzbyd2wzf", + "width": 0.07011070110701109, + "x": 0.3007380073800738, + "y": 0.29274292742927427 + } + ], + "type": "bbox" + }, + "bbox_1768977656407": { + "instances": [ + { + "height": 0.6150061500615005, + "id": "bbox_1768977656407_1768977754378_w2ruam4yv", + "width": 0.4667896678966789, + "x": 0.0036900369003690036, + "y": 0.3222632226322263 + } + ], + "type": "bbox" + }, + "point_1768977664120": { + "instances": [ + { + "id": "point_1768977664120_1768977738620_4ehr7pmma", + "x": 0.27490774907749077, + "y": 0.3370233702337024 + } + ], + "type": "point" + }, + "point_1768977668533": { + "instances": [ + { + "id": "point_1768977668533_1768977740558_l8iu2aq95", + "x": 0.35608856088560886, + "y": 0.34440344403444034 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到洋葱正上方，爪夹合拢抓取洋葱，爪夹垂直抬升，向爪夹前方移动白色正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱距离减小。方便继续向爪夹前方移动。", + "frame": 71, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝洋葱方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前方移动。", + "time": 2.3546875000000003 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768977630079": { + "instances": [ + { + "height": 0.11070110701107012, + "id": "bbox_1768977630079_1768977765248_0a2jk42p3", + "width": 0.0774907749077491, + "x": 0.29704797047970477, + "y": 0.2878228782287823 + } + ], + "type": "bbox" + }, + "bbox_1768977656407": { + "instances": [ + { + "height": 0.6150061500615005, + "id": "bbox_1768977656407_1768977773582_jarams5qf", + "width": 0.46863468634686356, + "x": 0.0036900369003690036, + "y": 0.3271832718327183 + } + ], + "type": "bbox" + }, + "point_1768977664120": { + "instances": [ + { + "id": "point_1768977664120_1768977809615_90xkrnxyx", + "x": 0.2933579335793358, + "y": 0.3591635916359163 + } + ], + "type": "point" + }, + "point_1768977668533": { + "instances": [ + { + "id": "point_1768977668533_1768977811996_uje7f3nbi", + "x": 0.3726937269372694, + "y": 0.3591635916359163 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到洋葱正上方，爪夹合拢抓取洋葱，爪夹垂直抬升，向爪夹前方移动白色正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱距离减小。方便继续向爪夹前方移动。", + "frame": 89, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝洋葱方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：爪夹合拢。", + "time": 2.9605494573188413 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768977630079": { + "instances": [ + { + "height": 0.10332103321033212, + "id": "bbox_1768977630079_1768977789455_uw7c7dvnd", + "width": 0.07011070110701109, + "x": 0.3007380073800738, + "y": 0.29274292742927427 + } + ], + "type": "bbox" + }, + "bbox_1768977656407": { + "instances": [ + { + "height": 0.6076260762607627, + "id": "bbox_1768977656407_1768977800896_m341een18", + "width": 0.4630996309963099, + "x": 0.007380073800738007, + "y": 0.3271832718327183 + } + ], + "type": "bbox" + }, + "point_1768977664120": { + "instances": [ + { + "id": "point_1768977664120_1768977817520_2lwkz0nez", + "x": 0.3007380073800738, + "y": 0.3640836408364084 + } + ], + "type": "point" + }, + "point_1768977668533": { + "instances": [ + { + "id": "point_1768977668533_1768977819648_q68szswn8", + "x": 0.35977859778597787, + "y": 0.3591635916359163 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直抬升，向爪夹前方移动白色正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取洋葱。方便向爪夹前上方移动。", + "frame": 109, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取洋葱。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。洋葱被抓取。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前上方移动。", + "time": 3.6437500000000003 + }, + { + "action_description": "向爪夹前上方移动。", + "annotations": { + "bbox_1768977630079": { + "instances": [ + { + "height": 0.14022140221402213, + "id": "bbox_1768977630079_1768977836865_rvrtfif37", + "width": 0.09963099630996308, + "x": 0.22693726937269373, + "y": 0.12054120541205411 + } + ], + "type": "bbox" + }, + "bbox_1768977656407": { + "instances": [ + { + "height": 0.6150061500615005, + "id": "bbox_1768977656407_1768977828805_jpyglcy8k", + "width": 0.46863468634686345, + "x": 0.0036900369003690036, + "y": 0.3247232472324723 + } + ], + "type": "bbox" + }, + "point_1768977664120": { + "instances": [ + { + "id": "point_1768977664120_1768977839829_oms1t51t1", + "x": 0.23062730627306274, + "y": 0.15252152521525217 + } + ], + "type": "point" + }, + "point_1768977668533": { + "instances": [ + { + "id": "point_1768977668533_1768977843001_otlhd6b5y", + "x": 0.31365313653136534, + "y": 0.16728167281672815 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动白色正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前上方移动。洋葱与白色盒子的距离减小。", + "frame": 157, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。洋葱与白色盒子的距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前方移动。", + "time": 5.2250000000000005 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768977630079": { + "instances": [ + { + "height": 0.13530135301353016, + "id": "bbox_1768977630079_1768977856105_j016om69b", + "width": 0.08856088560885608, + "x": 0.24723247232472323, + "y": 0.3591635916359163 + } + ], + "type": "bbox" + }, + "bbox_1768977656407": { + "instances": [ + { + "height": 0.6076260762607627, + "id": "bbox_1768977656407_1768977850660_5g0dcwk36", + "width": 0.4630996309963099, + "x": 0.00922509225092251, + "y": 0.3271832718327183 + } + ], + "type": "bbox" + }, + "point_1768977664120": { + "instances": [ + { + "id": "point_1768977664120_1768977863844_40fxa72w4", + "x": 0.24538745387453872, + "y": 0.3985239852398524 + } + ], + "type": "point" + }, + "point_1768977668533": { + "instances": [ + { + "id": "point_1768977668533_1768977881604_m6xy1bao8", + "x": 0.3302583025830258, + "y": 0.4354243542435424 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。洋葱与白色盒子的距离减小。", + "frame": 183, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。洋葱与白色盒子的距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：爪夹张开。", + "time": 6.0843750000000005 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768977630079": { + "instances": [ + { + "height": 0.11070110701107012, + "id": "bbox_1768977630079_1768977892157_syokc2d1u", + "width": 0.08856088560885608, + "x": 0.06457564575645756, + "y": 0.5387453874538745 + } + ], + "type": "bbox" + }, + "bbox_1768977656407": { + "instances": [ + { + "height": 0.6027060270602705, + "id": "bbox_1768977656407_1768977901231_i6phk1n82", + "width": 0.46678966789667903, + "x": 0.0036900369003690036, + "y": 0.3296432964329643 + } + ], + "type": "bbox" + }, + "point_1768977664120": { + "instances": [ + { + "id": "point_1768977664120_1768977885721_c4kwn8kiq", + "x": 0.1900369003690037, + "y": 0.3763837638376384 + } + ], + "type": "point" + }, + "point_1768977668533": { + "instances": [ + { + "id": "point_1768977668533_1768977887775_k24zfa0sk", + "x": 0.2896678966789668, + "y": 0.43788437884378845 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。洋葱落入白色盒子。\n已完成爪夹抓取放入白色盒子的任务。", + "frame": 215, + "progress": 100, + "progress_explanation": "与上一进度相比，洋葱被放入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。洋葱被放入白色盒子。\n已完成爪夹抓取放入白色盒子的任务。", + "time": 7.15 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768977630079", + "name": "洋葱" + }, + { + "color": "#FF9800", + "id": "bbox_1768977656407", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768977664120", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768977668533", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-171004-put-onion-white-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-171004-put-onion-white-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..8b0938bb200cf0f2cfdf8a9b18b403daad9c40bc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-171004-put-onion-white-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,574 @@ +{ + "task_description": "爪夹抓取洋葱放入白色盒子。\n开始移动:0%\n爪夹靠近洋葱:20%\n爪夹抓取洋葱:40%\n爪夹抓住洋葱接近白色盒子:60%\n爪夹将洋葱放入白色盒子:80%\n爪夹松开，洋葱落入白色盒子:100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768979949606": { + "instances": [ + { + "height": 0.12792127921279214, + "id": "bbox_1768979949606_1768979976582_66r6hdq8q", + "width": 0.08118081180811813, + "x": 0.6660516605166051, + "y": 0.22386223862238622 + } + ], + "type": "bbox" + }, + "bbox_1768979954210": { + "instances": [ + { + "height": 0.6100861008610085, + "id": "bbox_1768979954210_1768979992700_adtyecz6a", + "width": 0.6236162361623616, + "x": 0.0018450184501845018, + "y": 0.1549815498154982 + } + ], + "type": "bbox" + }, + "point_1768979959330": { + "instances": [ + { + "id": "point_1768979959330_1768979983534_gwiw9j7hy", + "x": 0.6217712177121771, + "y": 0.24846248462484627 + } + ], + "type": "point" + }, + "point_1768979963105": { + "instances": [ + { + "id": "point_1768979963105_1768979986484_zfnyew6yb", + "x": 0.7029520295202951, + "y": 0.20664206642066418 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前方移动。", + "time": 1.022999 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768979949606": { + "instances": [ + { + "height": 0.12054120541205411, + "id": "bbox_1768979949606_1768980018385_5tqudq053", + "width": 0.08487084870848713, + "x": 0.6605166051660516, + "y": 0.22878228782287824 + } + ], + "type": "bbox" + }, + "bbox_1768979954210": { + "instances": [ + { + "height": 0.6223862238622385, + "id": "bbox_1768979954210_1768980012304_kr4hbhy3u", + "width": 0.6199261992619927, + "x": 0.0036900369003690036, + "y": 0.14760147601476012 + } + ], + "type": "bbox" + }, + "point_1768979959330": { + "instances": [ + { + "id": "point_1768979959330_1768980032690_kty7uza5i", + "x": 0.6365313653136531, + "y": 0.05904059040590406 + } + ], + "type": "point" + }, + "point_1768979963105": { + "instances": [ + { + "id": "point_1768979963105_1768980035178_6r0ebr7mm", + "x": 0.7250922509225093, + "y": 0.012300123001230012 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱距离减小。方便继续向爪夹前方移动。", + "frame": 48, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前方移动。", + "time": 1.611328125 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768979949606": { + "instances": [ + { + "height": 0.12546125461254615, + "id": "bbox_1768979949606_1768980054612_ns1y010g7", + "width": 0.07749077490774905, + "x": 0.6623616236162362, + "y": 0.22140221402214022 + } + ], + "type": "bbox" + }, + "bbox_1768979954210": { + "instances": [ + { + "height": 0.6100861008610087, + "id": "bbox_1768979954210_1768980044015_xsf2qms7z", + "width": 0.6162361623616236, + "x": 0.00922509225092251, + "y": 0.15252152521525214 + } + ], + "type": "bbox" + }, + "point_1768979959330": { + "instances": [ + { + "id": "point_1768979959330_1768980253942_cwratj1ye", + "x": 0.540590405904059, + "y": 0.00984009840098401 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱距离减小。方便继续向爪夹前方移动。", + "frame": 65, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前方移动。", + "time": 2.169921875 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768979949606": { + "instances": [ + { + "height": 0.11562115621156212, + "id": "bbox_1768979949606_1768980071771_8qg6jta5a", + "width": 0.08487084870848705, + "x": 0.6586715867158672, + "y": 0.23370233702337023 + } + ], + "type": "bbox" + }, + "bbox_1768979954210": { + "instances": [ + { + "height": 0.6125461254612546, + "id": "bbox_1768979954210_1768980078637_x1vou3der", + "width": 0.6199261992619925, + "x": 0.005535055350553505, + "y": 0.15498154981549817 + } + ], + "type": "bbox" + }, + "point_1768979959330": { + "instances": [ + { + "id": "point_1768979959330_1768980064852_8y44ivsf8", + "x": 0.5959409594095941, + "y": 0.12792127921279212 + } + ], + "type": "point" + }, + "point_1768979963105": { + "instances": [ + { + "id": "point_1768979963105_1768980241810_ccyq567bi", + "x": 0.6697416974169742, + "y": 0.11070110701107011 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱距离减小。方便继续向爪夹前方移动。", + "frame": 78, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹前方移动。", + "time": 2.599609375 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768979949606": { + "instances": [ + { + "height": 0.11808118081180811, + "id": "bbox_1768979949606_1768980101776_kt0b38s99", + "width": 0.08487084870848713, + "x": 0.6623616236162361, + "y": 0.23862238622386223 + } + ], + "type": "bbox" + }, + "bbox_1768979954210": { + "instances": [ + { + "height": 0.6125461254612546, + "id": "bbox_1768979954210_1768980093609_b8ogri8dc", + "width": 0.6162361623616237, + "x": 0.01107011070110701, + "y": 0.15006150061500617 + } + ], + "type": "bbox" + }, + "point_1768979959330": { + "instances": [ + { + "id": "point_1768979959330_1768980118673_q7mjmmpvl", + "x": 0.5904059040590406, + "y": 0.28536285362853625 + } + ], + "type": "point" + }, + "point_1768979963105": { + "instances": [ + { + "id": "point_1768979963105_1768980113154_k7u3u1wvn", + "x": 0.6642066420664207, + "y": 0.2779827798277983 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱距离减小。方便向爪夹右方移动。", + "frame": 93, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹右方移动。", + "time": 3.115234375 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768979949606": { + "instances": [ + { + "height": 0.12300123001230011, + "id": "bbox_1768979949606_1768980133845_44ewxrlys", + "width": 0.09040590405904059, + "x": 0.6660516605166051, + "y": 0.23862238622386223 + } + ], + "type": "bbox" + }, + "bbox_1768979954210": { + "instances": [ + { + "height": 0.6125461254612546, + "id": "bbox_1768979954210_1768980127429_d170pu68s", + "width": 0.6273062730627306, + "x": 0, + "y": 0.15252152521525214 + } + ], + "type": "bbox" + }, + "point_1768979959330": { + "instances": [ + { + "id": "point_1768979959330_1768980141600_dnmuv1p1i", + "x": 0.6365313653136531, + "y": 0.3173431734317343 + } + ], + "type": "point" + }, + "point_1768979963105": { + "instances": [ + { + "id": "point_1768979963105_1768980153750_gdg3eqjgq", + "x": 0.6531365313653137, + "y": 0.30996309963099633 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，向爪夹右方移动到洋葱正上方，爪夹合拢抓取洋葱，爪夹垂直抬升，向爪夹左上方移动到白色盒子上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹错误地合拢。未抓取到洋葱。爪夹张开。向爪夹右方移动。再次合拢抓取。", + "frame": 112, + "progress": -40, + "progress_explanation": "与上一进度相比，爪夹合拢但未抓取到洋葱。因此进度减小至-40%。", + "state_description": "爪夹处于合拢状态。但未抓取到洋葱。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：爪夹张开。", + "time": 3.716796875 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768979949606": { + "instances": [ + { + "height": 0.12054120541205414, + "id": "bbox_1768979949606_1768980160335_ufzvwifph", + "width": 0.0830258302583026, + "x": 0.6605166051660516, + "y": 0.2287822878228782 + } + ], + "type": "bbox" + }, + "bbox_1768979954210": { + "instances": [ + { + "height": 0.6150061500615006, + "id": "bbox_1768979954210_1768980181006_h0u816ef3", + "width": 0.6199261992619927, + "x": 0.007380073800738007, + "y": 0.15252152521525217 + } + ], + "type": "bbox" + }, + "point_1768979959330": { + "instances": [ + { + "id": "point_1768979959330_1768980226296_c0r5ipvkc", + "x": 0.6328413284132841, + "y": 0.27552275522755226 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取洋葱，爪夹垂直抬升，向爪夹左上方移动到白色盒子上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地张开。方便再次合拢抓取。", + "frame": 152, + "progress": 35, + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至35%。", + "state_description": "爪夹处于张开状态。在洋葱正上方。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：爪夹合拢。\n", + "time": 5.0703125 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768979949606": { + "instances": [ + { + "height": 0.14760147601476017, + "id": "bbox_1768979949606_1768980206847_spj2swh7c", + "width": 0.09409594095940958, + "x": 0.6420664206642066, + "y": 0.22632226322263224 + } + ], + "type": "bbox" + }, + "bbox_1768979954210": { + "instances": [ + { + "height": 0.6051660516605166, + "id": "bbox_1768979954210_1768980190166_w9lid3ljg", + "width": 0.6346863468634686, + "x": -0.0018450184501844964, + "y": 0.15252152521525214 + } + ], + "type": "bbox" + }, + "point_1768979959330": { + "instances": [ + { + "id": "point_1768979959330_1768980218908_mx91k9uan", + "x": 0.6346863468634687, + "y": 0.3271832718327183 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直抬升，向爪夹左上方移动到白色盒子上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢。洋葱被抓取。方便向爪夹左上方移动。", + "frame": 175, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取洋葱。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。洋葱被抓取。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹左方移动。", + "time": 5.84375 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1768979954210": { + "instances": [ + { + "height": 0.6100861008610087, + "id": "bbox_1768979954210_1768980268794_3klvt14qf", + "width": 0.6180811808118082, + "x": 0.007380073800738007, + "y": 0.15006150061500617 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹左方移动到白色盒子上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。洋葱与白色盒子距离减小。方便继续向爪夹左方移动。", + "frame": 217, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。洋葱与白色盒子距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹左方移动。", + "time": 7.240234375 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1768979949606": { + "instances": [ + { + "height": 0.13776137761377613, + "id": "bbox_1768979949606_1768980295493_g5elhvluw", + "width": 0.10885608856088558, + "x": 0.2952029520295203, + "y": 0.0024600246002460025 + } + ], + "type": "bbox" + }, + "bbox_1768979954210": { + "instances": [ + { + "height": 0.6199261992619927, + "id": "bbox_1768979954210_1768980304494_mjvt291vq", + "width": 0.6199261992619925, + "x": 0.005535055350553505, + "y": 0.14760147601476012 + } + ], + "type": "bbox" + }, + "point_1768979959330": { + "instances": [ + { + "id": "point_1768979959330_1768980288635_cknfh2n0h", + "x": 0.31734317343173435, + "y": 0.14514145141451412 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左方移动。洋葱与白色盒子距离减小。方便爪夹张开。", + "frame": 262, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。洋葱与白色盒子距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：爪夹张开。", + "time": 8.72265625 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768979949606": { + "instances": [ + { + "height": 0.1426814268142681, + "id": "bbox_1768979949606_1768980355832_6vsy7pjgv", + "width": 0.10516605166051662, + "x": 0.2564575645756457, + "y": 0.33456334563345635 + } + ], + "type": "bbox" + }, + "bbox_1768979954210": { + "instances": [ + { + "height": 0.6100861008610087, + "id": "bbox_1768979954210_1768980326571_ebp85obqx", + "width": 0.6162361623616236, + "x": 0.00738007380073801, + "y": 0.15498154981549817 + } + ], + "type": "bbox" + }, + "point_1768979959330": { + "instances": [ + { + "id": "point_1768979959330_1768980365522_9pxlx4ys4", + "x": 0.33210332103321033, + "y": 0.17958179581795816 + } + ], + "type": "point" + }, + "point_1768979963105": { + "instances": [ + { + "id": "point_1768979963105_1768980369050_gx5t8m5bx", + "x": 0.35977859778597787, + "y": 0.07626076260762608 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。洋葱落入白色盒子。\n已完成爪夹抓取洋葱放入白色盒子洋葱落入白色盒子的任务。\n", + "frame": 312, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，洋葱落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。洋葱落入白色盒子。\n已完成爪夹抓取洋葱放入白色盒子洋葱落入白色盒子的任务。", + "time": 10.3984375 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768979949606", + "name": "洋葱" + }, + { + "color": "#FF9800", + "id": "bbox_1768979954210", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768979959330", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768979963105", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-171004-put-onion-white-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-171004-put-onion-white-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..5f657b8c180f86af063b60d014c939dc9bc24e8c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-171004-put-onion-white-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,480 @@ +{ + "task_description": "爪夹抓取洋葱放入白色盒子。\n开始移动:0%\n爪夹靠近洋葱:20%\n爪夹抓取洋葱:40%\n爪夹抓住洋葱接近白色盒子:60%\n爪夹将洋葱放入白色盒子:80%\n爪夹松开，洋葱落入白色盒子:100%\n\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768983473742": { + "instances": [ + { + "height": 0.16133333333333333, + "id": "bbox_1768983473742_1768983503194_opdw5lf7f", + "width": 0.1259999999999999, + "x": 0.7145, + "y": 0.5453333333333333 + } + ], + "type": "bbox" + }, + "bbox_1768983480620": { + "instances": [ + { + "height": 0.49600000000000005, + "id": "bbox_1768983480620_1768983512002_y4p1uk14o", + "width": 0.44299999999999995, + "x": 0.37249999999999994, + "y": 0.001333333333333362 + } + ], + "type": "bbox" + }, + "point_1768983486062": { + "instances": [ + { + "id": "point_1768983486062_1768983521882_s36mspn8c", + "x": 0.3625, + "y": 0.2693333333333333 + } + ], + "type": "point" + }, + "point_1768983491077": { + "instances": [ + { + "id": "point_1768983491077_1768983524213_vho4wgqhi", + "x": 0.47350000000000003, + "y": 0.28800000000000003 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹抓取洋葱放入白色盒子的任务移应当：向爪夹前方移动。", + "time": 1.2604639175257732 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768983473742": { + "instances": [ + { + "height": 0.15199999999999997, + "id": "bbox_1768983473742_1768983530936_jwhcf2u28", + "width": 0.121, + "x": 0.7175, + "y": 0.5533333333333333 + } + ], + "type": "bbox" + }, + "bbox_1768983480620": { + "instances": [ + { + "height": 0.4786666666666667, + "id": "bbox_1768983480620_1768983536566_sc58hwlkq", + "width": 0.43599999999999994, + "x": 0.3775, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + }, + "point_1768983491077": { + "instances": [ + { + "id": "point_1768983491077_1768983545076_ig0ck2f9y", + "x": 0.5685, + "y": 0.096 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱距离减小。方便继续向爪夹前方移动。", + "frame": 64, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝洋葱方向移动。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务移应当：向爪夹前方移动。", + "time": 2.148046875 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768983473742": { + "instances": [ + { + "height": 0.16728167281672826, + "id": "bbox_1768983473742_1768983606593_xl8dpw6l4", + "width": 0.11992619926199266, + "x": 0.7177121771217713, + "y": 0.5436654366543665 + } + ], + "type": "bbox" + }, + "bbox_1768983480620": { + "instances": [ + { + "height": 0.49200492004920043, + "id": "bbox_1768983480620_1768983614287_rbq63o0mf", + "width": 0.42988929889298877, + "x": 0.3856088560885609, + "y": 0.007380073800738007 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹右方移动到洋葱正上方，爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱距离减小。\n方便向爪夹右方移动。", + "frame": 84, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝洋葱方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务移应当：向爪夹右方移动。", + "time": 2.7878906249999997 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768983473742": { + "instances": [ + { + "height": 0.1549815498154981, + "id": "bbox_1768983473742_1768983645118_oo8cnni34", + "width": 0.12546125461254604, + "x": 0.7177121771217713, + "y": 0.5535055350553506 + } + ], + "type": "bbox" + }, + "bbox_1768983480620": { + "instances": [ + { + "height": 0.43050430504305043, + "id": "bbox_1768983480620_1768983653596_87vd5gj9s", + "width": 0.42619926199261987, + "x": 0.38745387453874536, + "y": 0 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，白萝卜落在桌面上，向爪夹右方移动到洋葱正上方，爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹错误地合拢抓取到白萝卜。应当爪夹张开。向爪夹右方移动。再次合拢抓取洋葱。", + "frame": 104, + "progress": -40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取到白萝卜。因此进度减小至-40%。", + "state_description": "爪夹处于合拢状态。但抓取到白萝卜。\n为完成爪夹抓取洋葱放入白色盒子的任务移应当：爪夹张开。\n", + "time": 3.4505859374999996 + }, + { + "action_description": "向爪夹上方移动。", + "annotations": { + "bbox_1768983473742": { + "instances": [ + { + "height": 0.15744157441574416, + "id": "bbox_1768983473742_1768983675058_z5qagjwwn", + "width": 0.12177121771217703, + "x": 0.7214022140221402, + "y": 0.5559655596555966 + } + ], + "type": "bbox" + }, + "bbox_1768983480620": { + "instances": [ + { + "height": 0.4797047970479705, + "id": "bbox_1768983480620_1768983668646_a4dektf5y", + "width": 0.42988929889298894, + "x": 0.3837638376383764, + "y": 0.004920049200492005 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，白萝卜落在桌面上，向爪夹右方移动到洋葱正上方，爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹错误地向爪夹上方移动。与洋葱距离增大。应当爪夹张开。向爪夹右方移动。再次合拢抓取。", + "frame": 129, + "progress": -45, + "progress_explanation": "与上一进度相比，爪夹与洋葱距离增大。因此进度减小至-45%。", + "state_description": "爪夹处于合拢状态。\n为完成爪夹抓取洋葱放入白色盒子的任务移应当：爪夹张开。\n", + "time": 4.29609375 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768983473742": { + "instances": [ + { + "height": 0.1500615006150061, + "id": "bbox_1768983473742_1768983681143_twge61cnf", + "width": 0.12361623616236166, + "x": 0.7232472324723247, + "y": 0.5559655596555966 + } + ], + "type": "bbox" + }, + "bbox_1768983480620": { + "instances": [ + { + "height": 0.48462484624846247, + "id": "bbox_1768983480620_1768983692609_b05bqidoy", + "width": 0.4077490774907749, + "x": 0.4059040590405904, + "y": 0.004920049200492005 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹右方移动到洋葱正上方，爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地张开。松开白萝卜。方便向爪夹右方移动。", + "frame": 156, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹抓取洋葱放入白色盒子的任务移应当：向爪夹右方移动。", + "time": 5.187304687499999 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1768983473742": { + "instances": [ + { + "height": 0.1599015990159901, + "id": "bbox_1768983473742_1768983698279_kob8l8m6g", + "width": 0.11992619926199258, + "x": 0.7214022140221402, + "y": 0.5485854858548586 + } + ], + "type": "bbox" + }, + "bbox_1768983480620": { + "instances": [ + { + "height": 0.46986469864698643, + "id": "bbox_1768983480620_1768983712129_5br6hkfyx", + "width": 0.40221402214022134, + "x": 0.4059040590405904, + "y": 0.0024600246002460025 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹右方移动到洋葱正上方，爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与洋葱距离减小。方便继续向爪夹右方移动。", + "frame": 180, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与洋葱距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务移应当：向爪夹右方移动。", + "time": 5.987109374999999 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1768983473742": { + "instances": [ + { + "height": 0.16236162361623616, + "id": "bbox_1768983473742_1768983732549_ow5gdvdn2", + "width": 0.12361623616236157, + "x": 0.7453874538745388, + "y": 0.5781057810578106 + } + ], + "type": "bbox" + }, + "bbox_1768983480620": { + "instances": [ + { + "height": 0.4624846248462484, + "id": "bbox_1768983480620_1768983721459_tkidwjt51", + "width": 0.40774907749077477, + "x": 0.3985239852398524, + "y": 0.0024600246002460025 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与洋葱距离减小。方便爪夹合拢。", + "frame": 197, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。在洋葱的正上方。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：爪夹合拢。", + "time": 6.58125 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768983473742": { + "instances": [ + { + "height": 0.16236162361623616, + "id": "bbox_1768983473742_1768983749405_o74awh4n2", + "width": 0.12177121771217711, + "x": 0.7453874538745388, + "y": 0.5412054120541205 + } + ], + "type": "bbox" + }, + "bbox_1768983480620": { + "instances": [ + { + "height": 0.4575645756457565, + "id": "bbox_1768983480620_1768983754353_987ovmexi", + "width": 0.42619926199261987, + "x": 0.38191881918819187, + "y": 0.007380073800738007 + } + ], + "type": "bbox" + } + }, + "correction_plan": "垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取洋葱。方便向爪夹左上方移动。", + "frame": 221, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取洋葱。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。洋葱被爪夹抓取。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 7.373813723609295 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1768983473742": { + "instances": [ + { + "height": 0.15252152521525214, + "id": "bbox_1768983473742_1768983815557_dsw4ctuwb", + "width": 0.14575645756457564, + "x": 0.6273062730627307, + "y": -0.007380073800738007 + } + ], + "type": "bbox" + }, + "bbox_1768983480620": { + "instances": [ + { + "height": 0.4895448954489544, + "id": "bbox_1768983480620_1768983763393_2lrgnkyua", + "width": 0.4354243542435425, + "x": 0.38007380073800734, + "y": -0.002460024600246006 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，洋葱落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。洋葱与白色盒子距离减小。方便继续向爪夹左上方移动。", + "frame": 255, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。洋葱与白色盒子距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 8.485515463917524 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1768983480620": { + "instances": [ + { + "height": 0.48216482164821645, + "id": "bbox_1768983480620_1768983827415_3hmu9utix", + "width": 0.4280442804428043, + "x": 0.3800738007380074, + "y": 0.004920049200492005 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。洋葱与白色盒子距离减小。方便爪夹张开。", + "frame": 304, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。洋葱与白色盒子距离减小。\n为完成爪夹抓取洋葱放入白色盒子的任务应当：爪夹张开。", + "time": 10.123242187499999 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768983473742": { + "instances": [ + { + "height": 0.10332103321033212, + "id": "bbox_1768983473742_1768983865834_06jkab5qc", + "width": 0.0793357933579335, + "x": 0.5701107011070111, + "y": 0.20664206642066418 + } + ], + "type": "bbox" + }, + "bbox_1768983480620": { + "instances": [ + { + "height": 0.4772447724477244, + "id": "bbox_1768983480620_1768983838229_7079pjfsi", + "width": 0.4298892988929889, + "x": 0.37822878228782286, + "y": -0.0024600246002460207 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。洋葱落入白色盒子。\n已完成爪夹抓取洋葱放入白色盒子的任务。\n", + "frame": 338, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，洋葱落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。洋葱落入白色盒子。\n已完成爪夹抓取洋葱放入白色盒子的任务。\n", + "time": 11.265820312499999 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768983473742", + "name": "洋葱" + }, + { + "color": "#FF9800", + "id": "bbox_1768983480620", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768983486062", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768983491077", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-172335-put-onion-white-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-172335-put-onion-white-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3347afa71e34dcb71942dac4b3b1465fae381bba --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-172335-put-onion-white-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,488 @@ +{ + "task_description": "爪夹抓取洋葱放入蓝色碗中。\n开始移动:0%\n爪夹靠近洋葱:20%\n爪夹抓取洋葱:40%\n爪夹抓住洋葱接近蓝色碗:60%\n爪夹将洋葱放入蓝色碗:80%\n爪夹松开，洋葱落入蓝色碗:100%\n\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768985437814": { + "instances": [ + { + "height": 0.09594095940959409, + "id": "bbox_1768985437814_1768985464859_zcz0lqe5k", + "width": 0.07564575645756459, + "x": 0.577490774907749, + "y": 0.12546125461254612 + } + ], + "type": "bbox" + }, + "bbox_1768985444173": { + "instances": [ + { + "height": 0.19926199261992614, + "id": "bbox_1768985444173_1768985477203_c5c7rc677", + "width": 0.18450184501845027, + "x": 0.4686346863468634, + "y": 0.21156211562115626 + } + ], + "type": "bbox" + }, + "point_1768985449970": { + "instances": [ + { + "id": "point_1768985449970_1768985469193_i0utch5sk", + "x": 0.6291512915129152, + "y": 0.22386223862238622 + } + ], + "type": "point" + }, + "point_1768985455077": { + "instances": [ + { + "id": "point_1768985455077_1768985471025_nf324udo1", + "x": 0.7121771217712177, + "y": 0.16974169741697417 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到洋葱正上方，爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到蓝色碗正上方，爪夹张开，洋葱落入蓝色碗。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹抓取洋葱放入蓝色碗中的任务应当：向爪夹前方移动。", + "time": 1.484375 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768985437814": { + "instances": [ + { + "height": 0.0910209102091021, + "id": "bbox_1768985437814_1768985571364_3ghmh4qv5", + "width": 0.07749077490774914, + "x": 0.5738007380073801, + "y": 0.12546125461254612 + } + ], + "type": "bbox" + }, + "bbox_1768985444173": { + "instances": [ + { + "height": 0.19680196801968017, + "id": "bbox_1768985444173_1768985510018_6e2ww0328", + "width": 0.17343173431734327, + "x": 0.47601476014760136, + "y": 0.2091020910209102 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前方移动到洋葱正上方，爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到蓝色碗正上方，爪夹张开，洋葱落入蓝色碗。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱的距离减小。方便继续向爪夹前方移动。", + "frame": 62, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与洋葱的距离减小。\n为完成爪夹抓取洋葱放入蓝色碗中的任务应当：向爪夹前方移动。", + "time": 2.054982478821274 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768985437814": { + "instances": [ + { + "height": 0.09348093480934809, + "id": "bbox_1768985437814_1768985585340_tb8jd9wq6", + "width": 0.07564575645756469, + "x": 0.5756457564575646, + "y": 0.1303813038130381 + } + ], + "type": "bbox" + }, + "bbox_1768985444173": { + "instances": [ + { + "height": 0.19188191881918817, + "id": "bbox_1768985444173_1768985528229_ppptklbuy", + "width": 0.17527675276752763, + "x": 0.477859778597786, + "y": 0.2115621156211562 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前方移动到洋葱正上方，爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到蓝色碗正上方，爪夹张开，洋葱落入蓝色碗。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与洋葱的距离减小。方便向爪夹前下方移动。", + "frame": 78, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与洋葱的距离减小。\n为完成爪夹抓取洋葱放入蓝色碗中的任务应当：向爪夹前下方移动。", + "time": 2.59 + }, + { + "action_description": "向爪夹前下方移动。", + "annotations": { + "bbox_1768985437814": { + "instances": [ + { + "height": 0.0934809348093481, + "id": "bbox_1768985437814_1768985597156_w9him33lz", + "width": 0.07749077490774914, + "x": 0.5738007380073801, + "y": 0.13284132841328414 + } + ], + "type": "bbox" + }, + "bbox_1768985444173": { + "instances": [ + { + "height": 0.19680196801968017, + "id": "bbox_1768985444173_1768985603276_p701ozyqp", + "width": 0.17712177121771217, + "x": 0.47601476014760147, + "y": 0.2066420664206642 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前方移动到洋葱正上方，爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到蓝色碗正上方，爪夹张开，洋葱落入蓝色碗。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动。与洋葱的距离减小。方便继续向爪夹前下方移动。", + "frame": 93, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与洋葱的距离减小。\n为完成爪夹抓取洋葱放入蓝色碗中的任务应当：向爪夹前下方移动。", + "time": 3.1 + }, + { + "action_description": "向爪夹前下方移动。", + "annotations": { + "bbox_1768985444173": { + "instances": [ + { + "height": 0.2017220172201722, + "id": "bbox_1768985444173_1768985613966_aiw2uw7z2", + "width": 0.17527675276752772, + "x": 0.47601476014760147, + "y": 0.21156211562115618 + } + ], + "type": "bbox" + }, + "point_1768985449970": { + "instances": [ + { + "id": "point_1768985449970_1768985623856_3k0lwgc7x", + "x": 0.5719557195571956, + "y": 0.17220172201722017 + } + ], + "type": "point" + }, + "point_1768985455077": { + "instances": [ + { + "id": "point_1768985455077_1768985630232_wswiazvcu", + "x": 0.6273062730627307, + "y": 0.13776137761377613 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取洋葱，垂直抬升爪夹，向爪夹左上方移动到蓝色碗正上方，爪夹张开，洋葱落入蓝色碗。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动。与洋葱的距离减小。方便爪夹合拢。", + "frame": 111, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝洋葱的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与洋葱的距离减小。\n为完成爪夹抓取洋葱放入蓝色碗中的任务应当：爪夹合拢。", + "time": 3.7109375 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768985437814": { + "instances": [ + { + "height": 0.0934809348093481, + "id": "bbox_1768985437814_1768985647069_7x4nxip2k", + "width": 0.07749077490774914, + "x": 0.577490774907749, + "y": 0.13776137761377613 + } + ], + "type": "bbox" + }, + "bbox_1768985444173": { + "instances": [ + { + "height": 0.19680196801968017, + "id": "bbox_1768985444173_1768985639895_zvks5ajjj", + "width": 0.18081180811808117, + "x": 0.474169741697417, + "y": 0.2115621156211562 + } + ], + "type": "bbox" + }, + "point_1768985449970": { + "instances": [ + { + "id": "point_1768985449970_1768985641927_tce2wu8jt", + "x": 0.584870848708487, + "y": 0.17220172201722017 + } + ], + "type": "point" + }, + "point_1768985455077": { + "instances": [ + { + "id": "point_1768985455077_1768985644117_c4a983o7r", + "x": 0.6420664206642066, + "y": 0.15006150061500617 + } + ], + "type": "point" + } + }, + "correction_plan": "垂直抬升爪夹，向爪夹左上方移动到蓝色碗正上方，爪夹张开，洋葱落入蓝色碗。", + "error_success_analysis": "爪夹正确地合拢抓取洋葱。方便向爪夹左上方移动。", + "frame": 125, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取洋葱。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。洋葱被爪夹抓取。\n为完成爪夹抓取洋葱放入蓝色碗中的任务应当：向爪夹左上方移动。", + "time": 4.1796875 + }, + { + "action_description": "向爪夹上方移动。", + "annotations": { + "bbox_1768985437814": { + "instances": [ + { + "height": 0.0910209102091021, + "id": "bbox_1768985437814_1768985671889_g2iihz2m5", + "width": 0.08302583025830268, + "x": 0.5977859778597786, + "y": 0.02706027060270603 + } + ], + "type": "bbox" + }, + "bbox_1768985444173": { + "instances": [ + { + "height": 0.19926199261992614, + "id": "bbox_1768985444173_1768985657109_hwbnftqzt", + "width": 0.17896678966789664, + "x": 0.47232472324723246, + "y": 0.21156211562115626 + } + ], + "type": "bbox" + }, + "point_1768985449970": { + "instances": [ + { + "id": "point_1768985449970_1768985665490_051vn2w22", + "x": 0.5996309963099631, + "y": 0.04674046740467405 + } + ], + "type": "point" + }, + "point_1768985455077": { + "instances": [ + { + "id": "point_1768985455077_1768985668558_57eteys1i", + "x": 0.6660516605166051, + "y": 0.03936039360393604 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动到蓝色碗正上方，爪夹张开，洋葱落入蓝色碗。", + "error_success_analysis": "爪夹正确地向爪夹上方移动。洋葱与蓝色碗的距离减小。方便向爪夹左方移动。", + "frame": 169, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝蓝色碗的方向移动。因此进度提升至50%。", + "state_description": "爪夹处于合拢状态。洋葱与蓝色碗的距离减小。\n为完成爪夹抓取洋葱放入蓝色碗中的任务应当：向爪夹左方移动。\n", + "time": 5.64453125 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1768985437814": { + "instances": [ + { + "height": 0.11808118081180813, + "id": "bbox_1768985437814_1768985702958_rogb5leng", + "width": 0.09778597785977858, + "x": 0.551660516605166, + "y": 0.03198031980319803 + } + ], + "type": "bbox" + }, + "bbox_1768985444173": { + "instances": [ + { + "height": 0.18942189421894218, + "id": "bbox_1768985444173_1768985691494_pxk16xx4m", + "width": 0.18081180811808117, + "x": 0.47232472324723246, + "y": 0.21402214022140223 + } + ], + "type": "bbox" + }, + "point_1768985449970": { + "instances": [ + { + "id": "point_1768985449970_1768985717082_lziu0pimo", + "x": 0.5719557195571956, + "y": 0.08364083640836407 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动到蓝色碗正上方，爪夹张开，洋葱落入蓝色碗。", + "error_success_analysis": "爪夹正确地向爪夹左方移动。洋葱与蓝色碗的距离减小。方便继续向爪夹左方移动。", + "frame": 199, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝蓝色碗的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。洋葱与蓝色碗的距离减小。\n为完成爪夹抓取洋葱放入蓝色碗中的任务应当：向爪夹左方移动。\n", + "time": 6.640625 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1768985437814": { + "instances": [ + { + "height": 0.12300123001230011, + "id": "bbox_1768985437814_1768985725888_cgfw8untp", + "width": 0.10516605166051658, + "x": 0.5, + "y": 0.15744157441574416 + } + ], + "type": "bbox" + }, + "bbox_1768985444173": { + "instances": [ + { + "height": 0.19434194341943417, + "id": "bbox_1768985444173_1768985736792_w0zubiquy", + "width": 0.17343173431734318, + "x": 0.4797047970479705, + "y": 0.21402214022140223 + } + ], + "type": "bbox" + }, + "point_1768985449970": { + "instances": [ + { + "id": "point_1768985449970_1768985722606_hystysfl2", + "x": 0.5276752767527675, + "y": 0.21894218942189422 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左方移动。洋葱与蓝色碗的距离减小。方便爪夹张开。", + "frame": 234, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝蓝色碗的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。洋葱与蓝色碗的距离减小。\n为完成爪夹抓取洋葱放入蓝色碗中的任务应当：爪夹张开。", + "time": 7.8125 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768985437814": { + "instances": [ + { + "height": 0.10332103321033206, + "id": "bbox_1768985437814_1768985762729_oynnf9q6p", + "width": 0.07564575645756459, + "x": 0.5, + "y": 0.2656826568265683 + } + ], + "type": "bbox" + }, + "bbox_1768985444173": { + "instances": [ + { + "height": 0.19926199261992616, + "id": "bbox_1768985444173_1768985747174_ha8aoljvl", + "width": 0.17896678966789664, + "x": 0.4778597785977861, + "y": 0.20664206642066418 + } + ], + "type": "bbox" + }, + "point_1768985449970": { + "instances": [ + { + "id": "point_1768985449970_1768985765020_nfhj18xuo", + "x": 0.5055350553505535, + "y": 0.24846248462484627 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。洋葱落入蓝色碗。\n已完成爪夹抓取洋葱放入蓝色碗中的任务。", + "frame": 271, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，洋葱落入蓝色碗。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。洋葱落入蓝色碗。\n已完成爪夹抓取洋葱放入蓝色碗中的任务。", + "time": 9.04296875 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768985437814", + "name": "洋葱" + }, + { + "color": "#FF9800", + "id": "bbox_1768985444173", + "name": "蓝色碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768985449970", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768985455077", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-172854-put-spinach-white-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-172854-put-spinach-white-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..0768e0b819c71d6a31804f27dfa5894a9b987cb8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-172854-put-spinach-white-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,326 @@ +{ + "task_description": "爪夹把菠菜放进白色盒子里。\n开始移动:0%\n爪夹靠近菠菜:20%\n爪夹抓取菠菜:40%\n爪夹抓住菠菜接近白色盒子:60%\n爪夹将菠菜放入白色盒子:80%\n爪夹松开，菠菜落入白色盒子:100%\n\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768985972205": { + "instances": [ + { + "height": 0.47232472324723246, + "id": "bbox_1768985972205_1768988198734_wul37uoeb", + "width": 0.17712177121771217, + "x": 0.4446494464944649, + "y": 0.21648216482164823 + } + ], + "type": "bbox" + }, + "bbox_1768985979852": { + "instances": [ + { + "height": 0.5215252152521525, + "id": "bbox_1768985979852_1768988228601_ym6jq2gfl", + "width": 0.36162361623616246, + "x": 0.6365313653136531, + "y": 0.004920049200492005 + } + ], + "type": "bbox" + }, + "point_1768988247961": { + "instances": [ + { + "id": "point_1768988247961_1768988260098_qacfmncjx", + "x": 0.5442804428044281, + "y": 0.48954489544895446 + } + ], + "type": "point" + }, + "point_1768988253014": { + "instances": [ + { + "id": "point_1768988253014_1768988262288_1j6nipx1m", + "x": 0.6494464944649446, + "y": 0.46740467404674046 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到菠菜正上方，爪夹合拢抓取到菠菜，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "", + "frame": 67, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把菠菜放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.2265625 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768985972205": { + "instances": [ + { + "height": 0.47724477244772434, + "id": "bbox_1768985972205_1768988268523_haz96nyuq", + "width": 0.1826568265682657, + "x": 0.43357933579335783, + "y": 0.21648216482164823 + } + ], + "type": "bbox" + }, + "bbox_1768985979852": { + "instances": [ + { + "height": 0.5264452644526446, + "id": "bbox_1768985979852_1768988283800_ll9mmvciu", + "width": 0.3597785977859777, + "x": 0.6365313653136532, + "y": -0.004920049200492005 + } + ], + "type": "bbox" + }, + "point_1768988247961": { + "instances": [ + { + "id": "point_1768988247961_1768988276187_tabonukxm", + "x": 0.540590405904059, + "y": 0.42066420664206644 + } + ], + "type": "point" + }, + "point_1768988253014": { + "instances": [ + { + "id": "point_1768988253014_1768988277925_4rjiuu7a4", + "x": 0.6568265682656826, + "y": 0.3788437884378844 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到菠菜正上方，爪夹合拢抓取到菠菜，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与菠菜的距离减小。方便继续向爪夹前方移动。", + "frame": 89, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与菠菜的距离减小。\n为完成爪夹把菠菜放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.961328125 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768985972205": { + "instances": [ + { + "height": 0.4920049200492006, + "id": "bbox_1768985972205_1768988300659_2usrlk22r", + "width": 0.16605166051660508, + "x": 0.45018450184501846, + "y": 0.1943419434194342 + } + ], + "type": "bbox" + }, + "bbox_1768985979852": { + "instances": [ + { + "height": 0.5215252152521526, + "id": "bbox_1768985979852_1768988355521_bl420kxwp", + "width": 0.36162361623616224, + "x": 0.6346863468634687, + "y": 0.004920049200491997 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前方移动到菠菜正上方，爪夹合拢抓取到菠菜，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与菠菜的距离减小。方便继续向爪夹前方移动。", + "frame": 115, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与菠菜的距离减小。\n为完成爪夹把菠菜放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 3.8296875 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768985972205": { + "instances": [ + { + "height": 0.46986469864698654, + "id": "bbox_1768985972205_1768988391084_cz7yi67p1", + "width": 0.18819188191881908, + "x": 0.43173431734317347, + "y": 0.22386223862238622 + } + ], + "type": "bbox" + }, + "bbox_1768985979852": { + "instances": [ + { + "height": 0.5067650676506765, + "id": "bbox_1768985979852_1768988405755_0i8ta2gb5", + "width": 0.36162361623616207, + "x": 0.6346863468634687, + "y": 0.007380073800738026 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前方移动到菠菜正上方，爪夹合拢抓取到菠菜，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与菠菜的距离减小。方便向爪夹前方移动。", + "frame": 138, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与菠菜的距离减小。\n为完成爪夹把菠菜放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 4.58671875 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768985972205": { + "instances": [ + { + "height": 0.47724477244772456, + "id": "bbox_1768985972205_1768988481166_fecejggrk", + "width": 0.19003690036900361, + "x": 0.4280442804428045, + "y": 0.2164821648216482 + } + ], + "type": "bbox" + }, + "bbox_1768985979852": { + "instances": [ + { + "height": 0.5067650676506765, + "id": "bbox_1768985979852_1768988543184_grlnte59i", + "width": 0.37638376383763833, + "x": 0.6236162361623616, + "y": 0.007380073800738004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取到菠菜，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与菠菜的距离减小。方便爪夹合拢。", + "frame": 173, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与菠菜的距离减小。\n为完成爪夹把菠菜放进白色盒子里的任务应当：爪夹合拢。", + "time": 5.766796875 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768985972205": { + "instances": [ + { + "height": 0.4378843788437884, + "id": "bbox_1768985972205_1768988566970_0x2tch4gm", + "width": 0.1955719557195572, + "x": 0.3985239852398524, + "y": 0.22140221402214025 + } + ], + "type": "bbox" + }, + "bbox_1768985979852": { + "instances": [ + { + "height": 0.5141451414514145, + "id": "bbox_1768985979852_1768988588755_rionpsesm", + "width": 0.3690036900369006, + "x": 0.6291512915129152, + "y": 0.004920049200492005 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取菠菜。方便向爪夹右上方移动。", + "frame": 206, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取菠菜。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。菠菜被爪夹抓取。\n为完成爪夹把菠菜放进白色盒子里的任务应当：向爪夹右上方移动。", + "time": 6.8578125000000005 + }, + { + "action_description": "向爪夹上方移动。", + "correction_plan": "向爪夹右方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹上方移动。菠菜与白色盒子的距离减小。方便向爪夹右方移动。", + "frame": 240, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至50%。", + "state_description": "爪夹处于合拢状态。菠菜与白色盒子的距离减小。\n为完成爪夹把菠菜放进白色盒子里的任务应当：向爪夹右方移动。", + "time": 8.0028 + }, + { + "action_description": "向爪夹右方移动。", + "correction_plan": "向爪夹右方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹上方移动。菠菜与白色盒子的距离减小。方便向爪夹右方移动。", + "frame": 264, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。菠菜与白色盒子的距离减小。\n为完成爪夹把菠菜放进白色盒子里的任务应当：向爪夹右方移动。", + "time": 8.794921875 + }, + { + "action_description": "向爪夹右方移动。", + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。菠菜与白色盒子的距离减小。方便爪夹张开。", + "frame": 288, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。菠菜与白色盒子的距离减小。\n为完成爪夹把菠菜放进白色盒子里的任务应当：爪夹张开。", + "time": 9.596484375000001 + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。洋葱落入白色盒子。\n已完成爪夹把菠菜放进白色盒子里的任务。", + "frame": 321, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，洋葱落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。洋葱落入白色盒子。\n已完成爪夹把菠菜放进白色盒子里的任务。", + "time": 10.6875 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768985972205", + "name": "菠菜" + }, + { + "color": "#FF9800", + "id": "bbox_1768985979852", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768988247961", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768988253014", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-172854-put-spinach-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-172854-put-spinach-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..9ef2fd2022027af31b3f3a667071cf3476264f76 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-172854-put-spinach-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,454 @@ +{ + "task_description": "爪夹把菠菜放入白色盒子。\n开始移动:0%\n爪夹靠近菠菜:20%\n爪夹抓取菠菜:40%\n爪夹抓住菠菜接近白色盒子:60%\n爪夹将菠菜放入白色盒子:80%\n爪夹松开，菠菜落入白色盒子:100%\n\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769045921975": { + "instances": [ + { + "height": 0.3726851851851852, + "id": "bbox_1769045921975_1769045952746_de53huz8g", + "width": 0.2291666666666668, + "x": 0.6753472222222221, + "y": 0.4189814814814815 + } + ], + "type": "bbox" + }, + "bbox_1769045929211": { + "instances": [ + { + "height": 0.3819444444444444, + "id": "bbox_1769045929211_1769045968306_27xcacpci", + "width": 0.38888888888888895, + "x": 0.1875, + "y": 0.18981481481481483 + } + ], + "type": "bbox" + }, + "point_1769045934768": { + "instances": [ + { + "id": "point_1769045934768_1769045976233_1nw37s30p", + "x": 0.4097222222222222, + "y": 0.4976851851851852 + } + ], + "type": "point" + }, + "point_1769045939843": { + "instances": [ + { + "id": "point_1769045939843_1769045978346_n6e3za4xl", + "x": 0.6458333333333334, + "y": 0.48842592592592593 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。", + "time": 1.15156245703125 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769045921975": { + "instances": [ + { + "height": 0.35416666666666674, + "id": "bbox_1769045921975_1769045985046_12bnjtjzs", + "width": 0.14583333333333331, + "x": 0.6684027777777778, + "y": 0.4976851851851852 + } + ], + "type": "bbox" + }, + "bbox_1769045929211": { + "instances": [ + { + "height": 0.31712962962962965, + "id": "bbox_1769045929211_1769045989952_cu3jgf1ai", + "width": 0.34895833333333337, + "x": 0.2048611111111111, + "y": 0.2592592592592593 + } + ], + "type": "bbox" + }, + "point_1769045934768": { + "instances": [ + { + "id": "point_1769045934768_1769045995977_hpvdf5a5z", + "x": 0.40625, + "y": 0.48842592592592593 + } + ], + "type": "point" + }, + "point_1769045939843": { + "instances": [ + { + "id": "point_1769045939843_1769045998060_801s2nlvf", + "x": 0.6475694444444444, + "y": 0.4930555555555556 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与菠菜距离减小。方便向爪夹右方移动。", + "frame": 52, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与菠菜距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。", + "time": 1.7447916015624998 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769045921975": { + "instances": [ + { + "height": 0.4537037037037038, + "id": "bbox_1769045921975_1769046009796_ccsc6ggz6", + "width": 0.2500000000000001, + "x": 0.5277777777777778, + "y": 0.35185185185185186 + } + ], + "type": "bbox" + }, + "bbox_1769045929211": { + "instances": [ + { + "height": 0.4930555555555555, + "id": "bbox_1769045929211_1769046004709_gdjel1knc", + "width": 0.2777777777777778, + "x": 0.11805555555555555, + "y": 0.2777777777777778 + } + ], + "type": "bbox" + }, + "point_1769045934768": { + "instances": [ + { + "id": "point_1769045934768_1769046015648_iniioyyt1", + "x": 0.4131944444444445, + "y": 0.4930555555555556 + } + ], + "type": "point" + }, + "point_1769045939843": { + "instances": [ + { + "id": "point_1769045939843_1769046017971_cnej6v7l7", + "x": 0.640625, + "y": 0.4814814814814815 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与菠菜距离减小。方便继续向爪夹右方移动。", + "frame": 71, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与菠菜距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。", + "time": 2.355468662109375 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769045921975": { + "instances": [ + { + "height": 0.6018518518518517, + "id": "bbox_1769045921975_1769046037826_0q9tud0al", + "width": 0.3072916666666668, + "x": 0.48263888888888884, + "y": 0.22685185185185183 + } + ], + "type": "bbox" + }, + "bbox_1769045929211": { + "instances": [ + { + "height": 0.5833333333333334, + "id": "bbox_1769045929211_1769046028986_fk0x58wm0", + "width": 0.25520833333333337, + "x": 0.05034722222222223, + "y": 0.18287037037037035 + } + ], + "type": "bbox" + }, + "point_1769045934768": { + "instances": [ + { + "id": "point_1769045934768_1769046044740_p40wepq79", + "x": 0.40798611111111116, + "y": 0.48379629629629634 + } + ], + "type": "point" + }, + "point_1769045939843": { + "instances": [ + { + "id": "point_1769045939843_1769046046695_w9updlbkv", + "x": 0.6510416666666667, + "y": 0.4814814814814815 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与菠菜距离减小。方便继续向爪夹右方移动。", + "frame": 85, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与菠菜距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。", + "time": 2.8305249249084246 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769045921975": { + "instances": [ + { + "height": 0.8634259259259259, + "id": "bbox_1769045921975_1769046063892_d9ti8zvn7", + "width": 0.3958333333333334, + "x": 0.26041666666666663, + "y": 0.04398148148148148 + } + ], + "type": "bbox" + }, + "point_1769045934768": { + "instances": [ + { + "id": "point_1769045934768_1769046075041_fnfkcn7bj", + "x": 0.44270833333333337, + "y": 0.46990740740740744 + } + ], + "type": "point" + }, + "point_1769045939843": { + "instances": [ + { + "id": "point_1769045939843_1769046076640_eftaht719", + "x": 0.6440972222222222, + "y": 0.47685185185185186 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与菠菜距离减小。方便爪夹合拢。", + "frame": 105, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与菠菜距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹合拢。", + "time": 3.4895832031249996 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769045921975": { + "instances": [ + { + "height": 0.9560185185185186, + "id": "bbox_1769045921975_1769046098515_541r5c986", + "width": 0.38020833333333337, + "x": 0.2534722222222222, + "y": 1.8503717077085942e-18 + } + ], + "type": "bbox" + }, + "point_1769045939843": { + "instances": [ + { + "id": "point_1769045939843_1769046107203_9ohufkesu", + "x": 0.5538194444444444, + "y": 0.4791666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取菠菜。方便向爪夹左上方移动。", + "frame": 124, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取菠菜。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。菠菜被抓取。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 4.123076769230769 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1769045921975": { + "instances": [ + { + "height": 0.9490740740740742, + "id": "bbox_1769045921975_1769046114389_sxvf2j4yk", + "width": 0.35937499999999994, + "x": 0.2621527777777778, + "y": 0 + } + ], + "type": "bbox" + }, + "point_1769045934768": { + "instances": [ + { + "id": "point_1769045934768_1769046125295_nd55cxz4o", + "x": 0.2586805555555556, + "y": 0.002314814814814815 + } + ], + "type": "point" + }, + "point_1769045939843": { + "instances": [ + { + "id": "point_1769045939843_1769046132586_pfaywfz8s", + "x": 0.5416666666666667, + "y": 0.47222222222222227 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。菠菜与白色盒子距离减小。方便向爪夹左方移动。", + "frame": 151, + "progress": 60, + "progress_explanation": "与上一进度相比，菠菜与白色盒子距离减小。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。菠菜悬于空中。与白色盒子距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹左方移动。", + "time": 5.049942032673753 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769045921975": { + "instances": [ + { + "height": 0.9421296296296297, + "id": "bbox_1769045921975_1769046140346_j1lkvkksp", + "width": 0.36979166666666663, + "x": 0.25520833333333337, + "y": 0.0046296296296296285 + } + ], + "type": "bbox" + }, + "point_1769045939843": { + "instances": [ + { + "id": "point_1769045939843_1769046157356_dazhmrr7e", + "x": 0.5381944444444444, + "y": 0.4652777777777778 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "菠菜与白色盒子距离减小。方便爪夹张开。", + "frame": 170, + "progress": 80, + "progress_explanation": "与上一进度相比，菠菜与白色盒子距离减小。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。与白色盒子距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹张开。", + "time": 5.670572705078125 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769045921975": { + "instances": [ + { + "height": 0.3888888888888889, + "id": "bbox_1769045921975_1769046163985_fudsvlrvt", + "width": 0.18923611111111116, + "x": 0.359375, + "y": 0.3912037037037038 + } + ], + "type": "bbox" + }, + "point_1769045934768": { + "instances": [ + { + "id": "point_1769045934768_1769046172487_sbzl9w0na", + "x": 0.4166666666666667, + "y": 0.4745370370370371 + } + ], + "type": "point" + }, + "point_1769045939843": { + "instances": [ + { + "id": "point_1769045939843_1769046170229_45tqn8iow", + "x": 0.6475694444444444, + "y": 0.4791666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，菠菜落入白色盒子。\n已完成爪夹把菠菜放入白色盒子的任务。", + "frame": 196, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，菠菜落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。菠菜落入白色盒子。\n已完成爪夹把菠菜放入白色盒子的任务。", + "time": 6.525520589843749 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769045921975", + "name": "菠菜" + }, + { + "color": "#FF9800", + "id": "bbox_1769045929211", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769045934768", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769045939843", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-175732-put-spinach-white-box-MIX/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-175732-put-spinach-white-box-MIX/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..ac03af3634165cf9584b967e4af5038f64b7d5e1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-175732-put-spinach-white-box-MIX/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,565 @@ +{ + "task_description": "爪夹把菠菜放入白色盒子。\n开始移动:0%\n爪夹靠近菠菜:20%\n爪夹抓取菠菜:40%\n爪夹抓住菠菜接近白色盒子:60%\n爪夹将菠菜放入白色盒子:80%\n爪夹松开，菠菜落入白色盒子:100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.5092592592592592, + "id": "bbox_1769049902348_1769049953629_2n6bb5gi9", + "width": 0.17361111111111108, + "x": 0.7864583333333334, + "y": 0.2777777777777778 + } + ], + "type": "bbox" + }, + "bbox_1769049910364": { + "instances": [ + { + "height": 0.2708333333333333, + "id": "bbox_1769049910364_1769049958085_gfsb9z7qr", + "width": 0.38888888888888884, + "x": 0.4409722222222222, + "y": -0.004629629629629628 + } + ], + "type": "bbox" + }, + "point_1769049917088": { + "instances": [ + { + "id": "point_1769049917088_1769049966475_v30amrenj", + "x": 0.5625, + "y": 0.4745370370370371 + } + ], + "type": "point" + }, + "point_1769049930595": { + "instances": [ + { + "id": "point_1769049930595_1769049968068_ufvyz9f16", + "x": 0.671875, + "y": 0.4814814814814815 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "", + "frame": 37, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹没有移动。爪夹处于张开状态。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。", + "time": 1.229853510989011 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.49305555555555564, + "id": "bbox_1769049902348_1769049976723_qphu6tmq3", + "width": 0.19097222222222215, + "x": 0.7743055555555557, + "y": 0.275462962962963 + } + ], + "type": "bbox" + }, + "bbox_1769049910364": { + "instances": [ + { + "height": 0.2708333333333333, + "id": "bbox_1769049910364_1769049992785_du4exccjo", + "width": 0.39236111111111116, + "x": 0.43576388888888884, + "y": -0.004629629629629632 + } + ], + "type": "bbox" + }, + "point_1769049917088": { + "instances": [ + { + "id": "point_1769049917088_1769049998863_2zurt9f89", + "x": 0.5694444444444444, + "y": 0.2800925925925926 + } + ], + "type": "point" + }, + "point_1769049930595": { + "instances": [ + { + "id": "point_1769049930595_1769050000718_whojvbitg", + "x": 0.685763888888889, + "y": 0.26157407407407407 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与菠菜距离减小。方便继续继续向爪夹右方移动。", + "frame": 56, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与菠菜距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。\n", + "time": 1.869666 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.511574074074074, + "id": "bbox_1769049902348_1769050030769_q6odipmyd", + "width": 0.15972222222222224, + "x": 0.8020833333333333, + "y": 0.26851851851851855 + } + ], + "type": "bbox" + }, + "bbox_1769049910364": { + "instances": [ + { + "height": 0.2685185185185185, + "id": "bbox_1769049910364_1769050020647_z09eusg8a", + "width": 0.3940972222222222, + "x": 0.43923611111111116, + "y": 0 + } + ], + "type": "bbox" + }, + "point_1769049917088": { + "instances": [ + { + "id": "point_1769049917088_1769050023076_jrqadbjsc", + "x": 0.717013888888889, + "y": 0.2476851851851852 + } + ], + "type": "point" + }, + "point_1769049930595": { + "instances": [ + { + "id": "point_1769049930595_1769050026945_va8f6ik6f", + "x": 0.8368055555555556, + "y": 0.25462962962962965 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与菠菜距离减小。方便继续向爪夹右方移动。", + "frame": 74, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与菠菜距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。\n", + "time": 2.461397111228574 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.4930555555555556, + "id": "bbox_1769049902348_1769050054579_4bjv4nc6v", + "width": 0.15798611111111108, + "x": 0.7829861111111113, + "y": 0.2800925925925926 + } + ], + "type": "bbox" + }, + "bbox_1769049910364": { + "instances": [ + { + "height": 0.2662037037037037, + "id": "bbox_1769049910364_1769050039423_dpin6yet7", + "width": 0.390625, + "x": 0.43576388888888884, + "y": -0.0023148148148148203 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与菠菜距离减小。方便继续向爪夹右方移动。", + "frame": 89, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与菠菜距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。", + "time": 2.963630769317327 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.47685185185185197, + "id": "bbox_1769049902348_1769050100601_lijlbw9qj", + "width": 0.2065972222222224, + "x": 0.7795138888888887, + "y": 0.28009259259259256 + } + ], + "type": "bbox" + }, + "bbox_1769049910364": { + "instances": [ + { + "height": 0.2685185185185185, + "id": "bbox_1769049910364_1769050092224_6rklf4jy5", + "width": 0.3871527777777777, + "x": 0.4409722222222223, + "y": 0 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与菠菜距离减小。方便爪夹合拢。", + "frame": 111, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与菠菜距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹合拢。\n", + "time": 3.689560532967033 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.5046296296296295, + "id": "bbox_1769049902348_1769050123971_0yglxdzpe", + "width": 0.14756944444444436, + "x": 0.7760416666666667, + "y": 0.28472222222222227 + } + ], + "type": "bbox" + }, + "bbox_1769049910364": { + "instances": [ + { + "height": 0.26157407407407407, + "id": "bbox_1769049910364_1769050118659_cw7n54jkk", + "width": 0.3871527777777778, + "x": 0.4409722222222222, + "y": 0.002314814814814815 + } + ], + "type": "bbox" + } + }, + "correction_plan": "垂直抬升爪夹，向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取菠菜。方便向爪夹左上方移动。", + "frame": 126, + "progress": 39, + "progress_explanation": "与上一进度相比，爪夹合拢抓取菠菜。因此进度提升至39%。", + "state_description": "爪夹合拢。菠菜被爪夹抓取。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 4.195970802197802 + }, + { + "action_description": "向爪夹上方移动。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.5162037037037038, + "id": "bbox_1769049902348_1769050163201_8wuvmj176", + "width": 0.15798611111111116, + "x": 0.7673611111111112, + "y": 0.26620370370370366 + } + ], + "type": "bbox" + }, + "bbox_1769049910364": { + "instances": [ + { + "height": 0.26620370370370366, + "id": "bbox_1769049910364_1769050143321_qxaqh64ck", + "width": 0.38888888888888895, + "x": 0.43576388888888895, + "y": -2.960594732333751e-17 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹上方移动。菠菜与白色盒子的距离减小。方便向爪夹左方移动。", + "frame": 173, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至50%。", + "state_description": "爪夹处于合拢状态。菠菜与白色盒子的距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 5.7634311593406595 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.4930555555555555, + "id": "bbox_1769049902348_1769050223113_d1fby1fu9", + "width": 0.14062500000000008, + "x": 0.7604166666666667, + "y": 0.2523148148148148 + } + ], + "type": "bbox" + }, + "bbox_1769049910364": { + "instances": [ + { + "height": 0.25925925925925924, + "id": "bbox_1769049910364_1769050228191_ucof50yz7", + "width": 0.38368055555555564, + "x": 0.4409722222222222, + "y": 0.00925925925925926 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降到菠菜中正上方，爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹错误地张开。菠菜掉落在桌面上。应当爪夹下降。", + "frame": 201, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹张开，菠菜掉落在桌面上。因此进度减小至20%。", + "state_description": "爪夹处于张开状态。松开菠菜。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹下降。", + "time": 6.701833 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.525462962962963, + "id": "bbox_1769049902348_1769050243381_30xj5hfp8", + "width": 0.13888888888888884, + "x": 0.7690972222222222, + "y": 0.24305555555555555 + }, + { + "height": 0.2685185185185185, + "id": "bbox_1769049902348_1769050250309_0s31t3od7", + "width": 0.38541666666666663, + "x": 0.4409722222222223, + "y": -0.00462962962962963 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取菠菜，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地下降。与菠菜距离减小。方便爪夹合拢。", + "frame": 234, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝菠菜的方向移动。因此进度提升至30%。", + "state_description": "爪夹处于张开状态。与菠菜距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹合拢。", + "time": 7.789072236263737 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.4699074074074075, + "id": "bbox_1769049902348_1769050287081_lv50abwu3", + "width": 0.13541666666666669, + "x": 0.7743055555555556, + "y": 0.26157407407407407 + } + ], + "type": "bbox" + }, + "bbox_1769049910364": { + "instances": [ + { + "height": 0.26851851851851843, + "id": "bbox_1769049910364_1769050265439_3qva5ej5b", + "width": 0.3871527777777778, + "x": 0.43923611111111116, + "y": -0.00462962962962963 + } + ], + "type": "bbox" + } + }, + "correction_plan": "垂直抬升爪夹，向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取菠菜。方便向爪夹左上方移动。", + "frame": 263, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取菠菜。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。菠菜被抓取。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 8.753663225274725 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.41435185185185186, + "id": "bbox_1769049902348_1769050304941_c6qpm69fj", + "width": 0.19097222222222215, + "x": 0.732638888888889, + "y": 0.002314814814814815 + } + ], + "type": "bbox" + }, + "bbox_1769049910364": { + "instances": [ + { + "height": 0.2708333333333333, + "id": "bbox_1769049910364_1769050500609_pvht7e3ap", + "width": 0.38194444444444436, + "x": 0.44618055555555564, + "y": -0.002314814814814815 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。菠菜与白色盒子距离减小。方便继续向爪夹左上方移动。\n", + "frame": 281, + "progress": 48, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至48%。", + "state_description": "爪夹处于合拢状态。菠菜与白色盒子距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 9.356532593406595 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1769049910364": { + "instances": [ + { + "height": 0.2569444444444444, + "id": "bbox_1769049910364_1769050315343_9pyzhsele", + "width": 0.3819444444444445, + "x": 0.44270833333333337, + "y": 0.00462962962962963 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。菠菜与白色盒子距离减小。方便向爪夹左方移动。\n", + "frame": 297, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。菠菜与白色盒子距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹左方移动。", + "time": 9.911172412087913 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769049910364": { + "instances": [ + { + "height": 0.2638888888888889, + "id": "bbox_1769049910364_1769050325923_3bvjmo6pl", + "width": 0.38715277777777785, + "x": 0.44097222222222215, + "y": 0.002314814814814815 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左方移动。菠菜与白色盒子距离减小。方便爪夹张开。\n", + "frame": 321, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。菠菜与白色盒子距离减小。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹张开。", + "time": 10.68716999776328 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769049902348": { + "instances": [ + { + "height": 0.18518518518518517, + "id": "bbox_1769049902348_1769050420715_2rp9ivolq", + "width": 0.23958333333333331, + "x": 0.45833333333333337, + "y": -0.0023148148148148225 + } + ], + "type": "bbox" + }, + "bbox_1769049910364": { + "instances": [ + { + "height": 0.2662037037037037, + "id": "bbox_1769049910364_1769050441445_y6pgdiv5l", + "width": 0.3871527777777778, + "x": 0.43923611111111116, + "y": 0 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。菠菜落入白色盒子。\n已完成爪夹把菠菜放入白色盒子的任务。\n", + "frame": 347, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，菠菜落入白色盒子。。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。菠菜落入白色盒子。\n已完成爪夹把菠菜放入白色盒子的任务。", + "time": 11.575091868131869 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769049902348", + "name": "菠菜" + }, + { + "color": "#FF9800", + "id": "bbox_1769049910364", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769049917088", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769049930595", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-181220-put-spinach-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-181220-put-spinach-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..cbab1cb0dfc4359f82e4a30a98de98daa09d701a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-181220-put-spinach-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,534 @@ +{ + "task_description": "爪夹把菠菜放入白色盒子。\n开始移动:0%\n爪夹靠近菠菜:20%\n爪夹抓取菠菜:40%\n爪夹抓住菠菜接近白色盒子:60%\n爪夹将菠菜放入白色盒子:80%\n爪夹松开，菠菜落入白色盒子:100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769054019073": { + "instances": [ + { + "height": 0.4421296296296297, + "id": "bbox_1769054019073_1769054070341_cgdo2aoac", + "width": 0.3229166666666667, + "x": 0.5190972222222222, + "y": 0.33564814814814814 + } + ], + "type": "bbox" + }, + "bbox_1769054036555": { + "instances": [ + { + "height": 0.4027777777777778, + "id": "bbox_1769054036555_1769054075784_yygkhpekk", + "width": 0.3854166666666667, + "x": 0.1527777777777778, + "y": 0.15972222222222224 + } + ], + "type": "bbox" + }, + "point_1769054049404": { + "instances": [ + { + "id": "point_1769054049404_1769054083071_fyeq6z2df", + "x": 0.4149305555555555, + "y": 0.4976851851851852 + } + ], + "type": "point" + }, + "point_1769054054450": { + "instances": [ + { + "id": "point_1769054054450_1769054088308_kil8zcvr2", + "x": 0.6440972222222222, + "y": 0.4953703703703704 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上，爪夹向下合拢抓取菠菜，垂直抬升爪，向爪夹左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。", + "time": 0.9054945494505494 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769054019073": { + "instances": [ + { + "height": 0.4351851851851852, + "id": "bbox_1769054019073_1769054094360_sm9an3gl5", + "width": 0.34201388888888895, + "x": 0.3663194444444445, + "y": 0.3773148148148148 + } + ], + "type": "bbox" + }, + "bbox_1769054036555": { + "instances": [ + { + "height": 0.6226851851851852, + "id": "bbox_1769054036555_1769054099358_pfn57h8kl", + "width": 0.30729166666666663, + "x": 0.07118055555555555, + "y": 0.20833333333333334 + } + ], + "type": "bbox" + }, + "point_1769054049404": { + "instances": [ + { + "id": "point_1769054049404_1769054111248_ttk3s9166", + "x": 0.4149305555555555, + "y": 0.48379629629629634 + } + ], + "type": "point" + }, + "point_1769054054450": { + "instances": [ + { + "id": "point_1769054054450_1769054113377_ei0j901a0", + "x": 0.6493055555555556, + "y": 0.4814814814814815 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向下合拢抓取菠菜，垂直抬升爪，向爪夹左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。方便爪夹下降。", + "frame": 63, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹与菠菜的距离减小。因此进度提升至20%。\n", + "state_description": "爪夹处于张开状态。在菠菜的正上方。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹下降。", + "time": 2.1128206153846154 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769054019073": { + "instances": [ + { + "height": 0.5787037037037037, + "id": "bbox_1769054019073_1769054122004_9oavbe5wx", + "width": 0.4496527777777778, + "x": 0.09027777777777778, + "y": 0.16203703703703706 + } + ], + "type": "bbox" + }, + "bbox_1769054036555": { + "instances": [ + { + "height": 0.6851851851851852, + "id": "bbox_1769054036555_1769054146208_76nzvlwsi", + "width": 0.11458333333333333, + "x": 0.0034722222222222225, + "y": 0.07407407407407408 + } + ], + "type": "bbox" + }, + "point_1769054049404": { + "instances": [ + { + "id": "point_1769054049404_1769054136719_k49fyyrbc", + "x": 0.4097222222222222, + "y": 0.4861111111111111 + } + ], + "type": "point" + }, + "point_1769054054450": { + "instances": [ + { + "id": "point_1769054054450_1769054138736_dfouhykfa", + "x": 0.654513888888889, + "y": 0.4791666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动到菠菜正上方，爪夹下降，合拢抓取菠菜，向爪夹左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹错误地向爪夹右方移动。与菠菜距离增大。应该向爪夹左方移动。", + "frame": 85, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝远离菠菜的方向移动。因此进度减小至10%。\n", + "state_description": "爪夹处于张开状态。在菠菜的右上方。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹左方移动。", + "time": 2.8170941538461536 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769054019073": { + "instances": [ + { + "height": 0.7013888888888888, + "id": "bbox_1769054019073_1769054185750_pf2zz01y2", + "width": 0.435763888888889, + "x": 0.026041666666666657, + "y": -0.0069444444444444345 + } + ], + "type": "bbox" + }, + "bbox_1769054036555": { + "instances": [ + { + "height": 0.6620370370370371, + "id": "bbox_1769054036555_1769054199394_9jrtnm1nf", + "width": 0.10069444444444445, + "x": 0, + "y": 0.002314814814814814 + } + ], + "type": "bbox" + }, + "point_1769054049404": { + "instances": [ + { + "id": "point_1769054049404_1769054227157_ua1erlh4o", + "x": 0.4496527777777778, + "y": 0.5046296296296297 + } + ], + "type": "point" + }, + "point_1769054054450": { + "instances": [ + { + "id": "point_1769054054450_1769054229062_mdo6okf0t", + "x": 0.6180555555555556, + "y": 0.4930555555555556 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，白萝卜落在桌面上，向爪夹左方移动到菠菜正上方，爪夹下降。合拢抓取菠菜，向爪夹左方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹错误地合拢，抓取白萝卜。应当爪夹张开。", + "frame": 97, + "progress": -40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取错误的物品白萝卜。因此进度减小至-40%。\n", + "state_description": "爪夹处于合拢状态。抓取错误的物品白萝卜。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹张开。", + "time": 3.2446888021978015 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769054019073": { + "instances": [ + { + "height": 0.7175925925925927, + "id": "bbox_1769054019073_1769054247283_7q7y6k074", + "width": 0.35763888888888884, + "x": 0.11805555555555558, + "y": 0.018518518518518514 + } + ], + "type": "bbox" + }, + "bbox_1769054036555": { + "instances": [ + { + "height": 0.6689814814814814, + "id": "bbox_1769054036555_1769054255934_gleumo3lh", + "width": 0.1857638888888889, + "x": 0.0017361111111111106, + "y": 0.002314814814814814 + } + ], + "type": "bbox" + }, + "point_1769054049404": { + "instances": [ + { + "id": "point_1769054049404_1769054311091_mx0xc8rrv", + "x": 0.43923611111111116, + "y": 0.48842592592592593 + } + ], + "type": "point" + }, + "point_1769054054450": { + "instances": [ + { + "id": "point_1769054054450_1769054312934_g5xlyibsd", + "x": 0.6197916666666667, + "y": 0.4814814814814815 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，白萝卜落在桌面上，向爪夹左方移动到菠菜正上方，爪夹下降。合拢抓取菠菜，向爪夹左方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹错误地向爪夹左方移动。白萝卜与白色盒子距离减小。应当爪夹张开。", + "frame": 117, + "progress": -42, + "progress_explanation": "与上一进度相比，爪夹错误地将白萝卜向白色盒子方向移动。因此进度减小至-50%。", + "state_description": "爪夹处于合拢状态。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹张开。\n", + "time": 3.8986570879120874 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769054019073": { + "instances": [ + { + "height": 0.5416666666666669, + "id": "bbox_1769054019073_1769054353646_6j7kmlivz", + "width": 0.2361111111111111, + "x": 0.36458333333333337, + "y": 0.24305555555555555 + } + ], + "type": "bbox" + }, + "bbox_1769054036555": { + "instances": [ + { + "height": 0.6134259259259259, + "id": "bbox_1769054036555_1769054319274_2je3ca24k", + "width": 0.3871527777777779, + "x": 0.029513888888888902, + "y": 0.032407407407407406 + } + ], + "type": "bbox" + }, + "point_1769054049404": { + "instances": [ + { + "id": "point_1769054049404_1769054328706_xnbxjslmr", + "x": 0.4479166666666667, + "y": 0.4953703703703704 + } + ], + "type": "point" + }, + "point_1769054054450": { + "instances": [ + { + "id": "point_1769054054450_1769054330442_td2arxhpt", + "x": 0.609375, + "y": 0.4791666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，白萝卜落在桌面上，向爪夹左方移动到菠菜正上方，爪夹下降。合拢抓取菠菜，向爪夹左方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹错误地向爪夹左方移动。白萝卜与白色盒子距离减小。应当爪夹张开。", + "frame": 127, + "progress": -43, + "progress_explanation": "与上一进度相比，爪夹错误地将白萝卜向白色盒子方向移动。因此进度减小至-55%。", + "state_description": "爪夹处于合拢状态。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹张开。", + "time": 4.238217543956044 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769054019073": { + "instances": [ + { + "height": 0.5046296296296295, + "id": "bbox_1769054019073_1769054388805_m6r99pgo8", + "width": 0.22916666666666669, + "x": 0.4375, + "y": 0.2986111111111111 + } + ], + "type": "bbox" + }, + "bbox_1769054036555": { + "instances": [ + { + "height": 0.6273148148148148, + "id": "bbox_1769054036555_1769054370504_d2d09mfjw", + "width": 0.37673611111111116, + "x": 0.07986111111111106, + "y": 0.12268518518518519 + } + ], + "type": "bbox" + }, + "point_1769054049404": { + "instances": [ + { + "id": "point_1769054049404_1769054376402_3v6iizm99", + "x": 0.43923611111111116, + "y": 0.5092592592592593 + } + ], + "type": "point" + }, + "point_1769054054450": { + "instances": [ + { + "id": "point_1769054054450_1769054378947_0aqh5a1rd", + "x": 0.6111111111111112, + "y": 0.4953703703703704 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，白萝卜落在桌面上，向爪夹左方移动到菠菜正上方，爪夹下降。合拢抓取菠菜，向爪夹左方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹错误地向爪夹左方移动。白萝卜与白色盒子距离减小。应当爪夹张开。", + "frame": 135, + "progress": -45, + "progress_explanation": "与上一进度相比，爪夹错误地将白萝卜向白色盒子方向移动。因此进度减小至-45%。", + "state_description": "爪夹处于合拢状态。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹张开。", + "time": 4.497548474008998 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769054019073": { + "instances": [ + { + "height": 0.4791666666666668, + "id": "bbox_1769054019073_1769054403022_j7y69d9le", + "width": 0.18402777777777776, + "x": 0.5225694444444444, + "y": 0.33101851851851855 + } + ], + "type": "bbox" + }, + "bbox_1769054036555": { + "instances": [ + { + "height": 0.5972222222222224, + "id": "bbox_1769054036555_1769054416116_snaq08gzg", + "width": 0.3993055555555555, + "x": 0.1267361111111111, + "y": 0.09490740740740741 + } + ], + "type": "bbox" + }, + "point_1769054049404": { + "instances": [ + { + "id": "point_1769054049404_1769054408490_xa0nz0rg4", + "x": 0.40451388888888895, + "y": 0.49074074074074076 + } + ], + "type": "point" + }, + "point_1769054054450": { + "instances": [ + { + "id": "point_1769054054450_1769054410009_ibnwtvgcw", + "x": 0.6527777777777778, + "y": 0.4745370370370371 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹下降。合拢抓取菠菜，向爪夹左方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地张开。白萝卜掉落在桌面上。方便向爪夹右方移动。", + "frame": 163, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹张开，白萝卜掉落在桌面上。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。白萝卜在桌面上。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。", + "time": 5.432967296703297 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769054019073": { + "instances": [ + { + "height": 0.4722222222222222, + "id": "bbox_1769054019073_1769054439198_bqgoqwzt4", + "width": 0.13368055555555552, + "x": 0.6197916666666667, + "y": 0.46990740740740744 + } + ], + "type": "bbox" + }, + "bbox_1769054036555": { + "instances": [ + { + "height": 0.5509259259259259, + "id": "bbox_1769054036555_1769054453368_1hv9owqut", + "width": 0.4288194444444445, + "x": 0.21875, + "y": 0.21990740740740744 + } + ], + "type": "bbox" + }, + "point_1769054049404": { + "instances": [ + { + "id": "point_1769054049404_1769054448132_ihz2alk3t", + "x": 0.4149305555555555, + "y": 0.48842592592592593 + } + ], + "type": "point" + }, + "point_1769054054450": { + "instances": [ + { + "id": "point_1769054054450_1769054449509_adjpy0vg1", + "x": 0.6475694444444444, + "y": 0.4953703703703704 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹下降。合拢抓取菠菜，向爪夹左方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹错误地向爪夹左方移动。与菠菜距离增加。应当向爪夹右方移动。", + "frame": 187, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹与菠菜距离增加。因此进度减小至5%。", + "state_description": "爪夹处于张开状态。在菠菜左上方。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。", + "time": 6.225275027472527 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769054019073", + "name": "菠菜" + }, + { + "color": "#FF9800", + "id": "bbox_1769054036555", + "name": "白色盒子 " + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769054049404", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769054054450", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-181220-put-spinach-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-181220-put-spinach-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4be679987e45cabeede457e91483d936d4844c3f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260107-lilingchu/20260107-181220-put-spinach-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,534 @@ +{ + "task_description": "爪夹把菠菜放入白色盒子。\n开始移动:0%\n爪夹靠近菠菜:20%\n爪夹抓取菠菜:40%\n爪夹抓住菠菜接近白色盒子:60%\n爪夹将菠菜放入白色盒子:80%\n爪夹松开，菠菜落入白色盒子:100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769058626186": { + "instances": [ + { + "height": 0.35416666666666674, + "id": "bbox_1769058626186_1769059984139_ph9rzkhlp", + "width": 0.4131944444444445, + "x": 0.4288194444444445, + "y": 0.42824074074074076 + } + ], + "type": "bbox" + }, + "bbox_1769058634159": { + "instances": [ + { + "height": 0.4837962962962962, + "id": "bbox_1769058634159_1769059990571_ta1d62gq9", + "width": 0.35763888888888895, + "x": 0.012152777777777785, + "y": 0.21527777777777776 + } + ], + "type": "bbox" + }, + "point_1769058608905": { + "instances": [ + { + "id": "point_1769058608905_1769060001815_y71myz28z", + "x": 0.42013888888888895, + "y": 0.4930555555555556 + } + ], + "type": "point" + }, + "point_1769058613091": { + "instances": [ + { + "id": "point_1769058613091_1769060020609_zbregnxh9", + "x": 0.6423611111111112, + "y": 0.48842592592592593 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到菠菜正上方，爪夹下降，合拢抓取菠菜，爪夹垂直抬升，向爪左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右前方移动。", + "time": 1.2683149725274727 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769058626186": { + "instances": [ + { + "height": 0.3240740740740742, + "id": "bbox_1769058626186_1769060051449_yvce15g16", + "width": 0.3472222222222222, + "x": 0.4131944444444445, + "y": 0.4375 + } + ], + "type": "bbox" + }, + "bbox_1769058634159": { + "instances": [ + { + "height": 0.5555555555555556, + "id": "bbox_1769058634159_1769060038021_91iqdjgd5", + "width": 0.3072916666666667, + "x": 0.043402777777777776, + "y": 0.23148148148148148 + } + ], + "type": "bbox" + }, + "point_1769058608905": { + "instances": [ + { + "id": "point_1769058608905_1769060053844_871t6zuwi", + "x": 0.4184027777777778, + "y": 0.48842592592592593 + } + ], + "type": "point" + }, + "point_1769058613091": { + "instances": [ + { + "id": "point_1769058613091_1769060066285_7z9mi9i72", + "x": 0.6440972222222222, + "y": 0.4791666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹下降，合拢抓取菠菜，爪夹垂直抬升，向爪左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。爪夹与菠菜的距离减小。方便向爪夹右方移动。", + "frame": 63, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹与菠菜的距离减小。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。在菠菜的左上方。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。", + "time": 2.1138582875457876 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769058626186": { + "instances": [ + { + "height": 0.5069444444444444, + "id": "bbox_1769058626186_1769058644482_562jnft9n", + "width": 0.44097222222222215, + "x": 0.40451388888888895, + "y": 0.23611111111111113 + } + ], + "type": "bbox" + }, + "bbox_1769058634159": { + "instances": [ + { + "height": 0.8055555555555556, + "id": "bbox_1769058634159_1769060085620_b7fq7g38h", + "width": 0.32986111111111105, + "x": 0.0034722222222222225, + "y": -1.8503717077085942e-18 + } + ], + "type": "bbox" + }, + "point_1769058608905": { + "instances": [ + { + "id": "point_1769058608905_1769060108621_7gwjj8s2v", + "x": 0.4131944444444445, + "y": 0.47685185185185186 + } + ], + "type": "point" + }, + "point_1769058613091": { + "instances": [ + { + "id": "point_1769058613091_1769060103913_4y8s0csyq", + "x": 0.6475694444444444, + "y": 0.4791666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到菠菜正上方，爪夹下降，合拢抓取菠菜，爪夹垂直抬升，向爪左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与菠菜的距离减小。方便继续向爪夹右方移动。", + "frame": 86, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹与菠菜的距离减小。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。在菠菜的左上方。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹右方移动。", + "time": 2.8748472710622712 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769058626186": { + "instances": [ + { + "height": 0.6041666666666666, + "id": "bbox_1769058626186_1769060135253_665y8fq0b", + "width": 0.4600694444444445, + "x": 0.3975694444444445, + "y": 0.3101851851851852 + } + ], + "type": "bbox" + }, + "bbox_1769058634159": { + "instances": [ + { + "height": 0.9212962962962964, + "id": "bbox_1769058634159_1769060115501_vx0ec033c", + "width": 0.3194444444444445, + "x": 0.0017361111111111106, + "y": -0.004629629629629628 + } + ], + "type": "bbox" + }, + "point_1769058608905": { + "instances": [ + { + "id": "point_1769058608905_1769060126457_eaya257mc", + "x": 0.4131944444444445, + "y": 0.4791666666666667 + } + ], + "type": "point" + }, + "point_1769058613091": { + "instances": [ + { + "id": "point_1769058613091_1769060128557_8y9les3yv", + "x": 0.6475694444444444, + "y": 0.4745370370370371 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，合拢抓取菠菜，爪夹垂直抬升，向爪左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与菠菜的距离减小。方便爪夹合拢。", + "frame": 104, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹与菠菜的距离减小。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。在菠菜的正上方。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹合拢。", + "time": 3.4585332553834105 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769058626186": { + "instances": [ + { + "height": 0.6180555555555556, + "id": "bbox_1769058626186_1769060142700_9m00f5otg", + "width": 0.44097222222222215, + "x": 0.42013888888888895, + "y": 0.2916666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769058634159": { + "instances": [ + { + "height": 0.8773148148148147, + "id": "bbox_1769058634159_1769060164740_ehpvizogd", + "width": 0.3489583333333333, + "x": -0.0017361111111111106, + "y": 0 + } + ], + "type": "bbox" + }, + "point_1769058608905": { + "instances": [ + { + "id": "point_1769058608905_1769060145189_0hb3s9r8h", + "x": 0.5208333333333334, + "y": 0.4745370370370371 + } + ], + "type": "point" + }, + "point_1769058613091": { + "instances": [ + { + "id": "point_1769058613091_1769060147365_jhd6d83bn", + "x": 0.5416666666666667, + "y": 0.4745370370370371 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开。爪夹下降，合拢抓取菠菜，爪夹垂直抬升，向爪左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹合拢但未抓取到菠菜。应当爪夹再次张开。", + "frame": 118, + "progress": 4, + "progress_explanation": "与上一进度相比，爪夹合拢，但未抓取到菠菜。因此进度减小至-20%。", + "state_description": "爪夹处于合拢状态。菠菜未被抓取。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹张开。", + "time": 3.940231847985348 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769058626186": { + "instances": [ + { + "height": 0.6342592592592593, + "id": "bbox_1769058626186_1769060209980_g8wx8az19", + "width": 0.42708333333333337, + "x": 0.3211805555555556, + "y": 0.18287037037037038 + } + ], + "type": "bbox" + }, + "bbox_1769058634159": { + "instances": [ + { + "height": 0.8333333333333335, + "id": "bbox_1769058634159_1769060182516_7juce7hoa", + "width": 0.2604166666666667, + "x": -1.1102230246251566e-17, + "y": 0.006944444444444449 + } + ], + "type": "bbox" + }, + "point_1769058608905": { + "instances": [ + { + "id": "point_1769058608905_1769060214061_7dbmbe0yl", + "x": 0.4097222222222222, + "y": 0.47685185185185186 + } + ], + "type": "point" + }, + "point_1769058613091": { + "instances": [ + { + "id": "point_1769058613091_1769060221269_2y9p80t9b", + "x": 0.640625, + "y": 0.4745370370370371 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，合拢抓取菠菜，爪夹垂直抬升，向爪左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地张开。在菠菜正上方。方便爪夹合拢。", + "frame": 157, + "progress": 21, + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至21%。", + "state_description": "爪夹处于张开状态。在菠菜正上方。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹合拢。", + "time": 5.242368553113553 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769058626186": { + "instances": [ + { + "height": 0.6944444444444444, + "id": "bbox_1769058626186_1769060234279_7yovjg3hi", + "width": 0.1458333333333334, + "x": 0.4739583333333333, + "y": 0.1087962962962963 + } + ], + "type": "bbox" + }, + "bbox_1769058634159": { + "instances": [ + { + "height": 0.8680555555555555, + "id": "bbox_1769058634159_1769060381310_t5fj6qfd3", + "width": 0.28298611111111116, + "x": -0.001736111111111116, + "y": -0.002314814814814821 + } + ], + "type": "bbox" + }, + "point_1769058608905": { + "instances": [ + { + "id": "point_1769058608905_1769060240172_w1d22cgor", + "x": 0.5104166666666667, + "y": 0.4814814814814815 + } + ], + "type": "point" + }, + "point_1769058613091": { + "instances": [ + { + "id": "point_1769058613091_1769060245046_a1c7tbdyx", + "x": 0.5503472222222222, + "y": 0.4745370370370371 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直抬升，向爪左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取菠菜。方便向爪夹左上方移动。", + "frame": 179, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取菠菜。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。菠菜被爪夹抓取。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 5.983199 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1769058626186": { + "instances": [ + { + "height": 0.775462962962963, + "id": "bbox_1769058626186_1769060375384_tc325y3d8", + "width": 0.125, + "x": 0.48611111111111116, + "y": 0.13425925925925924 + } + ], + "type": "bbox" + }, + "bbox_1769058634159": { + "instances": [ + { + "height": 0.5023148148148149, + "id": "bbox_1769058634159_1769060359680_116c3r813", + "width": 0.390625, + "x": 0.16493055555555564, + "y": 0.3101851851851852 + } + ], + "type": "bbox" + }, + "point_1769058608905": { + "instances": [ + { + "id": "point_1769058608905_1769060366450_ws2ufckmy", + "x": 0.5104166666666667, + "y": 0.4791666666666667 + } + ], + "type": "point" + }, + "point_1769058613091": { + "instances": [ + { + "id": "point_1769058613091_1769060371505_3x8mjwryj", + "x": 0.5520833333333334, + "y": 0.4745370370370371 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪左上方移动到白色盒子正上方，爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。菠菜在白色盒子的右上方。方便向爪夹左方移动。", + "frame": 209, + "progress": 60, + "progress_explanation": "与上一进度相比，菠菜与白色盒子的距离减小。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。菠菜在白色盒子的右上方。\n为完成爪夹把菠菜放入白色盒子的任务应当：向爪夹左方移动。", + "time": 6.950366049450549 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769058626186": { + "instances": [ + { + "height": 0.5023148148148148, + "id": "bbox_1769058626186_1769060344253_pgcxfd4w8", + "width": 0.17534722222222224, + "x": 0.48611111111111116, + "y": 0.34490740740740744 + } + ], + "type": "bbox" + }, + "bbox_1769058634159": { + "instances": [ + { + "height": 0.5046296296296297, + "id": "bbox_1769058634159_1769060290122_hthuc59hy", + "width": 0.3680555555555555, + "x": 0.15104166666666663, + "y": 0.3217592592592593 + } + ], + "type": "bbox" + }, + "point_1769058608905": { + "instances": [ + { + "id": "point_1769058608905_1769060320188_twvsqys0p", + "x": 0.4166666666666667, + "y": 0.4814814814814815 + } + ], + "type": "point" + }, + "point_1769058613091": { + "instances": [ + { + "id": "point_1769058613091_1769060331694_dv82vrnei", + "x": 0.6440972222222222, + "y": 0.4861111111111111 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到菠菜正上方，爪夹合拢抓取菠菜。向爪夹左上方移动到白色盒子正上方。爪夹张开，菠菜落入白色盒子。", + "error_success_analysis": "爪夹错误地张开。菠菜掉落在桌面上。应当爪夹下降。", + "frame": 226, + "progress": 16, + "progress_explanation": "与上一进度相比，爪夹张开，菠菜掉落在桌面上。因此进度减小至16%。", + "state_description": "爪夹处于张开状态。菠菜在桌面上。\n为完成爪夹把菠菜放入白色盒子的任务应当：爪夹下降。", + "time": 7.54224636996337 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769058626186", + "name": "菠菜" + }, + { + "color": "#FF9800", + "id": "bbox_1769058634159", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769058608905", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769058613091", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-094105-put-potato-white-box-good/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-094105-put-potato-white-box-good/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..8217ea613c83272e1c4683ce450dcd74d27506e1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-094105-put-potato-white-box-good/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,544 @@ +{ + "task_description": "爪夹抓取土豆放入白色盒子。\n开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近白色盒子:60%\n爪夹将土豆放入白色盒子:80%\n爪夹松开，土豆落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769062584120": { + "instances": [ + { + "height": 0.10416666666666667, + "id": "bbox_1769062584120_1769062610707_yy8akl36p", + "width": 0.0729166666666667, + "x": 0.4618055555555555, + "y": 0.2916666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769062590054": { + "instances": [ + { + "height": 0.5138888888888888, + "id": "bbox_1769062590054_1769062618869_keoiu1tjs", + "width": 0.5052083333333333, + "x": 0.0017361111111111132, + "y": 0.42824074074074076 + } + ], + "type": "bbox" + }, + "point_1769062595434": { + "instances": [ + { + "id": "point_1769062595434_1769062640064_lbr6nbw5h", + "x": 0.39583333333333337, + "y": 0.23842592592592593 + } + ], + "type": "point" + }, + "point_1769062601082": { + "instances": [ + { + "id": "point_1769062601082_1769062641763_p0xaumsde", + "x": 0.484375, + "y": 0.24074074074074076 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左前方移动到土豆正上方，爪夹向下合拢抓取土豆，垂直抬升爪夹，向爪夹前上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前方移动。", + "time": 1.7343100695970697 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769062584120": { + "instances": [ + { + "height": 0.10185185185185185, + "id": "bbox_1769062584120_1769062648104_p9ntlfu56", + "width": 0.0729166666666666, + "x": 0.46006944444444453, + "y": 0.29629629629629634 + } + ], + "type": "bbox" + }, + "bbox_1769062590054": { + "instances": [ + { + "height": 0.5069444444444444, + "id": "bbox_1769062590054_1769062661078_393joc4tw", + "width": 0.4809027777777778, + "x": 0.026041666666666668, + "y": 0.42824074074074076 + } + ], + "type": "bbox" + }, + "point_1769062595434": { + "instances": [ + { + "id": "point_1769062595434_1769062653635_sgjackvsb", + "x": 0.4010416666666667, + "y": 0.2476851851851852 + } + ], + "type": "point" + }, + "point_1769062601082": { + "instances": [ + { + "id": "point_1769062601082_1769062656098_bi47yhtv6", + "x": 0.4913194444444445, + "y": 0.24537037037037038 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左前方移动到土豆正上方，爪夹向下合拢抓取土豆，垂直抬升爪夹，向爪夹前上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与土豆距离减小。方便继续向爪夹前方移动。", + "frame": 66, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝土豆的方向移动。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与土豆距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前方移动。", + "time": 2.2087911263736264 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769062584120": { + "instances": [ + { + "height": 0.09953703703703702, + "id": "bbox_1769062584120_1769062699984_sf89s5kuq", + "width": 0.0677083333333333, + "x": 0.4635416666666667, + "y": 0.2939814814814815 + } + ], + "type": "bbox" + }, + "bbox_1769062590054": { + "instances": [ + { + "height": 0.5138888888888888, + "id": "bbox_1769062590054_1769062683511_9w16f963u", + "width": 0.5052083333333333, + "x": 0.001736111111111116, + "y": 0.4328703703703704 + } + ], + "type": "bbox" + }, + "point_1769062595434": { + "instances": [ + { + "id": "point_1769062595434_1769062693326_b0d604hbe", + "x": 0.40625, + "y": 0.3402777777777778 + } + ], + "type": "point" + }, + "point_1769062601082": { + "instances": [ + { + "id": "point_1769062601082_1769062696737_z4xqdsox4", + "x": 0.4913194444444445, + "y": 0.3333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动到土豆正上方，爪夹向下合拢抓取土豆，垂直抬升爪夹，向爪夹前上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与土豆距离减小。方便向爪夹左方移动。", + "frame": 80, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝土豆的方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与土豆距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹左方移动。", + "time": 2.6669107673992674 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769062584120": { + "instances": [ + { + "height": 0.09490740740740744, + "id": "bbox_1769062584120_1769062715910_zd50jwv2q", + "width": 0.0677083333333333, + "x": 0.46180555555555564, + "y": 0.29629629629629634 + } + ], + "type": "bbox" + }, + "bbox_1769062590054": { + "instances": [ + { + "height": 0.513888888888889, + "id": "bbox_1769062590054_1769062706870_wvih587cy", + "width": 0.5034722222222223, + "x": 0.0017361111111111106, + "y": 0.4305555555555555 + } + ], + "type": "bbox" + }, + "point_1769062595434": { + "instances": [ + { + "id": "point_1769062595434_1769062724542_i9xfttlmn", + "x": 0.4635416666666667, + "y": 0.32638888888888895 + } + ], + "type": "point" + }, + "point_1769062601082": { + "instances": [ + { + "id": "point_1769062601082_1769062726702_aul5ryo9p", + "x": 0.546875, + "y": 0.3217592592592593 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向下合拢抓取土豆，垂直抬升爪夹，向爪夹前上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左方移动。与土豆距离减小。方便爪夹合拢。", + "frame": 96, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝土豆的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与土豆距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：爪夹合拢。", + "time": 3.1904760714285714 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769062584120": { + "instances": [ + { + "height": 0.1018518518518519, + "id": "bbox_1769062584120_1769062731610_pzjclbsmr", + "width": 0.06597222222222224, + "x": 0.47048611111111116, + "y": 0.28935185185185186 + } + ], + "type": "bbox" + }, + "bbox_1769062590054": { + "instances": [ + { + "height": 0.5671296296296298, + "id": "bbox_1769062590054_1769062767848_82o0bf1m3", + "width": 0.4774305555555555, + "x": 0.03125, + "y": 0.3819444444444445 + } + ], + "type": "bbox" + }, + "point_1769062595434": { + "instances": [ + { + "id": "point_1769062595434_1769062751241_bgkq3n96j", + "x": 0.46875, + "y": 0.3611111111111111 + } + ], + "type": "point" + }, + "point_1769062601082": { + "instances": [ + { + "id": "point_1769062601082_1769062757332_2px4ekmys", + "x": 0.5329861111111112, + "y": 0.36342592592592593 + } + ], + "type": "point" + } + }, + "correction_plan": "垂直抬升爪夹，向爪夹前上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取土豆。方便向爪夹前上方移动。", + "frame": 116, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取土豆。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。土豆被抓取。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前上方移动。", + "time": 3.8612941172161173 + }, + { + "action_description": "向爪夹上方移动。", + "correction_plan": "向爪夹前上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "error_success_analysis": "土豆与白色盒子距离减小。方便向爪夹前上方移动。", + "frame": 161, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至50%。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前上方移动。", + "time": 5.372278770123368 + }, + { + "action_description": "向爪夹前上方移动。", + "annotations": { + "bbox_1769062584120": { + "instances": [ + { + "height": 0.125, + "id": "bbox_1769062584120_1769062796082_sqbmcd9gh", + "width": 0.10416666666666666, + "x": 0.3454861111111111, + "y": 0.18981481481481483 + } + ], + "type": "bbox" + }, + "bbox_1769062590054": { + "instances": [ + { + "height": 0.5185185185185186, + "id": "bbox_1769062590054_1769062809770_dso3gnlj4", + "width": 0.5086805555555556, + "x": -0.001736111111111116, + "y": 0.4282407407407407 + } + ], + "type": "bbox" + }, + "point_1769062595434": { + "instances": [ + { + "id": "point_1769062595434_1769062802959_icjestlxb", + "x": 0.3472222222222222, + "y": 0.2337962962962963 + } + ], + "type": "point" + }, + "point_1769062601082": { + "instances": [ + { + "id": "point_1769062601082_1769062805147_pkn04crta", + "x": 0.4409722222222222, + "y": 0.25462962962962965 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "error_success_analysis": "土豆与白色盒子距离减小。方便向爪夹前上方移动。", + "frame": 185, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前上方移动。", + "time": 6.151892322344322 + }, + { + "action_description": "向爪夹前上方移动。", + "annotations": { + "bbox_1769062584120": { + "instances": [ + { + "height": 0.10416666666666667, + "id": "bbox_1769062584120_1769062863678_knv17egok", + "width": 0.09027777777777776, + "x": 0.2673611111111111, + "y": 0.46296296296296297 + } + ], + "type": "bbox" + }, + "bbox_1769062590054": { + "instances": [ + { + "height": 0.513888888888889, + "id": "bbox_1769062590054_1769062842684_jxi9iqc10", + "width": 0.5, + "x": 1.1102230246251566e-17, + "y": 0.43287037037037035 + } + ], + "type": "bbox" + }, + "point_1769062595434": { + "instances": [ + { + "id": "point_1769062595434_1769062872656_osvthnmfp", + "x": 0.2569444444444445, + "y": 0.513888888888889 + } + ], + "type": "point" + }, + "point_1769062601082": { + "instances": [ + { + "id": "point_1769062601082_1769062874933_9qzxqtwfp", + "x": 0.3506944444444445, + "y": 0.5277777777777778 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "error_success_analysis": "土豆与白色盒子距离减小。方便向爪夹前上方移动。", + "frame": 201, + "progress": 70, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至70%。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前上方移动。", + "time": 6.691819042124542 + }, + { + "action_description": "向爪夹前上方移动。", + "annotations": { + "bbox_1769062584120": { + "instances": [ + { + "height": 0.09953703703703702, + "id": "bbox_1769062584120_1769062899112_ecjvd8gpo", + "width": 0.09375, + "x": 0.24131944444444448, + "y": 0.48842592592592593 + } + ], + "type": "bbox" + }, + "bbox_1769062590054": { + "instances": [ + { + "height": 0.513888888888889, + "id": "bbox_1769062590054_1769062883706_nnfiu0rt7", + "width": 0.5052083333333334, + "x": 0, + "y": 0.4305555555555556 + } + ], + "type": "bbox" + }, + "point_1769062595434": { + "instances": [ + { + "id": "point_1769062595434_1769062905508_bvpnpxpop", + "x": 0.23958333333333334, + "y": 0.5300925925925927 + } + ], + "type": "point" + }, + "point_1769062601082": { + "instances": [ + { + "id": "point_1769062601082_1769062911543_qbo8cix9e", + "x": 0.3263888888888889, + "y": 0.5601851851851852 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，土豆落入白色盒子。", + "error_success_analysis": "土豆与白色盒子距离减小。方便爪夹张开。", + "frame": 216, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：爪夹张开。", + "time": 7.215384346153845 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769062584120": { + "instances": [ + { + "height": 0.10648148148148155, + "id": "bbox_1769062584120_1769062957730_g5ecpnz7y", + "width": 0.109375, + "x": 0.2170138888888889, + "y": 0.6412037037037037 + } + ], + "type": "bbox" + }, + "bbox_1769062590054": { + "instances": [ + { + "height": 0.5162037037037038, + "id": "bbox_1769062590054_1769062919242_9gcf0ygdf", + "width": 0.5034722222222222, + "x": 0.001736111111111116, + "y": 0.43287037037037035 + } + ], + "type": "bbox" + }, + "point_1769062595434": { + "instances": [ + { + "id": "point_1769062595434_1769062934222_aaukq6lb9", + "x": 0.22743055555555558, + "y": 0.525462962962963 + } + ], + "type": "point" + }, + "point_1769062601082": { + "instances": [ + { + "id": "point_1769062601082_1769062936295_fqs13eue3", + "x": 0.33333333333333337, + "y": 0.5694444444444445 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。土豆落入白色盒子。\n已完成爪夹抓取土豆放入白色盒子的任务。", + "frame": 246, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，土豆落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。土豆在白色盒子中。\n已完成爪夹抓取土豆放入白色盒子的任务。", + "time": 8.213430706959706 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769062584120", + "name": "土豆" + }, + { + "color": "#FF9800", + "id": "bbox_1769062590054", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769062595434", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769062601082", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-095144-put-potato-white-box-mix/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-095144-put-potato-white-box-mix/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..1992b51a2cbb99f31f012c1874ebb4ef87568a17 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-095144-put-potato-white-box-mix/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,614 @@ +{ + "task_description": "爪夹抓取土豆放入白色盒子。\n开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近白色盒子:60%\n爪夹将土豆放入白色盒子:80%\n爪夹松开，土豆落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769065053035": { + "instances": [ + { + "height": 0.10648148148148155, + "id": "bbox_1769065053035_1769065086482_teoiugl86", + "width": 0.0677083333333333, + "x": 0.3090277777777778, + "y": 0.3587962962962962 + } + ], + "type": "bbox" + }, + "bbox_1769065057744": { + "instances": [ + { + "height": 0.5694444444444444, + "id": "bbox_1769065057744_1769065095086_zhwkoli1g", + "width": 0.36458333333333337, + "x": 0.43576388888888895, + "y": 0.275462962962963 + } + ], + "type": "bbox" + }, + "point_1769065062707": { + "instances": [ + { + "id": "point_1769065062707_1769065101757_qapxyrxi1", + "x": 0.4027777777777778, + "y": 0.2152777777777778 + } + ], + "type": "point" + }, + "point_1769065066813": { + "instances": [ + { + "id": "point_1769065066813_1769065104014_abjlia9t9", + "x": 0.48958333333333337, + "y": 0.2199074074074074 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到土豆正上方。爪夹向下合拢抓取土豆，垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，下降将土豆放入白色盒子，爪夹张开。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹没有移动。爪夹处于张开状态。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前方移动。\n", + "time": 1.3479853846153846 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769065053035": { + "instances": [ + { + "height": 0.10879629629629625, + "id": "bbox_1769065053035_1769065115088_9naksiops", + "width": 0.0729166666666667, + "x": 0.30902777777777773, + "y": 0.35648148148148157 + } + ], + "type": "bbox" + }, + "bbox_1769065057744": { + "instances": [ + { + "height": 0.5740740740740741, + "id": "bbox_1769065057744_1769065125734_36yoklpwt", + "width": 0.3663194444444445, + "x": 0.43576388888888895, + "y": 0.26851851851851855 + } + ], + "type": "bbox" + }, + "point_1769065062707": { + "instances": [ + { + "id": "point_1769065062707_1769065207748_rrkbn16pa", + "x": 0.3923611111111111, + "y": 0.3240740740740741 + } + ], + "type": "point" + }, + "point_1769065066813": { + "instances": [ + { + "id": "point_1769065066813_1769065210192_a9q0ho4jr", + "x": 0.48958333333333337, + "y": 0.3240740740740741 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到土豆正上方。爪夹向下合拢抓取土豆，垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，下降将土豆放入白色盒子，爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与土豆距离减小。方便继续向爪夹前方移动。", + "frame": 75, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹朝土豆的方向移动。\n因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与土豆距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前方移动。", + "time": 2.5162393846153845 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769065053035": { + "instances": [ + { + "height": 0.10879629629629631, + "id": "bbox_1769065053035_1769065146544_9ir12ai4i", + "width": 0.0677083333333333, + "x": 0.31076388888888895, + "y": 0.3564814814814815 + } + ], + "type": "bbox" + }, + "bbox_1769065057744": { + "instances": [ + { + "height": 0.5833333333333335, + "id": "bbox_1769065057744_1769065162214_gnn06obaa", + "width": 0.3628472222222222, + "x": 0.4375000000000001, + "y": 0.2685185185185185 + } + ], + "type": "bbox" + }, + "point_1769065062707": { + "instances": [ + { + "id": "point_1769065062707_1769065156689_wrcti0dp9", + "x": 0.3732638888888889, + "y": 0.40740740740740744 + } + ], + "type": "point" + }, + "point_1769065066813": { + "instances": [ + { + "id": "point_1769065066813_1769065158564_zz75ht8du", + "x": 0.45486111111111116, + "y": 0.4027777777777778 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到土豆正上方。爪夹向下合拢抓取土豆，垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，下降将土豆放入白色盒子，爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与土豆距离减小。方便向爪夹右方移动。", + "frame": 99, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝土豆的方向移动。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与土豆距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹右方移动。", + "time": 3.3025641923076923 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769065053035": { + "instances": [ + { + "height": 0.11111111111111113, + "id": "bbox_1769065053035_1769065230568_cc98jy66b", + "width": 0.06423611111111112, + "x": 0.3107638888888889, + "y": 0.3541666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769065057744": { + "instances": [ + { + "height": 0.5717592592592593, + "id": "bbox_1769065057744_1769065246450_l6jf4r98s", + "width": 0.36458333333333337, + "x": 0.4340277777777778, + "y": 0.26620370370370366 + } + ], + "type": "bbox" + }, + "point_1769065062707": { + "instances": [ + { + "id": "point_1769065062707_1769065252038_9qjtigzp3", + "x": 0.4166666666666667, + "y": 0.4120370370370371 + } + ], + "type": "point" + }, + "point_1769065066813": { + "instances": [ + { + "id": "point_1769065066813_1769065254401_gkp9y2fn8", + "x": 0.4305555555555555, + "y": 0.41435185185185186 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到土豆正上方。爪夹向下合拢抓取土豆，垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，下降将土豆放入白色盒子，爪夹张开。", + "error_success_analysis": "爪夹错误地合拢。未抓取到土豆。应当爪夹再次张开。", + "frame": 124, + "progress": 4, + "progress_explanation": "与上一进度相比，爪夹合拢，但未抓取到土豆。\n因此进度减小至4%。", + "state_description": "爪夹处于合拢状态。土豆未被抓取。\n为完成爪夹抓取土豆放入白色盒子的任务应当：爪夹张开。", + "time": 4.133821846153847 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769065053035": { + "instances": [ + { + "height": 0.10416666666666667, + "id": "bbox_1769065053035_1769065263350_gmy0cl809", + "width": 0.06423611111111108, + "x": 0.31250000000000006, + "y": 0.3611111111111111 + } + ], + "type": "bbox" + }, + "bbox_1769065057744": { + "instances": [ + { + "height": 0.5740740740740742, + "id": "bbox_1769065057744_1769065270888_pmoy2gtgm", + "width": 0.36631944444444453, + "x": 0.4340277777777778, + "y": 0.2708333333333333 + } + ], + "type": "bbox" + }, + "point_1769065062707": { + "instances": [ + { + "id": "point_1769065062707_1769065278409_603jns65g", + "x": 0.34895833333333337, + "y": 0.33564814814814814 + } + ], + "type": "point" + }, + "point_1769065066813": { + "instances": [ + { + "id": "point_1769065066813_1769065280542_b3vl9ya8k", + "x": 0.4322916666666667, + "y": 0.3402777777777778 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到土豆正上方。爪夹向下合拢抓取土豆，垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，下降将土豆放入白色盒子，爪夹张开。", + "error_success_analysis": "爪夹正确地张开。方便向爪夹右方移动。", + "frame": 162, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与土豆距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹右方移动。", + "time": 5.385066 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769065053035": { + "instances": [ + { + "height": 0.10416666666666667, + "id": "bbox_1769065053035_1769065286684_wv3ka35z6", + "width": 0.06423611111111108, + "x": 0.31250000000000006, + "y": 0.35879629629629634 + } + ], + "type": "bbox" + }, + "bbox_1769065057744": { + "instances": [ + { + "height": 0.5787037037037038, + "id": "bbox_1769065057744_1769065306946_ln4z2ce83", + "width": 0.3645833333333335, + "x": 0.43576388888888884, + "y": 0.26620370370370366 + } + ], + "type": "bbox" + }, + "point_1769065062707": { + "instances": [ + { + "id": "point_1769065062707_1769065293825_5x920y1qe", + "x": 0.3107638888888889, + "y": 0.40972222222222227 + } + ], + "type": "point" + }, + "point_1769065066813": { + "instances": [ + { + "id": "point_1769065066813_1769065302726_cyu54yyqf", + "x": 0.39583333333333337, + "y": 0.4166666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向下合拢抓取土豆，垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，下降将土豆放入白色盒子，爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与土豆距离减小。方便爪夹合拢。", + "frame": 187, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝土豆的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与土豆距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：爪夹合拢。", + "time": 6.245665615384615 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769065053035": { + "instances": [ + { + "height": 0.10879629629629631, + "id": "bbox_1769065053035_1769065319044_obxl232gj", + "width": 0.07118055555555558, + "x": 0.3159722222222222, + "y": 0.34953703703703703 + } + ], + "type": "bbox" + }, + "bbox_1769065057744": { + "instances": [ + { + "height": 0.5810185185185186, + "id": "bbox_1769065057744_1769065330538_xukzmne0y", + "width": 0.3628472222222223, + "x": 0.4375, + "y": 0.2662037037037037 + } + ], + "type": "bbox" + }, + "point_1769065062707": { + "instances": [ + { + "id": "point_1769065062707_1769065324101_02fztay2r", + "x": 0.3142361111111111, + "y": 0.4050925925925926 + } + ], + "type": "point" + }, + "point_1769065066813": { + "instances": [ + { + "id": "point_1769065066813_1769065327015_0spavyf3j", + "x": 0.38888888888888895, + "y": 0.4166666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，下降将土豆放入白色盒子，爪夹张开。", + "error_success_analysis": "爪夹正确地合拢抓取土豆。方便向爪夹左上方移动。", + "frame": 215, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取土豆。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。土豆被爪夹抓取。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 7.176 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1769065053035": { + "instances": [ + { + "height": 0.09722222222222227, + "id": "bbox_1769065053035_1769065339232_p5pskfrvn", + "width": 0.08333333333333334, + "x": 0.34375000000000006, + "y": 0.3148148148148148 + } + ], + "type": "bbox" + }, + "bbox_1769065057744": { + "instances": [ + { + "height": 0.5833333333333334, + "id": "bbox_1769065057744_1769065349974_76b5dvs12", + "width": 0.3663194444444445, + "x": 0.43402777777777785, + "y": 0.2685185185185185 + } + ], + "type": "bbox" + }, + "point_1769065062707": { + "instances": [ + { + "id": "point_1769065062707_1769065345298_5h2jcbgqd", + "x": 0.3368055555555556, + "y": 0.375 + } + ], + "type": "point" + }, + "point_1769065066813": { + "instances": [ + { + "id": "point_1769065066813_1769065347940_43anm3kg7", + "x": 0.4288194444444445, + "y": 0.3773148148148148 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上方，下降将土豆放入白色盒子，爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。土豆与白色盒子距离减小。方便向爪夹左方移动。", + "frame": 259, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹左方移动。", + "time": 8.623466 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769065057744": { + "instances": [ + { + "height": 0.5555555555555557, + "id": "bbox_1769065057744_1769065369132_hhohaa4pf", + "width": 0.36458333333333337, + "x": 0.4340277777777778, + "y": 0.2893518518518518 + } + ], + "type": "bbox" + }, + "point_1769065062707": { + "instances": [ + { + "id": "point_1769065062707_1769065387337_81imad78z", + "x": 0.6197916666666667, + "y": 0.4120370370370371 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上方，下降将土豆放入白色盒子，爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。土豆与白色盒子距离减小。方便向爪夹左方移动。", + "frame": 291, + "progress": 70, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至70%。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹左方移动。", + "time": 9.7152 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769065053035": { + "instances": [ + { + "height": 0.08333333333333333, + "id": "bbox_1769065053035_1769065400928_5ouqxcjir", + "width": 0.08680555555555554, + "x": 0.6111111111111112, + "y": 0.30324074074074076 + } + ], + "type": "bbox" + }, + "bbox_1769065057744": { + "instances": [ + { + "height": 0.5740740740740741, + "id": "bbox_1769065057744_1769065410098_he9nyveky", + "width": 0.3663194444444445, + "x": 0.43402777777777785, + "y": 0.2685185185185185 + } + ], + "type": "bbox" + }, + "point_1769065062707": { + "instances": [ + { + "id": "point_1769065062707_1769065403408_yvthncwez", + "x": 0.6284722222222222, + "y": 0.3773148148148148 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左方移动。土豆与白色盒子距离减小。方便爪夹张开。", + "frame": 313, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：爪夹张开。", + "time": 10.426666 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769065053035": { + "instances": [ + { + "height": 0.10185185185185179, + "id": "bbox_1769065053035_1769065437564_u5gr4evge", + "width": 0.0989583333333334, + "x": 0.6475694444444444, + "y": 0.45138888888888895 + } + ], + "type": "bbox" + }, + "bbox_1769065057744": { + "instances": [ + { + "height": 0.564814814814815, + "id": "bbox_1769065057744_1769065445954_c8h9ggt3w", + "width": 0.3680555555555555, + "x": 0.43402777777777785, + "y": 0.27546296296296297 + } + ], + "type": "bbox" + }, + "point_1769065062707": { + "instances": [ + { + "id": "point_1769065062707_1769065459769_uu9c61utl", + "x": 0.6041666666666667, + "y": 0.3935185185185185 + } + ], + "type": "point" + }, + "point_1769065066813": { + "instances": [ + { + "id": "point_1769065066813_1769065461763_30tksccht", + "x": 0.6822916666666667, + "y": 0.3402777777777778 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，土豆落入白色盒子。\n已完成爪夹抓取土豆放入白色盒子的任务。", + "frame": 336, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，土豆落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。土豆在白色盒子中。\n已完成爪夹抓取土豆放入白色盒子的任务。", + "time": 11.199466 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769065053035", + "name": "土豆" + }, + { + "color": "#FF9800", + "id": "bbox_1769065057744", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769065062707", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769065066813", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-095144-put-potato-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-095144-put-potato-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..0d28188496736dfc761fd626918fada720be4f8c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-095144-put-potato-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,590 @@ +{ + "task_description": "爪夹抓取土豆放入白色盒子。\n开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近白色盒子:60%\n爪夹将土豆放入白色盒子:80%\n爪夹松开，土豆落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "correction_plan": "向爪夹右前方移动到土豆正上方，爪夹向下抓取土豆，垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，将土豆放入白色盒子中，爪夹张开。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前方移动。", + "time": 1.484266, + "annotations": { + "bbox_1769069334393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069334393_1769069356885_gjgbjcumn", + "x": 0.618019825559392, + "y": 0.4552407622838137, + "width": 0.09004262965740137, + "height": 0.15643769566869264 + } + ] + }, + "point_1769069343612": { + "type": "point", + "instances": [ + { + "id": "point_1769069343612_1769069367143_k85kcn21v", + "x": 0.4120132031613978, + "y": 0.49283429855264843 + } + ] + }, + "point_1769069347780": { + "type": "point", + "instances": [ + { + "id": "point_1769069347780_1769069369502_8hw3a9cfp", + "x": 0.6425769063750469, + "y": 0.4910152555797566 + } + ] + }, + "bbox_1769069338432": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069338432_1769069375459_7c9xt091n", + "x": 0.15007100779441176, + "y": 0.1617684774863455, + "width": 0.4010989866556973, + "height": 0.41110371187354106 + } + ] + } + } + }, + { + "action_description": "向爪夹前方移动。", + "correction_plan": "向爪夹右前方移动到土豆正上方，爪夹向下抓取土豆，垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，将土豆放入白色盒子中，爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与土豆的距离减小。方便向爪夹前方移动。", + "frame": 76, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹与土豆的距离减小。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。在土豆的左上方。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前方移动。", + "time": 2.546350100530494, + "annotations": { + "bbox_1769069338432": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069338432_1769069386859_223uj2d81", + "x": 0.10914253976832018, + "y": 0.11487760429908779, + "width": 0.4379346078791797, + "height": 0.6348459975392291 + } + ] + }, + "point_1769069343612": { + "type": "point", + "instances": [ + { + "id": "point_1769069343612_1769069395252_szzaen3o0", + "x": 0.41474176769647053, + "y": 0.4855581266610813 + } + ] + }, + "point_1769069347780": { + "type": "point", + "instances": [ + { + "id": "point_1769069347780_1769069484675_4dwne3qwe", + "x": 0.6439411886425833, + "y": 0.47322906995876735 + } + ] + }, + "bbox_1769069334393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069334393_1769069487548_g7ujydsc3", + "x": 0.5975555915463462, + "y": 0.5696383475220314, + "width": 0.09277119419247422, + "height": 0.16189482458736795 + } + ] + } + } + }, + { + "action_description": "向爪夹前方移动。", + "correction_plan": "向爪夹右前方移动到土豆正上方，爪夹向下抓取土豆，垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，将土豆放入白色盒子中，爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与土豆的距离减小。方便向爪夹右方移动。", + "frame": 100, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝土豆的方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与土豆距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹右方移动。", + "time": 3.325030615384615, + "annotations": { + "point_1769069343612": { + "type": "point", + "instances": [ + { + "id": "point_1769069343612_1769069496519_hjhgo80dk", + "x": 0.4174703322315433, + "y": 0.47141002698587553 + } + ] + }, + "point_1769069347780": { + "type": "point", + "instances": [ + { + "id": "point_1769069347780_1769069498115_7415wbhub", + "x": 0.6439411886425833, + "y": 0.480100997742406 + } + ] + }, + "bbox_1769069334393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069334393_1769069500939_nwfe3bvqd", + "x": 0.6562197290504108, + "y": 0.3527679896399818, + "width": 0.15279961396407513, + "height": 0.26194218809641545 + } + ] + }, + "bbox_1769069338432": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069338432_1769069507707_8wh0rt49v", + "x": -4.1634590675077024e-08, + "y": -0.00558347601969771, + "width": 0.45703455962468925, + "height": 0.7985598650994886 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹张开。向爪夹右前方移动到土豆正上方，爪夹向下抓取土豆，垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，将土豆放入白色盒子中，爪夹张开。", + "error_success_analysis": "爪夹错误地合拢。未抓取到土豆。应当爪夹再次张开。\n", + "frame": 126, + "progress": 4, + "progress_explanation": "与上一进度相比，爪夹合拢，但未抓取到土豆。因此进度减小至4%。", + "state_description": "爪夹处于合拢状态。但未抓取到土豆。\n为完成爪夹抓取土豆放入白色盒子的任务应当：爪夹张开。", + "time": 4.207466, + "annotations": { + "bbox_1769069338432": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069338432_1769069560045_0rpktjlhv", + "x": -4.163459068895481e-08, + "y": -0.003360188938877536, + "width": 0.4215632206687432, + "height": 0.8149312518555148 + } + ] + }, + "point_1769069343612": { + "type": "point", + "instances": [ + { + "id": "point_1769069343612_1769069573903_wjxat4dv3", + "x": 0.5211557845643087, + "y": 0.4764629117966225 + } + ] + }, + "point_1769069347780": { + "type": "point", + "instances": [ + { + "id": "point_1769069347780_1769069575693_dtv4fy40v", + "x": 0.5375271717747452, + "y": 0.47464386882373066 + } + ] + }, + "bbox_1769069334393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069334393_1769069580334_5scpaffq7", + "x": 0.6698625517257747, + "y": 0.334577559911064, + "width": 0.16917100117451184, + "height": 0.31105634836449336 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹向下抓取土豆，垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，将土豆放入白色盒子中，爪夹张开。", + "error_success_analysis": "爪夹正确地张开。在土豆的正上方。方便向爪夹右下方移动。", + "frame": 162, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至15%。\n", + "state_description": "爪夹处于张开状态。在土豆的正上方。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹右下方移动。", + "time": 5.389193615209738, + "annotations": { + "bbox_1769069334393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069334393_1769069591515_nyuugnsbk", + "x": 0.5293414781695269, + "y": 0.41340277390730296, + "width": 0.10914258140291092, + "height": 0.19645664107231162 + } + ] + }, + "point_1769069343612": { + "type": "point", + "instances": [ + { + "id": "point_1769069343612_1769069598232_qqnrz03us", + "x": 0.41337748542893415, + "y": 0.4837390836881896 + } + ] + }, + "point_1769069347780": { + "type": "point", + "instances": [ + { + "id": "point_1769069347780_1769069599973_3zoimna3p", + "x": 0.6466697531776561, + "y": 0.47828195476951424 + } + ] + }, + "bbox_1769069338432": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069338432_1769069603215_hnf4dwpp9", + "x": 0.02182847464599149, + "y": -0.005583476019697716, + "width": 0.4461203014843981, + "height": 0.6875982437530906 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "垂直抬起爪夹，向爪夹左上方移动到白色盒子正上方，将土豆放入白色盒子中，爪夹张开。", + "error_success_analysis": "爪夹正确地下降。在土豆的正上方。方便爪夹合拢。", + "frame": 182, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹与土豆距离减小。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。在土豆的正上方。\n为完成爪夹抓取土豆放入白色盒子的任务应当：爪夹合拢。", + "time": 6.065934230769231, + "annotations": { + "bbox_1769069338432": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069338432_1769069629296_bdpc3zj6f", + "x": -0.0013643239021270737, + "y": 0.0016926958718693837, + "width": 0.3615348008971422, + "height": 0.740350489966952 + } + ] + }, + "bbox_1769069334393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069334393_1769069640211_vbmt0843y", + "x": 0.4597630825251713, + "y": 0.367320333423116, + "width": 0.1678067189069754, + "height": 0.2801326178253332 + } + ] + }, + "point_1769069343612": { + "type": "point", + "instances": [ + { + "id": "point_1769069343612_1769069643537_biep4kked", + "x": 0.4120132031613978, + "y": 0.48192004071529776 + } + ] + }, + "point_1769069347780": { + "type": "point", + "instances": [ + { + "id": "point_1769069347780_1769069645255_po4wvqt2p", + "x": 0.6425769063750469, + "y": 0.4728248258508389 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "向爪夹左上方移动到白色盒子正上方，将土豆放入白色盒子中，爪夹张开。", + "error_success_analysis": "爪夹正确地合拢抓取土豆。方便向爪夹左上方移动。", + "frame": 225, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取土豆。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。土豆被抓取。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 7.5072, + "annotations": { + "bbox_1769069334393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069334393_1769069659193_vnh1lsve9", + "x": 0.4324774371744436, + "y": 0.3440770188834514, + "width": 0.20327805786292147, + "height": 0.33470390701208635 + } + ] + }, + "point_1769069343612": { + "type": "point", + "instances": [ + { + "id": "point_1769069343612_1769069665005_m51x17z3z", + "x": 0.43111315490690716, + "y": 0.4873771696339731 + } + ] + }, + "point_1769069347780": { + "type": "point", + "instances": [ + { + "id": "point_1769069347780_1769069666919_yjvhwxtf5", + "x": 0.6302983659672194, + "y": 0.48192004071529776 + } + ] + }, + "bbox_1769069338432": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069338432_1769069670333_4ztewhmhz", + "x": -0.0013643239021270848, + "y": -0.00012634710102238562, + "width": 0.2993957116475682, + "height": 0.7575457373545019 + } + ] + } + } + }, + { + "action_description": "向爪夹左上方移动。", + "correction_plan": "向爪夹左上方移动到白色盒子正上方，将土豆放入白色盒子中，爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。土豆与白色盒子距离减小。方便继续向爪夹左上方移动。", + "frame": 272, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹左上方移动。", + "time": 9.0539685, + "annotations": { + "bbox_1769069338432": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069338432_1769069696025_t3nkt0zjz", + "x": 0.12278536244368403, + "y": 0.14762037781113974, + "width": 0.519791543931363, + "height": 0.6894172867259823 + } + ] + }, + "bbox_1769069334393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069334393_1769069714251_5qgnqw2tv", + "x": 0.4297488726393707, + "y": 0.3473108607213064, + "width": 0.20054949332784872, + "height": 0.32378964917473585 + } + ] + }, + "point_1769069343612": { + "type": "point", + "instances": [ + { + "id": "point_1769069343612_1769069723611_jk8rapshj", + "x": 0.4297488726393707, + "y": 0.48192004071529776 + } + ] + }, + "point_1769069347780": { + "type": "point", + "instances": [ + { + "id": "point_1769069347780_1769069729663_xbdzro0ou", + "x": 0.6357554950373651, + "y": 0.4837390836881896 + } + ] + } + } + }, + { + "action_description": "向爪夹左上方移动", + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。土豆与白色盒子距离减小。方便爪夹张开。", + "frame": 303, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝白色盒子的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：爪夹张开。", + "time": 10.098198210077197, + "annotations": { + "bbox_1769069334393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069334393_1769069734885_3mc56zw2m", + "x": 0.43111315490690716, + "y": 0.3458960618563431, + "width": 0.19782092879277585, + "height": 0.3365229499849782 + } + ] + }, + "point_1769069343612": { + "type": "point", + "instances": [ + { + "id": "point_1769069343612_1769069740651_rsjzs0wg4", + "x": 0.4297488726393707, + "y": 0.480100997742406 + } + ] + }, + "point_1769069347780": { + "type": "point", + "instances": [ + { + "id": "point_1769069347780_1769069742774_otv7h44iv", + "x": 0.6275698014321467, + "y": 0.4837390836881896 + } + ] + }, + "bbox_1769069338432": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069338432_1769069747847_iaek01vkp", + "x": 0.27694925867529563, + "y": 0.17268273532369616, + "width": 0.5498057538171633, + "height": 0.7185219742922508 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，土豆落入白色盒子。\n已完成爪夹抓取土豆放入白色盒子的任务。", + "frame": 348, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，土豆落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。土豆在白色盒子中。\n已完成爪夹抓取土豆放入白色盒子的任务。", + "time": 11.592, + "annotations": { + "bbox_1769069334393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069334393_1769069804663_4zr4kb7h4", + "x": 0.3874561223457428, + "y": 0.39319117915152924, + "width": 0.11869255727566555, + "height": 0.11459970729218175 + } + ] + }, + "bbox_1769069338432": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769069338432_1769069814135_muylciln1", + "x": 0.27285641187268644, + "y": 0.10537814532670052, + "width": 0.579819963702964, + "height": 0.7767313494247875 + } + ] + }, + "point_1769069343612": { + "type": "point", + "instances": [ + { + "id": "point_1769069343612_1769069821597_iw9nkmnzw", + "x": 0.4106489208938614, + "y": 0.4855581266610813 + } + ] + }, + "point_1769069347780": { + "type": "point", + "instances": [ + { + "id": "point_1769069347780_1769069823121_6j3gnkyzn", + "x": 0.6453054709101197, + "y": 0.4764629117966225 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769069334393", + "name": "土豆", + "color": "#4CAF50" + }, + { + "id": "bbox_1769069338432", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769069343612", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769069347780", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-100554-put-potato-white-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-100554-put-potato-white-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b778f25d4a1842d8b33445f47e77d444aad66261 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-100554-put-potato-white-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,646 @@ +{ + "task_description": "爪夹抓取土豆放入白色盒子。\n开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近白色盒子:60%\n爪夹将土豆放入白色盒子:80%\n爪夹松开，土豆落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "correction_plan": "向爪夹右前方移动到土豆正上方，爪夹向下合拢抓取土豆，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹没有移动。爪夹处于张开状态。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前方移动。", + "time": 2.3496, + "annotations": { + "bbox_1769133580147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133580147_1769133607887_ouxdiuh80", + "x": 0.14870672552687533, + "y": 0.34246009796452376, + "width": 0.07367124244696481, + "height": 0.10186640648193937 + } + ] + }, + "bbox_1769133586353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133586353_1769133619969_iaucq7k5t", + "x": 0.4720416229329988, + "y": 0.14539709073031956, + "width": 0.4201989384012066, + "height": 0.5093320324096968 + } + ] + }, + "point_1769133593497": { + "type": "point", + "instances": [ + { + "id": "point_1769133593497_1769133628668_5248tj3pt", + "x": 0.3901846868808156, + "y": 0.21997785261888228 + } + ] + }, + "point_1769133598183": { + "type": "point", + "instances": [ + { + "id": "point_1769133598183_1769133633261_gv4n83pcn", + "x": 0.47340590520053516, + "y": 0.21997785261888228 + } + ] + } + } + }, + { + "time": 2.969478069710461, + "frame": 89, + "progress": 5, + "action_description": "向爪夹前方移动。", + "state_description": "爪夹处于张开状态。与土豆的距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹前方移动。", + "progress_explanation": "与上一进度相比，爪夹接近了土豆。因此进度提升至5%。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与土豆的距离减小。方便与继续向爪夹前方移动。", + "correction_plan": "向爪夹右前方移动到土豆正上方，爪夹向下合拢抓取土豆，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "annotations": { + "bbox_1769133580147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133580147_1769133652773_kunttb0pu", + "x": 0.15143529006194814, + "y": 0.3404389329376677, + "width": 0.06957839564435564, + "height": 0.10186640648193943 + } + ] + }, + "point_1769133593497": { + "type": "point", + "instances": [ + { + "id": "point_1769133593497_1769133668500_2empmc33m", + "x": 0.3819989932755973, + "y": 0.2327111534291247 + } + ] + }, + "point_1769133598183": { + "type": "point", + "instances": [ + { + "id": "point_1769133598183_1769133671321_n8sbdo4gf", + "x": 0.47340590520053516, + "y": 0.23816828234780005 + } + ] + }, + "bbox_1769133586353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133586353_1769133677441_hh6b1fagu", + "x": 0.46794877613038965, + "y": 0.14539709073031953, + "width": 0.42292750293627945, + "height": 0.5093320324096968 + } + ] + } + } + }, + { + "time": 3.492511229498697, + "frame": 105, + "progress": 10, + "action_description": "向爪夹右前方移动。", + "state_description": "爪夹处于张开状态。与土豆的距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，爪夹接近了土豆。因此进度提升至10%。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动。与土豆的距离减小。方便继续向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到土豆正上方，爪夹向下合拢抓取土豆，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "annotations": { + "bbox_1769133580147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133580147_1769133688153_ydgenqz9k", + "x": 0.14734244325933893, + "y": 0.34246009796452376, + "width": 0.07230696017942846, + "height": 0.10186640648193943 + } + ] + }, + "point_1769133593497": { + "type": "point", + "instances": [ + { + "id": "point_1769133593497_1769133708011_1ycta6xdw", + "x": 0.24147791971934957, + "y": 0.2636348839682849 + } + ] + }, + "point_1769133598183": { + "type": "point", + "instances": [ + { + "id": "point_1769133598183_1769133710467_q3bqqf2ox", + "x": 0.331520549376751, + "y": 0.2981967004532286 + } + ] + }, + "bbox_1769133586353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133586353_1769133716573_irn81q73e", + "x": 0.46931305839792586, + "y": 0.14721613370321132, + "width": 0.4215632206687432, + "height": 0.507512989436805 + } + ] + } + } + }, + { + "time": 4.471089399425075, + "frame": 134, + "progress": 15, + "action_description": "向爪夹右前方移动。", + "state_description": "爪夹处于张开状态。与土豆的距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，爪夹接近了土豆。因此进度提升至15%。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动。与土豆的距离减小。方便继续向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到土豆正上方，爪夹向下合拢抓取土豆，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "annotations": { + "bbox_1769133580147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133580147_1769133735581_jd41bw027", + "x": 0.1487067255268753, + "y": 0.34246009796452376, + "width": 0.07503552471450126, + "height": 0.10186640648193937 + } + ] + }, + "point_1769133593497": { + "type": "point", + "instances": [ + { + "id": "point_1769133593497_1769133743600_stx740pne", + "x": 0.1514352900619481, + "y": 0.32912043099238875 + } + ] + }, + "point_1769133598183": { + "type": "point", + "instances": [ + { + "id": "point_1769133598183_1769133746131_6anaz846z", + "x": 0.24147791971934957, + "y": 0.3655012904502242 + } + ] + }, + "bbox_1769133586353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133586353_1769133752165_84tllflqw", + "x": 0.4706773406654623, + "y": 0.1472161337032113, + "width": 0.41883465613367044, + "height": 0.5075129894368051 + } + ] + } + } + }, + { + "time": 5.34, + "frame": 160, + "progress": 20, + "action_description": "向爪夹右前方移动。", + "state_description": "爪夹处于张开状态。与土豆的距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：爪夹合拢。", + "progress_explanation": "与上一进度相比，爪夹接近了土豆。因此进度提升至20%。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动。与土豆的距离减小。方便继续向爪夹右前方移动。", + "correction_plan": "爪夹向下合拢抓取土豆，垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "annotations": { + "bbox_1769133580147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133580147_1769133768553_95a6sdam3", + "x": 0.1527995723294845, + "y": 0.33680084699188423, + "width": 0.06957839564435567, + "height": 0.10550449242772289 + } + ] + }, + "point_1769133593497": { + "type": "point", + "instances": [ + { + "id": "point_1769133593497_1769133772201_t1kqov9pw", + "x": 0.15007100779441174, + "y": 0.4091583217996268 + } + ] + }, + "point_1769133598183": { + "type": "point", + "instances": [ + { + "id": "point_1769133598183_1769133774279_lhx0h3a4j", + "x": 0.23192794384659488, + "y": 0.41825353666408566 + } + ] + }, + "bbox_1769133586353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133586353_1769133781569_94fppape4", + "x": 0.469313058397926, + "y": 0.14721613370321132, + "width": 0.4215632206687431, + "height": 0.5038749034910215 + } + ] + } + } + }, + { + "time": 5.684133, + "frame": 171, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹处于合拢状态。土豆被爪夹抓取。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹上方移动。", + "progress_explanation": "与上一进度相比，爪夹合拢抓取土豆。因此进度提升至40%。", + "error_success_analysis": "爪夹正确地合拢抓取土豆。方便向爪夹上前方移动。", + "correction_plan": "垂直抬升爪夹，向爪夹左上方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "annotations": { + "bbox_1769133580147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133580147_1769133799023_x14lmdlbl", + "x": 0.1514352900619481, + "y": 0.34589606185634303, + "width": 0.07230696017942846, + "height": 0.10004736350904762 + } + ] + }, + "point_1769133593497": { + "type": "point", + "instances": [ + { + "id": "point_1769133593497_1769133807196_9uzq34km0", + "x": 0.1527995723294845, + "y": 0.3946059780164926 + } + ] + }, + "point_1769133598183": { + "type": "point", + "instances": [ + { + "id": "point_1769133598183_1769133810361_2wokk7lyg", + "x": 0.22510653250891294, + "y": 0.4055202358538433 + } + ] + }, + "bbox_1769133586353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133586353_1769133814529_0sh6ozq1x", + "x": 0.46794877613038954, + "y": 0.14721613370321132, + "width": 0.4229275029362795, + "height": 0.5038749034910214 + } + ] + } + } + }, + { + "time": 6.7825585249408284, + "frame": 203, + "progress": 50, + "action_description": "向爪夹上方移动。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹左上方移动。", + "progress_explanation": "与上一进度相比，土豆接近白色盒子。因此进度提升至50%。", + "error_success_analysis": "爪夹正确地向爪夹上方移动。方便向爪夹左方移动。", + "correction_plan": "向爪夹上左方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "annotations": { + "bbox_1769133586353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133586353_1769133839112_t6xsczdgy", + "x": 0.47204162293299873, + "y": 0.14580133483824795, + "width": 0.41747037386613417, + "height": 0.507512989436805 + } + ] + }, + "bbox_1769133580147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133580147_1769133849075_gswykiwgw", + "x": 0.16780667727238474, + "y": 0.31456808720925455, + "width": 0.07503552471450119, + "height": 0.10004736350904757 + } + ] + }, + "point_1769133593497": { + "type": "point", + "instances": [ + { + "id": "point_1769133593497_1769133851745_5rdefn3nt", + "x": 0.16780667727238474, + "y": 0.38187267720625023 + } + ] + }, + "point_1769133598183": { + "type": "point", + "instances": [ + { + "id": "point_1769133598183_1769133857273_9cecqw3f1", + "x": 0.24284220198688594, + "y": 0.3873298061249255 + } + ] + } + } + }, + { + "time": 8.064833368292632, + "frame": 242, + "progress": 58, + "action_description": "向爪夹左上方移动。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹左方移动。", + "progress_explanation": "与上一进度相比，土豆接近白色盒子。因此进度提升至58%。", + "error_success_analysis": "土豆正确地向爪夹左上方移动。与白色盒子距离减小。方便向爪夹左方移动。", + "correction_plan": "向爪夹左方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "annotations": { + "bbox_1769133586353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133586353_1769133874523_v59tqncd8", + "x": 0.469313058397926, + "y": 0.14943942078403147, + "width": 0.4215632206687431, + "height": 0.5038749034910215 + } + ] + }, + "bbox_1769133580147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133580147_1769133894125_llsciovtz", + "x": 0.5211557845643087, + "y": 0.3491299036941982, + "width": 0.09004262965740137, + "height": 0.09459023459037232 + } + ] + }, + "point_1769133593497": { + "type": "point", + "instances": [ + { + "id": "point_1769133593497_1769133901097_3xmjajtxm", + "x": 0.5293414781695269, + "y": 0.42916779450143633 + } + ] + }, + "point_1769133598183": { + "type": "point", + "instances": [ + { + "id": "point_1769133598183_1769133903976_a5chlgk0y", + "x": 0.6139269787567828, + "y": 0.4127964077454103 + } + ] + } + } + }, + { + "time": 8.94217931374387, + "frame": 268, + "progress": 60, + "action_description": "向爪夹左前方移动。", + "state_description": "爪夹处于合拢状态。土豆与白色盒子距离减小。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹左方移动。", + "progress_explanation": "与上一进度相比，土豆接近白色盒子。因此进度提升至60%。", + "error_success_analysis": "土豆正确地向爪夹左前方移动。与白色盒子距离减小。方便向爪夹左方移动。", + "correction_plan": "向爪夹左方移动到白色盒子正上方，爪夹张开，土豆落入白色盒子。", + "annotations": { + "bbox_1769133580147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133580147_1769133912745_xipi108ma", + "x": 0.5552628412527182, + "y": 0.39319117915152924, + "width": 0.08867834738986513, + "height": 0.09640927756326405 + } + ] + }, + "point_1769133593497": { + "type": "point", + "instances": [ + { + "id": "point_1769133593497_1769133920360_8artnbjvc", + "x": 0.5648128171254729, + "y": 0.480100997742406 + } + ] + }, + "point_1769133598183": { + "type": "point", + "instances": [ + { + "id": "point_1769133598183_1769133922920_ei7zvwqmf", + "x": 0.6425769063750469, + "y": 0.44917726720324586 + } + ] + }, + "bbox_1769133586353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133586353_1769133934541_t4xhrl0ea", + "x": 0.469313058397926, + "y": 0.14357804775742775, + "width": 0.42019893840120676, + "height": 0.5111510753825886 + } + ] + } + } + }, + { + "time": 9.768909146957533, + "frame": 293, + "progress": 10, + "action_description": "爪夹张开。", + "state_description": "爪夹处于张开状态。土豆在桌子上。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹下方移动。", + "progress_explanation": "与上一进度相比，爪夹张开，土豆落在桌面上。因此进度减小至10%。", + "error_success_analysis": "爪夹错误地张开。土豆落在桌面上。应当爪夹下降，再次合拢抓取。", + "correction_plan": "向爪夹下方移动到土豆正上方。爪夹合拢。爪夹垂直抬升。向爪夹左方移动到白色盒子正上方。爪夹张开，土豆落入白色盒子。", + "annotations": { + "bbox_1769133580147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133580147_1769133954853_rdeq30h3a", + "x": 0.5252486313669178, + "y": 0.5225453522808094, + "width": 0.09277119419247422, + "height": 0.09277119161748051 + } + ] + }, + "point_1769133593497": { + "type": "point", + "instances": [ + { + "id": "point_1769133593497_1769133957123_by476lw1u", + "x": 0.5225200668318449, + "y": 0.49829142747132377 + } + ] + }, + "point_1769133598183": { + "type": "point", + "instances": [ + { + "id": "point_1769133598183_1769133959651_fc17x4aqk", + "x": 0.6193841078269283, + "y": 0.46372961098638005 + } + ] + }, + "bbox_1769133586353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133586353_1769133965430_a78kagpz2", + "x": 0.4706773406654624, + "y": 0.13993996181164423, + "width": 0.4161060915985975, + "height": 0.5147891613283722 + } + ] + } + } + }, + { + "time": 11.866667, + "frame": 356, + "progress": 5, + "action_description": "向爪夹上方移动。", + "state_description": "爪夹处于张开状态。与土豆距离增大。\n为完成爪夹抓取土豆放入白色盒子的任务应当：向爪夹下方移动。", + "progress_explanation": "与上一进度相比，爪夹远离土豆。因此进度减小至5%。", + "error_success_analysis": "爪夹错误地向爪夹上方移动。与土豆距离增大。应当爪夹下降，再次合拢抓取。", + "correction_plan": "向爪夹下方移动到土豆正上方。爪夹合拢。爪夹垂直抬升。向爪夹左方移动到白色盒子正上方。爪夹张开，土豆落入白色盒子。", + "annotations": { + "bbox_1769133580147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133580147_1769133985505_rpzvz4rka", + "x": 0.5211557845643087, + "y": 0.5278003591455206, + "width": 0.09413547646001055, + "height": 0.08731406269880514 + } + ] + }, + "point_1769133593497": { + "type": "point", + "instances": [ + { + "id": "point_1769133593497_1769133991257_ndqg0s2ic", + "x": 0.5347986072396724, + "y": 0.4382630093658952 + } + ] + }, + "point_1769133598183": { + "type": "point", + "instances": [ + { + "id": "point_1769133598183_1769133994077_675h1sh0f", + "x": 0.6425769063750469, + "y": 0.4055202358538433 + } + ] + }, + "bbox_1769133586353": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769133586353_1769134000273_zmucv0khu", + "x": 0.46794877613038943, + "y": 0.12356857505561827, + "width": 0.4201989384012069, + "height": 0.5275224621386145 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769133580147", + "name": "土豆", + "color": "#4CAF50" + }, + { + "id": "bbox_1769133586353", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769133593497", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769133598183", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-101531-put-water bamboo-white-box-good/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-101531-put-water bamboo-white-box-good/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c4e42799cf510986ab3a0f42320331b6ad3e869f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-101531-put-water bamboo-white-box-good/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,546 @@ +{ + "task_description": "爪夹把水竹放进白色盒子里。\n开始移动:0%\n爪夹靠近水竹:20%\n爪夹抓取水竹:40%\n爪夹抓住水竹接近白色盒子:60%\n爪夹将水竹放入白色盒子:80%\n爪夹松开，水竹落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "correction_plan": "向爪夹右前方移动到水竹正上方。爪夹合拢向下抓取水竹。爪夹垂直抬升。向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹右前方移动。\n", + "time": 1.0856866935005982, + "annotations": { + "point_1769136543890": { + "type": "point", + "instances": [ + { + "id": "point_1769136543890_1769136589610_54cny81fs", + "x": 0.6139269787567828, + "y": 0.2690920128869602 + } + ] + }, + "point_1769136554747": { + "type": "point", + "instances": [ + { + "id": "point_1769136554747_1769136591609_iem3zeunb", + "x": 0.6916910680063568, + "y": 0.21997785261888228 + } + ] + }, + "bbox_1769136533286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136533286_1769136601072_2q6u2hheg", + "x": -0.004092888437199846, + "y": 0.1544923055947784, + "width": 0.5675414232951363, + "height": 0.5020558605181296 + } + ] + }, + "bbox_1769136527854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136527854_1769136966370_rhw9lyt1k", + "x": 0.6821410921336021, + "y": 0.16358752045923727, + "width": 0.2114637514681398, + "height": 0.2801326178253332 + } + ] + } + } + }, + { + "action_description": "向爪夹前方移动。\n", + "correction_plan": "向爪夹右前方移动到水竹正上方。爪夹合拢向下抓取水竹。爪夹垂直抬升。向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与水竹的距离减小。\n方便向爪夹右前方移动。", + "frame": 59, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与水竹的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹右前方移动。\n", + "time": 1.9825587065425665, + "annotations": { + "bbox_1769136533286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136533286_1769136674500_k6m4xhawa", + "x": -4.163459068617925e-08, + "y": 0.15267326262188663, + "width": 0.5566271651548453, + "height": 0.5056939464639132 + } + ] + }, + "bbox_1769136527854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136527854_1769136976028_s2yz3iub1", + "x": 0.6875982212037475, + "y": 0.16358752045923727, + "width": 0.20873518693306706, + "height": 0.2764945318795497 + } + ] + }, + "point_1769136543890": { + "type": "point", + "instances": [ + { + "id": "point_1769136543890_1769136984141_n77130cjy", + "x": 0.5934627447437371, + "y": 0.19269220802550568 + } + ] + } + } + }, + { + "action_description": "向爪夹右前方移动。", + "correction_plan": "向爪夹右方移动到水竹正上方。爪夹合拢向下抓取水竹。爪夹垂直抬升。向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动。与水竹的距离减小。方便向爪夹右前方移动。", + "frame": 78, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与水竹的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹右前方移动。\n", + "time": 2.5896, + "annotations": { + "bbox_1769136533286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136533286_1769136758640_359o5qven", + "x": 0.001364240632945729, + "y": 0.1563113485676702, + "width": 0.5661771410276001, + "height": 0.5056939464639132 + } + ] + }, + "bbox_1769136527854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136527854_1769137001766_j32gifs0z", + "x": 0.6766839630634566, + "y": 0.1544923055947784, + "width": 0.22510657414350366, + "height": 0.27831357485244157 + } + ] + }, + "point_1769136543890": { + "type": "point", + "instances": [ + { + "id": "point_1769136543890_1769137093382_g9qdze8w9", + "x": 0.6835053744011386, + "y": 0.20178742288996457 + } + ] + } + } + }, + { + "action_description": "向爪夹右前方移动。", + "correction_plan": "向爪夹下方移动到水竹正上方。爪夹合拢抓取水竹。爪夹垂直抬升。向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动。与水竹的距离减小。方便爪夹下降。", + "frame": 95, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与水竹的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹下降。\n", + "time": 3.178388057265191, + "annotations": { + "bbox_1769136533286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136533286_1769136797346_dljo785kq", + "x": -0.00272860616966345, + "y": 0.1567155926755986, + "width": 0.5661771410276001, + "height": 0.4965987315994544 + } + ] + }, + "bbox_1769136527854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136527854_1769137014912_j54xgqkrk", + "x": 0.6875982212037477, + "y": 0.1563113485676702, + "width": 0.21009946920060338, + "height": 0.2764945318795497 + } + ] + }, + "point_1769136543890": { + "type": "point", + "instances": [ + { + "id": "point_1769136543890_1769137128376_hdyueyqxv", + "x": 0.7066981729492571, + "y": 0.1890541220797221 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢抓取水竹。爪夹垂直抬升。向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地下降。与水竹的距离减小。方便爪夹合拢。", + "frame": 118, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与水竹的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹合拢。\n", + "time": 3.9179141031068134, + "annotations": { + "bbox_1769136533286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136533286_1769136837919_wl4aods0r", + "x": 0.0013642406329457013, + "y": 0.1544923055947784, + "width": 0.5648128587600636, + "height": 0.5038749034910215 + } + ] + }, + "point_1769136543890": { + "type": "point", + "instances": [ + { + "id": "point_1769136543890_1769136883923_2nsd0qmcc", + "x": 0.7066981729492571, + "y": 0.28728244261587793 + } + ] + }, + "bbox_1769136527854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136527854_1769137029798_bqb8s10y6", + "x": 0.6848696566686748, + "y": 0.15813039154056197, + "width": 0.23602083228379475, + "height": 0.29650400458135917 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。\n", + "correction_plan": "爪夹垂直抬升。向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取水竹。方便向爪夹上方移动。", + "frame": 146, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取水竹。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。水竹被爪夹抓取。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹上方移动。", + "time": 4.861989906308886, + "annotations": { + "bbox_1769136533286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136533286_1769136890753_hs2xr0c5t", + "x": -4.163459068617925e-08, + "y": 0.15631134856767023, + "width": 0.5593557296899181, + "height": 0.4965987315994543 + } + ] + }, + "bbox_1769136527854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136527854_1769137040867_8xxcqxact", + "x": 0.6698625517257747, + "y": 0.15994943451345375, + "width": 0.22237800960843074, + "height": 0.2855897467440085 + } + ] + }, + "point_1769136543890": { + "type": "point", + "instances": [ + { + "id": "point_1769136543890_1769137047532_atltiu9ee", + "x": 0.7271624069623028, + "y": 0.28546339964298617 + } + ] + } + } + }, + { + "action_description": "向爪夹上方移动。", + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹上方移动。水竹与白色盒子的距离减小。方便继续向爪夹左上方移动。", + "frame": 175, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹接近白色盒子。因此进度提升至50%。", + "state_description": "爪夹处于合拢状态。水竹与白色盒子的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左上方移动。", + "time": 5.821800306230992, + "annotations": { + "bbox_1769136527854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136527854_1769137138042_vcc09dceb", + "x": 0.671226833993311, + "y": -0.003158066884913334, + "width": 0.17462813024465734, + "height": 0.3510752937681124 + } + ] + }, + "point_1769136543890": { + "type": "point", + "instances": [ + { + "id": "point_1769136543890_1769137147989_9nrn49rwr", + "x": 0.7107910197518662, + "y": 0.14175900478453599 + } + ] + }, + "bbox_1769136533286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136533286_1769137155694_16v667hq7", + "x": -0.0027286061696634558, + "y": 0.1563113485676702, + "width": 0.5648128587600636, + "height": 0.5038749034910215 + } + ] + } + } + }, + { + "action_description": "向爪夹左上方移动。", + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。水竹与白色盒子的距离减小。方便继续向爪夹左上方移动。", + "frame": 198, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹接近白色盒子。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。水竹与白色盒子的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左上方移动。", + "time": 6.6068, + "annotations": { + "bbox_1769136533286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136533286_1769137192671_p3tsy6nb5", + "x": 0.0013642406329457013, + "y": 0.1567155926755986, + "width": 0.5579914474223817, + "height": 0.49841777457234604 + } + ] + }, + "bbox_1769136527854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136527854_1769137215327_8sk10to0s", + "x": 0.4843201633408262, + "y": 0.0016926958718693841, + "width": 0.1882709529200212, + "height": 0.25466601620484836 + } + ] + }, + "point_1769136543890": { + "type": "point", + "instances": [ + { + "id": "point_1769136543890_1769137218869_xspkspgh9", + "x": 0.5088772441564811, + "y": 0.03079738343813777 + } + ] + } + } + }, + { + "action_description": "向爪夹左上方移动。", + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。水竹与白色盒子的距离减小。方便继续向爪夹左上方移动。", + "frame": 229, + "progress": 70, + "progress_explanation": "与上一进度相比，爪夹接近白色盒子。因此进度提升至70%。", + "state_description": "爪夹处于合拢状态。水竹与白色盒子的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左上方移动。", + "time": 7.636, + "annotations": { + "bbox_1769136533286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136533286_1769137260753_eywsfdid7", + "x": -0.0013643239021270737, + "y": 0.1563113485676702, + "width": 0.5648128587600637, + "height": 0.5002368175452377 + } + ] + }, + "bbox_1769136527854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136527854_1769137279633_djuvga4qt", + "x": 0.1514352900619481, + "y": 0.005330781817652933, + "width": 0.36972049450236055, + "height": 0.34925625079522066 + } + ] + }, + "point_1769136543890": { + "type": "point", + "instances": [ + { + "id": "point_1769136543890_1769137282577_22u2sjpjx", + "x": 0.24147791971934957, + "y": 0.11083527424537583 + } + ] + } + } + }, + { + "action_description": "向爪夹左上方移动。", + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。水竹与白色盒子的距离减小。方便爪夹张开。", + "frame": 256, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹接近白色盒子。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。水竹与白色盒子的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹张开。", + "time": 8.528150942076932, + "annotations": { + "bbox_1769136533286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136533286_1769137291049_h3d4ii2ix", + "x": 0.002728522900482086, + "y": 0.15307750672981504, + "width": 0.5620842942249908, + "height": 0.5056939464639132 + } + ] + }, + "point_1769136543890": { + "type": "point", + "instances": [ + { + "id": "point_1769136543890_1769137297899_olfg0ypwc", + "x": 0.2673992828025409, + "y": 0.12902570397429358 + } + ] + }, + "bbox_1769136527854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136527854_1769137304153_4nj4h74sx", + "x": 0.14734244325933896, + "y": -0.0019453900739141651, + "width": 0.40109898665569743, + "height": 0.3619895516054631 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开。水竹落入白色盒子。\n已完成爪夹把水竹放进白色盒子里的任务。", + "frame": 308, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，水竹落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。水竹落入白色盒子。\n已完成爪夹把水竹放进白色盒子里的任务。", + "time": 10.258956581280728, + "annotations": { + "bbox_1769136527854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136527854_1769137315915_dqwqeq3al", + "x": 0.1255139269787568, + "y": 0.3060792385066883, + "width": 0.3765419058400424, + "height": 0.1673519535060433 + } + ] + }, + "bbox_1769136533286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769136533286_1769137355310_4rdzbmk0l", + "x": 0.001364240632945701, + "y": 0.15267326262188663, + "width": 0.5675414232951365, + "height": 0.5038749034910215 + } + ] + }, + "point_1769136543890": { + "type": "point", + "instances": [ + { + "id": "point_1769136543890_1769137367187_brwxgnwcn", + "x": 0.253756460127177, + "y": 0.16722560640502085 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769136527854", + "name": "水竹", + "color": "#4CAF50" + }, + { + "id": "bbox_1769136533286", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769136543890", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769136554747", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-101531-put-water bamboo-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-101531-put-water bamboo-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..457ed8fbebb154c15cdb7586a13e8798cc7e84f3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-101531-put-water bamboo-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,646 @@ +{ + "task_description": "爪夹把水竹放进白色盒子里。\n开始移动:0%\n爪夹靠近水竹:20%\n爪夹抓取水竹:40%\n爪夹抓住水竹接近白色盒子:60%\n爪夹将水竹放入白色盒子:80%\n爪夹松开，水竹落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "correction_plan": "向爪夹前方移动到水竹正上方，爪夹合拢向下抓取水竹，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 1.6917528518508058, + "annotations": { + "bbox_1769139457337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139457337_1769139501692_4s134k95g", + "x": 0.5061486796214083, + "y": 0.20785091797053248, + "width": 0.04638559709623706, + "height": 0.23283750053014712 + } + ] + }, + "point_1769139477462": { + "type": "point", + "instances": [ + { + "id": "point_1769139477462_1769139511519_wk3wmd68y", + "x": 0.4174703322315433, + "y": 0.4910152555797566 + } + ] + }, + "point_1769139481920": { + "type": "point", + "instances": [ + { + "id": "point_1769139481920_1769139513860_kjc9kxe36", + "x": 0.6425769063750469, + "y": 0.4855581266610813 + } + ] + }, + "bbox_1769139465459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139465459_1769139523198_cvw5h8rto", + "x": 0.005457087435554858, + "y": 0.2181588096459905, + "width": 0.3301563087438053, + "height": 0.7348933610482767 + } + ] + } + } + }, + { + "action_description": "向爪夹前方移动。", + "correction_plan": "向爪夹前方移动到水竹正上方，爪夹合拢向下抓取水竹，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与水竹距离减小。方便继续向爪夹前方移动。", + "frame": 72, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与水竹距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.390520565927207, + "annotations": { + "bbox_1769139457337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139457337_1769139565635_j7z32c088", + "x": 0.4979629860161901, + "y": 0.08415599581389183, + "width": 0.05457129070145541, + "height": 0.28740878971690026 + } + ] + }, + "bbox_1769139465459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139465459_1769139577350_sbz1y107b", + "x": 0.00409280516801847, + "y": 0.16722560640502085, + "width": 0.321970615138587, + "height": 0.7785503923976794 + } + ] + }, + "point_1769139477462": { + "type": "point", + "instances": [ + { + "id": "point_1769139477462_1769139590088_62zvzwgky", + "x": 0.4188346144990797, + "y": 0.480100997742406 + } + ] + }, + "point_1769139481920": { + "type": "point", + "instances": [ + { + "id": "point_1769139481920_1769139592030_k6hwtsv4n", + "x": 0.6521268822478017, + "y": 0.47828195476951424 + } + ] + } + } + }, + { + "action_description": "向爪夹前方移动。", + "correction_plan": "向爪夹前下方移动到水竹正上方，爪夹合拢向下抓取水竹，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与水竹距离减小。方便向爪夹前下方移动。", + "frame": 98, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与水竹距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹前下方移动。", + "time": 3.2547858964953873, + "annotations": { + "bbox_1769139465459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139465459_1769139598518_6kh1yv90s", + "x": 0.00818565197062763, + "y": 0.354991276720802, + "width": 0.3410705668840964, + "height": 0.5984651380813938 + } + ] + }, + "point_1769139477462": { + "type": "point", + "instances": [ + { + "id": "point_1769139477462_1769139619708_b2fne20r7", + "x": 0.4120132031613978, + "y": 0.47828195476951424 + } + ] + }, + "point_1769139481920": { + "type": "point", + "instances": [ + { + "id": "point_1769139481920_1769139625040_ijj7s507j", + "x": 0.6453054709101197, + "y": 0.47828195476951424 + } + ] + }, + "bbox_1769139457337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139457337_1769139631004_e3dy2n9tl", + "x": 0.48022731653821704, + "y": 0.08536867262489099, + "width": 0.05457129070145541, + "height": 0.4565797861958354 + } + ] + } + } + }, + { + "action_description": "向爪夹前下方移动。", + "correction_plan": "向爪夹前下方移动到水竹正上方，爪夹合拢向下抓取水竹，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动，与水竹距离减小。方便继续向爪夹前下方移动。", + "frame": 132, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与水竹距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹前下方移动。", + "time": 4.413269211937842, + "annotations": { + "bbox_1769139457337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139457337_1769139645951_fkredyao6", + "x": 0.44748454211734384, + "y": 0.0002778970069060126, + "width": 0.12824253314842018, + "height": 0.6821411148344153 + } + ] + }, + "point_1769139477462": { + "type": "point", + "instances": [ + { + "id": "point_1769139477462_1769139662024_1k9l1pgqt", + "x": 0.40928463862632497, + "y": 0.480100997742406 + } + ] + }, + "point_1769139481920": { + "type": "point", + "instances": [ + { + "id": "point_1769139481920_1769139663906_b7yiie0ft", + "x": 0.6439411886425833, + "y": 0.480100997742406 + } + ] + }, + "bbox_1769139465459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139465459_1769139673690_u618019d0", + "x": 0.06139266040454666, + "y": 0.6092530488177219, + "width": 0.3560776718269967, + "height": 0.3456181648494372 + } + ] + } + } + }, + { + "action_description": "向爪夹前下方移动。", + "correction_plan": "向爪夹前下方移动到水竹正上方，爪夹合拢向下抓取水竹，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动，与水竹距离减小。方便继续向爪夹前下方移动。", + "frame": 158, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与水竹距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹前下方移动。", + "time": 5.25914591845138, + "annotations": { + "bbox_1769139465459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139465459_1769139685174_3ex7s3cz3", + "x": 0.04774983772918281, + "y": 0.6824190118413214, + "width": 0.3260634619411961, + "height": 0.27103740296087436 + } + ] + }, + "bbox_1769139457337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139457337_1769139694846_i715c9uxm", + "x": 0.4161060499640068, + "y": -0.0019453900739141634, + "width": 0.17599241251219383, + "height": 0.7385314469940603 + } + ] + }, + "point_1769139477462": { + "type": "point", + "instances": [ + { + "id": "point_1769139477462_1769139722891_3v8x1lk44", + "x": 0.42019889676661604, + "y": 0.46918673990505533 + } + ] + }, + "point_1769139481920": { + "type": "point", + "instances": [ + { + "id": "point_1769139481920_1769139725206_thzlzy0im", + "x": 0.6575840113179472, + "y": 0.4764629117966225 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取水竹。方便向爪夹上方移动。", + "frame": 181, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取水竹。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。水竹被抓取。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹上方移动。", + "time": 6.03146812874635, + "annotations": { + "bbox_1769139457337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139457337_1769139733060_8zn22e2fu", + "x": 0.4283845903718343, + "y": 0.0020969399797977862, + "width": 0.1527996139640752, + "height": 0.7385314469940604 + } + ] + }, + "bbox_1769139465459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139465459_1769139743946_ng0tzm49x", + "x": 0.04365699092657365, + "y": 0.6856528536791765, + "width": 0.34516341368670556, + "height": 0.2637612310693072 + } + ] + }, + "point_1769139477462": { + "type": "point", + "instances": [ + { + "id": "point_1769139477462_1769139750723_5c61uf0iy", + "x": 0.5020558328187992, + "y": 0.4873771696339731 + } + ] + }, + "point_1769139481920": { + "type": "point", + "instances": [ + { + "id": "point_1769139481920_1769139752673_yd79cgag1", + "x": 0.5552628412527183, + "y": 0.480100997742406 + } + ] + } + } + }, + { + "time": 7.318671812571299, + "frame": 220, + "progress": 50, + "action_description": "向爪夹上方移动。", + "state_description": "爪夹处于合拢状态。水竹与白色盒子距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左上方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近白色盒子。因此进度提升至50%。", + "error_success_analysis": "爪夹正确地向爪夹上方移动。水竹与白色盒子距离减小。方便继续向爪夹左上方移动。", + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "annotations": { + "bbox_1769139465459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139465459_1769139759564_b1i5d83zl", + "x": 0.05593553133440112, + "y": 0.5660002615762478, + "width": 0.34925626048931474, + "height": 0.3929132821446231 + } + ] + }, + "point_1769139477462": { + "type": "point", + "instances": [ + { + "id": "point_1769139477462_1769139767108_sctpt9p2j", + "x": 0.5102415264240175, + "y": 0.4855581266610813 + } + ] + }, + "point_1769139481920": { + "type": "point", + "instances": [ + { + "id": "point_1769139481920_1769139768980_0biu51s5i", + "x": 0.5470771476474999, + "y": 0.4946533415255402 + } + ] + }, + "bbox_1769139457337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139457337_1769139946509_7nap29qco", + "x": 0.44066313077966185, + "y": -0.0037644330468059963, + "width": 0.1405210735562478, + "height": 0.7312552751024934 + } + ] + } + } + }, + { + "action_description": "向爪夹左上方移动。", + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。水竹与白色盒子距离减小。方便继续向爪夹左上方移动。", + "frame": 253, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹靠近白色盒子。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。水竹与白色盒子距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左上方移动。", + "time": 8.421989255849828, + "annotations": { + "bbox_1769139465459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139465459_1769139781219_1quj80sps", + "x": 0.18963519355296693, + "y": 0.22947731159126955, + "width": 0.31242063926583225, + "height": 0.5948270521356102 + } + ] + }, + "point_1769139477462": { + "type": "point", + "instances": [ + { + "id": "point_1769139477462_1769139792859_rz709ubrm", + "x": 0.5006915505512628, + "y": 0.480100997742406 + } + ] + }, + "point_1769139481920": { + "type": "point", + "instances": [ + { + "id": "point_1769139481920_1769139795020_32r9u8aw2", + "x": 0.5525342767176455, + "y": 0.4855581266610813 + } + ] + }, + "bbox_1769139457337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139457337_1769139981870_w5flfiaep", + "x": 0.4461202598498074, + "y": -0.00012634710102238934, + "width": 0.1350639444861021, + "height": 0.7312552751024932 + } + ] + } + } + }, + { + "time": 9.777599, + "frame": 293, + "progress": 70, + "action_description": "向爪夹左上方移动。", + "state_description": "爪夹处于合拢状态。水竹与白色盒子距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近白色盒子。因此进度提升至70%。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动。水竹与白色盒子距离减小。方便向爪夹左方移动。", + "correction_plan": "向爪夹左方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "annotations": { + "bbox_1769139465459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139465459_1769139806534_gtiy1kdml", + "x": 0.24147791971934957, + "y": -0.003360188938877536, + "width": 0.5143344148612174, + "height": 0.7639980486145451 + } + ] + }, + "point_1769139477462": { + "type": "point", + "instances": [ + { + "id": "point_1769139477462_1769139840667_fwwdxa0fh", + "x": 0.5061486796214083, + "y": 0.48192004071529776 + } + ] + }, + "point_1769139481920": { + "type": "point", + "instances": [ + { + "id": "point_1769139481920_1769139842383_cg648na9e", + "x": 0.5552628412527183, + "y": 0.4837390836881896 + } + ] + }, + "bbox_1769139457337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139457337_1769139914324_6xq2br5e8", + "x": 0.44748454211734395, + "y": 0.0035117388447611564, + "width": 0.13097109768349285, + "height": 0.7348933610482767 + } + ] + } + } + }, + { + "action_description": "向爪夹左方移动。", + "correction_plan": "向爪夹左方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左方移动。水竹与白色盒子距离减小。方便向爪夹左方移动。", + "frame": 319, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹靠近白色盒子。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。水竹与白色盒子距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹张开。", + "time": 10.647012766461527, + "annotations": { + "bbox_1769139465459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139465459_1769139853388_8p4ewzeji", + "x": 0.2660350005350045, + "y": -0.0015411459659857574, + "width": 0.5170629793962902, + "height": 0.7840075213163546 + } + ] + }, + "bbox_1769139457337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139457337_1769139884440_f73f40l05", + "x": 0.4556702357225622, + "y": -0.0019453900739141439, + "width": 0.1241496863458111, + "height": 0.733074318075385 + } + ] + }, + "point_1769139477462": { + "type": "point", + "instances": [ + { + "id": "point_1769139477462_1769139895174_256dophjq", + "x": 0.5020558328187992, + "y": 0.4837390836881896 + } + ] + }, + "point_1769139481920": { + "type": "point", + "instances": [ + { + "id": "point_1769139481920_1769139897188_9h1ur00pz", + "x": 0.5566271235202547, + "y": 0.480100997742406 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，水竹落入白色盒子。\n已完成爪夹把水竹放进白色盒子里的任务。", + "frame": 353, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，水竹落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。水竹落入白色盒子。\n已完成爪夹把水竹放进白色盒子里的任务。\n", + "time": 11.750330209740056, + "annotations": { + "bbox_1769139457337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139457337_1769140040044_wrpx9z4ax", + "x": 0.5088772441564811, + "y": 0.17813986424237147, + "width": 0.09277119419247422, + "height": 0.47840830187053657 + } + ] + }, + "bbox_1769139465459": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769139465459_1769140046582_654lghz1s", + "x": 0.27285641187268644, + "y": 0.021702168573678904, + "width": 0.5184272616638265, + "height": 0.7567218767229781 + } + ] + }, + "point_1769139477462": { + "type": "point", + "instances": [ + { + "id": "point_1769139477462_1769140054387_5f1j2sc1e", + "x": 0.41337748542893415, + "y": 0.47464386882373066 + } + ] + }, + "point_1769139481920": { + "type": "point", + "instances": [ + { + "id": "point_1769139481920_1769140056602_ffcugfdy0", + "x": 0.6493983177127289, + "y": 0.47828195476951424 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769139457337", + "name": "水竹", + "color": "#4CAF50" + }, + { + "id": "bbox_1769139465459", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769139477462", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769139481920", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-103814-put-water bamboo-white-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-103814-put-water bamboo-white-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..69e41806a13569184764205f437a53b7bc21a815 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-103814-put-water bamboo-white-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,517 @@ +{ + "task_description": "爪夹把水竹放进白色盒子里。\n开始移动:0%\n爪夹靠近水竹:20%\n爪夹抓取水竹:40%\n爪夹抓住水竹接近白色盒子:60%\n爪夹将水竹放入白色盒子:80%\n爪夹松开，水竹落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769150473009": { + "instances": [ + { + "height": 0.3347039070120864, + "id": "bbox_1769150473009_1769150501690_0x1orl3di", + "width": 0.10368545233276513, + "x": 0.4161060499640071, + "y": 0.3188125393169307 + } + ], + "type": "bbox" + }, + "bbox_1769150478450": { + "instances": [ + { + "height": 0.5129701183554805, + "id": "bbox_1769150478450_1769150512201_lgysgglr4", + "width": 0.30014209885800486, + "x": 0.002728522900482086, + "y": 0.254539669103826 + } + ], + "type": "bbox" + }, + "point_1769150485941": { + "instances": [ + { + "id": "point_1769150485941_1769150522891_y8me1kwou", + "x": 0.4051917918237159, + "y": 0.24180636829358357 + } + ], + "type": "point" + }, + "point_1769150489596": { + "instances": [ + { + "id": "point_1769150489596_1769150526367_irg8pnlex", + "x": 0.48022731653821704, + "y": 0.23816828234780005 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前下方移动到水竹正上方。爪夹合拢抓取水竹，向爪夹右上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。\n", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把水竹放进白色盒子里的任务应当：\n向爪夹前方移动。", + "time": 0.984 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769150473009": { + "instances": [ + { + "height": 0.3365229499849783, + "id": "bbox_1769150473009_1769150569855_c37k0rs8t", + "width": 0.10504973460030173, + "x": 0.4161060499640069, + "y": 0.3200252161279299 + } + ], + "type": "bbox" + }, + "bbox_1769150478450": { + "instances": [ + { + "height": 0.5093320324096967, + "id": "bbox_1769150478450_1769150551647_9j98uuyun", + "width": 0.30969207473075955, + "x": -0.005457170704736228, + "y": 0.254539669103826 + } + ], + "type": "bbox" + }, + "point_1769150485941": { + "instances": [ + { + "id": "point_1769150485941_1769150579447_t7cudbn4k", + "x": 0.3997346627535703, + "y": 0.2636348839682849 + } + ], + "type": "point" + }, + "point_1769150489596": { + "instances": [ + { + "id": "point_1769150489596_1769150581779_xau69nw9x", + "x": 0.47886303427068067, + "y": 0.26181584099539307 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到水竹正上方，爪夹下降合拢抓取水竹，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与水竹距离减小。方便继续向爪夹前方移动。", + "frame": 69, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与水竹距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：\n向爪夹前方移动。", + "time": 2.2928903255381177 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1769150473009": { + "instances": [ + { + "height": 0.33652294998497817, + "id": "bbox_1769150473009_1769150602905_1hkau3x06", + "width": 0.10641401686783807, + "x": 0.41474176769647053, + "y": 0.3200252161279299 + } + ], + "type": "bbox" + }, + "bbox_1769150478450": { + "instances": [ + { + "height": 0.5111510753825885, + "id": "bbox_1769150478450_1769150588283_c1895msh5", + "width": 0.30014209885800486, + "x": -4.163459068617925e-08, + "y": 0.25312487023886265 + } + ], + "type": "bbox" + }, + "point_1769150485941": { + "instances": [ + { + "id": "point_1769150485941_1769150614945_461rkzm6s", + "x": 0.3451633720521149, + "y": 0.367320333423116 + } + ], + "type": "point" + }, + "point_1769150489596": { + "instances": [ + { + "id": "point_1769150489596_1769150617044_xab4758sg", + "x": 0.4188346144990797, + "y": 0.37095841936889956 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动到水竹正上方，爪夹下降合拢抓取水竹，爪夹垂直抬升，向爪夹右上方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹错误地向爪夹右下方移动，与水竹的距离增加。因此进度减小至5%。", + "frame": 93, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹远离水竹。因此进度减小至5%。", + "state_description": "爪夹处于张开状态。与水竹的距离增加。\n为完成爪夹把水竹放进白色盒子里的任务应当：\n向爪夹左方移动。", + "time": 3.088666 + }, + { + "action_description": "爪夹合拢。", + "annotations": {}, + "correction_plan": "爪夹张开，向爪夹左方移动到水竹正上方，爪夹合拢向下抓取水竹，垂直抬升爪夹，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹错误地合拢抓取青瓜。应当爪夹张开，再次合拢抓取。", + "frame": 110, + "progress": -40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取错误的物体青瓜。因此进度减小至-40%。", + "state_description": "爪夹处于合拢状态。错误的物体青瓜被爪夹抓取。\n为完成爪夹把水竹放进白色盒子里的任务应当：\n向爪夹左方移动。", + "time": 3.672511132452457 + }, + { + "action_description": "向爪夹前上方移动。", + "correction_plan": "爪夹张开，向爪夹左方移动到水竹正上方，爪夹合拢向下抓取水竹，垂直抬升爪夹，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹错误地向爪夹前上方移动，爪夹与水竹的距离增大。应当爪夹张开。", + "frame": 129, + "progress": -43, + "progress_explanation": "与上一进度相比，爪夹远离水竹。因此进度减小至-43%。", + "state_description": "爪夹处于合拢状态。爪夹与水竹的距离增大。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹张开。", + "time": 4.313743338483066 + }, + { + "action_description": "爪夹张开。", + "correction_plan": "向爪夹左方移动到水竹正上方，爪夹合拢向下抓取水竹，垂直抬升爪夹，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地张开，错误的物体青瓜落在桌面上。方便向爪夹左方移动。", + "frame": 151, + "progress": 8, + "progress_explanation": "与上一进度相比，爪夹张开，错误的物体青瓜落在桌面上。因此进度提升至8%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左方移动。", + "time": 5.0327006603961735 + }, + { + "action_description": "向爪夹左方移动。", + "correction_plan": "爪夹下降，合拢抓取水竹，垂直抬升爪夹，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左方移动，与水竹的距离减小。方便爪夹下降。", + "frame": 181, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。与水竹的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹下降。", + "time": 6.040666 + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢抓取水竹，垂直抬升爪夹，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地下降，与水竹的距离减小，在水竹的正上方。方便爪夹下降。", + "frame": 199, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与水竹的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹合拢。", + "time": 6.6454968149580065 + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "垂直抬升爪夹，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取水竹。方便向爪夹右上方移动。", + "frame": 259, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取水竹。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。水竹被爪夹抓取。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹右上方移动。", + "time": 8.623666, + "annotations": { + "bbox_1769150473009": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769150473009_1769150789671_wyv31x4sc", + "x": 0.41610604996400696, + "y": 0.3204294602358583, + "width": 0.10914258140291082, + "height": 0.3328848640391947 + } + ] + }, + "bbox_1769150478450": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769150478450_1769150804465_9urdo500c", + "x": 0.0013642406329457013, + "y": 0.2509015831580424, + "width": 0.3001420988580048, + "height": 0.5184272472741558 + } + ] + }, + "point_1769150485941": { + "type": "point", + "instances": [ + { + "id": "point_1769150485941_1769150821251_0vtguck4j", + "x": 0.45294167118748935, + "y": 0.4546343961219212 + } + ] + }, + "point_1769150489596": { + "type": "point", + "instances": [ + { + "id": "point_1769150489596_1769150834027_rk1c3gar0", + "x": 0.48022731653821704, + "y": 0.4546343961219212 + } + ] + } + } + }, + { + "action_description": "向爪夹上方移动。", + "correction_plan": "向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹上方移动。水竹与白色盒子距离减小。方便向爪夹右方移动。", + "frame": 287, + "progress": 50, + "progress_explanation": "与上一进度相比，水竹与白色盒子距离减小。因此进度提升至50%。", + "state_description": "爪夹处于合拢状态。水竹悬于空中。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹右方移动。", + "time": 9.553, + "annotations": { + "bbox_1769150478450": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769150478450_1769150844845_deluvjjpb", + "x": -0.001364323902127064, + "y": 0.2527206261309342, + "width": 0.3055992279281504, + "height": 0.5111510753825885 + } + ] + }, + "point_1769150485941": { + "type": "point", + "instances": [ + { + "id": "point_1769150485941_1769150859743_pygao695b", + "x": 0.4597630825251713, + "y": 0.28728244261587793 + } + ] + }, + "point_1769150489596": { + "type": "point", + "instances": [ + { + "id": "point_1769150489596_1769150863513_lrown4glu", + "x": 0.49114157467850816, + "y": 0.2963776574803368 + } + ] + }, + "bbox_1769150473009": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769150473009_1769150868929_fecorwiwg", + "x": 0.4229274613016888, + "y": 0.22907306748334116, + "width": 0.11050686367044724, + "height": 0.24738984431328123 + } + ] + } + } + }, + { + "action_description": "向爪夹右方移动。", + "correction_plan": "向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。水竹与白色盒子距离减小。方便继续向爪夹右方移动。", + "frame": 306, + "progress": 60, + "progress_explanation": "与上一进度相比，水竹与白色盒子距离减小。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。水竹在白色盒子正上方。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹右方移动。", + "time": 10.195333, + "annotations": { + "bbox_1769150473009": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769150473009_1769150886911_2eho7f6m3", + "x": 0.19645660489064887, + "y": 0.2403915694286202, + "width": 0.2278351386785764, + "height": 0.1346091799939913 + } + ] + }, + "bbox_1769150478450": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769150478450_1769150908815_mv8ipzjxj", + "x": -0.0013643239021270737, + "y": 0.25453966910382597, + "width": 0.3028706633930776, + "height": 0.5111510753825885 + } + ] + }, + "point_1769150485941": { + "type": "point", + "instances": [ + { + "id": "point_1769150485941_1769150932304_7p1agdypd", + "x": 0.30832775082863245, + "y": 0.23816828234780005 + } + ] + }, + "point_1769150489596": { + "type": "point", + "instances": [ + { + "id": "point_1769150489596_1769150934533_2divx12ex", + "x": 0.3437990897845785, + "y": 0.26545392694117664 + } + ] + } + } + }, + { + "action_description": "向爪夹右方移动。", + "correction_plan": "爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。水竹与白色盒子距离减小。方便爪夹张开。", + "frame": 327, + "progress": 80, + "progress_explanation": "与上一进度相比，水竹与白色盒子距离减小。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。水竹在白色盒子正上方。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹张开。", + "time": 10.906, + "annotations": { + "bbox_1769150478450": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769150478450_1769150949175_v7ympymeg", + "x": 0.0013642406329457013, + "y": 0.2563587120767178, + "width": 0.2987778165904684, + "height": 0.5129701183554802 + } + ] + }, + "point_1769150485941": { + "type": "point", + "instances": [ + { + "id": "point_1769150485941_1769150965076_5r49bw8lw", + "x": 0.16780667727238474, + "y": 0.3163871301821463 + } + ] + }, + "point_1769150489596": { + "type": "point", + "instances": [ + { + "id": "point_1769150489596_1769150966717_l1jclarxg", + "x": 0.1909994758205033, + "y": 0.3454918177484147 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，水竹落入白色盒子。\n已完成爪夹把水竹放进白色盒子里的任务。", + "frame": 367, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，水竹落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。水竹在白色盒子中。\n已完成爪夹把水竹放进白色盒子里的任务。", + "time": 12.218, + "annotations": { + "bbox_1769150473009": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769150473009_1769150974193_mbg71xian", + "x": 0.015007063308309554, + "y": 0.3768197923955033, + "width": 0.2592136308319132, + "height": 0.26921835998798255 + } + ] + }, + "bbox_1769150478450": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769150478450_1769150998417_gzptnkwro", + "x": -4.1634590683403695e-08, + "y": 0.254539669103826, + "width": 0.3015063811255412, + "height": 0.5111510753825886 + } + ] + }, + "point_1769150485941": { + "type": "point", + "instances": [ + { + "id": "point_1769150485941_1769151009306_updmlywyw", + "x": 0.1364281851190479, + "y": 0.3200252161279299 + } + ] + }, + "point_1769150489596": { + "type": "point", + "instances": [ + { + "id": "point_1769150489596_1769151011686_hblridn1q", + "x": 0.23465650838166763, + "y": 0.38551076315203375 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769150473009", + "name": "水竹" + }, + { + "color": "#FF9800", + "id": "bbox_1769150478450", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769150485941", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769150489596", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-103814-put-water bamboo-white-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-103814-put-water bamboo-white-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..612191fdbd4abc15402232adbd551ce631fcc308 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-103814-put-water bamboo-white-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,492 @@ +{ + "task_description": "爪夹把水竹放进白色盒子里。\n开始移动:0%\n爪夹靠近水竹:20%\n爪夹抓取水竹:40%\n爪夹抓住水竹接近白色盒子:60%\n爪夹将水竹放入白色盒子:80%\n爪夹松开，水竹落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768894179848": { + "instances": [ + { + "height": 0.27649453187954964, + "id": "bbox_1768894179848_1769154550522_xg9zl3ysm", + "width": 0.29741353432293205, + "x": 0.338341960714433, + "y": 0.24059369148258444 + } + ], + "type": "bbox" + }, + "bbox_1769151070988": { + "instances": [ + { + "height": 0.6639506851054976, + "id": "bbox_1769151070988_1769154589721_ucto8lv6k", + "width": 0.33970628461656005, + "x": 0.6630411403880927, + "y": 0.09628293046224164 + } + ], + "type": "bbox" + }, + "point_1769154576187": { + "instances": [ + { + "id": "point_1769154576187_1769154599169_c7kp950us", + "x": 0.38472755781067003, + "y": 0.3418537318026312 + } + ], + "type": "point" + }, + "point_1769154580473": { + "instances": [ + { + "id": "point_1769154580473_1769154600921_uhheaj56g", + "x": 0.4774987520031443, + "y": 0.36004416153154895 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前下方移动到水竹正上方，爪夹向下合拢抓取水竹，爪夹垂直抬升，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹前下方移动。", + "time": 0.136666 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1768894179848": { + "instances": [ + { + "height": 0.2928659186355756, + "id": "bbox_1768894179848_1769154605457_i3y1dn0eu", + "width": 0.2824064293800318, + "x": 0.35744191245994233, + "y": 0.2276582686183778 + } + ], + "type": "bbox" + }, + "bbox_1769151070988": { + "instances": [ + { + "height": 0.6603125991597139, + "id": "bbox_1769151070988_1769154614081_je9c123f7", + "width": 0.33288487327887806, + "x": 0.6630411403880927, + "y": 0.09446388748934988 + } + ], + "type": "bbox" + }, + "point_1769154580473": { + "instances": [ + { + "id": "point_1769154580473_1769154624583_h6icds5x6", + "x": 0.47886303427068067, + "y": 0.22907306748334116 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前下方移动到水竹正上方，爪夹向下合拢抓取水竹，爪夹垂直抬升，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与水竹距离减小。方便向爪夹前下方移动。", + "frame": 51, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。在水竹的后上方。与水竹距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹前下方移动。", + "time": 1.694666 + }, + { + "action_description": "向爪夹前下方移动。", + "annotations": { + "bbox_1768894179848": { + "instances": [ + { + "height": 0.2692183599879826, + "id": "bbox_1768894179848_1769154644621_8wafgndpy", + "width": 0.30696351019568674, + "x": 0.3342491139118238, + "y": 0.23634923937490823 + } + ], + "type": "bbox" + }, + "bbox_1769151070988": { + "instances": [ + { + "height": 0.6566745132139306, + "id": "bbox_1769151070988_1769154631624_ap0s1195w", + "width": 0.3410705668840962, + "x": 0.66031257585302, + "y": 0.09992101640802518 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前下方移动到水竹正上方，爪夹向下合拢抓取水竹，爪夹垂直抬升，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前下方移动。与水竹距离减小。方便向爪夹前下方移动。", + "frame": 71, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。在水竹的后上方。与水竹距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹前下方移动。", + "time": 2.364333 + }, + { + "action_description": "向爪夹右边移动。", + "annotations": { + "bbox_1768894179848": { + "instances": [ + { + "height": 0.2783135748524415, + "id": "bbox_1768894179848_1769154668376_ww5pfsa59", + "width": 0.2701278889722044, + "x": 0.3628990415300879, + "y": 0.2327111534291247 + } + ], + "type": "bbox" + }, + "bbox_1769151070988": { + "instances": [ + { + "height": 0.6657697280783894, + "id": "bbox_1769151070988_1769154654496_arzhkvdzq", + "width": 0.3410705668840962, + "x": 0.6616768581205563, + "y": 0.09668717457017004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹左方移动到水竹正上方，爪夹向下合拢抓取水竹，爪夹垂直抬升，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹错误地向爪夹右方移动。与水竹距离增加。应当向爪夹左方移动。", + "frame": 95, + "progress": 14, + "progress_explanation": "与上一进度相比，爪夹远离水竹。因此进度减小至14%。", + "state_description": "爪夹处于张开状态。在水竹的右上方。与水竹距离增加。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左方移动。", + "time": 3.1672978792162203 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768894179848": { + "instances": [ + { + "height": 0.2746754889066579, + "id": "bbox_1768894179848_1769154686603_kw66eyo3c", + "width": 0.27831358257742267, + "x": 0.36017047699501514, + "y": 0.23453019640201647 + } + ], + "type": "bbox" + }, + "bbox_1769151070988": { + "instances": [ + { + "height": 0.6694078140241728, + "id": "bbox_1769151070988_1769154678696_rojgjq083", + "width": 0.3410705668840964, + "x": 0.6575840113179472, + "y": 0.09850621754306181 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，向爪夹左方移动到水竹正上方，爪夹合拢抓取水竹，爪夹垂直抬升，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹错误地合拢抓取错误的物体青瓜。应当爪夹张开。", + "frame": 111, + "progress": -40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取错误的物体青瓜。 \n因此进度减小至-40%。", + "state_description": "爪夹处于合拢状态。在水竹的右方。错误的物体青瓜被爪夹抓取。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹张开。", + "time": 3.691942411423082 + }, + { + "action_description": "向爪夹上方移动。", + "annotations": { + "bbox_1768894179848": { + "instances": [ + { + "height": 0.29832304755425093, + "id": "bbox_1768894179848_1769154708513_d20t27kmr", + "width": 0.2714921712397407, + "x": 0.35744191245994233, + "y": 0.2290730674833412 + } + ], + "type": "bbox" + }, + "bbox_1769151070988": { + "instances": [ + { + "height": 0.6766839859157401, + "id": "bbox_1769151070988_1769154694598_v0vxhu1mz", + "width": 0.3315205910113416, + "x": 0.6671339871907019, + "y": 0.0930490886243865 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，向爪夹左方移动到水竹正上方，爪夹合拢抓取水竹，爪夹垂直抬升，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹错误地向上方移动远离水竹。应当爪夹张开。", + "frame": 136, + "progress": -50, + "progress_explanation": "与上一进度相比，爪夹远离水竹。 因此进度减小至-50%。", + "state_description": "爪夹处于合拢状态。错误的物体青瓜悬于空中。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹张开。", + "time": 4.523666 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768894179848": { + "instances": [ + { + "height": 0.2965040045813592, + "id": "bbox_1768894179848_1769154725172_uo69j3h4e", + "width": 0.27285645350727705, + "x": 0.35607763019240596, + "y": 0.22543498153755764 + } + ], + "type": "bbox" + }, + "bbox_1769151070988": { + "instances": [ + { + "height": 0.6584935561868224, + "id": "bbox_1769151070988_1769154716393_57bi50p96", + "width": 0.342434849151633, + "x": 0.6562197290504107, + "y": 0.10234642554280957 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹左方移动到水竹正上方，爪夹合拢抓取水竹，爪夹垂直抬升，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地张开。方便向爪夹左方移动。", + "frame": 167, + "progress": 4, + "progress_explanation": "与上一进度相比，爪夹张开，错误的物体青瓜落在桌面上。 因此进度增加至4%。", + "state_description": "爪夹处张开状态。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左方移动。", + "time": 5.576776471573659 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1768894179848": { + "instances": [ + { + "height": 0.265580274042199, + "id": "bbox_1768894179848_1769154810053_eo1da4k18", + "width": 0.24829937269162222, + "x": 0.3874561223457428, + "y": 0.2399873253206918 + } + ], + "type": "bbox" + }, + "bbox_1769151070988": { + "instances": [ + { + "height": 0.6657697280783894, + "id": "bbox_1769151070988_1769154815147_wt1nsdpqd", + "width": 0.3356134378139509, + "x": 0.6616768581205563, + "y": 0.09810197343513341 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取水竹，爪夹垂直抬升，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左方移动。与水竹的距离减小。方便爪夹合拢。", + "frame": 202, + "progress": 18, + "progress_explanation": "与上一进度相比，爪夹与水竹的距离减小。 因此进度增加至18%。", + "state_description": "爪夹处于张开状态。在水竹的正上方。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹合拢。", + "time": 6.723221930840504 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768894179848": { + "instances": [ + { + "height": 0.2637612310693072, + "id": "bbox_1768894179848_1769154858722_we49uk29q", + "width": 0.268763606704668, + "x": 0.36972045286776983, + "y": 0.2327111534291247 + } + ], + "type": "bbox" + }, + "bbox_1769151070988": { + "instances": [ + { + "height": 0.6657697280783895, + "id": "bbox_1769151070988_1769154844803_tpl4j7m75", + "width": 0.3410705668840962, + "x": 0.6616768581205563, + "y": 0.09628293046224164 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直抬升，向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取水竹，方便向爪夹上方移动。", + "frame": 259, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取水竹。 因此进度增加至40%。", + "state_description": "爪夹处于合拢状态。水竹被爪夹抓取。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹上方移动。", + "time": 8.64691854893233 + }, + { + "action_description": "向爪夹上方移动。", + "annotations": { + "bbox_1768894179848": { + "instances": [ + { + "height": 0.2455708013403895, + "id": "bbox_1768894179848_1769154889771_1jgp2ad1m", + "width": 0.18144954158233934, + "x": 0.44066313077966174, + "y": 0.005330781817652934 + } + ], + "type": "bbox" + }, + "bbox_1769151070988": { + "instances": [ + { + "height": 0.67668398591574, + "id": "bbox_1769151070988_1769154878695_px3vkohmo", + "width": 0.3410705668840965, + "x": 0.6562197290504107, + "y": 0.09446388748934988 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹右方移动到白色盒子正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹上方移动。水竹与白色盒子距离减小。 方便向爪夹右方移动。", + "frame": 302, + "progress": 60, + "progress_explanation": "与上一进度相比，水竹与白色盒子距离减小。 因此进度增加至60%。", + "state_description": "爪夹处于合拢状态。水竹悬于空中。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹右方移动。", + "time": 10.065401913787921 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769151070988": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151070988_1769154938026_0kq3k6cn0", + "x": 0.6616768581205564, + "y": 0.09082580154356631, + "width": 0.3328848732788782, + "height": 0.6694078140241728 + } + ] + }, + "bbox_1768894179848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768894179848_1769154992529_fx9tssey1", + "x": 0.6862339389362113, + "y": -0.0019453900739141651, + "width": 0.25102793722669486, + "height": 0.35653242268678775 + } + ] + } + }, + "correction_plan": "爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。水竹与白色盒子距离减小。 方便爪夹张开。", + "frame": 327, + "progress": 80, + "progress_explanation": "与上一进度相比，水竹与白色盒子距离减小。 因此进度增加至60%。", + "state_description": "爪夹处于合拢状态。水竹在白色盒子正上方。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹张开。", + "time": 10.900946909524773 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769151070988": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769151070988_1769154961531_21a3sim8l", + "x": 0.6589482935854836, + "y": 0.10942047538041247, + "width": 0.3356134378139508, + "height": 0.6512173842952552 + } + ] + }, + "bbox_1768894179848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768894179848_1769154983858_cl4n0luwa", + "x": 0.7871908267339038, + "y": 0.3946059780164926, + "width": 0.21009946920060338, + "height": 0.19463759809941983 + } + ] + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，水竹落入白色盒子。 \n已完成爪夹把水竹放进白色盒子里的任务。", + "frame": 388, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，水竹落入白色盒子。 因此进度增加至100%。", + "state_description": "爪夹处于张开状态。水竹在白色盒子中。\n已完成爪夹把水竹放进白色盒子里的任务。", + "time": 12.928666 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768894179848", + "name": "水竹" + }, + { + "color": "#FF9800", + "id": "bbox_1769151070988", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769154576187", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769154580473", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-103814-put-water bamboo-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-103814-put-water bamboo-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..e88613ea23fb570812b0d4771ca3c12372f09cdb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-103814-put-water bamboo-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,712 @@ +{ + "task_description": "爪夹把水竹放进白色盒子里。\n开始移动:0%\n爪夹靠近水竹:20%\n爪夹抓取水竹:40%\n爪夹抓住水竹接近白色盒子:60%\n爪夹将水竹放入白色盒子:80%\n爪夹松开，水竹落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769161339247": { + "instances": [ + { + "height": 0.28922783268979213, + "id": "bbox_1769161339247_1769161367768_3so9ghjya", + "width": 0.09959260553015614, + "x": 0.6480340354451924, + "y": 0.32245062526271423 + } + ], + "type": "bbox" + }, + "bbox_1769161346716": { + "instances": [ + { + "height": 0.3656276375512466, + "id": "bbox_1769161346716_1769161374660_f0xsvzgad", + "width": 0.3560776718269966, + "x": 0.22374225024137656, + "y": 0.14903517667610308 + } + ], + "type": "bbox" + }, + "point_1768973356942": { + "instances": [ + { + "id": "point_1768973356942_1769161369794_pdwsmau3k", + "x": 0.4120132031613978, + "y": 0.49647238449843195 + } + ], + "type": "point" + }, + "point_1769161354199": { + "instances": [ + { + "id": "point_1769161354199_1769161371258_7thckj5ho", + "x": 0.6357554950373651, + "y": 0.49283429855264843 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到水竹的正上方，爪夹下降，爪夹合拢抓取水竹，向爪夹左上方移动到水竹正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 1.056266 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769161339247": { + "instances": [ + { + "height": 0.4474845713313765, + "id": "bbox_1769161339247_1769161398908_bg2jli1wo", + "width": 0.09686404099508339, + "x": 0.6725911162608473, + "y": 0.1854160361339386 + } + ], + "type": "bbox" + }, + "bbox_1769161346716": { + "instances": [ + { + "height": 0.4784083018705366, + "id": "bbox_1769161346716_1769161386240_k14buhn58", + "width": 0.4502131482870072, + "x": 0.12824249151382955, + "y": 0.00048001906087021353 + } + ], + "type": "bbox" + }, + "point_1768973356942": { + "instances": [ + { + "id": "point_1768973356942_1769161393192_w843km1jp", + "x": 0.41474176769647053, + "y": 0.49283429855264843 + } + ], + "type": "point" + }, + "point_1769161354199": { + "instances": [ + { + "id": "point_1769161354199_1769161394574_zcm0xbgqo", + "x": 0.6425769063750469, + "y": 0.49283429855264843 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到水竹的正上方，爪夹下降，爪夹合拢抓取水竹，向爪夹左上方移动到水竹正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与水竹的距离减小。方便向爪夹前方移动。", + "frame": 84, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与水竹的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.8048332267744183 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769161339247": { + "instances": [ + { + "height": 0.5475319348404241, + "id": "bbox_1769161339247_1769161417320_x3j3jmdd0", + "width": 0.20191377559538504, + "x": 0.5661770993930093, + "y": -0.0015411459659857615 + } + ], + "type": "bbox" + }, + "bbox_1769161346716": { + "instances": [ + { + "height": 0.6312079115934457, + "id": "bbox_1769161346716_1769161429994_3fc4k9rto", + "width": 0.28513499391510455, + "x": 0.0027285229004820866, + "y": -0.001945390073914164 + } + ], + "type": "bbox" + }, + "point_1768973356942": { + "instances": [ + { + "id": "point_1768973356942_1769161420208_01sj5yy8q", + "x": 0.4120132031613978, + "y": 0.480100997742406 + } + ], + "type": "point" + }, + "point_1769161354199": { + "instances": [ + { + "id": "point_1769161354199_1769161425046_hlmo3afmm", + "x": 0.6412126241075106, + "y": 0.4764629117966225 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到水竹的正上方，爪夹下降，爪夹合拢抓取水竹，向爪夹左上方移动到水竹正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与水竹的距离减小。方便向爪夹前方移动。", + "frame": 121, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹靠近水竹。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与水竹的距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹前方移动。", + "time": 4.024787421635741 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769161339247": { + "instances": [ + { + "height": 0.5766366224066924, + "id": "bbox_1769161339247_1769161444080_48sfu0o12", + "width": 0.2592136308319133, + "x": 0.5088772441564811, + "y": 0.0002778970069060129 + } + ], + "type": "bbox" + }, + "bbox_1769161346716": { + "instances": [ + { + "height": 0.6421221694307964, + "id": "bbox_1769161346716_1769161452224_2ovm0xv58", + "width": 0.32879202647626893, + "x": 0.02728560371613703, + "y": -0.005583476019697716 + } + ], + "type": "bbox" + }, + "point_1768973356942": { + "instances": [ + { + "id": "point_1768973356942_1769161458894_m9qw922z9", + "x": 0.5184272200292359, + "y": 0.47828195476951424 + } + ], + "type": "point" + }, + "point_1769161354199": { + "instances": [ + { + "id": "point_1769161354199_1769161461278_esgmw5si1", + "x": 0.5361628895072088, + "y": 0.4764629117966225 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，向爪夹右前方移动到水竹的正上方，爪夹下降，爪夹合拢抓取水竹，向爪夹左上方移动到水竹正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹错误地合拢，未抓取到水竹。应当爪夹张开。", + "frame": 146, + "progress": 2, + "progress_explanation": "与上一进度相比，爪夹合拢，但未抓取到水竹。因此进度减小至2%。", + "state_description": "爪夹处于合拢状态。未抓取到水竹。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹张开。", + "time": 4.880852019466237 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769161339247": { + "instances": [ + { + "height": 0.5529890637590993, + "id": "bbox_1769161339247_1769161513238_5nq9p2p9y", + "width": 0.16507815437190257, + "x": 0.49114157467850816, + "y": 0.19269220802550568 + } + ], + "type": "bbox" + }, + "bbox_1769161346716": { + "instances": [ + { + "height": 0.683960157807307, + "id": "bbox_1769161346716_1769161502784_g66jdmr5i", + "width": 0.32333489740612337, + "x": 0.04774983772918282, + "y": 0.003511738844761155 + } + ], + "type": "bbox" + }, + "point_1768973356942": { + "instances": [ + { + "id": "point_1768973356942_1769161529919_du0862ecp", + "x": 0.4161060499640069, + "y": 0.4873771696339731 + } + ], + "type": "point" + }, + "point_1769161354199": { + "instances": [ + { + "id": "point_1769161354199_1769161525493_wkpjdynri", + "x": 0.6480340354451924, + "y": 0.4910152555797566 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右方移动到水竹的正上方，爪夹下降，爪夹合拢抓取水竹，向爪夹左上方移动到水竹正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地张开，方便向爪夹右方移动。", + "frame": 181, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至19%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹右方移动。", + "time": 6.0425192101382414 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769161339247": { + "instances": [ + { + "height": 0.7694551775332206, + "id": "bbox_1769161339247_1769161536248_80mz9ayqm", + "width": 0.18281382384987568, + "x": 0.4515773889199529, + "y": 0.0932512106783507 + } + ], + "type": "bbox" + }, + "bbox_1769161346716": { + "instances": [ + { + "height": 0.9331690450934802, + "id": "bbox_1769161346716_1769161544274_r0crn140a", + "width": 0.26194219536698604, + "x": 0.005457087435554858, + "y": 0.001692695871869369 + } + ], + "type": "bbox" + }, + "point_1768973356942": { + "instances": [ + { + "id": "point_1768973356942_1769161550386_j34uawmj1", + "x": 0.41474176769647053, + "y": 0.48192004071529776 + } + ], + "type": "point" + }, + "point_1769161354199": { + "instances": [ + { + "id": "point_1769161354199_1769161552936_e7sn4srr9", + "x": 0.6453054709101197, + "y": 0.4837390836881896 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到水竹正上方，爪夹合拢抓取水竹，向爪夹左上方移动到水竹正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与水竹距离减小。方便爪夹下降。", + "frame": 218, + "progress": 19, + "progress_explanation": "与上一进度相比，爪夹与水竹距离减小。因此进度提升至19%。", + "state_description": "爪夹处于张开状态。在水竹的正上方。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹下降。", + "time": 7.266065100431305 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769161339247": { + "instances": [ + { + "height": 0.8276645526657572, + "id": "bbox_1769161339247_1769161603028_405yocz8u", + "width": 0.19236379972263035, + "x": 0.40928463862632497, + "y": 0.11083527424537583 + } + ], + "type": "bbox" + }, + "bbox_1769161346716": { + "instances": [ + { + "height": 0.9313500021205884, + "id": "bbox_1769161346716_1769161585912_llhba8lko", + "width": 0.2646707599020588, + "x": 0.002728522900482088, + "y": 0.0016926958718693856 + } + ], + "type": "bbox" + }, + "point_1768973356942": { + "instances": [ + { + "id": "point_1768973356942_1769161597932_l4jluzbz6", + "x": 0.5238843490993814, + "y": 0.47828195476951424 + } + ], + "type": "point" + }, + "point_1769161354199": { + "instances": [ + { + "id": "point_1769161354199_1769161593942_6rzv0mnca", + "x": 0.5375271717747452, + "y": 0.47464386882373066 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹下降到水竹正上方，爪夹合拢抓取水竹，向爪夹左上方移动到水竹正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹错误地合拢，未抓取到水竹。应当爪夹张开。", + "frame": 239, + "progress": 4, + "progress_explanation": "与上一进度相比，爪夹合拢，但未抓取到水竹。因此进度减小至4%。", + "state_description": "爪夹处于合拢状态。水竹未被爪夹抓取。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹张开。", + "time": 7.968599 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769161339247": { + "instances": [ + { + "height": 0.716702931319359, + "id": "bbox_1769161339247_1769161611132_qycomta06", + "width": 0.24966365495915857, + "x": 0.33970624298196933, + "y": 0.07849674484125231 + } + ], + "type": "bbox" + }, + "bbox_1769161346716": { + "instances": [ + { + "height": 0.942264259957939, + "id": "bbox_1769161346716_1769161624588_14nuo50vj", + "width": 0.2291994209461128, + "x": 0.0109142165057004, + "y": 0.003511738844761158 + } + ], + "type": "bbox" + }, + "point_1768973356942": { + "instances": [ + { + "id": "point_1768973356942_1769161616994_nlnzzgkn2", + "x": 0.41474176769647053, + "y": 0.4855581266610813 + } + ], + "type": "point" + }, + "point_1769161354199": { + "instances": [ + { + "id": "point_1769161354199_1769161619992_iu9jynuzx", + "x": 0.6453054709101197, + "y": 0.48192004071529776 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取水竹，向爪夹左上方移动到水竹正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地张开，方便爪夹合拢。", + "frame": 293, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹张开，因此进度提升至20%。", + "state_description": "爪夹处于张开状态。在水竹的正上方。\n为完成爪夹把水竹放进白色盒子里的任务应当：爪夹合拢。", + "time": 9.757707900079353 + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "向爪夹左上方移动到水竹正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取水竹，方便向爪夹左上方移动。", + "frame": 311, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取水竹，因此进度提升40%。", + "state_description": "爪夹处于合拢状态。水竹被爪夹抓取。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左上方移动。", + "time": 10.360733 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1769161339247": { + "instances": [ + { + "height": 0.8585882832049172, + "id": "bbox_1769161339247_1769161688075_rrn69ii6w", + "width": 0.16917100117451173, + "x": 0.4174703322315434, + "y": 0.045956093383164566 + } + ], + "type": "bbox" + }, + "bbox_1769161346716": { + "instances": [ + { + "height": 0.8385788105031079, + "id": "bbox_1769161346716_1769161709390_hswacxxia", + "width": 0.30150638112554123, + "x": 0.01773562784338233, + "y": 0.021702168573678904 + } + ], + "type": "bbox" + }, + "point_1768973356942": { + "instances": [ + { + "id": "point_1768973356942_1769161696127_771j1qs6w", + "x": 0.4774987520031443, + "y": 0.5001104704442155 + } + ], + "type": "point" + }, + "point_1769161354199": { + "instances": [ + { + "id": "point_1769161354199_1769161700493_7ye0f3z02", + "x": 0.5811842043359096, + "y": 0.49647238449843195 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左上方移动到水竹正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动，水竹靠近白色盒子。方便继续向爪夹左上方移动。", + "frame": 337, + "progress": 50, + "progress_explanation": "与上一进度相比，水竹靠近白色盒子。因此进度提升50%。", + "state_description": "爪夹处于合拢状态。水竹与白色盒子距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左上方移动。", + "time": 11.246133 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1769161339247": { + "instances": [ + { + "height": 0.8531311542862421, + "id": "bbox_1769161339247_1769161739668_8obb1o8rs", + "width": 0.16917100117451184, + "x": 0.4174703322315433, + "y": 0.04898781316705551 + } + ], + "type": "bbox" + }, + "bbox_1769161346716": { + "instances": [ + { + "height": 0.7348933610482768, + "id": "bbox_1769161346716_1769161721394_ywyup0957", + "width": 0.30559922792815036, + "x": 0.08185689441759245, + "y": 0.0639444010581181 + } + ], + "type": "bbox" + }, + "point_1768973356942": { + "instances": [ + { + "id": "point_1768973356942_1769161730378_4h4ln7g10", + "x": 0.47886303427068067, + "y": 0.5001104704442155 + } + ], + "type": "point" + }, + "point_1769161354199": { + "instances": [ + { + "id": "point_1769161354199_1769161732042_iwbdwwsge", + "x": 0.5784556398008368, + "y": 0.4946533415255402 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左上方移动到水竹正上方，爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动，水竹靠近白色盒子。方便继续向爪夹左上方移动。", + "frame": 356, + "progress": 60, + "progress_explanation": "与上一进度相比，水竹靠近白色盒子。因此进度提升60%。", + "state_description": "爪夹处于合拢状态。水竹与白色盒子距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左上方移动。", + "time": 11.867466 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1769161339247": { + "instances": [ + { + "height": 0.8676834980693763, + "id": "bbox_1769161339247_1769161745440_qxt0e9c3l", + "width": 0.17053528344204816, + "x": 0.4120132031613978, + "y": 0.05303014322076746 + } + ], + "type": "bbox" + }, + "bbox_1769161346716": { + "instances": [ + { + "height": 0.6221126967289867, + "id": "bbox_1769161346716_1769161769993_9mttyq46e", + "width": 0.35744195409453294, + "x": 0.41474176769647064, + "y": 0.3163871301821463 + } + ], + "type": "bbox" + }, + "point_1768973356942": { + "instances": [ + { + "id": "point_1768973356942_1769161756686_iwvg97h02", + "x": 0.4774987520031443, + "y": 0.5055675993628909 + } + ], + "type": "point" + }, + "point_1769161354199": { + "instances": [ + { + "id": "point_1769161354199_1769161758470_8ays7jpfp", + "x": 0.5825484866034459, + "y": 0.5110247282815662 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，水竹落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动，水竹靠近白色盒子。方便继续向爪夹左上方移动。", + "frame": 388, + "progress": 80, + "progress_explanation": "与上一进度相比，水竹靠近白色盒子。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。水竹与白色盒子距离减小。\n为完成爪夹把水竹放进白色盒子里的任务应当：向爪夹左上方移动。", + "time": 12.944443026365047 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769161346716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161346716_1769161789812_uiwu1hbma", + "x": 0.3792704287405245, + "y": 0.26403912807621327, + "width": 0.3942775753180153, + "height": 0.6912363296988742 + } + ] + }, + "bbox_1769161339247": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769161339247_1769161823798_bcwe9e9fv", + "x": 0.49523442148111724, + "y": 0.36368224747733247, + "width": 0.18008525931480293, + "height": 0.3838180672801643 + } + ] + }, + "point_1768973356942": { + "type": "point", + "instances": [ + { + "id": "point_1768973356942_1769161834482_9d1vmapbw", + "x": 0.41337748542893415, + "y": 0.4837390836881896 + } + ] + }, + "point_1769161354199": { + "type": "point", + "instances": [ + { + "id": "point_1769161354199_1769161836895_chq2pzdsy", + "x": 0.6439411886425833, + "y": 0.4873771696339731 + } + ] + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，水竹落入白色盒子。\n已完成爪夹把水竹放进白色盒子里的任务。", + "frame": 448, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，水竹落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态，水竹在白色盒子中。\n已完成爪夹把水竹放进白色盒子里的任务。", + "time": 14.946161070514353 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769161339247", + "name": "水竹" + }, + { + "color": "#FF9800", + "id": "bbox_1769161346716", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768973356942", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769161354199", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-105457-put-water bamboo-white-box-bad/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-105457-put-water bamboo-white-box-bad/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..7ad2aea9936eb091134bec7441fa7bd4f5d1d73c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-105457-put-water bamboo-white-box-bad/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,470 @@ +{ + "task_description": "把水竹放进碗里:\n爪夹准备移动：0%\n爪夹靠近水竹：20%\n爪夹抓取水竹：40%\n爪夹抓取水竹接近碗：60%\n爪夹抓取水竹直至碗正上方：80%\n爪夹松开使水竹落入碗里：100%", + "progress_points": [ + { + "time": 1.461089, + "frame": 44, + "progress": 0, + "action_description": "爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成把水竹放进碗里的任务应当:爪夹向爪夹方向前上方移动。", + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向前上方移动，爪夹向爪夹方向右前方移动并下降，爪夹垂直下降靠近水竹，爪夹夹取水竹，爪夹夹取水竹竖直上升，爪夹抓取水竹向爪夹方向左边移动接近碗，爪夹抓取水竹向爪夹放向左边移动直至碗正上方，爪夹松开使水竹落入碗中。", + "annotations": { + "point_1768810093321": { + "type": "point", + "instances": [ + { + "id": "point_1768810093321_1768810361752_eqw9jkzem", + "x": 0.6011110472954683, + "y": 0.2914629431996303 + } + ] + }, + "point_1768810093449": { + "type": "point", + "instances": [ + { + "id": "point_1768810093449_1768810363812_qqqetv43j", + "x": 0.6831110422905857, + "y": 0.23279628130726876 + } + ] + }, + "bbox_1768810092629": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092629_1768810367932_pljbwumyg", + "x": 0.40311105938042846, + "y": 0.1554629542673377, + "width": 0.1989999878540046, + "height": 0.2666666449652796 + } + ] + }, + "bbox_1768810092498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092498_1768810372156_sxj9snu02", + "x": 0.334111063591854, + "y": 0.3301296067195958, + "width": 0.20999998718261792, + "height": 0.23333331434461962 + } + ] + } + } + }, + { + "time": 2.584768, + "frame": 78, + "progress": 5, + "action_description": "当前爪夹张开向爪夹方向前上方移动。", + "state_description": "当前爪夹张开，此时爪夹于水竹水平距离略微接近。为完成把水竹放进碗里的任务应当:爪夹向爪夹方向右前方移动并下降。", + "progress_explanation": "此时爪夹于水竹水平距离略微接近，因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前上方移动，使爪夹比上一阶段爪夹接近水竹。", + "correction_plan": "爪夹向爪夹方向右前方移动并下降，爪夹垂直下降靠近水竹，爪夹夹取水竹，爪夹夹取水竹竖直上升，爪夹抓取水竹向爪夹方向左边移动接近碗，爪夹抓取水竹向爪夹放向左边移动直至碗正上方，爪夹松开使水竹落入碗中。", + "annotations": { + "point_1768810093321": { + "type": "point", + "instances": [ + { + "id": "point_1768810093321_1768810344271_dp3ves1be", + "x": 0.5091110529107022, + "y": 0.14331479750042336 + } + ] + }, + "bbox_1768810092629": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092629_1768810348564_yu3tybhec", + "x": 0.39311105999078, + "y": 0.14331479750042336, + "width": 0.20799998730468833, + "height": 0.27733331076389073 + } + ] + }, + "bbox_1768810092498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092498_1768810352322_1d2pnqkt8", + "x": 0.33311106365288917, + "y": 0.3299814489761191, + "width": 0.21099998712158277, + "height": 0.23199998111979322 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向前下方移动。", + "correction_plan": "爪夹垂直下降靠近水竹，爪夹夹取水竹，爪夹夹取水竹竖直上升，爪夹抓取水竹向爪夹方向左边移动接近碗，爪夹抓取水竹向爪夹放向左边移动直至碗正上方，爪夹松开使水竹落入碗中。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动并下降，使爪夹移动至水竹正上方。", + "frame": 104, + "progress": 10, + "progress_explanation": "此时爪夹位于水竹正上方，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于水竹正上方，为完成把水竹放进碗里的任务应当:爪夹垂直下降靠近水竹。", + "time": 3.4546922581718986, + "annotations": { + "bbox_1768810092629": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092629_1768810330778_4dwrd14v5", + "x": 0.38111106072320183, + "y": 0.14879628814320572, + "width": 0.21899998663330159, + "height": 0.2733333110894115 + } + ] + }, + "bbox_1768810092498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092498_1768810336102_e8qut0etq", + "x": 0.3351110635308189, + "y": 0.3301296067195958, + "width": 0.20799998730468827, + "height": 0.23199998111979317 + } + ] + } + } + }, + { + "time": 4.141066, + "frame": 124, + "progress": 20, + "action_description": "爪夹垂直下降靠近水竹。", + "state_description": "当前爪夹张开，此时爪夹靠近水竹。为完成把水竹放进碗里的任务应当:爪夹合拢抓取水竹。", + "progress_explanation": "此时爪夹靠近水竹，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近水竹。", + "correction_plan": "爪夹夹取水竹，爪夹夹取水竹竖直上升，爪夹抓取水竹向爪夹方向左边移动接近碗，爪夹抓取水竹向爪夹放向左边移动直至碗正上方，爪夹松开使水竹落入碗中。", + "annotations": { + "bbox_1768810092498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092498_1768810314131_cx481h5df", + "x": 0.3351110635308189, + "y": 0.3314629399444222, + "width": 0.20899998724365307, + "height": 0.23199998111979317 + } + ] + }, + "bbox_1768810092629": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092629_1768810320672_yqvtoiwbz", + "x": 0.3761110610283776, + "y": 0.15946295394181692, + "width": 0.2259999862060555, + "height": 0.26399997851562673 + } + ] + } + } + }, + { + "time": 4.463366, + "frame": 134, + "progress": 40, + "action_description": "爪夹合拢抓取水竹。", + "state_description": "当前爪夹合拢抓取水竹，为完成把水竹放进碗里的任务应当:爪夹抓取水竹竖直上升。", + "progress_explanation": "当前爪夹合拢抓取水竹，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功合拢抓取水竹。", + "correction_plan": "爪夹夹取水竹竖直上升，爪夹抓取水竹向爪夹方向左边移动接近碗，爪夹抓取水竹向爪夹放向左边移动直至碗正上方，爪夹松开使水竹落入碗中。", + "annotations": { + "point_1768810093321": { + "type": "point", + "instances": [ + { + "id": "point_1768810093321_1768810284427_dxny6q1zb", + "x": 0.49711105364312413, + "y": 0.2966481183554591 + } + ] + }, + "bbox_1768810092498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092498_1768810294799_13d74snyq", + "x": 0.33111106377495947, + "y": 0.33398144865059826, + "width": 0.21499998687744215, + "height": 0.22799998144531403 + } + ] + }, + "bbox_1768810092629": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092629_1768810299067_j6in4uaow", + "x": 0.3911110601128503, + "y": 0.15664812974868736, + "width": 0.20899998724365312, + "height": 0.26533331174045316 + } + ] + } + } + }, + { + "time": 5.887987, + "frame": 177, + "progress": 50, + "action_description": "当前爪夹合拢抓取水竹竖直上升。", + "state_description": "当前爪夹抓取水竹，此时水竹与桌面垂直距离增加，为完成把水竹放进碗里的任务应当:爪夹抓取水竹向爪夹方向左边移动接近碗。", + "progress_explanation": "当前爪夹合拢抓取水竹竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取水竹竖直上升。", + "correction_plan": "爪夹抓取水竹向爪夹方向左边移动接近碗，爪夹抓取水竹向爪夹放向左边移动直至碗正上方，爪夹松开使水竹落入碗中。", + "annotations": { + "bbox_1768810092498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092498_1768810263448_yx44e8spl", + "x": 0.33111106377495947, + "y": 0.32849996309407853, + "width": 0.21599998681640703, + "height": 0.23466664756944594 + } + ] + }, + "bbox_1768810092629": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092629_1768810271641_iu475k227", + "x": 0.511111052788632, + "y": 0.0016851805269221577, + "width": 0.15499999053955138, + "height": 0.25199997949218916 + } + ] + }, + "point_1768810093321": { + "type": "point", + "instances": [ + { + "id": "point_1768810093321_1768810275712_lca9t2o4y", + "x": 0.5341110513848235, + "y": 0.03901851082206129 + } + ] + } + } + }, + { + "time": 6.348333, + "frame": 190, + "progress": 60, + "action_description": "当前爪夹抓取水竹向爪夹方向左边移动。", + "state_description": "当前爪夹合拢抓取水竹，此时水竹与碗的水平距离接近。为完成把水竹放进碗里的任务应当:爪夹抓取水竹向爪夹方向左边移动直至碗正上方。", + "progress_explanation": "此时水竹与碗的水平距离接近，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取水竹接近碗。", + "correction_plan": "爪夹抓取水竹向爪夹放向左边移动直至碗正上方，爪夹松开使水竹落入碗中。", + "annotations": { + "bbox_1768810092629": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092629_1768810221623_03pd9isrz", + "x": 0.4771110548638272, + "y": -0.0011296385799447772, + "width": 0.18399998876953189, + "height": 0.26666664496527953 + } + ] + }, + "bbox_1768810092498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092498_1768810229827_u05cqfxqm", + "x": 0.334111063591854, + "y": 0.33146293994442216, + "width": 0.2109999871215828, + "height": 0.23199998111979322 + } + ] + } + } + }, + { + "time": 7.284163, + "frame": 219, + "progress": 80, + "action_description": "当前爪夹抓取水竹向爪夹方向左边移动。", + "state_description": "当前爪夹抓取水竹，此时水竹位于碗正上方。为完成把水竹放进碗里的任务应当:爪夹松开使水竹落在碗中。", + "progress_explanation": "此时水竹位于碗正上方，因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功将水竹抓取至碗的正上方。", + "correction_plan": "爪夹松开使水竹落入碗中。", + "annotations": { + "point_1768810093321": { + "type": "point", + "instances": [ + { + "id": "point_1768810093321_1768810189139_iizjr3ut8", + "x": 0.36611106163872914, + "y": 0.1366481313762914 + } + ] + }, + "bbox_1768810092629": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092629_1768810198035_o0vgag7aa", + "x": 0.22611107018365048, + "y": 0.0002036946448816207, + "width": 0.32099998040771605, + "height": 0.34933330490451625 + } + ] + }, + "bbox_1768810092498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092498_1768810203682_l0sjrtwet", + "x": 0.33311106365288917, + "y": 0.3313147822009455, + "width": 0.21299998699951245, + "height": 0.2306666478949668 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开水竹掉落至桌面。", + "correction_plan": "爪夹向爪夹方向前方移动至水竹正上方，爪夹垂直下降靠近水竹，爪夹夹取水竹，爪夹夹取水竹竖直上升，爪夹抓取水竹向爪夹方向左边移动接近碗，爪夹抓取水竹向爪夹放向左边移动直至碗正上方，爪夹松开使水竹落入碗中。", + "error_success_analysis": "当前爪夹松开时因碗的直径小于水竹的长度因此水竹被弹开掉落桌面。", + "frame": 240, + "progress": 10, + "progress_explanation": "此时水竹位于桌面，因此当前进度跌落至10%。", + "state_description": "当前爪夹松开，此时水竹位于桌面。为完成把水竹放进碗里的任务应当:爪夹向爪夹方向前方移动至水竹正上方。", + "time": 7.995688690996201, + "annotations": { + "point_1768810093449": { + "type": "point", + "instances": [ + { + "id": "point_1768810093449_1768810150971_42zdmpbi4", + "x": 0.3941110599297449, + "y": 0.12731479880250662 + } + ] + }, + "point_1768810093321": { + "type": "point", + "instances": [ + { + "id": "point_1768810093321_1768810154159_u0yvxv4ff", + "x": 0.31911106450738125, + "y": 0.21398145841622246 + } + ] + }, + "bbox_1768810092629": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092629_1768810160343_75q6q14tf", + "x": 0.2241110703057208, + "y": 0.26331478773479916, + "width": 0.33599997949218874, + "height": 0.14799998795573013 + } + ] + }, + "bbox_1768810092498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092498_1768810170324_b4vtwy6ar", + "x": 0.3401110632256431, + "y": 0.32864811575129266, + "width": 0.2129999869995125, + "height": 0.2399999804687516 + } + ] + } + } + }, + { + "action_description": "当前爪夹竖直上升。", + "correction_plan": "爪夹向爪夹方向前方移动至水竹正上方，爪夹垂直下降靠近水竹，爪夹夹取水竹，爪夹夹取水竹竖直上升，爪夹抓取水竹向爪夹方向左边移动接近碗，爪夹抓取水竹向爪夹放向左边移动直至碗正上方，爪夹松开使水竹落入碗中。", + "error_success_analysis": "当前爪夹竖直上升调整爪夹角度方便爪夹再次抓取水竹。", + "frame": 293, + "progress": 12, + "progress_explanation": "此时爪夹与水竹水平距离略微接近，因此当前进度为12%。", + "state_description": "当前爪夹张开，此时爪夹与水竹水平距离略微接近，为完成把水竹放进碗里的任务应当:爪夹向爪夹方向前方移动至水竹正上方。", + "time": 9.766667, + "annotations": { + "bbox_1768810092498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092498_1768810122334_geyzoj6s8", + "x": 0.3361110634697837, + "y": 0.3313147879229909, + "width": 0.2129999869995125, + "height": 0.23333331434461957 + } + ] + }, + "bbox_1768810092629": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810092629_1768810138475_i53gaqrh5", + "x": 0.2221110704277911, + "y": 0.28183331039767984, + "width": 0.33499997955322386, + "height": 0.12133332345920216 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768810092498", + "name": "碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1768810092629", + "name": "水竹", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768810093321", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768810093449", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-110416-put-pepper-white-box-good/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-110416-put-pepper-white-box-good/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a95a783a807c9cbe0bd14460424068f612f7ea99 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-110416-put-pepper-white-box-good/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,384 @@ +{ + "task_description": "把辣椒放进白色盒子里:\n爪夹准备移动：0%\n爪夹靠近辣椒：20%\n爪夹抓取辣椒：40%\n爪夹抓取辣椒接近白色盒子：60%\n爪夹抓取辣椒直至白色盒子正上方：80%\n爪夹松开使辣椒落入白色盒子里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前上方移动，爪夹向爪夹方向左前方移动并下降，爪夹垂直下降靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左上方移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹抓取辣椒垂直下降靠近白色盒子，爪夹松开使辣椒落入白色盒子。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成把辣椒放进白色盒子里的任务应当：爪夹向爪夹方向前上方移动。", + "time": 1.1838865283624376, + "annotations": { + "point_1768811891761": { + "type": "point", + "instances": [ + { + "id": "point_1768811891761_1768812099773_rv3khrnps", + "x": 0.38411106054009636, + "y": 0.33531478187542463 + } + ] + }, + "point_1768811891891": { + "type": "point", + "instances": [ + { + "id": "point_1768811891891_1768812102241_jiwhn1fe1", + "x": 0.4891110541314053, + "y": 0.3686481124960846 + } + ] + }, + "bbox_1768811891023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811891023_1768812106991_211eexw6k", + "x": 0.5861110482109956, + "y": 0.4246481079387933, + "width": 0.03299999798583997, + "height": 0.14799998795573016 + } + ] + }, + "bbox_1768811890813": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811890813_1768812112071_reavczcc6", + "x": 0.02411108251275131, + "y": 0.05531480466188113, + "width": 0.48999997009277524, + "height": 0.5239999573567743 + } + ] + } + } + }, + { + "time": 2.297842, + "frame": 69, + "progress": 5, + "action_description": "当前爪夹张开向爪夹方向前上方移动。", + "state_description": "当前爪夹张开，此时爪夹与辣椒水平距离略微接近，为完成把辣椒放进白色盒子里的任务应当：爪夹向爪夹方向左前方移动并下降。", + "progress_explanation": "此时爪夹与辣椒水平距离略微接近，因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前上方移动。", + "correction_plan": "爪夹向爪夹方向左前方移动并下降，爪夹垂直下降靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左上方移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹抓取辣椒垂直下降靠近白色盒子，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "bbox_1768811891023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811891023_1768812082465_adt2ukeve", + "x": 0.5871110481499604, + "y": 0.42346293245744365, + "width": 0.038999997619629044, + "height": 0.14933332118055648 + } + ] + }, + "bbox_1768811890813": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811890813_1768812088033_mxjs6t5d7", + "x": 0.023111082573786457, + "y": 0.06879629465362186, + "width": 0.48899997015381036, + "height": 0.5106666251085102 + } + ] + } + } + }, + { + "time": 3.273304, + "frame": 98, + "progress": 10, + "action_description": "爪夹向爪夹方向左前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与辣椒水平距离接近，为完成把辣椒放进白色盒子里的任务应当：爪夹垂直下降靠近辣椒。", + "progress_explanation": "此时爪夹与辣椒水平距离接近，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动并下降，使爪夹与辣椒水平距离接近。", + "correction_plan": "爪夹垂直下降靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左上方移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹抓取辣椒垂直下降靠近白色盒子，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "point_1768811891891": { + "type": "point", + "instances": [ + { + "id": "point_1768811891891_1768812052509_dshkvyc13", + "x": 0.7181110401543555, + "y": 0.3459814476740358 + } + ] + }, + "bbox_1768811891023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811891023_1768812057580_uel3bjt2r", + "x": 0.5871110481499604, + "y": 0.40731477601605015, + "width": 0.055999996582031385, + "height": 0.16533331987847333 + } + ] + }, + "bbox_1768811890813": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811890813_1768812064765_ncj01ms0k", + "x": 0.01611108300103253, + "y": 0.028648140165353175, + "width": 0.5429999668579122, + "height": 0.5546666215277815 + } + ] + } + } + }, + { + "time": 4.452333, + "frame": 134, + "progress": 20, + "action_description": "当前爪夹向爪夹方向前下方移动靠近辣椒。", + "state_description": "当前爪夹张开，此时爪夹靠近辣椒，为完成把辣椒放进白色盒子里的任务应当：爪夹合拢抓取辣椒。", + "progress_explanation": "此时爪夹靠近辣椒，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹向抓夹方向前下方移动成功靠近辣椒。", + "correction_plan": "爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左上方移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹抓取辣椒垂直下降靠近白色盒子，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "bbox_1768811891023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811891023_1768812027179_q8mhr87z9", + "x": 0.5811110485161712, + "y": 0.41798144181466135, + "width": 0.03499999786376966, + "height": 0.15466665407986213 + } + ] + }, + "bbox_1768811890813": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811890813_1768812036881_2d9l9aibo", + "x": 0.0011110839165598186, + "y": 0.056203690087590324, + "width": 0.5119999687500019, + "height": 0.515999958007816 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取辣椒。", + "correction_plan": "爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左上方移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹抓取辣椒垂直下降靠近白色盒子，爪夹松开使辣椒落入白色盒子。", + "error_success_analysis": "当前爪夹合拢成功抓取辣椒。", + "frame": 157, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取辣椒，因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取辣椒，为完成把辣椒放进白色盒子里的任务应当：爪夹抓取辣椒竖直上升。", + "time": 5.239899909229024, + "annotations": { + "bbox_1768811891023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811891023_1768812003277_z3d9zprrd", + "x": 0.5521110502861907, + "y": 0.40079626763539494, + "width": 0.06799999584960963, + "height": 0.16399998665364693 + } + ] + }, + "bbox_1768811890813": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811890813_1768812008465_tyoow302x", + "x": 0.020111082756891923, + "y": 0.04849997570800979, + "width": 0.49399996984863465, + "height": 0.5119999583333368 + } + ] + } + } + }, + { + "time": 7.315747, + "frame": 219, + "progress": 50, + "action_description": "当前爪夹抓取辣椒竖直上升。", + "state_description": "当前爪夹抓取辣椒，此时辣椒与桌面垂直距离增加，为完成把辣椒放进白色盒子里的任务应当：爪夹抓取辣椒向爪夹方向左上方移动接近白色盒子。", + "progress_explanation": "当前爪夹抓取辣椒竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取辣椒竖直上升。", + "correction_plan": "爪夹抓取辣椒向爪夹方向左上方移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹抓取辣椒垂直下降靠近白色盒子，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "bbox_1768811891023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811891023_1768811980209_3xvpeytj8", + "x": 0.5281110517510343, + "y": 0.09531480140667307, + "width": 0.06299999615478535, + "height": 0.22266664854600843 + } + ] + }, + "bbox_1768811890813": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811890813_1768811988810_l701fjjz3", + "x": 0.029111082207575543, + "y": 0.08583330600314892, + "width": 0.4839999704589861, + "height": 0.4946666264105936 + } + ] + } + } + }, + { + "time": 8.411275, + "frame": 252, + "progress": 60, + "action_description": "当前爪夹抓取辣椒向爪夹方向左上方移动接近白色盒子。", + "state_description": "当前爪夹合拢抓取辣椒，此时辣椒与白色盒子水平距离接近。为完成把辣椒放进白色盒子里的任务应当：爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方。", + "progress_explanation": "此时辣椒与白色盒子水平距离接近，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取辣椒接近白色盒子。", + "correction_plan": "爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹抓取辣椒垂直下降靠近白色盒子，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "bbox_1768811890813": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811890813_1768811962518_4v5jf41f1", + "x": 0.02311108257378646, + "y": 0.052648138212228336, + "width": 0.4859999703369158, + "height": 0.5293332902560799 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方。", + "correction_plan": "爪夹抓取辣椒垂直下降靠近白色盒子，爪夹松开使辣椒落入白色盒子。", + "error_success_analysis": "当前爪夹成功抓取辣椒移动至白色盒子正上方。", + "frame": 273, + "progress": 80, + "progress_explanation": "此时辣椒位于白色盒子正上方，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取辣椒，此时辣椒位于白色盒子正上方。为完成把辣椒放进白色盒子里的任务应当：爪夹抓取辣椒垂直下降靠近白色盒子。", + "time": 9.105191657766461, + "annotations": { + "bbox_1768811890813": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811890813_1768811949235_4n9jp3o4m", + "x": 0.024111082512751313, + "y": 0.05412962918053148, + "width": 0.48799997021484554, + "height": 0.5239999573567744 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取辣椒垂直下降靠近白色盒子。", + "correction_plan": "爪夹松开使辣椒落入白色盒子。", + "error_success_analysis": "当前爪夹抓取辣椒垂直下降，使辣椒更加靠近白色盒子，增加将辣椒落入白色盒子的成功率。", + "frame": 319, + "progress": 90, + "progress_explanation": "当前爪夹合拢抓取辣椒垂直下降靠近白色盒子，因此当前进度提升至90%。", + "state_description": "当前爪夹合拢抓取辣椒，此时辣椒比上一阶段更加靠近白色盒子，为完成把辣椒放进白色盒子里的任务应当：爪夹松开使辣椒落入白色盒子。", + "time": 10.643679491888271, + "annotations": { + "bbox_1768811891023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811891023_1768811925809_u1c765pxu", + "x": 0.2571110682915608, + "y": 0.0779814694839299, + "width": 0.04099999749755874, + "height": 0.13999998860677174 + } + ] + }, + "bbox_1768811890813": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811890813_1768811933281_ykfnj2bwb", + "x": 0.0031110837944895143, + "y": 0.05531480466188113, + "width": 0.510999968811037, + "height": 0.5546666215277813 + } + ] + } + } + }, + { + "time": 11.166032, + "frame": 335, + "progress": 100, + "action_description": "当前爪夹松开使辣椒落入白色盒子。", + "state_description": "当前爪夹张开，此时辣椒位于白色盒子中。已完成把辣椒放进白色盒子里的任务。", + "progress_explanation": "此时辣椒位于白色盒子中，因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将辣椒放入白色盒子。", + "correction_plan": "", + "annotations": { + "bbox_1768811890813": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768811890813_1768811913459_n5w7i2b7w", + "x": 0.014111083123102835, + "y": 0.05516665200466699, + "width": 0.4989999695434588, + "height": 0.5999999511718789 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768811890813", + "name": "白色盒子", + "color": "#4CAF50" + }, + { + "id": "bbox_1768811891023", + "name": "辣椒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768811891761", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768811891891", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-112156-put-pepper-white-box-mix-1/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-112156-put-pepper-white-box-mix-1/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..ec3cc106af722a1830f2b9f85b9455a513063340 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-112156-put-pepper-white-box-mix-1/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,646 @@ +{ + "task_description": "把辣椒放进白色盒子里:\n爪夹准备移动：0%\n爪夹靠近辣椒：20%\n爪夹抓取辣椒：40%\n爪夹抓取辣椒接近白色盒子：60%\n爪夹抓取辣椒直至白色盒子正上方：80%\n爪夹松开使辣椒落入白色盒子里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动，爪夹垂直下降靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向右边移动接近白色盒子，爪夹抓取辣椒向爪夹方向右边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子中。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成把辣椒放进白色盒子里的任务应当：爪夹向爪夹方向前方移动。", + "time": 1.3009502795693133, + "annotations": { + "point_1768813929241": { + "type": "point", + "instances": [ + { + "id": "point_1768813929241_1768814189100_b7vvxt4rw", + "x": 0.41711105852593633, + "y": 0.4886481027304604 + } + ] + }, + "point_1768813929388": { + "type": "point", + "instances": [ + { + "id": "point_1768813929388_1768814190721_bye5eqq88", + "x": 0.6431110447319919, + "y": 0.4886481027304604 + } + ] + }, + "bbox_1768813928335": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928335_1768814195200_f55ydelfn", + "x": 0.46211105577935446, + "y": 0.3433147812243831, + "width": 0.02599999841308609, + "height": 0.10933332443576459 + } + ] + }, + "bbox_1768813928473": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928473_1768814200823_ascoydvyt", + "x": 0.5361110512627532, + "y": 0.1713147952217777, + "width": 0.3509999785766615, + "height": 0.3706666365017386 + } + ] + } + } + }, + { + "time": 2.9592, + "frame": 89, + "progress": 10, + "action_description": "当前爪夹向爪夹方向前方移动。", + "state_description": "当前爪夹张开，此时爪夹与辣椒水平距离接近，为完成把辣椒放进白色盒子里的任务应当：爪夹向爪夹前下方移动靠近辣椒。", + "progress_explanation": "此时爪夹与辣椒水平距离接近，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹向爪夹方向前方移动，使爪夹与辣椒水平距离接近。", + "correction_plan": "爪夹向爪夹前下方移动靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向右边移动接近白色盒子，爪夹抓取辣椒向爪夹方向右边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子中。", + "annotations": { + "point_1768813929241": { + "type": "point", + "instances": [ + { + "id": "point_1768813929241_1768814161792_hiat6z93t", + "x": 0.41411105870904186, + "y": 0.4753147704821964 + } + ] + }, + "point_1768813929388": { + "type": "point", + "instances": [ + { + "id": "point_1768813929388_1768814163714_m90f3ywqr", + "x": 0.6471110444878512, + "y": 0.4753147704821964 + } + ] + }, + "bbox_1768813928335": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928335_1768814167702_yoqt533o5", + "x": 0.45811105602349506, + "y": 0.3539814470229942, + "width": 0.03299999798583997, + "height": 0.20399998339843883 + } + ] + }, + "bbox_1768813928473": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928473_1768814177743_fpgvyuaz0", + "x": 0.5581110499199797, + "y": 0.07531480303427711, + "width": 0.40899997503662255, + "height": 0.653333280164935 + } + ] + } + } + }, + { + "time": 4.192198, + "frame": 126, + "progress": 18, + "action_description": "当前爪夹向爪夹方向前下方移动靠近辣椒。", + "state_description": "当前爪夹张开，此时爪夹与辣椒接近，为完成把辣椒放进白色盒子里的任务应当：爪夹向爪夹方向前方移动。", + "progress_explanation": "当前爪夹与辣椒接近但无法成功抓取辣椒，因此当前进度提升至18%。", + "error_success_analysis": "当前爪夹没有移动至辣椒正上方就下降导致爪夹没能完全靠近辣椒。", + "correction_plan": "爪夹向爪夹前方移动靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向右边移动接近白色盒子，爪夹抓取辣椒向爪夹方向右边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子中。", + "annotations": { + "point_1768813929241": { + "type": "point", + "instances": [ + { + "id": "point_1768813929241_1768814139361_jt2ki69el", + "x": 0.41411105870904186, + "y": 0.4833147698311548 + } + ] + }, + "point_1768813929388": { + "type": "point", + "instances": [ + { + "id": "point_1768813929388_1768814141204_yo5etzdf4", + "x": 0.642111044793027, + "y": 0.4753147704821964 + } + ] + }, + "bbox_1768813928335": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928335_1768814146001_yf7h3gy5u", + "x": 0.4751110549858975, + "y": 0.10331480075563146, + "width": 0.05999999633789077, + "height": 0.36799997005208585 + } + ] + }, + "bbox_1768813928473": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928473_1768814157176_v1q36m5ui", + "x": 0.68811104198541, + "y": 0.0006481424439988246, + "width": 0.30999998107910276, + "height": 0.8066666010199707 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢未能抓取辣椒导致辣椒空抓。", + "correction_plan": "爪夹松开向爪夹前方移动靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向右边移动接近白色盒子，爪夹抓取辣椒向爪夹方向右边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子中。", + "error_success_analysis": "当前爪夹未完全靠近辣椒就合拢抓取导致爪夹空抓。", + "frame": 145, + "progress": -10, + "progress_explanation": "此时爪夹空抓，因此当前进度跌落至-10%。", + "state_description": "当前爪夹合拢，此时爪夹空抓，为完成把辣椒放进白色盒子里的任务应当：爪夹松开向爪夹方向前方移动靠近辣椒。", + "time": 4.846001602896362, + "annotations": { + "point_1768813929241": { + "type": "point", + "instances": [ + { + "id": "point_1768813929241_1768814117318_i61xyq50m", + "x": 0.5211110521782805, + "y": 0.47398143725737 + } + ] + }, + "point_1768813929388": { + "type": "point", + "instances": [ + { + "id": "point_1768813929388_1768814119189_mwm067p5m", + "x": 0.5381110511406828, + "y": 0.4713147708077173 + } + ] + }, + "bbox_1768813928335": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928335_1768814124027_whjyq3h15", + "x": 0.4711110552300381, + "y": 0.04331480563844355, + "width": 0.06199999621582055, + "height": 0.38666663519965533 + } + ] + }, + "bbox_1768813928473": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928473_1768814133778_lsvzgug2w", + "x": 0.7261110396660742, + "y": 0.0006481424439988246, + "width": 0.2709999834594736, + "height": 0.7906666023220538 + } + ] + } + } + }, + { + "time": 6.2472, + "frame": 187, + "progress": 10, + "action_description": "爪夹松开并竖直上升。", + "state_description": "当前爪夹张开，此时爪夹与辣椒书评距离接近，为完成把辣椒放进白色盒子里的任务应当：爪夹向爪夹方向前下方移动靠近辣椒。", + "progress_explanation": "此时爪夹与辣椒书评距离接近，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹张开并调整爪夹水平高度使爪夹更加方便抓取辣椒。", + "correction_plan": "爪夹向爪夹前下方移动靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向右边移动接近白色盒子，爪夹抓取辣椒向爪夹方向右边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子中。", + "annotations": { + "point_1768813929241": { + "type": "point", + "instances": [ + { + "id": "point_1768813929241_1768814093907_lsj2y6zfs", + "x": 0.4161110585869715, + "y": 0.4766481037070228 + } + ] + }, + "point_1768813929388": { + "type": "point", + "instances": [ + { + "id": "point_1768813929388_1768814095879_7mb0q7sbe", + "x": 0.6461110445488865, + "y": 0.4766481037070228 + } + ] + }, + "bbox_1768813928335": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928335_1768814100881_4u32rz7q7", + "x": 0.4801110546807218, + "y": 0.2926481186809799, + "width": 0.046999997131347816, + "height": 0.2973333091362867 + } + ] + }, + "bbox_1768813928473": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928473_1768814111598_6v3cm0gv3", + "x": 0.6071110469292573, + "y": 0.001981475668825222, + "width": 0.38999997619629045, + "height": 0.8133332671441027 + } + ] + } + } + }, + { + "time": 7.370599, + "frame": 221, + "progress": 20, + "action_description": "当前爪夹向爪夹方向前下方移动靠近辣椒。", + "state_description": "当前爪夹张开，此时爪夹靠近辣椒。为完成把辣椒放进白色盒子里的任务应当：爪夹合拢抓取辣椒。", + "progress_explanation": "此时爪夹靠近辣椒，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹前下方移动并靠近辣椒。", + "correction_plan": "爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向右边移动接近白色盒子，爪夹抓取辣椒向爪夹方向右边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子中。", + "annotations": { + "point_1768813929241": { + "type": "point", + "instances": [ + { + "id": "point_1768813929241_1768814072851_l1hh6epyl", + "x": 0.41411105870904186, + "y": 0.47798143693184925 + } + ] + }, + "point_1768813929388": { + "type": "point", + "instances": [ + { + "id": "point_1768813929388_1768814074388_hur8fgaph", + "x": 0.6431110447319919, + "y": 0.4833147698311548 + } + ] + }, + "bbox_1768813928335": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928335_1768814078602_0wlzuqe7x", + "x": 0.4531110563286709, + "y": 0.31531478350302866, + "width": 0.07799999523925809, + "height": 0.3826666355251762 + } + ] + }, + "bbox_1768813928473": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928473_1768814088220_h9w3fs2up", + "x": 0.6391110449761325, + "y": 0.001981475668825222, + "width": 0.35799997814941537, + "height": 0.8666665961371586 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取辣椒。", + "correction_plan": "爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向右边移动接近白色盒子，爪夹抓取辣椒向爪夹方向右边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子中。", + "error_success_analysis": "当前爪夹合拢成功抓取辣椒。", + "frame": 236, + "progress": 40, + "progress_explanation": "当前爪夹抓取辣椒，因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取辣椒，为完成把辣椒放进白色盒子里的任务应当：爪夹抓取辣椒竖直上升。", + "time": 7.882599349969334, + "annotations": { + "point_1768813929241": { + "type": "point", + "instances": [ + { + "id": "point_1768813929241_1768814047030_vpr93qrmz", + "x": 0.5031110532769132, + "y": 0.4713147708077173 + } + ] + }, + "point_1768813929388": { + "type": "point", + "instances": [ + { + "id": "point_1768813929388_1768814049094_292s8elg6", + "x": 0.5581110499199798, + "y": 0.4659814379084117 + } + ] + }, + "bbox_1768813928335": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928335_1768814052734_pki8dthev", + "x": 0.5011110533989835, + "y": 0.30064811802993835, + "width": 0.07199999560546902, + "height": 0.38133330230034973 + } + ] + }, + "bbox_1768813928473": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928473_1768814063106_kpkiv39rt", + "x": 0.6281110456475191, + "y": 0.0006481424439988246, + "width": 0.3709999773559585, + "height": 0.8519999306640681 + } + ] + } + } + }, + { + "time": 9.159515, + "frame": 275, + "progress": 50, + "action_description": "当前爪夹抓取辣椒竖直上升。", + "state_description": "当前爪夹抓取辣椒，此时辣椒与桌面垂直距离增加。为完成把辣椒放进白色盒子里的任务应当：爪夹抓取辣椒向爪夹方向右边移动接近白色盒子。", + "progress_explanation": "当前爪夹抓取辣椒竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取辣椒竖直上升。", + "correction_plan": "爪夹抓取辣椒向爪夹方向右边移动接近白色盒子，爪夹抓取辣椒向爪夹方向右边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子中。", + "annotations": { + "point_1768813929241": { + "type": "point", + "instances": [ + { + "id": "point_1768813929241_1768814024408_h3nwbr12o", + "x": 0.5031110532769132, + "y": 0.4713147708077173 + } + ] + }, + "point_1768813929388": { + "type": "point", + "instances": [ + { + "id": "point_1768813929388_1768814025908_1j4cydcle", + "x": 0.5591110498589447, + "y": 0.4686481043580644 + } + ] + }, + "bbox_1768813928335": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928335_1768814032243_cm876vlmp", + "x": 0.498111053582089, + "y": 0.30064811802993835, + "width": 0.06599999597167994, + "height": 0.38933330164930813 + } + ] + }, + "bbox_1768813928473": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928473_1768814037427_f53ifg2us", + "x": 0.6121110466240816, + "y": 0.11131480010458984, + "width": 0.3689999774780287, + "height": 0.6359999482421917 + } + ] + } + } + }, + { + "time": 10.032679, + "frame": 301, + "progress": 60, + "action_description": "爪夹抓取辣椒向爪夹方向右边移动接近白色盒子。", + "state_description": "当前爪夹合拢抓取辣椒，此时辣椒接近白色盒子。为完成把辣椒放进白色盒子里的任务应当：爪夹抓取辣椒向爪夹方向右边移动至白色盒子正上方。", + "progress_explanation": "此时辣椒接近白色盒子，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取辣椒接近白色盒子。", + "correction_plan": "爪夹抓取辣椒向爪夹方向右边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子中。", + "annotations": { + "point_1768813929241": { + "type": "point", + "instances": [ + { + "id": "point_1768813929241_1768814000326_ggkx7b34e", + "x": 0.5011110533989835, + "y": 0.4713147708077173 + } + ] + }, + "point_1768813929388": { + "type": "point", + "instances": [ + { + "id": "point_1768813929388_1768814001850_ovm9q0q7y", + "x": 0.5581110499199798, + "y": 0.4686481043580644 + } + ] + }, + "bbox_1768813928335": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928335_1768814006136_2tb6gaejs", + "x": 0.5071110530327726, + "y": 0.2979814515802855, + "width": 0.05999999633789086, + "height": 0.3893333016493082 + } + ] + }, + "bbox_1768813928473": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928473_1768814016113_lr5pew6mj", + "x": 0.4231110581597254, + "y": 0.06864813691014511, + "width": 0.48899997015381047, + "height": 0.6759999449869836 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取辣椒向爪夹方向右边移动至白色盒子正上方。", + "correction_plan": "爪夹松开使辣椒落入白色盒子中。", + "error_success_analysis": "当前爪夹成功抓取辣椒移动至白色盒子正上方。", + "frame": 341, + "progress": 80, + "progress_explanation": "此时辣椒位于白色盒子正上方，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取辣椒，此时辣椒位于白色盒子正上方。为完成把辣椒放进白色盒子里的任务应当：爪夹松开使辣椒落入白色盒子中。", + "time": 11.357032121038873, + "annotations": { + "point_1768813929241": { + "type": "point", + "instances": [ + { + "id": "point_1768813929241_1768813974696_si8mckxuq", + "x": 0.5021110533379484, + "y": 0.47798143693184925 + } + ] + }, + "point_1768813929388": { + "type": "point", + "instances": [ + { + "id": "point_1768813929388_1768813976456_fv87nqcby", + "x": 0.5561110500420501, + "y": 0.4713147708077173 + } + ] + }, + "bbox_1768813928335": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928335_1768813982218_eec2fqkw3", + "x": 0.5041110532158781, + "y": 0.29531478513063275, + "width": 0.06399999609375025, + "height": 0.38799996842448176 + } + ] + }, + "bbox_1768813928473": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928473_1768813987500_49cfyfw14", + "x": 0.2391110693901935, + "y": 0.03264813983983237, + "width": 0.6149999624633813, + "height": 0.7613332713758731 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使辣椒落入白色盒子中。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将辣椒放入白色盒子中。", + "frame": 361, + "progress": 100, + "progress_explanation": "此时辣椒落入白色盒子中，因此当前进度提升至100%。", + "state_description": "当前爪夹松开，此时辣椒落入白色盒子中，已完成把辣椒放进白色盒子里的任务。", + "time": 12.04909393316248, + "annotations": { + "point_1768813929241": { + "type": "point", + "instances": [ + { + "id": "point_1768813929241_1768813946692_uaiw9trji", + "x": 0.41211105883111215, + "y": 0.4766481138795481 + } + ] + }, + "point_1768813929388": { + "type": "point", + "instances": [ + { + "id": "point_1768813929388_1768813948144_asf8fslcd", + "x": 0.6471110444878512, + "y": 0.4766481138795481 + } + ] + }, + "bbox_1768813928335": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928335_1768813951736_935bdel33", + "x": 0.5091110529107024, + "y": 0.4579814487319785, + "width": 0.09499999420166043, + "height": 0.17199998600260535 + } + ] + }, + "bbox_1768813928473": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768813928473_1768813960026_vamqe6drm", + "x": 0.22511107024468563, + "y": 0.028499997680664253, + "width": 0.615999962402346, + "height": 0.7866666026475747 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768813928335", + "name": "辣椒", + "color": "#4CAF50" + }, + { + "id": "bbox_1768813928473", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768813929241", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768813929388", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-113408-put-pepper-white-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-113408-put-pepper-white-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..9ab15c6991c90d9dd5f015e18158c1f1b0836dd1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-113408-put-pepper-white-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,590 @@ +{ + "task_description": "把辣椒放进白色盒子里:\n爪夹准备移动：0%\n爪夹靠近辣椒：20%\n爪夹抓取辣椒：40%\n爪夹抓取辣椒接近白色盒子：60%\n爪夹抓取辣椒直至白色盒子正上方：80%\n爪夹松开使辣椒落入白色盒子里：100%", + "progress_points": [ + { + "time": 1.332160845142555, + "frame": 40, + "progress": 0, + "action_description": "爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成把辣椒放进白色盒子里的任务应当:爪夹向爪夹方向前下方移动。", + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向前下方移动，爪夹向爪夹方向左下方移动至辣椒正好上方，爪夹垂直下降靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左边移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "point_1769218174249": { + "type": "point", + "instances": [ + { + "id": "point_1769218174249_1769218462569_762i15mnq", + "x": 0.3971110597466394, + "y": 0.2244999715576195 + } + ] + }, + "point_1769218174407": { + "type": "point", + "instances": [ + { + "id": "point_1769218174407_1769218464773_c7vm4njv7", + "x": 0.4841110544365811, + "y": 0.2324999709065779 + } + ] + }, + "bbox_1769218173325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218173325_1769218468676_melgmclcu", + "x": 0.4801110546807217, + "y": 0.3991666240098776, + "width": 0.04299999737548852, + "height": 0.13466665570746622 + } + ] + }, + "bbox_1769218172857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218172857_1769218479903_20mrq3tns", + "x": 0.5031110532769132, + "y": 0.2298333044569251, + "width": 0.39399997595214986, + "height": 0.5679999537760454 + } + ] + } + } + }, + { + "time": 2.9221264399427627, + "frame": 88, + "progress": 5, + "action_description": "爪夹向爪夹方向前下方移动。", + "state_description": "当前爪夹张开，此时爪夹与辣椒水平距离接近。为完成把辣椒放进白色盒子里的任务应当:爪夹向爪夹方向左下方移动。", + "progress_explanation": "此时爪夹与辣椒水平距离接近。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前下方移动，使爪夹与辣椒水平距离接近。", + "correction_plan": "爪夹向爪夹方向左下方移动至辣椒正好上方，爪夹垂直下降靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左边移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "point_1769218174249": { + "type": "point", + "instances": [ + { + "id": "point_1769218174249_1769218442266_18ls7v76g", + "x": 0.39311105999078, + "y": 0.3286481214733381 + } + ] + }, + "point_1769218174407": { + "type": "point", + "instances": [ + { + "id": "point_1769218174407_1769218444173_bfrmzxrfe", + "x": 0.4841110544365811, + "y": 0.3193147888995533 + } + ] + }, + "bbox_1769218173325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218173325_1769218447567_wr2qmlhbr", + "x": 0.4801110546807217, + "y": 0.3979814491643108, + "width": 0.043999997314453324, + "height": 0.13333332248263977 + } + ] + }, + "bbox_1769218172857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218172857_1769218453165_vhnnz90k5", + "x": 0.5031110532769133, + "y": 0.22731479638653188, + "width": 0.39499997589111463, + "height": 0.5706666202256983 + } + ] + } + } + }, + { + "time": 3.5322295170172606, + "frame": 106, + "progress": 10, + "action_description": "爪夹向爪夹方向左下方移动至辣椒正上方。", + "state_description": "当前爪夹张开，此时爪夹位于辣椒正上方。为完成把辣椒放进白色盒子里的任务应当:爪夹垂直下降靠近辣椒。", + "progress_explanation": "此时爪夹位于辣椒正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左下方移动至辣椒正上方。", + "correction_plan": "爪夹垂直下降靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左边移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "point_1769218174249": { + "type": "point", + "instances": [ + { + "id": "point_1769218174249_1769218418629_46q83e5wa", + "x": 0.4771110548638272, + "y": 0.43249995463053753 + } + ] + }, + "point_1769218174407": { + "type": "point", + "instances": [ + { + "id": "point_1769218174407_1769218420521_s4phwp5k0", + "x": 0.550111050408261, + "y": 0.40183329045953037 + } + ] + }, + "bbox_1769218173325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218173325_1769218425377_r4l5x7xko", + "x": 0.47911105474175686, + "y": 0.4098332898084888, + "width": 0.04299999737548843, + "height": 0.11999999023437577 + } + ] + }, + "bbox_1769218172857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218172857_1769218431841_vc5tflfud", + "x": 0.5071110530327726, + "y": 0.22583330478244593, + "width": 0.38899997625732574, + "height": 0.5706666202256983 + } + ] + } + } + }, + { + "time": 3.9204769297010325, + "frame": 118, + "progress": 20, + "action_description": "爪夹垂直下降靠近辣椒。", + "state_description": "当前爪夹张开，此时爪夹靠近辣椒。为完成把辣椒放进白色盒子里的任务应当:爪夹合拢抓取辣椒。", + "progress_explanation": "此时爪夹靠近辣椒，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近辣椒。", + "correction_plan": "爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左边移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "point_1769218174249": { + "type": "point", + "instances": [ + { + "id": "point_1769218174249_1769218391791_xkjqldkse", + "x": 0.4721110551690029, + "y": 0.4684999517008503 + } + ] + }, + "point_1769218174407": { + "type": "point", + "instances": [ + { + "id": "point_1769218174407_1769218393623_82cjc6ofq", + "x": 0.550111050408261, + "y": 0.4511666197781071 + } + ] + }, + "bbox_1769218173325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218173325_1769218398082_2z6hmcb0k", + "x": 0.47911105474175686, + "y": 0.4151666227077944, + "width": 0.04499999725341812, + "height": 0.12133332345920216 + } + ] + }, + "bbox_1769218172857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218172857_1769218409408_tf7320h1a", + "x": 0.5041110532158781, + "y": 0.2244999715576195, + "width": 0.3929999760131849, + "height": 0.5719999534505246 + } + ] + } + } + }, + { + "time": 4.419652174580167, + "frame": 133, + "progress": 40, + "action_description": "当前爪夹合拢抓取辣椒。", + "state_description": "当前爪夹合拢抓取辣椒，为完成把辣椒放进白色盒子里的任务应当:爪夹抓取辣椒竖直上升。", + "progress_explanation": "当前爪夹抓取辣椒，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取辣椒。", + "correction_plan": "爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左边移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "bbox_1769218173325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218173325_1769218348559_fyitmaqis", + "x": 0.48611105431451085, + "y": 0.41383328948296794, + "width": 0.020999998718261813, + "height": 0.12933332280816062 + } + ] + }, + "point_1769218174249": { + "type": "point", + "instances": [ + { + "id": "point_1769218174249_1769218365313_3pejry2ke", + "x": 0.4871110542534757, + "y": 0.44820366740540224 + } + ] + }, + "point_1769218174407": { + "type": "point", + "instances": [ + { + "id": "point_1769218174407_1769218367691_ia9jsc68q", + "x": 0.5141110526055266, + "y": 0.4482036674054023 + } + ] + }, + "bbox_1769218172857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218172857_1769218379433_gb0k8ozzg", + "x": 0.504111053215878, + "y": 0.2268703520842202, + "width": 0.3939999759521499, + "height": 0.5706666202256983 + } + ] + } + } + }, + { + "time": 5.334806790191914, + "frame": 160, + "progress": 50, + "action_description": "当前爪夹合拢抓取辣椒竖直上升。", + "state_description": "当前爪夹合拢抓取辣椒，此时辣椒与桌面垂直距离增加，为完成把辣椒放进白色盒子里的任务应当:爪夹抓取辣椒向爪夹方向左边移动接近白色盒子。", + "progress_explanation": "当前爪夹合拢抓取辣椒竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取辣椒竖直上升。", + "correction_plan": "爪夹抓取辣椒向爪夹方向左边移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "point_1769218174249": { + "type": "point", + "instances": [ + { + "id": "point_1769218174249_1769218314375_0wswzbqgg", + "x": 0.4771110548638272, + "y": 0.37649995918782886 + } + ] + }, + "point_1769218174407": { + "type": "point", + "instances": [ + { + "id": "point_1769218174407_1769218316484_znp9yz2dj", + "x": 0.5011110533989835, + "y": 0.37383329273817606 + } + ] + }, + "bbox_1769218173325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218173325_1769218322211_wmbp5zazo", + "x": 0.4681110554131435, + "y": 0.32983329631890496, + "width": 0.031999998046875165, + "height": 0.12533332313368137 + } + ] + }, + "bbox_1769218172857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218172857_1769218329380_johcpzs93", + "x": 0.505111053154843, + "y": 0.22583330478244593, + "width": 0.39199997607422005, + "height": 0.5706666202256983 + } + ] + } + } + }, + { + "time": 5.991129797347814, + "frame": 180, + "progress": 48, + "action_description": "当前爪夹抓取辣椒向爪夹方向右边移动。", + "state_description": "当前爪夹抓取辣椒，此时辣椒与白色盒子水平距离增加。为完成把辣椒放进白色盒子里的任务应当:爪夹抓取辣椒向爪夹方向左边移动接近白色盒子。", + "progress_explanation": "此时辣椒与白色盒子水平距离增加，因此当前进度跌落至48%。", + "error_success_analysis": "当前爪夹合拢抓取辣椒没有向爪夹方向左边移动使辣椒与白色盒子水平距离拉长。", + "correction_plan": "爪夹抓取辣椒向爪夹方向左边移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "point_1769218174249": { + "type": "point", + "instances": [ + { + "id": "point_1769218174249_1769218291177_tuwt939mh", + "x": 0.38311106060113154, + "y": 0.3366481208222965 + } + ] + }, + "point_1769218174407": { + "type": "point", + "instances": [ + { + "id": "point_1769218174407_1769218293365_24kz9ocj6", + "x": 0.41011105895318234, + "y": 0.34464812017125485 + } + ] + }, + "bbox_1769218173325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218173325_1769218298763_eurhf2j1n", + "x": 0.3721110612725182, + "y": 0.3179814556747269, + "width": 0.03799999768066416, + "height": 0.06933332769097268 + } + ] + }, + "bbox_1769218172857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218172857_1769218303953_9zr638hlh", + "x": 0.504111053215878, + "y": 0.22731479638653188, + "width": 0.3919999760742203, + "height": 0.5693332870008718 + } + ] + } + } + }, + { + "time": 6.591988888406033, + "frame": 198, + "progress": 58, + "action_description": "当前爪夹合拢抓取辣椒向爪夹方向左下方移动接近白色盒子。", + "state_description": "当前爪夹合拢抓取辣椒，此时辣椒接近白色盒子，为完成把辣椒放进白色盒子里的任务应当:爪夹抓取辣椒向爪夹方向左上方移动至白色盒子正上方。", + "progress_explanation": "此时辣椒接近白色盒子但需要略微调整才能顺利进行下一步，因此当前进度提升至58%。", + "error_success_analysis": "当前爪夹成功抓取辣椒接近白色盒子，但需要略微调整才能顺利进行下一步。", + "correction_plan": "爪夹抓取辣椒向爪夹方向左上方移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "point_1769218174249": { + "type": "point", + "instances": [ + { + "id": "point_1769218174249_1769218262377_z9mcry075", + "x": 0.5041110532158781, + "y": 0.42331478043601234 + } + ] + }, + "point_1769218174407": { + "type": "point", + "instances": [ + { + "id": "point_1769218174407_1769218264923_tjfykodd5", + "x": 0.5321110515068938, + "y": 0.42064811398635954 + } + ] + }, + "bbox_1769218173325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218173325_1769218271741_ow2ixj3de", + "x": 0.5061110530938078, + "y": 0.3966481159394844, + "width": 0.03299999798583997, + "height": 0.07866666026475748 + } + ] + }, + "bbox_1769218172857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218172857_1769218278801_heo1fqzqy", + "x": 0.504111053215878, + "y": 0.22598146316170548, + "width": 0.3939999759521499, + "height": 0.5719999534505246 + } + ] + } + } + }, + { + "time": 7.349995741741015, + "frame": 220, + "progress": 10, + "action_description": "当前爪夹松开使辣椒落在桌面。", + "state_description": "当前爪夹张开，此时辣椒落在桌面，为完成把辣椒放进白色盒子里的任务应当:爪夹向爪夹方向右下方移动靠近辣椒。", + "progress_explanation": "此时爪夹张开，辣椒落在桌面，因此当前进度跌落至10%。", + "error_success_analysis": "当前爪夹没有移动至白色盒子正上方就松开爪夹导致辣椒落在桌面上。", + "correction_plan": "爪夹向爪夹方向右下方移动靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左边移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "point_1769218174249": { + "type": "point", + "instances": [ + { + "id": "point_1769218174249_1769218234089_3jotuw463", + "x": 0.4711110552300381, + "y": 0.4353147794594499 + } + ] + }, + "point_1769218174407": { + "type": "point", + "instances": [ + { + "id": "point_1769218174407_1769218236085_enn6z2tgd", + "x": 0.5641110495537689, + "y": 0.41531478108705394 + } + ] + }, + "bbox_1769218173325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218173325_1769218240663_ye20t0ucn", + "x": 0.36211106188286973, + "y": 0.4646481104056307, + "width": 0.02899999822998054, + "height": 0.13599998893229254 + } + ] + }, + "bbox_1769218172857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218172857_1769218247751_myupona9p", + "x": 0.5021110533379483, + "y": 0.22864812961135828, + "width": 0.39399997595215003, + "height": 0.5693332870008719 + } + ] + } + } + }, + { + "time": 8.966667, + "frame": 269, + "progress": 0, + "action_description": "当前爪夹竖直上升。", + "state_description": "当前爪夹张开，此时爪夹恢复初始状态，为完成把辣椒放进白色盒子里的任务应当:爪夹向爪夹方向右下方移动靠近辣椒。", + "progress_explanation": "此时爪夹恢复初始状态，因此当前进度跌落至0%。", + "error_success_analysis": "当前爪夹竖直上升，导致爪夹与辣椒距离再次拉远。", + "correction_plan": "爪夹向爪夹方向右下方移动靠近辣椒，爪夹合拢抓取辣椒，爪夹抓取辣椒竖直上升，爪夹抓取辣椒向爪夹方向左边移动接近白色盒子，爪夹抓取辣椒向爪夹方向左边移动至白色盒子正上方，爪夹松开使辣椒落入白色盒子。", + "annotations": { + "point_1769218174249": { + "type": "point", + "instances": [ + { + "id": "point_1769218174249_1769218193899_shi8rvnr1", + "x": 0.4931110538872647, + "y": 0.28731479150371975 + } + ] + }, + "point_1769218174407": { + "type": "point", + "instances": [ + { + "id": "point_1769218174407_1769218195715_61h8ddq3a", + "x": 0.5911110479058197, + "y": 0.26731479313132384 + } + ] + }, + "bbox_1769218172857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218172857_1769218205311_widwlbwyg", + "x": 0.5021110533379484, + "y": 0.22864812961135828, + "width": 0.39499997589111463, + "height": 0.5679999537760455 + } + ] + }, + "bbox_1769218173325": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218173325_1769218222963_y7m0j3f4r", + "x": 0.3701110613945885, + "y": 0.4646481104056307, + "width": 0.028999998229980582, + "height": 0.13999998860677174 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769218172857", + "name": "白色盒子", + "color": "#4CAF50" + }, + { + "id": "bbox_1769218173325", + "name": "辣椒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769218174249", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769218174407", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-113859-put-eggplant-white-box-good/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-113859-put-eggplant-white-box-good/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..7264168bd0eaf3a9a7dbc5c728215b586a481d29 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-113859-put-eggplant-white-box-good/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,444 @@ +{ + "task_description": "爪夹把茄子放入白色盒子里。\n开始移动:0%\n爪夹靠近茄子:20%\n爪夹抓取茄子:40%\n爪夹抓住茄子接近白色盒子:60%\n爪夹将茄子放入白色盒子:80%\n爪夹松开，茄子落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "correction_plan": "向爪夹前方移动到茄子正上方，爪夹向下合拢抓取茄子，爪夹垂直抬升，向爪夹右前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹没有移动。爪夹处于张开状态。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹前方移动。\n", + "time": 0.987966, + "annotations": { + "bbox_1769218133272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218133272_1769220165056_xc5hctk57", + "x": 0.4624208333699015, + "y": 0.2307889777354618, + "width": 0.09640576717630642, + "height": 0.2069748013418629 + } + ] + }, + "bbox_1769220128552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220128552_1769220197839_aamj0wxfx", + "x": 0.3300671530092095, + "y": 0.006384719438494683, + "width": 0.4035970252974185, + "height": 0.2636205364459517 + } + ] + }, + "point_1769220135740": { + "type": "point", + "instances": [ + { + "id": "point_1769220135740_1769220206619_7qmllco20", + "x": 0.5964085097844289, + "y": 0.27871998436199846 + } + ] + }, + "point_1769220146278": { + "type": "point", + "instances": [ + { + "id": "point_1769220146278_1769220209649_e6vx75dyx", + "x": 0.6797423085300498, + "y": 0.22861029561607377 + } + ] + } + } + }, + { + "action_description": "向爪夹前方移动。", + "correction_plan": "向爪夹前方移动到茄子正上方，爪夹向下合拢抓取茄子，爪夹垂直抬升，向爪夹右前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与茄子的距离减小。方便继续向爪夹前方移动。", + "frame": 51, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。与茄子的距离减小。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹前方移动。\n", + "time": 1.698933, + "annotations": { + "bbox_1769218133272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218133272_1769220216830_3a6rm1ooy", + "x": 0.4656888254775729, + "y": 0.23078897773546184, + "width": 0.09313777506863499, + "height": 0.2004387549836987 + } + ] + }, + "point_1769220135740": { + "type": "point", + "instances": [ + { + "id": "point_1769220135740_1769220229362_w6zr922g4", + "x": 0.612748470322786, + "y": 0.21771688501913364 + } + ] + }, + "point_1769220146278": { + "type": "point", + "instances": [ + { + "id": "point_1769220146278_1769220231446_tet0ihsts", + "x": 0.6928142769607354, + "y": 0.16324983203443286 + } + ] + }, + "bbox_1769220128552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220128552_1769220236540_2y0bdr2zu", + "x": 0.3300671530092095, + "y": 0.010742083677270744, + "width": 0.4019630292435826, + "height": 0.2592631722071756 + } + ] + } + } + }, + { + "action_description": "向爪夹前方移动。", + "correction_plan": "向爪夹前方移动到茄子正上方，爪夹向下合拢抓取茄子，爪夹垂直抬升，向爪夹右前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与茄子的距离减小。方便继续向爪夹前方移动。", + "frame": 70, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与茄子的距离减小。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.317566, + "annotations": { + "bbox_1769218133272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218133272_1769220252750_2gwjx41db", + "x": 0.46732282153140847, + "y": 0.2307889777354618, + "width": 0.09313777506863508, + "height": 0.2026174371030868 + } + ] + }, + "point_1769220135740": { + "type": "point", + "instances": [ + { + "id": "point_1769220135740_1769220263284_xhubeb6hu", + "x": 0.5473886281693578, + "y": 0.16107114991504484 + } + ] + }, + "point_1769220146278": { + "type": "point", + "instances": [ + { + "id": "point_1769220146278_1769220303479_utej76c1k", + "x": 0.629088430861143, + "y": 0.09135332209462786 + } + ] + }, + "bbox_1769220128552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220128552_1769220320331_mpxwhvm8q", + "x": 0.3251651648477024, + "y": -0.0023300090390574383, + "width": 0.3496751555208402, + "height": 0.28540735763983194 + } + ] + } + } + }, + { + "action_description": "向爪夹前方移动。", + "correction_plan": "向爪夹前方移动到茄子正上方，爪夹向下合拢抓取茄子，爪夹垂直抬升，向爪夹右前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与茄子的距离减小。方便继续向爪夹前方移动。", + "frame": 89, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与茄子的距离减小。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.954666, + "annotations": { + "bbox_1769218133272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218133272_1769220330260_h7wfq6vvw", + "x": 0.4656888254775729, + "y": 0.2307889777354618, + "width": 0.09640576717630633, + "height": 0.20479611922247484 + } + ] + }, + "bbox_1769220128552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220128552_1769220354287_53svo2kzu", + "x": 0.3300671530092095, + "y": 0.0020273551997186225, + "width": 0.356211139736183, + "height": 0.2745139470428918 + } + ] + }, + "point_1769220135740": { + "type": "point", + "instances": [ + { + "id": "point_1769220135740_1769220360617_o2piomzla", + "x": 0.5343166597386724, + "y": 0.19810874594464137 + } + ] + }, + "point_1769220146278": { + "type": "point", + "instances": [ + { + "id": "point_1769220146278_1769220368726_r12y1k3aa", + "x": 0.6176504584842931, + "y": 0.18285797110892513 + } + ] + } + } + }, + { + "action_description": "向爪夹前方移动。", + "correction_plan": "向爪夹前方移动到茄子正上方，爪夹向下合拢抓取茄子，爪夹垂直抬升，向爪夹右前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与茄子的距离减小。方便继续向爪夹前方移动。", + "frame": 105, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与茄子的距离减小。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹前方移动。", + "time": 3.5156466517896727, + "annotations": { + "bbox_1769218133272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218133272_1769220378812_juydulpsi", + "x": 0.46732282153140847, + "y": 0.21771688501913364, + "width": 0.08333379874562086, + "height": 0.22658294041635524 + } + ] + }, + "bbox_1769220128552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220128552_1769220396431_07a1wegb5", + "x": 0.3300671530092095, + "y": -0.000151326919669408, + "width": 0.3905250568667328, + "height": 0.2766926291622798 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹垂直抬升，向爪夹右前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取茄子。方便向爪夹上方移动。", + "frame": 135, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取茄子。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。茄子被爪夹抓取。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹上方移动。", + "time": 4.496633, + "annotations": { + "bbox_1769218133272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218133272_1769220409329_jwavu96mp", + "x": 0.4852967781236012, + "y": 0.20682347442219348, + "width": 0.06699383820726376, + "height": 0.2897647218786081 + } + ] + }, + "bbox_1769220128552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220128552_1769220435351_qycsu4al0", + "x": 0.32679916090153815, + "y": 0.0020273551997186225, + "width": 0.39215905292056846, + "height": 0.27015658280411575 + } + ] + } + } + }, + { + "action_description": "向爪夹上方移动。", + "correction_plan": "向爪夹右前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹上方移动。茄子与白色盒子距离减小。方便向爪夹右前方移动。", + "frame": 158, + "progress": 50, + "progress_explanation": "与上一进度相比，茄子与白色盒子距离减小。因此进度提升至50%。", + "state_description": "爪夹处于合拢状态。茄子悬于空中。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹右前方移动。", + "time": 5.253766, + "annotations": { + "bbox_1769218133272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218133272_1769220452334_q6h7r5efz", + "x": 0.5669965808153863, + "y": 0.0020273551997186225, + "width": 0.07679781453027798, + "height": 0.26144185432656364 + } + ] + }, + "point_1769220135740": { + "type": "point", + "instances": [ + { + "id": "point_1769220135740_1769220459924_syvs6qiug", + "x": 0.5817025452999076, + "y": 0.12185487176606029 + } + ] + }, + "bbox_1769220128552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220128552_1769220467754_bfqanarkr", + "x": 0.3235311687938668, + "y": 0.004206037319106653, + "width": 0.3905250568667328, + "height": 0.2657992185653397 + } + ] + } + } + }, + { + "action_description": "向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右前移动。茄子与白色盒子距离减小。方便继续向爪夹右前方移动。", + "frame": 185, + "progress": 60, + "progress_explanation": "与上一进度相比，茄子与白色盒子距离减小。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。茄子悬于空中。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹右前方移动。", + "time": 6.177099, + "annotations": { + "bbox_1769220128552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220128552_1769220486186_qaa2u0kz6", + "x": 0.32679916090153815, + "y": 0.0020273551997186225, + "width": 0.4019630292435827, + "height": 0.2745139470428918 + } + ] + } + } + }, + { + "action_description": "向爪夹右前方移动。", + "correction_plan": "爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右前移动，茄子在白色盒子正上方。方便爪夹张开。", + "frame": 207, + "progress": 80, + "progress_explanation": "与上一进度相比，茄子与白色盒子距离减小。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。茄子在白色盒子正上方。\n为完成爪夹把茄子放入白色盒子里的任务应当：爪夹张开。", + "time": 6.897299, + "annotations": { + "bbox_1769220128552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220128552_1769220502808_2mlv31vl6", + "x": 0.32679916090153815, + "y": 0.0020273551997186225, + "width": 0.4019630292435827, + "height": 0.2679779006847277 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，茄子落入白色盒子中。\n已完成爪夹把茄子放入白色盒子里的任务。", + "frame": 238, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，茄子落入白色盒子中。因此进度提升至100%。", + "state_description": "爪夹处于合拢状态。茄子在白色盒子中。\n已完成爪夹把茄子放入白色盒子里的任务。", + "time": 7.922199, + "annotations": { + "bbox_1769220128552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220128552_1769220515034_60xq05vpj", + "x": 0.3235311687938668, + "y": -0.000151326919669408, + "width": 0.40359702529741825, + "height": 0.2766926291622798 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769218133272", + "name": "茄子" + }, + { + "id": "bbox_1769220128552", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769220135740", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769220146278", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-131434-put-eggplant-white-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-131434-put-eggplant-white-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..e3b7d38cecd41324ab1952e629572b0b5e215723 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-131434-put-eggplant-white-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,434 @@ +{ + "task_description": "爪夹把茄子放入白色盒子里。\n开始移动:0%\n爪夹靠近茄子:20%\n爪夹抓取茄子:40%\n爪夹抓住茄子接近白色盒子:60%\n爪夹将茄子放入白色盒子:80%\n爪夹松开，茄子落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769218146300": { + "instances": [ + { + "height": 0.27451394704289184, + "id": "bbox_1769218146300_1769222827336_qgrhl23va", + "width": 0.19117753829877712, + "x": 0.28758325560948134, + "y": 0.3026854876752668 + } + ], + "type": "bbox" + }, + "bbox_1769222799072": { + "instances": [ + { + "height": 0.3137302251918763, + "id": "bbox_1769222799072_1769222853563_923vg5143", + "width": 0.41176700556659684, + "x": 0.28758325560948134, + "y": 0.0020273551997186225 + } + ], + "type": "bbox" + }, + "point_1769222813564": { + "instances": [ + { + "id": "point_1769222813564_1769222865288_752t1aqmu", + "x": 0.3676490622474307, + "y": 0.2765413022426104 + } + ], + "type": "point" + }, + "point_1769222818135": { + "instances": [ + { + "id": "point_1769222818135_1769222863528_7yaetwsid", + "x": 0.4771267978544227, + "y": 0.30704285191404285 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到茄子正上方，爪夹向下合拢抓取茄子，垂直抬升爪夹，向爪夹前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹前方移动。\n", + "time": 1.8565 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769218146300": { + "instances": [ + { + "height": 0.289764721878608, + "id": "bbox_1769218146300_1769222872635_72wqnh8ht", + "width": 0.14379165273754174, + "x": 0.30392321614783835, + "y": 0.28307734860077455 + } + ], + "type": "bbox" + }, + "bbox_1769222799072": { + "instances": [ + { + "height": 0.3268023179082045, + "id": "bbox_1769222799072_1769222886095_2q73jwywm", + "width": 0.3872570647590613, + "x": 0.316995184578524, + "y": -0.0023300090390574383 + } + ], + "type": "bbox" + }, + "point_1769222818135": { + "instances": [ + { + "id": "point_1769222818135_1769222900588_qqgylg1n9", + "x": 0.5931405176767576, + "y": 0.1872153353477012 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹前方移动到茄子正上方，爪夹向下合拢抓取茄子，垂直抬升爪夹，向爪夹前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与茄子的距离减小。方便继续向爪夹前方移动。", + "frame": 81, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。在茄子的后上方。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.686 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769218146300": { + "instances": [ + { + "height": 0.2766926291622799, + "id": "bbox_1769218146300_1769222907887_z33arg9js", + "width": 0.14705964484521322, + "x": 0.305557212201674, + "y": 0.29832812343649073 + } + ], + "type": "bbox" + }, + "bbox_1769222799072": { + "instances": [ + { + "height": 0.3115515430724883, + "id": "bbox_1769222799072_1769223026999_fe5fix4ea", + "width": 0.4084990134589255, + "x": 0.2957532358786598, + "y": -0.00015132691966942188 + } + ], + "type": "bbox" + }, + "point_1769222818135": { + "instances": [ + { + "id": "point_1769222818135_1769223051191_va7ygf5rc", + "x": 0.6454283913995, + "y": 0.4137982757640563 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动到茄子正上方，爪夹向下合拢抓取茄子，垂直抬升爪夹，向爪夹前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与茄子的距离减小。方便向爪夹左方移动。", + "frame": 111, + "progress": 7, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至7%。", + "state_description": "爪夹处于张开状态。在茄子的右上方。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹左方移动。", + "time": 3.6861634823819345 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769218146300": { + "instances": [ + { + "height": 0.2723352649235038, + "id": "bbox_1769218146300_1769223084631_row7js5y3", + "width": 0.1356216724683633, + "x": 0.3120931964170168, + "y": 0.30486416979465486 + } + ], + "type": "bbox" + }, + "bbox_1769222799072": { + "instances": [ + { + "height": 0.31590890731126436, + "id": "bbox_1769222799072_1769223058563_ubbvb0u29", + "width": 0.41666899372810395, + "x": 0.2826812674479742, + "y": 0.002027355199718621 + } + ], + "type": "bbox" + }, + "point_1769222818135": { + "instances": [ + { + "id": "point_1769222818135_1769223113935_fppycnmi5", + "x": 0.580068549246072, + "y": 0.39419013668956404 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，向爪夹左方移动到茄子正上方，爪夹向下合拢抓取茄子，垂直抬升爪夹，向爪夹前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹错误地向合拢，未抓取到茄子。应当爪夹张开。", + "frame": 137, + "progress": 2, + "progress_explanation": "与上一进度相比，爪夹合拢，但未抓取到茄子。因此进度减小至2%。", + "state_description": "爪夹处于张开状态。未抓取到茄子。\n为完成爪夹把茄子放入白色盒子里的任务应当：爪夹张开。", + "time": 4.568833 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769218146300": { + "instances": [ + { + "height": 0.2701565828041158, + "id": "bbox_1769218146300_1769223128461_1zgdt8a68", + "width": 0.14215765668370609, + "x": 0.3071912082555097, + "y": 0.29832812343649073 + } + ], + "type": "bbox" + }, + "bbox_1769222799072": { + "instances": [ + { + "height": 0.31155154307248834, + "id": "bbox_1769222799072_1769223146013_0o59fjnnj", + "width": 0.42157098188961106, + "x": 0.2810472713941385, + "y": 0.0020273551997186225 + } + ], + "type": "bbox" + }, + "point_1769222818135": { + "instances": [ + { + "id": "point_1769222818135_1769223136733_n2wdawxqa", + "x": 0.6111144742689503, + "y": 0.33972308370486337 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动到茄子正上方，爪夹向下合拢抓取茄子，垂直抬升爪夹，向爪夹前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地张开，方便向爪夹左方移动。", + "frame": 174, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹左方移动。", + "time": 5.793333 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769218146300": { + "instances": [ + { + "height": 0.2745139470428918, + "id": "bbox_1769218146300_1769223179212_ctfr4d6qp", + "width": 0.14542564879137748, + "x": 0.3071912082555098, + "y": 0.29614944131710275 + } + ], + "type": "bbox" + }, + "bbox_1769222799072": { + "instances": [ + { + "height": 0.3246236357888165, + "id": "bbox_1769222799072_1769223159260_90xmqokr9", + "width": 0.5571926543579744, + "x": 0.14869359103344665, + "y": -0.008866055397221507 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹下方移动到茄子正上方，爪夹合拢抓取茄子，垂直抬升爪夹，向爪夹前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左方移动，方便向爪夹下方移动。", + "frame": 199, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。在茄子正上方。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹下方移动。", + "time": 6.622833 + }, + { + "action_description": "向爪夹下方移动。", + "annotations": { + "bbox_1769218146300": { + "instances": [ + { + "height": 0.27887131128166787, + "id": "bbox_1769218146300_1769223280864_yh5lmgvx5", + "width": 0.14542564879137748, + "x": 0.30228922009400266, + "y": 0.30268548767526676 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取茄子，垂直抬升爪夹，向爪夹前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹下方移动，方便爪夹合拢。", + "frame": 215, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。在茄子正上方。\n为完成爪夹把茄子放入白色盒子里的任务应当：爪夹合拢。", + "time": 7.168797117770659 + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "垂直抬升爪夹，向爪夹前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取茄子。方便向爪夹前上方移动。", + "frame": 230, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取茄子。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。茄子被抓取。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹前上方移动。", + "time": 7.663 + }, + { + "action_description": "向爪夹上方移动。", + "correction_plan": "向爪夹前方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹上方移动，茄子靠近白色盒子。方便向爪夹前上方移动。", + "frame": 267, + "progress": 60, + "progress_explanation": "与上一进度相比，茄子靠近白色盒子。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。茄子悬于空中。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹前上方移动。", + "time": 8.88749943133912, + "annotations": { + "bbox_1769218146300": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218146300_1769223354077_bmk5avyae", + "x": 0.3611130780320879, + "y": 0.017278130035434835, + "width": 0.1143797237684991, + "height": 0.3485891391020849 + } + ] + }, + "bbox_1769222799072": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769222799072_1769223391182_3xznkbvee", + "x": 0.2385633739944102, + "y": -0.004508691158445488, + "width": 0.4640548792893394, + "height": 0.31808758943065246 + } + ] + }, + "point_1769222818135": { + "type": "point", + "instances": [ + { + "id": "point_1769222818135_1769223404250_jh31pspem", + "x": 0.4215709320240089, + "y": 0.22207424925790967 + } + ] + } + } + }, + { + "action_description": "向爪夹前方移动。", + "correction_plan": "爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，茄子靠近白色盒子。方便爪夹张开。", + "frame": 310, + "progress": 80, + "progress_explanation": "与上一进度相比，茄子靠近白色盒子。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。茄子在白色盒子正上方。\n为完成爪夹把茄子放入白色盒子里的任务应当：爪夹张开。", + "time": 10.335833, + "annotations": { + "bbox_1769222799072": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769222799072_1769223410687_aa6yp32wm", + "x": 0.29248524377098845, + "y": -0.0023300090390574383, + "width": 0.4134010016204325, + "height": 0.3159089073112644 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，茄子落入白色盒子。\n已完成爪夹把茄子放入白色盒子里的任务。", + "frame": 353, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，茄子落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。茄子在白色盒子中。\n已完成爪夹把茄子放入白色盒子里的任务。", + "time": 11.757833, + "annotations": { + "bbox_1769222799072": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769222799072_1769223428294_2g8sybz98", + "x": 0.289217251663317, + "y": 0.0020273551997186225, + "width": 0.416668993728104, + "height": 0.3180875894306524 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769218146300", + "name": "茄子" + }, + { + "color": "#FF9800", + "id": "bbox_1769222799072", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769222813564", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769222818135", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-132854-put-eggplant-white-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-132854-put-eggplant-white-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..60c2abb7f19614bb357cdb5d1fa40645f0bc1890 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-132854-put-eggplant-white-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,454 @@ +{ + "task_description": "爪夹把黄瓜放入白色盒子里。\n开始移动:0%\n爪夹靠近黄瓜:20%\n爪夹抓取黄瓜:40%\n爪夹抓住黄瓜接近白色盒子:60%\n爪夹将黄瓜放入白色盒子:80%\n爪夹松开，黄瓜落入白色盒子:100%", + "progress_points": [ + { + "time": 0.8467552697945485, + "frame": 25, + "progress": 0, + "action_description": "暂未移动。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把黄瓜放入白色盒子里的任务应当：向爪夹前方移动。", + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "向爪夹右前方移动到黄瓜正上方，爪夹向下合拢抓取黄瓜，爪夹垂直抬升，向爪夹左方移动到白色盒子正上方，爪夹张开，黄瓜落入白色盒子。", + "annotations": { + "bbox_1769218158933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218158933_1769226217717_e5o0fx7dz", + "x": 0.6601343558840214, + "y": 0.389832772450788, + "width": 0.07516381847644231, + "height": 0.40305619208678567 + } + ] + }, + "bbox_1769226196413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226196413_1769226232208_ksptsujrn", + "x": 0.10620969363371842, + "y": 0.008563401557882712, + "width": 0.4248389739972825, + "height": 0.4618806093102624 + } + ] + }, + "point_1769226203315": { + "type": "point", + "instances": [ + { + "id": "point_1769226203315_1769226242115_wio74a3px", + "x": 0.3807210306781163, + "y": 0.32882967310792316 + } + ] + }, + "point_1769226207388": { + "type": "point", + "instances": [ + { + "id": "point_1769226207388_1769226255785_fegxar04q", + "x": 0.4820287860159298, + "y": 0.3658672691375197 + } + ] + } + } + }, + { + "time": 1.474522438054879, + "frame": 44, + "progress": 5, + "action_description": "向爪夹前方移动。", + "state_description": "爪夹处于张开状态。与黄瓜的距离减小。\n为完成爪夹把黄瓜放入白色盒子里的任务应当：向爪夹前方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近黄瓜。因此进度提升至5%。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与黄瓜的距离减小。方便向爪夹前方移动。", + "correction_plan": "向爪夹右前方移动到黄瓜正上方，爪夹向下合拢抓取黄瓜，爪夹垂直抬升，向爪夹左方移动到白色盒子正上方，爪夹张开，黄瓜落入白色盒子。", + "annotations": { + "bbox_1769226196413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226196413_1769226264856_otpa0fe2v", + "x": 0.10620969363371839, + "y": 0.00856340155788271, + "width": 0.42483897399728254, + "height": 0.4597019271908744 + } + ] + }, + "bbox_1769218158933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218158933_1769226275354_47xiu1ju9", + "x": 0.6634023479916927, + "y": 0.39201145457017605, + "width": 0.07516381847644223, + "height": 0.4052348742061738 + } + ] + }, + "point_1769226207388": { + "type": "point", + "instances": [ + { + "id": "point_1769226207388_1769226286498_cqgdbrpfl", + "x": 0.5114407149849725, + "y": 0.3092215340334309 + } + ] + }, + "point_1769226203315": { + "type": "point", + "instances": [ + { + "id": "point_1769226203315_1769226295838_zg4d34jpw", + "x": 0.4052309714856518, + "y": 0.2743626201232224 + } + ] + } + } + }, + { + "time": 1.897900295718823, + "frame": 57, + "progress": 15, + "action_description": "向爪夹前方移动。", + "state_description": "爪夹处于张开状态。与黄瓜的距离减小。\n为完成爪夹把黄瓜放入白色盒子里的任务应当：向爪夹右方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近黄瓜。因此进度提升至15%。", + "error_success_analysis": "爪夹正确地向爪夹前方移动。与黄瓜的距离减小。方便向爪夹右方移动。", + "correction_plan": "向爪夹右前方移动到黄瓜正上方，爪夹向下合拢抓取黄瓜，爪夹垂直抬升，向爪夹左方移动到白色盒子正上方，爪夹张开，黄瓜落入白色盒子。", + "annotations": { + "bbox_1769226196413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226196413_1769226306974_e9ggvzfpj", + "x": 0.14542559892577525, + "y": 0.008563401557882716, + "width": 0.38562306870522556, + "height": 0.4618806093102624 + } + ] + }, + "bbox_1769218158933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218158933_1769226326586_9wr2ukdn3", + "x": 0.6683043361531998, + "y": 0.385475408212012, + "width": 0.06862783426109945, + "height": 0.41177092056433773 + } + ] + } + } + }, + { + "time": 2.262881207498085, + "frame": 68, + "progress": 18, + "action_description": "向爪夹右方移动。", + "state_description": "爪夹处于张开状态。与黄瓜的距离减小。\n为完成爪夹把黄瓜放入白色盒子里的任务应当：向爪夹右方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近黄瓜。因此进度提升至18%。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与黄瓜的距离减小。方便继续向爪夹右方移动。", + "correction_plan": "向爪夹右前方移动到黄瓜正上方，爪夹向下合拢抓取黄瓜，爪夹垂直抬升，向爪夹左方移动到白色盒子正上方，爪夹张开，黄瓜落入白色盒子。", + "annotations": { + "bbox_1769226196413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226196413_1769226349886_4sqqwjrdr", + "x": 0.1094776857413898, + "y": 0.006384719438494685, + "width": 0.4215709818896111, + "height": 0.46623797354903845 + } + ] + }, + "bbox_1769218158933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218158933_1769226363734_ejnq1sbf9", + "x": 0.6601343558840214, + "y": 0.3222936267497591, + "width": 0.07516381847644231, + "height": 0.4749527020265906 + } + ] + } + } + }, + { + "time": 2.703, + "frame": 81, + "progress": 20, + "action_description": "向爪夹右方移动。", + "state_description": "爪夹处于张开状态。与黄瓜的距离减小。\n为完成爪夹把黄瓜放入白色盒子里的任务应当：爪夹合拢。", + "progress_explanation": "与上一进度相比，爪夹靠近黄瓜。因此进度提升至20%。", + "error_success_analysis": "爪夹正确地向爪夹右方移动。与黄瓜的距离减小。方便爪夹合拢。", + "correction_plan": "爪夹合拢抓取黄瓜，爪夹垂直抬升，向爪夹左方移动到白色盒子正上方，爪夹张开，黄瓜落入白色盒子。", + "annotations": { + "bbox_1769218158933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218158933_1769226387082_6nmi5e6ap", + "x": 0.6585003598301857, + "y": 0.35715254065996754, + "width": 0.07843181058411357, + "height": 0.44009378811638217 + } + ] + }, + "bbox_1769226196413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226196413_1769226396236_v23hgxgmc", + "x": 0.05718981201864733, + "y": 0.006384719438494686, + "width": 0.4738588556123536, + "height": 0.46623797354903845 + } + ] + } + } + }, + { + "time": 3.3724231793070416, + "frame": 101, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹处于合拢状态。黄瓜被抓取。\n为完成爪夹把黄瓜放入白色盒子里的任务应当：向爪夹上方移动。", + "progress_explanation": "与上一进度相比，爪夹合拢抓取黄瓜。因此进度提升至40%。", + "error_success_analysis": "爪夹正确地合拢抓取黄瓜，方便向爪夹上方移动。", + "correction_plan": "爪夹垂直抬升，向爪夹左方移动到白色盒子正上方，爪夹张开，黄瓜落入白色盒子。", + "annotations": { + "bbox_1769226196413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226196413_1769226415869_ftin6lvqe", + "x": 0.07026178044933296, + "y": 0.012920765796658773, + "width": 0.46242088323550357, + "height": 0.46623797354903845 + } + ] + }, + "bbox_1769218158933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218158933_1769226424304_ttbxtaeno", + "x": 0.6552323677225143, + "y": 0.37022463337629574, + "width": 0.05555586583041387, + "height": 0.4204856490418899 + } + ] + } + } + }, + { + "time": 3.893, + "frame": 117, + "progress": 50, + "action_description": "向爪夹上方移动。", + "state_description": "爪夹处于合拢状态。黄瓜与白色盒子的距离减小。\n为完成爪夹把黄瓜放入白色盒子里的任务应当：向爪夹左方移动。", + "progress_explanation": "与上一进度相比，黄瓜靠近白色盒子。因此进度提升至50%。", + "error_success_analysis": "爪夹正确地向爪夹上方移动，黄瓜靠近白色盒子。方便向爪夹左方移动。", + "correction_plan": "向爪夹左方移动到白色盒子正上方，爪夹张开，黄瓜落入白色盒子。", + "annotations": { + "bbox_1769226196413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226196413_1769226431498_dfzr29ysy", + "x": 0.10784368968755412, + "y": 0.012920765796658774, + "width": 0.4215709818896111, + "height": 0.4597019271908744 + } + ] + }, + "bbox_1769218158933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218158933_1769226444321_c0dhse8ph", + "x": 0.6977162651222425, + "y": 0.1436416929599406, + "width": 0.045751889507399654, + "height": 0.45316588083271037 + } + ] + } + } + }, + { + "time": 4.467365914644828, + "frame": 134, + "progress": 60, + "action_description": "向爪夹左方移动。", + "state_description": "爪夹处于合拢状态。黄瓜与白色盒子的距离减小。\n为完成爪夹把黄瓜放入白色盒子里的任务应当：向爪夹左方移动。", + "progress_explanation": "与上一进度相比，黄瓜靠近白色盒子。因此进度提升至60%。", + "error_success_analysis": "爪夹正确地向爪夹左方移动，黄瓜靠近白色盒子。方便继续向爪夹左方移动。", + "correction_plan": "向爪夹左方移动到白色盒子正上方，爪夹张开，黄瓜落入白色盒子。", + "annotations": { + "bbox_1769218158933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218158933_1769226451492_ghypbakzb", + "x": 0.5637285887077149, + "y": 0.006384719438494683, + "width": 0.06535984215342809, + "height": 0.291943403997996 + } + ] + }, + "bbox_1769226196413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226196413_1769226462614_oxcy7jyut", + "x": 0.1111116817952255, + "y": -0.0023300090390574383, + "width": 0.43627694637413245, + "height": 0.4727740199072025 + } + ] + } + } + }, + { + "time": 5.241125447616863, + "frame": 157, + "progress": 70, + "action_description": "向爪夹左方移动。", + "state_description": "爪夹处于合拢状态。黄瓜与白色盒子的距离减小。\n为完成爪夹把黄瓜放入白色盒子里的任务应当：向爪夹左方移动。", + "progress_explanation": "与上一进度相比，黄瓜靠近白色盒子。因此进度提升至70%。", + "error_success_analysis": "爪夹正确地向爪夹左方移动，黄瓜靠近白色盒子。方便继续向爪夹左方移动。", + "correction_plan": "向爪夹左方移动到白色盒子正上方，爪夹张开，黄瓜落入白色盒子。", + "annotations": { + "bbox_1769226196413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226196413_1769226479067_fg42thq3x", + "x": 0.10947768574138983, + "y": 0.012920765796658774, + "width": 0.41993698583577527, + "height": 0.4618806093102624 + } + ] + }, + "bbox_1769218158933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218158933_1769226492317_tyfte58lg", + "x": 0.2679753029634529, + "y": -0.0023300090390574383, + "width": 0.0947717711224707, + "height": 0.21351084770002696 + } + ] + } + } + }, + { + "time": 6.1754765817717745, + "frame": 185, + "progress": 80, + "action_description": "向爪夹左方移动。", + "state_description": "爪夹处于合拢状态。黄瓜在白色盒子正上方。\n为完成爪夹把黄瓜放入白色盒子里的任务应当：爪夹张开。", + "progress_explanation": "与上一进度相比，黄瓜靠近白色盒子。因此进度提升至80%。", + "error_success_analysis": "爪夹正确地向爪夹左方移动，黄瓜靠近白色盒子。方便爪夹张开。", + "correction_plan": "爪夹张开，黄瓜落入白色盒子。", + "annotations": { + "bbox_1769226196413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226196413_1769226544901_uije0xdq9", + "x": 0.11764766601056831, + "y": 0.00856340155788271, + "width": 0.41503499767426827, + "height": 0.4618806093102624 + } + ] + }, + "bbox_1769218158933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218158933_1769226582501_rsdli14ab", + "x": 0.25980532269427437, + "y": 0.0020273551997186242, + "width": 0.08986978296096364, + "height": 0.2810499934010559 + } + ] + } + } + }, + { + "time": 7.242, + "frame": 217, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "爪夹处于张开状态。黄瓜在白色盒子中。\n已完成爪夹把黄瓜放入白色盒子里的任务。", + "progress_explanation": "与上一进度相比，爪夹张开，黄瓜落入白色盒子。因此进度提升至100%。", + "error_success_analysis": "爪夹正确地张开，黄瓜落入白色盒子。\n已完成爪夹把黄瓜放入白色盒子里的任务。", + "correction_plan": "", + "annotations": { + "bbox_1769226196413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769226196413_1769226562690_11sbsx6li", + "x": 0.10294170152604702, + "y": 0.02381417639359892, + "width": 0.4281069661049539, + "height": 0.4488085165939343 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769218158933", + "name": "黄瓜" + }, + { + "id": "bbox_1769226196413", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769226203315", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769226207388", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-132854-put-eggplant-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-132854-put-eggplant-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..6d073fcd17aa77a4316841d4110cd5199180cbc1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-132854-put-eggplant-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,442 @@ +{ + "task_description": "爪夹把茄子放入白色盒子里。\n开始移动:0%\n爪夹靠近茄子:20%\n爪夹抓取茄子:40%\n爪夹抓住茄子接近白色盒子:60%\n爪夹将茄子放入白色盒子:80%\n爪夹松开，茄子落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769233712151": { + "instances": [ + { + "height": 0.15250774835716213, + "id": "bbox_1769233712151_1769233747804_o7olnfixd", + "width": 0.06209185004575666, + "x": 0.7892200441370418, + "y": 0.3767606797344598 + } + ], + "type": "bbox" + }, + "bbox_1769233719579": { + "instances": [ + { + "height": 0.4727740199072026, + "id": "bbox_1769233719579_1769233758324_8viz4nw9z", + "width": 0.38889106081289704, + "x": 0.10620969363371842, + "y": 0.17632192475076103 + } + ], + "type": "bbox" + }, + "point_1769233724737": { + "instances": [ + { + "id": "point_1769233724737_1769233778028_yragbp1ad", + "x": 0.415034947808666, + "y": 0.4965881963008015 + } + ], + "type": "point" + }, + "point_1769233730356": { + "instances": [ + { + "id": "point_1769233730356_1769233779468_bvxzns5vy", + "x": 0.6437943953456643, + "y": 0.4900521499426374 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到茄子的正上方，爪夹合拢抓取茄子，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "", + "frame": 55, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹前方移动。", + "time": 1.8348 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769233712151": { + "instances": [ + { + "height": 0.1873666622673706, + "id": "bbox_1769233712151_1769233794284_z5a562t6s", + "width": 0.05555586583041396, + "x": 0.7810500638678632, + "y": 0.34843781218241543 + } + ], + "type": "bbox" + }, + "bbox_1769233719579": { + "instances": [ + { + "height": 0.5708147152796639, + "id": "bbox_1769233719579_1769233953364_8hi1lzpm3", + "width": 0.39869503713591126, + "x": 0.0980397133645399, + "y": 0.13274828236300043 + } + ], + "type": "bbox" + }, + "point_1769233724737": { + "instances": [ + { + "id": "point_1769233724737_1769233970926_ksjae1c2g", + "x": 0.4134009517548304, + "y": 0.49223083206202545 + } + ], + "type": "point" + }, + "point_1769233730356": { + "instances": [ + { + "id": "point_1769233730356_1769233973480_84zulirqc", + "x": 0.6421603992918287, + "y": 0.48351610358447333 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到茄子的正上方，爪夹合拢抓取茄子，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与茄子的距离减小。方便继续向爪夹前方移动。", + "frame": 79, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。爪夹与茄子的距离减小。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹前方移动。", + "time": 2.6420606472471966 + }, + { + "action_description": "向爪夹右前方移动。", + "annotations": { + "bbox_1769233712151": { + "instances": [ + { + "height": 0.2244042582969671, + "id": "bbox_1769233712151_1769233980578_8reaqoc0g", + "width": 0.06209185004575675, + "x": 0.7549061270064921, + "y": 0.3026854876752668 + } + ], + "type": "bbox" + }, + "bbox_1769233719579": { + "instances": [ + { + "height": 0.6993569603235578, + "id": "bbox_1769233719579_1769233995282_fp53rjkn7", + "width": 0.41013300951276116, + "x": 0.021241898834261898, + "y": 0.05213704394564333 + } + ], + "type": "bbox" + }, + "point_1769233724737": { + "instances": [ + { + "id": "point_1769233724737_1769234005676_zs3olcfg4", + "x": 0.4134009517548304, + "y": 0.4856947857038614 + } + ], + "type": "point" + }, + "point_1769233730356": { + "instances": [ + { + "id": "point_1769233730356_1769234007420_p2cat18we", + "x": 0.6454283913995, + "y": 0.4856947857038614 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到茄子的正上方，爪夹合拢抓取茄子，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，与茄子的距离减小。方便继续向爪夹右前方移动。", + "frame": 99, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。爪夹与茄子的距离减小。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹右前方移动。", + "time": 3.310533945949415 + }, + { + "action_description": "向爪夹右前方移动。", + "annotations": { + "bbox_1769233712151": { + "instances": [ + { + "height": 0.3333383642663686, + "id": "bbox_1769233712151_1769234049043_er8wukyt7", + "width": 0.08006580663794942, + "x": 0.6911802809068996, + "y": 0.17632192475076106 + } + ], + "type": "bbox" + }, + "bbox_1769233719579": { + "instances": [ + { + "height": 0.655783317935797, + "id": "bbox_1769233719579_1769234033888_c4yxcocl4", + "width": 0.2450994080753553, + "x": 0.0016339461882334718, + "y": 0.28307734860077455 + } + ], + "type": "bbox" + }, + "point_1769233724737": { + "instances": [ + { + "id": "point_1769233724737_1769234081908_wg7v6qmu2", + "x": 0.4166689438625018, + "y": 0.4900521499426374 + } + ], + "type": "point" + }, + "point_1769233730356": { + "instances": [ + { + "id": "point_1769233730356_1769234084308_lc5an4iv8", + "x": 0.6470623874533358, + "y": 0.4813374214650853 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到茄子的正上方，爪夹合拢抓取茄子，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，与茄子的距离减小。方便继续向爪夹右前方移动。", + "frame": 120, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。爪夹与茄子的距离减小。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹右前方移动。", + "time": 4.0108393064945975 + }, + { + "action_description": "向爪夹右前方移动。", + "annotations": { + "bbox_1769233712151": { + "instances": [ + { + "height": 0.655783317935797, + "id": "bbox_1769233712151_1769234103868_vd511g5fb", + "width": 0.1683015935450773, + "x": 0.45751884520839436, + "y": 0.03470758699053908 + } + ], + "type": "bbox" + }, + "bbox_1769233719579": { + "instances": [ + { + "height": 0.3311596821469807, + "id": "bbox_1769233719579_1769234092520_xype5wggn", + "width": 0.2728773409905622, + "x": -4.986560222887274e-08, + "y": 0.6185943949865311 + } + ], + "type": "bbox" + }, + "point_1769233724737": { + "instances": [ + { + "id": "point_1769233724737_1769234112348_yq80usm2x", + "x": 0.415034947808666, + "y": 0.4813374214650853 + } + ], + "type": "point" + }, + "point_1769233730356": { + "instances": [ + { + "id": "point_1769233730356_1769234114528_k12bxjjrq", + "x": 0.6388924071841572, + "y": 0.4813374214650853 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取茄子，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，与茄子的距离减小。方便爪夹合拢。", + "frame": 147, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。爪夹与茄子的距离减小。\n为完成爪夹把茄子放入白色盒子里的任务应当：爪夹合拢。", + "time": 4.902137038097555 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769233719579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769233719579_1769234122762_ab463xvhw", + "x": -4.986560222887274e-08, + "y": 0.5379831565691742, + "width": 0.2450994080753553, + "height": 0.4095922384449497 + } + ] + }, + "point_1769233724737": { + "type": "point", + "instances": [ + { + "id": "point_1769233724737_1769234129708_c6m1g1jaw", + "x": 0.45261685704688726, + "y": 0.4900521499426374 + } + ] + }, + "point_1769233730356": { + "type": "point", + "instances": [ + { + "id": "point_1769233730356_1769234131622_ospv8z5wm", + "x": 0.6045784900536074, + "y": 0.5096602890171297 + } + ] + }, + "bbox_1769233712151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769233712151_1769234204556_u8zzic1pc", + "x": 0.4558848491545587, + "y": 0.0020273551997186316, + "width": 0.16503360143740586, + "height": 0.651425953697021 + } + ] + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取茄子，方便向爪夹左上方移动。", + "frame": 170, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取茄子。因此进度提升至40%。", + "state_description": "爪夹处于张开状态。茄子被爪夹抓取。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹左上方移动。", + "time": 5.666106522328663 + }, + { + "action_description": "爪夹抬升。", + "correction_plan": "爪夹张开，向爪夹右前方移动到茄子的正上方，爪夹向下合拢抓取茄子，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹抬升时茄子落在桌面上，应当爪夹张开。", + "frame": 198, + "progress": 2, + "progress_explanation": "与上一进度相比，爪夹抬升时茄子落在桌面上。因此进度减小至2%。", + "state_description": "爪夹处于合拢状态。茄子未被爪夹抓取。\n为完成爪夹把茄子放入白色盒子里的任务应当：爪夹张开。", + "time": 6.605152346696068, + "annotations": { + "bbox_1769233712151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769233712151_1769234218895_o8o8yiuij", + "x": 0.6797423085300498, + "y": -0.00015132691966940708, + "width": 0.20424950672946274, + "height": 0.3137302251918763 + } + ] + }, + "bbox_1769233719579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769233719579_1769234259758_d7xazuz9n", + "x": 0.07516376861084005, + "y": 0.4203343221222204, + "width": 0.23529543175234108, + "height": 0.47931006626536665 + } + ] + }, + "point_1769233724737": { + "type": "point", + "instances": [ + { + "id": "point_1769233724737_1769234272290_zvyg2c0xx", + "x": 0.519610695254151, + "y": 0.4813374214650853 + } + ] + }, + "point_1769233730356": { + "type": "point", + "instances": [ + { + "id": "point_1769233730356_1769234278962_b3plm80xl", + "x": 0.5343166597386724, + "y": 0.4813374214650853 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "向爪夹右前方移动到茄子的正上方，爪夹向下合拢抓取茄子，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地张开。方便向爪夹右方移动。", + "frame": 259, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹右方移动。", + "time": 8.636533 + }, + { + "action_description": "向爪夹前方移动。", + "correction_plan": "向爪夹右方移动到茄子的正上方，爪夹向下合拢抓取茄子，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，茄子落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与茄子距离减小。方便向爪夹右方移动。", + "frame": 272, + "progress": 8, + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至8%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹把茄子放入白色盒子里的任务应当：向爪夹右方移动。", + "time": 9.0628 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769233712151", + "name": "茄子" + }, + { + "color": "#FF9800", + "id": "bbox_1769233719579", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769233724737", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769233730356", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-133315-put-corn-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-133315-put-corn-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..b1839d0bff62a14941fdc89275e9f75b3264a4c8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-133315-put-corn-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,376 @@ +{ + "task_description": "爪夹把玉米放入白色盒子里。\n开始移动:0%\n爪夹靠近玉米:20%\n爪夹抓取玉米:40%\n爪夹抓住玉米接近白色盒子:60%\n爪夹将玉米放入白色盒子:80%\n爪夹松开，玉米落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769235928226": { + "instances": [ + { + "height": 0.17647325167043046, + "id": "bbox_1769235928226_1769235953480_cktx92uat", + "width": 0.10294175139164921, + "x": 0.6993502611760782, + "y": 0.31575758039159496 + } + ], + "type": "bbox" + }, + "bbox_1769235932375": { + "instances": [ + { + "height": 0.30937286095310035, + "id": "bbox_1769235932375_1769235964316_g7dxmr8kb", + "width": 0.3905250568667328, + "x": 0.35130910170907365, + "y": -0.0023300090390574383 + } + ], + "type": "bbox" + }, + "point_1769235936909": { + "instances": [ + { + "id": "point_1769235936909_1769235973252_9f18nowd0", + "x": 0.5669965808153863, + "y": 0.4791587393456973 + } + ], + "type": "point" + }, + "point_1769235941334": { + "instances": [ + { + "id": "point_1769235941334_1769235975779_k9s62j096", + "x": 0.6715723282608713, + "y": 0.47480137510692116 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到玉米的正上方，爪夹合拢抓取玉米，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹右前方移动。", + "time": 0.736666 + }, + { + "action_description": "向爪夹前方移动。", + "annotations": { + "bbox_1769235928226": { + "instances": [ + { + "height": 0.16775852319287832, + "id": "bbox_1769235928226_1769235983738_flfo7o3of", + "width": 0.09640576717630642, + "x": 0.7042522493375853, + "y": 0.3222936267497591 + } + ], + "type": "bbox" + }, + "bbox_1769235932375": { + "instances": [ + { + "height": 0.3093728609531003, + "id": "bbox_1769235932375_1769235991635_s9inepdmm", + "width": 0.3921590529205684, + "x": 0.34967510565523796, + "y": 0.0020273551997186234 + } + ], + "type": "bbox" + }, + "point_1769235936909": { + "instances": [ + { + "id": "point_1769235936909_1769235987160_zf9pauzzz", + "x": 0.6160164624304574, + "y": 0.4965881963008015 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到玉米的正上方，爪夹合拢抓取玉米，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，与玉米的距离减小。方便向爪夹右前方移动。", + "frame": 64, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹靠近玉米。因此进度提升至5%。", + "state_description": "爪夹处于张开状态，在玉米的后上方。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹右前方移动。", + "time": 2.1286255570053094 + }, + { + "action_description": "向爪夹右前方移动。", + "annotations": { + "bbox_1769235928226": { + "instances": [ + { + "height": 0.23747635101329537, + "id": "bbox_1769235928226_1769236020701_0sir3u2yk", + "width": 0.11274572771466351, + "x": 0.705886245391421, + "y": 0.317936262510983 + } + ], + "type": "bbox" + }, + "bbox_1769235932375": { + "instances": [ + { + "height": 0.3093728609531003, + "id": "bbox_1769235932375_1769236007844_gpy9qtgow", + "width": 0.3905250568667327, + "x": 0.3513091017090737, + "y": 0.0020273551997186225 + } + ], + "type": "bbox" + }, + "point_1769235936909": { + "instances": [ + { + "id": "point_1769235936909_1769236016966_ed14q82jm", + "x": 0.722226205929778, + "y": 0.35933122277935564 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到玉米的正上方，爪夹合拢抓取玉米，爪夹垂直抬升，向爪夹左上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，与玉米的距离减小。方便继续向爪夹右前方移动。", + "frame": 86, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹靠近玉米。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与玉米的距离减小。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹右前方移动。", + "time": 2.858014889539968 + }, + { + "action_description": "向爪夹右前方移动。", + "annotations": { + "bbox_1769235928226": { + "instances": [ + { + "height": 0.21351084770002693, + "id": "bbox_1769235928226_1769236036032_240ixd7hd", + "width": 0.08496779479945653, + "x": 0.705886245391421, + "y": 0.31793626251098306 + } + ], + "type": "bbox" + }, + "bbox_1769235932375": { + "instances": [ + { + "height": 0.3093728609531003, + "id": "bbox_1769235932375_1769236027396_3h81c6x8b", + "width": 0.3905250568667327, + "x": 0.3513091017090737, + "y": 0.0020273551997186225 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取玉米，向爪夹左上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，与玉米的距离减小。方便继续向爪夹右前方移动。", + "frame": 115, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹靠近玉米。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与玉米的距离减小。\n为完成爪夹把玉米放入白色盒子里的任务应当：爪夹合拢。", + "time": 3.830666 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769235928226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235928226_1769236054722_c3tbw6pot", + "x": 0.7042522493375853, + "y": 0.3092215340334309, + "width": 0.06862783426109953, + "height": 0.215689529819415 + } + ] + }, + "bbox_1769235932375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235932375_1769236069300_fznfvl1yn", + "x": 0.35294309776290933, + "y": -0.00015132691966940708, + "width": 0.38562306870522567, + "height": 0.3050154967143242 + } + ] + }, + "point_1769235936909": { + "type": "point", + "instances": [ + { + "id": "point_1769235936909_1769236113917_5byu084kp", + "x": 0.7042522493375853, + "y": 0.37458199761507177 + } + ] + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取玉米。方便向爪夹上方移动。", + "frame": 128, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取玉米。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。玉米被爪夹抓取。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹上方移动。", + "time": 4.272137064862264 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1769235928226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235928226_1769236149887_9v9ee5p7x", + "x": 0.6977162651222425, + "y": 0.008563401557882714, + "width": 0.06209185004575666, + "height": 0.17429456955104242 + } + ] + }, + "bbox_1769235932375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235932375_1769236119857_rezftjuuu", + "x": 0.34967510565523796, + "y": -0.00015132691966940893, + "width": 0.4134010016204327, + "height": 0.3093728609531003 + } + ] + }, + "point_1769235936909": { + "type": "point", + "instances": [ + { + "id": "point_1769235936909_1769236132571_z3vbnpuaa", + "x": 0.6879122887992283, + "y": 0.06956650090074756 + } + ] + }, + "point_1769235941334": { + "type": "point", + "instances": [ + { + "id": "point_1769235941334_1769236353802_dwd8xye2z", + "x": 0.7565401230603277, + "y": 0.056494408184419385 + } + ] + } + }, + "correction_plan": "向爪夹左上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动，玉米与白色盒子距离减小。方便继续向爪夹左上方移动。", + "frame": 174, + "progress": 60, + "progress_explanation": "与上一进度相比，玉米靠近白色盒子。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。玉米与白色盒子距离减小。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹左上方移动。", + "time": 5.789333 + }, + { + "action_description": "向爪夹左上方移动。", + "annotations": { + "bbox_1769235932375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235932375_1769236244083_9zdp7fotn", + "x": 0.3480411096014023, + "y": -0.00015132691966940893, + "width": 0.39379304897440415, + "height": 0.30719417883371225 + } + ] + } + }, + "correction_plan": "爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动，玉米与白色盒子距离减小。方便爪夹张开。", + "frame": 197, + "progress": 80, + "progress_explanation": "与上一进度相比，玉米靠近白色盒子。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。玉米与白色盒子距离减小。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹左上方移动。", + "time": 6.564503538542618 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769235932375": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235932375_1769236266344_hopx9fgdh", + "x": 0.3480411096014023, + "y": -0.0023300090390574366, + "width": 0.39379304897440415, + "height": 0.3180875894306524 + } + ] + }, + "bbox_1769235928226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235928226_1769236364510_patptazd7", + "x": 0.5457546321155222, + "y": 0.043422315468091194, + "width": 0.05228787372274244, + "height": 0.1786519337898185 + } + ] + } + }, + "correction_plan": "", + "error_success_analysis": "玉米正确地张开，玉米落入白色盒子。\n已完成爪夹把玉米放入白色盒子里的任务。", + "frame": 241, + "progress": 100, + "progress_explanation": "与上一进度相比，玉米张开，玉米落入白色盒子。因此进度提升至80%。", + "state_description": "爪夹处于张开状态。玉米在白色盒子中。\n已完成爪夹把玉米放入白色盒子里的任务。", + "time": 8.038167700194274 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769235928226", + "name": "玉米" + }, + { + "color": "#FF9800", + "id": "bbox_1769235932375", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769235936909", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769235941334", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-135109-put-corn-white-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-135109-put-corn-white-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..4482c056e80cd68aa8f2a61d7f5dc32401ae57aa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-135109-put-corn-white-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,470 @@ +{ + "task_description": "爪夹把玉米放入白色盒子里。\n开始移动:0%\n爪夹靠近玉米:20%\n爪夹抓取玉米:40%\n爪夹抓住玉米接近白色盒子:60%\n爪夹将玉米放入白色盒子:80%\n爪夹松开，玉米落入白色盒子:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "correction_plan": "向爪夹前下方移动到玉米正上方后，爪夹合拢抓取玉米，向爪夹右上方移动，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹前方移动。", + "time": 0.703733, + "annotations": { + "bbox_1769239083160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239083160_1769239115339_s0m34wkqu", + "x": 0.32189717274003105, + "y": 0.32882967310792316, + "width": 0.10457574744548497, + "height": 0.2657992185653397 + } + ] + }, + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239138195_716xd0b00", + "x": 0.5228786873618224, + "y": 0.18503665322831314, + "width": 0.4754928516661893, + "height": 0.5577426225633357 + } + ] + }, + "point_1769239101960": { + "type": "point", + "instances": [ + { + "id": "point_1769239101960_1769239154107_n37w996ar", + "x": 0.48366278206976554, + "y": 0.3375444015854753 + } + ] + }, + "point_1769239095324": { + "type": "point", + "instances": [ + { + "id": "point_1769239095324_1769239155947_krsnvnih3", + "x": 0.3692830583012664, + "y": 0.29397075919771465 + } + ] + } + } + }, + { + "action_description": "向爪夹前方移动。", + "correction_plan": "向爪夹前下方移动到玉米正上方后，爪夹合拢抓取玉米，向爪夹右上方移动，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，靠近玉米。方便继续向爪夹下方移动。", + "frame": 58, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹靠近玉米。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。爪夹在玉米上方。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹下方移动。", + "time": 1.9292740298102167, + "annotations": { + "bbox_1769239083160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239083160_1769239164303_zuhjhz11z", + "x": 0.333335145116881, + "y": 0.32882967310792316, + "width": 0.09640576717630638, + "height": 0.16557984107349027 + } + ] + }, + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239170355_li3xxh1ol", + "x": 0.5212446913079868, + "y": 0.1806792889895371, + "width": 0.47712684772002484, + "height": 0.5620999868021117 + } + ] + } + } + }, + { + "action_description": "向爪夹下方移动。", + "correction_plan": "向爪夹下方移动到玉米正上方后，爪夹合拢抓取玉米，向爪夹右上方移动，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹下方移动，靠近玉米。爪夹在玉米上方。", + "frame": 89, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹靠近玉米。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。爪夹在玉米上方。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹下方移动。", + "time": 2.9520220843095313, + "annotations": { + "bbox_1769239083160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239083160_1769239204089_895znd2tk", + "x": 0.3382371332783881, + "y": 0.3222936267497591, + "width": 0.09313777506863494, + "height": 0.1786519337898185 + } + ] + }, + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239212022_dvzolny3r", + "x": 0.5228786873618224, + "y": 0.18503665322831314, + "width": 0.47385885561235347, + "height": 0.5533852583245598 + } + ] + } + } + }, + { + "action_description": "向爪夹下方移动。", + "correction_plan": "爪夹合拢抓取玉米，向爪夹右上方移动，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹下方移，在玉米上方。方便爪夹合拢。", + "frame": 106, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹靠近玉米。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。爪夹在玉米上方。\n为完成爪夹把玉米放入白色盒子里的任务应当：爪夹合拢。", + "time": 3.5331289334568705, + "annotations": { + "bbox_1769239083160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239083160_1769239272203_t9uurc3ba", + "x": 0.3382371332783881, + "y": 0.32447230886914713, + "width": 0.08823578690712792, + "height": 0.17429456955104244 + } + ] + }, + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239281747_xj85wre5e", + "x": 0.5212446913079867, + "y": 0.18503665322831314, + "width": 0.47549285166618926, + "height": 0.5599213046827238 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹张开，爪夹下降到玉米正上方，爪夹合拢抓取玉米，向爪夹右上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹合拢，未抓取到玉米。应当爪夹张开。", + "frame": 140, + "progress": 2, + "progress_explanation": "与上一进度相比，爪夹合拢未抓取到玉米。因此进度减小至2%。", + "state_description": "爪夹处于合拢状态。未抓取到玉米。\n为完成爪夹把玉米放入白色盒子里的任务应当：爪夹张开。", + "time": 4.668999, + "annotations": { + "bbox_1769239083160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239083160_1769239293243_igqcszxps", + "x": 0.26307331480194573, + "y": 0.3985475009283401, + "width": 0.16666759749124163, + "height": 0.11547015232756562 + } + ] + }, + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239300505_s14st8cyz", + "x": 0.5245126834156582, + "y": 0.1872153353477012, + "width": 0.4787608437738605, + "height": 0.5577426225633357 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹下降到玉米正上方，爪夹合拢抓取玉米，向爪夹右上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地张开，方便爪夹向爪夹下方移动。", + "frame": 179, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹下方移动。", + "time": 5.954666, + "annotations": { + "bbox_1769239083160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239083160_1769239325063_uf0gsmx50", + "x": 0.256537330586603, + "y": 0.3941901366895641, + "width": 0.18137356197576282, + "height": 0.10239805961123735 + } + ] + }, + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239340325_ew8s3icll", + "x": 0.5212446913079867, + "y": 0.18721533534770118, + "width": 0.4771268477200249, + "height": 0.5577426225633357 + } + ] + } + } + }, + { + "action_description": "爪夹顺时针旋转。", + "correction_plan": "爪夹下降到玉米正上方，爪夹合拢抓取玉米，向爪夹右上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地顺时针旋转。方便爪夹下降。", + "frame": 211, + "progress": 18, + "progress_explanation": "与上一进度相比，爪夹旋转到玉米上方。因此进度提升至18%。", + "state_description": "爪夹处于张开状态。在玉米上方。\n为完成爪夹把玉米放入白色盒子里的任务应当：爪夹下降。", + "time": 7.043014302306794, + "annotations": { + "bbox_1769239083160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239083160_1769239359606_3n7appm1v", + "x": 0.23039339372523174, + "y": 0.38765409033139997, + "width": 0.2009815146217914, + "height": 0.10675542385001346 + } + ] + }, + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239366493_epkei2kb4", + "x": 0.5245126834156582, + "y": 0.18721533534770118, + "width": 0.47385885561235347, + "height": 0.5381344834888435 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢抓取玉米，向爪夹右上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地下降到玉米正上方，方便爪夹合拢。", + "frame": 220, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹下降到玉米正上方。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。在玉米正上方。\n为完成爪夹把玉米放入白色盒子里的任务应当：爪夹合拢。", + "time": 7.335066, + "annotations": { + "bbox_1769239083160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239083160_1769239377917_6hfx3qca2", + "x": 0.24509935820975307, + "y": 0.392011454570176, + "width": 0.18627555013726999, + "height": 0.09804069537246143 + } + ] + }, + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239399618_y4wro98ka", + "x": 0.5408526439540151, + "y": 0.18939401746708923, + "width": 0.4591528911278323, + "height": 0.507632933817411 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "向爪夹右上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地合拢抓取玉米，方便向爪夹右上方移动。", + "frame": 253, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取玉米。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。玉米被抓取。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹右上方移动。", + "time": 8.431266, + "annotations": { + "bbox_1769239083160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239083160_1769239420515_0papjp14j", + "x": 0.27614528323263143, + "y": 0.385475408212012, + "width": 0.16993558959891292, + "height": 0.10239805961123742 + } + ] + }, + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239445279_qzy3doray", + "x": 0.5424866400078507, + "y": 0.1806792889895371, + "width": 0.4575188950739967, + "height": 0.496739523220471 + } + ] + } + } + }, + { + "action_description": "向爪夹右上方移动。", + "correction_plan": "向爪夹右上方移动到白色盒子正上方，爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右上方移动，玉米靠近白色盒子。方便继续向爪夹右上方移动。", + "frame": 295, + "progress": 60, + "progress_explanation": "与上一进度相比，玉米靠近白色盒子。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。玉米悬于空中。\n为完成爪夹把玉米放入白色盒子里的任务应当：向爪夹右上方移动。", + "time": 9.838733, + "annotations": { + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239456900_r4k5d0x94", + "x": 0.5408526439540151, + "y": 0.1806792889895371, + "width": 0.455884899020161, + "height": 0.498918205339859 + } + ] + } + } + }, + { + "action_description": "向爪夹右上方移动。", + "correction_plan": "爪夹张开，玉米落入白色盒子。", + "error_success_analysis": "爪夹正确地向爪夹右上方移动，玉米靠近白色盒子。方便爪夹张开。", + "frame": 327, + "progress": 80, + "progress_explanation": "与上一进度相比，玉米靠近白色盒子。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。玉米悬于空中。\n为完成爪夹把玉米放入白色盒子里的任务应当：爪夹张开。", + "time": 10.907866, + "annotations": { + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239472245_3pdiu65k4", + "x": 0.547388628169358, + "y": 0.18285797110892513, + "width": 0.44771491875098235, + "height": 0.5141689801755752 + } + ] + }, + "bbox_1769239083160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239083160_1769239480424_68bjadv84", + "x": 0.6274544348073072, + "y": 0.012920765796658773, + "width": 0.15849761722206318, + "height": 0.28104999340105585 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，玉米落入白色盒子。\n已完成爪夹把玉米放入白色盒子里的任务。", + "frame": 370, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，玉米落入白色盒子。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。玉米在白色盒子中。\n已完成爪夹把玉米放入白色盒子里的任务。", + "time": 12.328866, + "annotations": { + "bbox_1769239083160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239083160_1769239494648_j3o9bxcod", + "x": 0.624186442699636, + "y": 0.3135788982722069, + "width": 0.1470596448452131, + "height": 0.15468643047655017 + } + ] + }, + "bbox_1769239089071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769239089071_1769239503852_16zpyyhp2", + "x": 0.5408526439540152, + "y": 0.1806792889895371, + "width": 0.4558848990201607, + "height": 0.496739523220471 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769239083160", + "name": "玉米", + "color": "#4CAF50" + }, + { + "id": "bbox_1769239089071", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769239095324", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769239101960", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-140606-put-corn-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-140606-put-corn-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9ebaf05c058085166b9c04047d2fb1700cc063fa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-140606-put-corn-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,384 @@ +{ + "task_description": "把洋葱放进白色盒子里:\n爪夹准备移动：0%\n爪夹靠近洋葱：20%\n爪夹抓取洋葱：40%\n爪夹抓取洋葱接近白色盒子：60%\n爪夹抓取洋葱直至白色盒子正上方：80%\n爪夹松开使洋葱落入白色盒子里：100%", + "progress_points": [ + { + "time": 0.6856698334262599, + "frame": 21, + "progress": 0, + "action_description": "爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成把洋葱放进白色盒子里的任务应当：爪夹向爪夹方向前方移动。", + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向前方移动，爪夹向爪夹前下方移动靠近洋葱，爪夹合拢抓取洋葱，爪夹抓取洋葱竖直上升，爪夹抓取洋葱向爪夹方向前方移动接近白色盒子，爪夹抓取洋葱向爪夹方向前方移动至白色盒子正上方，松开爪夹将洋葱放入白色盒子。", + "annotations": { + "point_1769245124779": { + "type": "point", + "instances": [ + { + "id": "point_1769245124779_1769245331159_4ygp92j57", + "x": 0.3971110597466394, + "y": 0.33131478220094546 + } + ] + }, + "point_1769245124915": { + "type": "point", + "instances": [ + { + "id": "point_1769245124915_1769245333003_xlx650yi2", + "x": 0.5031110532769132, + "y": 0.35531478024782065 + } + ] + }, + "bbox_1769245123777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123777_1769245337885_p4n2u73qh", + "x": 0.484111054436581, + "y": 0.500648101753898, + "width": 0.10599999353027396, + "height": 0.1279999895833342 + } + ] + }, + "bbox_1769245123919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123919_1769245349885_7k5zikais", + "x": 0.4161110585869716, + "y": 0.00331480889365162, + "width": 0.477999970825197, + "height": 0.41333329969618327 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向前方移动。", + "correction_plan": "爪夹向爪夹前下方移动靠近洋葱，爪夹合拢抓取洋葱，爪夹抓取洋葱竖直上升，爪夹抓取洋葱向爪夹方向前方移动接近白色盒子，爪夹抓取洋葱向爪夹方向前方移动至白色盒子正上方，松开爪夹将洋葱放入白色盒子。", + "error_success_analysis": "当前爪夹成功向爪夹方向前方移动，使爪夹与洋葱水平距离接近。", + "frame": 58, + "progress": 10, + "progress_explanation": "此时爪夹与洋葱水平距离接近，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹与洋葱水平距离接近，为完成把洋葱放进白色盒子里的任务应当：爪夹垂直下降靠近洋葱。", + "time": 1.9465975891366487, + "annotations": { + "bbox_1769245123777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123777_1769245317882_tax4swfvg", + "x": 0.4841110544365811, + "y": 0.500648101753898, + "width": 0.10499999359130899, + "height": 0.13733332215711894 + } + ] + }, + "bbox_1769245123919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123919_1769245323506_44vsfcvxl", + "x": 0.41211105883111215, + "y": -0.0006851907808275732, + "width": 0.4849999703979509, + "height": 0.40933330002170415 + } + ] + } + } + }, + { + "time": 2.7297, + "frame": 82, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近洋葱。", + "state_description": "当前爪夹张开，此时爪夹靠近洋葱。为完成把洋葱放进白色盒子里的任务应当：爪夹合拢抓取洋葱。", + "progress_explanation": "此时爪夹靠近洋葱，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近洋葱。", + "correction_plan": "爪夹合拢抓取洋葱，爪夹抓取洋葱竖直上升，爪夹抓取洋葱向爪夹方向前方移动接近白色盒子，爪夹抓取洋葱向爪夹方向前方移动至白色盒子正上方，松开爪夹将洋葱放入白色盒子。", + "annotations": { + "bbox_1769245123777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123777_1769245299784_wm4kvrp5g", + "x": 0.49511105376519443, + "y": 0.5046481014283771, + "width": 0.07699999530029329, + "height": 0.1333333224826397 + } + ] + }, + "bbox_1769245123919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123919_1769245308055_stupn32y0", + "x": 0.4151110586480066, + "y": 0.001981475668825222, + "width": 0.4829999705200213, + "height": 0.4159999661458361 + } + ] + } + } + }, + { + "time": 2.988899, + "frame": 90, + "progress": 40, + "action_description": "当前爪夹合拢抓取洋葱。", + "state_description": "当前爪夹合拢抓取洋葱。为完成把洋葱放进白色盒子里的任务应当：爪夹抓取洋葱竖直上升。", + "progress_explanation": "当前爪夹合拢抓取洋葱。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取洋葱。", + "correction_plan": "爪夹抓取洋葱竖直上升，爪夹抓取洋葱向爪夹方向前方移动接近白色盒子，爪夹抓取洋葱向爪夹方向前方移动至白色盒子正上方，松开爪夹将洋葱放入白色盒子。", + "annotations": { + "bbox_1769245123777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123777_1769245273041_0yr4who9j", + "x": 0.5141110526055266, + "y": 0.500648101753898, + "width": 0.0799999951171877, + "height": 0.1279999895833342 + } + ] + }, + "bbox_1769245123919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123919_1769245285705_rbbdqisyl", + "x": 0.4161110585869715, + "y": -0.0006851907808275732, + "width": 0.4809999706420915, + "height": 0.4133332996961833 + } + ] + } + } + }, + { + "time": 4.290575, + "frame": 129, + "progress": 50, + "action_description": "当前爪夹合拢抓取洋葱竖直上升。", + "state_description": "当前爪夹合拢抓取洋葱，此时洋葱与桌面垂直距离增加，为完成把洋葱放进白色盒子里的任务应当：爪夹合拢抓取洋葱向爪夹方向前方移动接近白色盒子。", + "progress_explanation": "当前爪夹合拢抓取洋葱竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取洋葱竖直上升。", + "correction_plan": "爪夹抓取洋葱向爪夹方向前方移动接近白色盒子，爪夹抓取洋葱向爪夹方向前方移动至白色盒子正上方，松开爪夹将洋葱放入白色盒子。", + "annotations": { + "point_1769245124915": { + "type": "point", + "instances": [ + { + "id": "point_1769245124915_1769245247577_um65vuyfn", + "x": 0.6381110450371676, + "y": 0.3247962738202902 + } + ] + }, + "bbox_1769245123777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123777_1769245253151_q690476n0", + "x": 0.5321110515068938, + "y": 0.25679627935414395, + "width": 0.11399999304199264, + "height": 0.16666665310329973 + } + ] + }, + "bbox_1769245123919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123919_1769245261442_8tiyerqa6", + "x": 0.44211105700005754, + "y": 0.050129629506052285, + "width": 0.4509999724731461, + "height": 0.3626666371527802 + } + ] + } + } + }, + { + "time": 5.243397, + "frame": 157, + "progress": 55, + "action_description": "当前爪夹抓取洋葱向爪夹方向右前方移动。", + "state_description": "当前爪夹抓取洋葱，此时洋葱与白色盒子水平距离略微接近。为完成把洋葱放进白色盒子里的任务应当：爪夹抓取洋葱向爪夹方向左前方移动接近白色盒子。", + "progress_explanation": "此时洋葱与白色盒子水平距离略微接近。因此当前进度提升至55%。", + "error_success_analysis": "当前爪夹抓取洋葱向抓夹方向右前方移动没能直接接近白色盒子，还需进一步调整。", + "correction_plan": "爪夹抓取洋葱向爪夹方向左前方移动接近白色盒子，爪夹抓取洋葱向爪夹方向前方移动至白色盒子正上方，松开爪夹将洋葱放入白色盒子。", + "annotations": { + "bbox_1769245123777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123777_1769245229961_pggtzyano", + "x": 0.707111040825742, + "y": 0.22464812421483366, + "width": 0.11099999322509815, + "height": 0.15733332052951493 + } + ] + }, + "bbox_1769245123919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123919_1769245238283_dk69utoqx", + "x": 0.4281110578545498, + "y": 0.0006481424439988246, + "width": 0.46899997137451327, + "height": 0.40933330002170415 + } + ] + } + } + }, + { + "time": 5.977799, + "frame": 179, + "progress": 56, + "action_description": "当前爪夹抓取抓取洋葱向垂直下降。", + "state_description": "当前爪夹合拢抓取洋葱，此时爪夹与桌面垂直距离略微缩短。为完成把洋葱放进白色盒子里的任务应当：爪夹抓取洋葱向爪夹方向左前方移动接近白色盒子。", + "progress_explanation": "此时爪夹与桌面垂直距离略微缩短，因此当前进度为56%。", + "error_success_analysis": "当前爪夹抓取洋葱没有进一步向白色盒子移动。", + "correction_plan": "爪夹抓取洋葱向爪夹方向左前方移动接近白色盒子，爪夹抓取洋葱向爪夹方向前方移动至白色盒子正上方，松开爪夹将洋葱放入白色盒子。", + "annotations": { + "bbox_1769245123777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123777_1769245208952_vgc0ms5hh", + "x": 0.7191110400933203, + "y": 0.3299814489761191, + "width": 0.10199999377441449, + "height": 0.13333332248263977 + } + ] + }, + "bbox_1769245123919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123919_1769245216655_po7wir594", + "x": 0.4291110577935145, + "y": -0.0008333536105669263, + "width": 0.46699997149658384, + "height": 0.4199999658203153 + } + ] + } + } + }, + { + "time": 6.72941, + "frame": 202, + "progress": 5, + "action_description": "当前爪夹松开使洋葱落入盘子中。", + "state_description": "当前爪夹张开，此时洋葱位于盘子中。为完成把洋葱放进白色盒子里的任务应当：爪夹向爪夹方向右前方移动并下降靠近洋葱。", + "progress_explanation": "此时洋葱位于盘子中，因此当前进度跌落至5%。", + "error_success_analysis": "当前爪夹抓取洋葱没有移动到白色盒子正上方就松开爪夹，导致此时洋葱落入盘子中。", + "correction_plan": "爪夹向爪夹方向右前方移动并下降靠近洋葱，爪夹抓取洋葱，爪夹抓取洋葱竖直上升，爪夹抓取洋葱向爪夹方向左前方移动接近白色盒子，爪夹抓取洋葱向爪夹方向前方移动至白色盒子正上方，松开爪夹将洋葱放入白色盒子。", + "annotations": { + "bbox_1769245123777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123777_1769245182371_6xwmiky47", + "x": 0.7841110361260354, + "y": 0.4927962601484163, + "width": 0.11799999279785194, + "height": 0.1333333224826397 + } + ] + }, + "bbox_1769245123919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123919_1769245192211_q34dc4i7b", + "x": 0.42811105785454967, + "y": 0.005833312513565062, + "width": 0.46599997155761885, + "height": 0.4066666335720513 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向左上方移动。", + "correction_plan": "爪夹向爪夹方向右前方移动并下降靠近洋葱，爪夹抓取洋葱，爪夹抓取洋葱竖直上升，爪夹抓取洋葱向爪夹方向左前方移动接近白色盒子，爪夹抓取洋葱向爪夹方向前方移动至白色盒子正上方，松开爪夹将洋葱放入白色盒子。", + "error_success_analysis": "当前爪夹向爪夹方向左上方移动使爪夹与洋葱水平距离拉远。", + "frame": 242, + "progress": 4, + "progress_explanation": "当前爪夹向爪夹方向左上方移动使爪夹与洋葱水平距离拉远，因此当前进度跌落至4%。", + "state_description": "当前爪夹张开，此时爪夹与洋葱水平距离略微接近，为完成把洋葱放进白色盒子里的任务应当：爪夹向爪夹方向右下方移动靠近洋葱。", + "time": 8.066666666666666, + "annotations": { + "bbox_1769245123777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123777_1769245147996_krstz5y04", + "x": 0.7841110361260354, + "y": 0.4846481087780266, + "width": 0.1219999925537115, + "height": 0.13999998860677162 + } + ] + }, + "bbox_1769245123919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769245123919_1769245162433_h5iduoyqs", + "x": 0.42611105797661997, + "y": 0.0004999897867846853, + "width": 0.4699999713134783, + "height": 0.41199996647135695 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769245123777", + "name": "洋葱", + "color": "#4CAF50" + }, + { + "id": "bbox_1769245123919", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769245124779", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769245124915", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-142622-put-chili pepper-white-box-good/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-142622-put-chili pepper-white-box-good/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d8a4755c032f5c0a06ab9cee83c31c256743ae6d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-142622-put-chili pepper-white-box-good/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,464 @@ +{ + "task_description": "把黄瓜放进白色盒子里:\n爪夹准备移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓取黄瓜接近白色盒子：60%\n爪夹抓取黄瓜直至白色盒子正上方：80%\n爪夹松开使黄瓜落入白色盒子里：100%", + "progress_points": [ + { + "time": 0.8595949987984884, + "frame": 26, + "progress": 0, + "action_description": "爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向前方移动。", + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "当前爪夹向爪夹前方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769243299422": { + "type": "point", + "instances": [ + { + "id": "point_1769243299422_1769243495262_pz3kjye87", + "x": 0.5991110474175386, + "y": 0.2619814545099728 + } + ] + }, + "point_1769243299540": { + "type": "point", + "instances": [ + { + "id": "point_1769243299540_1769243497130_rq1f787p7", + "x": 0.6791110425347264, + "y": 0.20731479229209046 + } + ] + }, + "bbox_1769243298570": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298570_1769243501862_3kdzcimi0", + "x": 0.4991110535210538, + "y": 0.28731478578167435, + "width": 0.15899999029541076, + "height": 0.16533331987847333 + } + ] + }, + "bbox_1769243298704": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298704_1769243506916_y8pbwxe15", + "x": 0.0031110837944895143, + "y": 0.03531480628948516, + "width": 0.46699997149658373, + "height": 0.6133332834201429 + } + ] + } + } + }, + { + "time": 2.126593, + "frame": 64, + "progress": 5, + "action_description": "当前爪夹竖直上升并向爪夹方向前方移动。", + "state_description": "当前爪夹张开，此时爪夹与黄瓜水平距离略微接近。为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向前方移动至黄瓜正上方。", + "progress_explanation": "此时爪夹与黄瓜水平距离略微，因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前方移动，使爪夹与黄瓜水平距离略微接近。", + "correction_plan": "爪夹向爪夹前方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769243299422": { + "type": "point", + "instances": [ + { + "id": "point_1769243299422_1769243472602_dvbfssrjx", + "x": 0.5701110491875581, + "y": 0.17398146167143053 + } + ] + }, + "point_1769243299540": { + "type": "point", + "instances": [ + { + "id": "point_1769243299540_1769243475394_c0ntyaz6i", + "x": 0.6501110443047458, + "y": 0.11798146622872183 + } + ] + }, + "bbox_1769243298570": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298570_1769243481179_0cqfnluwc", + "x": 0.498111053582089, + "y": 0.2886481190065007, + "width": 0.16199999011230526, + "height": 0.15866665375434136 + } + ] + }, + "bbox_1769243298704": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298704_1769243486114_svffolmu9", + "x": 0.0031110837944895143, + "y": 0.03531480628948516, + "width": 0.46599997155761896, + "height": 0.6146666166449694 + } + ] + } + } + }, + { + "time": 2.946801, + "frame": 88, + "progress": 10, + "action_description": "当前爪夹向爪夹方向前下方移动至黄瓜正上方。", + "state_description": "当前爪夹张开，此时爪夹位于黄瓜正上方。为完成把黄瓜放进白色盒子里的任务应当：爪夹垂直下降靠近黄瓜。", + "progress_explanation": "此时爪夹位于黄瓜正上方，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功移动至黄瓜正上方。", + "correction_plan": "爪夹垂直下降靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769243299422": { + "type": "point", + "instances": [ + { + "id": "point_1769243299422_1769243450090_egr3bajgv", + "x": 0.5171110524224211, + "y": 0.2566481216106672 + } + ] + }, + "point_1769243299540": { + "type": "point", + "instances": [ + { + "id": "point_1769243299540_1769243452118_mn10l9zpr", + "x": 0.5921110478447846, + "y": 0.21398145841622246 + } + ] + }, + "bbox_1769243298570": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298570_1769243456604_erbmzj1mi", + "x": 0.4961110537041593, + "y": 0.28731478578167435, + "width": 0.16499998992919976, + "height": 0.1613333202039941 + } + ] + }, + "bbox_1769243298704": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298704_1769243462674_mim1djh5d", + "x": 0.002111083855524667, + "y": 0.03531480628948516, + "width": 0.46899997137451355, + "height": 0.6146666166449694 + } + ] + } + } + }, + { + "time": 3.553025, + "frame": 107, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近黄瓜。", + "state_description": "当前爪夹张开，此时爪夹靠近黄瓜，为完成把黄瓜放进白色盒子里的任务应当：爪夹合拢抓取黄瓜。", + "progress_explanation": "此时爪夹靠近黄瓜，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近黄瓜。", + "correction_plan": "爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769243299422": { + "type": "point", + "instances": [ + { + "id": "point_1769243299422_1769243433926_blzb5ahft", + "x": 0.524111051995175, + "y": 0.39931477666709175 + } + ] + }, + "bbox_1769243298570": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298570_1769243437797_1142pk6vi", + "x": 0.5041110532158781, + "y": 0.28731478578167435, + "width": 0.15599999047851618, + "height": 0.16266665342882056 + } + ] + }, + "bbox_1769243298704": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298704_1769243443510_y3sa7wwsw", + "x": 0.002111083855524667, + "y": 0.03131480661500598, + "width": 0.46999997131347826, + "height": 0.6186666163194485 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取黄瓜。", + "correction_plan": "爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹合拢成功抓取黄瓜。", + "frame": 117, + "progress": 40, + "progress_explanation": "当前爪夹抓取黄瓜。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取黄瓜，为完成把黄瓜放进白色盒子里的任务应当：爪夹抓取黄瓜竖直上升。", + "time": 3.9053337545746314, + "annotations": { + "point_1769243299422": { + "type": "point", + "instances": [ + { + "id": "point_1769243299422_1769243415006_90wibilu9", + "x": 0.5491110504692962, + "y": 0.376648111845043 + } + ] + }, + "bbox_1769243298570": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298570_1769243419847_l3y06zm95", + "x": 0.511111052788632, + "y": 0.2806481196575424, + "width": 0.14599999108886771, + "height": 0.16933331955295253 + } + ] + }, + "bbox_1769243298704": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298704_1769243424970_3f7rvavmt", + "x": 0.00011108397759497206, + "y": 0.03398147306465877, + "width": 0.47099997125244314, + "height": 0.6159999498697958 + } + ] + } + } + }, + { + "time": 5.016217, + "frame": 150, + "progress": 50, + "action_description": "当前爪夹抓取黄瓜竖直上升。", + "state_description": "当前爪夹合拢抓取黄瓜，此时黄瓜与桌面垂直距离增加，为完成把黄瓜放进白色盒子里的任务应当：爪夹抓取黄瓜向爪夹方向左前方移动接近白色盒子。", + "progress_explanation": "当前爪夹抓取黄瓜竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取黄瓜竖直上升。", + "correction_plan": "爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "bbox_1769243298704": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298704_1769243391895_jmalewyak", + "x": 0.002111083855524667, + "y": 0.033981473064658776, + "width": 0.46899997137451355, + "height": 0.6133332834201429 + } + ] + }, + "point_1769243299422": { + "type": "point", + "instances": [ + { + "id": "point_1769243299422_1769243400186_ninin2hty", + "x": 0.6111110466851167, + "y": 0.10731480043011064 + } + ] + }, + "bbox_1769243298570": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298570_1769243406672_3igavp6jw", + "x": 0.5861110482109956, + "y": -0.0006851907808275732, + "width": 0.13299999188232467, + "height": 0.26133331206597393 + } + ] + } + } + }, + { + "time": 5.641729, + "frame": 169, + "progress": 60, + "action_description": "当前爪夹抓取黄瓜向爪夹方向左前方移动接近白色盒子。", + "state_description": "当前爪夹抓取黄瓜，此时黄瓜水平距离接近白色盒子，为完成把黄瓜放进白色盒子里的任务应当：爪夹抓取黄瓜向抓夹方向左边移动至白色盒子正上方。", + "progress_explanation": "此时黄瓜水平距离接近白色盒子，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹抓取黄瓜成功接近白色盒子。", + "correction_plan": "爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "bbox_1769243298570": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298570_1769243370232_y2o9il5xp", + "x": 0.5211110521782805, + "y": -0.0006851907808275732, + "width": 0.06699999591064483, + "height": 0.09866665863715343 + } + ] + }, + "bbox_1769243298704": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298704_1769243376785_hlyzyu0b3", + "x": 0.004111083733454362, + "y": 0.03264813983983237, + "width": 0.46699997149658373, + "height": 0.6159999498697957 + } + ] + } + } + }, + { + "action_description": "当前爪夹向抓取黄瓜向爪夹方向左边移动至白色盒子正上方。", + "correction_plan": "爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹成功抓取黄瓜移动至白色盒子正上方。", + "frame": 184, + "progress": 80, + "progress_explanation": "此时黄瓜位于白色盒子正上方，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取黄瓜，此时黄瓜位于白色盒子正上方。为完成把黄瓜放进白色盒子里的任务应当：爪夹松开使黄瓜落入白色盒子。", + "time": 6.11959486782435, + "annotations": { + "point_1769243299422": { + "type": "point", + "instances": [ + { + "id": "point_1769243299422_1769243347896_beo9ciaiy", + "x": 0.2201110705498614, + "y": 0.09398146818184668 + } + ] + }, + "bbox_1769243298570": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298570_1769243352659_dy71loxqh", + "x": 0.17111107354058389, + "y": 0.0006481424439988246, + "width": 0.1919999882812507, + "height": 0.2359999807942724 + } + ] + }, + "bbox_1769243298704": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298704_1769243357956_ts8oi2am7", + "x": 0.00011108397759497235, + "y": 0.023314807266047587, + "width": 0.46999997131347826, + "height": 0.626666615668407 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使黄瓜落入白色盒子。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将黄瓜放入白色盒子。", + "frame": 219, + "progress": 100, + "progress_explanation": "此时黄瓜落入白色盒子，因此当前进度提升至100%。", + "state_description": "当前爪夹松开，此时黄瓜落入白色盒子。已完成把黄瓜放进白色盒子里的任务。", + "time": 7.3125845288405245, + "annotations": { + "point_1769243299422": { + "type": "point", + "instances": [ + { + "id": "point_1769243299422_1769243321208_5oysgd0bk", + "x": 0.20711107134331835, + "y": 0.09501850626477 + } + ] + }, + "bbox_1769243298570": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298570_1769243330898_ifrm0op0u", + "x": 0.17911107305230264, + "y": 0.28983329957411297, + "width": 0.17499998931884828, + "height": 0.1759999856770845 + } + ] + }, + "bbox_1769243298704": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243298704_1769243338003_l7m4g12qf", + "x": 0.010111083367243447, + "y": 0.032499987182618234, + "width": 0.4609999718627947, + "height": 0.6173332830946221 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769243298570", + "name": "黄瓜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769243298704", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769243299422", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769243299540", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-145107-put-chili pepper-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-145107-put-chili pepper-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..0d05ffb2baa7f98d8ac11086f0d755a8479d9708 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-145107-put-chili pepper-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,608 @@ +{ + "task_description": "把黄瓜放进白色盒子里:\n爪夹准备移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓取黄瓜接近白色盒子：60%\n爪夹抓取黄瓜直至白色盒子正上方：80%\n爪夹松开使黄瓜落入白色盒子里：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方前进，爪夹垂直下降靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左后方移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹前方移动。", + "time": 1.105902535927273, + "annotations": { + "point_1769240931908": { + "type": "point", + "instances": [ + { + "id": "point_1769240931908_1769241327736_1jw73yaag", + "x": 0.6241110458916597, + "y": 0.24049996008301108 + } + ] + }, + "point_1769240932028": { + "type": "point", + "instances": [ + { + "id": "point_1769240932028_1769241330856_o3ydaxwxx", + "x": 0.714111040398496, + "y": 0.18849996431478155 + } + ] + }, + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241335287_dis0acmdh", + "x": 0.5361110512627532, + "y": 0.1031666379258921, + "width": 0.11599999291992233, + "height": 0.1266666563585078 + } + ] + }, + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241340495_grw5h36a6", + "x": 0.08011107909478277, + "y": 0.1913147935941737, + "width": 0.6599999597167993, + "height": 0.7786666032986164 + } + ] + } + } + }, + { + "time": 2.820636, + "frame": 85, + "progress": 5, + "action_description": "当前爪夹向爪夹方向前方移动。", + "state_description": "当前爪夹张开，此时爪夹与黄瓜水平距离略微接近。为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向前下方移动靠近黄瓜。", + "progress_explanation": "此时爪夹与黄瓜水平距离略微接近，因此当前进度提升5%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前方移动，使爪夹与黄瓜水平距离略微接近。", + "correction_plan": "爪夹向爪夹方向前下方移动靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左后方移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769240931908": { + "type": "point", + "instances": [ + { + "id": "point_1769240931908_1769241305912_gh7juag73", + "x": 0.6331110453423434, + "y": 0.053981471437054736 + } + ] + }, + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241312486_beirca322", + "x": 0.5371110512017181, + "y": 0.10731480043011064, + "width": 0.11299999310302775, + "height": 0.1199999902343758 + } + ] + }, + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241316824_bqbm7pq4e", + "x": 0.07911107915581791, + "y": 0.1913147935941737, + "width": 0.6599999597167991, + "height": 0.7799999365234427 + } + ] + } + } + }, + { + "time": 3.765947, + "frame": 113, + "progress": -5, + "action_description": "当前爪夹垂直下降靠近玉米。", + "state_description": "当前爪夹张开，此时爪夹靠近玉米，为完成把黄瓜放进白色盒子里的任务应当：爪夹竖直上升。", + "progress_explanation": "此时爪夹靠近玉米，因此当前进度跌落至-5%。", + "error_success_analysis": "当前爪夹没有移动至黄瓜正上方就下降导致爪夹下降并靠近玉米。", + "correction_plan": "爪夹竖直上升，爪夹向爪夹方向右前方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左后方移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769240931908": { + "type": "point", + "instances": [ + { + "id": "point_1769240931908_1769241280204_c9goeexod", + "x": 0.6131110465630465, + "y": 0.30998145060372306 + } + ] + }, + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241289464_ofg2pkpok", + "x": 0.5371110512017181, + "y": 0.10464813398045786, + "width": 0.11199999316406287, + "height": 0.13199998925781337 + } + ] + }, + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241295328_hta3a40zl", + "x": 0.07911107915581791, + "y": 0.1939814600438265, + "width": 0.6609999596557642, + "height": 0.7773332700737899 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取玉米。", + "correction_plan": "爪夹松开竖直上升，爪夹向爪夹方向右前方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左后方移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹合拢抓取错误目标。", + "frame": 123, + "progress": -10, + "progress_explanation": "当前爪夹抓取错误目标，因此当前进度跌落至-10%。", + "state_description": "当前爪夹合拢抓取玉米，为完成把黄瓜放进白色盒子里的任务应当：爪夹松开竖直上升。", + "time": 4.093256227335933, + "annotations": { + "point_1769240931908": { + "type": "point", + "instances": [ + { + "id": "point_1769240931908_1769241237917_vvbmf5qjv", + "x": 0.636111045159238, + "y": 0.3086481173788967 + } + ] + }, + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241249104_to5wdkoms", + "x": 0.5341110513848235, + "y": 0.10464813398045786, + "width": 0.11699999285888714, + "height": 0.13199998925781337 + } + ] + }, + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241255140_0mt6s8ou8", + "x": 0.07811107921685306, + "y": 0.1926481268190001, + "width": 0.6609999596557641, + "height": 0.781333269748269 + } + ] + } + } + }, + { + "time": 4.916533, + "frame": 147, + "progress": -12, + "action_description": "当前爪夹抓取玉米竖直上升。", + "state_description": "当前爪夹合拢抓取玉米，此时爪夹与黄瓜水平距离略微接近。为完成把黄瓜放进白色盒子里的任务应当：爪夹松开向爪夹方向右前方移动。", + "progress_explanation": "当前爪夹抓取错误目标竖直上升，因此当前进度跌落至-12%。", + "error_success_analysis": "当前爪夹抓取错误目标竖直上升，导致进度大大跌落。", + "correction_plan": "爪夹松开向爪夹方向右前方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左后方移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769240931908": { + "type": "point", + "instances": [ + { + "id": "point_1769240931908_1769241213126_xnjs4162l", + "x": 0.6201110461358004, + "y": 0.20198145939278486 + } + ] + }, + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241220374_em0fp570q", + "x": 0.5371110512017181, + "y": 0.10331480075563146, + "width": 0.11099999322509806, + "height": 0.13599998893229254 + } + ] + }, + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241225472_8sh2qph20", + "x": 0.07911107915581791, + "y": 0.19531479326865286, + "width": 0.6599999597167991, + "height": 0.7786666032986163 + } + ] + } + } + }, + { + "time": 5.754266, + "frame": 173, + "progress": 6, + "action_description": "爪夹松开使玉米落在桌面。", + "state_description": "当前爪夹松开，此时爪夹与黄瓜水平距离略微接近。为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向前下方移动靠近黄瓜。", + "progress_explanation": "此时爪夹与黄瓜水平距离略微接近，因此当前进度提升至6%。", + "error_success_analysis": "当前爪夹成功放下错误目标将任务拉回正轨。", + "correction_plan": "爪夹向爪夹方向前下方移动靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左后方移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769240931908": { + "type": "point", + "instances": [ + { + "id": "point_1769240931908_1769241191144_5ukrla28d", + "x": 0.6001110473565034, + "y": 0.1406481310507706 + } + ] + }, + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241195602_oiwunqbhx", + "x": 0.5371110512017181, + "y": 0.10464813398045786, + "width": 0.11499999298095745, + "height": 0.1199999902343758 + } + ] + }, + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241201894_iwh1va40j", + "x": 0.07911107915581791, + "y": 0.1899814603693473, + "width": 0.6609999596557642, + "height": 0.7799999365234427 + } + ] + } + } + }, + { + "time": 6.683237, + "frame": 200, + "progress": 10, + "action_description": "爪夹向爪夹前下方移动至黄瓜正上方。", + "state_description": "当前爪夹张开，此时爪夹位于黄瓜正上方。为完成把黄瓜放进白色盒子里的任务应当：爪夹垂直下降靠近黄瓜。", + "progress_explanation": "此时爪夹位于黄瓜正上方，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前下方移动至黄瓜正上方。", + "correction_plan": "爪夹垂直下降靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左后方移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241168148_5aj0a97qw", + "x": 0.5341110513848235, + "y": 0.10331480075563146, + "width": 0.11699999285888714, + "height": 0.12266665668402858 + } + ] + }, + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241178550_vkjodfdtz", + "x": 0.08011107909478277, + "y": 0.1953147932686529, + "width": 0.6579999598388696, + "height": 0.7773332700737898 + } + ] + } + } + }, + { + "time": 7.417451, + "frame": 223, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近黄瓜。", + "state_description": "当前爪夹张开，此时爪夹靠近黄瓜，为完成把黄瓜放进白色盒子里的任务应当：爪夹合拢抓取黄瓜。", + "progress_explanation": "此时爪夹靠近黄瓜，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近黄瓜。", + "correction_plan": "爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左后方移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241140864_aqdxg4xkh", + "x": 0.07911107915581791, + "y": 0.1926481268190001, + "width": 0.6609999596557642, + "height": 0.7759999368489635 + } + ] + }, + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241155546_ise84xs9a", + "x": 0.5381110511406828, + "y": 0.09383330535210731, + "width": 0.11399999304199264, + "height": 0.13199998925781337 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取黄瓜。", + "correction_plan": "爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左后方移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹合拢成功抓取黄瓜。", + "frame": 233, + "progress": 40, + "progress_explanation": "爪夹合拢抓取黄瓜。，因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取黄瓜，为完成把黄瓜放进白色盒子里的任务应当：爪夹抓取黄瓜竖直上升。", + "time": 7.774355562721013, + "annotations": { + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241114654_w9eri8i78", + "x": 0.5521110502861907, + "y": 0.09131480173219388, + "width": 0.06599999597167994, + "height": 0.13866665538194536 + } + ] + }, + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241124054_xhongb7cl", + "x": 0.07911107915581791, + "y": 0.1913147935941737, + "width": 0.6599999597167993, + "height": 0.7786666032986163 + } + ] + } + } + }, + { + "time": 9.013567, + "frame": 270, + "progress": 50, + "action_description": "当前爪夹抓取黄瓜竖直上升。", + "state_description": "当前爪夹合拢抓取黄瓜，此时黄瓜与桌面垂直距离增加，为完成把黄瓜放进白色盒子里的任务应当：爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子。", + "progress_explanation": "当前爪夹抓取黄瓜竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹合拢抓取黄瓜成功竖直上升。", + "correction_plan": "爪夹抓取黄瓜向爪夹方向左后方移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241076100_irn77ucv1", + "x": 0.08011107909478277, + "y": 0.19279628456247683, + "width": 0.6609999596557642, + "height": 0.7813332697482692 + } + ] + }, + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241089990_bre396fs0", + "x": 0.5881110480889252, + "y": 0.0018333128390858693, + "width": 0.06299999615478535, + "height": 0.1319999892578134 + } + ] + } + } + }, + { + "time": 9.955276, + "frame": 299, + "progress": 60, + "action_description": "当前抓取黄瓜向爪夹方向左边移动接近白色盒子。", + "state_description": "当前爪夹抓取黄瓜，此时黄瓜与白色盒子水平距离接近。为完成把黄瓜放进白色盒子里的任务应当：爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方。", + "progress_explanation": "此时黄瓜与白色盒子水平距离接近，因此当前进度提升至60%。", + "error_success_analysis": "爪夹成功抓取黄瓜接近白色盒子。", + "correction_plan": "爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241035166_iakf39900", + "x": 0.07911107915581791, + "y": 0.19398146004382652, + "width": 0.6609999596557641, + "height": 0.7773332700737899 + } + ] + }, + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241047070_ijaqt1uc9", + "x": 0.48811105419244055, + "y": 0.0004999796142594715, + "width": 0.11399999304199256, + "height": 0.14399998828125096 + } + ] + }, + "point_1769240931908": { + "type": "point", + "instances": [ + { + "id": "point_1769240931908_1769241050902_1txfzaiht", + "x": 0.5201110522393156, + "y": 0.07516664020453774 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取黄瓜向爪夹方向左后方移动。", + "correction_plan": "爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹成功抓取黄瓜来到白色盒子正上方。", + "frame": 333, + "progress": 80, + "progress_explanation": "此时黄瓜位于白色盒子正上方，因此当前进度为80%。", + "state_description": "当前爪夹合拢抓取黄瓜，此时黄瓜位于白色盒子正上方。为完成把黄瓜放进白色盒子里的任务应当：爪夹松开使黄瓜落入白色盒子。", + "time": 11.10150303893445, + "annotations": { + "point_1769240931908": { + "type": "point", + "instances": [ + { + "id": "point_1769240931908_1769240995936_r2r7mhyfd", + "x": 0.4761110549248623, + "y": 0.3979814434422654 + } + ] + }, + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769241002342_9zcp7pyki", + "x": 0.3321110637139243, + "y": 0.22598145743966003, + "width": 0.27699998309326274, + "height": 0.21199998274739723 + } + ] + }, + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769241009590_ziuj0vqf0", + "x": 0.08011107909478277, + "y": 0.1926481268190001, + "width": 0.6599999597167993, + "height": 0.787999935872401 + } + ] + } + } + }, + { + "action_description": "爪夹松开使黄瓜落入白色盒子。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将黄瓜放入白色盒子。", + "frame": 362, + "progress": 100, + "progress_explanation": "此时黄瓜落入白色盒子，因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时黄瓜落入白色盒子。已完成把黄瓜放进白色盒子里的任务。", + "time": 12.078410170248182, + "annotations": { + "point_1769240931908": { + "type": "point", + "instances": [ + { + "id": "point_1769240931908_1769240969782_m0k0wcti3", + "x": 0.46211105577935446, + "y": 0.40183329045953037 + } + ] + }, + "point_1769240932028": { + "type": "point", + "instances": [ + { + "id": "point_1769240932028_1769240973125_tt8wx8md4", + "x": 0.48311105449761627, + "y": 0.26449996830241146 + } + ] + }, + "bbox_1769240931019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931019_1769240977998_30m5u4kju", + "x": 0.3761110610283776, + "y": 0.3658332933892177, + "width": 0.16199999011230526, + "height": 0.1773333189019109 + } + ] + }, + "bbox_1769240931145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240931145_1769240983610_gzekuua7d", + "x": 0.07911107915581791, + "y": 0.19116664093695954, + "width": 0.6609999596557641, + "height": 0.7839999361979219 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769240931019", + "name": "黄瓜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769240931145", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769240931908", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769240932028", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-150536-put-chili pepper-white-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-150536-put-chili pepper-white-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c92d973dbf0de708fbc80f8901a7ee668e987b05 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-150536-put-chili pepper-white-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,378 @@ +{ + "task_description": "把土豆放进白色盒子里:\n爪夹准备移动：0%\n爪夹靠近土豆：20%\n爪夹抓取土豆：40%\n爪夹抓取土豆接近白色盒子：60%\n爪夹抓取土豆直至白色盒子正上方：80%\n爪夹松开使土豆落入白色盒子里：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "当前爪夹向爪夹方向前方移动至土豆正上方，爪夹垂直下降靠近土豆，爪夹合拢抓取土豆，爪夹抓取土豆竖直上升，爪夹抓取土豆向爪夹方向右边移动接近白色盒子，爪夹抓取土豆向爪夹方向右前方移动至白色盒子正上方，爪夹松开使土豆落入白色盒子。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成把土豆放进白色盒子里的任务应当：当前爪夹向爪夹方向前方移动至土豆正上方。", + "time": 1.516486825854063, + "annotations": { + "point_1769237530301": { + "type": "point", + "instances": [ + { + "id": "point_1769237530301_1769237741412_lmh8kybex", + "x": 0.6111110466851167, + "y": 0.24331478936240322 + } + ] + }, + "point_1769237530442": { + "type": "point", + "instances": [ + { + "id": "point_1769237530442_1769237743660_26sx05jn0", + "x": 0.7001110412529881, + "y": 0.1966481264934793 + } + ] + }, + "bbox_1769237529548": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529548_1769237748338_jgg7oue0t", + "x": 0.4691110553521084, + "y": 0.4033147763415709, + "width": 0.12099999261474652, + "height": 0.1133333241102438 + } + ] + }, + "bbox_1769237529394": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529394_1769237757688_xcx53nuxs", + "x": 0.49311105388726484, + "y": 0.0006481424439988246, + "width": 0.4259999739990249, + "height": 0.3133333078342035 + } + ] + } + } + }, + { + "time": 2.707233, + "frame": 81, + "progress": 10, + "action_description": "爪夹向爪夹方向前下方移动至土豆正上方。", + "state_description": "当前爪夹张开，此时爪夹位于土豆正上方。为完成把土豆放进白色盒子里的任务应当：爪夹垂直下降靠近土豆。", + "progress_explanation": "此时爪夹位于土豆正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功移动至土豆正上方。", + "correction_plan": "爪夹垂直下降靠近土豆，爪夹合拢抓取土豆，爪夹抓取土豆竖直上升，爪夹抓取土豆向爪夹方向右边移动接近白色盒子，爪夹抓取土豆向爪夹方向右前方移动至白色盒子正上方，爪夹松开使土豆落入白色盒子。", + "annotations": { + "point_1769237530301": { + "type": "point", + "instances": [ + { + "id": "point_1769237530301_1769237717540_uarxhehix", + "x": 0.49711105364312413, + "y": 0.4006481098919181 + } + ] + }, + "bbox_1769237529548": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529548_1769237722976_bzsp5blgt", + "x": 0.4701110552910732, + "y": 0.40198144311674455, + "width": 0.11799999279785203, + "height": 0.11599999055989656 + } + ] + }, + "bbox_1769237529394": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529394_1769237731637_iu5dvk2x9", + "x": 0.49211105394829985, + "y": 0.0006481424439988246, + "width": 0.4269999739379899, + "height": 0.3293333065321203 + } + ] + } + } + }, + { + "time": 3.052666, + "frame": 92, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近土豆。", + "state_description": "当前爪夹张开，此时爪夹靠近土豆，为完成把土豆放进白色盒子里的任务应当：爪夹合拢抓取土豆。", + "progress_explanation": "此时爪夹靠近土豆，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近土豆。", + "correction_plan": "爪夹合拢抓取土豆，爪夹抓取土豆竖直上升，爪夹抓取土豆向爪夹方向右边移动接近白色盒子，爪夹抓取土豆向爪夹方向右前方移动至白色盒子正上方，爪夹松开使土豆落入白色盒子。", + "annotations": { + "point_1769237530301": { + "type": "point", + "instances": [ + { + "id": "point_1769237530301_1769237696046_decihmmhe", + "x": 0.4761110549248623, + "y": 0.5033147682035508 + } + ] + }, + "bbox_1769237529548": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529548_1769237702512_walft0fy2", + "x": 0.4731110551079678, + "y": 0.40198144311674455, + "width": 0.11599999291992225, + "height": 0.11999999023437577 + } + ] + }, + "bbox_1769237529394": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529394_1769237710177_dp02t1k3n", + "x": 0.4921110539482999, + "y": -0.0008333536105669263, + "width": 0.4259999739990249, + "height": 0.33333330620659946 + } + ] + } + } + }, + { + "time": 3.422199, + "frame": 103, + "progress": 40, + "action_description": "当前爪夹合拢抓取土豆。", + "state_description": "当前爪夹抓取土豆，为完成把土豆放进白色盒子里的任务应当：爪夹抓取土豆竖直上升。", + "progress_explanation": "当前爪夹抓取土豆，因此当前进度提升至40%。", + "error_success_analysis": "爪夹合拢成功抓取土豆。", + "correction_plan": "爪夹抓取土豆竖直上升，爪夹抓取土豆向爪夹方向右边移动接近白色盒子，爪夹抓取土豆向爪夹方向右前方移动至白色盒子正上方，爪夹松开使土豆落入白色盒子。", + "annotations": { + "point_1769237530301": { + "type": "point", + "instances": [ + { + "id": "point_1769237530301_1769237657120_6i8joqdxa", + "x": 0.4841110544365811, + "y": 0.5034629259470276 + } + ] + }, + "bbox_1769237529548": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529548_1769237663836_sae6bg2g3", + "x": 0.4821110545586514, + "y": 0.40479626730987406, + "width": 0.12099999261474662, + "height": 0.11599999055989661 + } + ] + }, + "bbox_1769237529394": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529394_1769237673296_p1jdo5jvt", + "x": 0.491111054009335, + "y": 0.0006481424439988246, + "width": 0.4229999741821304, + "height": 0.33066663975694666 + } + ] + } + } + }, + { + "action_description": "爪夹抓取土豆竖直上升。", + "correction_plan": "爪夹抓取土豆向爪夹方向右边移动接近白色盒子，爪夹抓取土豆向爪夹方向右前方移动至白色盒子正上方，爪夹松开使土豆落入白色盒子。", + "error_success_analysis": "当前爪夹成功抓取土豆竖直上升。", + "frame": 142, + "progress": 50, + "progress_explanation": "爪夹抓取土豆竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹抓取土豆，此时土豆与盘子垂直距离增加。为完成把土豆放进白色盒子里的任务应当：爪夹抓取土豆向爪夹方向右边移动接近白色盒子。", + "time": 4.72981982366202, + "annotations": { + "point_1769237530301": { + "type": "point", + "instances": [ + { + "id": "point_1769237530301_1769237624924_xikok9i7k", + "x": 0.4821110545586514, + "y": 0.1953147932686529 + } + ] + }, + "bbox_1769237529548": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529548_1769237633098_6v0shonfu", + "x": 0.48611105431451085, + "y": 0.10731480043011064, + "width": 0.11399999304199256, + "height": 0.1733333192274317 + } + ] + }, + "bbox_1769237529394": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529394_1769237646138_e639k5byo", + "x": 0.498111053582089, + "y": 0.0004999796142594715, + "width": 0.4209999743042007, + "height": 0.3346666394314258 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取土豆向爪夹方向右边移动接近白色盒子。", + "correction_plan": "爪夹抓取土豆向爪夹方向右前方移动至白色盒子正上方，爪夹松开使土豆落入白色盒子。", + "error_success_analysis": "当前爪夹成功抓取土豆接近白色盒子。", + "frame": 165, + "progress": 60, + "progress_explanation": "此时土豆接近白色盒子，因此当前进度提升至60%。", + "state_description": "当前爪夹合拢抓取土豆，此时土豆接近白色盒子。为完成把土豆放进白色盒子里的任务应当：爪夹抓取土豆向爪夹方向右前方移动至白色盒子正上方。", + "time": 5.500025928806711, + "annotations": { + "bbox_1769237529394": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529394_1769237605654_cx8h5zfig", + "x": 0.4941110538262296, + "y": 0.001981475668825222, + "width": 0.40899997503662255, + "height": 0.3293333065321202 + } + ] + }, + "bbox_1769237529548": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529548_1769237616980_te41sum7u", + "x": 0.6931110416802342, + "y": 0.004648142118478017, + "width": 0.057999996459961164, + "height": 0.049333329318576716 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使土豆落至桌面。", + "correction_plan": "爪夹垂直下降靠近土豆，爪夹合拢抓取土豆，爪夹抓取土豆竖直上升，爪夹抓取土豆向爪夹方向右前方移动至白色盒子正上方，爪夹松开使土豆落入白色盒子。", + "error_success_analysis": "当前爪夹没能移动至白色盒子正上方就松开爪夹，导致土豆掉落至桌面", + "frame": 209, + "progress": 10, + "progress_explanation": "此时土豆位于桌面，因此当前进度跌落至10%。", + "state_description": "当前爪夹松开，此时土豆位于桌面。为完成把土豆放进白色盒子里的任务应当：爪夹向爪夹方向下方移动靠近土豆。", + "time": 6.974183850481495, + "annotations": { + "bbox_1769237529548": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529548_1769237577582_vtk56f8la", + "x": 0.5741110489434174, + "y": 0.32064811640233426, + "width": 0.10199999377441449, + "height": 0.10399999153645906 + } + ] + }, + "bbox_1769237529394": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529394_1769237589016_6l789dcvb", + "x": 0.4931110538872647, + "y": 0.001981475668825222, + "width": 0.4289999738159195, + "height": 0.33066663975694666 + } + ] + } + } + }, + { + "time": 8.033333, + "frame": 241, + "progress": 9, + "action_description": "当前爪夹向爪夹方向左边略微移动。", + "state_description": "当前爪夹张开，此时爪夹水平距离略微远离土豆。为完成把土豆放进白色盒子里的任务应当：爪夹向爪夹方向右下方移动靠近土豆。", + "progress_explanation": "此时爪夹水平距离略微远离土豆，因此当前进度跌落至9%。", + "error_success_analysis": "当前爪夹向抓夹方向左边略微移动，导致爪夹水平距离略微远离土豆。", + "correction_plan": "爪夹向爪夹方向右下方移动靠近土豆，爪夹合拢抓取土豆，爪夹抓取土豆竖直上升，爪夹抓取土豆向爪夹方向右前方移动至白色盒子正上方，爪夹松开使土豆落入白色盒子。", + "annotations": { + "bbox_1769237529548": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529548_1769237547274_wrkegs6lh", + "x": 0.5701110491875581, + "y": 0.32464812179885894, + "width": 0.1019999937744144, + "height": 0.10533332476128537 + } + ] + }, + "bbox_1769237529394": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769237529394_1769237560973_dxpwa32e7", + "x": 0.49211105394829985, + "y": 0.0003518473020957599, + "width": 0.4269999739379899, + "height": 0.3306666397569466 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769237529394", + "name": "白色盒子", + "color": "#4CAF50" + }, + { + "id": "bbox_1769237529548", + "name": "土豆", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769237530301", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769237530442", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-151058-put-cucumber-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-151058-put-cucumber-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..fe94ac76e90b1e1fdf49a6f005befb37a3c69b72 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-151058-put-cucumber-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,434 @@ +{ + "task_description": "把黄瓜放进白色盒子里:\n爪夹准备移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓取黄瓜接近白色盒子：60%\n爪夹抓取黄瓜直至白色盒子正上方：80%\n爪夹松开使黄瓜落入白色盒子里：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "annotations": { + "bbox_1769220255506": { + "instances": [ + { + "height": 0.21066664952257083, + "id": "bbox_1769220255506_1769220466924_h0pzg5ydo", + "width": 0.17399998937988342, + "x": 0.42611105797661997, + "y": 0.25146294645483835 + } + ], + "type": "bbox" + }, + "bbox_1769220255645": { + "instances": [ + { + "height": 0.4919999599609408, + "id": "bbox_1769220255645_1769220474967_vsibjes6o", + "width": 0.4049999752807632, + "x": 0.0011110839165598195, + "y": 0.0004999796142594715 + } + ], + "type": "bbox" + }, + "point_1769220256690": { + "instances": [ + { + "id": "point_1769220256690_1769220458630_vul9n1sn9", + "x": 0.616111046379941, + "y": 0.23279628130726876 + } + ], + "type": "point" + }, + "point_1769220256825": { + "instances": [ + { + "id": "point_1769220256825_1769220461281_j28nnir98", + "x": 0.7061110408867772, + "y": 0.17679628586456006 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向前方移动，爪夹向爪夹方向下方移动靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成把黄瓜放进白色盒子里的任务应当:爪夹向爪夹方向前方移动。", + "time": 1.5190068504216554 + }, + { + "action_description": "当前爪夹向爪夹方向前方移动。", + "annotations": { + "bbox_1769220255506": { + "instances": [ + { + "height": 0.2079999830729181, + "id": "bbox_1769220255506_1769220445550_fiw38mbys", + "width": 0.17399998937988342, + "x": 0.42611105797661997, + "y": 0.25264812193618796 + } + ], + "type": "bbox" + }, + "bbox_1769220255645": { + "instances": [ + { + "height": 0.4893332935112879, + "id": "bbox_1769220255645_1769220451715_msku7q571", + "width": 0.40599997521972797, + "x": 0.00011108397759497206, + "y": 0.001981475668825222 + } + ], + "type": "bbox" + }, + "point_1769220256690": { + "instances": [ + { + "id": "point_1769220256690_1769220439669_1ykpwhuxs", + "x": 0.5731110490044525, + "y": 0.10998146687976344 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向下方移动靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹向爪夹方向前方移动成功使爪夹与黄瓜水平距离拉近。", + "frame": 76, + "progress": 10, + "progress_explanation": "此时爪夹与黄瓜水平距离接近，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹与黄瓜水平距离接近。为完成把黄瓜放进白色盒子里的任务应当:爪夹向爪夹方向下方移动靠近黄瓜。", + "time": 2.5340926597454483 + }, + { + "action_description": "当前爪夹向爪夹方向前下方移动至黄瓜正上方。", + "annotations": { + "bbox_1769220255506": { + "instances": [ + { + "height": 0.21466664919705006, + "id": "bbox_1769220255506_1769220425529_nmit2jx7a", + "width": 0.1809999889526374, + "x": 0.4231110581597254, + "y": 0.25264812193618796 + } + ], + "type": "bbox" + }, + "bbox_1769220255645": { + "instances": [ + { + "height": 0.4906666267361144, + "id": "bbox_1769220255645_1769220433669_34qp9qr9k", + "width": 0.4049999752807632, + "x": 0.0011110839165598195, + "y": 0.0006481424439988246 + } + ], + "type": "bbox" + }, + "point_1769220256690": { + "instances": [ + { + "id": "point_1769220256690_1769220420502_vx8deumq9", + "x": 0.4931110538872647, + "y": 0.33131478220094546 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹成功向爪夹方向前下方移动至黄瓜正上方。", + "frame": 102, + "progress": 15, + "progress_explanation": "此时爪夹位于黄瓜正上方，因此当前进度提升至15%。", + "state_description": "当前爪夹张开，此时爪夹位于黄瓜正上方。为完成把黄瓜放进白色盒子里的任务应当:爪夹垂直下降靠近黄瓜。", + "time": 3.4001750475171244 + }, + { + "action_description": "当前爪夹垂直下降靠近黄瓜。", + "annotations": { + "bbox_1769220255506": { + "instances": [ + { + "height": 0.24266664691840442, + "id": "bbox_1769220255506_1769220400319_4z5n7v2xr", + "width": 0.1729999894409186, + "x": 0.4271110579155848, + "y": 0.2527962796796647 + } + ], + "type": "bbox" + }, + "bbox_1769220255645": { + "instances": [ + { + "height": 0.4879999602864616, + "id": "bbox_1769220255645_1769220413051_heuhf83ex", + "width": 0.4029999754028335, + "x": 0.0011110839165598195, + "y": 0.0018333128390858693 + } + ], + "type": "bbox" + }, + "point_1769220256690": { + "instances": [ + { + "id": "point_1769220256690_1769220387428_xqrxv93o6", + "x": 0.5101110528496672, + "y": 0.4167962663333117 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹垂直下降成功靠近黄瓜。", + "frame": 122, + "progress": 20, + "progress_explanation": "此时爪夹靠近黄瓜，因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近黄瓜。为完成把黄瓜放进白色盒子里的任务应当:爪夹合拢抓取黄瓜。", + "time": 4.070690444501649 + }, + { + "action_description": "爪夹合拢抓取黄瓜。", + "annotations": { + "bbox_1769220255506": { + "instances": [ + { + "height": 0.21599998242187643, + "id": "bbox_1769220255506_1769220371842_f4goc2iel", + "width": 0.17899998907470768, + "x": 0.4231110581597254, + "y": 0.250129613230012 + } + ], + "type": "bbox" + }, + "bbox_1769220255645": { + "instances": [ + { + "height": 0.4906666267361144, + "id": "bbox_1769220255645_1769220379856_hrya0o5p0", + "width": 0.4049999752807632, + "x": 0.0011110839165598195, + "y": 0.0018333128390858693 + } + ], + "type": "bbox" + }, + "point_1769220256690": { + "instances": [ + { + "id": "point_1769220256690_1769220365378_zipkruevv", + "x": 0.5331110514458587, + "y": 0.4034629340850477 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹合拢成功抓取黄瓜。", + "frame": 129, + "progress": 40, + "progress_explanation": "爪夹合拢抓取黄瓜。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取黄瓜。为完成把黄瓜放进白色盒子里的任务应当:爪夹抓取黄瓜竖直上升。", + "time": 4.312821004523838 + }, + { + "action_description": "当前爪夹抓取黄瓜竖直上升。", + "annotations": { + "bbox_1769220255506": { + "instances": [ + { + "height": 0.3066666417100715, + "id": "bbox_1769220255506_1769220349300_7509n4536", + "width": 0.18399998876953189, + "x": 0.4341110574883388, + "y": 0.03798147273913796 + } + ], + "type": "bbox" + }, + "bbox_1769220255645": { + "instances": [ + { + "height": 0.49199995996094076, + "id": "bbox_1769220255645_1769220358699_yeil4gczq", + "width": 0.4059999752197281, + "x": 0.0011110839165598195, + "y": -0.0006851907808275732 + } + ], + "type": "bbox" + }, + "point_1769220256690": { + "instances": [ + { + "id": "point_1769220256690_1769220343199_h2yezjtbp", + "x": 0.5491110504692962, + "y": 0.2566481216106672 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹成功抓取黄瓜竖直上升。", + "frame": 170, + "progress": 50, + "progress_explanation": "当前爪夹抓取黄瓜竖直上升，因此当前进度提升至50%。", + "state_description": "当前爪夹抓取黄瓜，此时黄瓜与桌面垂直距离增加，为完成把黄瓜放进白色盒子里的任务应当:爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子。", + "time": 5.6724772261869 + }, + { + "action_description": "当前爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子。", + "annotations": { + "bbox_1769220255506": { + "instances": [ + { + "height": 0.09466665896267425, + "id": "bbox_1769220255506_1769220336344_mab8yjmtd", + "width": 0.0769999953002932, + "x": 0.4731110551079678, + "y": 0.0006481424439988246 + } + ], + "type": "bbox" + }, + "bbox_1769220255645": { + "instances": [ + { + "height": 0.489333293511288, + "id": "bbox_1769220255645_1769220330238_l70xh1p7i", + "width": 0.40599997521972797, + "x": 0.00011108397759497206, + "y": 0.0006481424439988246 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹合拢抓取黄瓜成功接近白色盒子。", + "frame": 191, + "progress": 60, + "progress_explanation": "此时黄瓜与白色盒子水平距离接近，因此当前进度提升至60%。", + "state_description": "当前爪夹合拢抓取黄瓜，此时黄瓜与白色盒子水平距离接近。为完成把黄瓜放进白色盒子里的任务应当:爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方。", + "time": 6.370930764712446 + }, + { + "action_description": "当前爪夹抓取黄瓜向爪夹方向前下方移动至白色盒子正上方。", + "annotations": { + "bbox_1769220255506": { + "instances": [ + { + "height": 0.14533332150607733, + "id": "bbox_1769220255506_1769220311536_shw9lepdc", + "width": 0.12499999237060595, + "x": 0.23311106975640442, + "y": 0.0006481424439988246 + } + ], + "type": "bbox" + }, + "bbox_1769220255645": { + "instances": [ + { + "height": 0.4906666267361144, + "id": "bbox_1769220255645_1769220318962_y8nso4pnb", + "width": 0.4059999752197281, + "x": 0.0011110839165598195, + "y": -0.0006851907808275732 + } + ], + "type": "bbox" + }, + "point_1769220256690": { + "instances": [ + { + "id": "point_1769220256690_1769220304596_hzavp1d1l", + "x": 0.28311106670464675, + "y": 0.05798147111153393 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹抓取黄瓜成功移动至白色盒子正上方。", + "frame": 222, + "progress": 80, + "progress_explanation": "此时黄瓜位于白色盒子正上方，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取黄瓜，此时黄瓜位于白色盒子正上方。为完成把黄瓜放进白色盒子里的任务应当:爪夹松开使黄瓜落入白色盒子。", + "time": 7.3953292878832455 + }, + { + "action_description": "当前爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "bbox_1769220255506": { + "instances": [ + { + "height": 0.17599998567708453, + "id": "bbox_1769220255506_1769220284884_ae6sbxjj7", + "width": 0.130999992004395, + "x": 0.21211107103814264, + "y": 0.12583331292046607 + } + ], + "type": "bbox" + }, + "bbox_1769220255645": { + "instances": [ + { + "height": 0.4879999602864616, + "id": "bbox_1769220255645_1769220295002_nc6o3kv8o", + "width": 0.4059999752197281, + "x": 0.0011110839165598195, + "y": 0.0025740557801061377 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将黄瓜放入白色盒子。", + "frame": 242, + "progress": 100, + "progress_explanation": "此时黄瓜落入白色盒子，因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时黄瓜落入白色盒子，已完成把黄瓜放进白色盒子里的任务。", + "time": 8.06584468486777 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769220255506", + "name": "黄瓜" + }, + { + "color": "#FF9800", + "id": "bbox_1769220255645", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769220256690", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769220256825", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-151058-put-cucumber-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-151058-put-cucumber-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e07260227b50cccf0e3f2abe0f6a1153cd9ee5a3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-151058-put-cucumber-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,356 @@ +{ + "task_description": "把黄瓜放进白色盒子里:\n爪夹准备移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓取黄瓜接近白色盒子：60%\n爪夹抓取黄瓜直至白色盒子正上方：80%\n爪夹松开使黄瓜落入白色盒子里：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动，爪夹向爪夹方向下方移动靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成把黄瓜放进白色盒子里的任务应当:爪夹向爪夹方向前方移动。", + "time": 1.5562577058096845, + "annotations": { + "point_1769220256690": { + "type": "point", + "instances": [ + { + "id": "point_1769220256690_1769221651631_95ncnqsrq", + "x": 0.37911106084527213, + "y": 0.29531478513063275 + } + ] + }, + "point_1769220256825": { + "type": "point", + "instances": [ + { + "id": "point_1769220256825_1769221653415_e8bl78g7p", + "x": 0.48311105449761627, + "y": 0.3166481167278551 + } + ] + }, + "bbox_1769220255506": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255506_1769221659232_66k3by5rs", + "x": 0.39911105962456916, + "y": 0.28998145223132715, + "width": 0.15499999053955124, + "height": 0.22399998177083483 + } + ] + }, + "bbox_1769220255645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255645_1769221671304_uhr6qje8c", + "x": 0.19311107219781054, + "y": 0.0006481424439988246, + "width": 0.4089999750366225, + "height": 0.33599997265625225 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向前方移动。", + "correction_plan": "爪夹向爪夹方向下方移动靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹向爪夹方向前方移动成功使爪夹与黄瓜水平距离拉近。", + "frame": 70, + "progress": 10, + "progress_explanation": "此时爪夹与黄瓜水平距离接近，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹与黄瓜水平距离接近。为完成把黄瓜放进白色盒子里的任务应当:爪夹向爪夹方向下方移动靠近黄瓜。", + "time": 2.339633, + "annotations": { + "point_1769220256825": { + "type": "point", + "instances": [ + { + "id": "point_1769220256825_1769221621561_qo323sxb2", + "x": 0.4991110535210538, + "y": 0.18064812779556252 + } + ] + }, + "bbox_1769220255506": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255506_1769221627515_rv10ua4ld", + "x": 0.40511105925835816, + "y": 0.285981452556848, + "width": 0.14899999090576221, + "height": 0.2333333143446196 + } + ] + }, + "bbox_1769220255645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255645_1769221636888_inu6n7k7v", + "x": 0.2101110711602129, + "y": -0.0006851907808275732, + "width": 0.3889999762573257, + "height": 0.33599997265625225 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向前下方移动至黄瓜正上方。", + "correction_plan": "爪夹垂直下降靠近黄瓜，爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹成功向爪夹方向前下方移动至黄瓜正上方。", + "frame": 96, + "progress": 15, + "progress_explanation": "此时爪夹位于黄瓜正上方，因此当前进度提升至15%。", + "state_description": "当前爪夹张开，此时爪夹位于黄瓜正上方。为完成把黄瓜放进白色盒子里的任务应当:爪夹垂直下降靠近黄瓜。", + "time": 3.215866, + "annotations": { + "bbox_1769220255506": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255506_1769221582485_f7cognt2b", + "x": 0.40511105925835816, + "y": 0.28464811933202155, + "width": 0.1499999908447271, + "height": 0.23066664789496674 + } + ] + }, + "bbox_1769220255645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255645_1769221595948_7cxdzt2vv", + "x": 0.17911107305230264, + "y": -0.0009814859227306378, + "width": 0.4229999741821304, + "height": 0.3533333045789954 + } + ] + }, + "point_1769220256825": { + "type": "point", + "instances": [ + { + "id": "point_1769220256825_1769221611169_31f9t4vyx", + "x": 0.5321110515068938, + "y": 0.37264811217056376 + } + ] + } + } + }, + { + "action_description": "当前爪夹垂直下降靠近黄瓜。", + "correction_plan": "爪夹合拢抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹垂直下降成功靠近黄瓜。", + "frame": 114, + "progress": 20, + "progress_explanation": "此时爪夹靠近黄瓜，因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近黄瓜。为完成把黄瓜放进白色盒子里的任务应当:爪夹合拢抓取黄瓜。", + "time": 3.803033, + "annotations": { + "bbox_1769220255506": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255506_1769221553531_f3piv67mo", + "x": 0.4051110592583581, + "y": 0.2833147861071951, + "width": 0.14699999102783262, + "height": 0.24133331369357797 + } + ] + }, + "bbox_1769220255645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255645_1769221562991_xl0msz9hb", + "x": 0.1921110722588457, + "y": 0.00331480889365162, + "width": 0.4099999749755874, + "height": 0.3573333042534746 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取黄瓜。", + "correction_plan": "爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹合拢成功抓取黄瓜。", + "frame": 130, + "progress": 40, + "progress_explanation": "爪夹合拢抓取黄瓜。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取黄瓜。为完成把黄瓜放进白色盒子里的任务应当:爪夹抓取黄瓜竖直上升。", + "time": 4.335999, + "annotations": { + "bbox_1769220255506": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255506_1769221516158_cduqyxgho", + "x": 0.40711105913628787, + "y": 0.2807962824872817, + "width": 0.14499999114990283, + "height": 0.23733331401909882 + } + ] + }, + "bbox_1769220255645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255645_1769221532742_ve9vwldkr", + "x": 0.1931110721978105, + "y": 0.005537027544187212, + "width": 0.4079999750976578, + "height": 0.3466666384548634 + } + ] + }, + "point_1769220256825": { + "type": "point", + "instances": [ + { + "id": "point_1769220256825_1769221542969_86vv6u9xs", + "x": 0.46711105547417875, + "y": 0.4684999618733755 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取黄瓜竖直上升。", + "correction_plan": "爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子，爪夹取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹成功抓取黄瓜竖直上升。", + "frame": 175, + "progress": 50, + "progress_explanation": "当前爪夹抓取黄瓜竖直上升，因此当前进度提升至50%。", + "state_description": "当前爪夹抓取黄瓜，此时黄瓜与桌面垂直距离增加，为完成把黄瓜放进白色盒子里的任务应当:爪夹抓取黄瓜向爪夹方向前方移动接近白色盒子。", + "time": 5.84010607543303, + "annotations": { + "bbox_1769220255506": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255506_1769221480664_d3rm6c9jf", + "x": 0.3751110610894127, + "y": 0.0016851805269221577, + "width": 0.14099999139404348, + "height": 0.3679999700520858 + } + ] + }, + "bbox_1769220255645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255645_1769221494378_9wmu2o58o", + "x": 0.21611107079400202, + "y": 0.0003518473020957599, + "width": 0.38599997644043105, + "height": 0.3373333058810786 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取黄瓜向爪夹方向前下方移动至白色盒子正上方。", + "correction_plan": "爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹抓取黄瓜成功移动至白色盒子正上方。", + "frame": 212, + "progress": 80, + "progress_explanation": "此时黄瓜位于白色盒子正上方，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取黄瓜，此时黄瓜位于白色盒子正上方。为完成把黄瓜放进白色盒子里的任务应当:爪夹松开使黄瓜落入白色盒子。", + "time": 7.082133, + "annotations": { + "bbox_1769220255506": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255506_1769221457750_h8lhenmdo", + "x": 0.38311106060113154, + "y": 0.001981475668825222, + "width": 0.0629999961547854, + "height": 0.10133332508680623 + } + ] + }, + "bbox_1769220255645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255645_1769221469044_r50pm9ihn", + "x": 0.19211107225884566, + "y": 0.001981475668825222, + "width": 0.4069999751586929, + "height": 0.33466663943142577 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使黄瓜落入白色盒子。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将黄瓜放入白色盒子。", + "frame": 254, + "progress": 100, + "progress_explanation": "此时黄瓜落入白色盒子，因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时黄瓜落入白色盒子，已完成把黄瓜放进白色盒子里的任务。", + "time": 8.466666666666667, + "annotations": { + "bbox_1769220255645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220255645_1769221445972_v7qyde413", + "x": 0.19011107238091599, + "y": 0.007314808568130813, + "width": 0.41199997485351714, + "height": 0.3293333065321202 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769220255506", + "name": "黄瓜" + }, + { + "color": "#FF9800", + "id": "bbox_1769220255645", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769220256690", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769220256825", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-152311-put-cucumber-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-152311-put-cucumber-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..c5161c2f31e51133720668ba44b1a2f2b8a6448a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-152311-put-cucumber-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,758 @@ +{ + "task_description": "把黄瓜放进白色盒子里:\n爪夹准备移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓取黄瓜接近白色盒子：60%\n爪夹抓取黄瓜直至白色盒子正上方：80%\n爪夹松开使黄瓜落入白色盒子里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向右前方移动接近，爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向前方移动。", + "time": 1.0040622193312674, + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769225174208_q359agcal", + "x": 0.41411105870904186, + "y": 0.49531476885459236 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769225176119_ic85c0lt0", + "x": 0.6431110447319919, + "y": 0.487314769505634 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769225182860_px77sdxba", + "x": 0.5311110515679289, + "y": 0.21264812519139606, + "width": 0.32499998016357534, + "height": 0.3346666394314258 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769225206449_dnln23ur6", + "x": 0.5741110489434174, + "y": 0.40998144246570295, + "width": 0.04599999719238301, + "height": 0.2786666439887171 + } + ] + } + } + }, + { + "time": 1.9665364103160483, + "frame": 59, + "progress": 5, + "action_description": "爪夹向爪夹方向左边移动。", + "state_description": "当前爪夹张开，此时爪夹位于辣椒正上方，为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向右前方移动至黄瓜正上方。", + "progress_explanation": "此时爪夹与黄瓜水平距离略微接近，因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹向爪夹方向左边移动使爪夹与黄瓜水平距离拉近。", + "correction_plan": "爪夹向爪夹方向右前方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向右前方移动接近，爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769225138769_7pjq5p0lf", + "x": 0.4111110588921473, + "y": 0.4819814366063284 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769225140589_rlxszzhz6", + "x": 0.6441110446709567, + "y": 0.4819814366063284 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769225144402_cyabpyjve", + "x": 0.687111042046445, + "y": 0.32064811640233426, + "width": 0.05499999664306667, + "height": 0.2986666423611132 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769225155667_gcpwbyl09", + "x": 0.6701110430840428, + "y": 0.08331480238323549, + "width": 0.3039999814453136, + "height": 0.4546666296658017 + } + ] + } + } + }, + { + "time": 2.3675673232263734, + "frame": 71, + "progress": 6, + "action_description": "当前爪夹垂直下降靠近辣椒。", + "state_description": "当前爪夹张开，此时爪夹靠近辣椒，为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向右前方移动靠近黄瓜。", + "progress_explanation": "当前爪夹与黄瓜垂直距离缩短，因此当前进度提升至6%。", + "error_success_analysis": "当前爪夹垂直下降靠近错误目标。", + "correction_plan": "爪夹向爪夹方向前方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向右前方移动接近，爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769225115350_iaq6yq7lx", + "x": 0.4111110588921473, + "y": 0.4793147701566756 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769225116891_gt2cyqckk", + "x": 0.6481110444268161, + "y": 0.4753147704821964 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769225122557_5vnheqcbr", + "x": 0.8551110317925396, + "y": 0.17798146134590973, + "width": 0.06499999603271504, + "height": 0.4733332948133712 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769225133359_c2etsuc50", + "x": 0.8161110341729104, + "y": 0.0006481424439988246, + "width": 0.18299998883056717, + "height": 0.44266663064236406 + } + ] + } + } + }, + { + "time": 2.7017597506516444, + "frame": 81, + "progress": -10, + "action_description": "当前爪夹抓取辣椒。", + "state_description": "当前爪夹合拢抓取辣椒，为完成把黄瓜放进白色盒子里的任务应当：爪夹松开向爪夹方向右前方移动。", + "progress_explanation": "当前爪夹抓取辣椒，因此当前进度跌落至-10%。", + "error_success_analysis": "当前爪夹合拢抓取错误目标。", + "correction_plan": "爪夹松开向爪夹方向前方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向右前方移动接近，爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769225087866_fr58o79hd", + "x": 0.42811105785454967, + "y": 0.4686481043580644 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769225090013_8mb9pt1af", + "x": 0.6311110454644137, + "y": 0.4793147701566756 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769225096951_fkc02zx6e", + "x": 0.8591110315483987, + "y": 0.15931479619834016, + "width": 0.07099999566650421, + "height": 0.4799999609375032 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769225109542_j4hdxvb3r", + "x": 0.8281110334404886, + "y": -0.0006851907808275732, + "width": 0.16999998962402413, + "height": 0.4346666312934057 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取辣椒竖直上升。", + "correction_plan": "爪夹松开向爪夹方向前方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向右前方移动接近，爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹抓取错误目标竖直上升。", + "frame": 109, + "progress": -12, + "progress_explanation": "当前爪夹抓取辣椒竖直上升，因此当前进度跌落至-12%。", + "state_description": "当前爪夹抓取辣椒竖直上升，此时爪夹与黄瓜垂直距离增加，为完成把黄瓜放进白色盒子里的任务应当：爪夹松开向爪夹方向右前方移动至黄瓜正上方。", + "time": 3.6241308503453924, + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769225035339_tm5n3ha0a", + "x": 0.42811105785454967, + "y": 0.4713147708077173 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769225037372_g0af75ft0", + "x": 0.629111045586484, + "y": 0.4766481037070228 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769225056777_xnnss1fsh", + "x": 0.7821110362481056, + "y": 0.2581296125789703, + "width": 0.07899999517822298, + "height": 0.41066663324653047 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769225069137_tprg5v766", + "x": 0.7841110361260354, + "y": 0.050129629506052285, + "width": 0.21299998699951245, + "height": 0.4946666264105935 + } + ] + } + } + }, + { + "time": 4.439560373263054, + "frame": 133, + "progress": 5, + "action_description": "当前爪夹松开使辣椒落在桌面。", + "state_description": "当前爪夹松开，此时爪夹与黄瓜水平距离略微接近。为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向右前方移动至黄瓜正上方。", + "progress_explanation": "此时爪夹与黄瓜水平距离略微接近，因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹松开成功放下错误目标。", + "correction_plan": "爪夹向爪夹方向前方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向右前方移动接近，爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769224964966_dtvh918vi", + "x": 0.4161110585869715, + "y": 0.47812959467532595 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769224971470_0sldlkhr1", + "x": 0.6441110446709567, + "y": 0.4767962614504996 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769224989158_8fiex8mcb", + "x": 0.7161110402764257, + "y": 0.10198146244454245, + "width": 0.2739999832763682, + "height": 0.48414812344172176 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769225020100_q6q9x2b9k", + "x": 0.7191110400933203, + "y": 0.3310184972315676, + "width": 0.06699999591064483, + "height": 0.318666640733509 + } + ] + } + } + }, + { + "time": 5.629285414897019, + "frame": 169, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右前方移动至黄瓜正上方。", + "state_description": "当前爪夹张开，此时爪夹位于黄瓜正上方，为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向下方移动靠近黄瓜。", + "progress_explanation": "此时爪夹位于黄瓜正上方，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹张开成功移动至黄瓜正上方。", + "correction_plan": "爪夹向爪夹方向下方移动靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向右前方移动接近，爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769224920269_fooh8nkmn", + "x": 0.41711105852593633, + "y": 0.4819814366063284 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769224922103_4t4wol8xk", + "x": 0.642111044793027, + "y": 0.480648103381502 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769224938814_hqsm6nooy", + "x": 0.5761110488213471, + "y": 0.3579814466974734, + "width": 0.05499999664306658, + "height": 0.41466663292100975 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769224951808_e4pnfywo4", + "x": 0.5461110506524016, + "y": 0.03531480628948516, + "width": 0.379999976806642, + "height": 0.5319999567057326 + } + ] + } + } + }, + { + "time": 6.524921120396746, + "frame": 196, + "progress": 20, + "action_description": "当前爪夹张开向爪夹方向右下方移动靠近黄瓜。", + "state_description": "当前爪夹张开，此时爪夹靠近黄瓜。为完成把黄瓜放进白色盒子里的任务应当：爪夹合拢抓取黄瓜。", + "progress_explanation": "此时爪夹靠近黄瓜，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右下方移动并靠近黄瓜。", + "correction_plan": "爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向右前方移动接近，爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769224844912_sowilvowi", + "x": 0.41411105870904186, + "y": 0.480648103381502 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769224846774_2dfhbqwjc", + "x": 0.6461110445488865, + "y": 0.4819814366063284 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769224853086_1rxfepxtk", + "x": 0.4461110567559169, + "y": 0.2966481183554591, + "width": 0.0999999938964848, + "height": 0.623999949218754 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769224906100_amwerja00", + "x": 0.10111107781304456, + "y": 0.0058333328586154904, + "width": 0.8949999453735383, + "height": 0.670666612087678 + } + ] + } + } + }, + { + "time": 7.126467489762234, + "frame": 214, + "progress": 40, + "action_description": "当前爪夹合拢抓取黄瓜。", + "state_description": "当前爪夹合拢抓取黄瓜，为完成把黄瓜放进白色盒子里的任务应当：爪夹抓取黄瓜竖直上升。", + "progress_explanation": "当前爪夹合拢抓取黄瓜，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功合拢抓取黄瓜。", + "correction_plan": "爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向右前方移动接近，爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769224791312_rkvz43dvl", + "x": 0.49011105407037026, + "y": 0.4699814375828908 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769224793100_zyx5i3gte", + "x": 0.5711110491265228, + "y": 0.47398143725737 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769224797428_q9xy0g9l8", + "x": 0.46711105547417875, + "y": 0.28731478578167435, + "width": 0.1019999937744144, + "height": 0.6279999488932334 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769224817420_m790uuik2", + "x": 0.21911107061089657, + "y": -0.0011296385799447772, + "width": 0.7779999525146513, + "height": 0.6879999440104212 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取黄瓜竖直上升。", + "correction_plan": "爪夹抓取黄瓜向爪夹方向右前方移动接近，爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹成功抓取黄瓜竖直上升。", + "frame": 284, + "progress": 50, + "progress_explanation": "此时黄瓜略微接近白色盒子，因此当前进度提升至50%。", + "state_description": "当前爪夹抓取黄瓜，此时黄瓜略微接近白色盒子，为完成把黄瓜放进白色盒子里的任务应当：爪夹抓取黄瓜向爪夹方向右前方移动接近白色盒子。", + "time": 9.45244678464212, + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769224757834_fqxsemr9b", + "x": 0.4891110541314053, + "y": 0.4713147708077173 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769224759958_z773gtu82", + "x": 0.5711110491265228, + "y": 0.4686481043580644 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769224764886_hu6j2tz7r", + "x": 0.485111054375546, + "y": 0.2886481190065007, + "width": 0.08499999481201197, + "height": 0.5613332876519136 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769224779804_d5cna3p5e", + "x": 0.4191110584038661, + "y": -0.0009814859227306378, + "width": 0.5029999692993181, + "height": 0.5479999554036495 + } + ] + } + } + }, + { + "time": 9.973786971425543, + "frame": 299, + "progress": 60, + "action_description": "当前爪夹抓取黄瓜向爪夹方向右前方移动接近白色盒子。", + "state_description": "当前爪夹抓取黄瓜，此时黄瓜水平距离接近白色盒子。为完成把黄瓜放进白色盒子里的任务应当：爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方。", + "progress_explanation": "此时黄瓜水平距离接近白色盒子，因此当前进度提升至60%.", + "error_success_analysis": "当前爪夹成功抓取黄瓜接近白色盒子。", + "correction_plan": "爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方，爪夹松开使黄瓜落入白色盒子。", + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769224669962_ezyinykbr", + "x": 0.49011105407037026, + "y": 0.480648103381502 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769224672206_o795wua4l", + "x": 0.5681110493096283, + "y": 0.480648103381502 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769224679356_cl4egs0f7", + "x": 0.48311105449761627, + "y": 0.2939814519058063, + "width": 0.08599999475097686, + "height": 0.553333288302955 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769224691982_avhq776m6", + "x": 0.40311105938042846, + "y": 0.30464811770441746, + "width": 0.4039999753417983, + "height": 0.46666662868923925 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取黄瓜向爪夹方向前方移动至白色盒子正上方。", + "correction_plan": "爪夹松开使黄瓜落入白色盒子。", + "error_success_analysis": "当前爪夹成功抓取黄瓜来到白色盒子正上方。", + "frame": 328, + "progress": 80, + "progress_explanation": "此时黄瓜位于白色盒子正上方，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取黄瓜，此时黄瓜位于白色盒子正上方，为完成把黄瓜放进白色盒子里的任务应当：爪夹松开使黄瓜落入白色盒子。", + "time": 10.949628859507333, + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769224638444_0m8ihzol5", + "x": 0.4921110539482999, + "y": 0.4821295943498052 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769224640300_qx5bvncv0", + "x": 0.5691110492485931, + "y": 0.4821295943498052 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769224646880_irvtlvhk3", + "x": 0.48411105443658115, + "y": 0.29812960932376226, + "width": 0.08399999487304707, + "height": 0.5519999550781286 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769224659974_3izuglx8g", + "x": 0.3591110620659752, + "y": 0.5007962594973747, + "width": 0.392999976013185, + "height": 0.4386666309678848 + } + ] + } + } + }, + { + "action_description": "爪夹松开使黄瓜落入白色盒子。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将黄瓜放入白色盒子。", + "frame": 350, + "progress": 100, + "progress_explanation": "此时黄瓜落入白色盒子，因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时黄瓜落入白色盒子，已完成把黄瓜放进白色盒子里的任务。", + "time": 11.658116805648909, + "annotations": { + "point_1769224543574": { + "type": "point", + "instances": [ + { + "id": "point_1769224543574_1769224589924_wod75edr0", + "x": 0.4111110588921473, + "y": 0.4899814416773322 + } + ] + }, + "point_1769224544021": { + "type": "point", + "instances": [ + { + "id": "point_1769224544021_1769224592502_kikjbcwux", + "x": 0.6431110447319919, + "y": 0.4899814416773322 + } + ] + }, + "bbox_1769224542814": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542814_1769224599390_gznshe77n", + "x": 0.4341110574883388, + "y": 0.5593147693683049, + "width": 0.09299999432373082, + "height": 0.2119999827473972 + } + ] + }, + "bbox_1769224542933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224542933_1769224611023_iw6fiufn8", + "x": 0.3181110645684164, + "y": 0.43931477913392913, + "width": 0.4429999729614275, + "height": 0.5079999586588576 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769224542814", + "name": "黄瓜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769224542933", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769224543574", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769224544021", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-153646-put-cucumber-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-153646-put-cucumber-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..be763243cd7a3ccb342dbf0a71304d1bc3ff99fc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-153646-put-cucumber-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,426 @@ +{ + "task_description": "把黄瓜放进白色盒子里:\n爪夹准备移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓取黄瓜接近白色盒子：60%\n爪夹抓取黄瓜直至白色盒子正上方：80%\n爪夹松开使黄瓜落入白色盒子里：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "当前爪夹向爪夹方向前方移动，爪夹向爪夹方向前下方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开将黄瓜放入白色盒子。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向前方移动。", + "time": 1.4190145893520338, + "annotations": { + "point_1769235029195": { + "type": "point", + "instances": [ + { + "id": "point_1769235029195_1769235330379_dijm2nwyx", + "x": 0.42111105828179574, + "y": 0.4846481030559812 + } + ] + }, + "point_1769235029373": { + "type": "point", + "instances": [ + { + "id": "point_1769235029373_1769235332608_3l7oocilm", + "x": 0.6381110450371676, + "y": 0.4899814359552868 + } + ] + }, + "bbox_1769235028133": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028133_1769235340342_oabfdpyed", + "x": 0.5091110529107022, + "y": 0.3806481115195222, + "width": 0.09799999401855511, + "height": 0.21866664887152928 + } + ] + }, + "bbox_1769235028288": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028288_1769235351368_1bhfr8add", + "x": 0.05111108086480219, + "y": 0.20731479229209046, + "width": 0.33499997955322386, + "height": 0.42933329839410017 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动。", + "correction_plan": "爪夹向爪夹方向前下方移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开将黄瓜放入白色盒子。", + "error_success_analysis": "当前爪夹成功向爪夹方向前方移动，使爪夹与黄瓜水平距离接近。", + "frame": 72, + "progress": 5, + "progress_explanation": "此时爪夹与黄瓜水平距离接近，因此当前进度提升至5%。", + "state_description": "当前爪夹张开，此时爪夹与黄瓜水平距离接近。为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向右前方移动至黄瓜正上方。", + "time": 2.3983959710255434, + "annotations": { + "point_1769235029195": { + "type": "point", + "instances": [ + { + "id": "point_1769235029195_1769235282302_if5i1elqq", + "x": 0.4161110585869715, + "y": 0.4833147698311548 + } + ] + }, + "point_1769235029373": { + "type": "point", + "instances": [ + { + "id": "point_1769235029373_1769235283896_pw91mhsyv", + "x": 0.6431110447319919, + "y": 0.4846481030559812 + } + ] + }, + "bbox_1769235028133": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028133_1769235290956_hc92c5tgb", + "x": 0.4991110535210538, + "y": 0.33398144865059826, + "width": 0.12199999255371141, + "height": 0.28133331043836995 + } + ] + }, + "bbox_1769235028288": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028288_1769235306194_gwkg3vaja", + "x": 0.06211108019341551, + "y": 0.12198146590320101, + "width": 0.3139999808349621, + "height": 0.5653332873263927 + } + ] + } + } + }, + { + "time": 3.274512, + "frame": 98, + "progress": -5, + "action_description": "当前爪夹向爪夹方向前下方移动靠近黄色物体。", + "state_description": "当前爪夹张开，此时爪夹靠近黄色物体。为完成把黄瓜放进白色盒子里的任务应当：爪夹竖直上升。", + "progress_explanation": "当前爪夹靠近错误目标。因此当前进度跌落至-5%。", + "error_success_analysis": "当前爪夹下降靠近错误目标。", + "correction_plan": "爪夹竖直上升，爪夹向爪夹方向右边移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开将黄瓜放入白色盒子。", + "annotations": { + "point_1769235029373": { + "type": "point", + "instances": [ + { + "id": "point_1769235029373_1769235230720_uyphjbd8f", + "x": 0.6441110446709567, + "y": 0.4766481037070228 + } + ] + }, + "point_1769235029195": { + "type": "point", + "instances": [ + { + "id": "point_1769235029195_1769235232924_8cziyg86p", + "x": 0.4131110587700769, + "y": 0.47398143725737 + } + ] + }, + "bbox_1769235028133": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028133_1769235246387_ercmlp6ys", + "x": 0.5531110502251555, + "y": 0.27664811998306316, + "width": 0.25599998437500104, + "height": 0.5466666221788231 + } + ] + }, + "bbox_1769235028288": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028288_1769235259832_li3hof9fa", + "x": 0.00011108397759497235, + "y": 0.00331480889365162, + "width": 0.3819999766845717, + "height": 0.9599999218750064 + } + ] + } + } + }, + { + "time": 3.786819, + "frame": 114, + "progress": -10, + "action_description": "当前爪夹合拢抓取黄色物体。", + "state_description": "当前爪夹合拢抓取黄色物体。为完成把黄瓜放进白色盒子里的任务应当：爪夹松开竖直上升。", + "progress_explanation": "当前爪夹抓取错误目标，因此当前进度跌落至-10%。", + "error_success_analysis": "当前爪夹合拢抓取错误目标。", + "correction_plan": "爪夹松开后竖直上升，爪夹向爪夹方向右边移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开将黄瓜放入白色盒子。", + "annotations": { + "bbox_1769235028133": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028133_1769235203254_5lyb05ab6", + "x": 0.5411110509575774, + "y": 0.23531479001344482, + "width": 0.28699998248291114, + "height": 0.6546666133897614 + } + ] + }, + "bbox_1769235028288": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028288_1769235215864_pm1yuhz6x", + "x": 0.002111083855524667, + "y": 0.0006481424439988246, + "width": 0.379999976806642, + "height": 0.9679999212239647 + } + ] + }, + "point_1769235029195": { + "type": "point", + "instances": [ + { + "id": "point_1769235029195_1769235221222_fqafyl8cg", + "x": 0.48611105431451085, + "y": 0.480648103381502 + } + ] + }, + "point_1769235029373": { + "type": "point", + "instances": [ + { + "id": "point_1769235029373_1769235223278_45j9qekm3", + "x": 0.5711110491265228, + "y": 0.4699814375828908 + } + ] + } + } + }, + { + "time": 4.692074, + "frame": 141, + "progress": -12, + "action_description": "当前爪夹抓取黄色物体竖直上升。", + "state_description": "当前爪夹抓取黄色物体，此时黄色物体与桌面垂直距离增加，为完成把黄瓜放进白色盒子里的任务应当：爪夹松开向爪夹方向右边移动至黄瓜正上方。", + "progress_explanation": "当前爪夹抓取黄色物体竖直上升。因此当前进度跌落至-12%。", + "error_success_analysis": "当前爪夹抓取错误目标并竖直上升。", + "correction_plan": "爪夹松开后向爪夹方向右边移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开将黄瓜放入白色盒子。", + "annotations": { + "bbox_1769235028288": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028288_1769235172322_ym6ucqji8", + "x": 0.049111080986872495, + "y": 0.049981471762575544, + "width": 0.3529999784545911, + "height": 0.8639999296875058 + } + ] + }, + "bbox_1769235028133": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028133_1769235182032_tyeb1ol4f", + "x": 0.5751110488823822, + "y": 0.3006481180299383, + "width": 0.15599999047851618, + "height": 0.46666662868923936 + } + ] + } + } + }, + { + "time": 5.397663, + "frame": 162, + "progress": -15, + "action_description": "当前爪夹抓取黄色物体向爪夹方向右边移动。", + "state_description": "当前爪夹合拢抓取黄色物体，此时黄色物体位于盘子正上方。为完成把黄瓜放进白色盒子里的任务应当：爪夹松开向爪夹方向左边移动至黄瓜正上方。", + "progress_explanation": "当前爪夹抓取错误目标移动至盘子正上方，因此当前进度跌落至-15%。", + "error_success_analysis": "当前爪夹抓取错误目标移动至盘子正上方。", + "correction_plan": "爪夹松开后向爪夹方向左边移动至黄瓜正上方，爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开将黄瓜放入白色盒子。", + "annotations": { + "bbox_1769235028288": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028288_1769235156723_qz8y7aou5", + "x": 0.046111081169977954, + "y": 0.4899814359552868, + "width": 0.27399998327636815, + "height": 0.46666662868923925 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开。", + "correction_plan": "爪夹向爪夹方向左下方移动靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开将黄瓜放入白色盒子。", + "error_success_analysis": "当前爪夹张开放下错误目标使进度大大提升。", + "frame": 180, + "progress": 5, + "progress_explanation": "此时爪夹与黄瓜水平距离接近，因此当前进度提升至5%。", + "state_description": "当前爪夹张开，此时爪夹与黄瓜水平距离接近，为完成把黄瓜放进白色盒子里的任务应当：爪夹向爪夹方向左下方移动靠近黄瓜。", + "time": 6.002519455584058, + "annotations": { + "point_1769235029195": { + "type": "point", + "instances": [ + { + "id": "point_1769235029195_1769235098436_fh98t0uoq", + "x": 0.41411105870904186, + "y": 0.47798143693184925 + } + ] + }, + "point_1769235029373": { + "type": "point", + "instances": [ + { + "id": "point_1769235029373_1769235099996_647cmo1t3", + "x": 0.6411110448540621, + "y": 0.47398143725737 + } + ] + }, + "bbox_1769235028133": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028133_1769235104255_pz1oze6qg", + "x": 0.4021110594414636, + "y": 0.5313147659249051, + "width": 0.050999996887207334, + "height": 0.31733330750868266 + } + ] + }, + "bbox_1769235028288": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028288_1769235117340_iv3b2c7yk", + "x": 0.043111081353083405, + "y": 0.47664810370702276, + "width": 0.2849999826049815, + "height": 0.49199995996094076 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向左边移动至黄瓜正上方。", + "correction_plan": "爪夹垂直下降靠近黄瓜，爪夹抓取黄瓜，爪夹抓取黄瓜竖直上升，爪夹抓取黄瓜向爪夹方向左边移动接近白色盒子，爪夹抓取黄瓜向爪夹方向左边移动至白色盒子正上方，爪夹松开将黄瓜放入白色盒子。", + "error_success_analysis": "当前爪夹成功向爪夹方向左边移动直至黄瓜正上方。", + "frame": 226, + "progress": 10, + "progress_explanation": "此时爪夹位于黄瓜正上方，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于黄瓜正上方。为完成把黄瓜放进白色盒子里的任务应当：爪夹垂直下降靠近黄瓜。", + "time": 7.530354410994734, + "annotations": { + "point_1769235029195": { + "type": "point", + "instances": [ + { + "id": "point_1769235029195_1769235067728_wsk2hpzcf", + "x": 0.4161110585869715, + "y": 0.48049995072428786 + } + ] + }, + "point_1769235029373": { + "type": "point", + "instances": [ + { + "id": "point_1769235029373_1769235069511_a2o5adlj0", + "x": 0.642111044793027, + "y": 0.4898332832980727 + } + ] + }, + "bbox_1769235028133": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028133_1769235074544_ucn9naeeu", + "x": 0.4741110550469327, + "y": 0.6524999367268932, + "width": 0.06199999621582046, + "height": 0.28133331043836995 + } + ] + }, + "bbox_1769235028288": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235028288_1769235083148_im27nw2ly", + "x": 0.05611108055962642, + "y": 0.4711666181505031, + "width": 0.2779999830322276, + "height": 0.502666625759552 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769235028133", + "name": "黄瓜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769235028288", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769235029195", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769235029373", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-162725-put-tomato-white-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-162725-put-tomato-white-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c93497a278219a86ec3c2eec3bb08b8e8f5c0a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-162725-put-tomato-white-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,390 @@ +{ + "task_description": "把番茄放进那个白色盒子里。\n爪夹开始移动:0%\n爪夹靠近番茄:20%\n爪夹夹起番茄:40%\n爪夹移动番茄:60%\n爪夹将番茄放入白色盒子内:80%\n爪夹松开，番茄落入白色盒子内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向上抬起，然后向爪夹方向的右前方移动至番茄上方，下降抓取番茄，抓取番茄后向后移动，然后向爪夹的左前方移动，直至到达白色盒子的上方，下降将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触番茄。\n为完成把番茄放进那个白色盒子里的任务应当:调整爪夹角度向上抬起，然后向爪夹方向的右前方移动至番茄上方，准备抓取番茄。", + "time": 1.1342096541237117, + "annotations": { + "bbox_1768874038483": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874038483_1768874190023_305ahioy9", + "x": 0.710375, + "y": 0.22753125000000002, + "width": 0.08200000000000003, + "height": 0.12133333333333335 + } + ] + }, + "bbox_1768874043435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874043435_1768874194496_3v1g6uihj", + "x": 0.177375, + "y": 0.012864583333333334, + "width": 0.45200000000000007, + "height": 0.3173333333333333 + } + ] + }, + "point_1768874051386": { + "type": "point", + "instances": [ + { + "id": "point_1768874051386_1768874197311_ir1pu2qao", + "x": 0.546375, + "y": 0.4861979166666667 + } + ] + }, + "point_1768874056466": { + "type": "point", + "instances": [ + { + "id": "point_1768874056466_1768874200231_myui65u17", + "x": 0.644375, + "y": 0.4621979166666667 + } + ] + } + } + }, + { + "time": 2.092525832474227, + "frame": 63, + "progress": 10, + "action_description": "爪夹向上抬升。", + "state_description": "当前状态为爪夹打开，向上抬升。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向爪夹方向的右前方移动至番茄上方，准备抓取番茄。", + "progress_explanation": "目前爪夹向上抬升，方便爪夹向爪夹方向右前方移动靠近番茄，进度提升为10%。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向爪夹方向右前方移动靠近番茄。", + "correction_plan": "向爪夹方向的右前方移动至番茄上方，下降抓取番茄，抓取番茄后向后移动，然后向爪夹的左前方移动，直至到达白色盒子的上方，下降将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "annotations": { + "point_1768874051386": { + "type": "point", + "instances": [ + { + "id": "point_1768874051386_1768874173560_zxxd53jqv", + "x": 0.555375, + "y": 0.38619791666666664 + } + ] + }, + "point_1768874056466": { + "type": "point", + "instances": [ + { + "id": "point_1768874056466_1768874176970_g6l9vdind", + "x": 0.655375, + "y": 0.3568645833333334 + } + ] + }, + "bbox_1768874043435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874043435_1768874181663_688c6w11s", + "x": 0.187375, + "y": 0.020864583333333336, + "width": 0.45199999999999996, + "height": 0.2986666666666667 + } + ] + }, + "bbox_1768874038483": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874038483_1768874185904_7wq3hgjyu", + "x": 0.717375, + "y": 0.23686458333333335, + "width": 0.07700000000000004, + "height": 0.11066666666666665 + } + ] + } + } + }, + { + "time": 3.4241, + "frame": 103, + "progress": 20, + "action_description": "爪夹向爪夹方向右前方移动。", + "state_description": "当前状态为爪夹打开，靠近番茄。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹下降合拢抓取番茄，然后向爪夹方向后方移动。", + "progress_explanation": "目前爪夹靠近番茄，成功向爪夹方向右前方移动，方便爪夹合拢抓取，进度提升为20%。", + "error_success_analysis": "爪夹成功向爪夹方向右前方移动靠近番茄，方便爪夹合拢抓取。", + "correction_plan": "爪夹下降抓取番茄，抓取番茄后向后移动，然后向爪夹的左前方移动，直至到达白色盒子的上方，下降将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "annotations": { + "bbox_1768874043435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874043435_1768874160520_7ihpo1mfo", + "x": 0.19237500000000002, + "y": 0.008864583333333334, + "width": 0.44000000000000006, + "height": 0.3253333333333333 + } + ] + }, + "bbox_1768874038483": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874038483_1768874165249_zzkixjabq", + "x": 0.720375, + "y": 0.23553125000000003, + "width": 0.08700000000000001, + "height": 0.12533333333333332 + } + ] + }, + "point_1768874051386": { + "type": "point", + "instances": [ + { + "id": "point_1768874051386_1768874168623_4ycwfwipy", + "x": 0.7073750000000001, + "y": 0.2888645833333333 + } + ] + } + } + }, + { + "time": 4.294833, + "frame": 129, + "progress": 30, + "action_description": "爪夹下降。", + "state_description": "当前状态为爪夹打开，靠近番茄。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹合拢抓取番茄，然后向爪夹方向后方移动。", + "progress_explanation": "目前爪夹下降靠近番茄，方便爪夹合拢抓取，进度提升为30%。", + "error_success_analysis": "爪夹成功下降靠近番茄，方便爪夹合拢抓取。", + "correction_plan": "爪夹合拢抓取番茄后向后移动，然后向爪夹的左前方移动，直至到达白色盒子的上方，下降将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "annotations": { + "bbox_1768874038483": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874038483_1768874148600_hei38lp0x", + "x": 0.717375, + "y": 0.22086458333333334, + "width": 0.08499999999999996, + "height": 0.12800000000000003 + } + ] + }, + "bbox_1768874043435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874043435_1768874154208_1fkrspgxd", + "x": 0.186375, + "y": 0.007531250000000001, + "width": 0.44299999999999995, + "height": 0.3213333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取番茄。", + "correction_plan": "爪夹向后移动，然后向爪夹的左前方移动，直至到达白色盒子的上方，下降将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹合拢成功抓取番茄，方便爪夹向后移动。", + "frame": 183, + "progress": 40, + "progress_explanation": "目前爪夹合拢成功抓取番茄，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧番茄。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向爪夹方向后方移动，然后向爪夹方向左前方移动。", + "time": 6.095618729381444, + "annotations": { + "bbox_1768874043435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874043435_1768874140392_s16apr4fk", + "x": 0.177375, + "y": 0.0008645833333333334, + "width": 0.45, + "height": 0.32533333333333336 + } + ] + }, + "bbox_1768874038483": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874038483_1768874144032_g6k86czhq", + "x": 0.726375, + "y": 0.20619791666666668, + "width": 0.07400000000000002, + "height": 0.13466666666666666 + } + ] + } + } + }, + { + "time": 7.100940922809278, + "frame": 213, + "progress": 50, + "action_description": "爪夹向爪夹后方移动。", + "state_description": "当前状态为爪夹合拢，抓紧番茄。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向爪夹方向左前方移动靠近白色盒子。", + "progress_explanation": "目前爪夹抓取番茄，爪夹向爪夹后方移动，进度提升为50%。", + "error_success_analysis": "爪夹抓取番茄，爪夹向爪夹后方移动，方便爪夹向爪夹方向左前方移动靠近白色盒子。", + "correction_plan": "爪夹向爪夹的左前方移动，直至到达白色盒子的上方，下降将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "annotations": { + "bbox_1768874043435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874043435_1768874123833_fvryc483t", + "x": 0.180375, + "y": 0.006197916666666667, + "width": 0.45099999999999996, + "height": 0.324 + } + ] + }, + "bbox_1768874038483": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874038483_1768874128793_34lwf5t8z", + "x": 0.534375, + "y": 0.07019791666666667, + "width": 0.09800000000000005, + "height": 0.13733333333333336 + } + ] + }, + "point_1768874051386": { + "type": "point", + "instances": [ + { + "id": "point_1768874051386_1768874131337_8scgbys5c", + "x": 0.537375, + "y": 0.14753125 + } + ] + } + } + }, + { + "time": 8.424933, + "frame": 253, + "progress": 60, + "action_description": "爪夹向爪夹方向左前方移动。", + "state_description": "当前状态为爪夹合拢，抓紧番茄。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹下降将番茄放入白色盒子中。", + "progress_explanation": "目前爪夹成功向爪夹方向左前方移动靠近白色盒子，进度提升为60%。", + "error_success_analysis": "爪夹成功向爪夹方向左前方移动靠近白色盒子，方便爪夹下降将番茄放入白色盒子中。", + "correction_plan": "下降将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "annotations": { + "bbox_1768874043435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874043435_1768874118881_9gy70gzxn", + "x": 0.182375, + "y": 0.014197916666666668, + "width": 0.45400000000000007, + "height": 0.29600000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹下降将番茄放入白色盒子中，方便爪夹张开，番茄成功落入白色盒子中。", + "frame": 283, + "progress": 80, + "progress_explanation": "目前爪夹下降将番茄放入白色盒子中，进度提升为80%。", + "state_description": "当前状态为爪夹合拢，抓紧番茄。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹张开，番茄落入白色盒子中。", + "time": 9.431529476804126, + "annotations": { + "bbox_1768874043435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874043435_1768874108147_jq1ks0uq2", + "x": 0.19137500000000002, + "y": 0.01553125, + "width": 0.43999999999999995, + "height": 0.312 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，番茄成功落入白色盒子中。", + "frame": 328, + "progress": 100, + "progress_explanation": "目前爪夹张开，番茄成功落入白色盒子中，进度提升为100%。", + "state_description": "当前状态为爪夹张开，番茄在白色盒子里。\n已完成把番茄放进那个白色盒子里的任务。", + "time": 10.946336220747424, + "annotations": { + "bbox_1768874038483": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874038483_1768874074698_zdlr96uno", + "x": 0.367375, + "y": 0.0008645833333333334, + "width": 0.092, + "height": 0.07333333333333333 + } + ] + }, + "bbox_1768874043435": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768874043435_1768874095313_3q7kdxmws", + "x": 0.186375, + "y": 0.016864583333333336, + "width": 0.44299999999999995, + "height": 0.30533333333333335 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768874038483", + "name": "番茄", + "color": "#4CAF50" + }, + { + "id": "bbox_1768874043435", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768874051386", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768874056466", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-162725-put-tomato-white-box-good/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-162725-put-tomato-white-box-good/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..cd9f06d72eff06cdaa1154ca803bb006b616062d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-162725-put-tomato-white-box-good/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,580 @@ +{ + "task_description": "把番茄放进那个白色盒子里。\n爪夹开始移动:0%\n爪夹靠近番茄:20%\n爪夹夹起番茄:40%\n爪夹移动番茄:60%\n爪夹将番茄放入白色盒子内:80%\n爪夹松开，番茄落入白色盒子内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1768875680343": { + "instances": [ + { + "height": 0.10933333333333331, + "id": "bbox_1768875680343_1768875893226_ebz1uj3gi", + "width": 0.083, + "x": 0.226375, + "y": 0.46619791666666666 + } + ], + "type": "bbox" + }, + "bbox_1768875686758": { + "instances": [ + { + "height": 0.5319999999999999, + "id": "bbox_1768875686758_1768875888115_f3l13kjmh", + "width": 0.49800000000000005, + "x": 0.393375, + "y": 0.42753125000000003 + } + ], + "type": "bbox" + }, + "point_1768875691734": { + "instances": [ + { + "id": "point_1768875691734_1768875883083_oztj7v7cr", + "x": 0.414375, + "y": 0.22753125000000002 + } + ], + "type": "point" + }, + "point_1768875696617": { + "instances": [ + { + "id": "point_1768875696617_1768875880019_4g36w2gpi", + "x": 0.497375, + "y": 0.22886458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度向上抬起，然后向爪夹方向的右前方移动至番茄上方，下降抓取番茄，抓取番茄后向上抬升，然后向爪夹的左侧移动，然后向爪夹方向的左前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触番茄。\n为完成把番茄放进那个白色盒子里的任务应当:调整爪夹角度向上抬起，然后向爪夹方向的右前方移动至番茄上方，准备抓取番茄。", + "time": 1.059909823840206 + }, + { + "action_description": "爪夹微微抬起。", + "annotations": { + "bbox_1768875680343": { + "instances": [ + { + "height": 0.10933333333333331, + "id": "bbox_1768875680343_1768875863307_6mc22cp62", + "width": 0.08199999999999999, + "x": 0.22537500000000002, + "y": 0.4541979166666667 + } + ], + "type": "bbox" + }, + "bbox_1768875686758": { + "instances": [ + { + "height": 0.5093333333333334, + "id": "bbox_1768875686758_1768875869740_zn0kv5it6", + "width": 0.5050000000000001, + "x": 0.386375, + "y": 0.43686458333333333 + } + ], + "type": "bbox" + }, + "point_1768875691734": { + "instances": [ + { + "id": "point_1768875691734_1768875872258_vkgayxkpc", + "x": 0.405375, + "y": 0.2728645833333333 + } + ], + "type": "point" + }, + "point_1768875696617": { + "instances": [ + { + "id": "point_1768875696617_1768875875026_jsfnhsd5k", + "x": 0.491375, + "y": 0.2741979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的左侧移动，然后向爪夹方向的左前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向爪夹方向右前方移动靠近番茄。", + "frame": 63, + "progress": 5, + "progress_explanation": "目前爪夹向上抬升，方便爪夹向爪夹方向右前方移动靠近番茄，进度提升为5%。", + "state_description": "当前状态为爪夹打开，向上抬升。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向爪夹方向的右前方移动至番茄上方，准备抓取番茄。", + "time": 2.1152706784793813 + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "annotations": { + "bbox_1768875680343": { + "instances": [ + { + "height": 0.10933333333333331, + "id": "bbox_1768875680343_1768875858955_yxzefc225", + "width": 0.08600000000000003, + "x": 0.226375, + "y": 0.46086458333333336 + } + ], + "type": "bbox" + }, + "bbox_1768875686758": { + "instances": [ + { + "height": 0.5453333333333333, + "id": "bbox_1768875686758_1768875855226_8ml2uqnmm", + "width": 0.501, + "x": 0.39137500000000003, + "y": 0.41019791666666666 + } + ], + "type": "bbox" + }, + "point_1768875691734": { + "instances": [ + { + "id": "point_1768875691734_1768875849365_8x7xwevx5", + "x": 0.24937499999999999, + "y": 0.40219791666666665 + } + ], + "type": "point" + }, + "point_1768875696617": { + "instances": [ + { + "id": "point_1768875696617_1768875846219_ozpwy8tvz", + "x": 0.345375, + "y": 0.43953125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹持续向爪夹方向的右前方移动至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的左侧移动，然后向爪夹方向的左前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹向爪夹方向右前方移动靠近番茄，方便爪夹合拢抓取番茄。", + "frame": 92, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向右前方移动靠近番茄，方便爪夹合拢抓取番茄，进度提升为15%。", + "state_description": "当前状态为爪夹打开，\n为完成把番茄放进那个白色盒子里的任务应当:爪夹持续向爪夹方向的右前方移动至番茄上方，准备抓取番茄。", + "time": 3.082866 + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "annotations": { + "bbox_1768875680343": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1768875680343_1768875839340_gipxxew1j", + "width": 0.083, + "x": 0.226375, + "y": 0.45686458333333335 + } + ], + "type": "bbox" + }, + "bbox_1768875686758": { + "instances": [ + { + "height": 0.52, + "id": "bbox_1768875686758_1768875829799_77m9aat8m", + "width": 0.4889999999999999, + "x": 0.39637500000000003, + "y": 0.4208645833333334 + } + ], + "type": "bbox" + }, + "point_1768875696617": { + "instances": [ + { + "id": "point_1768875696617_1768875841875_mshm22jvi", + "x": 0.307375, + "y": 0.5208645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的左侧移动，然后向爪夹方向的左前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹持续向爪夹方向右前方移动成功靠近番茄，方便爪夹合拢抓取番茄。", + "frame": 121, + "progress": 20, + "progress_explanation": "目前爪夹成功靠近番茄，方便爪夹合拢抓取番茄，进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近番茄。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹合拢抓取番茄向上抬升。", + "time": 4.035966 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768875680343": { + "instances": [ + { + "height": 0.11066666666666662, + "id": "bbox_1768875680343_1768875819819_pdkyvlcl6", + "width": 0.07400000000000002, + "x": 0.230375, + "y": 0.45953125000000006 + } + ], + "type": "bbox" + }, + "bbox_1768875686758": { + "instances": [ + { + "height": 0.5386666666666667, + "id": "bbox_1768875686758_1768875814195_eofppzklf", + "width": 0.4920000000000001, + "x": 0.397375, + "y": 0.4221979166666666 + } + ], + "type": "bbox" + }, + "point_1768875691734": { + "instances": [ + { + "id": "point_1768875691734_1768875809372_av9ivvu5w", + "x": 0.22937500000000002, + "y": 0.5341979166666667 + } + ], + "type": "point" + }, + "point_1768875696617": { + "instances": [ + { + "id": "point_1768875696617_1768875805348_cm0bkzy2u", + "x": 0.300375, + "y": 0.5288645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取番茄后向上抬升，然后向爪夹的左侧移动，然后向爪夹方向的左前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹合拢成功抓取番茄，准备向上抬升并开始移动。", + "frame": 155, + "progress": 40, + "progress_explanation": "目前爪夹合拢成功抓取番茄，准备向上抬升并开始移动，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧番茄。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向上抬升，然后向爪夹方向左侧移动。", + "time": 5.166666666666667 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1768875680343": { + "instances": [ + { + "height": 0.11866666666666668, + "id": "bbox_1768875680343_1768875792204_y850pc0nd", + "width": 0.07999999999999999, + "x": 0.23537500000000003, + "y": 0.4088645833333333 + } + ], + "type": "bbox" + }, + "bbox_1768875686758": { + "instances": [ + { + "height": 0.5239999999999999, + "id": "bbox_1768875686758_1768875796612_z62l261os", + "width": 0.5200000000000001, + "x": 0.377375, + "y": 0.41953125 + } + ], + "type": "bbox" + }, + "point_1768875691734": { + "instances": [ + { + "id": "point_1768875691734_1768875799348_8ygox37ws", + "x": 0.234375, + "y": 0.44219791666666663 + } + ], + "type": "point" + }, + "point_1768875696617": { + "instances": [ + { + "id": "point_1768875696617_1768875802077_ut4y52m2r", + "x": 0.311375, + "y": 0.46753125 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹的左侧移动，然后向爪夹方向的左前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向爪夹方向左侧移动靠近白色盒子。", + "frame": 192, + "progress": 50, + "progress_explanation": "目前爪夹向上抬升，方便爪夹向爪夹方向左侧移动靠近白色盒子，进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧番茄。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向爪夹方向左侧移动靠近白色盒子。", + "time": 6.3893 + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "annotations": { + "bbox_1768875680343": { + "instances": [ + { + "height": 0.11066666666666668, + "id": "bbox_1768875680343_1768875786204_y3elxwxzg", + "width": 0.08599999999999994, + "x": 0.46537500000000004, + "y": 0.28353125 + } + ], + "type": "bbox" + }, + "bbox_1768875686758": { + "instances": [ + { + "height": 0.5453333333333333, + "id": "bbox_1768875686758_1768875782548_qtsg33dwt", + "width": 0.502, + "x": 0.390375, + "y": 0.41419791666666667 + } + ], + "type": "bbox" + }, + "point_1768875691734": { + "instances": [ + { + "id": "point_1768875691734_1768875774261_qued3x4jn", + "x": 0.459375, + "y": 0.34886458333333337 + } + ], + "type": "point" + }, + "point_1768875696617": { + "instances": [ + { + "id": "point_1768875696617_1768875771069_opxofqcil", + "x": 0.547375, + "y": 0.3261979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹向爪夹方向左侧移动，成功靠近白色盒子，方便爪夹进一步将番茄放进白色盒子里。", + "frame": 217, + "progress": 60, + "progress_explanation": "目前爪夹向爪夹方向左侧移动，成功靠近白色盒子，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧番茄。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向爪夹方向左前方移动至白色盒子上方。", + "time": 7.224733 + }, + { + "action_description": "爪夹向爪夹方向左前方移动。", + "annotations": { + "bbox_1768875680343": { + "instances": [ + { + "height": 0.11466666666666671, + "id": "bbox_1768875680343_1768875759742_lhity2qx7", + "width": 0.08899999999999997, + "x": 0.5663750000000001, + "y": 0.50753125 + } + ], + "type": "bbox" + }, + "bbox_1768875686758": { + "instances": [ + { + "height": 0.5066666666666667, + "id": "bbox_1768875686758_1768875755941_0e45ezlsp", + "width": 0.5120000000000001, + "x": 0.384375, + "y": 0.44353125000000004 + } + ], + "type": "bbox" + }, + "point_1768875691734": { + "instances": [ + { + "id": "point_1768875691734_1768875763045_r8utz1vac", + "x": 0.564375, + "y": 0.5728645833333333 + } + ], + "type": "point" + }, + "point_1768875696617": { + "instances": [ + { + "id": "point_1768875696617_1768875765390_gnl9z3bvk", + "x": 0.651375, + "y": 0.5368645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹微微下降将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹成功向爪夹方向左前方移动，在白色盒子上方，方便爪夹将番茄放进白色盒子里。", + "frame": 252, + "progress": 70, + "progress_explanation": "目前爪夹成功向爪夹方向左前方移动，在白色盒子上方，进度提升为70%。", + "state_description": "当前状态为爪夹合拢，在白色盒子上方。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹微微下降将番茄放进白色盒子里。", + "time": 8.389633 + }, + { + "action_description": "爪夹微微调整角度。", + "annotations": { + "bbox_1768875680343": { + "instances": [ + { + "height": 0.13200000000000003, + "id": "bbox_1768875680343_1768875739045_zx9r497f9", + "width": 0.10099999999999998, + "x": 0.559375, + "y": 0.49686458333333333 + } + ], + "type": "bbox" + }, + "bbox_1768875686758": { + "instances": [ + { + "height": 0.52, + "id": "bbox_1768875686758_1768875743390_36v0zqp2k", + "width": 0.49799999999999994, + "x": 0.401375, + "y": 0.4301979166666667 + } + ], + "type": "bbox" + }, + "point_1768875691734": { + "instances": [ + { + "id": "point_1768875691734_1768875734989_fgv6zevi3", + "x": 0.567375, + "y": 0.5728645833333333 + } + ], + "type": "point" + }, + "point_1768875696617": { + "instances": [ + { + "id": "point_1768875696617_1768875732430_wryhbo88q", + "x": 0.654375, + "y": 0.5421979166666666 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹成功将番茄放进白色盒子里，方便爪夹张开，番茄落入白色盒子里。", + "frame": 288, + "progress": 80, + "progress_explanation": "目前爪夹成功将番茄放进白色盒子里，进度提升为80%。", + "state_description": "当前状态为爪夹合拢，在白色盒子上方。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹张开，番茄落入白色盒子里。", + "time": 9.613366 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1768875680343": { + "instances": [ + { + "height": 0.12000000000000005, + "id": "bbox_1768875680343_1768875710110_astcjy60b", + "width": 0.09500000000000001, + "x": 0.591375, + "y": 0.75453125 + } + ], + "type": "bbox" + }, + "bbox_1768875686758": { + "instances": [ + { + "height": 0.5293333333333333, + "id": "bbox_1768875686758_1768875716654_52zkkjsdg", + "width": 0.49400000000000005, + "x": 0.397375, + "y": 0.42119791666666667 + } + ], + "type": "bbox" + }, + "point_1768875691734": { + "instances": [ + { + "id": "point_1768875691734_1768875726322_oz75d34aa", + "x": 0.564375, + "y": 0.57453125 + } + ], + "type": "point" + }, + "point_1768875696617": { + "instances": [ + { + "id": "point_1768875696617_1768875728534_fh2wfbvh7", + "x": 0.657375, + "y": 0.53853125 + } + ], + "type": "point" + } + }, + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，番茄成功落入白色盒子里。", + "frame": 324, + "progress": 100, + "progress_explanation": "目前爪夹张开，番茄成功落入白色盒子里，进度提升为100%。", + "state_description": "当前状态为爪夹张开，番茄在白色盒子里。\n已完成把番茄放进那个白色盒子里的任务。", + "time": 10.8 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768875680343", + "name": "番茄" + }, + { + "color": "#FF9800", + "id": "bbox_1768875686758", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768875691734", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768875696617", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-171627-put-tomato-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-171627-put-tomato-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..8b52a2a49bf246db286ec3f33d947a731a377faf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-171627-put-tomato-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,474 @@ +{ + "task_description": "把番茄放进那个白色盒子里。\n爪夹开始移动:0%\n爪夹靠近番茄:20%\n爪夹夹起番茄:40%\n爪夹移动番茄:60%\n爪夹将番茄放入白色盒子内:80%\n爪夹松开，番茄落入白色盒子内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向上抬起，然后向爪夹方向的左侧移动至番茄上方，下降抓取番茄，抓取番茄后向上抬升，然后向爪夹的右侧移动，然后向爪夹方向的前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触番茄。\n为完成把番茄放进那个白色盒子里的任务应当:调整爪夹角度向上抬起，然后向爪夹方向的左侧移动至番茄上方，准备抓取番茄。", + "time": 1.1431830104381444, + "annotations": { + "bbox_1768877877991": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877877991_1768877904959_cpxgw6kwv", + "x": 0.32637499999999997, + "y": 0.41286458333333337, + "width": 0.09000000000000004, + "height": 0.11999999999999998 + } + ] + }, + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768877909679_ur6804u9c", + "x": 0.580375, + "y": 0.007531250000000001, + "width": 0.41100000000000003, + "height": 0.28933333333333333 + } + ] + }, + "point_1768877887583": { + "type": "point", + "instances": [ + { + "id": "point_1768877887583_1768877911990_rhrpnxf62", + "x": 0.571375, + "y": 0.4808645833333333 + } + ] + }, + "point_1768877892560": { + "type": "point", + "instances": [ + { + "id": "point_1768877892560_1768877914595_4cgz9t830", + "x": 0.669375, + "y": 0.46886458333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "爪夹向爪夹方向的左侧移动至番茄上方，下降抓取番茄，抓取番茄后向上抬升，然后向爪夹的右侧移动，然后向爪夹方向的前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向爪夹方向左侧移动靠近番茄.", + "frame": 76, + "progress": 10, + "progress_explanation": "目前爪夹向上抬升，方便爪夹向爪夹方向左侧移动靠近番茄，进度提升为10%。", + "state_description": "当前状态为爪夹打开，向上抬升。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向爪夹方向的左侧移动至番茄上方，准备抓取番茄。", + "time": 2.5346, + "annotations": { + "point_1768877892560": { + "type": "point", + "instances": [ + { + "id": "point_1768877892560_1768877918246_8adqrxbaj", + "x": 0.666375, + "y": 0.30353125 + } + ] + }, + "point_1768877887583": { + "type": "point", + "instances": [ + { + "id": "point_1768877887583_1768877921118_fwwzvoxas", + "x": 0.5653750000000001, + "y": 0.34353125 + } + ] + }, + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768877925757_7muz669pe", + "x": 0.580375, + "y": 0.0008645833333333334, + "width": 0.41000000000000003, + "height": 0.29200000000000004 + } + ] + }, + "bbox_1768877877991": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877877991_1768877929902_2urush1i2", + "x": 0.32937500000000003, + "y": 0.4168645833333333, + "width": 0.08499999999999996, + "height": 0.11200000000000004 + } + ] + } + } + }, + { + "action_description": "爪机下降。", + "correction_plan": "调整爪夹向上抬升，然后向爪夹方向的左侧移动至番茄上方，下降抓取番茄，抓取番茄后向上抬升，然后向爪夹的右侧移动，然后向爪夹方向的前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹识别错目标物品，导致爪夹下降靠近辣椒，与上一阶段相比，爪夹需要重新抬升，然后向爪夹左侧移动靠近番茄。", + "frame": 108, + "progress": -20, + "progress_explanation": "目前爪夹识别错目标物品，导致爪夹下降靠近辣椒，与上一阶段相比，爪夹需要重新抬升，然后向爪夹左侧移动靠近番茄，进度倒退为-20%。", + "state_description": "当前状态为爪夹打开，靠近辣椒。\n为完成把番茄放进那个白色盒子里的任务应当:调整爪夹，使爪夹向爪夹方向的左侧移动至番茄上方，准备抓取番茄。", + "time": 3.58576037435567, + "annotations": { + "bbox_1768877877991": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877877991_1768877934110_dxk119mv0", + "x": 0.330375, + "y": 0.4168645833333333, + "width": 0.08700000000000001, + "height": 0.12533333333333332 + } + ] + }, + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768877939278_26b6x4jxf", + "x": 0.589375, + "y": 0.0021979166666666666, + "width": 0.403, + "height": 0.2853333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "张开爪夹向后抬升，然后爪夹向爪夹方向的左侧移动至番茄上方，下降抓取番茄，抓取番茄后向上抬升，然后向爪夹的右侧移动，然后向爪夹方向的前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹识别错目标物品，导致爪夹合拢抓取辣椒，与上一阶段相比，爪夹需要重新张开向上抬升，然后向爪夹左侧移动靠近番茄。", + "frame": 141, + "progress": -40, + "progress_explanation": "目前爪夹识别错目标物品，导致爪夹合拢抓取辣椒，与上一阶段相比，爪夹需要重新张开向上抬升，然后向爪夹左侧移动靠近番茄，进度倒退为-40%。", + "state_description": "当前状态为爪夹合拢，\n为完成把番茄放进那个白色盒子里的任务应当:张开爪夹向后抬升，然后爪夹向爪夹方向的左侧移动至番茄上方，准备抓取番茄。", + "time": 4.683973452706185, + "annotations": { + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768877959126_umyr9y23l", + "x": 0.584375, + "y": 0.012864583333333334, + "width": 0.40099999999999997, + "height": 0.2733333333333333 + } + ] + }, + "bbox_1768877877991": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877877991_1768877963437_4r31rustc", + "x": 0.334375, + "y": 0.41553125, + "width": 0.07800000000000003, + "height": 0.1213333333333333 + } + ] + } + } + }, + { + "time": 5.8957, + "frame": 177, + "progress": 10, + "action_description": "爪夹向后抬升移动。", + "state_description": "当前状态为爪夹合拢，远离辣椒\n为完成把番茄放进那个白色盒子里的任务应当:张开爪夹，然后爪夹向爪夹方向的左侧移动至番茄上方，准备抓取番茄。", + "progress_explanation": "目前爪夹向后后移动，方便爪夹张开向爪夹方向左侧移动靠近番茄，进度提升为10%。", + "error_success_analysis": "爪夹向后后移动，方便爪夹张开向爪夹方向左侧移动靠近番茄。", + "correction_plan": "爪夹张开，爪夹向爪夹方向的左侧移动至番茄上方，下降抓取番茄，抓取番茄后向上抬升，然后向爪夹的右侧移动，然后向爪夹方向的前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "annotations": { + "bbox_1768877877991": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877877991_1768877967735_b6blxgzpu", + "x": 0.32637499999999997, + "y": 0.4168645833333333, + "width": 0.088, + "height": 0.11999999999999998 + } + ] + }, + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768877972453_xoz4w1cmo", + "x": 0.581375, + "y": 0.0021979166666666666, + "width": 0.41100000000000003, + "height": 0.2853333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹向爪夹方向的左侧移动至番茄上方，下降抓取番茄，抓取番茄后向上抬升，然后向爪夹的右侧移动，然后向爪夹方向的前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹张开，方便爪夹张开向爪夹方向左侧移动靠近番茄，方便爪夹合拢抓取。", + "frame": 212, + "progress": 15, + "progress_explanation": "目前爪夹张开，方便爪夹张开向爪夹方向左侧移动靠近番茄，进度提升为15%。", + "state_description": "当前状态为爪夹张开，\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向爪夹方向的左侧移动至番茄上方，准备合拢抓取番茄。", + "time": 7.071166, + "annotations": { + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768877979149_b00pb8j4l", + "x": 0.5903750000000001, + "y": 0.0008645833333333334, + "width": 0.40099999999999997, + "height": 0.3 + } + ] + }, + "bbox_1768877877991": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877877991_1768877983517_q44dvx4eo", + "x": 0.32937500000000003, + "y": 0.4088645833333333, + "width": 0.083, + "height": 0.12133333333333335 + } + ] + }, + "point_1768877887583": { + "type": "point", + "instances": [ + { + "id": "point_1768877887583_1768877985413_5eeucijw7", + "x": 0.477375, + "y": 0.43419791666666663 + } + ] + }, + "point_1768877892560": { + "type": "point", + "instances": [ + { + "id": "point_1768877892560_1768877988085_r21enq13u", + "x": 0.576375, + "y": 0.37286458333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧移动下降。", + "correction_plan": "爪夹合拢抓取番茄后向上抬升，然后向爪夹的右侧移动，然后向爪夹方向的前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹向爪夹方向左侧移动下降，成功靠近番茄，方便爪夹合拢抓取。", + "frame": 253, + "progress": 20, + "progress_explanation": "目前爪夹成功靠近番茄，方便爪夹合拢抓取，进度提升为20%。", + "state_description": "当前状态为爪夹张开，靠近番茄\n为完成把番茄放进那个白色盒子里的任务应当:爪夹合拢抓取番茄向上抬升，然后向爪夹方向右侧移动。", + "time": 8.4303, + "annotations": { + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768877997061_ylwoi9q5o", + "x": 0.581375, + "y": 0.00353125, + "width": 0.4080000000000001, + "height": 0.2893333333333334 + } + ] + } + } + }, + { + "time": 9.826166, + "frame": 295, + "progress": 30, + "action_description": "爪夹合拢抓取番茄。", + "state_description": "当前状态为爪夹合拢，抓紧番茄\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向上抬升，然后向爪夹方向右侧移动。", + "progress_explanation": "目前爪夹合拢成功抓取番茄，进度提升为30%。", + "error_success_analysis": "爪夹合拢成功抓取番茄，方便爪夹向上抬升。", + "correction_plan": "爪夹向上抬升，然后向爪夹的右侧移动，然后向爪夹方向的前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "annotations": { + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768878003525_k372uyt77", + "x": 0.584375, + "y": 0.0021979166666666666, + "width": 0.4109999999999999, + "height": 0.292 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取番茄。", + "correction_plan": "向上抬升，然后向爪夹的右侧移动，然后向爪夹方向的前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹合拢成功抓取番茄，方便爪夹向上抬升。", + "frame": 334, + "progress": 40, + "progress_explanation": "目前爪夹合拢成功抓取番茄，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧番茄\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向上抬升，然后向爪夹方向右侧移动。", + "time": 11.133333333333333, + "annotations": { + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768878008756_jc3px5x9a", + "x": 0.581375, + "y": 0.009197916666666667, + "width": 0.4090000000000001, + "height": 0.2826666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "向爪夹的右侧移动，然后向爪夹方向的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹抓取番茄向上抬升，方便爪夹向爪夹方向左侧移动靠近白色盒子。", + "frame": 366, + "progress": 50, + "progress_explanation": "目前爪夹抓取番茄向上抬升，进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧番茄\n为完成把番茄放进那个白色盒子里的任务应当：爪夹向爪夹方向右侧移动靠近白色盒子。", + "time": 12.201052626932986, + "annotations": { + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768878015196_ls8svlxi4", + "x": 0.585375, + "y": 0.006197916666666667, + "width": 0.40700000000000003, + "height": 0.29333333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "correction_plan": "向爪夹方向的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹向爪夹方向左侧移动，成功靠近白色盒子。", + "frame": 424, + "progress": 60, + "progress_explanation": "目前爪夹向爪夹方向左侧移动靠近白色盒子，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，靠近白色盒子\n为完成把番茄放进那个白色盒子里的任务应当：爪夹向爪夹方向右前方移动至白色盒子上方。", + "time": 14.123966, + "annotations": { + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768878020708_wo2eo9bm8", + "x": 0.5903750000000001, + "y": 0.00353125, + "width": 0.4039999999999999, + "height": 0.276 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹夹取番茄向爪夹方向右前方移动至白色盒子里，方便爪夹张开，番茄落入白色盒子里。", + "frame": 480, + "progress": 80, + "progress_explanation": "目前爪夹夹取番茄向爪夹方向右前方移动至白色盒子里，进度提升为80%。", + "state_description": "当前状态为爪夹合拢，靠近白色盒子\n为完成把番茄放进那个白色盒子里的任务应当：爪夹张开，番茄落入白色盒子里。", + "time": 16.015733, + "annotations": { + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768878024868_xjj2qq34g", + "x": 0.581375, + "y": 0.00353125, + "width": 0.4160000000000001, + "height": 0.2893333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，番茄成功落入白色盒子里。", + "frame": 530, + "progress": 100, + "progress_explanation": "目前爪夹张开，番茄成功落入白色盒子里，进度提升为100%。", + "state_description": "当前状态为爪夹张开，番茄在白色盒子里。\n已完成把番茄放进那个白色盒子里的任务。", + "time": 17.654248602190723, + "annotations": { + "bbox_1768877882407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877882407_1768878069859_gmkh2ypl7", + "x": 0.595375, + "y": 0.01953125, + "width": 0.3909999999999999, + "height": 0.2613333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768877877991", + "name": "番茄", + "color": "#4CAF50" + }, + { + "id": "bbox_1768877882407", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768877887583", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768877892560", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-174040-put-tomato-white-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-174040-put-tomato-white-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..c6438f163f6f0ff0d3436111d2a47992cff188cd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-174040-put-tomato-white-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,672 @@ +{ + "task_description": "把番茄放进那个白色盒子里。\n爪夹开始移动:0%\n爪夹靠近番茄:20%\n爪夹夹起番茄:40%\n爪夹移动番茄:60%\n爪夹将番茄放入白色盒子内:80%\n爪夹松开，番茄落入白色盒子内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向上抬起，然后下降至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触番茄。\n为完成把番茄放进那个白色盒子里的任务应当:调整爪夹角度向上抬起，然后下降至番茄上方，准备抓取番茄。", + "time": 1.1101117135309275, + "annotations": { + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880999405_vg1mkcv5j", + "x": 0.42037500000000005, + "y": 0.2728645833333333, + "width": 0.075, + "height": 0.10266666666666667 + } + ] + }, + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768881004670_td8zocidk", + "x": 0.369375, + "y": 0.36353125000000003, + "width": 0.4860000000000001, + "height": 0.5666666666666667 + } + ] + }, + "point_1768880809708": { + "type": "point", + "instances": [ + { + "id": "point_1768880809708_1768881015109_ron6pykhx", + "x": 0.405375, + "y": 0.19686458333333334 + } + ] + }, + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768881018189_vupqsperv", + "x": 0.492375, + "y": 0.19286458333333334 + } + ] + } + } + }, + { + "action_description": "爪夹微微抬起。", + "correction_plan": "下降至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹下降靠近番茄。", + "frame": 51, + "progress": 5, + "progress_explanation": "目前爪夹向上抬升调整爪夹，进度提升为5%。", + "state_description": "当前状态为爪夹打开，向上抬升。\n为完成把番茄放进那个白色盒子里的任务应当:爪夹下降至番茄上方，准备抓取番茄。", + "time": 1.695466, + "annotations": { + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768880983301_t11bkjlgk", + "x": 0.501375, + "y": 0.16119791666666666 + } + ] + }, + "point_1768880809708": { + "type": "point", + "instances": [ + { + "id": "point_1768880809708_1768880986701_ocuk9eut9", + "x": 0.406375, + "y": 0.17719791666666668 + } + ] + }, + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768880992021_o39pgbxan", + "x": 0.369375, + "y": 0.37186458333333333, + "width": 0.4870000000000001, + "height": 0.5559999999999999 + } + ] + }, + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880995549_xfrrecmbl", + "x": 0.42437500000000006, + "y": 0.27186458333333335, + "width": 0.06499999999999995, + "height": 0.09866666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "correction_plan": "调整爪夹向爪夹方向左后方移动至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹识别错目标物体，导致爪夹向向爪夹方向右前方移动靠近土豆。", + "frame": 89, + "progress": -20, + "progress_explanation": "目前爪夹识别错目标物体，向向爪夹方向右前方移动靠近土豆，进度倒退为-20%。", + "state_description": "当前状态为爪夹打开，靠近土豆。\n为完成把番茄放进那个白色盒子里的任务应当:调整爪夹向爪夹方向左后方移动至番茄上方，准备抓取番茄。", + "time": 2.979533, + "annotations": { + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880967903_pwxgly41g", + "x": 0.41937499999999994, + "y": 0.2621979166666667, + "width": 0.07100000000000009, + "height": 0.11466666666666668 + } + ] + }, + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768880972862_2ek7c4f7g", + "x": 0.365375, + "y": 0.36753125, + "width": 0.492, + "height": 0.5600000000000002 + } + ] + }, + "point_1768880809708": { + "type": "point", + "instances": [ + { + "id": "point_1768880809708_1768880976606_0b8tktehz", + "x": 0.160375, + "y": 0.4901979166666667 + } + ] + }, + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768880979950_vupnzs4iy", + "x": 0.24737499999999998, + "y": 0.5168645833333333 + } + ] + } + } + }, + { + "time": 3.839733, + "frame": 115, + "progress": -25, + "action_description": "爪夹下降。", + "state_description": "当前状态为爪夹打开，靠近土豆。\n为完成把番茄放进那个白色盒子里的任务应当:调整爪夹向爪夹方向左后方移动至番茄上方，准备抓取番茄。", + "progress_explanation": "目前爪夹识别错目标物体，爪夹下降靠近土豆，与上一阶段相比，爪夹需要向上抬升的动作，重新靠近番茄，进度倒退为-25%。", + "error_success_analysis": "爪夹识别错目标物体，爪夹下降靠近土豆，与上一阶段相比，爪夹需要向上抬升的动作，重新靠近番茄。", + "correction_plan": "调整爪夹向爪夹方向左后方移动至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "annotations": { + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768880949070_e6efykyje", + "x": 0.244375, + "y": 0.5261979166666667 + } + ] + }, + "point_1768880809708": { + "type": "point", + "instances": [ + { + "id": "point_1768880809708_1768880952734_p4f048nbr", + "x": 0.15237499999999998, + "y": 0.5008645833333333 + } + ] + }, + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768880958294_zv97cdzzs", + "x": 0.371375, + "y": 0.3608645833333333, + "width": 0.48999999999999994, + "height": 0.58 + } + ] + }, + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880964534_ocgpvj10j", + "x": 0.41937499999999994, + "y": 0.27019791666666665, + "width": 0.0750000000000001, + "height": 0.10533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向上抬升张开，调整爪夹向爪夹方向左后方移动至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹识别错目标物体，爪夹靠近土豆合拢抓取，与上一阶段相比，爪夹需要张开，然后向上抬升的动作，重新靠近番茄。", + "frame": 145, + "progress": -30, + "progress_explanation": "目前爪夹识别错目标物体，爪夹靠近土豆合拢抓取，与上一阶段相比，爪夹需要张开，然后向上抬升的动作，重新靠近番茄，进度倒退为-30%。", + "state_description": "当前状态为爪夹合拢，\n为完成把番茄放进那个白色盒子里的任务应当:调整爪夹张开，向上抬升向爪夹方向左后方移动至番茄上方，准备抓取番茄。", + "time": 4.833333333333333, + "annotations": { + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880936535_iv7kdgnvv", + "x": 0.417375, + "y": 0.27019791666666665, + "width": 0.07400000000000002, + "height": 0.11066666666666668 + } + ] + }, + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768880941207_r4k10zenl", + "x": 0.362375, + "y": 0.3821979166666667, + "width": 0.497, + "height": 0.5346666666666666 + } + ] + }, + "point_1768880809708": { + "type": "point", + "instances": [ + { + "id": "point_1768880809708_1768880943486_84crxxohy", + "x": 0.215375, + "y": 0.47953125 + } + ] + }, + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768880946030_3nd937pkd", + "x": 0.224375, + "y": 0.47686458333333337 + } + ] + } + } + }, + { + "time": 5.608393620747423, + "frame": 168, + "progress": -35, + "action_description": "爪夹向上抬升。", + "state_description": "当前状态为爪夹合拢，向上抬升\n为完成把番茄放进那个白色盒子里的任务应当:调整爪夹张开，向爪夹方向左后方移动至番茄上方，准备抓取番茄。", + "progress_explanation": "目前爪夹识别错目标物体，爪夹向上抬升，与上一阶段相比，爪夹需要张开，然后向爪夹昂新左后方移动重新靠近番茄，进度倒退为-35%。", + "error_success_analysis": "爪夹识别错目标物体，爪夹向上抬升，与上一阶段相比，爪夹需要张开，然后向爪夹方向左后方移动重新靠近番茄。", + "correction_plan": "爪夹张开，调整爪夹向爪夹方向左后方移动至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "annotations": { + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768880922375_5gwikceeg", + "x": 0.19937500000000002, + "y": 0.3288645833333333 + } + ] + }, + "point_1768880809708": { + "type": "point", + "instances": [ + { + "id": "point_1768880809708_1768880924879_rz6cwkm0v", + "x": 0.184375, + "y": 0.3301979166666667 + } + ] + }, + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768880929599_q0toksh51", + "x": 0.366375, + "y": 0.3568645833333334, + "width": 0.48900000000000005, + "height": 0.5733333333333334 + } + ] + }, + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880933054_zc0fxyq2l", + "x": 0.42037500000000005, + "y": 0.26886458333333335, + "width": 0.07000000000000002, + "height": 0.10666666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹张开下降。", + "correction_plan": "爪夹向上抬升，调整爪夹向爪夹方向左后方移动至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹识别错目标物体，爪夹张开下降靠近土豆，与上一阶段相比，爪夹需要重新向上抬升，然后向爪夹方向左后方移动重新靠近番茄。", + "frame": 195, + "progress": -37, + "progress_explanation": "目前爪夹识别错目标物体，爪夹张开下降靠近土豆，与上一阶段相比，爪夹需要重新向上抬升，然后向爪夹方向左后方移动重新靠近番茄，进度倒退为-35%。", + "state_description": "当前状态为爪夹张开，靠近土豆\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向爪夹方向左后方移动至番茄上方，准备抓取番茄。", + "time": 6.495197768170103, + "annotations": { + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880909695_f9tr325wf", + "x": 0.422375, + "y": 0.2741979166666667, + "width": 0.06800000000000006, + "height": 0.10666666666666665 + } + ] + }, + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768880915263_ij3qyyezj", + "x": 0.367375, + "y": 0.3701979166666666, + "width": 0.493, + "height": 0.5559999999999999 + } + ] + }, + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768880917447_xf9vq2jab", + "x": 0.230375, + "y": 0.46619791666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹张开，调整爪夹向爪夹方向左后方移动至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹识别错目标物体，爪夹合拢抓取土豆，与上一阶段相比，爪夹需要重新张开，然后向爪夹方向左后方移动重新靠近番茄。", + "frame": 223, + "progress": -40, + "progress_explanation": "目前爪夹识别错目标物体，爪夹合拢抓取土豆，与上一阶段相比，爪夹需要重新张开，然后向爪夹方向左后方移动重新靠近番茄，进度倒退为-40%。", + "state_description": "当前状态为爪夹合拢，抓紧土豆\n为完成把番茄放进那个白色盒子里的任务应当:爪夹张开，重新向爪夹方向左后方移动至番茄上方，准备抓取番茄。", + "time": 7.433333333333334, + "annotations": { + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768880895944_dqygu8qci", + "x": 0.21037500000000003, + "y": 0.45953125000000006 + } + ] + }, + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768880902047_ackcazpif", + "x": 0.367375, + "y": 0.36753125, + "width": 0.48900000000000005, + "height": 0.5613333333333335 + } + ] + }, + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880906088_n7jlw7sxo", + "x": 0.421375, + "y": 0.27553125, + "width": 0.07400000000000002, + "height": 0.1 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "爪夹张开，调整爪夹向爪夹方向左后方移动至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹识别错目标物体，与上一阶段相比，爪夹需要重新张开，然后向爪夹方向左后方移动重新靠近番茄。", + "frame": 247, + "progress": -43, + "progress_explanation": "目前爪夹识别错目标物体，与上一阶段相比，爪夹需要重新张开，然后向爪夹方向左后方移动重新靠近番茄，进度倒退为-43%。", + "state_description": "当前状态为爪夹合拢，抓紧土豆\n为完成把番茄放进那个白色盒子里的任务应当:爪夹张开，重新向爪夹方向左后方移动至番茄上方，准备抓取番茄。", + "time": 8.243101594974226, + "annotations": { + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768880884522_mv6gdv62t", + "x": 0.359375, + "y": 0.36753125, + "width": 0.5, + "height": 0.5493333333333335 + } + ] + }, + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880889184_v5ktc3fb7", + "x": 0.422375, + "y": 0.27686458333333336, + "width": 0.07200000000000006, + "height": 0.09733333333333333 + } + ] + }, + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768880892112_ifu2ua420", + "x": 0.207375, + "y": 0.40619791666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "correction_plan": "爪夹张开，下降至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹识别错目标物体，与上一阶段相比，爪夹需要重新张开，然后下降重新靠近番茄。", + "frame": 285, + "progress": -45, + "progress_explanation": "目前爪夹识别错目标物体，与上一阶段相比，爪夹需要重新张开，然后下降重新靠近番茄，进度倒退为-45%。", + "state_description": "当前状态为爪夹合拢，抓紧土豆\n为完成把番茄放进那个白色盒子里的任务应当:爪夹张开，下降至番茄上方，准备抓取番茄。", + "time": 9.487133, + "annotations": { + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768880861952_85j2nphvo", + "x": 0.520375, + "y": 0.24086458333333335 + } + ] + }, + "point_1768880809708": { + "type": "point", + "instances": [ + { + "id": "point_1768880809708_1768880864400_qu8j33on0", + "x": 0.449375, + "y": 0.23419791666666667 + } + ] + }, + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768880869232_id9jzkbxn", + "x": 0.37337499999999996, + "y": 0.36753125000000003, + "width": 0.4840000000000001, + "height": 0.5613333333333334 + } + ] + }, + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880873121_jj6gp5wy9", + "x": 0.421375, + "y": 0.27019791666666665, + "width": 0.06600000000000002, + "height": 0.0986666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹微微向前移动。", + "correction_plan": "爪夹张开，下降至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹识别错目标物体，与上一阶段相比，爪夹需要重新张开，然后下降重新靠近番茄。", + "frame": 310, + "progress": -47, + "progress_explanation": "目前爪夹识别错目标物体，与上一阶段相比，爪夹需要重新张开，然后下降重新靠近番茄，进度倒退为-47%。", + "state_description": "当前状态为爪夹合拢，抓紧土豆\n为完成把番茄放进那个白色盒子里的任务应当:爪夹张开，下降至番茄上方，准备抓取番茄。", + "time": 10.3224, + "annotations": { + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768880849929_b6ioouboy", + "x": 0.366375, + "y": 0.3701979166666666, + "width": 0.493, + "height": 0.5559999999999999 + } + ] + }, + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880854200_hqprsvrho", + "x": 0.422375, + "y": 0.27553125, + "width": 0.07200000000000006, + "height": 0.09466666666666666 + } + ] + }, + "point_1768880809708": { + "type": "point", + "instances": [ + { + "id": "point_1768880809708_1768880856232_om31wxw4w", + "x": 0.445375, + "y": 0.30353125 + } + ] + }, + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768880858440_wwua2elbh", + "x": 0.530375, + "y": 0.2621979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹向爪夹方向后方下降至番茄上方，合拢抓取番茄，抓取番茄后向上抬升，然后向爪夹的右前方移动到达白色盒子的上方，将番茄放入白色盒子中，然后松开爪夹，番茄落入白色盒子中。", + "error_success_analysis": "爪夹识别错目标物体，与上一阶段相比，爪夹需要重新下降靠近番茄。", + "frame": 354, + "progress": -50, + "progress_explanation": "目前爪夹识别错目标物体，与上一阶段相比，爪夹需要重新下降靠近番茄，进度倒退为-50%。", + "state_description": "当前状态为爪夹张开，土豆掉在桌面上\n为完成把番茄放进那个白色盒子里的任务应当:爪夹向爪夹后方下降至番茄上方，准备抓取番茄。", + "time": 11.8, + "annotations": { + "bbox_1768880796578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880796578_1768880825121_6jku13vt8", + "x": 0.421375, + "y": 0.2791979166666667, + "width": 0.071, + "height": 0.0933333333333333 + } + ] + }, + "bbox_1768880800682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768880800682_1768880830785_86fspj5nb", + "x": 0.376375, + "y": 0.3661979166666667, + "width": 0.4790000000000001, + "height": 0.5559999999999999 + } + ] + }, + "point_1768880809708": { + "type": "point", + "instances": [ + { + "id": "point_1768880809708_1768880833321_5fb2rodz6", + "x": 0.43637500000000007, + "y": 0.31686458333333334 + } + ] + }, + "point_1768880814786": { + "type": "point", + "instances": [ + { + "id": "point_1768880814786_1768880835745_pf1c39vvp", + "x": 0.534375, + "y": 0.32086458333333334 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768880796578", + "name": "番茄", + "color": "#4CAF50" + }, + { + "id": "bbox_1768880800682", + "name": "白色盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768880809708", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768880814786", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-174733-put-radish-white-box-good/annotations/chunk-000/observation.images.left/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-174733-put-radish-white-box-good/annotations/chunk-000/observation.images.left/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..8c9dcfb5a34cad05e90f0644e7d8a7832692db6b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-174733-put-radish-white-box-good/annotations/chunk-000/observation.images.left/episode_000006.json @@ -0,0 +1,378 @@ +{ + "task_description": "抓取白萝卜放进白色框里：\n准备开始移动：0%\n爪夹靠近白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹夹紧白萝卜接近白色框：60%\n爪夹夹紧白萝卜靠近白色框：80%\n爪夹松开白萝卜落到白色框里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1768809748715": { + "instances": [ + { + "height": 0.2506666666666667, + "id": "bbox_1768809748715_1768809780140_hn4vsgtau", + "width": 0.14699999999999996, + "x": 0.37350000000000005, + "y": 0.38 + } + ], + "type": "bbox" + }, + "bbox_1768809753256": { + "instances": [ + { + "height": 0.264, + "id": "bbox_1768809753256_1768809790866_8a0z6cs6c", + "width": 0.41100000000000003, + "x": 0.3115, + "y": 0 + } + ], + "type": "bbox" + }, + "point_1768809758344": { + "instances": [ + { + "id": "point_1768809758344_1768809772446_gm6rkoet2", + "x": 0.6134999999999999, + "y": 0.2506666666666667 + } + ], + "type": "point" + }, + "point_1768809762914": { + "instances": [ + { + "id": "point_1768809762914_1768809774856_y5cg8m7u5", + "x": 0.7025, + "y": 0.20266666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方移动下降，调整爪夹角度接近垂直于桌面，来到白萝卜正上方。爪夹垂直下降靠近白萝卜，爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹右前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹向爪夹左前方移动下降，调整爪夹角度接近垂直于桌面，来到白萝卜正上方。", + "time": 1.1369587628865976 + }, + { + "action_description": "爪夹垂直升高", + "annotations": { + "bbox_1768809748715": { + "instances": [ + { + "height": 0.24400000000000002, + "id": "bbox_1768809748715_1768809807162_nipv2t9qj", + "width": 0.14900000000000008, + "x": 0.3735, + "y": 0.37866666666666665 + } + ], + "type": "bbox" + }, + "bbox_1768809753256": { + "instances": [ + { + "height": 0.2653333333333333, + "id": "bbox_1768809753256_1768809812733_zsvlxwz25", + "width": 0.4109999999999999, + "x": 0.3105, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + }, + "point_1768809758344": { + "instances": [ + { + "id": "point_1768809758344_1768809802336_lsl7mni0o", + "x": 0.6325000000000001, + "y": 0.048 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方移动下降，调整爪夹角度接近垂直于桌面，来到白萝卜正上方。爪夹垂直下降靠近白萝卜，爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹右前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹垂直升高，垂直上远离了白萝卜。不方便抓取白萝卜。", + "frame": 76, + "progress": -5, + "progress_explanation": "爪夹角度接近平行于桌面，比起初始状态远离了白萝卜。因此进度降低为-5%。", + "state_description": "爪夹张开，爪夹角度接近平行于桌面，远离了白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹向爪夹左前方移动下降，调整爪夹角度接近垂直于桌面，来到白萝卜正上方。", + "time": 2.5482 + }, + { + "action_description": "爪夹向爪夹左前方移动下降", + "annotations": { + "bbox_1768809748715": { + "instances": [ + { + "height": 0.24400000000000002, + "id": "bbox_1768809748715_1768809823798_f4307406b", + "width": 0.15000000000000005, + "x": 0.3725, + "y": 0.37866666666666665 + } + ], + "type": "bbox" + }, + "bbox_1768809753256": { + "instances": [ + { + "height": 0.2613333333333333, + "id": "bbox_1768809753256_1768809829222_9zq5m1669", + "width": 0.397, + "x": 0.3095, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + }, + "point_1768809758344": { + "instances": [ + { + "id": "point_1768809758344_1768809817394_sqwh299a1", + "x": 0.3845, + "y": 0.19466666666666665 + } + ], + "type": "point" + }, + "point_1768809762914": { + "instances": [ + { + "id": "point_1768809762914_1768809820209_vcsts8pta", + "x": 0.48150000000000004, + "y": 0.17733333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近白萝卜。爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹右前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹向爪夹左前方移动下降缩短了与白萝卜之间的距离。", + "frame": 124, + "progress": 10, + "progress_explanation": "爪夹水平上接近了白萝卜，方便抓取白萝卜。因此进度提升为10%。", + "state_description": "爪夹张开，位于白萝卜正上方。水平上接近了白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近白萝卜。", + "time": 4.137399 + }, + { + "action_description": "爪夹垂直下降，调整爪夹角度", + "annotations": { + "bbox_1768809748715": { + "instances": [ + { + "height": 0.24266666666666664, + "id": "bbox_1768809748715_1768809835060_9c2d4f33z", + "width": 0.15100000000000002, + "x": 0.3725, + "y": 0.38 + } + ], + "type": "bbox" + }, + "bbox_1768809753256": { + "instances": [ + { + "height": 0.24000000000000002, + "id": "bbox_1768809753256_1768809843104_vxzbxurzx", + "width": 0.46299999999999997, + "x": 0.3125, + "y": 0.0026666666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取白萝卜，夹紧白萝卜向爪夹右前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹垂直下降靠近了白萝卜，调整爪夹角度接近垂直于桌面，方便抓取白萝卜。", + "frame": 168, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白萝卜两侧。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了白萝卜两侧。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹合拢抓取白萝卜，夹紧白萝卜向爪夹右前方移动升高，来到白色框正上方。", + "time": 5.603299 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768809748715": { + "instances": [ + { + "height": 0.2226666666666667, + "id": "bbox_1768809748715_1768809849058_ahrms02nt", + "width": 0.191, + "x": 0.36150000000000004, + "y": 0.36933333333333335 + } + ], + "type": "bbox" + }, + "bbox_1768809753256": { + "instances": [ + { + "height": 0.23466666666666666, + "id": "bbox_1768809753256_1768809855341_00dy3k3ib", + "width": 0.453, + "x": 0.3115, + "y": 0.004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧白萝卜向爪夹右前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到白萝卜。方便移动白萝卜到白色框里。", + "frame": 209, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，抓取到白萝卜。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹夹紧白萝卜向爪夹右前方移动升高，来到白色框正上方。", + "time": 6.966666666666667 + }, + { + "action_description": "爪夹夹紧白萝卜垂直升高并向爪夹右前方移动", + "annotations": { + "bbox_1768809748715": { + "instances": [ + { + "height": 0.21600000000000003, + "id": "bbox_1768809748715_1768809866696_0xbfsrl2o", + "width": 0.096, + "x": 0.5485, + "y": 0.0026666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768809753256": { + "instances": [ + { + "height": 0.26266666666666666, + "id": "bbox_1768809753256_1768809872840_eh0n08v3q", + "width": 0.4120000000000001, + "x": 0.3105, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + }, + "point_1768809758344": { + "instances": [ + { + "id": "point_1768809758344_1768809862350_h7mvdk9vs", + "x": 0.5435000000000001, + "y": 0.02 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧白萝卜向爪夹右前方移动，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹夹紧白萝卜垂直升高并向爪夹右前方移动缩短了与白色框之间的距离。方便白萝卜放到框里。", + "frame": 272, + "progress": 60, + "progress_explanation": "爪夹夹紧白萝卜水平上接近了白色框，因此进度提升为60%。", + "state_description": "爪夹夹紧白萝卜，水平上接近了白色框。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹夹紧白萝卜向爪夹右前方移动，来到白色框正上方。", + "time": 9.055699 + }, + { + "action_description": "爪夹向爪夹右前方移动", + "annotations": { + "bbox_1768809748715": { + "instances": [ + { + "height": 0.04266666666666667, + "id": "bbox_1768809748715_1768809880694_09r6c2gez", + "width": 0.05699999999999994, + "x": 0.46950000000000003, + "y": 0.004 + } + ], + "type": "bbox" + }, + "bbox_1768809753256": { + "instances": [ + { + "height": 0.264, + "id": "bbox_1768809753256_1768809886338_q1xhdeyrr", + "width": 0.41200000000000003, + "x": 0.3085, + "y": 0 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹向爪夹右前方移动靠近了白色框正上方，方便白萝卜落到白色框里。", + "frame": 319, + "progress": 80, + "progress_explanation": "爪夹夹紧白萝卜靠近白色框，来到了白色框正上方。因此进度提升为80%。", + "state_description": "爪夹夹紧白萝卜，位于白色框正上方。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹松开，白萝卜落到白色框里。", + "time": 10.64221649484536 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1768809748715": { + "instances": [ + { + "height": 0.16666666666666666, + "id": "bbox_1768809748715_1768809892450_jt0rhfqaa", + "width": 0.075, + "x": 0.4545, + "y": 0.03866666666666666 + } + ], + "type": "bbox" + }, + "bbox_1768809753256": { + "instances": [ + { + "height": 0.2733333333333334, + "id": "bbox_1768809753256_1768809897720_hcm32rq3u", + "width": 0.409, + "x": 0.3105, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开白萝卜落到白色框里，任务完成。", + "frame": 366, + "progress": 100, + "progress_explanation": "爪夹松开白萝卜落到白色框里，因此进度提升为100%。", + "state_description": "爪夹张开，白萝卜掉落进白色框里。\n抓取白萝卜放进白色框里的任务目标完成。", + "time": 12.195824742268039 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768809748715", + "name": "白萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1768809753256", + "name": "白色框" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768809758344", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768809762914", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-175945-put-radish-white-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-175945-put-radish-white-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..7a7dad8967e0c48a0c59283304531fd0e0940685 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-175945-put-radish-white-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,988 @@ +{ + "task_description": "抓取白萝卜放进白色框里：\n准备开始移动：0%\n爪夹靠近白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹夹紧白萝卜接近白色框：60%\n爪夹夹紧白萝卜靠近白色框：80%\n爪夹松开白萝卜落到白色框里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到白萝卜正上方。爪夹垂直下降靠近白萝卜，爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，未开始移动。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到白萝卜正上方。", + "time": 1.322319613917526, + "annotations": { + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812566460_cawhxg49s", + "x": 0.22949999999999998, + "y": 0.20666666666666667, + "width": 0.07000000000000002, + "height": 0.232 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812574232_csdl1f99p", + "x": 0.35950000000000004, + "y": 0.41866666666666663, + "width": 0.4790000000000001, + "height": 0.5720000000000002 + } + ] + }, + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812584234_i6ljjzd5o", + "x": 0.40049999999999997, + "y": 0.22000000000000003 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812587334_kcl13in5a", + "x": 0.48650000000000004, + "y": 0.22133333333333335 + } + ] + } + } + }, + { + "time": 2.7397079582474224, + "frame": 82, + "progress": -5, + "action_description": "爪夹向爪夹正前方移动下降调整爪夹角度", + "state_description": "爪夹张开，爪夹位于错误目标玉米正上方，远离白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹向爪夹右后方移动升高并调整爪夹角度接近垂直于桌面，来到白萝卜正上方。", + "progress_explanation": "爪夹位于错误目标玉米正上方，水平上远离了白萝卜。因此进度降低为-5%。", + "error_success_analysis": "爪夹向爪夹正前方移动下降接近了错误目标玉米，未向正确目标白萝卜接近。", + "correction_plan": "爪夹向爪夹右后方移动升高并调整爪夹角度接近垂直于桌面，来到白萝卜正上方。爪夹垂直下降靠近白萝卜，爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812597102_tguommbxp", + "x": 0.4135, + "y": 0.384 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812599620_bb0wdg3v0", + "x": 0.4965, + "y": 0.3706666666666667 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812604488_m3malnwsj", + "x": 0.2265, + "y": 0.20533333333333334, + "width": 0.073, + "height": 0.23066666666666666 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812614822_blxv1ggei", + "x": 0.3585, + "y": 0.4186666666666667, + "width": 0.4800000000000001, + "height": 0.5733333333333335 + } + ] + } + } + }, + { + "time": 3.1689, + "frame": 95, + "progress": -10, + "action_description": "爪夹向爪夹右方移动下降", + "state_description": "爪夹张开，爪夹触碰到错误目标玉米，远离了白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹向爪夹右后方移动升高并调整爪夹角度接近垂直于桌面，来到白萝卜正上方。", + "progress_explanation": "爪夹触碰到错误目标玉米，更加远离了白萝卜。因此进度降低为-10%。", + "error_success_analysis": "爪夹向爪夹右方移动下降触碰到玉米，远离了白萝卜。", + "correction_plan": "爪夹向爪夹右后方移动升高并调整爪夹角度接近垂直于桌面，来到白萝卜正上方。爪夹垂直下降靠近白萝卜，爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812628131_x5xdfbgbj", + "x": 0.4685, + "y": 0.43200000000000005 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812630787_srujmczlj", + "x": 0.5445, + "y": 0.40800000000000003 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812634778_7q127tpq8", + "x": 0.22749999999999998, + "y": 0.20266666666666666, + "width": 0.07400000000000002, + "height": 0.23333333333333334 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812639874_8zk3ib9eg", + "x": 0.35950000000000004, + "y": 0.41866666666666663, + "width": 0.483, + "height": 0.572 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹向爪夹右后方移动升高并调整爪夹角度接近垂直于桌面，来到白萝卜正上方。爪夹垂直下降靠近白萝卜，爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹合拢，进行空抓。并不方便抓取目标白萝卜。", + "frame": 118, + "progress": -20, + "progress_explanation": "爪夹合拢，进行空抓。比起上一阶段多出一步爪夹张开，因此进度降低为-20%。", + "state_description": "爪夹合拢，爪夹将玉米撞飞。远离白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹张开，爪夹向爪夹右后方移动升高并调整爪夹角度接近垂直于桌面，来到白萝卜正上方。", + "time": 3.933333333333333, + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812650699_fa6tb1iyt", + "x": 0.48150000000000004, + "y": 0.3546666666666667 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812653113_dm6zdcg0b", + "x": 0.4885, + "y": 0.35333333333333333 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812657536_moxvoiyjp", + "x": 0.2245, + "y": 0.20400000000000001, + "width": 0.07399999999999998, + "height": 0.2306666666666667 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812663321_gkjo4o3xu", + "x": 0.3605, + "y": 0.41733333333333333, + "width": 0.4779999999999999, + "height": 0.5746666666666668 + } + ] + } + } + }, + { + "time": 4.962933, + "frame": 149, + "progress": 5, + "action_description": "爪夹张开", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹向爪夹右后方移动升高并调整爪夹角度接近垂直于桌面，来到白萝卜正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹张开因此进度提升为5%。", + "error_success_analysis": "爪夹张开，方便向白萝卜移动靠近。", + "correction_plan": "爪夹向爪夹右后方移动升高并调整爪夹角度接近垂直于桌面，来到白萝卜正上方。爪夹垂直下降靠近白萝卜，爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812667976_q7rkeyx7c", + "x": 0.4085, + "y": 0.36933333333333335 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812670388_8047qptm7", + "x": 0.49050000000000005, + "y": 0.36800000000000005 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812674373_bh4ffsf2x", + "x": 0.22949999999999998, + "y": 0.20533333333333334, + "width": 0.07000000000000002, + "height": 0.23066666666666666 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812679320_qrbivp5tw", + "x": 0.3575, + "y": 0.41600000000000004, + "width": 0.4790000000000001, + "height": 0.5813333333333335 + } + ] + } + } + }, + { + "time": 6.170133, + "frame": 185, + "progress": 20, + "action_description": "爪夹向爪夹右后方移动", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。靠近了白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面。靠近了白萝卜。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右后方移动靠近了白萝卜两侧，方便抓取白萝卜。", + "correction_plan": "爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812693508_q5nfpdriu", + "x": 0.24250000000000002, + "y": 0.292 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812695690_fs66sxzf1", + "x": 0.3235, + "y": 0.3093333333333333 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812698757_afwekba6i", + "x": 0.22649999999999998, + "y": 0.21200000000000002, + "width": 0.07300000000000004, + "height": 0.224 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812706345_ukzcbaf4g", + "x": 0.3585, + "y": 0.41733333333333333, + "width": 0.47800000000000004, + "height": 0.5746666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹垂直下降靠近白萝卜两侧。爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹合拢，不方便抓取白萝卜。", + "frame": 207, + "progress": -10, + "progress_explanation": "爪夹合拢位于白萝卜正上方，比起上一阶段爪夹多出一步爪夹张开。因此进度降低为-10%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，爪夹位于白萝卜正上方。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹张开，爪夹垂直下降靠近白萝卜两侧。", + "time": 6.9, + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812715993_f2erner0s", + "x": 0.2765, + "y": 0.2946666666666667 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812718083_7dfvi9nkh", + "x": 0.2815, + "y": 0.29733333333333334 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812721519_idev6gl0c", + "x": 0.22750000000000004, + "y": 0.196, + "width": 0.06799999999999998, + "height": 0.23600000000000004 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812728855_f65nwmscy", + "x": 0.3565, + "y": 0.41600000000000004, + "width": 0.48200000000000004, + "height": 0.5773333333333334 + } + ] + } + } + }, + { + "time": 7.9474, + "frame": 238, + "progress": 15, + "action_description": "爪夹张开", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，爪夹位于白萝卜正上方。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹垂直下降靠近白萝卜两侧。爪夹合拢抓取白萝卜。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹位于白萝卜正上方。方便下降抓取白萝卜。因此进度提升为15%。", + "error_success_analysis": "爪夹张开，位于白萝卜正上方。方便抓取白萝卜。", + "correction_plan": "爪夹垂直下降靠近白萝卜两侧。爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812740063_ouhkywb3e", + "x": 0.21150000000000002, + "y": 0.284 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812742260_9psff5tyh", + "x": 0.2955, + "y": 0.3066666666666667 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812745575_urbung421", + "x": 0.22949999999999998, + "y": 0.20533333333333334, + "width": 0.07000000000000002, + "height": 0.228 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812755599_8a42otqr2", + "x": 0.3585, + "y": 0.4186666666666667, + "width": 0.481, + "height": 0.5760000000000001 + } + ] + } + } + }, + { + "time": 8.584533, + "frame": 258, + "progress": 20, + "action_description": "爪夹垂直下降并向爪夹正后方移动", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了白萝卜两侧。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面。靠近了白萝卜。因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降并向爪夹正后方移动靠近了白萝卜两侧，方便抓取白萝卜。", + "correction_plan": "爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812760044_m2aty6pjp", + "x": 0.2435, + "y": 0.2506666666666667 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812762198_72gsvkp4z", + "x": 0.3185, + "y": 0.27466666666666667 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812766016_pkyg7ki2y", + "x": 0.22149999999999997, + "y": 0.21066666666666667, + "width": 0.085, + "height": 0.22266666666666665 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812772326_awhqobvpf", + "x": 0.3605, + "y": 0.41733333333333333, + "width": 0.477, + "height": 0.5800000000000002 + } + ] + } + } + }, + { + "time": 9.322266, + "frame": 280, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "progress_explanation": "爪夹角度接近垂直于桌面，抓取到白萝卜。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢，成功抓取到白萝卜。方便移动白萝卜到白色框里。", + "correction_plan": "爪夹夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "annotations": { + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812784222_mnto6leli", + "x": 0.23650000000000002, + "y": 0.22933333333333333, + "width": 0.07999999999999999, + "height": 0.22666666666666666 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812789447_x8f8na57y", + "x": 0.3595, + "y": 0.41733333333333333, + "width": 0.4790000000000002, + "height": 0.5773333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧白萝卜垂直升高", + "correction_plan": "爪夹夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹夹紧白萝卜位于半空中。方便向白色框靠近。", + "frame": 303, + "progress": 45, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹夹紧白萝卜位于半空中。方便向白色框靠近。因此进度提升为45%。", + "state_description": "爪夹夹紧白萝卜，爪夹角度接近垂直于桌面，位于半空中。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "time": 10.1, + "annotations": { + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812804178_ohd2agw9w", + "x": 0.29050000000000004, + "y": 0.2786666666666667 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812808056_lj09tl93m", + "x": 0.20550000000000002, + "y": 0.21333333333333335, + "width": 0.08399999999999999, + "height": 0.272 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812815084_nex81d9dh", + "x": 0.35550000000000004, + "y": 0.42, + "width": 0.48200000000000004, + "height": 0.5760000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，向爪夹左方移动下降靠近白萝卜。爪夹合拢抓取白萝卜。爪夹夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹合拢，爪夹抓取太靠后使白萝卜掉落桌面上。", + "frame": 323, + "progress": -15, + "progress_explanation": "白萝卜脱落掉在桌面上，水平上远离了白萝卜。比起上一阶段多出一步爪夹张开，因此进度降低为-15%。", + "state_description": "爪夹合拢，白萝卜脱落掉在桌面上。远离了白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹张开，向爪夹左方移动下降靠近白萝卜。", + "time": 10.766666666666667, + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812825101_twpr8z5g9", + "x": 0.2625, + "y": 0.268 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812828351_8f8y2qiro", + "x": 0.2665, + "y": 0.2706666666666667 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812832632_iq3ic3j9m", + "x": 0.3895, + "y": 0.2853333333333333, + "width": 0.06300000000000003, + "height": 0.24133333333333334 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812838041_dlbbf2bek", + "x": 0.3565, + "y": 0.41733333333333333, + "width": 0.483, + "height": 0.5800000000000001 + } + ] + } + } + }, + { + "time": 11.7702, + "frame": 353, + "progress": -10, + "action_description": "爪夹向爪夹左方移动", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面。水平上接近了白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹垂直下降，靠近白萝卜两侧。", + "progress_explanation": "爪夹角度接近垂直于桌面。水平上接近了白萝卜。因此进度提升为-10%。", + "error_success_analysis": "爪夹向爪夹左方移动，缩短了与白萝卜之间的距离。", + "correction_plan": "爪夹垂直下降，靠近白萝卜两侧。爪夹合拢抓取白萝卜。爪夹夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812846795_g9uxon7id", + "x": 0.3945, + "y": 0.29733333333333334 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812849055_h09vgo2og", + "x": 0.39849999999999997, + "y": 0.2986666666666667 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812853112_wli4xfhcb", + "x": 0.3155, + "y": 0.3306666666666667, + "width": 0.187, + "height": 0.11599999999999995 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812863892_8uy8jma7j", + "x": 0.3585, + "y": 0.4160000000000001, + "width": 0.4789999999999999, + "height": 0.5773333333333335 + } + ] + } + } + }, + { + "time": 12.799708158247425, + "frame": 384, + "progress": 20, + "action_description": "爪夹张开并垂直下降", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了白萝卜两侧。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面。靠近了白萝卜。因此进度提升为20%。", + "error_success_analysis": "爪夹张开垂直下降靠近了白萝卜两侧，方便抓取白萝卜。", + "correction_plan": "爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812879553_fp46l88rc", + "x": 0.3915, + "y": 0.356 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812881840_5bn00khe5", + "x": 0.4445, + "y": 0.41600000000000004 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812886456_z8x6r9hft", + "x": 0.3175, + "y": 0.3253333333333333, + "width": 0.18299999999999997, + "height": 0.11333333333333334 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812890302_hupakzdia", + "x": 0.35950000000000004, + "y": 0.4186666666666667, + "width": 0.4779999999999999, + "height": 0.5746666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到白萝卜。方便移动白萝卜到白色框里。", + "frame": 403, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，抓取到白萝卜。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹夹紧白萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "time": 13.421976211855672, + "annotations": { + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812903450_qafbv6vy0", + "x": 0.4225, + "y": 0.40800000000000003 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812907228_xbev1pxm1", + "x": 0.3185, + "y": 0.30533333333333335, + "width": 0.152, + "height": 0.1706666666666667 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812916969_jvq5da8u0", + "x": 0.3585, + "y": 0.41733333333333333, + "width": 0.479, + "height": 0.5746666666666668 + } + ] + } + } + }, + { + "time": 14.562800976804125, + "frame": 437, + "progress": 60, + "action_description": "爪夹向爪夹左前方移动升高", + "state_description": "爪夹夹紧白萝卜，水平上接近了白色框。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹夹紧白萝卜向爪夹左前方移动下降，来到白色框正上方。", + "progress_explanation": "爪夹夹紧白萝卜水平上接近了白色框，因此进度提升为60%。", + "error_success_analysis": "爪夹向爪夹左前方移动升高缩短了与白色框之间的距离。方便白萝卜放到框里。", + "correction_plan": "爪夹夹紧白萝卜向爪夹左前方移动下降，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812931716_ba1ccs91g", + "x": 0.36550000000000005, + "y": 0.256 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812933737_pfr22994c", + "x": 0.4525, + "y": 0.264 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812936844_040ruu302", + "x": 0.35150000000000003, + "y": 0.128, + "width": 0.10600000000000001, + "height": 0.184 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812945916_5zoishhay", + "x": 0.35950000000000004, + "y": 0.4173333333333334, + "width": 0.48099999999999987, + "height": 0.576 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧白萝卜向爪夹左前方移动下降", + "correction_plan": "爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹夹紧白萝卜向爪夹左前方移动下降靠近了白色框正上方，方便白萝卜落到白色框里。", + "frame": 453, + "progress": 80, + "progress_explanation": "爪夹夹紧白萝卜靠近白色框，来到了白色框正上方。因此进度提升为80%。", + "state_description": "爪夹夹紧白萝卜，位于白色框正上方。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹松开，白萝卜落到白色框里。", + "time": 15.098642911855672, + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812953392_3axlp276c", + "x": 0.5615, + "y": 0.5333333333333333 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812956788_ctknrxnzf", + "x": 0.5435000000000001, + "y": 0.4613333333333333, + "width": 0.121, + "height": 0.10400000000000004 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812960844_90rdx6k7n", + "x": 0.35950000000000004, + "y": 0.42400000000000004, + "width": 0.4789999999999999, + "height": 0.568 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开白萝卜落到白色框里，任务完成。", + "frame": 471, + "progress": 100, + "progress_explanation": "爪夹松开白萝卜落到白色框里，因此进度提升为100%。", + "state_description": "爪夹张开，白萝卜掉落进白色框里。\n抓取白萝卜放进白色框里的任务目标完成。", + "time": 15.703625741752578, + "annotations": { + "point_1768812549464": { + "type": "point", + "instances": [ + { + "id": "point_1768812549464_1768812965204_s5jca4gk7", + "x": 0.5325, + "y": 0.5373333333333333 + } + ] + }, + "point_1768812553667": { + "type": "point", + "instances": [ + { + "id": "point_1768812553667_1768812967442_zftplml27", + "x": 0.6355000000000001, + "y": 0.524 + } + ] + }, + "bbox_1768812540105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812540105_1768812970548_ze5k8a2od", + "x": 0.4755, + "y": 0.564, + "width": 0.11799999999999997, + "height": 0.24800000000000005 + } + ] + }, + "bbox_1768812544419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812544419_1768812981288_f43pm6b55", + "x": 0.3585, + "y": 0.4186666666666667, + "width": 0.47800000000000004, + "height": 0.5719999999999998 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768812540105", + "name": "白萝卜", + "color": "#4CAF50" + }, + { + "id": "bbox_1768812544419", + "name": "白色框", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768812549464", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768812553667", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-181937-put-rasdish-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-181937-put-rasdish-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b78e072bec884d6cef039632a9ffc543638f1521 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260108-lilingchu/20260108-181937-put-rasdish-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,338 @@ +{ + "task_description": "抓取白萝卜放进白色框里：\n准备开始移动：0%\n爪夹靠近白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹夹紧白萝卜接近白色框：60%\n爪夹夹紧白萝卜靠近白色框：80%\n爪夹松开白萝卜落到白色框里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹正前方移动下降，调整爪夹角度接近垂直于桌面，来到白萝卜正上方。爪夹垂直下降靠近白萝卜，爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹向爪夹正前方移动下降，调整爪夹角度接近垂直于桌面，来到白萝卜正上方。", + "time": 0.7336597716494846, + "annotations": { + "bbox_1768814431970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814431970_1768814457627_w3l1fwf26", + "x": 0.5465, + "y": 0.31333333333333335, + "width": 0.137, + "height": 0.19600000000000004 + } + ] + }, + "bbox_1768814436343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814436343_1768814466531_ils4g3ir1", + "x": 0.0825, + "y": 0.032, + "width": 0.507, + "height": 0.49866666666666665 + } + ] + }, + "point_1768814441559": { + "type": "point", + "instances": [ + { + "id": "point_1768814441559_1768814474752_zbivce3jd", + "x": 0.3845, + "y": 0.32266666666666666 + } + ] + }, + "point_1768814448387": { + "type": "point", + "instances": [ + { + "id": "point_1768814448387_1768814477191_bb9ly7rbp", + "x": 0.4875, + "y": 0.3413333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动升高", + "correction_plan": "爪夹向爪夹正前方移动下降，调整爪夹角度接近垂直于桌面，来到白萝卜正上方。爪夹垂直下降靠近白萝卜，爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹向爪夹正前方移动升高，缩短了于白萝卜之间的距离。", + "frame": 62, + "progress": 10, + "progress_explanation": "爪夹角度接近平行于桌面，水平上接近了白萝卜。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近平行于桌面，水平上接近了白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹向爪夹正前方移动下降，调整爪夹角度接近垂直于桌面，来到白萝卜正上方。", + "time": 2.0531099036082474, + "annotations": { + "bbox_1768814431970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814431970_1768814482809_fbc121nmh", + "x": 0.5465, + "y": 0.3146666666666667, + "width": 0.13499999999999995, + "height": 0.1946666666666666 + } + ] + }, + "bbox_1768814436343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814436343_1768814492588_s9covto4p", + "x": 0.08349999999999999, + "y": 0.030666666666666665, + "width": 0.506, + "height": 0.5386666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动下降，调整爪夹角度", + "correction_plan": "爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹向爪夹正前方移动下降靠近了白萝卜，调整爪夹角度接近垂直于桌面，方便抓取白萝卜。", + "frame": 92, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白萝卜两侧。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了白萝卜两侧。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左方移动升高，来到白色框正上方。", + "time": 3.056233, + "annotations": { + "bbox_1768814431970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814431970_1768814500944_kdtg30p22", + "x": 0.5425, + "y": 0.31466666666666665, + "width": 0.14000000000000004, + "height": 0.19066666666666668 + } + ] + }, + "bbox_1768814436343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814436343_1768814508505_af8qptk3i", + "x": 0.0895, + "y": 0.032, + "width": 0.49899999999999994, + "height": 0.5346666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧白萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到白萝卜。方便移动白萝卜到白色框里。", + "frame": 120, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，抓取到白萝卜。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到白萝卜。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹夹紧白萝卜向爪夹左方移动升高，来到白色框正上方。", + "time": 3.9867868211340203, + "annotations": { + "bbox_1768814431970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814431970_1768814517237_c4p2n3geb", + "x": 0.5325, + "y": 0.30800000000000005, + "width": 0.154, + "height": 0.1933333333333333 + } + ] + }, + "bbox_1768814436343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814436343_1768814526938_plef64z75", + "x": 0.0915, + "y": 0.032, + "width": 0.497, + "height": 0.5426666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧白萝卜垂直升高", + "correction_plan": "爪夹夹紧白萝卜向爪夹左方移动，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹夹紧白萝卜垂直升高高过了白色框，方便将白萝卜移动至白色框正上方。", + "frame": 168, + "progress": 60, + "progress_explanation": "爪夹夹紧白萝卜垂直上高过了白色框，因此进度提升为60%。", + "state_description": "爪夹夹紧白萝卜，垂直上高过了白色框的口。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹夹紧白萝卜向爪夹左方移动，来到白色框正上方。", + "time": 5.5906012056701035, + "annotations": { + "bbox_1768814431970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814431970_1768814539741_goilb5hyp", + "x": 0.6014999999999999, + "y": 0, + "width": 0.15700000000000003, + "height": 0.2866666666666667 + } + ] + }, + "bbox_1768814436343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814436343_1768814548322_kp9w1yrei", + "x": 0.0925, + "y": 0.064, + "width": 0.4990000000000001, + "height": 0.5000000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧白萝卜向爪夹正前方移动", + "correction_plan": "爪夹向爪夹左后方移动，来到白色框的正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹夹紧白萝卜向爪夹正前方移动，增加了与白色框之间的距离。", + "frame": 226, + "progress": 50, + "progress_explanation": "爪夹水平上远离了白色框，因此进度降低为50%。", + "state_description": "爪夹夹紧白萝卜，水平上远离了白色框。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹向爪夹左后方移动，来到白色框的正上方。", + "time": 7.546799, + "annotations": { + "bbox_1768814431970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814431970_1768814557869_9glrsvj2q", + "x": 0.6315000000000001, + "y": 0, + "width": 0.16399999999999998, + "height": 0.13466666666666666 + } + ] + }, + "bbox_1768814436343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814436343_1768814562133_i19fb2352", + "x": 0.0795, + "y": 0.032, + "width": 0.5109999999999999, + "height": 0.5133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左方移动", + "correction_plan": "爪夹向爪夹左后方移动，来到白色框的正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹向爪夹左方移动稍微缩短了与白色框之间的距离。", + "frame": 260, + "progress": 52, + "progress_explanation": "爪夹水平上微微接近了白色框，因此进度提升为52%。", + "state_description": "爪夹夹紧白萝卜，水平上微微接近了白色框。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹向爪夹左后方移动，来到白色框的正上方。", + "time": 8.661735133505156, + "annotations": { + "bbox_1768814431970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814431970_1768814571503_knsgom08o", + "x": 0.6485000000000001, + "y": 0.0013333333333333333, + "width": 0.07599999999999998, + "height": 0.07200000000000001 + } + ] + }, + "bbox_1768814436343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814436343_1768814575143_5771vdy6h", + "x": 0.08349999999999999, + "y": 0.03333333333333333, + "width": 0.508, + "height": 0.5106666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹垂直下降，调整爪夹的角度使其接近垂直于桌面。靠近白萝卜两侧。爪夹合拢抓取白萝卜。夹紧白萝卜向爪夹左后方移动升高，来到白色框正上方。爪夹松开，白萝卜落到白色框里。", + "error_success_analysis": "爪夹张开，白萝卜掉落。远离了白萝卜。", + "frame": 297, + "progress": 15, + "progress_explanation": "白萝卜落到了盘子里，爪夹位于白萝卜正上方。垂直上远离了白萝卜因此进度降低为15%。", + "state_description": "爪夹张开，白萝卜落到了盘子里。爪夹位于白萝卜正上方。\n为完成抓取白萝卜放进白色框里的任务应当：爪夹垂直下降，调整爪夹的角度使其接近垂直于桌面。靠近白萝卜两侧。", + "time": 9.890188704639176, + "annotations": { + "bbox_1768814431970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814431970_1768814585181_uzh4t0eow", + "x": 0.6184999999999999, + "y": 0.164, + "width": 0.22400000000000012, + "height": 0.07600000000000001 + } + ] + }, + "bbox_1768814436343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768814436343_1768814596480_t0voknh4w", + "x": 0.0805, + "y": 0.03333333333333333, + "width": 0.512, + "height": 0.5106666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768814431970", + "name": "白萝卜", + "color": "#4CAF50" + }, + { + "id": "bbox_1768814436343", + "name": "白色框", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768814441559", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768814448387", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-095345-put-bitter gourd-white-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-095345-put-bitter gourd-white-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..b4e73eefe33e66820b7e2c0891d83daa8fa83972 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-095345-put-bitter gourd-white-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,344 @@ +{ + "task_description": "抓取苦瓜放进白色框里：\n准备开始移动：0%\n爪夹靠近苦瓜：20%\n爪夹抓取苦瓜：40%\n爪夹夹紧苦瓜接近白色框：60%\n爪夹夹紧苦瓜靠近白色框：80%\n爪夹松开苦瓜落到白色框里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹向爪夹左前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "time": 1.3591237113402064, + "annotations": { + "bbox_1768872261343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872261343_1768872293669_0oi1g1na4", + "x": 0.5315000000000001, + "y": 0.312, + "width": 0.05699999999999994, + "height": 0.17200000000000001 + } + ] + }, + "bbox_1768872270231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872270231_1768872299189_e3dcueqhk", + "x": 0.1035, + "y": 0.0013333333333333003, + "width": 0.46900000000000003, + "height": 0.5400000000000001 + } + ] + }, + "point_1768872276892": { + "type": "point", + "instances": [ + { + "id": "point_1768872276892_1768872314563_bct7lx5gf", + "x": 0.5825, + "y": 0.47733333333333333 + } + ] + }, + "point_1768872281885": { + "type": "point", + "instances": [ + { + "id": "point_1768872281885_1768872317917_80g41hmde", + "x": 0.6825, + "y": 0.4746666666666667 + } + ] + } + } + }, + { + "time": 3.3276, + "frame": 100, + "progress": 10, + "action_description": "爪夹向爪夹正前方移动升高", + "state_description": "爪夹张开，爪夹角度接近平行于桌面。水平上接近了苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹左前方移动下降靠近苦瓜。", + "progress_explanation": "爪夹角度接近平行于桌面。水平上接近了苦瓜。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹正前方移动升高，缩短了与苦瓜之间的距离。", + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹左前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768872276892": { + "type": "point", + "instances": [ + { + "id": "point_1768872276892_1768872323439_42gms1jlu", + "x": 0.5835, + "y": 0.4426666666666667 + } + ] + }, + "bbox_1768872261343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872261343_1768872328603_xlhep0s9r", + "x": 0.5365, + "y": 0.3093333333333333, + "width": 0.051999999999999956, + "height": 0.17333333333333337 + } + ] + }, + "bbox_1768872270231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872270231_1768872342805_2nuvw6lti", + "x": 0.10149999999999999, + "y": 0.0013333333333333333, + "width": 0.4720000000000001, + "height": 0.5413333333333334 + } + ] + } + } + }, + { + "time": 5.34201030927835, + "frame": 160, + "progress": 15, + "action_description": "爪夹向爪夹左前方移动下降并调整爪夹角度", + "state_description": "爪夹张开，位于苦瓜正上方。水平上接近了苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近苦瓜。", + "progress_explanation": "爪夹水平上接近了苦瓜，方便抓取苦瓜。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹左前方移动下降缩短了与苦瓜之间的距离。", + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "bbox_1768872261343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872261343_1768872356514_k6ywblgwv", + "x": 0.5365, + "y": 0.316, + "width": 0.050000000000000086, + "height": 0.1653333333333333 + } + ] + }, + "bbox_1768872270231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872270231_1768872367745_2eut9p694", + "x": 0.1025, + "y": 0.005333333333333333, + "width": 0.471, + "height": 0.5319999999999999 + } + ] + } + } + }, + { + "time": 7.0641, + "frame": 212, + "progress": 20, + "action_description": "爪夹垂直下降并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了苦瓜两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了苦瓜，调整爪夹角度接近垂直于桌面，方便抓取苦瓜。", + "correction_plan": "爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "bbox_1768872270231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872270231_1768872382504_dalsc9xdi", + "x": 0.1015, + "y": 0.0026666666666666666, + "width": 0.47300000000000003, + "height": 0.5386666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到苦瓜。方便移动苦瓜到白色框里。", + "frame": 241, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，抓取到苦瓜。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。", + "time": 8.045721649484536, + "annotations": { + "bbox_1768872270231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872270231_1768872389557_2ud7i5elt", + "x": 0.1055, + "y": 0.0013333333333333326, + "width": 0.4680000000000001, + "height": 0.5399999999999999 + } + ] + } + } + }, + { + "time": 10.182525773195875, + "frame": 305, + "progress": 60, + "action_description": "爪夹夹紧苦瓜垂直升高", + "state_description": "爪夹夹紧苦瓜，垂直上高过了白色框。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹夹紧苦瓜向爪夹左方移动，来到白色框正上方。", + "progress_explanation": "爪夹夹紧苦瓜垂直上接近了白色框，因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧苦瓜垂直升高缩短了与白色框之间的距离。方便苦瓜放到框里。", + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "bbox_1768872261343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872261343_1768872403081_v74gtjkqv", + "x": 0.5515, + "y": 0.14800000000000002, + "width": 0.06900000000000003, + "height": 0.17333333333333334 + } + ] + }, + "bbox_1768872270231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872270231_1768872418147_oyhp1m39q", + "x": 0.1045, + "y": 0.002666666666666667, + "width": 0.4739999999999999, + "height": 0.5373333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左方移动", + "correction_plan": "爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹向爪夹左方移动靠近了白色框正上方，方便苦瓜落到白色框里。", + "frame": 351, + "progress": 80, + "progress_explanation": "爪夹夹紧苦瓜靠近白色框，来到了白色框正上方。因此进度提升为80%。", + "state_description": "爪夹夹紧苦瓜，位于白色框正上方。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹松开，苦瓜落到白色框里。", + "time": 11.70881443298969, + "annotations": { + "point_1768872276892": { + "type": "point", + "instances": [ + { + "id": "point_1768872276892_1768872433704_zs51tqfqs", + "x": 0.3335, + "y": 0.20133333333333334 + } + ] + }, + "bbox_1768872261343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872261343_1768872436515_ufquln2t7", + "x": 0.32250000000000006, + "y": 0.09333333333333334, + "width": 0.09699999999999989, + "height": 0.21333333333333337 + } + ] + }, + "bbox_1768872270231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872270231_1768872446687_tcum7yl7j", + "x": 0.1045, + "y": 0, + "width": 0.47000000000000003, + "height": 0.5373333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开苦瓜落到白色框里，任务完成。", + "frame": 385, + "progress": 100, + "progress_explanation": "爪夹松开苦瓜落到白色框里，因此进度提升为100%。", + "state_description": "爪夹张开，苦瓜掉落进白色框里。\n抓取苦瓜放进白色框里的任务目标完成。", + "time": 12.828092783505152, + "annotations": { + "point_1768872276892": { + "type": "point", + "instances": [ + { + "id": "point_1768872276892_1768872456557_2pp20yv6b", + "x": 0.3175, + "y": 0.22533333333333333 + } + ] + }, + "bbox_1768872261343": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872261343_1768872459827_bu0l8lecn", + "x": 0.3255, + "y": 0.15333333333333335, + "width": 0.09300000000000005, + "height": 0.15333333333333335 + } + ] + }, + "bbox_1768872270231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768872270231_1768872472477_r2efm53nu", + "x": 0.10450000000000001, + "y": 0, + "width": 0.4680000000000001, + "height": 0.5373333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768872261343", + "name": "苦瓜", + "color": "#4CAF50" + }, + { + "id": "bbox_1768872270231", + "name": "白色框", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768872276892", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768872281885", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-101048-put-bitter gourd-white-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-101048-put-bitter gourd-white-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..b402727fcec5b96b62f0c7e2e57e12851229cff5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-101048-put-bitter gourd-white-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,810 @@ +{ + "task_description": "抓取苦瓜放进白色框里：\n准备开始移动：0%\n爪夹靠近苦瓜：20%\n爪夹抓取苦瓜：40%\n爪夹夹紧苦瓜接近白色框：60%\n爪夹夹紧苦瓜靠近白色框：80%\n爪夹松开苦瓜落到白色框里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "", + "frame": 245, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "time": 8.155120194329898, + "annotations": { + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875211312_j8jbbm3w3", + "x": 0.1085, + "y": 0.47600000000000003, + "width": 0.06300000000000001, + "height": 0.1586666666666666 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875215920_5hjatxjmg", + "x": 0.3345, + "y": 0.2773333333333333, + "width": 0.39499999999999996, + "height": 0.44 + } + ] + }, + "point_1768875194580": { + "type": "point", + "instances": [ + { + "id": "point_1768875194580_1768875227364_cbbi08m8a", + "x": 0.3865, + "y": 0.22533333333333333 + } + ] + }, + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875229576_tpj4oxd7z", + "x": 0.47250000000000003, + "y": 0.23466666666666666 + } + ] + } + } + }, + { + "time": 9.917599, + "frame": 298, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈40度。水平上稍微接近了苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "progress_explanation": "爪夹角度与桌面呈40度。水平上稍微接近了苦瓜。因此进度提升为5%。", + "error_success_analysis": "爪夹向爪夹正前方移动缩短了与苦瓜之间的距离。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875234955_lrx73rqkh", + "x": 0.46950000000000003, + "y": 0.2653333333333333 + } + ] + }, + "point_1768875194580": { + "type": "point", + "instances": [ + { + "id": "point_1768875194580_1768875237832_8a7k6x7cm", + "x": 0.3765, + "y": 0.26266666666666666 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875241546_v3npj8odw", + "x": 0.1075, + "y": 0.4746666666666667, + "width": 0.06200000000000001, + "height": 0.16133333333333338 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875250360_j5gpp3b3h", + "x": 0.3325, + "y": 0.2786666666666667, + "width": 0.399, + "height": 0.43200000000000016 + } + ] + } + } + }, + { + "time": 10.862133, + "frame": 326, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈20度，水平上接近了苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹继续向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "progress_explanation": "爪夹角度与桌面呈20度，水平上更加接近了苦瓜。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了与苦瓜之间的距离。", + "correction_plan": "爪夹继续向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768875194580": { + "type": "point", + "instances": [ + { + "id": "point_1768875194580_1768875261552_yivf2fxf6", + "x": 0.1795, + "y": 0.2706666666666667 + } + ] + }, + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875265176_piwdjcsvq", + "x": 0.2625, + "y": 0.32 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875269863_wn2y6jtxt", + "x": 0.1085, + "y": 0.47600000000000003, + "width": 0.06200000000000001, + "height": 0.1586666666666666 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875274140_ice9w8auo", + "x": 0.3335, + "y": 0.27599999999999997, + "width": 0.398, + "height": 0.4373333333333333 + } + ] + } + } + }, + { + "time": 12.616266, + "frame": 378, + "progress": -5, + "action_description": "爪夹向爪夹正后方移动并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。触碰到了错误目标洋葱。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹向爪夹右前方移动升高，来到苦瓜正上方。", + "progress_explanation": "爪夹触碰了错误目标洋葱，不方便抓取苦瓜。因此进度降低为-5%。", + "error_success_analysis": "爪夹向爪夹正后方移动靠近了错误的洋葱。微微远离了苦瓜。", + "correction_plan": "爪夹向爪夹右前方移动升高，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875284982_aah0cvli0", + "x": 0.3375, + "y": 0.3813333333333333 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875289154_48thjolz3", + "x": 0.10749999999999997, + "y": 0.47200000000000003, + "width": 0.062000000000000034, + "height": 0.16133333333333322 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875296630_ybk16b9bp", + "x": 0.3335, + "y": 0.28, + "width": 0.396, + "height": 0.4373333333333333 + } + ] + } + } + }, + { + "time": 13.898133, + "frame": 417, + "progress": -10, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直，爪夹抓取到错误目标洋葱。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹张开，爪夹向爪夹右前方移动升高，来到苦瓜正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，爪夹抓取到错误目标洋葱。比起上一阶段多出一步爪夹张开。因此进度降低为-10。", + "error_success_analysis": "爪夹合拢，抓取了错误的目标。", + "correction_plan": "爪夹张开，爪夹向爪夹右前方移动升高，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875310336_o4xozzewt", + "x": 0.3485, + "y": 0.35733333333333334 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875314779_g8zvjgkte", + "x": 0.1075, + "y": 0.47600000000000003, + "width": 0.06300000000000001, + "height": 0.1573333333333333 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875320748_p63pk5s65", + "x": 0.3365, + "y": 0.27599999999999997, + "width": 0.395, + "height": 0.44533333333333336 + } + ] + } + } + }, + { + "time": 16.191999, + "frame": 486, + "progress": -20, + "action_description": "爪夹夹紧洋葱垂直升高", + "state_description": "爪夹夹紧洋葱，爪夹角度与桌面接近垂直，位于半空中。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹张开，爪夹向爪夹右前方移动升高，来到苦瓜正上方。", + "progress_explanation": "爪夹夹紧错误目标上升，因此进度降低为-20%。", + "error_success_analysis": "爪夹夹紧洋葱垂直升高，进行了错误的行为。", + "correction_plan": "爪夹张开，爪夹向爪夹右前方移动升高，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875325986_57790lysz", + "x": 0.34450000000000003, + "y": 0.3106666666666667 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875330601_ii4fb2pwu", + "x": 0.1085, + "y": 0.4746666666666667, + "width": 0.06100000000000001, + "height": 0.16133333333333338 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875335203_l51uosxay", + "x": 0.3315, + "y": 0.27466666666666667, + "width": 0.398, + "height": 0.436 + } + ] + } + } + }, + { + "time": 17.844933, + "frame": 535, + "progress": 9, + "action_description": "爪夹张开", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹向爪夹右前方移动，来到苦瓜正上方。", + "progress_explanation": "爪夹张开，洋葱掉落桌面，此时方便向苦瓜移动抓取。因此进度提升为9%。", + "error_success_analysis": "爪夹张开，洋葱掉落。爪夹空闲，方便向爪夹右前方移动抓取苦瓜。", + "correction_plan": "爪夹向爪夹右前方移动，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768875194580": { + "type": "point", + "instances": [ + { + "id": "point_1768875194580_1768875339865_pasd95tw6", + "x": 0.2725, + "y": 0.2946666666666667 + } + ] + }, + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875342101_jam0v9nh8", + "x": 0.3585, + "y": 0.308 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875345923_zf0koegsz", + "x": 0.1095, + "y": 0.47600000000000003, + "width": 0.05900000000000001, + "height": 0.1573333333333333 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875350801_stqln2nvp", + "x": 0.3355, + "y": 0.276, + "width": 0.398, + "height": 0.43466666666666665 + } + ] + } + } + }, + { + "time": 20.779733, + "frame": 623, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。水平上接近了苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹继续向爪夹右前方移动下降靠近苦瓜。", + "progress_explanation": "爪夹角度与桌面接近垂直。水平上接近了苦瓜。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了与苦瓜之间的距离。", + "correction_plan": "爪夹继续向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768875194580": { + "type": "point", + "instances": [ + { + "id": "point_1768875194580_1768875359594_8gvhupfxq", + "x": 0.1295, + "y": 0.364 + } + ] + }, + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875362034_filnnbe3s", + "x": 0.2185, + "y": 0.404 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875366649_y3sitontm", + "x": 0.1075, + "y": 0.47733333333333333, + "width": 0.06100000000000001, + "height": 0.1573333333333333 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875376596_7nqr70pm5", + "x": 0.33449999999999996, + "y": 0.2773333333333333, + "width": 0.3970000000000001, + "height": 0.43733333333333335 + } + ] + } + } + }, + { + "time": 22.533866, + "frame": 676, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了苦瓜两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了苦瓜，方便抓取苦瓜。", + "correction_plan": "爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768875194580": { + "type": "point", + "instances": [ + { + "id": "point_1768875194580_1768875387678_s761b4o4j", + "x": 0.0885, + "y": 0.5133333333333333 + } + ] + }, + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875390608_zcttc07es", + "x": 0.1795, + "y": 0.5493333333333333 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875394128_xqn01l5io", + "x": 0.1085, + "y": 0.4746666666666667, + "width": 0.061, + "height": 0.164 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875402435_3w16aus64", + "x": 0.3335, + "y": 0.28, + "width": 0.39399999999999996, + "height": 0.432 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹垂直下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹合拢，抓取苦瓜失败。苦瓜脱落。", + "frame": 735, + "progress": -10, + "progress_explanation": "爪夹角度接近垂直于桌面，未抓取到苦瓜。比起上一阶段多出一步爪夹张开，因此进度降低为-10%。", + "state_description": "爪夹合拢位于苦瓜正上方。爪夹角度接近垂直于桌面。抓取苦瓜失败。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹张开，爪夹垂直下降靠近苦瓜。", + "time": 24.5, + "annotations": { + "point_1768875194580": { + "type": "point", + "instances": [ + { + "id": "point_1768875194580_1768875411690_7tilur2d8", + "x": 0.1605, + "y": 0.48666666666666664 + } + ] + }, + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875414166_tn2lrot4u", + "x": 0.1645, + "y": 0.48933333333333334 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875417420_1b174u35n", + "x": 0.11850000000000001, + "y": 0.468, + "width": 0.071, + "height": 0.1600000000000001 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875424892_cqb60xi7z", + "x": 0.3335, + "y": 0.28, + "width": 0.396, + "height": 0.436 + } + ] + } + } + }, + { + "time": 26.308522076804124, + "frame": 789, + "progress": 20, + "action_description": "爪夹张开并垂直下降", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了苦瓜两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了苦瓜，爪夹角度接近垂直于桌面，方便抓取苦瓜。", + "correction_plan": "爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768875194580": { + "type": "point", + "instances": [ + { + "id": "point_1768875194580_1768875443970_ya15y0z3o", + "x": 0.1285, + "y": 0.528 + } + ] + }, + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875446257_ubxx0sjn8", + "x": 0.1975, + "y": 0.5653333333333334 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875450094_dq5wl6ctq", + "x": 0.1265, + "y": 0.452, + "width": 0.06899999999999999, + "height": 0.18533333333333335 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875455384_zs6q8hqik", + "x": 0.3355, + "y": 0.27599999999999997, + "width": 0.39299999999999996, + "height": 0.4386666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到苦瓜。方便移动苦瓜到白色框里。", + "frame": 812, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，抓取到苦瓜。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。", + "time": 27.07360797989691, + "annotations": { + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875466034_k22j311md", + "x": 0.17350000000000002, + "y": 0.5693333333333334 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875468749_5ii5feidb", + "x": 0.1095, + "y": 0.4613333333333333, + "width": 0.075, + "height": 0.1573333333333333 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875480058_j27ga8fgr", + "x": 0.3345, + "y": 0.27599999999999997, + "width": 0.3959999999999999, + "height": 0.4386666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧苦瓜向爪夹左方移动升高", + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左方移动升高缩短了与苦瓜之间的距离。", + "frame": 882, + "progress": 60, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了白色框。因此进度提升为60%。", + "state_description": "爪夹夹紧苦瓜，爪夹角度接近垂直于桌面，水平上接近了白色框。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹夹紧苦瓜向爪夹左方移动，来到白色框正上方。", + "time": 29.403642321134022, + "annotations": { + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875490016_uman5g73j", + "x": 0.2935, + "y": 0.4053333333333333 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875493240_grtiy9hcd", + "x": 0.22049999999999997, + "y": 0.312, + "width": 0.08600000000000003, + "height": 0.128 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875505924_03ghfnoth", + "x": 0.3325, + "y": 0.27599999999999997, + "width": 0.396, + "height": 0.4386666666666667 + } + ] + } + } + }, + { + "time": 31.371999, + "frame": 941, + "progress": 80, + "action_description": "爪夹夹紧苦瓜向爪夹左方移动", + "state_description": "爪夹夹紧苦瓜，位于白色框正上方。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹松开，苦瓜落到白色框里。", + "progress_explanation": "爪夹夹紧苦瓜靠近白色框，来到了白色框正上方。因此进度提升为80%。", + "error_success_analysis": "爪夹向爪夹左方移动靠近了白色框正上方，方便苦瓜落到白色框里。", + "correction_plan": "爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768875194580": { + "type": "point", + "instances": [ + { + "id": "point_1768875194580_1768875518652_6exufxf4m", + "x": 0.49450000000000005, + "y": 0.3173333333333333 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875523025_9v4ks6w9m", + "x": 0.48950000000000005, + "y": 0.2506666666666667, + "width": 0.071, + "height": 0.08533333333333332 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875534520_nfb6g8t8z", + "x": 0.3325, + "y": 0.27599999999999997, + "width": 0.396, + "height": 0.4373333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开苦瓜落到白色框里，任务完成。", + "frame": 974, + "progress": 100, + "progress_explanation": "爪夹松开苦瓜落到白色框里，因此进度提升为100%。", + "state_description": "爪夹张开，苦瓜掉落进白色框里。\n抓取苦瓜放进白色框里的任务目标完成。", + "time": 32.46398593350516, + "annotations": { + "point_1768875194580": { + "type": "point", + "instances": [ + { + "id": "point_1768875194580_1768875545566_h32b6daxd", + "x": 0.4715, + "y": 0.32933333333333337 + } + ] + }, + "point_1768875199023": { + "type": "point", + "instances": [ + { + "id": "point_1768875199023_1768875548394_5zy8uqf8u", + "x": 0.5605, + "y": 0.30133333333333334 + } + ] + }, + "bbox_1768875181896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875181896_1768875577735_qpnguygrt", + "x": 0.41450000000000004, + "y": 0.5613333333333334, + "width": 0.10899999999999999, + "height": 0.07600000000000004 + } + ] + }, + "bbox_1768875189636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768875189636_1768875584105_x98ujli1k", + "x": 0.3365, + "y": 0.2786666666666667, + "width": 0.39299999999999996, + "height": 0.43733333333333335 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768875181896", + "name": "苦瓜", + "color": "#4CAF50" + }, + { + "id": "bbox_1768875189636", + "name": "白色框", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768875194580", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768875199023", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-101048-put-bitter gourd-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-101048-put-bitter gourd-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..158a507337618f1c373caff1b4afc82afd281bc3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-101048-put-bitter gourd-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,990 @@ +{ + "task_description": "抓取土豆放到盘子里，接着抓取苦瓜放到白色框里：\n准备开始移动：0%\n爪夹靠近土豆：10%\n爪夹抓取土豆：20%\n爪夹夹紧土豆接近盘子：30%\n爪夹夹紧土豆靠近盘子：40%\n爪夹松开土豆落到盘子里：50%\n爪夹靠近苦瓜：60%\n爪夹抓取苦瓜：70%\n爪夹夹紧苦瓜接近白色框：80%\n爪夹夹紧苦瓜靠近白色框：90%\n爪夹松开苦瓜落到白色框里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到土豆正上方。爪夹垂直下降靠近土豆，爪夹合拢抓取土豆。夹紧土豆向爪夹正前方移动升高，来到盘子正上方。爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "", + "frame": 65, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到土豆正上方。", + "time": 2.1619587974226806, + "annotations": { + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768877966561_ommj7e03k", + "x": 0.6965, + "y": 0.2986666666666667, + "width": 0.12100000000000008, + "height": 0.10666666666666665 + } + ] + }, + "point_1768877948109": { + "type": "point", + "instances": [ + { + "id": "point_1768877948109_1768877974465_llaukohk2", + "x": 0.6065, + "y": 0.2693333333333333 + } + ] + }, + "point_1768877952641": { + "type": "point", + "instances": [ + { + "id": "point_1768877952641_1768877976664_i3vu0q9x1", + "x": 0.6905, + "y": 0.22933333333333333 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768877981879_zvkgpa22y", + "x": 0.4015000000000001, + "y": 0.14666666666666667, + "width": 0.209, + "height": 0.1653333333333333 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768877993075_2xjfjy3x6", + "x": 0.0005000000000000004, + "y": 0.06533333333333333, + "width": 0.4720000000000001, + "height": 0.6186666666666666 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878003653_rwphugpkp", + "x": 0.5525, + "y": 0.10400000000000001, + "width": 0.09500000000000001, + "height": 0.08933333333333332 + } + ] + } + } + }, + { + "time": 4.0119931912371145, + "frame": 120, + "progress": 5, + "action_description": "爪夹向爪夹右前方移动升高并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈10度。水平上接近了土豆。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到土豆正上方。", + "progress_explanation": "爪夹角度与桌面呈10度。水平上接近了土豆。因此进度提升为5%。", + "error_success_analysis": "爪夹向爪夹右前方移动升高缩短了与土豆之间的距离。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到土豆正上方。爪夹垂直下降靠近土豆，爪夹合拢抓取土豆。夹紧土豆向爪夹正前方移动升高，来到盘子正上方。爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878010795_66b95lesl", + "x": 0.7005, + "y": 0.3026666666666667, + "width": 0.09900000000000002, + "height": 0.09333333333333335 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878014393_qy0c5k0pw", + "x": 0.40149999999999997, + "y": 0.14266666666666666, + "width": 0.20600000000000004, + "height": 0.172 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878022069_ph4j7qr2k", + "x": 0.5595, + "y": 0.10400000000000001, + "width": 0.08099999999999996, + "height": 0.09333333333333332 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878039295_uuedv73j2", + "x": 0.0025, + "y": 0.06666666666666667, + "width": 0.47000000000000003, + "height": 0.62 + } + ] + } + } + }, + { + "time": 5.425333, + "frame": 163, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动下降并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了土豆两侧。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹合拢抓取土豆。夹紧土豆向爪夹正前方移动升高，来到盘子正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了土豆两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了土豆，调整爪夹角度接近垂直于桌面，方便抓取土豆。", + "correction_plan": "爪夹合拢抓取土豆。夹紧土豆向爪夹正前方移动升高，来到盘子正上方。爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768877948109": { + "type": "point", + "instances": [ + { + "id": "point_1768877948109_1768878049873_pevc29n1h", + "x": 0.7185, + "y": 0.39466666666666667 + } + ] + }, + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878053681_g55f3uq0n", + "x": 0.6995, + "y": 0.30400000000000005, + "width": 0.10599999999999996, + "height": 0.1 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878057503_eahwdsmmg", + "x": 0.40049999999999997, + "y": 0.14400000000000002, + "width": 0.209, + "height": 0.1733333333333333 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878065859_zy6cpsf15", + "x": 0.5565, + "y": 0.10666666666666667, + "width": 0.09100000000000001, + "height": 0.08933333333333332 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878076877_ppt9x7lg6", + "x": 0.0015, + "y": 0.06666666666666667, + "width": 0.471, + "height": 0.624 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧土豆向爪夹正前方移动升高，来到盘子正上方。爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到土豆。方便移动土豆到盘子里。", + "frame": 192, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，抓取到土豆。因此进度提升为20%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到土豆。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹夹紧土豆向爪夹正前方移动升高，来到盘子正上方。", + "time": 6.4, + "annotations": { + "point_1768877948109": { + "type": "point", + "instances": [ + { + "id": "point_1768877948109_1768878091958_tr92lm6pb", + "x": 0.7135, + "y": 0.35866666666666663 + } + ] + }, + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878097605_qgedx3izw", + "x": 0.7005, + "y": 0.28933333333333333, + "width": 0.10900000000000007, + "height": 0.08666666666666666 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878102367_v3vxws1bd", + "x": 0.40149999999999997, + "y": 0.15200000000000002, + "width": 0.20600000000000004, + "height": 0.16266666666666663 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878108454_l3te8ky4r", + "x": 0.5525, + "y": 0.10666666666666667, + "width": 0.09500000000000001, + "height": 0.088 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878113442_xx9pb5fpe", + "x": 0.0025, + "y": 0.07066666666666667, + "width": 0.469, + "height": 0.6146666666666666 + } + ] + } + } + }, + { + "time": 7.658066, + "frame": 230, + "progress": 30, + "action_description": "爪夹夹紧土豆向爪夹正前方移动升高并调整爪夹角度", + "state_description": "爪夹夹紧土豆，爪夹角度与桌面呈40度。水平上接近了盘子。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹夹紧土豆向爪夹正前方移动升高，来到盘子正上方。爪夹松开，土豆落到盘子里。", + "progress_explanation": "爪夹角度与桌面呈40度。水平上接近了盘子。方便土豆放到盘子，因此进度提升为30%。", + "error_success_analysis": "爪夹夹紧土豆向爪夹正前方移动升高缩短了与盘子之间的距离。方便土豆放到盘子里。", + "correction_plan": "爪夹夹紧土豆向爪夹正前方移动升高，来到盘子正上方。爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768877948109": { + "type": "point", + "instances": [ + { + "id": "point_1768877948109_1768878119798_ylhyalapt", + "x": 0.6945, + "y": 0.20666666666666667 + } + ] + }, + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878125738_1kh05n2kl", + "x": 0.6995, + "y": 0.14400000000000002, + "width": 0.10599999999999996, + "height": 0.10133333333333333 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878129484_urtykx1t6", + "x": 0.4025, + "y": 0.14933333333333335, + "width": 0.20599999999999996, + "height": 0.15866666666666665 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878133454_i3xwfay6d", + "x": 0.5535, + "y": 0.10133333333333333, + "width": 0.09299999999999997, + "height": 0.092 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878138136_xw6sinfy5", + "x": 0.0035000000000000005, + "y": 0.06933333333333333, + "width": 0.46900000000000003, + "height": 0.6226666666666667 + } + ] + } + } + }, + { + "time": 9.097866, + "frame": 273, + "progress": 40, + "action_description": "爪夹夹紧土豆向爪夹正前方移动", + "state_description": "爪夹夹紧土豆，爪夹角度与桌面呈40度。位于盘子正上方。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。", + "progress_explanation": "爪夹夹紧土豆靠近盘子，来到了盘子正上方。方便将土豆放到盘子里，因此进度提升为80%。", + "error_success_analysis": "爪夹向爪夹正前方移动靠近了盘子正上方，方便土豆落到盘子里。", + "correction_plan": "爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768877948109": { + "type": "point", + "instances": [ + { + "id": "point_1768877948109_1768878144587_pd9opemwq", + "x": 0.5075000000000001, + "y": 0.12000000000000001 + } + ] + }, + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878148354_xmi1yh2w6", + "x": 0.5085, + "y": 0.06933333333333333, + "width": 0.08700000000000001, + "height": 0.12533333333333332 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878152240_cy4orezl3", + "x": 0.40549999999999997, + "y": 0.14, + "width": 0.20100000000000007, + "height": 0.17066666666666666 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878155754_1rebtj4es", + "x": 0.5555, + "y": 0.10133333333333333, + "width": 0.07700000000000004, + "height": 0.092 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878161631_z1hkhh5vc", + "x": 0.0025, + "y": 0.068, + "width": 0.46699999999999997, + "height": 0.6240000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹张开，土豆掉进了盘子里。方便后续向苦瓜移动抓取。", + "frame": 313, + "progress": 50, + "progress_explanation": "爪夹松开土豆落到盘子里，因此进度提升为50%。", + "state_description": "爪夹张开，土豆掉落进盘子里。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹向爪夹右前方移动下降靠近苦瓜。", + "time": 10.433333333333334, + "annotations": { + "point_1768877948109": { + "type": "point", + "instances": [ + { + "id": "point_1768877948109_1768878168701_cyvkzag41", + "x": 0.4955, + "y": 0.13466666666666666 + } + ] + }, + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878174235_kt022vf51", + "x": 0.4885, + "y": 0.21466666666666667, + "width": 0.09500000000000001, + "height": 0.08666666666666668 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878178379_wipahbjr9", + "x": 0.40750000000000003, + "y": 0.14133333333333334, + "width": 0.20099999999999998, + "height": 0.176 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878183073_ljyuu95fa", + "x": 0.5565, + "y": 0.10266666666666667, + "width": 0.075, + "height": 0.08933333333333332 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878187305_yvisjc9qj", + "x": -0.0015000000000000013, + "y": 0.064, + "width": 0.477, + "height": 0.6266666666666666 + } + ] + } + } + }, + { + "time": 12.311333, + "frame": 369, + "progress": 55, + "action_description": "爪夹向爪夹右前方移动升高", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平上接近了苦瓜。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。", + "progress_explanation": "爪夹角度与桌面呈30度。水平上接近了苦瓜。方便靠近苦瓜因此进度提升为55%。", + "error_success_analysis": "爪夹向爪夹右前方移动升高缩短了与苦瓜之间的距离。方便抓取苦瓜。", + "correction_plan": "爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878199899_ulwnmswhi", + "x": 0.5585000000000001, + "y": 0.10400000000000001, + "width": 0.0879999999999999, + "height": 0.08666666666666666 + } + ] + }, + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878209147_r36lmn72o", + "x": 0.4875, + "y": 0.22000000000000003, + "width": 0.096, + "height": 0.07866666666666668 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878215795_bu2qo1ijc", + "x": 0.4035, + "y": 0.14666666666666667, + "width": 0.203, + "height": 0.16266666666666663 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878228377_nc55p75fc", + "x": 0.0025, + "y": 0.06533333333333333, + "width": 0.47000000000000003, + "height": 0.624 + } + ] + } + } + }, + { + "time": 13.062533, + "frame": 392, + "progress": 60, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈30度，靠近了苦瓜。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。", + "progress_explanation": "爪夹角度与桌面呈30度，靠近了苦瓜两侧。因此进度提升为60%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了苦瓜，方便抓取苦瓜。", + "correction_plan": "爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878236303_gfb7fuuk0", + "x": 0.48550000000000004, + "y": 0.22133333333333335, + "width": 0.09899999999999994, + "height": 0.07599999999999998 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878240611_tcut1cpvv", + "x": 0.40549999999999997, + "y": 0.15333333333333335, + "width": 0.20200000000000004, + "height": 0.1613333333333333 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878244663_phvvigf3k", + "x": 0.5595, + "y": 0.10133333333333333, + "width": 0.07300000000000004, + "height": 0.09466666666666666 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878248757_jlf7blvlo", + "x": 0.0005, + "y": 0.06933333333333333, + "width": 0.47400000000000003, + "height": 0.62 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到苦瓜。方便移动苦瓜到白色框里。", + "frame": 422, + "progress": 70, + "progress_explanation": "爪夹角度与桌面呈30度，抓取到苦瓜。因此进度提升为70%。", + "state_description": "爪夹合拢，抓取到苦瓜。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。", + "time": 14.079622218041237, + "annotations": { + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878257161_y2e009111", + "x": 0.48550000000000004, + "y": 0.22000000000000003, + "width": 0.10099999999999998, + "height": 0.07866666666666668 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878261529_07dzakhw1", + "x": 0.40449999999999997, + "y": 0.14266666666666666, + "width": 0.203, + "height": 0.17466666666666664 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878264693_9qz163v58", + "x": 0.5655, + "y": 0.10266666666666667, + "width": 0.079, + "height": 0.09466666666666666 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878269771_3y2abs05v", + "x": 0.000499999999999999, + "y": 0.06533333333333334, + "width": 0.476, + "height": 0.6253333333333333 + } + ] + } + } + }, + { + "time": 16.359466, + "frame": 491, + "progress": 80, + "action_description": "爪夹夹紧苦瓜向爪夹左方移动升高", + "state_description": "爪夹夹紧苦瓜，位于半空中。水平上接近了白色框。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹夹紧苦瓜向爪夹左方移动，来到白色框正上方。", + "progress_explanation": "爪夹夹紧苦瓜水平上接近了白色框，方便苦瓜落到白色框里。因此进度提升为80%。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左方移动升高缩短了与白色框之间的距离。方便苦瓜放到白色框里。", + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878285204_n1mkvvosi", + "x": 0.5005, + "y": 0, + "width": 0.09500000000000001, + "height": 0.08533333333333333 + } + ] + }, + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878289263_ftjxht7eg", + "x": 0.48550000000000004, + "y": 0.22000000000000003, + "width": 0.1, + "height": 0.08133333333333334 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878295820_10xnjykxs", + "x": 0.40549999999999997, + "y": 0.14800000000000002, + "width": 0.20400000000000001, + "height": 0.16266666666666665 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878304512_292gkwytg", + "x": 0.0005, + "y": 0.07066666666666667, + "width": 0.4720000000000001, + "height": 0.6133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动", + "correction_plan": "爪夹向爪夹正前方移动下降，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹向爪夹左后方移动，更加缩短了与白色框之间的距离。方便苦瓜放到白色框里。", + "frame": 526, + "progress": 85, + "progress_explanation": "爪夹角度与桌面呈20度，水平更加上接近了白色框。因此进度提升为85%。", + "state_description": "爪夹夹紧苦瓜，爪夹角度与桌面呈20度，水平更加上接近了白色框。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹向爪夹正前方移动下降，来到白色框正上方。", + "time": 17.543058699484536, + "annotations": { + "point_1768877948109": { + "type": "point", + "instances": [ + { + "id": "point_1768877948109_1768878312322_ghss1sv4c", + "x": 0.5435000000000001, + "y": 0.13466666666666666 + } + ] + }, + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878318342_vm585vwy4", + "x": 0.4845, + "y": 0.22000000000000003, + "width": 0.10400000000000001, + "height": 0.07600000000000001 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878322232_alk1wn6lv", + "x": 0.40650000000000003, + "y": 0.14, + "width": 0.20699999999999993, + "height": 0.17466666666666664 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878326108_ei8fxanzl", + "x": 0.4835, + "y": 0.018666666666666668, + "width": 0.14900000000000002, + "height": 0.19466666666666665 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878330739_gm9suv735", + "x": 0.0014999999999999992, + "y": 0.06666666666666668, + "width": 0.471, + "height": 0.6213333333333334 + } + ] + } + } + }, + { + "time": 19.2182, + "frame": 577, + "progress": 90, + "action_description": "爪夹夹紧苦瓜向爪夹正前方移动下降", + "state_description": "爪夹夹紧苦瓜，位于白色框正上方。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹松开，苦瓜落到白色框里。", + "progress_explanation": "爪夹夹紧苦瓜靠近白色框，来到了白色框正上方。因此进度提升为90%。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹正前方移动下降靠近了白色框正上方，方便苦瓜落到白色框里。", + "correction_plan": "爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1768877948109": { + "type": "point", + "instances": [ + { + "id": "point_1768877948109_1768878342624_127ndoqpn", + "x": 0.23349999999999999, + "y": 0.22666666666666666 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878350126_e6mx11bok", + "x": 0.1795, + "y": 0.15200000000000002, + "width": 0.15300000000000002, + "height": 0.14133333333333334 + } + ] + }, + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878353916_0dag3pq97", + "x": 0.4875, + "y": 0.21733333333333335, + "width": 0.09699999999999998, + "height": 0.07866666666666668 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878357285_vtzltt2pt", + "x": 0.4135, + "y": 0.14133333333333334, + "width": 0.196, + "height": 0.16933333333333334 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878365109_t1wsh2485", + "x": 0.0005, + "y": 0.07066666666666667, + "width": 0.47400000000000003, + "height": 0.6199999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开苦瓜落到白色框里，任务完成。", + "frame": 597, + "progress": 100, + "progress_explanation": "爪夹松开苦瓜落到白色框里，因此进度提升为100%。", + "state_description": "爪夹张开，苦瓜掉落进白色框里。\n抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务目标完成。", + "time": 19.887869733505152, + "annotations": { + "point_1768877948109": { + "type": "point", + "instances": [ + { + "id": "point_1768877948109_1768878371597_ycjlnt48m", + "x": 0.2305, + "y": 0.24133333333333334 + } + ] + }, + "point_1768877952641": { + "type": "point", + "instances": [ + { + "id": "point_1768877952641_1768878373938_3lag7qhd1", + "x": 0.3085, + "y": 0.18666666666666668 + } + ] + }, + "bbox_1768877928906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877928906_1768878378231_y1eyg6fs7", + "x": 0.48650000000000004, + "y": 0.22266666666666665, + "width": 0.09799999999999995, + "height": 0.08133333333333338 + } + ] + }, + "bbox_1768877934031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877934031_1768878382331_0rv6498by", + "x": 0.40449999999999997, + "y": 0.14266666666666666, + "width": 0.20600000000000004, + "height": 0.17466666666666664 + } + ] + }, + "bbox_1768877938145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877938145_1768878389610_4qrmds005", + "x": 0.1795, + "y": 0.308, + "width": 0.133, + "height": 0.11199999999999997 + } + ] + }, + "bbox_1768877942857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768877942857_1768878394278_4o3zjaxmp", + "x": -0.0005, + "y": 0.06533333333333333, + "width": 0.481, + "height": 0.6253333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768877928906", + "name": "土豆", + "color": "#4CAF50" + }, + { + "id": "bbox_1768877934031", + "name": "盘子", + "color": "#FF9800" + }, + { + "id": "bbox_1768877938145", + "name": "苦瓜", + "color": "#2196F3" + }, + { + "id": "bbox_1768877942857", + "name": "白色框", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1768877948109", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768877952641", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-101048-put-bitter gourd-white-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-101048-put-bitter gourd-white-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..d7cd8ff6f2f65ac52cce839356aabd8821bb237f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-101048-put-bitter gourd-white-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,900 @@ +{ + "task_description": "抓取土豆放到盘子里，接着抓取苦瓜放到白色框里：\n准备开始移动：0%\n爪夹靠近土豆：10%\n爪夹抓取土豆：20%\n爪夹夹紧土豆接近盘子：30%\n爪夹夹紧土豆靠近盘子：40%\n爪夹松开土豆落到盘子里：50%\n爪夹靠近苦瓜：60%\n爪夹抓取苦瓜：70%\n爪夹夹紧苦瓜接近白色框：80%\n爪夹夹紧苦瓜靠近白色框：90%\n爪夹松开苦瓜落到白色框里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.15466666666666676, + "id": "bbox_1769218547116_1769218712226_w84p8s7a3", + "width": 0.125, + "x": 0.5925, + "y": 0.5253333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.13066666666666674, + "id": "bbox_1769218553200_1769218720960_kettnxqk2", + "width": 0.07999999999999999, + "x": 0.7895000000000001, + "y": 0.26799999999999996 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.20133333333333334, + "id": "bbox_1769218557512_1769218728115_v8b0k9hu0", + "width": 0.23200000000000004, + "x": 0.5155000000000001, + "y": 0.21733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.4293333333333333, + "id": "bbox_1769218560966_1769218740533_fcle63hht", + "width": 0.36, + "x": 0.0805, + "y": 0.005333333333333333 + } + ], + "type": "bbox" + }, + "point_1769218630160": { + "instances": [ + { + "id": "point_1769218630160_1769218706162_35zbnuc0v", + "x": 0.3825, + "y": 0.324 + } + ], + "type": "point" + }, + "point_1769218635758": { + "instances": [ + { + "id": "point_1769218635758_1769218709081_sz5qm3rx8", + "x": 0.49350000000000005, + "y": 0.35200000000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方移动下降，调整爪夹角度接近垂直于桌面，来到土豆正上方。爪夹垂直下降靠近土豆，爪夹合拢抓取土豆。夹紧土豆向爪夹左前方移动升高，来到盘子正上方。爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "", + "frame": 64, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹向爪夹右方移动下降，调整爪夹角度接近垂直于桌面，来到土豆正上方。", + "time": 2.1404467695876286 + }, + { + "action_description": "爪夹向爪夹右前方移动升高并调整爪夹角度", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.156, + "id": "bbox_1769218547116_1769218757299_x721q0zsg", + "width": 0.12300000000000004, + "x": 0.5925, + "y": 0.5266666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.12666666666666668, + "id": "bbox_1769218553200_1769218766780_qnqwjcfkr", + "width": 0.08000000000000007, + "x": 0.7885, + "y": 0.2693333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.19199999999999998, + "id": "bbox_1769218557512_1769218774674_gcz9yht0u", + "width": 0.22799999999999992, + "x": 0.5185000000000001, + "y": 0.22000000000000003 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.42933333333333334, + "id": "bbox_1769218560966_1769218783665_vvegf8nte", + "width": 0.34800000000000003, + "x": 0.0995, + "y": 0 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右方移动下降，调整爪夹角度接近垂直于桌面，来到土豆正上方。爪夹垂直下降靠近土豆，爪夹合拢抓取土豆。夹紧土豆向爪夹左前方移动升高，来到盘子正上方。爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹向爪夹右前方移动升高缩短了与土豆之间的距离。", + "frame": 123, + "progress": 5, + "progress_explanation": "爪夹角度与桌面呈20度。水平上接近了土豆。因此进度提升为5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈20度。水平上接近了土豆。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹向爪夹右方移动下降，调整爪夹角度接近垂直于桌面，来到土豆正上方。", + "time": 4.089866 + }, + { + "action_description": "爪夹向爪夹右方移动下降并调整爪夹角度", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.14800000000000005, + "id": "bbox_1769218547116_1769218797414_tevi8sb9e", + "width": 0.12400000000000003, + "x": 0.5905, + "y": 0.532 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.12666666666666665, + "id": "bbox_1769218553200_1769218801582_wcktgpb4j", + "width": 0.07700000000000004, + "x": 0.7895000000000001, + "y": 0.272 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.18000000000000002, + "id": "bbox_1769218557512_1769218811944_6wuwkge2v", + "width": 0.21600000000000003, + "x": 0.5305, + "y": 0.22 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.4226666666666667, + "id": "bbox_1769218560966_1769218823716_iw4xft2gt", + "width": 0.3370000000000001, + "x": 0.1025, + "y": 0.004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取土豆。夹紧土豆向爪夹左前方移动升高，来到盘子正上方。爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹向爪夹右方移动下降靠近了土豆，调整爪夹角度接近垂直于桌面，方便抓取土豆。", + "frame": 160, + "progress": 10, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了土豆两侧。因此进度提升为10%。", + "state_description": "土豆两侧。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹合拢抓取土豆。夹紧土豆向爪夹左前方移动升高，来到盘子正上方。", + "time": 5.321 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.15600000000000006, + "id": "bbox_1769218547116_1769218830848_burpzzab3", + "width": 0.121, + "x": 0.6145, + "y": 0.5146666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.13466666666666668, + "id": "bbox_1769218553200_1769218835021_fiiljoiwd", + "width": 0.07399999999999993, + "x": 0.7925, + "y": 0.264 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1769218557512_1769218843620_fyulxmg4m", + "width": 0.203, + "x": 0.5435000000000001, + "y": 0.22266666666666665 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.4253333333333334, + "id": "bbox_1769218560966_1769218852313_090m0517t", + "width": 0.344, + "x": 0.0985, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧土豆向爪夹左前方移动升高，来到盘子正上方。爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到土豆。方便移动土豆到盘子里。", + "frame": 192, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，抓取到土豆。因此进度提升为20%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到土豆。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹夹紧土豆向爪夹左前方移动升高，来到盘子正上方。", + "time": 6.4 + }, + { + "action_description": "爪夹夹紧土豆垂直升高向爪夹左前方移动", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.17466666666666666, + "id": "bbox_1769218547116_1769218858576_w95bzzlwm", + "width": 0.10700000000000003, + "x": 0.6475, + "y": 0.21866666666666668 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.12800000000000009, + "id": "bbox_1769218553200_1769218867923_z3x9jb8hn", + "width": 0.08400000000000007, + "x": 0.7835, + "y": 0.27066666666666656 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.19599999999999998, + "id": "bbox_1769218557512_1769218877010_m3m9vof5c", + "width": 0.21399999999999997, + "x": 0.5155000000000001, + "y": 0.21866666666666668 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.424, + "id": "bbox_1769218560966_1769218887373_v9julgwzp", + "width": 0.358, + "x": 0.08049999999999999, + "y": 0.005333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧土豆继续向爪夹左前方移动，来到盘子正上方。爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹夹紧土豆向爪夹左前方移动升高缩短了与盘子之间的距离。方便土豆放到盘子里。", + "frame": 241, + "progress": 30, + "progress_explanation": "爪夹水平上接近了盘子。方便土豆放到盘子，因此进度提升为30%。", + "state_description": "爪夹夹紧土豆。水平上接近了盘子。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹夹紧土豆继续向爪夹左前方移动，来到盘子正上方。爪夹松开，土豆落到盘子里。", + "time": 8.034742396391753 + }, + { + "action_description": "爪夹夹紧土豆向爪夹左前方移动", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.16, + "id": "bbox_1769218547116_1769218898660_5hl7p7nsu", + "width": 0.083, + "x": 0.5725, + "y": 0.15066666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.12800000000000006, + "id": "bbox_1769218553200_1769218906732_lce22boy6", + "width": 0.08100000000000004, + "x": 0.7875, + "y": 0.27066666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.208, + "id": "bbox_1769218557512_1769218915433_ny3dd8a0u", + "width": 0.21500000000000002, + "x": 0.5295, + "y": 0.20933333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.42000000000000004, + "id": "bbox_1769218560966_1769218926741_4kedbw4lf", + "width": 0.351, + "x": 0.0875, + "y": 0.006666666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹向爪夹左前方移动靠近了盘子正上方，方便土豆落到盘子里。", + "frame": 273, + "progress": 40, + "progress_explanation": "爪夹夹紧土豆靠近盘子，来到了盘子正上方。方便将土豆放到盘子里，因此进度提升为40%。", + "state_description": "爪夹夹紧土豆，爪夹角度与桌面呈20度。位于盘子正上方。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹松开，土豆落到盘子里。接着爪夹向爪夹右前方移动下降靠近苦瓜。", + "time": 9.097866 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1769218547116_1769218933053_vsxcni1dr", + "width": 0.10799999999999992, + "x": 0.5475000000000001, + "y": 0.3026666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.1293333333333333, + "id": "bbox_1769218553200_1769218937897_utom9y039", + "width": 0.07300000000000004, + "x": 0.7935000000000001, + "y": 0.268 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.18666666666666665, + "id": "bbox_1769218557512_1769218943071_45viazswq", + "width": 0.23600000000000004, + "x": 0.5115000000000001, + "y": 0.22533333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.42533333333333334, + "id": "bbox_1769218560966_1769218949345_mmhemt4xs", + "width": 0.35700000000000004, + "x": 0.0865, + "y": 0.005333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹张开，土豆掉进了盘子里。方便后续向苦瓜移动抓取。", + "frame": 313, + "progress": 50, + "progress_explanation": "爪夹松开土豆落到盘子里，因此进度提升为50%。", + "state_description": "爪夹张开，土豆掉落进盘子里。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹向爪夹右前方移动下降靠近苦瓜。", + "time": 10.433333333333334 + }, + { + "action_description": "爪夹向爪夹右前方移动", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.10399999999999997, + "id": "bbox_1769218547116_1769218958585_ynx1djgr9", + "width": 0.10900000000000007, + "x": 0.5475, + "y": 0.2973333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.13466666666666668, + "id": "bbox_1769218553200_1769218966629_zlrt4xnk7", + "width": 0.07599999999999998, + "x": 0.7935000000000001, + "y": 0.264 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.20133333333333336, + "id": "bbox_1769218557512_1769218970680_6bhrd41jx", + "width": 0.22800000000000004, + "x": 0.5175, + "y": 0.22 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.4240000000000001, + "id": "bbox_1769218560966_1769218980448_a6c608ham", + "width": 0.358, + "x": 0.0805, + "y": 0.004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹向爪夹右前方移动升高缩短了与苦瓜之间的距离。方便抓取苦瓜。", + "frame": 359, + "progress": 55, + "progress_explanation": "爪夹角度与桌面呈30度。水平上接近了苦瓜。方便靠近苦瓜因此进度提升为55%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平上接近了苦瓜。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。", + "time": 11.971443490206184 + }, + { + "action_description": "爪夹向爪夹右前方移动下降", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.1066666666666667, + "id": "bbox_1769218547116_1769218992458_haxayzwxt", + "width": 0.11100000000000003, + "x": 0.5455, + "y": 0.29733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.128, + "id": "bbox_1769218553200_1769218995312_l9bbernzp", + "width": 0.08000000000000015, + "x": 0.7935, + "y": 0.272 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.20533333333333337, + "id": "bbox_1769218557512_1769219003892_28lo72a1u", + "width": 0.22699999999999995, + "x": 0.5145000000000001, + "y": 0.21866666666666665 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.42800000000000005, + "id": "bbox_1769218560966_1769219014092_9vjvht8cb", + "width": 0.37900000000000006, + "x": 0.0735, + "y": 0.004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了苦瓜，方便抓取苦瓜。", + "frame": 389, + "progress": 60, + "progress_explanation": "爪夹角度与桌面呈80度，靠近了苦瓜两侧。因此进度提升为60%。", + "state_description": "爪夹张开，爪夹角度与桌面呈80度，靠近了苦瓜。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。", + "time": 12.979066 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.10533333333333333, + "id": "bbox_1769218547116_1769219020538_ri835b71z", + "width": 0.10599999999999996, + "x": 0.5475000000000001, + "y": 0.2986666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1769218553200_1769219024340_iyori91ye", + "width": 0.09900000000000002, + "x": 0.7885, + "y": 0.2826666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.20933333333333332, + "id": "bbox_1769218557512_1769219028687_mmg4a3x5v", + "width": 0.23000000000000007, + "x": 0.5185, + "y": 0.21600000000000003 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.42133333333333334, + "id": "bbox_1769218560966_1769219038017_tm10fndf6", + "width": 0.37100000000000005, + "x": 0.0765, + "y": 0.006666666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到苦瓜。方便移动苦瓜到白色框里。", + "frame": 432, + "progress": 70, + "progress_explanation": "爪夹角度与桌面呈80度，抓取到苦瓜。因此进度提升为70%。", + "state_description": "爪夹合拢，抓取到苦瓜。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。", + "time": 14.4 + }, + { + "action_description": "爪夹夹紧苦瓜向爪夹左方移动升高", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.10266666666666667, + "id": "bbox_1769218547116_1769219046035_eqnsaw8p5", + "width": 0.11099999999999995, + "x": 0.5445, + "y": 0.3 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.14933333333333332, + "id": "bbox_1769218553200_1769219051433_e4o9x0u2z", + "width": 0.09900000000000002, + "x": 0.5845, + "y": 0.012 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.20666666666666664, + "id": "bbox_1769218557512_1769219056343_8uzkiih4m", + "width": 0.233, + "x": 0.5135, + "y": 0.21333333333333335 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.41733333333333333, + "id": "bbox_1769218560966_1769219070777_x06kqm2ez", + "width": 0.37, + "x": 0.0675, + "y": 0.002666666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左方移动升高缩短了与白色框之间的距离。方便苦瓜放到白色框里。", + "frame": 493, + "progress": 80, + "progress_explanation": "爪夹夹紧苦瓜水平上接近了白色框，方便苦瓜落到白色框里。因此进度提升为80%。", + "state_description": "爪夹夹紧苦瓜，位于半空中。水平上接近了白色框。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹夹紧苦瓜向爪夹左方移动，来到白色框正上方。", + "time": 16.442933 + }, + { + "action_description": "爪夹向爪夹左后方移动", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.10266666666666667, + "id": "bbox_1769218547116_1769219084809_uikwmx057", + "width": 0.10400000000000001, + "x": 0.5515, + "y": 0.2986666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.22133333333333335, + "id": "bbox_1769218553200_1769219088482_e9fb5mdkf", + "width": 0.07400000000000007, + "x": 0.25949999999999995, + "y": 0.030666666666666672 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.20533333333333334, + "id": "bbox_1769218557512_1769219097186_fj9yoal32", + "width": 0.2330000000000001, + "x": 0.5125, + "y": 0.21600000000000003 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.4253333333333334, + "id": "bbox_1769218560966_1769219106602_it625bh4l", + "width": 0.37100000000000005, + "x": 0.0645, + "y": 0.004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹正前方移动下降，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹向爪夹左后方移动，更加缩短了与白色框之间的距离。方便苦瓜放到白色框里。", + "frame": 527, + "progress": 85, + "progress_explanation": "爪夹角度与桌面接近水平，水平更加上接近了白色框。因此进度提升为85%。", + "state_description": "爪夹夹紧苦瓜，爪夹角度与桌面接近水平，水平更加上接近了白色框。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹向爪夹正前方移动下降，来到白色框正上方。", + "time": 17.564570727319587 + }, + { + "action_description": "爪夹夹紧苦瓜向爪夹正前方移动下降", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.10533333333333333, + "id": "bbox_1769218547116_1769219113408_0o7drnrbs", + "width": 0.10800000000000001, + "x": 0.5455, + "y": 0.29733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.18, + "id": "bbox_1769218553200_1769219118469_slpi7n3fj", + "width": 0.08700000000000001, + "x": 0.22349999999999998, + "y": 0.016 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.19999999999999998, + "id": "bbox_1769218557512_1769219128118_kpp6a6126", + "width": 0.22999999999999998, + "x": 0.5155000000000001, + "y": 0.22000000000000003 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.43200000000000005, + "id": "bbox_1769218560966_1769219138320_i0ywzikxe", + "width": 0.372, + "x": 0.0685, + "y": 0 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹正前方移动下降靠近了白色框正上方，方便苦瓜落到白色框里。", + "frame": 577, + "progress": 90, + "progress_explanation": "爪夹夹紧苦瓜靠近白色框，来到了白色框正上方。因此进度提升为90%。", + "state_description": "爪夹夹紧苦瓜，位于白色框正上方。\n为完成抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务应当：爪夹松开，苦瓜落到白色框里。", + "time": 19.2182 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769218547116": { + "instances": [ + { + "height": 0.0986666666666667, + "id": "bbox_1769218547116_1769219145112_u5l36ogjp", + "width": 0.10999999999999996, + "x": 0.5435000000000001, + "y": 0.3 + } + ], + "type": "bbox" + }, + "bbox_1769218553200": { + "instances": [ + { + "height": 0.10533333333333336, + "id": "bbox_1769218553200_1769219149353_84zwyxigx", + "width": 0.07599999999999998, + "x": 0.2975, + "y": 0.19066666666666665 + } + ], + "type": "bbox" + }, + "bbox_1769218557512": { + "instances": [ + { + "height": 0.2, + "id": "bbox_1769218557512_1769219152951_5gatp1fk1", + "width": 0.23100000000000004, + "x": 0.5165, + "y": 0.22133333333333335 + } + ], + "type": "bbox" + }, + "bbox_1769218560966": { + "instances": [ + { + "height": 0.43600000000000005, + "id": "bbox_1769218560966_1769219161153_tjmti5fgj", + "width": 0.374, + "x": 0.0625, + "y": 0.0013333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开苦瓜落到白色框里，任务完成。", + "frame": 603, + "progress": 100, + "progress_explanation": "爪夹松开苦瓜落到白色框里，因此进度提升为100%。", + "state_description": "爪夹张开，苦瓜掉落进白色框里。\n抓取土豆放到盘子里，接着抓取苦瓜放到白色框里的任务目标完成。", + "time": 20.10299001185567 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769218547116", + "name": "土豆" + }, + { + "color": "#FF9800", + "id": "bbox_1769218553200", + "name": "苦瓜" + }, + { + "color": "#2196F3", + "id": "bbox_1769218557512", + "name": "盘子" + }, + { + "color": "#9C27B0", + "id": "bbox_1769218560966", + "name": "白色框" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769218630160", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769218635758", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-103714-put-bitter gourd-white-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-103714-put-bitter gourd-white-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f0b170a75eb6a1b93d1b2a0f5351d410b08588e8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-103714-put-bitter gourd-white-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,434 @@ +{ + "task_description": "抓取苦瓜放进白色框里：\n准备开始移动：0%\n爪夹靠近苦瓜：20%\n爪夹抓取苦瓜：40%\n爪夹夹紧苦瓜接近白色框：60%\n爪夹夹紧苦瓜靠近白色框：80%\n爪夹松开苦瓜落到白色框里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "time": 0.8939862335051546, + "annotations": { + "bbox_1769220529542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220529542_1769220571759_6z1m8yfch", + "x": 0.6155, + "y": 0.21066666666666667, + "width": 0.09699999999999998, + "height": 0.07466666666666667 + } + ] + }, + "bbox_1769220533499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220533499_1769220579319_pey87d6h3", + "x": 0.11950000000000001, + "y": 0.0053333333333333306, + "width": 0.528, + "height": 0.48533333333333334 + } + ] + }, + "point_1769220538465": { + "type": "point", + "instances": [ + { + "id": "point_1769220538465_1769220590239_21ft220wj", + "x": 0.6245, + "y": 0.232 + } + ] + }, + "point_1769220542999": { + "type": "point", + "instances": [ + { + "id": "point_1769220542999_1769220593473_h3gqsn84m", + "x": 0.7095, + "y": 0.19066666666666665 + } + ] + } + } + }, + { + "time": 2.608075540721649, + "frame": 78, + "progress": 10, + "action_description": "爪夹垂直升高向爪夹右前方移动", + "state_description": "爪夹张开，爪夹角度与桌面接近平行。水平上接近了苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "progress_explanation": "爪夹水平上接近了苦瓜。方便抓取苦瓜，因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了与苦瓜之间的距离。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "bbox_1769220529542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220529542_1769220600454_39iqnp45z", + "x": 0.6125, + "y": 0.20933333333333334, + "width": 0.121, + "height": 0.10400000000000001 + } + ] + }, + "bbox_1769220533499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220533499_1769220605852_xi7b8ppad", + "x": 0.12250000000000001, + "y": 0.006666666666666667, + "width": 0.5239999999999999, + "height": 0.4813333333333334 + } + ] + } + } + }, + { + "time": 4.011855576804123, + "frame": 120, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈15度。位于苦瓜正上方。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。", + "progress_explanation": "爪夹角度与桌面呈15度。位于苦瓜正上方。水平上更加接近了苦瓜。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了与苦瓜之间的距离。方便抓取苦瓜。", + "correction_plan": "爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1769220538465": { + "type": "point", + "instances": [ + { + "id": "point_1769220538465_1769220615162_q59z53zgf", + "x": 0.6515000000000001, + "y": 0.14400000000000002 + } + ] + }, + "bbox_1769220529542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220529542_1769220618764_jv0845yn5", + "x": 0.6125, + "y": 0.21200000000000002, + "width": 0.121, + "height": 0.09999999999999996 + } + ] + }, + "bbox_1769220533499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220533499_1769220629260_mfgufl2cn", + "x": 0.1255, + "y": 0.006666666666666667, + "width": 0.517, + "height": 0.4826666666666667 + } + ] + } + } + }, + { + "time": 5.267869293298969, + "frame": 158, + "progress": 20, + "action_description": "爪夹垂直下降并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈45度，靠近了苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹合拢抓取苦瓜。爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。", + "progress_explanation": "爪夹角度与桌面呈45度，靠近了苦瓜两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了苦瓜，方便抓取苦瓜。", + "correction_plan": "爪夹合拢抓取苦瓜。爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1769220538465": { + "type": "point", + "instances": [ + { + "id": "point_1769220538465_1769220636969_sdsmrbf2u", + "x": 0.6365000000000001, + "y": 0.272 + } + ] + }, + "bbox_1769220529542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220529542_1769220642518_t1ci4sppp", + "x": 0.6165, + "y": 0.21066666666666667, + "width": 0.10700000000000003, + "height": 0.10266666666666667 + } + ] + }, + "bbox_1769220533499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220533499_1769220648962_is6p3oa4d", + "x": 0.1255, + "y": 0.006666666666666665, + "width": 0.519, + "height": 0.48933333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到苦瓜。方便移动苦瓜到白色框里。", + "frame": 183, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈45度，抓取到苦瓜。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈45度，抓取到苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹夹紧苦瓜向爪夹左方移动升高，来到白色框正上方。", + "time": 6.1, + "annotations": { + "point_1769220538465": { + "type": "point", + "instances": [ + { + "id": "point_1769220538465_1769220660968_g5pyrgwbv", + "x": 0.6515000000000001, + "y": 0.27466666666666667 + } + ] + }, + "bbox_1769220529542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220529542_1769220665374_f6vji7n3w", + "x": 0.6165, + "y": 0.20933333333333334, + "width": 0.121, + "height": 0.10933333333333334 + } + ] + }, + "bbox_1769220533499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220533499_1769220672530_8vtlpwrx1", + "x": 0.1255, + "y": 0.005333333333333334, + "width": 0.519, + "height": 0.48533333333333334 + } + ] + } + } + }, + { + "time": 7.587800510824742, + "frame": 228, + "progress": 60, + "action_description": "爪夹夹紧苦瓜垂直升高", + "state_description": "爪夹夹紧苦瓜，垂直上高过了白色框。位于白色框正上方右侧边缘。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹夹紧苦瓜向爪夹左方移动，来到白色框正上方。", + "progress_explanation": "爪夹垂直上高过了白色框。方便苦瓜移动至白色框正上方。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧苦瓜垂直升高，垂直上高过了白色框。方便苦瓜移动至白色框正上方。", + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1769220538465": { + "type": "point", + "instances": [ + { + "id": "point_1769220538465_1769220684626_zhxxji7wf", + "x": 0.6875, + "y": 0.1 + } + ] + }, + "bbox_1769220529542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220529542_1769220689193_yzz0s8w8w", + "x": 0.6515000000000001, + "y": 0.009333333333333334, + "width": 0.125, + "height": 0.156 + } + ] + }, + "bbox_1769220533499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220533499_1769220695864_uger846lh", + "x": 0.1265, + "y": 0.006666666666666667, + "width": 0.516, + "height": 0.4813333333333334 + } + ] + } + } + }, + { + "time": 9.390549609793814, + "frame": 282, + "progress": 50, + "action_description": "爪夹夹紧苦瓜向爪夹左后方移动升高", + "state_description": "爪夹夹紧苦瓜，爪夹角度与桌面呈20度，水平上远离了白色框。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹夹紧苦瓜向爪夹正前方移动下降，来到白色框正上方。", + "progress_explanation": "爪夹角度与桌面呈20度，水平上远离了白色框。因此进度降低为50%。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左后方移动升高，增加了与白色框之间的距离。不方便苦瓜放到框里。", + "correction_plan": "爪夹夹紧苦瓜向爪夹正前方移动下降，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "annotations": { + "point_1769220538465": { + "type": "point", + "instances": [ + { + "id": "point_1769220538465_1769220702167_omxus06dy", + "x": 0.5175, + "y": 0.09333333333333334 + } + ] + }, + "bbox_1769220529542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220529542_1769220711285_14a1kbuib", + "x": 0.4765, + "y": 0.0013333333333333333, + "width": 0.15600000000000006, + "height": 0.168 + } + ] + }, + "bbox_1769220533499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220533499_1769220716579_dkuewxnrz", + "x": 0.12050000000000001, + "y": 0.0026666666666666666, + "width": 0.526, + "height": 0.48933333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹向爪夹左前方移动下降靠近苦瓜，爪夹合拢抓取苦瓜。爪夹夹紧苦瓜向爪夹正前方移动下降，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹张开，苦瓜掉落。苦瓜无法掉落到白色框里。", + "frame": 325, + "progress": 10, + "progress_explanation": "爪夹角度与桌面呈20度，苦瓜掉落桌面上。因此进度降低为10%。", + "state_description": "爪夹张开，爪夹角度与桌面呈20度，苦瓜掉落桌面上。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹向爪夹左前方移动下降靠近苦瓜，爪夹合拢抓取苦瓜。", + "time": 10.838659541752577, + "annotations": { + "point_1769220538465": { + "type": "point", + "instances": [ + { + "id": "point_1769220538465_1769220722668_v2h2nh6ng", + "x": 0.5055, + "y": 0.10133333333333333 + } + ] + }, + "bbox_1769220529542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220529542_1769220732274_qked8867v", + "x": 0.2635, + "y": 0.4266666666666667, + "width": 0.164, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1769220533499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220533499_1769220747438_9diuwq3qf", + "x": 0.1255, + "y": 0.005333333333333333, + "width": 0.523, + "height": 0.484 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高", + "correction_plan": "爪夹向爪夹左前方移动下降靠近苦瓜，爪夹合拢抓取苦瓜。爪夹夹紧苦瓜向爪夹正前方移动下降，来到白色框正上方。爪夹松开，苦瓜落到白色框里。", + "error_success_analysis": "爪夹垂直升高，增加了与苦瓜之间的距离，不方便抓取苦瓜。", + "frame": 429, + "progress": 9, + "progress_explanation": "爪夹角度与桌面呈20度，垂直上微微远离了苦瓜。因此进度降低为9%。", + "state_description": "爪夹张开，爪夹角度与桌面呈20度，垂直上微微远离了苦瓜。\n为完成抓取苦瓜放进白色框里的任务应当：爪夹向爪夹左前方移动下降靠近苦瓜，爪夹合拢抓取苦瓜。", + "time": 14.3, + "annotations": { + "bbox_1769220529542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220529542_1769220754798_kegvhb3br", + "x": 0.2645, + "y": 0.43066666666666664, + "width": 0.16099999999999998, + "height": 0.11866666666666668 + } + ] + }, + "bbox_1769220533499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769220533499_1769220765250_aj4tidp5i", + "x": 0.12150000000000001, + "y": 0.005333333333333334, + "width": 0.521, + "height": 0.484 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769220529542", + "name": "苦瓜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769220533499", + "name": "白色框", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769220538465", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769220542999", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-104531-put-carrot-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-104531-put-carrot-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..ebcedee56ec730f9835d99994097a6a676c485bc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-104531-put-carrot-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,406 @@ +{ + "task_description": "抓取胡萝卜放进白色框里：\n准备开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹夹紧胡萝卜接近白色框：60%\n爪夹夹紧胡萝卜靠近白色框：80%\n爪夹松开胡萝卜落到白色框里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769221891547": { + "instances": [ + { + "height": 0.27866666666666656, + "id": "bbox_1769221891547_1769221944037_sy9b6mb82", + "width": 0.09500000000000011, + "x": 0.7625, + "y": 0.5066666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769221896394": { + "instances": [ + { + "height": 0.5320000000000001, + "id": "bbox_1769221896394_1769221929997_0mdoe5xzk", + "width": 0.4790000000000001, + "x": 0.1855, + "y": 0.25999999999999995 + } + ], + "type": "bbox" + }, + "point_1769221901759": { + "instances": [ + { + "id": "point_1769221901759_1769221921569_s4hxmaj29", + "x": 0.4205, + "y": 0.49466666666666664 + } + ], + "type": "point" + }, + "point_1769221907301": { + "instances": [ + { + "id": "point_1769221907301_1769221923830_n7moamjq1", + "x": 0.6405000000000001, + "y": 0.504 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到胡萝卜正上方。爪夹垂直下降靠近胡萝卜，爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到胡萝卜正上方。", + "time": 1.4505497953608248 + }, + { + "action_description": "爪夹垂直升高并向爪夹右前方移动", + "annotations": { + "bbox_1769221896394": { + "instances": [ + { + "height": 0.5293333333333334, + "id": "bbox_1769221896394_1769221959121_kpkfksqen", + "width": 0.39200000000000007, + "x": 0.15150000000000002, + "y": 0.3506666666666666 + } + ], + "type": "bbox" + }, + "point_1769221901759": { + "instances": [ + { + "id": "point_1769221901759_1769221951427_68dd5dmzd", + "x": 0.4205, + "y": 0.492 + } + ], + "type": "point" + }, + "point_1769221907301": { + "instances": [ + { + "id": "point_1769221907301_1769221954017_g2o2z0bpv", + "x": 0.6415, + "y": 0.49333333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近胡萝卜。爪夹合拢抓取胡萝卜。爪夹夹紧胡萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹垂直升高并向爪夹右前方移动缩短了与胡萝卜之间的距离。", + "frame": 113, + "progress": 10, + "progress_explanation": "爪夹水平上接近了胡萝卜，方便抓取胡萝卜。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近平行于桌面。水平上接近了胡萝卜。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近胡萝卜。", + "time": 3.756999 + }, + { + "action_description": "爪夹向爪夹右前方移动下降", + "annotations": { + "bbox_1769221891547": { + "instances": [ + { + "height": 0.388, + "id": "bbox_1769221891547_1769222024745_lonhc5zj9", + "width": 0.09100000000000001, + "x": 0.5345, + "y": 0.34400000000000003 + } + ], + "type": "bbox" + }, + "bbox_1769221896394": { + "instances": [ + { + "height": 0.6426666666666667, + "id": "bbox_1769221896394_1769222030831_i3qvhmf5d", + "width": 0.34500000000000003, + "x": 0.015499999999999996, + "y": 0.11866666666666667 + } + ], + "type": "bbox" + }, + "point_1769221901759": { + "instances": [ + { + "id": "point_1769221901759_1769222016723_quv5637o5", + "x": 0.41950000000000004, + "y": 0.48133333333333334 + } + ], + "type": "point" + }, + "point_1769221907301": { + "instances": [ + { + "id": "point_1769221907301_1769222019077_1fy7kgp3b", + "x": 0.6425, + "y": 0.48133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近胡萝卜。爪夹合拢抓取胡萝卜。爪夹夹紧胡萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹向爪夹右前方移动下降，来到胡萝卜正上方，方便下降抓取胡萝卜。", + "frame": 162, + "progress": 15, + "progress_explanation": "爪夹位于胡萝卜正上方，方便抓取胡萝卜。因此进度提升为15%。", + "state_description": "爪夹张开，位于胡萝卜正上方。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近胡萝卜。", + "time": 5.392399 + }, + { + "action_description": "爪夹垂直下降，调整爪夹角度", + "annotations": { + "bbox_1769221891547": { + "instances": [ + { + "height": 0.632, + "id": "bbox_1769221891547_1769222048627_1hzzo4xph", + "width": 0.18899999999999997, + "x": 0.43150000000000005, + "y": 0.21066666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769221896394": { + "instances": [ + { + "height": 0.7, + "id": "bbox_1769221896394_1769222055651_wzyv0bmxd", + "width": 0.233, + "x": 0.0025, + "y": 0.09866666666666667 + } + ], + "type": "bbox" + }, + "point_1769221901759": { + "instances": [ + { + "id": "point_1769221901759_1769222041935_rxsjd8m9j", + "x": 0.41850000000000004, + "y": 0.48000000000000004 + } + ], + "type": "point" + }, + "point_1769221907301": { + "instances": [ + { + "id": "point_1769221907301_1769222043836_hfsvpze3c", + "x": 0.6425, + "y": 0.48000000000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取胡萝卜，爪夹夹紧胡萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹垂直下降靠近了胡萝卜，调整爪夹角度方便抓取胡萝卜。", + "frame": 199, + "progress": 20, + "progress_explanation": "爪夹靠近了胡萝卜两侧。因此进度提升为20%。", + "state_description": "爪夹张开，靠近了胡萝卜两侧。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹合拢抓取胡萝卜，夹紧胡萝卜向爪夹左前方移动升高，来到白色框正上方。", + "time": 6.629999 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769221891547": { + "instances": [ + { + "height": 0.6359999999999999, + "id": "bbox_1769221891547_1769222064991_w7s1op12i", + "width": 0.195, + "x": 0.40549999999999997, + "y": 0.20933333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769221896394": { + "instances": [ + { + "height": 0.6933333333333334, + "id": "bbox_1769221896394_1769222071361_wwkd3cpy8", + "width": 0.23000000000000004, + "x": 0.0025, + "y": 0.08533333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧胡萝卜向爪夹左前方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到胡萝卜。方便移动胡萝卜到白色框里。", + "frame": 232, + "progress": 40, + "progress_explanation": "爪夹抓取到胡萝卜。因此进度提升为40%。", + "state_description": "爪夹合拢，抓取到胡萝卜。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹夹紧胡萝卜向爪夹左前方移动升高，来到白色框正上方。", + "time": 7.733333333333333 + }, + { + "action_description": "爪夹夹紧胡萝卜向爪夹左前方移动升高", + "annotations": { + "bbox_1769221891547": { + "instances": [ + { + "height": 0.6506666666666666, + "id": "bbox_1769221891547_1769222078581_mi3voxomv", + "width": 0.195, + "x": 0.40650000000000003, + "y": 0.21733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1769221896394": { + "instances": [ + { + "height": 0.6213333333333334, + "id": "bbox_1769221896394_1769222084153_ja4idfurw", + "width": 0.40700000000000003, + "x": 0.1135, + "y": 0.224 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧胡萝卜继续向爪夹左前方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹夹紧胡萝卜垂直升高并向爪夹左前方移动缩短了与白色框之间的距离。方便胡萝卜放到框里。", + "frame": 306, + "progress": 60, + "progress_explanation": "爪夹夹紧胡萝卜水平上接近了白色框，因此进度提升为60%。", + "state_description": "爪夹夹紧胡萝卜，位于半空中，水平上接近了白色框。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹夹紧胡萝卜继续向爪夹左前方移动升高，来到白色框正上方。", + "time": 10.195466 + }, + { + "action_description": "爪夹夹紧胡萝卜向爪夹左前方移动下降", + "annotations": { + "bbox_1769221891547": { + "instances": [ + { + "height": 0.6066666666666667, + "id": "bbox_1769221891547_1769222105289_3j8umwzun", + "width": 0.196, + "x": 0.40650000000000003, + "y": 0.22000000000000003 + } + ], + "type": "bbox" + }, + "bbox_1769221896394": { + "instances": [ + { + "height": 0.6853333333333332, + "id": "bbox_1769221896394_1769222115223_gefittxk9", + "width": 0.4969999999999999, + "x": 0.2995, + "y": 0.20800000000000002 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹向爪夹左前方移动靠近了白色框正上方，方便胡萝卜落到白色框里。", + "frame": 358, + "progress": 80, + "progress_explanation": "爪夹夹紧胡萝卜靠近白色框，来到了白色框正上方。因此进度提升为80%。", + "state_description": "爪夹夹紧胡萝卜，位于白色框正上方。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹松开，胡萝卜落到白色框里。", + "time": 11.930961929381445 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769221891547": { + "instances": [ + { + "height": 0.2946666666666667, + "id": "bbox_1769221891547_1769222137595_mkpf4g1ll", + "width": 0.08199999999999993, + "x": 0.49450000000000005, + "y": 0.43733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1769221896394": { + "instances": [ + { + "height": 0.6973333333333332, + "id": "bbox_1769221896394_1769222144893_1qth3svn7", + "width": 0.506, + "x": 0.28650000000000003, + "y": 0.19733333333333333 + } + ], + "type": "bbox" + }, + "point_1769221901759": { + "instances": [ + { + "id": "point_1769221901759_1769222129945_p1cwwzihh", + "x": 0.4175, + "y": 0.48000000000000004 + } + ], + "type": "point" + }, + "point_1769221907301": { + "instances": [ + { + "id": "point_1769221907301_1769222132232_rm9trbxpc", + "x": 0.6405000000000001, + "y": 0.48133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开胡萝卜落到白色框里，任务完成。", + "frame": 397, + "progress": 100, + "progress_explanation": "爪夹松开胡萝卜落到白色框里，因此进度提升为100%。", + "state_description": "爪夹张开，胡萝卜掉落进白色框里。\n抓取胡萝卜放进白色框里的任务目标完成。", + "time": 13.237216195360824 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769221891547", + "name": "胡萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1769221896394", + "name": "白色框" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769221901759", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769221907301", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-110038-put-carrot-white-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-110038-put-carrot-white-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..19f5cec5a7257f3876aa661c7a9a428dcd99a874 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-110038-put-carrot-white-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,648 @@ +{ + "task_description": "抓取胡萝卜放进白色框里：\n准备开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹夹紧胡萝卜接近白色框：60%\n爪夹夹紧胡萝卜靠近白色框：80%\n爪夹松开胡萝卜落到白色框里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到胡萝卜正上方。爪夹垂直下降靠近胡萝卜，爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到胡萝卜正上方。", + "time": 1.3483505365979382, + "annotations": { + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224350840_0zp7intkp", + "x": 0.6775, + "y": 0.22266666666666665, + "width": 0.166, + "height": 0.12400000000000003 + } + ] + }, + "point_1769224323291": { + "type": "point", + "instances": [ + { + "id": "point_1769224323291_1769224355776_iln8y9x91", + "x": 0.6045, + "y": 0.26666666666666666 + } + ] + }, + "point_1769224336371": { + "type": "point", + "instances": [ + { + "id": "point_1769224336371_1769224358315_5b0uye9ud", + "x": 0.6875, + "y": 0.21333333333333335 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224364928_hlch5ilnc", + "x": 0.0035000000000000005, + "y": 0.16933333333333334, + "width": 0.513, + "height": 0.7826666666666668 + } + ] + } + } + }, + { + "time": 4.083199, + "frame": 122, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动升高并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平上接近了胡萝卜。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹向爪夹右方移动下降，来到胡萝卜正上方。", + "progress_explanation": "爪夹角度与桌面呈30度。水平上接近了胡萝卜。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右前方移动升高缩短了与胡萝卜之间的距离。方便继续向胡萝卜移动。", + "correction_plan": "爪夹向爪夹右方移动下降，来到胡萝卜正上方。爪夹垂直下降靠近胡萝卜，爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "annotations": { + "point_1769224323291": { + "type": "point", + "instances": [ + { + "id": "point_1769224323291_1769224370591_pibebciim", + "x": 0.5605, + "y": 0.11866666666666667 + } + ] + }, + "point_1769224336371": { + "type": "point", + "instances": [ + { + "id": "point_1769224336371_1769224376517_p9nury9ib", + "x": 0.6425, + "y": 0.10266666666666667 + } + ] + }, + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224381834_v9uygy1lk", + "x": 0.6765000000000001, + "y": 0.228, + "width": 0.17999999999999988, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224389008_e6vlkkv7t", + "x": 0.0025, + "y": 0.17333333333333334, + "width": 0.513, + "height": 0.772 + } + ] + } + } + }, + { + "time": 5.018933, + "frame": 151, + "progress": -5, + "action_description": "爪夹向爪夹正前方移动下降", + "state_description": "爪夹张开，爪夹触碰到茄子。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹向爪夹右方移动下降，来到胡萝卜正上方。", + "progress_explanation": "爪夹触碰到了错误目标，不方便抓取胡萝卜。因此进度降低为-5%。", + "error_success_analysis": "爪夹向爪夹正前方移动下降，触碰到错误目标。不方便抓取胡萝卜。", + "correction_plan": "爪夹向爪夹右方移动下降，来到胡萝卜正上方。爪夹垂直下降靠近胡萝卜，爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "annotations": { + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224396735_18kkag72v", + "x": 0.6755, + "y": 0.22533333333333333, + "width": 0.1830000000000001, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224402926_rwbmkw90m", + "x": 0.0035000000000000005, + "y": 0.17200000000000001, + "width": 0.511, + "height": 0.776 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹向爪夹右方移动下降，来到胡萝卜正上方。爪夹垂直下降靠近胡萝卜，爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹合拢，在错误地点进行空抓。不方便抓取到胡萝卜。", + "frame": 187, + "progress": -10, + "progress_explanation": "爪夹合拢，比起上一阶段多出一步爪夹张开，因此进度降低为-10%。", + "state_description": "爪夹合拢，进行空抓。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹张开，爪夹向爪夹右方移动下降，来到胡萝卜正上方。", + "time": 6.233333333333333, + "annotations": { + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224416527_e6kr99ofv", + "x": 0.6755, + "y": 0.224, + "width": 0.1820000000000001, + "height": 0.152 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224422882_5f4bbcvom", + "x": 0.0025, + "y": 0.16933333333333334, + "width": 0.514, + "height": 0.776 + } + ] + } + } + }, + { + "time": 7.507133, + "frame": 225, + "progress": 10, + "action_description": "爪夹张开", + "state_description": "爪夹张开，爪夹位置不变。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹向爪夹右方移动下降，来到胡萝卜正上方。", + "progress_explanation": "爪夹张开了，方便向胡萝卜移动抓取。因此进度提升为10%。", + "error_success_analysis": "爪夹张开，方便向胡萝卜移动抓取。", + "correction_plan": "爪夹向爪夹右方移动下降，来到胡萝卜正上方。爪夹垂直下降靠近胡萝卜，爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "annotations": { + "point_1769224336371": { + "type": "point", + "instances": [ + { + "id": "point_1769224336371_1769224429609_t2369abz6", + "x": 0.6305, + "y": 0.17733333333333334 + } + ] + }, + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224433922_o3lq1lv6l", + "x": 0.6635, + "y": 0.21600000000000003, + "width": 0.19400000000000012, + "height": 0.16266666666666663 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224440392_1bkmtntff", + "x": 0.000499999999999999, + "y": 0.17066666666666666, + "width": 0.514, + "height": 0.7746666666666666 + } + ] + } + } + }, + { + "time": 9.0596, + "frame": 272, + "progress": 12, + "action_description": "爪夹向爪夹右方移动", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平上接近了胡萝卜。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹继续向爪夹右方移动下降，来到胡萝卜正上方。", + "progress_explanation": "爪夹角度与桌面呈30度。水平上接近了胡萝卜。因此进度提升为12%。", + "error_success_analysis": "爪夹向爪夹右方移动缩短了与胡萝卜之间的距离。方便抓取胡萝卜。", + "correction_plan": "爪夹继续向爪夹右方移动下降，来到胡萝卜正上方。爪夹垂直下降靠近胡萝卜，爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "annotations": { + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224484752_3hde079te", + "x": 0.6725000000000001, + "y": 0.22133333333333335, + "width": 0.18399999999999989, + "height": 0.15333333333333332 + } + ] + }, + "point_1769224323291": { + "type": "point", + "instances": [ + { + "id": "point_1769224323291_1769224488167_p9wudd8fr", + "x": 0.6415, + "y": 0.20533333333333334 + } + ] + }, + "point_1769224336371": { + "type": "point", + "instances": [ + { + "id": "point_1769224336371_1769224491275_wovg4dx80", + "x": 0.7125, + "y": 0.18533333333333335 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224496602_xzm1isigv", + "x": 0.0035000000000000005, + "y": 0.16933333333333334, + "width": 0.5149999999999999, + "height": 0.7759999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹向爪夹右方移动下降，来到胡萝卜正上方。爪夹垂直下降靠近胡萝卜，爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹合拢，在错误地点进行空抓。不方便抓取到胡萝卜。", + "frame": 306, + "progress": -10, + "progress_explanation": "爪夹合拢，比起上一阶段多出一步爪夹张开，因此进度降低为-10%。", + "state_description": "爪夹合拢，进行空抓。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹张开，爪夹向爪夹右方移动下降，来到胡萝卜正上方。", + "time": 10.2, + "annotations": { + "point_1769224323291": { + "type": "point", + "instances": [ + { + "id": "point_1769224323291_1769224517413_tz1mfii4h", + "x": 0.6945, + "y": 0.25866666666666666 + } + ] + }, + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224522048_aqkycydab", + "x": 0.6745, + "y": 0.224, + "width": 0.1670000000000001, + "height": 0.1466666666666667 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224529153_nydtlzxuw", + "x": 0.0025, + "y": 0.168, + "width": 0.5109999999999999, + "height": 0.7773333333333332 + } + ] + } + } + }, + { + "time": 11.441466, + "frame": 343, + "progress": 12, + "action_description": "爪夹张开", + "state_description": "爪夹张开，爪夹位置不变。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹向爪夹右方移动下降，来到胡萝卜正上方。", + "progress_explanation": "爪夹张开了，方便向胡萝卜移动抓取。因此进度提升为12%。", + "error_success_analysis": "爪夹张开，方便向胡萝卜移动抓取。", + "correction_plan": "爪夹向爪夹右方移动下降，来到胡萝卜正上方。爪夹垂直下降靠近胡萝卜，爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "annotations": { + "point_1769224323291": { + "type": "point", + "instances": [ + { + "id": "point_1769224323291_1769224543259_2ufbi9tvd", + "x": 0.6575, + "y": 0.24933333333333335 + } + ] + }, + "point_1769224336371": { + "type": "point", + "instances": [ + { + "id": "point_1769224336371_1769224545565_v678mq03c", + "x": 0.7275, + "y": 0.22666666666666666 + } + ] + }, + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224549225_3ryew8v49", + "x": 0.6775, + "y": 0.232, + "width": 0.18100000000000005, + "height": 0.14133333333333337 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224555253_9ebw1ulwl", + "x": 0.0035000000000000005, + "y": 0.17066666666666666, + "width": 0.512, + "height": 0.772 + } + ] + } + } + }, + { + "time": 12.589866, + "frame": 378, + "progress": 20, + "action_description": "爪夹向爪夹右方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈45度，靠近了胡萝卜两侧。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹合拢抓取胡萝卜，夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。", + "progress_explanation": "爪夹角度与桌面呈45度，靠近了胡萝卜两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了胡萝卜，方便抓取胡萝卜。", + "correction_plan": "爪夹合拢抓取胡萝卜，夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "annotations": { + "point_1769224323291": { + "type": "point", + "instances": [ + { + "id": "point_1769224323291_1769224567289_ysxjkzlfq", + "x": 0.7235, + "y": 0.3266666666666667 + } + ] + }, + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224572395_9ty7d76ex", + "x": 0.6755, + "y": 0.22133333333333335, + "width": 0.1820000000000001, + "height": 0.15866666666666665 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224580967_k0hzf73b1", + "x": 0.0025, + "y": 0.16933333333333334, + "width": 0.513, + "height": 0.776 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹合拢，成功抓取到胡萝卜。方便移动胡萝卜到白色框里。", + "frame": 403, + "progress": 40, + "progress_explanation": "爪夹抓取到胡萝卜。因此进度提升为40%。", + "state_description": "爪夹合拢，抓取到胡萝卜。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。", + "time": 13.433333333333334, + "annotations": { + "point_1769224323291": { + "type": "point", + "instances": [ + { + "id": "point_1769224323291_1769224588669_4m5l9a578", + "x": 0.7415, + "y": 0.32266666666666666 + } + ] + }, + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224593245_v4mzk5dja", + "x": 0.6735, + "y": 0.22533333333333333, + "width": 0.18600000000000003, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224603019_k4okdmfai", + "x": 0.0005, + "y": 0.16933333333333334, + "width": 0.514, + "height": 0.776 + } + ] + } + } + }, + { + "time": 15.907466, + "frame": 477, + "progress": 60, + "action_description": "爪夹夹紧胡萝卜垂直升高向爪夹左方移动", + "state_description": "爪夹夹紧胡萝卜，位于半空中，水平上接近了白色框。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹夹紧胡萝卜继续向爪夹左方移动升高，来到白色框正上方。", + "progress_explanation": "爪夹夹紧胡萝卜水平上接近了白色框，因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧胡萝卜垂直升高并向爪夹左方移动缩短了与白色框之间的距离。方便胡萝卜放到框里。", + "correction_plan": "爪夹夹紧胡萝卜继续向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "annotations": { + "point_1769224323291": { + "type": "point", + "instances": [ + { + "id": "point_1769224323291_1769224611279_cizqmyohf", + "x": 0.6365000000000001, + "y": 0.024 + } + ] + }, + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224615449_njutmgob4", + "x": 0.6325000000000001, + "y": 0, + "width": 0.08899999999999997, + "height": 0.15866666666666665 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224622843_mt0fkgz0p", + "x": 0.0005000000000000011, + "y": 0.17066666666666666, + "width": 0.514, + "height": 0.7733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧胡萝卜向爪夹左方移动", + "correction_plan": "爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹向爪夹左方移动靠近了白色框正上方，方便胡萝卜落到白色框里。", + "frame": 569, + "progress": 80, + "progress_explanation": "爪夹夹紧胡萝卜靠近白色框，来到了白色框正上方。因此进度提升为80%。", + "state_description": "爪夹夹紧胡萝卜，位于白色框正上方。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹松开，胡萝卜落到白色框里。", + "time": 18.953642908762887, + "annotations": { + "point_1769224323291": { + "type": "point", + "instances": [ + { + "id": "point_1769224323291_1769224636711_vbls82l3d", + "x": 0.3005, + "y": 0.15733333333333333 + } + ] + }, + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224645203_851wtgigh", + "x": 0.1865, + "y": 0.0026666666666666666, + "width": 0.285, + "height": 0.26533333333333337 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224658896_8n2hgvooo", + "x": 0.0005000000000000011, + "y": 0.17200000000000001, + "width": 0.5149999999999999, + "height": 0.7719999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开胡萝卜落到白色框里，任务完成。", + "frame": 607, + "progress": 100, + "progress_explanation": "爪夹松开胡萝卜落到白色框里，因此进度提升为100%。", + "state_description": "爪夹张开，胡萝卜掉落进白色框里。\n抓取胡萝卜放进白色框里的任务目标完成。", + "time": 20.247182447938144, + "annotations": { + "point_1769224323291": { + "type": "point", + "instances": [ + { + "id": "point_1769224323291_1769224677626_9yxobg6e6", + "x": 0.28650000000000003, + "y": 0.196 + } + ] + }, + "bbox_1769224311363": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224311363_1769224685441_ryaqa5xhe", + "x": 0.1285, + "y": 0.4373333333333333, + "width": 0.27599999999999997, + "height": 0.08933333333333339 + } + ] + }, + "bbox_1769224316429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769224316429_1769224702797_q9y35vw6y", + "x": 0.0035000000000000005, + "y": 0.16933333333333334, + "width": 0.512, + "height": 0.7746666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769224311363", + "name": "胡萝卜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769224316429", + "name": "白色框", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769224323291", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769224336371", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-112118-put-carrot-white-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-112118-put-carrot-white-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..769e507ab819610313dac25bae7fbc6f35a5b1bd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-112118-put-carrot-white-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,332 @@ +{ + "task_description": "抓取胡萝卜放进白色框里：\n准备开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹夹紧胡萝卜接近白色框：60%\n爪夹夹紧胡萝卜靠近白色框：80%\n爪夹松开胡萝卜落到白色框里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到胡萝卜正上方。爪夹垂直下降靠近胡萝卜，爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到胡萝卜正上方。", + "time": 1.2524054644329896, + "annotations": { + "bbox_1769235220111": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235220111_1769235257984_r2qvk8gg8", + "x": 0.5005, + "y": 0.10533333333333333, + "width": 0.12599999999999997, + "height": 0.04000000000000001 + } + ] + }, + "bbox_1769235228904": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235228904_1769235273838_50g2fm6y4", + "x": 0.1805, + "y": 0.04266666666666666, + "width": 0.52, + "height": 0.5786666666666667 + } + ] + }, + "point_1769235234377": { + "type": "point", + "instances": [ + { + "id": "point_1769235234377_1769235284840_q7bpr73d5", + "x": 0.6075, + "y": 0.24400000000000002 + } + ] + }, + "point_1769235238522": { + "type": "point", + "instances": [ + { + "id": "point_1769235238522_1769235287114_zzned940z", + "x": 0.6935, + "y": 0.19333333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高并向爪夹右前方移动", + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近胡萝卜。爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹垂直升高并向爪夹右前方移动缩短了与胡萝卜之间的距离。", + "frame": 93, + "progress": 10, + "progress_explanation": "爪夹水平上接近了胡萝卜，方便抓取胡萝卜。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近平行于桌面。水平上接近了胡萝卜。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近胡萝卜。", + "time": 3.107999, + "annotations": { + "point_1769235234377": { + "type": "point", + "instances": [ + { + "id": "point_1769235234377_1769235293304_5ch6tsqzx", + "x": 0.6385, + "y": 0.04933333333333333 + } + ] + }, + "bbox_1769235220111": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235220111_1769235296876_iyr9ohr4e", + "x": 0.4995, + "y": 0.10933333333333332, + "width": 0.11900000000000004, + "height": 0.050666666666666665 + } + ] + }, + "bbox_1769235228904": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235228904_1769235308002_vw1rzkh8s", + "x": 0.1825, + "y": 0.044000000000000004, + "width": 0.52, + "height": 0.58 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动", + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近胡萝卜。爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹向爪夹右前方移动更加缩短了与胡萝卜之间的距离。", + "frame": 145, + "progress": 13, + "progress_explanation": "爪夹水平上更加接近了胡萝卜。方便抓取胡萝卜，因此进度提升为13%。", + "state_description": "爪夹张开，水平上接近了胡萝卜。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近胡萝卜。", + "time": 4.834666, + "annotations": { + "bbox_1769235220111": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235220111_1769235320088_u7fuok1z5", + "x": 0.5045, + "y": 0.10533333333333333, + "width": 0.1120000000000001, + "height": 0.048000000000000015 + } + ] + }, + "bbox_1769235228904": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235228904_1769235328132_8i7wm7040", + "x": 0.1805, + "y": 0.04533333333333334, + "width": 0.52, + "height": 0.5826666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹垂直升高接着向爪夹右前方移动下降，靠近胡萝卜。爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹垂直下降到了错误的目标两侧，不方便抓取胡萝卜。", + "frame": 169, + "progress": -5, + "progress_explanation": "爪夹靠近了错误目标，比起上一阶段多出一步垂直升高，因此进度降低为-5%。", + "state_description": "爪夹张卡，爪夹靠近了错误目标两侧。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹垂直升高接着向爪夹右前方移动下降，靠近胡萝卜。", + "time": 5.623999, + "annotations": { + "bbox_1769235220111": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235220111_1769235339657_txv8zyrnh", + "x": 0.5035, + "y": 0.10400000000000001, + "width": 0.12600000000000017, + "height": 0.046666666666666676 + } + ] + }, + "bbox_1769235228904": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235228904_1769235349556_7enzd5s88", + "x": 0.1805, + "y": 0.04400000000000001, + "width": 0.5210000000000001, + "height": 0.5813333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹垂直升高接着向爪夹右前方移动下降，靠近胡萝卜。爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹合拢，抓取到错误的目标。不方便抓取胡萝卜。", + "frame": 189, + "progress": -10, + "progress_explanation": "爪夹合拢，比起上一阶段多出一步爪夹张开，因此进度降低为-10%。", + "state_description": "爪夹合拢，抓取到错误目标。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹张开，爪夹垂直升高接着向爪夹右前方移动下降，靠近胡萝卜。", + "time": 6.3, + "annotations": { + "bbox_1769235228904": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235228904_1769235363225_hlp4tfks7", + "x": 0.1795, + "y": 0.04533333333333333, + "width": 0.515, + "height": 0.58 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高", + "correction_plan": "爪夹张开，爪夹向爪夹右前方移动下降，靠近胡萝卜。爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹垂直升高，将错误目标带至半空中。进行了更错误的步骤。", + "frame": 223, + "progress": -20, + "progress_explanation": "爪夹夹紧错误目标升高，不方便抓取胡萝卜，因此进度降低为-20%。", + "state_description": "爪夹夹紧错误目标洋葱，位于半空中。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹张开，爪夹向爪夹右前方移动下降，靠近胡萝卜。", + "time": 7.436999, + "annotations": { + "bbox_1769235220111": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235220111_1769235374539_xyojkluxk", + "x": 0.47950000000000015, + "y": 0.10133333333333334, + "width": 0.13999999999999985, + "height": 0.04933333333333333 + } + ] + }, + "bbox_1769235228904": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235228904_1769235387991_1qucykrws", + "x": 0.17950000000000005, + "y": 0.048, + "width": 0.5209999999999999, + "height": 0.5746666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左方移动下降", + "correction_plan": "爪夹张开，爪夹向爪夹右前方移动下降，靠近胡萝卜。爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹夹紧错误目标向爪夹左方移动下降来到了白色框正上方。更加不方便抓取胡萝卜。", + "frame": 271, + "progress": -30, + "progress_explanation": "爪夹夹紧错误目标水平上远离了胡萝卜，因此进度降低为-30%。", + "state_description": "爪夹夹紧错误目标洋葱，位于白色框正上方。水平上远离了胡萝卜。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹张开，爪夹向爪夹右前方移动下降，靠近胡萝卜。", + "time": 9.033848553092783, + "annotations": { + "point_1769235234377": { + "type": "point", + "instances": [ + { + "id": "point_1769235234377_1769235397293_j41u1eh2m", + "x": 0.4375, + "y": 0.16666666666666666 + } + ] + }, + "bbox_1769235228904": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235228904_1769235402429_0l8lra9yp", + "x": 0.18050000000000002, + "y": 0.04533333333333334, + "width": 0.5210000000000001, + "height": 0.584 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近胡萝卜。爪夹合拢抓取胡萝卜。夹紧胡萝卜向爪夹左方移动升高，来到白色框正上方。爪夹松开，胡萝卜落到白色框里。", + "error_success_analysis": "爪夹张开，方便了爪夹移动抓取胡萝卜。", + "frame": 324, + "progress": 5, + "progress_explanation": "爪夹张开，方便抓取胡萝卜，因此进度提升为5%。", + "state_description": "爪夹张开，错误目标洋葱掉落进白色框里。\n为完成抓取胡萝卜放进白色框里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近胡萝卜。", + "time": 10.813917233505155, + "annotations": { + "point_1769235234377": { + "type": "point", + "instances": [ + { + "id": "point_1769235234377_1769235413620_xvc9u2a66", + "x": 0.4305, + "y": 0.17200000000000001 + } + ] + }, + "bbox_1769235228904": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769235228904_1769235420047_remmfas7o", + "x": 0.17850000000000002, + "y": 0.044000000000000004, + "width": 0.523, + "height": 0.5786666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769235220111", + "name": "胡萝卜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769235228904", + "name": "白色框", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769235234377", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769235238522", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-133008-put-bell peppers-stainless steel bowl-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-133008-put-bell peppers-stainless steel bowl-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..d4be184730d1a658d7a358ea3e8e31c160946269 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-133008-put-bell peppers-stainless steel bowl-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,432 @@ +{ + "task_description": "抓取甜椒放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近甜椒：20%\n爪夹抓取甜椒：40%\n爪夹夹紧甜椒接近不锈钢碗：60%\n爪夹夹紧甜椒靠近不锈钢碗：80%\n爪夹松开甜椒落到不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到甜椒正上方。爪夹垂直下降靠近甜椒，爪夹合拢抓取甜椒。夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到甜椒正上方。", + "time": 0.750395168556701, + "annotations": { + "bbox_1769236693218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236693218_1769236719202_203lu5rds", + "x": 0.6295, + "y": 0.32133333333333336, + "width": 0.079, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1769236698154": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236698154_1769236724463_nctycnksv", + "x": 0.21750000000000003, + "y": 0.4733333333333334, + "width": 0.16199999999999998, + "height": 0.20266666666666666 + } + ] + }, + "point_1769236667384": { + "type": "point", + "instances": [ + { + "id": "point_1769236667384_1769236730100_qh8gsbr2c", + "x": 0.41850000000000004, + "y": 0.49466666666666664 + } + ] + }, + "point_1769236671986": { + "type": "point", + "instances": [ + { + "id": "point_1769236671986_1769236733243_rmokxgutr", + "x": 0.6395000000000001, + "y": 0.49333333333333335 + } + ] + } + } + }, + { + "time": 2.153066, + "frame": 65, + "progress": 10, + "action_description": "爪夹向爪夹正前方移动升高", + "state_description": "爪夹张开，爪夹角度接近平行于桌面，水平上接近了甜椒。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近甜椒。", + "progress_explanation": "爪夹水平上接近了甜椒，方便抓取甜椒。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹正前方移动升高缩短了与甜椒之间的距离。方便抓取甜椒。", + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近甜椒。爪夹合拢抓取甜椒。爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "point_1769236667384": { + "type": "point", + "instances": [ + { + "id": "point_1769236667384_1769236737940_6zplzojxi", + "x": 0.41850000000000004, + "y": 0.48800000000000004 + } + ] + }, + "point_1769236671986": { + "type": "point", + "instances": [ + { + "id": "point_1769236671986_1769236740334_p7ogmw9kb", + "x": 0.6405000000000001, + "y": 0.4906666666666667 + } + ] + }, + "bbox_1769236693218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236693218_1769236748820_d8mh9nbso", + "x": 0.6234999999999999, + "y": 0.5306666666666666, + "width": 0.07100000000000009, + "height": 0.11466666666666665 + } + ] + }, + "bbox_1769236698154": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236698154_1769236756992_619jjdrqh", + "x": 0.26949999999999996, + "y": 0.7426666666666668, + "width": 0.13400000000000004, + "height": 0.1733333333333332 + } + ] + } + } + }, + { + "time": 3.021633, + "frame": 91, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹位于甜椒正上方。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹垂直下降靠近甜椒，爪夹合拢抓取甜椒。", + "progress_explanation": "爪夹位于甜椒正上方，方便抓取甜椒。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降，来到甜椒正上方，方便下降抓取甜椒。", + "correction_plan": "爪夹垂直下降靠近甜椒，爪夹合拢抓取甜椒。爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "point_1769236667384": { + "type": "point", + "instances": [ + { + "id": "point_1769236667384_1769236773618_dndevbulz", + "x": 0.41850000000000004, + "y": 0.48000000000000004 + } + ] + }, + "point_1769236671986": { + "type": "point", + "instances": [ + { + "id": "point_1769236671986_1769236775676_frhvrtr82", + "x": 0.6415, + "y": 0.48666666666666664 + } + ] + }, + "bbox_1769236693218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236693218_1769236780374_tpkss82az", + "x": 0.4995, + "y": 0.392, + "width": 0.10400000000000001, + "height": 0.20000000000000007 + } + ] + }, + "bbox_1769236698154": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236698154_1769236788171_yh3lm9tix", + "x": 0.22350000000000003, + "y": 0.8213333333333334, + "width": 0.12899999999999995, + "height": 0.13733333333333336 + } + ] + } + } + }, + { + "time": 4.269433, + "frame": 128, + "progress": 20, + "action_description": "爪夹垂直下降并调整爪夹角度", + "state_description": "爪夹张开，靠近了甜椒两侧。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹合拢抓取甜椒，夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。", + "progress_explanation": "爪夹靠近了甜椒两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了甜椒，调整爪夹角度方便抓取甜椒。", + "correction_plan": "爪夹合拢抓取甜椒，爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "point_1769236667384": { + "type": "point", + "instances": [ + { + "id": "point_1769236667384_1769236797500_di6u4rv5y", + "x": 0.41850000000000004, + "y": 0.48533333333333334 + } + ] + }, + "bbox_1769236693218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236693218_1769236802427_pzwav33qi", + "x": 0.44750000000000006, + "y": 0.28800000000000003, + "width": 0.20599999999999996, + "height": 0.36399999999999993 + } + ] + }, + "bbox_1769236698154": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236698154_1769236841607_4lgz9oa86", + "x": 0.23349999999999999, + "y": 0.8346666666666668, + "width": 0.139, + "height": 0.12266666666666654 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到甜椒。方便移动甜椒到不锈钢碗里。", + "frame": 165, + "progress": 40, + "progress_explanation": "爪夹抓取到甜椒。因此进度提升为40%。", + "state_description": "爪夹合拢，抓取到甜椒。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。", + "time": 5.4923881664948455, + "annotations": { + "bbox_1769236693218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236693218_1769236853596_8wio1i2rn", + "x": 0.41950000000000004, + "y": 0.26, + "width": 0.21499999999999994, + "height": 0.384 + } + ] + }, + "bbox_1769236698154": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236698154_1769236861967_hir9vgqvx", + "x": 0.1965, + "y": 0.8506666666666667, + "width": 0.13299999999999998, + "height": 0.10800000000000007 + } + ] + } + } + }, + { + "time": 8.086233, + "frame": 243, + "progress": 60, + "action_description": "爪夹夹紧甜椒向爪夹左后方移动升高", + "state_description": "爪夹夹紧甜椒，位于半空中，水平上接近了不锈钢碗。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹夹紧甜椒继续向爪夹左后方移动升高，来到不锈钢碗正上方。", + "progress_explanation": "爪夹夹紧甜椒水平上接近了不锈钢碗，因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧甜椒垂直升高并向爪夹左后方移动缩短了与不锈钢碗之间的距离。方便甜椒放到框里。", + "correction_plan": "爪夹夹紧甜椒继续向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "bbox_1769236693218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236693218_1769236869045_agk34p634", + "x": 0.4205000000000001, + "y": 0.256, + "width": 0.2119999999999999, + "height": 0.38133333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧甜椒向爪夹左后方移动下降", + "correction_plan": "爪夹松开，甜椒落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹左后方移动靠近了不锈钢碗正上方，方便甜椒落到不锈钢碗里。", + "frame": 292, + "progress": 80, + "progress_explanation": "爪夹夹紧甜椒靠近不锈钢碗，来到了不锈钢碗正上方。因此进度提升为80%。", + "state_description": "爪夹夹紧甜椒，位于不锈钢碗正上方。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹松开，甜椒落到不锈钢碗里。", + "time": 9.729913824226804, + "annotations": { + "bbox_1769236693218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236693218_1769236882183_amdlq7bui", + "x": 0.42350000000000004, + "y": 0.256, + "width": 0.209, + "height": 0.37866666666666665 + } + ] + }, + "bbox_1769236698154": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236698154_1769236891871_dts8pbx39", + "x": 0.4385, + "y": 0.3373333333333334, + "width": 0.22600000000000006, + "height": 0.312 + } + ] + } + } + }, + { + "time": 10.740866, + "frame": 322, + "progress": 90, + "action_description": "爪夹夹紧甜椒垂直下降", + "state_description": "爪夹夹紧甜椒，垂直上接近了不锈钢碗。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹松开，甜椒落到不锈钢碗里。", + "progress_explanation": "爪夹垂直上接近了不锈钢碗。更加方便甜椒落到不锈钢碗里。因此进度提升为90%。", + "error_success_analysis": "爪夹夹紧甜椒垂直下降，垂直上缩短了与不锈钢碗的距离。方便甜椒落到不锈钢碗里。", + "correction_plan": "爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "bbox_1769236693218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236693218_1769236900214_rriz7zy3p", + "x": 0.40750000000000003, + "y": 0.25999999999999995, + "width": 0.221, + "height": 0.3773333333333334 + } + ] + }, + "bbox_1769236698154": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236698154_1769236910904_ffyktl20a", + "x": 0.34650000000000003, + "y": 0.24000000000000002, + "width": 0.294, + "height": 0.39466666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开甜椒落到不锈钢碗里，任务完成。", + "frame": 341, + "progress": 100, + "progress_explanation": "爪夹松开甜椒落到不锈钢碗里，因此进度提升为100%。", + "state_description": "爪夹张开，甜椒掉落进不锈钢碗里。\n抓取甜椒放进不锈钢碗里的任务目标完成。", + "time": 11.382044363402063, + "annotations": { + "bbox_1769236693218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236693218_1769236923600_7kujjwyyy", + "x": 0.3745, + "y": 0.26, + "width": 0.254, + "height": 0.34266666666666673 + } + ] + }, + "bbox_1769236698154": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769236698154_1769236933042_yie0kka1v", + "x": 0.3465, + "y": 0.23333333333333334, + "width": 0.30200000000000005, + "height": 0.39599999999999996 + } + ] + }, + "point_1769236667384": { + "type": "point", + "instances": [ + { + "id": "point_1769236667384_1769236948362_llgmi9w0k", + "x": 0.41850000000000004, + "y": 0.48000000000000004 + } + ] + }, + "point_1769236671986": { + "type": "point", + "instances": [ + { + "id": "point_1769236671986_1769236952136_qlmz65jl1", + "x": 0.6405000000000001, + "y": 0.47866666666666663 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769236693218", + "name": "甜椒", + "color": "#4CAF50" + }, + { + "id": "bbox_1769236698154", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769236667384", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769236671986", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-133008-put-bell peppers-stainless steel bowl-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-133008-put-bell peppers-stainless steel bowl-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..0abb3a1d7742f1432a40056070fefcf202fba2ad --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-133008-put-bell peppers-stainless steel bowl-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,448 @@ +{ + "task_description": "抓取甜椒放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近甜椒：20%\n爪夹抓取甜椒：40%\n爪夹夹紧甜椒接近不锈钢碗：60%\n爪夹夹紧甜椒靠近不锈钢碗：80%\n爪夹松开甜椒落到不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到甜椒正上方。爪夹垂直下降靠近甜椒，爪夹合拢抓取甜椒。夹紧甜椒向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到甜椒正上方。", + "time": 0.8267525551546391, + "annotations": { + "bbox_1769238270717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238270717_1769238306125_qm4iu8bpr", + "x": 0.7424999999999999, + "y": 0.5760000000000001, + "width": 0.06499999999999995, + "height": 0.08533333333333329 + } + ] + }, + "bbox_1769238275185": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238275185_1769238327389_eqlpptn7l", + "x": 0.39849999999999997, + "y": 0.43066666666666664, + "width": 0.19500000000000006, + "height": 0.23600000000000002 + } + ] + }, + "point_1769238281783": { + "type": "point", + "instances": [ + { + "id": "point_1769238281783_1769238337389_7gmxvz3cj", + "x": 0.41850000000000004, + "y": 0.48933333333333334 + } + ] + }, + "point_1769238286999": { + "type": "point", + "instances": [ + { + "id": "point_1769238286999_1769238339525_rvpi9r0nq", + "x": 0.6415, + "y": 0.48666666666666664 + } + ] + } + } + }, + { + "time": 2.225566, + "frame": 67, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动升高", + "state_description": "爪夹张开，爪夹角度接近平行于桌面。水平上接近了甜椒。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近甜椒。", + "progress_explanation": "爪夹水平上接近了甜椒，方便抓取甜椒。因此进度提升为10%。", + "error_success_analysis": "爪夹垂直升高并向爪夹右前方移动缩短了与甜椒之间的距离。", + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近甜椒。爪夹合拢抓取甜椒。爪夹夹紧甜椒向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "point_1769238286999": { + "type": "point", + "instances": [ + { + "id": "point_1769238286999_1769238344188_al5jor37k", + "x": 0.6395000000000001, + "y": 0.4826666666666667 + } + ] + }, + "point_1769238281783": { + "type": "point", + "instances": [ + { + "id": "point_1769238281783_1769238346204_rtb73np3f", + "x": 0.41850000000000004, + "y": 0.48000000000000004 + } + ] + }, + "bbox_1769238270717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238270717_1769238351607_68ce99yhu", + "x": 0.6285000000000001, + "y": 0.5493333333333333, + "width": 0.079, + "height": 0.11333333333333329 + } + ] + }, + "bbox_1769238275185": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238275185_1769238355132_32djqjmwk", + "x": 0.3095, + "y": 0.48533333333333334, + "width": 0.16199999999999998, + "height": 0.22800000000000006 + } + ] + } + } + }, + { + "time": 3.195366, + "frame": 96, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，位于甜椒正上方。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近甜椒。", + "progress_explanation": "爪夹位于甜椒正上方，方便抓取甜椒。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降，来到甜椒正上方，方便下降抓取甜椒。", + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近甜椒。爪夹合拢抓取甜椒。爪夹夹紧甜椒向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "point_1769238281783": { + "type": "point", + "instances": [ + { + "id": "point_1769238281783_1769238365322_p66owmv5j", + "x": 0.41950000000000004, + "y": 0.48000000000000004 + } + ] + }, + "point_1769238286999": { + "type": "point", + "instances": [ + { + "id": "point_1769238286999_1769238367732_15m4kdlc1", + "x": 0.6395000000000001, + "y": 0.48000000000000004 + } + ] + }, + "bbox_1769238270717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238270717_1769238372034_f73xaj92n", + "x": 0.4465, + "y": 0.47600000000000003, + "width": 0.14700000000000008, + "height": 0.22533333333333327 + } + ] + }, + "bbox_1769238275185": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238275185_1769238376230_kq6rbev53", + "x": 0.0055, + "y": 0.26799999999999996, + "width": 0.164, + "height": 0.37866666666666676 + } + ] + } + } + }, + { + "time": 3.829466, + "frame": 115, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面呈50度，靠近了甜椒两侧。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹合拢抓取甜椒，夹紧甜椒向爪夹左方移动升高，来到不锈钢碗正上方。", + "progress_explanation": "爪夹角度与桌面呈50度，爪夹靠近了甜椒两侧，因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了甜椒，调整爪夹角度方便抓取甜椒。", + "correction_plan": "爪夹合拢抓取甜椒，爪夹夹紧甜椒向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "point_1769238286999": { + "type": "point", + "instances": [ + { + "id": "point_1769238286999_1769238385371_1zqig4bna", + "x": 0.6405000000000001, + "y": 0.48133333333333334 + } + ] + }, + "bbox_1769238270717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238270717_1769238389250_q5wqg2b71", + "x": 0.39749999999999996, + "y": 0.3813333333333333, + "width": 0.22200000000000006, + "height": 0.3346666666666667 + } + ] + }, + "bbox_1769238275185": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238275185_1769238399126_3gcmwhetw", + "x": 0.0025, + "y": 0.06533333333333333, + "width": 0.11100000000000002, + "height": 0.43600000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧甜椒向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到甜椒。方便移动甜椒到不锈钢碗里。", + "frame": 136, + "progress": 40, + "progress_explanation": "爪夹抓取到甜椒。因此进度提升为40%。", + "state_description": "爪夹合拢，抓取到甜椒。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹夹紧甜椒向爪夹左方移动升高，来到不锈钢碗正上方。", + "time": 4.533333333333333, + "annotations": { + "bbox_1769238270717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238270717_1769238411110_ytmf4ewlz", + "x": 0.41949999999999993, + "y": 0.38799999999999996, + "width": 0.21500000000000002, + "height": 0.33333333333333337 + } + ] + }, + "bbox_1769238275185": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238275185_1769238418453_8bhcxdtog", + "x": 0.0025, + "y": 0, + "width": 0.14900000000000002, + "height": 0.41600000000000004 + } + ] + } + } + }, + { + "time": 5.980433, + "frame": 179, + "progress": 60, + "action_description": "爪夹夹紧甜椒向爪夹左方移动升高", + "state_description": "爪夹夹紧甜椒，位于半空中，水平上接近了不锈钢碗。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹夹紧甜椒继续向爪夹左方移动升高，来到不锈钢碗正上方。", + "progress_explanation": "爪夹夹紧甜椒水平上接近了不锈钢碗，因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧甜椒垂直升高并向爪夹左方移动缩短了与不锈钢碗之间的距离。方便甜椒放到框里。", + "correction_plan": "爪夹夹紧甜椒继续向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "point_1769238286999": { + "type": "point", + "instances": [ + { + "id": "point_1769238286999_1769238426984_2jngxzn0f", + "x": 0.6245, + "y": 0.48000000000000004 + } + ] + }, + "point_1769238281783": { + "type": "point", + "instances": [ + { + "id": "point_1769238281783_1769238430609_npsv4lbkz", + "x": 0.4365, + "y": 0.4826666666666667 + } + ] + }, + "bbox_1769238270717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238270717_1769238435764_txaqej1d6", + "x": 0.4175, + "y": 0.3893333333333333, + "width": 0.21400000000000005, + "height": 0.3306666666666667 + } + ] + }, + "bbox_1769238275185": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238275185_1769238443953_eo3cjlhi7", + "x": 0.24850000000000003, + "y": 0.544, + "width": 0.17399999999999993, + "height": 0.2413333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧甜椒向爪夹左方移动下降", + "correction_plan": "爪夹松开，甜椒落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹左方移动靠近了不锈钢碗正上方，方便甜椒落到不锈钢碗里。", + "frame": 228, + "progress": 80, + "progress_explanation": "爪夹夹紧甜椒靠近不锈钢碗，来到了不锈钢碗正上方。因此进度提升为80%。", + "state_description": "爪夹夹紧甜椒，位于不锈钢碗正上方。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹松开，甜椒落到不锈钢碗里。", + "time": 7.607405294329897, + "annotations": { + "point_1769238281783": { + "type": "point", + "instances": [ + { + "id": "point_1769238281783_1769238452902_epsrsdq1i", + "x": 0.4345, + "y": 0.48533333333333334 + } + ] + }, + "point_1769238286999": { + "type": "point", + "instances": [ + { + "id": "point_1769238286999_1769238454832_ykfo7ujom", + "x": 0.6265000000000001, + "y": 0.48133333333333334 + } + ] + }, + "bbox_1769238270717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238270717_1769238459145_a2m8f3kg0", + "x": 0.4165, + "y": 0.3933333333333333, + "width": 0.21500000000000002, + "height": 0.324 + } + ] + }, + "bbox_1769238275185": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238275185_1769238468221_i3e0sld5k", + "x": 0.4245000000000001, + "y": 0.33866666666666667, + "width": 0.2469999999999999, + "height": 0.3346666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开甜椒落到不锈钢碗里，任务完成。", + "frame": 303, + "progress": 100, + "progress_explanation": "爪夹松开甜椒落到不锈钢碗里，因此进度提升为100%", + "state_description": "爪夹张开，甜椒掉落进不锈钢碗里。\n抓取甜椒放进不锈钢碗里的任务目标完成。", + "time": 10.10688976340206, + "annotations": { + "point_1769238281783": { + "type": "point", + "instances": [ + { + "id": "point_1769238281783_1769238477523_292ra2u8f", + "x": 0.41950000000000004, + "y": 0.484 + } + ] + }, + "point_1769238286999": { + "type": "point", + "instances": [ + { + "id": "point_1769238286999_1769238479425_pwrpacs8e", + "x": 0.6425, + "y": 0.48533333333333334 + } + ] + }, + "bbox_1769238270717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238270717_1769238483007_hg6q05j78", + "x": 0.4335, + "y": 0.3626666666666667, + "width": 0.217, + "height": 0.2906666666666667 + } + ] + }, + "bbox_1769238275185": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769238275185_1769238492347_3qic6ul01", + "x": 0.41550000000000004, + "y": 0.34, + "width": 0.251, + "height": 0.336 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769238270717", + "name": "甜椒", + "color": "#4CAF50" + }, + { + "id": "bbox_1769238275185", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769238281783", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769238286999", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-135016-put-bell peppers-stainless steel bowl-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-135016-put-bell peppers-stainless steel bowl-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..03b1ff0c710592671a35eac61f588a66380c4027 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-135016-put-bell peppers-stainless steel bowl-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,540 @@ +{ + "task_description": "抓取甜椒放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近甜椒：20%\n爪夹抓取甜椒：40%\n爪夹夹紧甜椒接近不锈钢碗：60%\n爪夹夹紧甜椒靠近不锈钢碗：80%\n爪夹松开甜椒落到不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到甜椒正上方。爪夹垂直下降靠近甜椒，爪夹合拢抓取甜椒。夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到甜椒正上方。", + "time": 1.0916666891752578, + "annotations": { + "bbox_1769240434715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240434715_1769240467995_fjo5ajm1a", + "x": 0.6495, + "y": 0.332, + "width": 0.07000000000000002, + "height": 0.10533333333333333 + } + ] + }, + "point_1769240445818": { + "type": "point", + "instances": [ + { + "id": "point_1769240445818_1769240470609_8reupefv5", + "x": 0.4205, + "y": 0.492 + } + ] + }, + "point_1769240453891": { + "type": "point", + "instances": [ + { + "id": "point_1769240453891_1769240472708_gnoutbywh", + "x": 0.6415, + "y": 0.492 + } + ] + }, + "bbox_1769240439827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240439827_1769240477259_i0od58r61", + "x": 0.2545, + "y": 0.46266666666666667, + "width": 0.15700000000000003, + "height": 0.16933333333333334 + } + ] + } + } + }, + { + "time": 2.9585, + "frame": 89, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动升高", + "state_description": "爪夹张开，爪夹角度接近平行于桌面，水平上接近了甜椒。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近甜椒。", + "progress_explanation": "爪夹水平上接近了甜椒，方便抓取甜椒。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右前方移动升高缩短了与甜椒之间的距离。方便抓取甜椒。", + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近甜椒。爪夹合拢抓取甜椒。爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "point_1769240445818": { + "type": "point", + "instances": [ + { + "id": "point_1769240445818_1769240481177_6a4639x3n", + "x": 0.41850000000000004, + "y": 0.4826666666666667 + } + ] + }, + "point_1769240453891": { + "type": "point", + "instances": [ + { + "id": "point_1769240453891_1769240483291_xi62qrd3u", + "x": 0.6405000000000001, + "y": 0.48133333333333334 + } + ] + }, + "bbox_1769240434715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240434715_1769240487155_8wnril1ej", + "x": 0.5235000000000001, + "y": 0.30000000000000004, + "width": 0.09399999999999994, + "height": 0.15466666666666662 + } + ] + }, + "bbox_1769240439827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240439827_1769240493679_dl0mqzfh5", + "x": 0.18950000000000003, + "y": 0.7106666666666667, + "width": 0.13, + "height": 0.18800000000000003 + } + ] + } + } + }, + { + "time": 4.2195, + "frame": 127, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹位于甜椒正上方。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹垂直下降靠近甜椒，爪夹合拢抓取甜椒。", + "progress_explanation": "爪夹位于甜椒正上方，方便抓取甜椒。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降，来到甜椒正上方，方便下降抓取甜椒。", + "correction_plan": "爪夹垂直下降靠近甜椒，爪夹合拢抓取甜椒。爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "point_1769240445818": { + "type": "point", + "instances": [ + { + "id": "point_1769240445818_1769240502239_weqrluz24", + "x": 0.41950000000000004, + "y": 0.4826666666666667 + } + ] + }, + "point_1769240453891": { + "type": "point", + "instances": [ + { + "id": "point_1769240453891_1769240504817_yqtogd79c", + "x": 0.6395000000000001, + "y": 0.48533333333333334 + } + ] + }, + "bbox_1769240434715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240434715_1769240508838_nnfoifz15", + "x": 0.48250000000000004, + "y": 0.264, + "width": 0.15999999999999998, + "height": 0.2546666666666667 + } + ] + }, + "bbox_1769240439827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240439827_1769240513103_xx9op6oq4", + "x": 0.2575, + "y": 0.8466666666666666, + "width": 0.13399999999999998, + "height": 0.11333333333333341 + } + ] + } + } + }, + { + "time": 4.7045, + "frame": 141, + "progress": -5, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹位于甜椒正上方。爪夹一侧触碰到了甜椒。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹垂直升高接着向爪夹右前方移动下降，靠近甜椒两侧。", + "progress_explanation": "爪夹位于甜椒正上方，爪夹一侧触碰到了甜椒。比起上一阶段多出一步垂直升高，因此进度降低为-5%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降，触碰到了甜椒，不方便抓取甜椒。", + "correction_plan": "爪夹垂直升高接着向爪夹右前方移动下降，靠近甜椒两侧。爪夹合拢抓取甜椒。爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "point_1769240445818": { + "type": "point", + "instances": [ + { + "id": "point_1769240445818_1769240524497_u3lpg0r0f", + "x": 0.4205, + "y": 0.4826666666666667 + } + ] + }, + "point_1769240453891": { + "type": "point", + "instances": [ + { + "id": "point_1769240453891_1769240526549_99rj5jc91", + "x": 0.6415, + "y": 0.4826666666666667 + } + ] + }, + "bbox_1769240434715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240434715_1769240531067_b1mnsntf3", + "x": 0.4265, + "y": 0.2973333333333334, + "width": 0.23900000000000005, + "height": 0.25466666666666654 + } + ] + }, + "bbox_1769240439827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240439827_1769240542465_cvf79hxr7", + "x": 0.2805, + "y": 0.896, + "width": 0.127, + "height": 0.07866666666666676 + } + ] + } + } + }, + { + "action_description": "爪夹合拢下降", + "correction_plan": "爪夹张开，爪夹垂直升高接着向爪夹右前方移动下降，靠近甜椒两侧。爪夹合拢抓取甜椒。爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢下降，爪夹一侧触碰甜椒后强行抓取，至抓取甜椒失败。", + "frame": 176, + "progress": -10, + "progress_explanation": "爪夹触碰到了桌面，比起上一阶段多出一步爪夹张开。因此进度降低为-10%。", + "state_description": "爪夹合拢，爪夹触碰到了桌面。抓取甜椒失败。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹张开，爪夹垂直升高接着向爪夹右前方移动下降，靠近甜椒两侧。", + "time": 5.866666666666666, + "annotations": { + "point_1769240445818": { + "type": "point", + "instances": [ + { + "id": "point_1769240445818_1769240547497_6por4l99u", + "x": 0.5245, + "y": 0.47200000000000003 + } + ] + }, + "point_1769240453891": { + "type": "point", + "instances": [ + { + "id": "point_1769240453891_1769240550151_egh07chh3", + "x": 0.5325, + "y": 0.47600000000000003 + } + ] + }, + "bbox_1769240434715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240434715_1769240554623_lbjg3xvy5", + "x": 0.3935, + "y": 0.19733333333333333, + "width": 0.272, + "height": 0.27999999999999997 + } + ] + }, + "bbox_1769240439827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240439827_1769240562085_fxn1ltkka", + "x": 0.2945, + "y": 0.8800000000000001, + "width": 0.11099999999999999, + "height": 0.0879999999999999 + } + ] + } + } + }, + { + "time": 7.6145, + "frame": 228, + "progress": 15, + "action_description": "爪夹垂直升高并张开", + "state_description": "爪夹张开，爪夹位于甜椒正上方。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹垂直下降靠近甜椒，爪夹合拢抓取甜椒。", + "progress_explanation": "爪夹张开后位于甜椒正上方，方便抓取甜椒。因此进度提升为15%。", + "error_success_analysis": "爪夹垂直升高并张开，来到甜椒正上方，方便下降抓取甜椒。", + "correction_plan": "爪夹垂直下降靠近甜椒，爪夹合拢抓取甜椒。爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "point_1769240445818": { + "type": "point", + "instances": [ + { + "id": "point_1769240445818_1769240566521_v7vf1jlaz", + "x": 0.4175, + "y": 0.47866666666666663 + } + ] + }, + "point_1769240453891": { + "type": "point", + "instances": [ + { + "id": "point_1769240453891_1769240568753_yo7w105c7", + "x": 0.6425, + "y": 0.48133333333333334 + } + ] + }, + "bbox_1769240434715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240434715_1769240572430_cgm11ezgd", + "x": 0.45949999999999996, + "y": 0.4106666666666667, + "width": 0.17200000000000007, + "height": 0.1746666666666666 + } + ] + } + } + }, + { + "time": 8.503666, + "frame": 255, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，靠近了甜椒两侧。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹合拢抓取甜椒，夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。", + "progress_explanation": "爪夹靠近了甜椒两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了甜椒，调整爪夹角度方便抓取甜椒。", + "correction_plan": "爪夹合拢抓取甜椒，爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "bbox_1769240434715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240434715_1769240585727_d4m0mbbfq", + "x": 0.3535, + "y": 0.30799999999999994, + "width": 0.30900000000000005, + "height": 0.2800000000000001 + } + ] + }, + "point_1769240445818": { + "type": "point", + "instances": [ + { + "id": "point_1769240445818_1769240599377_d69dpj5p7", + "x": 0.41550000000000004, + "y": 0.47733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到甜椒。方便移动甜椒到不锈钢碗里。", + "frame": 291, + "progress": 40, + "progress_explanation": "爪夹抓取到甜椒。因此进度提升为40%。", + "state_description": "爪夹合拢，抓取到甜椒。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹夹紧甜椒向爪夹左后方移动升高，来到不锈钢碗正上方。", + "time": 9.7, + "annotations": { + "bbox_1769240434715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240434715_1769240606521_icno3qr06", + "x": 0.35150000000000003, + "y": 0.3066666666666667, + "width": 0.306, + "height": 0.2653333333333333 + } + ] + } + } + }, + { + "time": 11.510666, + "frame": 345, + "progress": 60, + "action_description": "爪夹夹紧甜椒向爪夹左后方移动升高", + "state_description": "爪夹夹紧甜椒，位于半空中，水平上接近了不锈钢碗。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹夹紧甜椒继续向爪夹左后方移动升高，来到不锈钢碗正上方。", + "progress_explanation": "爪夹夹紧甜椒水平上接近了不锈钢碗，因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧甜椒垂直升高并向爪夹左后方移动缩短了与不锈钢碗之间的距离。方便甜椒放到框里。", + "correction_plan": "爪夹夹紧甜椒继续向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，甜椒落到不锈钢碗里。", + "annotations": { + "bbox_1769240434715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240434715_1769240616571_ql7gf6l40", + "x": 0.35750000000000004, + "y": 0.308, + "width": 0.297, + "height": 0.2653333333333333 + } + ] + }, + "bbox_1769240439827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240439827_1769240623969_2hjjiudeu", + "x": 0.3155, + "y": 0.56, + "width": 0.13999999999999996, + "height": 0.184 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧甜椒向爪夹左后方移动下降", + "correction_plan": "爪夹松开，甜椒落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹左后方移动靠近了不锈钢碗正上方，方便甜椒落到不锈钢碗里。", + "frame": 399, + "progress": 80, + "progress_explanation": "爪夹夹紧甜椒靠近不锈钢碗，来到了不锈钢碗正上方。因此进度提升为80%。", + "state_description": "爪夹夹紧甜椒，位于不锈钢碗正上方。\n为完成抓取甜椒放进不锈钢碗里的任务应当：爪夹松开，甜椒落到不锈钢碗里。", + "time": 13.291666940721651, + "annotations": { + "bbox_1769240434715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240434715_1769240632755_g6bws8htc", + "x": 0.3545, + "y": 0.30533333333333335, + "width": 0.305, + "height": 0.26933333333333337 + } + ] + }, + "bbox_1769240439827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240439827_1769240638605_q2qzrol1l", + "x": 0.41550000000000004, + "y": 0.30533333333333335, + "width": 0.24500000000000002, + "height": 0.32266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开甜椒落到不锈钢碗里，任务完成。", + "frame": 450, + "progress": 100, + "progress_explanation": "爪夹松开甜椒落到不锈钢碗里，因此进度提升为100%。", + "state_description": "爪夹张开，甜椒掉落进不锈钢碗里。\n抓取甜椒放进不锈钢碗里的任务目标完成。", + "time": 14.991666975773196, + "annotations": { + "point_1769240445818": { + "type": "point", + "instances": [ + { + "id": "point_1769240445818_1769240648791_utk5osncr", + "x": 0.41950000000000004, + "y": 0.48533333333333334 + } + ] + }, + "point_1769240453891": { + "type": "point", + "instances": [ + { + "id": "point_1769240453891_1769240653597_isel3nxav", + "x": 0.6425, + "y": 0.484 + } + ] + }, + "bbox_1769240434715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240434715_1769240659681_lledi2zgj", + "x": 0.40650000000000003, + "y": 0.27599999999999997, + "width": 0.21799999999999997, + "height": 0.2813333333333333 + } + ] + }, + "bbox_1769240439827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769240439827_1769240668951_znrl3dkrp", + "x": 0.3865, + "y": 0.23066666666666666, + "width": 0.263, + "height": 0.352 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769240434715", + "name": "甜椒", + "color": "#4CAF50" + }, + { + "id": "bbox_1769240439827", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769240445818", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769240453891", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-141210-put-bell peppers-stainless steel bowl-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-141210-put-bell peppers-stainless steel bowl-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..92e0a6ad2f06267281b990a6afff836b537a0072 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-141210-put-bell peppers-stainless steel bowl-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,578 @@ +{ + "task_description": "爪夹把茄子放进不锈钢碗里。\n开始移动:0%\n爪夹靠近茄子:20%\n爪夹抓取茄子:40%\n爪夹抓住茄子接近不锈钢碗:60%\n爪夹将茄子放入不锈钢碗:80%\n爪夹松开，茄子落入不锈钢碗:100%", + "progress_points": [ + { + "time": 1.540933, + "frame": 46, + "progress": 0, + "action_description": "暂未移动。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把茄子放进不锈钢碗里的任务应当：\n向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "向爪夹右前方移动到茄子正上方，爪夹合拢抓取茄子，爪夹向爪夹左上方移动到不锈钢碗正上方，爪夹张开，茄子落入不锈钢碗中。", + "annotations": { + "bbox_1769241438356": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241438356_1769241481089_zwlkx18oc", + "x": 0.6911802809068996, + "y": 0.4769800572263092, + "width": 0.13071968430685618, + "height": 0.2679779006847277 + } + ] + }, + "bbox_1769241444687": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241444687_1769241497273_dhenny725", + "x": 0.4330089044008588, + "y": 0.5140176532559058, + "width": 0.2173214751601483, + "height": 0.2592631722071756 + } + ] + }, + "point_1769241453986": { + "type": "point", + "instances": [ + { + "id": "point_1769241453986_1769241504155_qcwknv1c5", + "x": 0.4117669557009947, + "y": 0.49440951418141343 + } + ] + }, + "point_1769241459973": { + "type": "point", + "instances": [ + { + "id": "point_1769241459973_1769241506257_2fnnbm19o", + "x": 0.6454283913995, + "y": 0.49223083206202545 + } + ] + } + } + }, + { + "time": 2.329599, + "frame": 70, + "progress": 5, + "action_description": "向爪夹上方移动。", + "state_description": "爪夹处于张开状态。在茄子左上方。\n为完成爪夹把茄子放进不锈钢碗里的任务应当：\n向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至5%。", + "error_success_analysis": "爪夹正确地向爪夹上方移动，爪夹靠近茄子，方便向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到茄子正上方，爪夹合拢抓取茄子，爪夹向爪夹左上方移动到不锈钢碗正上方，爪夹张开，茄子落入不锈钢碗中。", + "annotations": { + "bbox_1769241438356": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241438356_1769241513301_n83prmqwl", + "x": 0.6993502611760782, + "y": 0.40726222940589224, + "width": 0.1143797237684991, + "height": 0.24836976161023544 + } + ] + }, + "bbox_1769241444687": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241444687_1769241517739_ga707oi67", + "x": 0.4493488649392158, + "y": 0.4486571896742648, + "width": 0.19771352251411994, + "height": 0.25926317220717565 + } + ] + }, + "point_1769241453986": { + "type": "point", + "instances": [ + { + "id": "point_1769241453986_1769241529851_k46cf3afk", + "x": 0.4199369359701731, + "y": 0.49223083206202545 + } + ] + }, + "point_1769241459973": { + "type": "point", + "instances": [ + { + "id": "point_1769241459973_1769241531619_z5ywiblp1", + "x": 0.6405264032379929, + "y": 0.48351610358447333 + } + ] + } + } + }, + { + "time": 2.8550374202715467, + "frame": 86, + "progress": 10, + "action_description": "向爪夹右前方移动。", + "state_description": "爪夹处于张开状态。在茄子左上方。\n为完成爪夹把茄子放进不锈钢碗里的任务应当：\n向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至10%。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，爪夹靠近茄子，方便继续向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到茄子正上方，爪夹合拢抓取茄子，爪夹向爪夹左上方移动到不锈钢碗正上方，爪夹张开，茄子落入不锈钢碗中。", + "annotations": { + "bbox_1769241444687": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241444687_1769241539393_obcksh0wk", + "x": 0.4215709320240089, + "y": 0.5924502095538748, + "width": 0.1781055698680915, + "height": 0.22440425829696706 + } + ] + }, + "point_1769241453986": { + "type": "point", + "instances": [ + { + "id": "point_1769241453986_1769241542233_oxe6ow8x0", + "x": 0.40849896359332327, + "y": 0.4813374214650853 + } + ] + }, + "point_1769241459973": { + "type": "point", + "instances": [ + { + "id": "point_1769241459973_1769241543773_kdfhzioqg", + "x": 0.6454283913995, + "y": 0.48351610358447333 + } + ] + } + } + }, + { + "time": 3.882666, + "frame": 116, + "progress": 15, + "action_description": "向爪夹右前方移动。", + "state_description": "爪夹处于张开状态。在茄子上方。\n为完成爪夹把茄子放进不锈钢碗里的任务应当：\n向爪夹下方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至15%。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，爪夹靠近茄子，方便向爪夹下方移动。", + "correction_plan": "向爪夹下方移动到茄子正上方，爪夹合拢抓取茄子，爪夹向爪夹左上方移动到不锈钢碗正上方，爪夹张开，茄子落入不锈钢碗中。", + "annotations": { + "bbox_1769241438356": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241438356_1769241548885_r3258xra3", + "x": 0.45098286099305146, + "y": 0.3680459512569077, + "width": 0.16013161327589884, + "height": 0.38126937089290536 + } + ] + }, + "point_1769241453986": { + "type": "point", + "instances": [ + { + "id": "point_1769241453986_1769241558133_9voiiy423", + "x": 0.40849896359332327, + "y": 0.48787346782324936 + } + ] + }, + "point_1769241459973": { + "type": "point", + "instances": [ + { + "id": "point_1769241459973_1769241561484_rjklv333r", + "x": 0.6454283913995, + "y": 0.4813374214650853 + } + ] + }, + "bbox_1769241444687": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241444687_1769241565472_8wlr6kbwk", + "x": 0.1699355397333108, + "y": 0.6077009843895911, + "width": 0.17320358170658437, + "height": 0.2570844900877875 + } + ] + } + } + }, + { + "time": 4.793128947505951, + "frame": 144, + "progress": 20, + "action_description": "向爪夹下方移动。", + "state_description": "爪夹处于张开状态。在茄子正上方。\n为完成爪夹把茄子放进不锈钢碗里的任务应当：爪夹合拢。\n", + "progress_explanation": "与上一进度相比，爪夹靠近茄子。因此进度提升至20%。", + "error_success_analysis": "爪夹正确地向爪夹下方移动，爪夹靠近茄子，方便爪夹合拢。", + "correction_plan": "爪夹合拢抓取茄子，爪夹向爪夹左上方移动到不锈钢碗正上方，爪夹张开，茄子落入不锈钢碗中。", + "annotations": { + "bbox_1769241438356": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241438356_1769241588619_q96c1mufg", + "x": 0.42320492807784466, + "y": 0.13274828236300043, + "width": 0.17320358170658431, + "height": 0.651425953697021 + } + ] + }, + "point_1769241453986": { + "type": "point", + "instances": [ + { + "id": "point_1769241453986_1769241599239_iq5p8j7o4", + "x": 0.4134009517548304, + "y": 0.48351610358447333 + } + ] + }, + "point_1769241459973": { + "type": "point", + "instances": [ + { + "id": "point_1769241459973_1769241601233_vozvsutjy", + "x": 0.6405264032379929, + "y": 0.4856947857038614 + } + ] + }, + "bbox_1769241444687": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241444687_1769241606629_iz822bz0g", + "x": 0.0032679422420691753, + "y": 0.49440951418141343, + "width": 0.1764715738142558, + "height": 0.35512518546024896 + } + ] + } + } + }, + { + "time": 5.690533, + "frame": 171, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹处于合拢状态。茄子被爪夹抓取。\n为完成爪夹把茄子放进不锈钢碗里的任务应当：向爪夹左上方移动。", + "progress_explanation": "与上一进度相比，爪夹合拢抓取茄子。因此进度提升至40%。", + "error_success_analysis": "爪夹正确地合拢抓取茄子，方便向爪夹左上方移动。", + "correction_plan": "爪夹向爪夹左上方移动到不锈钢碗正上方，爪夹张开，茄子落入不锈钢碗中。", + "annotations": { + "bbox_1769241438356": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241438356_1769241623604_il2wsiyxd", + "x": 0.4624208333699015, + "y": 0.18939401746708923, + "width": 0.1781055698680915, + "height": 0.6209244040255887 + } + ] + }, + "point_1769241453986": { + "type": "point", + "instances": [ + { + "id": "point_1769241453986_1769241631145_2n3imaz75", + "x": 0.45915284126223, + "y": 0.48351610358447333 + } + ] + }, + "point_1769241459973": { + "type": "point", + "instances": [ + { + "id": "point_1769241459973_1769241633393_c9jnkkydi", + "x": 0.5947745137305933, + "y": 0.48351610358447333 + } + ] + }, + "bbox_1769241444687": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241444687_1769241638951_rauyzbbza", + "x": -4.9865602227971986e-08, + "y": 0.4791587393456973, + "width": 0.17973956592192722, + "height": 0.3769120066541292 + } + ] + } + } + }, + { + "time": 6.624799, + "frame": 199, + "progress": 50, + "action_description": "向爪夹左上方移动。", + "state_description": "爪夹处于合拢状态。茄子悬于空中。\n为完成爪夹把茄子放进不锈钢碗里的任务应当：向爪夹左上方移动。", + "progress_explanation": "与上一进度相比，茄子靠近不锈钢碗。因此进度提升至50%。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动，茄子靠近不锈钢碗，方便继续向爪夹左上方移动。", + "correction_plan": "向爪夹左上方移动到不锈钢碗正上方，爪夹张开，茄子落入不锈钢碗中。", + "annotations": { + "bbox_1769241438356": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241438356_1769241658998_b4371lmis", + "x": 0.45751884520839436, + "y": 0.18285797110892513, + "width": 0.18300755802959862, + "height": 0.6405325431000809 + } + ] + }, + "point_1769241453986": { + "type": "point", + "instances": [ + { + "id": "point_1769241453986_1769241666474_dyckughk5", + "x": 0.45915284126223, + "y": 0.4726226929875332 + } + ] + }, + "point_1769241459973": { + "type": "point", + "instances": [ + { + "id": "point_1769241459973_1769241668529_gzj9yqsjz", + "x": 0.5833365413537434, + "y": 0.4813374214650853 + } + ] + }, + "bbox_1769241444687": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241444687_1769241673695_1bwffkejd", + "x": 0.05718981201864733, + "y": 0.5074816068977417, + "width": 0.20424950672946268, + "height": 0.3202662715500405 + } + ] + } + } + }, + { + "time": 7.292133, + "frame": 219, + "progress": 60, + "action_description": "向爪夹左上方移动。", + "state_description": "爪夹处于合拢状态。茄子悬于空中。\n为完成爪夹把茄子放进不锈钢碗里的任务应当：向爪夹左上方移动。", + "progress_explanation": "与上一进度相比，茄子靠近不锈钢碗。因此进度提升至60%。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动，茄子靠近不锈钢碗，方便继续向爪夹左上方移动。", + "correction_plan": "向爪夹左上方移动到不锈钢碗正上方，爪夹张开，茄子落入不锈钢碗中。", + "annotations": { + "bbox_1769241438356": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241438356_1769241710053_5q7bffgfk", + "x": 0.46078683731606584, + "y": 0.18285797110892513, + "width": 0.17156958565274866, + "height": 0.714607735159274 + } + ] + }, + "point_1769241453986": { + "type": "point", + "instances": [ + { + "id": "point_1769241453986_1769241722446_kd83hepf9", + "x": 0.4624208333699015, + "y": 0.47480137510692116 + } + ] + }, + "point_1769241459973": { + "type": "point", + "instances": [ + { + "id": "point_1769241459973_1769241725864_kue53s9p4", + "x": 0.5849705374075791, + "y": 0.4813374214650853 + } + ] + }, + "bbox_1769241444687": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241444687_1769241730419_1fenr6eyu", + "x": 0.23202738977906745, + "y": 0.5771994347181586, + "width": 0.17647157381425577, + "height": 0.26797790068472777 + } + ] + } + } + }, + { + "time": 9.997866, + "frame": 300, + "progress": 80, + "action_description": "向爪夹左上方移动。", + "state_description": "爪夹处于合拢状态。茄子在不锈钢碗正上方。\n为完成爪夹把茄子放进不锈钢碗里的任务应当：爪夹张开。", + "progress_explanation": "与上一进度相比，茄子靠近不锈钢碗。因此进度提升至80%。", + "error_success_analysis": "爪夹正确地向爪夹左上方移动，茄子靠近不锈钢碗，方便爪夹张开。", + "correction_plan": "爪夹张开，茄子落入不锈钢碗中。", + "annotations": { + "bbox_1769241444687": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241444687_1769241741131_xt6av5ul2", + "x": 0.40196297937798037, + "y": 0.4377637790773247, + "width": 0.1960795264602843, + "height": 0.2549058079683995 + } + ] + }, + "bbox_1769241438356": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241438356_1769241747851_m35860hus", + "x": 0.45751884520839436, + "y": 0.18285797110892515, + "width": 0.1846415540834343, + "height": 0.6862848676072294 + } + ] + }, + "point_1769241453986": { + "type": "point", + "instances": [ + { + "id": "point_1769241453986_1769241759211_7n5lo9hg2", + "x": 0.4656888254775728, + "y": 0.47480137510692116 + } + ] + }, + "point_1769241459973": { + "type": "point", + "instances": [ + { + "id": "point_1769241459973_1769241760983_gzdc0tfy8", + "x": 0.5931405176767576, + "y": 0.4856947857038614 + } + ] + } + } + }, + { + "time": 11.649388221270673, + "frame": 349, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "爪夹处于张开状态。茄子在不锈钢碗中。\n已完成爪夹把茄子放进不锈钢碗里的任务。", + "progress_explanation": "与上一进度相比，爪夹张开，茄子落入不锈钢碗。因此进度提升至100%。", + "error_success_analysis": "爪夹正确地张开，茄子落入不锈钢碗。\n已完成爪夹把茄子放进不锈钢碗里的任务。", + "correction_plan": "", + "annotations": { + "bbox_1769241444687": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241444687_1769241766356_9mq1mgs3q", + "x": 0.3790870346242806, + "y": 0.47915873934569725, + "width": 0.21405348305247696, + "height": 0.27015658280411586 + } + ] + }, + "bbox_1769241438356": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769241438356_1769241774616_01umcozl6", + "x": 0.4379108925623659, + "y": 0.24821843469056606, + "width": 0.16339960538357018, + "height": 0.4618806093102625 + } + ] + }, + "point_1769241453986": { + "type": "point", + "instances": [ + { + "id": "point_1769241453986_1769241787792_d3godchqf", + "x": 0.4101329596471589, + "y": 0.4791587393456973 + } + ] + }, + "point_1769241459973": { + "type": "point", + "instances": [ + { + "id": "point_1769241459973_1769241789864_1zxn7p6vl", + "x": 0.6437943953456643, + "y": 0.48351610358447333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769241438356", + "name": "茄子", + "color": "#4CAF50" + }, + { + "id": "bbox_1769241444687", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769241453986", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769241459973", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-144648-put-potato-stainless steel bowl-good/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-144648-put-potato-stainless steel bowl-good/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..02ba752995d235f0423527610edac70f3faa00f9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-144648-put-potato-stainless steel bowl-good/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,430 @@ +{ + "task_description": "爪夹把土豆放进不锈钢碗里。\n开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近不锈钢碗:60%\n爪夹将土豆放入不锈钢碗:80%\n爪夹松开，土豆落入不锈钢碗:100%", + "progress_points": [ + { + "time": 1.7232245050884625, + "frame": 52, + "progress": 0, + "action_description": "暂未移动。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹前方移动。", + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "向爪夹前下方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769243496657": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243496657_1769243525594_52dr33g4a", + "x": 0.6634023479916927, + "y": 0.248218434690566, + "width": 0.11111173166082774, + "height": 0.09586201325307338 + } + ] + }, + "bbox_1769243501982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243501982_1769243541134_lawyrqepw", + "x": 0.289217251663317, + "y": 0.3005068055558788, + "width": 0.15196163300672022, + "height": 0.1590437947153262 + } + ] + }, + "point_1769243517344": { + "type": "point", + "instances": [ + { + "id": "point_1769243517344_1769243548285_v1xy7sfi6", + "x": 0.475492801800587, + "y": 0.3811180439732359 + } + ] + }, + "point_1769243510599": { + "type": "point", + "instances": [ + { + "id": "point_1769243510599_1769243550867_bx3muqaas", + "x": 0.3676490622474307, + "y": 0.3375444015854753 + } + ] + } + } + }, + { + "time": 3.0320031157980982, + "frame": 91, + "progress": 5, + "action_description": "向爪夹前方移动。", + "state_description": "爪夹处于张开状态。在土豆的后上方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹前方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近土豆。因此进度提升至5%。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，靠近土豆。方便向爪夹前方移动。", + "correction_plan": "向爪夹前下方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769243496657": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243496657_1769243558456_llrdadczq", + "x": 0.6617683519378571, + "y": 0.248218434690566, + "width": 0.11111173166082766, + "height": 0.09368333113368535 + } + ] + }, + "bbox_1769243501982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243501982_1769243569264_twxrlzv3x", + "x": 0.2973872319324955, + "y": 0.2983281234364908, + "width": 0.1454256487913775, + "height": 0.16775852319287832 + } + ] + } + } + }, + { + "time": 3.926335166449683, + "frame": 118, + "progress": 10, + "action_description": "向爪夹前方移动。", + "state_description": "爪夹处于张开状态。在土豆的后上方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹前下方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近土豆。因此进度提升至10%。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，靠近土豆。方便向爪夹前下方移动。", + "correction_plan": "向爪夹前下方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769243496657": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243496657_1769243588416_s4w52t88k", + "x": 0.6617683519378571, + "y": 0.24821843469056606, + "width": 0.11111173166082766, + "height": 0.10239805961123742 + } + ] + }, + "bbox_1769243501982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243501982_1769243597852_01npnaqne", + "x": 0.2973872319324955, + "y": 0.29832812343649073, + "width": 0.1454256487913775, + "height": 0.16557984107349036 + } + ] + } + } + }, + { + "time": 4.991099, + "frame": 150, + "progress": 15, + "action_description": "向爪夹前下方移动。", + "state_description": "爪夹处于张开状态。在土豆的后上方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹前下方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近土豆。因此进度提升至15%", + "error_success_analysis": "爪夹正确地向爪夹前下方移动，靠近土豆。方便向爪夹前下方移动。", + "correction_plan": "向爪夹前下方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769243496657": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243496657_1769243625644_zk5crdniw", + "x": 0.6650363440455285, + "y": 0.24603975257117802, + "width": 0.10784373955315632, + "height": 0.10239805961123742 + } + ] + }, + "bbox_1769243501982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243501982_1769243638774_u0gy8slgx", + "x": 0.29738723193249555, + "y": 0.29397075919771465, + "width": 0.14542564879137748, + "height": 0.17429456955104244 + } + ] + } + } + }, + { + "time": 6.151258804656064, + "frame": 185, + "progress": 20, + "action_description": "向爪夹前下方移动。", + "state_description": "爪夹处于张开状态。在土豆的正上方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：爪夹合拢。", + "progress_explanation": "与上一进度相比，爪夹靠近土豆。因此进度提升至20%", + "error_success_analysis": "爪夹正确地向爪夹前下方移动，靠近土豆。方便爪夹合拢。", + "correction_plan": "爪夹合拢抓取土豆，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769243496657": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243496657_1769243664609_asbq3sw9g", + "x": 0.6519643756148428, + "y": 0.2503971168099541, + "width": 0.11928171193000629, + "height": 0.10021937749184939 + } + ] + }, + "point_1769243517344": { + "type": "point", + "instances": [ + { + "id": "point_1769243517344_1769243673393_iuqkk00ns", + "x": 0.7598081151679992, + "y": 0.34843781218241543 + } + ] + }, + "bbox_1769243501982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243501982_1769243679084_l7moahzvl", + "x": 0.29575323587865976, + "y": 0.3005068055558787, + "width": 0.1486936408990489, + "height": 0.1699372053122664 + } + ] + } + } + }, + { + "time": 7.365999, + "frame": 221, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹处于合拢状态。土豆被爪夹抓取。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹左后方移动。", + "progress_explanation": "与上一进度相比，爪夹合拢抓取土豆。因此进度提升至40%", + "error_success_analysis": "爪夹正确地合拢抓取土豆.方便向爪夹左后方移动。", + "correction_plan": "向爪夹左后方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769243501982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243501982_1769243690328_3yfrtdgiw", + "x": 0.3071912082555098, + "y": 0.3005068055558787, + "width": 0.13562167246836326, + "height": 0.16775852319287837 + } + ] + }, + "bbox_1769243496657": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243496657_1769243697518_s7j3hc5z4", + "x": 0.6699383322070356, + "y": 0.24168238833240194, + "width": 0.10784373955315632, + "height": 0.10893410596940152 + } + ] + }, + "point_1769243517344": { + "type": "point", + "instances": [ + { + "id": "point_1769243517344_1769243715536_urnhwcoy0", + "x": 0.7483701427911493, + "y": 0.34843781218241543 + } + ] + } + } + }, + { + "time": 8.7122, + "frame": 261, + "progress": 50, + "action_description": "向爪夹左后方移动。", + "state_description": "爪夹处于合拢状态。土豆悬于空中。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹左后方移动。", + "progress_explanation": "与上一进度相比，土豆靠近不锈钢碗。因此进度提升至50%", + "error_success_analysis": "爪夹正确地向爪夹左后方移动，土豆靠近不锈钢碗。方便向爪夹左后方移动。", + "correction_plan": "向爪夹左后方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769243501982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243501982_1769243728130_070mmzzxz", + "x": 0.2957532358786598, + "y": 0.29832812343649073, + "width": 0.1470596448452132, + "height": 0.16775852319287837 + } + ] + }, + "bbox_1769243496657": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243496657_1769243736974_cyfzi1iw9", + "x": 0.5441206360616866, + "y": 0.01727813003543483, + "width": 0.12254970403767765, + "height": 0.12200619868572969 + } + ] + } + } + }, + { + "time": 9.664699, + "frame": 290, + "progress": 60, + "action_description": "向爪夹左后方移动。", + "state_description": "爪夹处于合拢状态。土豆悬于空中。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹左后方移动。", + "progress_explanation": "与上一进度相比，土豆靠近不锈钢碗。因此进度提升至60%", + "error_success_analysis": "爪夹正确地向爪夹左后方移动，土豆靠近不锈钢碗。方便向爪夹左后方移动。", + "correction_plan": "向爪夹左后方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769243496657": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243496657_1769243784062_rp62icnb1", + "x": 0.3627470740859236, + "y": 0.11967618964667226, + "width": 0.11111173166082774, + "height": 0.1285422450438938 + } + ] + }, + "bbox_1769243501982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243501982_1769243788260_t2s3dj5hy", + "x": 0.29575323587865976, + "y": 0.2961494413171027, + "width": 0.14705964484521322, + "height": 0.17211588743165443 + } + ] + } + } + }, + { + "time": 10.753796918984952, + "frame": 323, + "progress": 80, + "action_description": "向爪夹左后方移动。", + "state_description": "爪夹处于合拢状态。土豆在不锈钢碗正上方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：爪夹张开。", + "progress_explanation": "与上一进度相比，土豆靠近不锈钢碗。因此进度提升至80%", + "error_success_analysis": "爪夹正确地向爪夹左后方移动，土豆靠近不锈钢碗。方便爪夹张开。", + "correction_plan": "爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769243501982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243501982_1769243798930_2hbdks8fy", + "x": 0.289217251663317, + "y": 0.29614944131710275, + "width": 0.15359562906055602, + "height": 0.1742945695510424 + } + ] + }, + "bbox_1769243496657": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243496657_1769243816666_2t5otprer", + "x": 0.29411923982482413, + "y": 0.23732502409362588, + "width": 0.1062097434993206, + "height": 0.11982751656634166 + } + ] + } + } + }, + { + "time": 11.4173, + "frame": 343, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "爪夹处于张开状态。土豆在不锈钢碗中。\n已完成爪夹把土豆放进不锈钢碗里的任务。", + "progress_explanation": "与上一进度相比，爪夹张开，土豆落入不锈钢碗。因此进度提升至100%", + "error_success_analysis": "爪夹正确地张开，土豆落入不锈钢碗。\n已完成爪夹把土豆放进不锈钢碗里的任务。", + "correction_plan": "", + "annotations": { + "bbox_1769243496657": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243496657_1769243826306_dtnei5l4a", + "x": 0.32516516484770247, + "y": 0.3244723088691471, + "width": 0.0980397632301421, + "height": 0.13725697352144597 + } + ] + }, + "bbox_1769243501982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769243501982_1769243846104_htazmj6wx", + "x": 0.3120931964170169, + "y": 0.29614944131710275, + "width": 0.1290856882530204, + "height": 0.1612224768347142 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769243496657", + "name": "土豆", + "color": "#4CAF50" + }, + { + "id": "bbox_1769243501982", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769243510599", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769243517344", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-150052-put-potato-stainless steel bowl-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-150052-put-potato-stainless steel bowl-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..c7768459e52e51a92f67573102cd222f813cbb06 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-150052-put-potato-stainless steel bowl-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,528 @@ +{ + "task_description": "爪夹把土豆放进不锈钢碗里。\n开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近不锈钢碗:60%\n爪夹将土豆放入不锈钢碗:80%\n爪夹松开，土豆落入不锈钢碗:100%", + "progress_points": [ + { + "time": 1.1862586460238143, + "frame": 36, + "progress": 0, + "action_description": "暂未移动。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹前下方移动。", + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "向爪夹前下方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹前上方移动，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247397803_ydbp7qcar", + "x": 0.5375846518463436, + "y": 0.34190176582425136, + "width": 0.07843181058411375, + "height": 0.12418488080511772 + } + ] + }, + "point_1769247381843": { + "type": "point", + "instances": [ + { + "id": "point_1769247381843_1769247407483_gvejno98s", + "x": 0.5408526439540151, + "y": 0.48787346782324936 + } + ] + }, + "point_1769247386567": { + "type": "point", + "instances": [ + { + "id": "point_1769247386567_1769247409765_sqmwmayua", + "x": 0.6437943953456643, + "y": 0.4660866466293691 + } + ] + }, + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247420525_aijawlrgr", + "x": 0.5196106952541509, + "y": 0.025992858512986952, + "width": 0.12091570798384206, + "height": 0.1655798410734903 + } + ] + } + } + }, + { + "time": 2.431831174645243, + "frame": 73, + "progress": 5, + "action_description": "向爪夹前方移动。", + "state_description": "爪夹处于张开状态。在土豆后上方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹前下方移动。", + "progress_explanation": "与上一进度相比，爪夹靠近土豆。因此进度提升至5%。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，靠近土豆。方便向爪夹前下方移动。", + "correction_plan": "向爪夹前下方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹前上方移动，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247431597_q352f1qa6", + "x": 0.5163427031464796, + "y": 0.021635494274210895, + "width": 0.12254970403767773, + "height": 0.16993720531226636 + } + ] + }, + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247438537_3b3ayl9hb", + "x": 0.5392186479001795, + "y": 0.3375444015854753, + "width": 0.08333379874562077, + "height": 0.13289960928266986 + } + ] + }, + "point_1769247381843": { + "type": "point", + "instances": [ + { + "id": "point_1769247381843_1769247440901_n4u2lnmy4", + "x": 0.5392186479001795, + "y": 0.35715254065996754 + } + ] + } + } + }, + { + "time": 4.230333, + "frame": 127, + "progress": 4, + "action_description": "向爪夹右方移动。", + "state_description": "爪夹处于张开状态。在土豆右方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹左方移动。", + "progress_explanation": "与上一进度相比，爪夹远离土豆。因此进度减小至4%。", + "error_success_analysis": "爪夹向爪夹右方移动，远离土豆。应当向爪夹左方移动。", + "correction_plan": "向爪夹左方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹前上方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247446108_eyjk69fcn", + "x": 0.5408526439540152, + "y": 0.33972308370486337, + "width": 0.07516381847644223, + "height": 0.12636356292450573 + } + ] + }, + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247460406_e8ywyfyog", + "x": 0.5163427031464796, + "y": 0.023814176393598927, + "width": 0.1241837000915134, + "height": 0.17211588743165443 + } + ] + } + } + }, + { + "time": 5.219541119655107, + "frame": 157, + "progress": 1, + "action_description": "爪夹合拢。", + "state_description": "爪夹处于合拢状态。在土豆右方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹左方移动。", + "progress_explanation": "与上一进度相比，爪夹合拢，未抓取到土豆。因此进度减小至1%。", + "error_success_analysis": "爪夹错误地合拢，未抓取到土豆。应当爪夹张开。", + "correction_plan": "爪夹张开，向爪夹左方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹前上方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247470258_cd8u3i1e6", + "x": 0.5392186479001795, + "y": 0.3419017658242513, + "width": 0.07679781453027798, + "height": 0.12854224504389383 + } + ] + }, + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247488360_7h6221kvd", + "x": 0.5163427031464796, + "y": 0.021635494274210895, + "width": 0.12254970403767765, + "height": 0.16993720531226636 + } + ] + } + } + }, + { + "time": 6.7858, + "frame": 204, + "progress": 9, + "action_description": "爪夹张开。", + "state_description": "爪夹处于张开状态。在土豆右方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹左方移动。", + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至9%。", + "error_success_analysis": "爪夹正确地张开。方便向爪夹左方移动。", + "correction_plan": "向爪夹左方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹前上方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247506302_ono9p61h2", + "x": 0.5392186479001795, + "y": 0.33972308370486337, + "width": 0.07516381847644223, + "height": 0.12636356292450573 + } + ] + }, + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247520562_i6dqqzkny", + "x": 0.5147087070926439, + "y": 0.02599285851298696, + "width": 0.1241837000915134, + "height": 0.16775852319287834 + } + ] + } + } + }, + { + "time": 7.631866, + "frame": 229, + "progress": 20, + "action_description": "向爪夹左方移动。", + "state_description": "爪夹处于张开状态。在土豆正上方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：爪夹合拢。", + "progress_explanation": "与上一进度相比，爪夹靠近土豆。因此进度提升至20%。", + "error_success_analysis": "爪夹正确地向爪夹左方移动。方便爪夹合拢。", + "correction_plan": "爪夹合拢抓取土豆，向爪夹前上方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247544007_ivpbo8nrv", + "x": 0.5147087070926439, + "y": 0.02599285851298696, + "width": 0.12581769614534907, + "height": 0.16122247683471425 + } + ] + }, + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247550772_xro0rnvd2", + "x": 0.5408526439540151, + "y": 0.32882967310792316, + "width": 0.09967375928397786, + "height": 0.16557984107349027 + } + ] + } + } + }, + { + "time": 8.616066, + "frame": 258, + "progress": 2, + "action_description": "爪夹合拢。", + "state_description": "爪夹处于合拢状态，但未抓取到土豆。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：爪夹张开。", + "progress_explanation": "与上一进度相比，爪夹合拢，但未抓取到土豆。因此进度减小至2%。", + "error_success_analysis": "爪夹合拢，但未抓取到土豆。应当爪夹张开。", + "correction_plan": "爪夹张开，爪夹合拢抓取土豆，向爪夹前上方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247557831_gvkc3ti35", + "x": 0.5343166597386723, + "y": 0.33536571946608723, + "width": 0.09967375928397786, + "height": 0.15032906623777406 + } + ] + }, + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247573897_24qhvf16w", + "x": 0.5179766992003152, + "y": 0.023814176393598927, + "width": 0.12091570798384196, + "height": 0.1634011589541023 + } + ] + } + } + }, + { + "time": 9.994235812703918, + "frame": 300, + "progress": 18, + "action_description": "爪夹张开。", + "state_description": "爪夹处于张开状态。在土豆上方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹下方移动。", + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至18%。", + "error_success_analysis": "爪夹张开，在土豆正上方。方便向爪夹下方移动。", + "correction_plan": "向爪夹下方移动，爪夹合拢抓取土豆，向爪夹前上方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247603384_hf3hbwj2g", + "x": 0.5392186479001795, + "y": 0.2852560307201626, + "width": 0.10457574744548488, + "height": 0.16775852319287832 + } + ] + }, + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247629149_r4c42d4km", + "x": 0.5163427031464797, + "y": 0.025992858512986952, + "width": 0.12254970403767755, + "height": 0.16557984107349027 + } + ] + } + } + }, + { + "time": 10.883930476004938, + "frame": 327, + "progress": 20, + "action_description": "向爪夹下方移动。", + "state_description": "爪夹处于张开状态。在土豆正上方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：爪夹合拢。", + "progress_explanation": "与上一进度相比，爪夹靠近土豆。因此进度提升至20%。", + "error_success_analysis": "爪夹正确地向爪夹下方移动，靠近土豆。方便爪夹合拢。", + "correction_plan": "爪夹合拢抓取土豆，向爪夹前上方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247658733_jbri228pd", + "x": 0.5343166597386723, + "y": 0.29397075919771465, + "width": 0.1029417513916493, + "height": 0.1590437947153262 + } + ] + }, + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247665405_oc7w68gwi", + "x": 0.519610695254151, + "y": 0.025992858512986956, + "width": 0.11928171193000621, + "height": 0.16122247683471425 + } + ] + } + } + }, + { + "time": 11.914, + "frame": 357, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹处于合拢状态。土豆被爪夹抓取。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹前上方移动。", + "progress_explanation": "与上一进度相比，爪夹合拢抓取土豆。因此进度提升至40%。", + "error_success_analysis": "爪夹正确地合拢抓取土豆。方便向爪夹前上方移动。", + "correction_plan": "向爪夹前上方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247675977_ohm5sgnhn", + "x": 0.5326826636848365, + "y": 0.3092215340334309, + "width": 0.09803976323014219, + "height": 0.15032906623777412 + } + ] + }, + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247682341_1jdyrpl81", + "x": 0.5163427031464797, + "y": 0.023814176393598927, + "width": 0.12254970403767755, + "height": 0.16340115895410226 + } + ] + } + } + }, + { + "time": 14.116487752665313, + "frame": 423, + "progress": 60, + "action_description": "向爪夹前上方移动。", + "state_description": "爪夹处于合拢状态。土豆靠近不锈钢碗。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹前方移动。", + "progress_explanation": "与上一进度相比，土豆与不锈钢碗距离减小。因此进度提升至60%。", + "error_success_analysis": "爪夹正确地向爪夹前上方移动，土豆靠近不锈钢碗。方便向爪夹前方移动。", + "correction_plan": "向爪夹前上方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247695067_pf5iin8th", + "x": 0.519610695254151, + "y": 0.019456812154822867, + "width": 0.12254970403767765, + "height": 0.1590437947153262 + } + ] + }, + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247743592_tbg6dcjx0", + "x": 0.5343166597386724, + "y": 0.11967618964667226, + "width": 0.10947773560699199, + "height": 0.15686511259593816 + } + ] + } + } + }, + { + "time": 15.569655702723646, + "frame": 467, + "progress": 80, + "action_description": "向爪夹前方移动。", + "state_description": "爪夹处于合拢状态。土豆在不锈钢碗正上方。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：爪夹张开。", + "progress_explanation": "与上一进度相比，土豆与不锈钢碗距离减小。因此进度提升至60%。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，土豆靠近不锈钢碗。方便爪夹张开。", + "correction_plan": "爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247719358_o2t9nthbq", + "x": 0.5228786873618223, + "y": 0.012920765796658774, + "width": 0.1241837000915134, + "height": 0.1634011589541023 + } + ] + }, + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247734885_kagwnjpk5", + "x": 0.5326826636848365, + "y": 0.04777967970686726, + "width": 0.09803976323014219, + "height": 0.10457674173062544 + } + ] + } + } + }, + { + "time": 16.637289298684873, + "frame": 499, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "爪夹处于张开状态。土豆在不锈钢碗中。\n已完成爪夹把土豆放进不锈钢碗里的任务。", + "progress_explanation": "与上一进度相比，爪夹张开，土豆落入不锈钢碗。因此进度提升至100%。", + "error_success_analysis": "爪夹正确地张开，土豆落入不锈钢碗。\n已完成爪夹把土豆放进不锈钢碗里的任务。", + "correction_plan": "", + "annotations": { + "bbox_1769247375486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247375486_1769247725490_n33ll7m3r", + "x": 0.5147087070926439, + "y": 0.017278130035434835, + "width": 0.13398767641452752, + "height": 0.16775852319287834 + } + ] + }, + "bbox_1769247367587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769247367587_1769247728580_parr8wr0v", + "x": 0.5294146715771653, + "y": 0.056494408184419385, + "width": 0.08823578690712788, + "height": 0.10457674173062544 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769247367587", + "name": "土豆", + "color": "#4CAF50" + }, + { + "id": "bbox_1769247375486", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769247381843", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769247386567", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-154206-put-potato-stainless steel bowl-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-154206-put-potato-stainless steel bowl-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..36a89a862168e51d51e0ba957dd351353874d6d9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-154206-put-potato-stainless steel bowl-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,452 @@ +{ + "task_description": "爪夹把土豆放进不锈钢碗里。\n开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近不锈钢碗:60%\n爪夹将土豆放入不锈钢碗:80%\n爪夹松开，土豆落入不锈钢碗:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "correction_plan": "向爪夹右前方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹左前方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹右前方移动。\n", + "time": 0.525066, + "annotations": { + "bbox_1769398696774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398696774_1769398740716_3yxnihnxd", + "x": 0.7658141115707366, + "y": 0.2821424470338226, + "width": 0.0807969054497045, + "height": 0.11865986577692862 + } + ] + }, + "bbox_1769398706002": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398706002_1769398766195_f4pjiik1k", + "x": 0.5538686059707872, + "y": 0.015157749035733258, + "width": 0.11709696441986157, + "height": 0.16237665843158647 + } + ] + }, + "point_1769398721638": { + "type": "point", + "instances": [ + { + "id": "point_1769398721638_1769398777169_5i0ew7aaz", + "x": 0.5597234541917804, + "y": 0.4710614438628799 + } + ] + }, + "point_1769398728027": { + "type": "point", + "instances": [ + { + "id": "point_1769398728027_1769398783333_jqctfsmqe", + "x": 0.6639397525254572, + "y": 0.45857093167583485 + } + ] + } + } + }, + { + "action_description": "向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹左前方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，接近了土豆。方便继续向爪夹右前方移动。", + "frame": 48, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹与土豆距离减小。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。角度平行于桌面，接近了土豆。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹右前方移动。\n", + "time": 1.6161135035378589, + "annotations": { + "bbox_1769398696774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398696774_1769398790239_nigyi2d7w", + "x": 0.7704979901475311, + "y": 0.28838770312734513, + "width": 0.07611302687291, + "height": 0.10929198163664479 + } + ] + }, + "bbox_1769398706002": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398706002_1769398803864_cad8x2p19", + "x": 0.5526976363265887, + "y": 0.013596435012352618, + "width": 0.11826793406406014, + "height": 0.1623766584315865 + } + ] + }, + "point_1769398721638": { + "type": "point", + "instances": [ + { + "id": "point_1769398721638_1769398812761_l882d95dp", + "x": 0.5901686649409444, + "y": 0.35552420613271263 + } + ] + }, + "point_1769398728027": { + "type": "point", + "instances": [ + { + "id": "point_1769398728027_1769398820979_g1ryoy9fx", + "x": 0.7084365990050046, + "y": 0.33991106589890624 + } + ] + } + } + }, + { + "action_description": "向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹左前方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，接近了土豆。方便继续向爪夹右前方移动。", + "frame": 79, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹与土豆距离减小。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。接近了土豆。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹右前方移动。\n", + "time": 2.619864671105728, + "annotations": { + "bbox_1769398696774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398696774_1769398828029_zjzht6ixo", + "x": 0.7740108990801271, + "y": 0.2821424470338226, + "width": 0.07142914829611557, + "height": 0.12022117980030919 + } + ] + }, + "bbox_1769398706002": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398706002_1769398840101_k6m0wroji", + "x": 0.5526976363265887, + "y": 0.010473806965591342, + "width": 0.11709696441986157, + "height": 0.16862191452510902 + } + ] + }, + "point_1769398721638": { + "type": "point", + "instances": [ + { + "id": "point_1769398721638_1769398853008_mwik6ja1c", + "x": 0.5948525435177389, + "y": 0.21188331598169383 + } + ] + } + } + }, + { + "action_description": "向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹左前方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，接近了土豆。方便继续向爪夹右前方移动。", + "frame": 111, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹与土豆距离减小。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。接近了土豆。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹右前方移动。\n", + "time": 3.711266, + "annotations": { + "bbox_1769398696774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398696774_1769398862370_cvrdzgoot", + "x": 0.7669850812149352, + "y": 0.2821424470338226, + "width": 0.08782272331489623, + "height": 0.12022117980030925 + } + ] + }, + "bbox_1769398706002": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398706002_1769398874686_8l6dopqgf", + "x": 0.5503556970381915, + "y": 0.013596435012352618, + "width": 0.11943890370825878, + "height": 0.16081534440820586 + } + ] + } + } + }, + { + "action_description": "向爪夹右前方移动。", + "correction_plan": "向爪夹下方移动到土豆正上方，爪夹合拢抓取土豆，向爪夹左前方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，接近了土豆。方便继续向爪夹下方移动。", + "frame": 145, + "progress": 18, + "progress_explanation": "与上一进度相比，爪夹与土豆距离减小。因此进度提升至18%。", + "state_description": "爪夹处于张开状态。接近了土豆。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹下方移动。\n", + "time": 4.8278846183596285, + "annotations": { + "bbox_1769398706002": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398706002_1769398894225_f1txmcwxs", + "x": 0.5503556970381915, + "y": 0.008912492942210703, + "width": 0.11943890370825878, + "height": 0.16706060050172838 + } + ] + }, + "bbox_1769398696774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398696774_1769398904653_siuqpcevj", + "x": 0.7693270205033326, + "y": 0.28682638910396446, + "width": 0.08548078402649892, + "height": 0.11397592370678673 + } + ] + } + } + }, + { + "action_description": "向爪夹下方移动。", + "correction_plan": "爪夹合拢抓取土豆，向爪夹左前方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹下方移动，接近了土豆。方便继续向爪夹下方移动。", + "frame": 172, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹与土豆距离减小。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。接近了土豆。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：爪夹合拢。\n", + "time": 5.746333535034429, + "annotations": { + "bbox_1769398706002": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398706002_1769398921505_4j6hfcqpg", + "x": 0.5515266666823901, + "y": 0.01203512098897198, + "width": 0.121780842996656, + "height": 0.16549928647834777 + } + ] + }, + "bbox_1769398696774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398696774_1769398929713_krmgbfirh", + "x": 0.7541044151287506, + "y": 0.28838770312734513, + "width": 0.0913356322474919, + "height": 0.10460803956650283 + } + ] + } + } + }, + { + "time": 6.368732429242458, + "frame": 191, + "progress": 40, + "action_description": "爪夹合拢。\n", + "state_description": "爪夹处于合拢状态。抓取了土豆。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹左前方移动。\n", + "progress_explanation": "与上一进度相比，爪夹合拢抓取了土豆。因此进度提升至40%。", + "error_success_analysis": "爪夹正确地夹合拢抓取了土豆。方便向爪夹左前方移动。", + "correction_plan": "向爪夹左前方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769398696774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398696774_1769398934622_vrnvl80fi", + "x": 0.7529334454845518, + "y": 0.2790198189870613, + "width": 0.08430981438230045, + "height": 0.12178249382368987 + } + ] + }, + "bbox_1769398706002": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398706002_1769398938577_odl663zhg", + "x": 0.5515266666823901, + "y": 0.015157749035733258, + "width": 0.11943890370825869, + "height": 0.16081534440820586 + } + ] + } + } + }, + { + "action_description": "向爪夹左前方移动。", + "correction_plan": "向爪夹左前方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹左前方移动。土豆与不锈钢碗的距离减小。方便向爪夹左前方移动。", + "frame": 204, + "progress": 60, + "progress_explanation": "与上一进度相比，土豆接近不锈钢碗。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。土豆与不锈钢碗的距离减小。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹左前方移动。\n", + "time": 6.802964215899222, + "annotations": { + "bbox_1769398706002": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398706002_1769398957685_dpfmpagsi", + "x": 0.5515266666823901, + "y": 0.01359643501235262, + "width": 0.11826793406406014, + "height": 0.16393797245496713 + } + ] + }, + "bbox_1769398696774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398696774_1769398965417_ebao5mcx3", + "x": 0.743565688330963, + "y": 0.2852650750805839, + "width": 0.08548078402649884, + "height": 0.10460803956650283 + } + ] + } + } + }, + { + "time": 7.685066, + "frame": 231, + "progress": 70, + "action_description": "向爪夹左前方移动。", + "state_description": "爪夹处于合拢状态。土豆与不锈钢碗的距离减小。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：向爪夹左前方移动。\n", + "progress_explanation": "与上一进度相比，土豆接近不锈钢碗。因此进度提升至70%。", + "error_success_analysis": "爪夹正确地向爪夹左前方移动。土豆与不锈钢碗的距离减小。方便向爪夹左前方移动。", + "correction_plan": "向爪夹左前方移动到不锈钢碗正上方，爪夹张开，土豆落入不锈钢碗。", + "annotations": { + "bbox_1769398696774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398696774_1769398986975_zk1thafbc", + "x": 0.7154624168701962, + "y": 0.11039790446195226, + "width": 0.10421629833367688, + "height": 0.1280277499172124 + } + ] + }, + "bbox_1769398706002": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398706002_1769398998789_ffyxgvhvv", + "x": 0.5515266666823901, + "y": 0.01047380696559134, + "width": 0.11943890370825869, + "height": 0.16549928647834777 + } + ] + } + } + }, + { + "action_description": "向爪夹左前方移动。", + "correction_plan": "爪夹张开，土豆落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹左前方移动。土豆与不锈钢碗的距离减小。方便爪夹张开。", + "frame": 278, + "progress": 80, + "progress_explanation": "与上一进度相比，土豆接近不锈钢碗。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。土豆与不锈钢碗的距离减小。\n为完成爪夹把土豆放进不锈钢碗里的任务应当：爪夹张开。", + "time": 9.272199, + "annotations": { + "bbox_1769398706002": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398706002_1769399013543_h6aorkj3o", + "x": 0.5515266666823901, + "y": 0.01828037708249454, + "width": 0.11709696441986148, + "height": 0.13583432003411564 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，土豆落入不锈钢碗里。\n已完成爪夹把土豆放进不锈钢碗里的任务。", + "frame": 358, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，土豆落入不锈钢碗里。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。土豆在不锈钢碗中。\n已完成爪夹把土豆放进不锈钢碗里的任务。", + "time": 11.933333, + "annotations": { + "bbox_1769398706002": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398706002_1769399026113_5hk20gyiv", + "x": 0.55152666668239, + "y": 0.029209575246159015, + "width": 0.11826793406406022, + "height": 0.13583432003411564 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769398696774", + "name": "土豆", + "color": "#4CAF50" + }, + { + "id": "bbox_1769398706002", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769398721638", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769398728027", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-154811-put-onion-stainless steel bowl-good/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-154811-put-onion-stainless steel bowl-good/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..e13763fac76abe0cf780ece8adbdd04ea3deacc7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-154811-put-onion-stainless steel bowl-good/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹把洋葱放进不锈钢碗里。\n开始移动:0%\n爪夹靠近洋葱:20%\n爪夹抓取洋葱:40%\n爪夹抓住洋葱接近不锈钢碗:60%\n爪夹将洋葱放入不锈钢碗:80%\n爪夹松开，洋葱落入不锈钢碗:100%", + "progress_points": [ + { + "time": 1.168699, + "frame": 35, + "progress": 0, + "action_description": "暂未移动。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把洋葱放进不锈钢碗里的任务：向爪夹前方移动。", + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "向爪夹左前方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹右上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。" + }, + { + "time": 2.8297703748962166, + "frame": 85, + "progress": 5, + "action_description": "向爪夹前方移动。", + "state_description": "爪夹处于张开状态。爪夹靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务：向爪夹左前方移动。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至5%。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，靠近了洋葱。方便向爪夹左前方移动。", + "correction_plan": "向爪夹左前方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹右上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。" + }, + { + "time": 3.9964157501566886, + "frame": 120, + "progress": 10, + "action_description": "向爪夹左前方移动。", + "state_description": "爪夹处于张开状态。爪夹靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务：向爪夹左前方移动。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至10%。", + "error_success_analysis": "爪夹正确地向爪夹左前方移动，靠近了洋葱。方便向爪夹左前方移动。", + "correction_plan": "向爪夹左前方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹右上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。" + }, + { + "time": 5.050933, + "frame": 152, + "progress": 15, + "action_description": "向爪夹左前方移动。", + "state_description": "爪夹处于张开状态。爪夹靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务：向爪夹下方移动。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至15%。", + "error_success_analysis": "爪夹正确地向爪夹左前方移动，靠近了洋葱。方便向爪夹下方移动。", + "correction_plan": "向爪夹下方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹右上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。" + }, + { + "time": 5.959598278989479, + "frame": 179, + "progress": 20, + "action_description": "向爪夹下方移动。", + "state_description": "爪夹处于张开状态。爪夹靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务：爪夹合拢。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至20%。", + "error_success_analysis": "爪夹正确地向爪夹下方移动，靠近了洋葱。方便爪夹合拢。", + "correction_plan": "爪夹合拢抓取洋葱，向爪夹右上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。" + }, + { + "time": 6.431207170646845, + "frame": 193, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹处于合拢状态。洋葱被爪夹抓取。\n为完成爪夹把洋葱放进不锈钢碗里的任务：向爪夹右上方移动。", + "progress_explanation": "与上一进度相比，爪夹合拢抓取洋葱。因此进度提升至40%。", + "error_success_analysis": "爪夹正确地合拢抓取洋葱，方便向爪夹右上方移动。", + "correction_plan": "向爪夹右上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。" + }, + { + "time": 8.046566, + "frame": 241, + "progress": 60, + "action_description": "向爪夹上方移动。", + "state_description": "爪夹处于合拢状态。洋葱与不锈钢碗的距离减小。\n为完成爪夹把洋葱放进不锈钢碗里的任务：向爪夹右上方移动。", + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至60%。", + "error_success_analysis": "爪夹正确地向爪夹上方移动，洋葱与不锈钢碗的距离减小。方便向爪夹右上方移动。", + "correction_plan": "向爪夹右上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。" + }, + { + "time": 9.309299, + "frame": 279, + "progress": 70, + "action_description": "向爪夹右上方移动。", + "state_description": "爪夹处于合拢状态。洋葱与不锈钢碗的距离减小。\n为完成爪夹把洋葱放进不锈钢碗里的任务：向爪夹下方移动。", + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至70%。", + "error_success_analysis": "爪夹正确地向爪夹右上方移动，洋葱与不锈钢碗的距离减小。方便向爪夹下方移动。", + "correction_plan": "向爪夹下方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。" + }, + { + "time": 10.07499846889763, + "frame": 302, + "progress": 80, + "action_description": "向爪夹下方移动。", + "state_description": "爪夹处于合拢状态。洋葱在不锈钢碗的正上方。\n为完成爪夹把洋葱放进不锈钢碗里的任务：爪夹张开。", + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至80%。", + "error_success_analysis": "爪夹正确地向爪夹下方移动，洋葱与不锈钢碗的距离减小。方便爪夹张开。", + "correction_plan": "爪夹张开，洋葱落入不锈钢碗。" + }, + { + "time": 12.728081533983456, + "frame": 382, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "爪夹处于张开状态。洋葱在不锈钢碗中。\n已完成爪夹把洋葱放进不锈钢碗里的任务。", + "progress_explanation": "与上一进度相比，爪夹张开，洋葱落入不锈钢碗。因此进度提升至100%。", + "error_success_analysis": "爪夹正确地张开，洋葱落入不锈钢碗。\n已完成爪夹把洋葱放进不锈钢碗里的任务。", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-154811-put-onion-stainless steel bowl-good/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-154811-put-onion-stainless steel bowl-good/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..62139ec19145c756f45294001b6ae8ee187077fe --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-154811-put-onion-stainless steel bowl-good/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,384 @@ +{ + "task_description": "爪夹把洋葱放进不锈钢碗里。\n开始移动:0%\n爪夹靠近洋葱:20%\n爪夹抓取洋葱:40%\n爪夹抓住洋葱接近不锈钢碗:60%\n爪夹将洋葱放入不锈钢碗:80%\n爪夹松开，洋葱落入不锈钢碗:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱。向爪夹前上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹右前方移动。", + "time": 0.9186660896899727, + "annotations": { + "bbox_1769408094600": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408094600_1769408129708_so703t5sy", + "x": 0.571084258585789, + "y": 0.48360106686511667, + "width": 0.1012048118348777, + "height": 0.13975903614457832 + } + ] + }, + "bbox_1769408100448": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408100448_1769408141556_olb1xhb93", + "x": 0.6590360593470519, + "y": 0.2121151230900163, + "width": 0.14939757937529566, + "height": 0.15903614457831328 + } + ] + }, + "point_1769408109368": { + "type": "point", + "instances": [ + { + "id": "point_1769408109368_1769408148124_p9p3hx90j", + "x": 0.3506023470883769, + "y": 0.29886211104182353 + } + ] + }, + "point_1769408116988": { + "type": "point", + "instances": [ + { + "id": "point_1769408116988_1769408158492_adshvi42t", + "x": 0.4542167973002756, + "y": 0.3101070909615023 + } + ] + } + } + }, + { + "time": 3.064533, + "frame": 92, + "progress": 5, + "action_description": "向爪夹前上方移动。", + "state_description": "爪夹处于张开状态。靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至5%。", + "error_success_analysis": "爪夹正确地向爪夹前上方移动，爪夹靠近了洋葱。方便向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱。向爪夹前上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769408094600": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408094600_1769408181725_sucxpy3p9", + "x": 0.5686746202087682, + "y": 0.4819946411623055, + "width": 0.10240963102338804, + "height": 0.13815261044176713 + } + ] + }, + "bbox_1769408100448": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408100448_1769408194093_fskn86mf0", + "x": 0.6602408785355622, + "y": 0.2105086973872051, + "width": 0.14819276018678523, + "height": 0.157429718875502 + } + ] + } + } + }, + { + "time": 4.159999253645878, + "frame": 125, + "progress": 10, + "action_description": "向爪夹右前方移动。", + "state_description": "爪夹处于张开状态。靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至10%。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，靠近了洋葱。方便向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱。向爪夹前上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769408094600": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408094600_1769408207775_l1pslvnk0", + "x": 0.5662649818317473, + "y": 0.4803882154594942, + "width": 0.10361445021189856, + "height": 0.13815261044176713 + } + ] + }, + "bbox_1769408100448": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408100448_1769408220297_z67koi6fh", + "x": 0.6602408785355622, + "y": 0.21211512309001632, + "width": 0.14819276018678523, + "height": 0.16064257028112452 + } + ] + } + } + }, + { + "time": 5.3213325262931805, + "frame": 160, + "progress": 15, + "action_description": "向爪夹右前方移动。", + "state_description": "爪夹处于张开状态。靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至15%。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，靠近了洋葱。方便向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱。向爪夹前上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。" + }, + { + "time": 6.337066, + "frame": 190, + "progress": 20, + "action_description": "向爪夹右前方移动。", + "state_description": "爪夹处于张开状态。靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：爪夹合拢。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至20%。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，靠近了洋葱。方便爪夹合拢。", + "correction_plan": "爪夹合拢抓取洋葱。向爪夹前上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769408094600": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408094600_1769408273135_2trbai3kc", + "x": 0.5686746202087682, + "y": 0.49966532389322915, + "width": 0.08674698157275236, + "height": 0.10763052208835346 + } + ] + }, + "bbox_1769408100448": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408100448_1769408278171_x7392rqby", + "x": 0.6602408785355623, + "y": 0.21050869738720507, + "width": 0.14819276018678512, + "height": 0.16064257028112452 + } + ] + } + } + }, + { + "time": 7.193332428470923, + "frame": 216, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹处于合拢状态。洋葱被爪夹抓取。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹前上方移动。", + "progress_explanation": "与上一进度相比，爪夹合拢抓取洋葱。因此进度提升至40%。", + "error_success_analysis": "爪夹正确地合拢抓取洋葱。方便向爪夹前上方移动。", + "correction_plan": "向爪夹前上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769408094600": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408094600_1769408296617_xosbej69i", + "x": 0.5746987161513204, + "y": 0.5060910267044741, + "width": 0.09036143913828373, + "height": 0.09638554216867472 + } + ] + }, + "bbox_1769408100448": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408100448_1769408308917_1s8l9i6hn", + "x": 0.6566264209700309, + "y": 0.2137215487928276, + "width": 0.1518072177523166, + "height": 0.15903614457831325 + } + ] + } + } + }, + { + "time": 8.770665679379945, + "frame": 263, + "progress": 60, + "action_description": "向爪夹前上方移动。", + "state_description": "爪夹处于合拢状态。洋葱与不锈钢碗距离减小。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹前上方移动。", + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至60%。", + "error_success_analysis": "爪夹正确地向爪夹前上方移动，洋葱与不锈钢碗距离减小。方便继续向爪夹前上方移动。", + "correction_plan": "向爪夹前上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769408094600": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408094600_1769408323049_thhg8pi29", + "x": 0.5759035353398309, + "y": 0.1044846010016629, + "width": 0.11927709966253444, + "height": 0.1365461847389558 + } + ] + }, + "bbox_1769408100448": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408100448_1769408345362_heu1zqgp8", + "x": 0.6662649744781145, + "y": 0.21372154879282756, + "width": 0.1433734834327435, + "height": 0.157429718875502 + } + ] + } + } + }, + { + "time": 10.27866560057868, + "frame": 308, + "progress": 70, + "action_description": "向爪夹前上方移动。", + "state_description": "爪夹处于合拢状态。洋葱与不锈钢碗距离减小。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹前上方移动。", + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至70%。", + "error_success_analysis": "爪夹正确地向爪夹前上方移动，洋葱与不锈钢碗距离减小。方便继续向爪夹前上方移动。", + "correction_plan": "向爪夹前上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769408094600": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408094600_1769408366519_871bkqs1e", + "x": 0.6578312401585414, + "y": 0.12054885802977536, + "width": 0.09397589670381504, + "height": 0.11566265060240964 + } + ] + }, + "bbox_1769408100448": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408100448_1769408374631_nomxb0vmq", + "x": 0.6614456977240727, + "y": 0.2153279744956388, + "width": 0.14698794099827478, + "height": 0.15582329317269075 + } + ] + } + } + }, + { + "time": 11.301333, + "frame": 339, + "progress": 80, + "action_description": "向爪夹前上方移动。", + "state_description": "爪夹处于合拢状态。洋葱与不锈钢碗距离减小。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：爪夹张开。", + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至80%。", + "error_success_analysis": "爪夹正确地向爪夹前上方移动，洋葱与不锈钢碗距离减小。方便爪夹张开。", + "correction_plan": "爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769408094600": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408094600_1769408403415_855cez5p5", + "x": 0.6819276239287503, + "y": 0.15910307489724523, + "width": 0.09156625832679417, + "height": 0.10763052208835341 + } + ] + }, + "bbox_1769408100448": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408100448_1769408414317_v4bo6sotl", + "x": 0.6590360593470519, + "y": 0.2217536773068838, + "width": 0.14939757937529566, + "height": 0.14457831325301204 + } + ] + } + } + }, + { + "time": 13.2288, + "frame": 397, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "爪夹处于张开状态。洋葱在不锈钢碗中。\n已完成爪夹把洋葱放进不锈钢碗里的任务。", + "progress_explanation": "与上一进度相比，爪夹张开，洋葱落入不锈钢碗。因此进度提升至100%。", + "error_success_analysis": "爪夹正确地张开，洋葱落入不锈钢碗。\n已完成爪夹把洋葱放进不锈钢碗里的任务。", + "correction_plan": "", + "annotations": { + "bbox_1769408094600": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408094600_1769408431350_sc2aowvp8", + "x": 0.6855420814942818, + "y": 0.22014725160407256, + "width": 0.09036143913828365, + "height": 0.12048192771084339 + } + ] + }, + "bbox_1769408100448": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408100448_1769408441447_saod01qoe", + "x": 0.6602408785355622, + "y": 0.2153279744956388, + "width": 0.14939757937529574, + "height": 0.15582329317269075 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769408094600", + "name": "洋葱", + "color": "#4CAF50" + }, + { + "id": "bbox_1769408100448", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769408109368", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769408116988", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-161548-put-onion-stainless steel bowl-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-161548-put-onion-stainless steel bowl-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..2bf584ed13ca48d482e87d5bb893e8a386246180 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-161548-put-onion-stainless steel bowl-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,646 @@ +{ + "task_description": "爪夹把洋葱放进不锈钢碗里。\n开始移动:0%\n爪夹靠近洋葱:20%\n爪夹抓取洋葱:40%\n爪夹抓住洋葱接近不锈钢碗:60%\n爪夹将洋葱放入不锈钢碗:80%\n爪夹松开，洋葱落入不锈钢碗:100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1769410811230": { + "instances": [ + { + "height": 0.14779116465863448, + "id": "bbox_1769410811230_1769410853091_yq984lnlr", + "width": 0.11566264209700305, + "x": 0.47469872350495323, + "y": 0.4659303841341931 + } + ], + "type": "bbox" + }, + "bbox_1769410817015": { + "instances": [ + { + "height": 0.20562248995983937, + "id": "bbox_1769410817015_1769410864952_3lipjw6pe", + "width": 0.1807228782765673, + "x": 0.24698789687647835, + "y": 0.40327978172455453 + } + ], + "type": "bbox" + }, + "point_1769410822694": { + "instances": [ + { + "id": "point_1769410822694_1769410871594_expg32vap", + "x": 0.4168674024564516, + "y": 0.48520749256792794 + } + ], + "type": "point" + }, + "point_1769410827638": { + "instances": [ + { + "id": "point_1769410827638_1769410873673_ns82xs43q", + "x": 0.6409637715193951, + "y": 0.4884203439735505 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹左上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹右前方移动。", + "time": 1.010799 + }, + { + "action_description": "向爪夹右方移动。", + "annotations": { + "bbox_1769410811230": { + "instances": [ + { + "height": 0.13493975903614472, + "id": "bbox_1769410811230_1769410900247_7v3bxegg2", + "width": 0.0999999926463671, + "x": 0.4493975205462338, + "y": 0.5528558570218374 + } + ], + "type": "bbox" + }, + "bbox_1769410817015": { + "instances": [ + { + "height": 0.19919678714859432, + "id": "bbox_1769410817015_1769410915620_cz4l084h0", + "width": 0.14698794099827478, + "x": 0.25421681200754104, + "y": 0.5025211931711221 + } + ], + "type": "bbox" + }, + "point_1769410822694": { + "instances": [ + { + "id": "point_1769410822694_1769410928252_ckx4rovwp", + "x": 0.40963848732538893, + "y": 0.48806336184582083 + } + ], + "type": "point" + }, + "point_1769410827638": { + "instances": [ + { + "id": "point_1769410827638_1769410910599_lekjac1ao", + "x": 0.643373409896416, + "y": 0.48645693614300956 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹下方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹左上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹右方移动，爪夹靠近洋葱。方便向爪夹下方移动。", + "frame": 65, + "progress": 5, + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至5%。", + "state_description": "爪夹处于张开状态。爪夹靠近洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹下方移动。", + "time": 2.177874326486639 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1769410811230": { + "instances": [ + { + "height": 0.22971887550200804, + "id": "bbox_1769410811230_1769410956063_xeibwgp68", + "width": 0.1590361328833793, + "x": 0.35421680465390826, + "y": 0.39524765321049826 + } + ], + "type": "bbox" + }, + "bbox_1769410817015": { + "instances": [ + { + "height": 0.31164658634538145, + "id": "bbox_1769410817015_1769410935189_vtkxjs6ie", + "width": 0.17108432476848376, + "x": 0.12409633964841253, + "y": 0.3663319905598959 + } + ], + "type": "bbox" + }, + "point_1769410822694": { + "instances": [ + { + "id": "point_1769410822694_1769410978966_vvwgvp0xz", + "x": 0.41445776407943075, + "y": 0.48520749256792794 + } + ], + "type": "point" + }, + "point_1769410827638": { + "instances": [ + { + "id": "point_1769410827638_1769410987683_gy9j1dt21", + "x": 0.6409637715193951, + "y": 0.4803882154594942 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹左上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹右下方移动，爪夹靠近洋葱。方便向爪夹左方移动。", + "frame": 93, + "progress": 18, + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至18%。", + "state_description": "爪夹处于张开状态。爪夹靠近洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹左方移动。", + "time": 3.0856 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769410811230": { + "instances": [ + { + "height": 0.274698795180723, + "id": "bbox_1769410811230_1769410995658_lc50x2s95", + "width": 0.20120480448124498, + "x": 0.24819271606498877, + "y": 0.30689423955587974 + } + ], + "type": "bbox" + }, + "bbox_1769410817015": { + "instances": [ + { + "height": 0.3630522088353414, + "id": "bbox_1769410817015_1769411006301_5xctmf3z9", + "width": 0.16265059044891061, + "x": 0.0445782732067229, + "y": 0.3020749624474461 + } + ], + "type": "bbox" + }, + "point_1769410822694": { + "instances": [ + { + "id": "point_1769410822694_1769411014065_gj35t9qpm", + "x": 0.5204818526683502, + "y": 0.4755689383510605 + } + ], + "type": "point" + }, + "point_1769410827638": { + "instances": [ + { + "id": "point_1769410827638_1769411016625_4vdn95hnl", + "x": 0.536144502118986, + "y": 0.472356086945438 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开。向爪夹左方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹左上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "error_success_analysis": "爪夹错误地合拢，未抓取到洋葱。应当爪夹张开。", + "frame": 113, + "progress": 2, + "progress_explanation": "与上一进度相比，爪夹合拢，但未抓取到洋葱。因此进度减小至2%。", + "state_description": "爪夹处于合拢状态。未抓取到洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：爪夹张开。", + "time": 3.7639 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769410811230": { + "instances": [ + { + "height": 0.15903614457831333, + "id": "bbox_1769410811230_1769411025493_ar13r6m00", + "width": 0.12168673803955535, + "x": 0.3385541552032725, + "y": 0.538219540760699 + } + ], + "type": "bbox" + }, + "bbox_1769410817015": { + "instances": [ + { + "height": 0.23453815261044172, + "id": "bbox_1769410817015_1769411032977_jmx5i7ay2", + "width": 0.13855420667870164, + "x": 0.14698790423011107, + "y": 0.49645247248760677 + } + ], + "type": "bbox" + }, + "point_1769410822694": { + "instances": [ + { + "id": "point_1769410822694_1769411048792_9f67vrph1", + "x": 0.4120481257024098, + "y": 0.478781789756683 + } + ], + "type": "point" + }, + "point_1769410827638": { + "instances": [ + { + "id": "point_1769410827638_1769411051201_jra5k0a10", + "x": 0.6445782290849265, + "y": 0.478781789756683 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹左上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "error_success_analysis": "爪夹正确地张开，方便向爪夹左方移动。", + "frame": 154, + "progress": 15, + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至15%。", + "state_description": "爪夹处于张开状态。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹左方移动。", + "time": 5.1471 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769410811230": { + "instances": [ + { + "height": 0.27469879518072293, + "id": "bbox_1769410811230_1769411074151_x1jidyjq4", + "width": 0.2024096236697554, + "x": 0.43975896703815015, + "y": 0.42255689015828946 + } + ], + "type": "bbox" + }, + "bbox_1769410817015": { + "instances": [ + { + "height": 0.334136546184739, + "id": "bbox_1769410817015_1769411062107_egpgnx2ay", + "width": 0.22650600743996438, + "x": 0.13012043559096478, + "y": 0.36472556485708457 + } + ], + "type": "bbox" + }, + "point_1769410822694": { + "instances": [ + { + "id": "point_1769410822694_1769411086422_jboghy010", + "x": 0.41445776407943075, + "y": 0.4755689383510605 + } + ], + "type": "point" + }, + "point_1769410827638": { + "instances": [ + { + "id": "point_1769410827638_1769411088840_ku0qipkia", + "x": 0.6445782290849265, + "y": 0.4803882154594942 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取洋葱，向爪夹左上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹左方移动，在洋葱正上方。方便爪夹合拢。", + "frame": 201, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。在洋葱正上方。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：爪夹合拢。", + "time": 6.7165 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769410811230": { + "instances": [ + { + "height": 0.29236947791164664, + "id": "bbox_1769410811230_1769411105393_rguhzuvnw", + "width": 0.22409636906294353, + "x": 0.41445776407943075, + "y": 0.4080990588329882 + } + ], + "type": "bbox" + }, + "bbox_1769410817015": { + "instances": [ + { + "height": 0.3662650602409639, + "id": "bbox_1769410817015_1769411095593_k3ddhkj6h", + "width": 0.23734938013655843, + "x": 0.10843369019777668, + "y": 0.32777777369242594 + } + ], + "type": "bbox" + }, + "point_1769410822694": { + "instances": [ + { + "id": "point_1769410822694_1769411113844_1lqq9bvyp", + "x": 0.41927704083347256, + "y": 0.478781789756683 + } + ], + "type": "point" + }, + "point_1769410827638": { + "instances": [ + { + "id": "point_1769410827638_1769411115977_csr5t9jvb", + "x": 0.6313252180113115, + "y": 0.4755689383510605 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "error_success_analysis": "爪夹正确地合拢抓取洋葱。方便向爪夹左上方移动。", + "frame": 214, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹合拢抓取洋葱。因此进度提升至40%。", + "state_description": "爪夹处于合拢状态。洋葱被爪夹抓取。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹左上方移动。", + "time": 7.148748947239002 + }, + { + "action_description": "向爪夹上方移动。", + "annotations": { + "bbox_1769410811230": { + "instances": [ + { + "height": 0.29236947791164664, + "id": "bbox_1769410811230_1769411149004_z01dztz73", + "width": 0.2228915498744331, + "x": 0.4120481257024098, + "y": 0.4064926331301769 + } + ], + "type": "bbox" + }, + "bbox_1769410817015": { + "instances": [ + { + "height": 0.27951807228915665, + "id": "bbox_1769410817015_1769411138811_088l4m5df", + "width": 0.1674698672029524, + "x": 0.16626501124627827, + "y": 0.3759705447767633 + } + ], + "type": "bbox" + }, + "point_1769410822694": { + "instances": [ + { + "id": "point_1769410822694_1769411167639_l64xxavsz", + "x": 0.4289155943415561, + "y": 0.4739625126482493 + } + ], + "type": "point" + }, + "point_1769410827638": { + "instances": [ + { + "id": "point_1769410827638_1769411169594_g467vld2x", + "x": 0.632530037199822, + "y": 0.4755689383510605 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左上方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹上方移动，洋葱与不锈钢碗的距离减小。方便向爪夹左上方移动。", + "frame": 260, + "progress": 60, + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至60%。", + "state_description": "爪夹处于合拢状态。洋葱与不锈钢碗的距离减小。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹左上方移动。", + "time": 8.678248830547423 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769410811230": { + "instances": [ + { + "height": 0.29236947791164664, + "id": "bbox_1769410811230_1769411304886_styp1xr9m", + "width": 0.22409636906294353, + "x": 0.41445776407943075, + "y": 0.41131191023861075 + } + ], + "type": "bbox" + }, + "bbox_1769410817015": { + "instances": [ + { + "height": 0.2506024096385542, + "id": "bbox_1769410817015_1769411176066_k1mli92b0", + "width": 0.19397588935018226, + "x": 0.36506017735050234, + "y": 0.3374163279092935 + } + ], + "type": "bbox" + }, + "point_1769410822694": { + "instances": [ + { + "id": "point_1769410822694_1769411294280_dnhv9ddpk", + "x": 0.4277107751530457, + "y": 0.4739625126482493 + } + ], + "type": "point" + }, + "point_1769410827638": { + "instances": [ + { + "id": "point_1769410827638_1769411296828_itans18ur", + "x": 0.6337348563883325, + "y": 0.47074966124262674 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹左方移动，洋葱与不锈钢碗的距离减小。方便向爪夹左方移动。", + "frame": 289, + "progress": 70, + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至70%。", + "state_description": "爪夹处于合拢状态。洋葱与不锈钢碗的距离减小。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹左上方移动。", + "time": 9.625873758249378 + }, + { + "action_description": "向爪夹左方移动。", + "annotations": { + "bbox_1769410811230": { + "instances": [ + { + "height": 0.29558232931726913, + "id": "bbox_1769410811230_1769411219356_fqcajwjv5", + "width": 0.22409636906294345, + "x": 0.4120481257024099, + "y": 0.40970548453579947 + } + ], + "type": "bbox" + }, + "bbox_1769410817015": { + "instances": [ + { + "height": 0.2746987951807229, + "id": "bbox_1769410817015_1769411231588_wcaxp6low", + "width": 0.20963853880081817, + "x": 0.39759029544028446, + "y": 0.35829986204583963 + } + ], + "type": "bbox" + }, + "point_1769410822694": { + "instances": [ + { + "id": "point_1769410822694_1769411312374_su04zfjbe", + "x": 0.4289155943415561, + "y": 0.478781789756683 + } + ], + "type": "point" + }, + "point_1769410827638": { + "instances": [ + { + "id": "point_1769410827638_1769411314124_91ne9fizu", + "x": 0.6313252180113115, + "y": 0.47074966124262674 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，洋葱落入不锈钢碗。", + "error_success_analysis": "爪夹正确地向爪夹左方移动，洋葱在不锈钢碗的正上方。方便爪夹张开。", + "frame": 318, + "progress": 80, + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。洋葱在不锈钢碗的正上方。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：爪夹张开。", + "time": 10.606748683414558 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769410811230": { + "instances": [ + { + "height": 0.16867469879518068, + "id": "bbox_1769410811230_1769411243974_e1ucl5s08", + "width": 0.12409637641657634, + "x": 0.42409631758751426, + "y": 0.4273761672667232 + } + ], + "type": "bbox" + }, + "bbox_1769410817015": { + "instances": [ + { + "height": 0.2827309236947791, + "id": "bbox_1769410817015_1769411258032_4zs6itt1h", + "width": 0.20963853880081812, + "x": 0.38795174193220083, + "y": 0.35829986204583963 + } + ], + "type": "bbox" + }, + "point_1769410822694": { + "instances": [ + { + "id": "point_1769410822694_1769411317974_ipv37mqq7", + "x": 0.4132529448909203, + "y": 0.4836010668651168 + } + ], + "type": "point" + }, + "point_1769410827638": { + "instances": [ + { + "id": "point_1769410827638_1769411319960_wse0uda02", + "x": 0.643373409896416, + "y": 0.478781789756683 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹正确地张开，洋葱落入不锈钢碗中。\n已完成爪夹把洋葱放进不锈钢碗里的任务。", + "frame": 378, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹张开，洋葱落入不锈钢碗中。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。洋葱在不锈钢碗中。\n已完成爪夹把洋葱放进不锈钢碗里的任务。", + "time": 12.5951 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769410811230", + "name": "洋葱" + }, + { + "color": "#FF9800", + "id": "bbox_1769410817015", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769410822694", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769410827638", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-163812-put-onion-stainless steel bowl-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-163812-put-onion-stainless steel bowl-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4aa2f4380072d2a2d6b667e4817572316a2f81ac --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-163812-put-onion-stainless steel bowl-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,668 @@ +{ + "task_description": "爪夹把洋葱放进不锈钢碗里。\n开始移动:0%\n爪夹靠近洋葱:20%\n爪夹抓取洋葱:40%\n爪夹抓住洋葱接近不锈钢碗:60%\n爪夹将洋葱放入不锈钢碗:80%\n爪夹松开，洋葱落入不锈钢碗:100%", + "progress_points": [ + { + "time": 1.0103326823297742, + "frame": 30, + "progress": 0, + "action_description": "暂未移动。", + "state_description": "爪夹处于张开状态。爪夹没有移动。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769413967503_o3arwtpbx", + "x": 0.11566260532883939, + "y": 0.5526773720860002, + "width": 0.08192770481871052, + "height": 0.1140562248995985 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769413990479_9ksi61om6", + "x": 0.39879511462879486, + "y": 0.2972556853390123, + "width": 0.11204818453147176, + "height": 0.14779116465863454 + } + ] + }, + "point_1769413931572": { + "type": "point", + "instances": [ + { + "id": "point_1769413931572_1769414002596_w8dhcg3o5", + "x": 0.4337348710955979, + "y": 0.19123158895347014 + } + ] + }, + "point_1769413949837": { + "type": "point", + "instances": [ + { + "id": "point_1769413949837_1769414011348_zq4r6n2e1", + "x": 0.5192770334798398, + "y": 0.18159303473660268 + } + ] + } + } + }, + { + "time": 1.991799, + "frame": 60, + "progress": 5, + "action_description": "向爪夹前方移动。", + "state_description": "爪夹处于张开状态。靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至5%。", + "error_success_analysis": "爪夹正确地向爪夹前方移动，靠近了洋葱。方便向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414017611_pnsj03frm", + "x": 0.11686742451734985, + "y": 0.5591030748972453, + "width": 0.08313252400722096, + "height": 0.10763052208835346 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414028337_l6733k8x7", + "x": 0.3975902954402844, + "y": 0.2988621110418236, + "width": 0.1156626420970032, + "height": 0.14779116465863454 + } + ] + }, + "point_1769413931572": { + "type": "point", + "instances": [ + { + "id": "point_1769413931572_1769414039943_7c2rfaggn", + "x": 0.4337348710955979, + "y": 0.10930387811009663 + } + ] + }, + "point_1769413949837": { + "type": "point", + "instances": [ + { + "id": "point_1769413949837_1769414042359_9p1ddmznk", + "x": 0.527710767799413, + "y": 0.08842034397355046 + } + ] + } + } + }, + { + "time": 3.012957483291627, + "frame": 90, + "progress": 10, + "action_description": "向爪夹右前方移动。", + "state_description": "爪夹处于张开状态。靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至10%。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，靠近了洋葱。方便向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414047783_9qzcok591", + "x": 0.11566260532883939, + "y": 0.5558902234916229, + "width": 0.08433734319573143, + "height": 0.11084337349397586 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414054147_pees5td6e", + "x": 0.39759029544028446, + "y": 0.2956492596362011, + "width": 0.11445782290849257, + "height": 0.14779116465863454 + } + ] + }, + "point_1769413931572": { + "type": "point", + "instances": [ + { + "id": "point_1769413931572_1769414061557_wmlodathk", + "x": 0.2734939190237082, + "y": 0.2956492596362011 + } + ] + }, + "point_1769413949837": { + "type": "point", + "instances": [ + { + "id": "point_1769413949837_1769414063987_9df019ll2", + "x": 0.37831318842411726, + "y": 0.2940428339333898 + } + ] + } + } + }, + { + "time": 3.882566, + "frame": 116, + "progress": 17, + "action_description": "向爪夹右前方移动。", + "state_description": "爪夹处于张开状态。靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹左前方移动。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至17%。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动，靠近了洋葱。方便向爪夹左前方移动。", + "correction_plan": "向爪夹左前方移动到洋葱正上方，爪夹合拢抓取洋葱，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414071063_vzeqazidj", + "x": 0.11686742451734984, + "y": 0.5526773720860003, + "width": 0.08072288563020007, + "height": 0.11566265060240966 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414087825_ynyamwbmf", + "x": 0.396385476251774, + "y": 0.29886211104182353, + "width": 0.11445782290849263, + "height": 0.14457831325301207 + } + ] + }, + "point_1769413931572": { + "type": "point", + "instances": [ + { + "id": "point_1769413931572_1769414093163_bfnekob1a", + "x": 0.0891565831816095, + "y": 0.42576974156391195 + } + ] + }, + "point_1769413949837": { + "type": "point", + "instances": [ + { + "id": "point_1769413949837_1769414096003_r0cplhxza", + "x": 0.15180718098415286, + "y": 0.4691432355398156 + } + ] + } + } + }, + { + "time": 4.705266, + "frame": 141, + "progress": 18, + "action_description": "向爪夹左前方移动。", + "state_description": "爪夹处于张开状态。靠近了洋葱。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：爪夹合拢。", + "progress_explanation": "与上一进度相比，爪夹与洋葱距离减小。因此进度提升至18%。", + "error_success_analysis": "爪夹正确地向爪夹左前方移动，靠近了洋葱。方便爪夹合拢。", + "correction_plan": "爪夹合拢抓取洋葱，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414102319_4n36kpxm7", + "x": 0.11927706289437072, + "y": 0.5655287777084903, + "width": 0.0759036088761583, + "height": 0.1012048192771084 + } + ] + }, + "point_1769413949837": { + "type": "point", + "instances": [ + { + "id": "point_1769413949837_1769414112042_tx6li17cs", + "x": 0.19036139501648722, + "y": 0.623360103009695 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414118744_vr06rjvrj", + "x": 0.396385476251774, + "y": 0.30046853674463475, + "width": 0.11566264209700305, + "height": 0.1477911646586346 + } + ] + } + } + }, + { + "time": 5.791373873815279, + "frame": 174, + "progress": 2, + "action_description": "爪夹合拢。", + "state_description": "爪夹处于合拢状态。洋葱未被抓取。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：爪夹张开。", + "progress_explanation": "与上一进度相比，爪夹合拢但未抓取到洋葱。因此进度减小至2%。", + "error_success_analysis": "爪夹合拢，但未抓取到洋葱。应当爪夹张开。", + "correction_plan": "爪夹张开，爪夹再次合拢抓取洋葱，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414157943_jqjqo5qd3", + "x": 0.13132525477947524, + "y": 0.5446452435719441, + "width": 0.07590360887615828, + "height": 0.1140562248995984 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414183806_j7iohc021", + "x": 0.39759029544028446, + "y": 0.29886211104182353, + "width": 0.11325300371998219, + "height": 0.14457831325301207 + } + ] + } + } + }, + { + "time": 7.101199, + "frame": 213, + "progress": 20, + "action_description": "爪夹张开。", + "state_description": "爪夹处于张开状态。在洋葱正上方。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：爪夹合拢。", + "progress_explanation": "与上一进度相比，爪夹张开。因此进度提升至20%。", + "error_success_analysis": "爪夹正确地张开。方便爪夹合拢。", + "correction_plan": "爪夹合拢抓取洋葱，向爪夹左后方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414198163_doztpcwp0", + "x": 0.13734935072202747, + "y": 0.5269745608410203, + "width": 0.07831324725317919, + "height": 0.10602409638554212 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414208014_9z53axylt", + "x": 0.39879511462879486, + "y": 0.29886211104182353, + "width": 0.11204818453147176, + "height": 0.14618473895582335 + } + ] + } + } + }, + { + "time": 8.226998631741855, + "frame": 247, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹处于合拢状态。洋葱被爪夹抓取。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹左后方移动。", + "progress_explanation": "与上一进度相比，爪夹合拢抓取洋葱。因此进度提升至40%。", + "error_success_analysis": "爪夹正确地合拢抓取洋葱。方便向爪夹左后方移动。", + "correction_plan": "向爪夹左后方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414224808_5tjp422nv", + "x": 0.14457826585309014, + "y": 0.5221552837325867, + "width": 0.07710842806466875, + "height": 0.11244979919678713 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414235225_ahhltcr1e", + "x": 0.3987951146287949, + "y": 0.29725568533901225, + "width": 0.11204818453147172, + "height": 0.15100401606425706 + } + ] + } + } + }, + { + "time": 9.482699, + "frame": 284, + "progress": 50, + "action_description": "向爪夹左后方移动。", + "state_description": "爪夹处于合拢状态。洋葱与不锈钢碗距离减小。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹左后方移动。", + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至50%。", + "error_success_analysis": "爪夹正确地向爪夹左后方移动，洋葱与不锈钢碗距离减小。方便继续向爪夹左后方移动。", + "correction_plan": "向爪夹左后方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414254922_cbyueg4dy", + "x": 0.19036139501648722, + "y": 0.4241633158611007, + "width": 0.08433734319573145, + "height": 0.11566265060240966 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414266866_fo76lg50d", + "x": 0.396385476251774, + "y": 0.2972556853390123, + "width": 0.11325300371998219, + "height": 0.14779116465863454 + } + ] + } + } + }, + { + "time": 10.428081746312543, + "frame": 313, + "progress": 60, + "action_description": "向爪夹左后方移动。", + "state_description": "爪夹处于合拢状态。洋葱与不锈钢碗距离减小。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：爪夹下降。", + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至60%。", + "error_success_analysis": "爪夹正确地向爪夹左后方移动，洋葱与不锈钢碗距离减小。方便爪夹下降。", + "correction_plan": "爪夹下降到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414279060_c5ggbvgz1", + "x": 0.40361439138283667, + "y": 0.19123158895347014, + "width": 0.08554216238424184, + "height": 0.10763052208835339 + } + ] + }, + "point_1769413931572": { + "type": "point", + "instances": [ + { + "id": "point_1769413931572_1769414285249_xiyy151io", + "x": 0.40361439138283667, + "y": 0.2699464483912211 + } + ] + }, + "point_1769413949837": { + "type": "point", + "instances": [ + { + "id": "point_1769413949837_1769414287659_4ewell4tt", + "x": 0.4879517345785681, + "y": 0.2699464483912211 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414292558_w68j1m1t9", + "x": 0.396385476251774, + "y": 0.2988621110418236, + "width": 0.11445782290849263, + "height": 0.14939759036144576 + } + ] + } + } + }, + { + "time": 10.897166, + "frame": 327, + "progress": 55, + "action_description": "向爪夹左后方移动。", + "state_description": "爪夹处于合拢状态。洋葱与不锈钢碗距离增大。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：向爪夹右前方移动。", + "progress_explanation": "与上一进度相比，洋葱远离不锈钢碗。因此进度减小至55%。", + "error_success_analysis": "爪夹错误地向爪夹左后方移动，洋葱与不锈钢碗距离增大。应当向爪夹右前方移动。", + "correction_plan": "向爪夹右前方移动到不锈钢碗正上方，爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414304609_h4wouqppo", + "x": 0.4638553508083592, + "y": 0.16070950060005648, + "width": 0.08192770481871045, + "height": 0.10441767068273092 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414312143_cc1nfkujr", + "x": 0.39518065706326355, + "y": 0.2988621110418236, + "width": 0.11686746128551354, + "height": 0.14939759036144576 + } + ] + }, + "point_1769413931572": { + "type": "point", + "instances": [ + { + "id": "point_1769413931572_1769414319149_1kod2phjm", + "x": 0.46506016999686955, + "y": 0.23460508292937376 + } + ] + }, + "point_1769413949837": { + "type": "point", + "instances": [ + { + "id": "point_1769413949837_1769414321727_zxhr29lfi", + "x": 0.549397513192601, + "y": 0.22014725160407256 + } + ] + } + } + }, + { + "time": 11.777599, + "frame": 353, + "progress": 80, + "action_description": "向爪夹右前方移动。", + "state_description": "爪夹处于合拢状态。洋葱与不锈钢碗距离增减小。\n为完成爪夹把洋葱放进不锈钢碗里的任务应当：爪夹张开。", + "progress_explanation": "与上一进度相比，洋葱靠近不锈钢碗。因此进度提升至80%。", + "error_success_analysis": "爪夹正确地向爪夹右前方移动。，洋葱与不锈钢碗距离增大。应当爪夹张开。", + "correction_plan": "爪夹张开，洋葱落入不锈钢碗。", + "annotations": { + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414329333_8fo68wd6b", + "x": 0.39277101868624265, + "y": 0.2892235568249561, + "width": 0.08674698157275232, + "height": 0.10281124497991966 + } + ] + }, + "point_1769413931572": { + "type": "point", + "instances": [ + { + "id": "point_1769413931572_1769414334603_s3fk1ie40", + "x": 0.3915661994977322, + "y": 0.35508701064021714 + } + ] + }, + "point_1769413949837": { + "type": "point", + "instances": [ + { + "id": "point_1769413949837_1769414336974_b8q8qskmm", + "x": 0.47831318107048454, + "y": 0.35829986204583963 + } + ] + }, + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414342530_gvhs6vk9i", + "x": 0.39879511462879486, + "y": 0.29886211104182353, + "width": 0.11325300371998219, + "height": 0.14136546184738955 + } + ] + } + } + }, + { + "time": 13.819914742536222, + "frame": 415, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "爪夹处于张开状态。洋葱在不锈钢碗中。\n已完成爪夹把洋葱放进不锈钢碗里的任务。", + "progress_explanation": "与上一进度相比，爪夹张开，洋葱落入不锈钢碗中。因此进度提升至100%。", + "error_success_analysis": "爪夹正确地张开，洋葱落入不锈钢碗中。\n已完成爪夹把洋葱放进不锈钢碗里的任务。", + "correction_plan": "", + "annotations": { + "bbox_1769413920894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413920894_1769414360892_57pnlvj0o", + "x": 0.3987951146287949, + "y": 0.3004685367446348, + "width": 0.11084336534296128, + "height": 0.14618473895582335 + } + ] + }, + "point_1769413931572": { + "type": "point", + "instances": [ + { + "id": "point_1769413931572_1769414369376_zi6uwj953", + "x": 0.37590355004709636, + "y": 0.3647255648570846 + } + ] + }, + "point_1769413949837": { + "type": "point", + "instances": [ + { + "id": "point_1769413949837_1769414371363_wm43hfoca", + "x": 0.47228908512793233, + "y": 0.3599062877486509 + } + ] + }, + "bbox_1769389015639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769389015639_1769414376798_imf93om9n", + "x": 0.28313247253179175, + "y": 0.8932396210819843, + "width": 0.09759035426934637, + "height": 0.06907630522088344 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769389015639", + "name": "洋葱" + }, + { + "id": "bbox_1769413920894", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769413931572", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769413949837", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-170221-put-bitter gourd-stainless bowl-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-170221-put-bitter gourd-stainless bowl-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..4d08b14f80544c19602e302a6fed2e8d2b1a5a69 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-170221-put-bitter gourd-stainless bowl-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,458 @@ +{ + "task_description": "抓取苦瓜放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近苦瓜：20%\n爪夹抓取苦瓜：40%\n爪夹夹紧苦瓜接近不锈钢碗：60%\n爪夹夹紧苦瓜靠近不锈钢碗：80%\n爪夹松开苦瓜落到不锈钢碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769242625137": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1769242625137_1769242656389_8uyo3wn34", + "width": 0.12399999999999993, + "x": 0.6515000000000001, + "y": 0.32933333333333337 + } + ], + "type": "bbox" + }, + "bbox_1769242631943": { + "instances": [ + { + "height": 0.13733333333333336, + "id": "bbox_1769242631943_1769242660769_uwfupe3d8", + "width": 0.13900000000000007, + "x": 0.40449999999999997, + "y": 0.272 + } + ], + "type": "bbox" + }, + "point_1769242638914": { + "instances": [ + { + "id": "point_1769242638914_1769242663040_1h930yf5p", + "x": 0.41950000000000004, + "y": 0.48933333333333334 + } + ], + "type": "point" + }, + "point_1769242643844": { + "instances": [ + { + "id": "point_1769242643844_1769242665452_ajmwg2tvp", + "x": 0.6385, + "y": 0.4906666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "time": 1.4578350108247422 + }, + { + "action_description": "爪夹向爪夹正前方移动升高", + "annotations": { + "bbox_1769242625137": { + "instances": [ + { + "height": 0.12133333333333335, + "id": "bbox_1769242625137_1769242674865_4xil1x4xz", + "width": 0.121, + "x": 0.6845, + "y": 0.35200000000000004 + } + ], + "type": "bbox" + }, + "bbox_1769242631943": { + "instances": [ + { + "height": 0.19066666666666668, + "id": "bbox_1769242631943_1769242679131_4t83c3jse", + "width": 0.16099999999999995, + "x": 0.3945, + "y": 0.2733333333333333 + } + ], + "type": "bbox" + }, + "point_1769242638914": { + "instances": [ + { + "id": "point_1769242638914_1769242670614_n91thcg6l", + "x": 0.4175, + "y": 0.48000000000000004 + } + ], + "type": "point" + }, + "point_1769242643844": { + "instances": [ + { + "id": "point_1769242643844_1769242668861_cv0jtnk92", + "x": 0.6405000000000001, + "y": 0.48133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹正前方移动升高，缩短了与苦瓜之间的距离。", + "frame": 95, + "progress": 10, + "progress_explanation": "爪夹角度接近平行于桌面。水平上接近了苦瓜。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近平行于桌面。水平上接近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近苦瓜。", + "time": 3.150399 + }, + { + "action_description": "爪夹向爪夹右前方移动下降", + "annotations": { + "bbox_1769242625137": { + "instances": [ + { + "height": 0.15999999999999998, + "id": "bbox_1769242625137_1769242688685_6oetyavep", + "width": 0.18599999999999994, + "x": 0.47350000000000003, + "y": 0.452 + } + ], + "type": "bbox" + }, + "bbox_1769242631943": { + "instances": [ + { + "height": 0.24800000000000005, + "id": "bbox_1769242631943_1769242694039_fc6fgqsg4", + "width": 0.14500000000000002, + "x": 0.14750000000000002, + "y": 0.4266666666666667 + } + ], + "type": "bbox" + }, + "point_1769242638914": { + "instances": [ + { + "id": "point_1769242638914_1769242682646_eezgp2bmv", + "x": 0.41950000000000004, + "y": 0.47866666666666663 + } + ], + "type": "point" + }, + "point_1769242643844": { + "instances": [ + { + "id": "point_1769242643844_1769242684563_w37r4wy26", + "x": 0.6415, + "y": 0.48133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹右前方移动下降缩短了与苦瓜之间的距离。方便抓取苦瓜。", + "frame": 148, + "progress": 15, + "progress_explanation": "爪夹水平上接近了苦瓜，方便抓取苦瓜。因此进度提升为15%。", + "state_description": "爪夹张开，位于苦瓜正上方。水平上接近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近苦瓜。", + "time": 4.940399 + }, + { + "action_description": "爪夹垂直下降并调整爪夹角度", + "annotations": { + "bbox_1769242625137": { + "instances": [ + { + "height": 0.36133333333333334, + "id": "bbox_1769242625137_1769242707521_s931egfv3", + "width": 0.18999999999999986, + "x": 0.4205000000000001, + "y": 0.26266666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769242631943": { + "instances": [ + { + "height": 0.3866666666666667, + "id": "bbox_1769242631943_1769242718787_qbxzu812g", + "width": 0.15599999999999997, + "x": -0.0005, + "y": 0.006666666666666667 + } + ], + "type": "bbox" + }, + "point_1769242638914": { + "instances": [ + { + "id": "point_1769242638914_1769242701817_7yvktyufr", + "x": 0.4165, + "y": 0.48000000000000004 + } + ], + "type": "point" + }, + "point_1769242643844": { + "instances": [ + { + "id": "point_1769242643844_1769242703619_fuzsv934h", + "x": 0.6405000000000001, + "y": 0.4826666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹垂直下降靠近了苦瓜，调整爪夹角度接近垂直于桌面，方便抓取苦瓜。", + "frame": 180, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了苦瓜两侧。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。", + "time": 5.990533 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769242625137": { + "instances": [ + { + "height": 0.4146666666666667, + "id": "bbox_1769242625137_1769242733223_vfwgeanxn", + "width": 0.15300000000000002, + "x": 0.4545, + "y": 0.3 + } + ], + "type": "bbox" + }, + "bbox_1769242631943": { + "instances": [ + { + "height": 0.388, + "id": "bbox_1769242631943_1769242745159_tapxrd4e1", + "width": 0.11400000000000002, + "x": 0.0024999999999999996, + "y": 0.09866666666666667 + } + ], + "type": "bbox" + }, + "point_1769242643844": { + "instances": [ + { + "id": "point_1769242643844_1769242728666_7m5oeculz", + "x": 0.5995, + "y": 0.4733333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到苦瓜。方便移动苦瓜到不锈钢碗里。", + "frame": 205, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈75度，抓取到苦瓜。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈75度，抓取到苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。", + "time": 6.833333333333333 + }, + { + "action_description": "爪夹夹紧苦瓜向爪夹左方移动升高", + "annotations": { + "bbox_1769242625137": { + "instances": [ + { + "height": 0.40800000000000003, + "id": "bbox_1769242625137_1769242763433_axsmwpuwg", + "width": 0.15300000000000002, + "x": 0.4545, + "y": 0.304 + } + ], + "type": "bbox" + }, + "bbox_1769242631943": { + "instances": [ + { + "height": 0.2733333333333333, + "id": "bbox_1769242631943_1769242773467_3omcs9c98", + "width": 0.186, + "x": 0.26949999999999996, + "y": 0.22666666666666666 + } + ], + "type": "bbox" + }, + "point_1769242643844": { + "instances": [ + { + "id": "point_1769242643844_1769242758211_y4r4auwyg", + "x": 0.6005, + "y": 0.4693333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左方移动升高，缩短了与不锈钢碗之间的距离。", + "frame": 258, + "progress": 60, + "progress_explanation": "爪夹水平上接近了不锈钢碗，方便继续靠近不锈钢碗。因此进度提升为60%。", + "state_description": "爪夹夹紧苦瓜，水平上接近了不锈钢碗。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹夹紧苦瓜向爪夹左方移动，来到不锈钢碗正上方。", + "time": 8.591999 + }, + { + "action_description": "爪夹向爪夹左前方移动下降", + "annotations": { + "bbox_1769242625137": { + "instances": [ + { + "height": 0.412, + "id": "bbox_1769242625137_1769242789505_q3dxfrkui", + "width": 0.154, + "x": 0.45549999999999996, + "y": 0.3 + } + ], + "type": "bbox" + }, + "bbox_1769242631943": { + "instances": [ + { + "height": 0.36000000000000004, + "id": "bbox_1769242631943_1769242794053_5nkvs6t6i", + "width": 0.26999999999999996, + "x": 0.3685, + "y": 0.3133333333333333 + } + ], + "type": "bbox" + }, + "point_1769242638914": { + "instances": [ + { + "id": "point_1769242638914_1769242784999_kx82uhfnu", + "x": 0.45949999999999996, + "y": 0.47600000000000003 + } + ], + "type": "point" + }, + "point_1769242643844": { + "instances": [ + { + "id": "point_1769242643844_1769242783105_moiu4ltjv", + "x": 0.5995, + "y": 0.4746666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹左前方移动下降靠近了不锈钢碗正上方，方便苦瓜落到不锈钢碗里。", + "frame": 304, + "progress": 80, + "progress_explanation": "爪夹夹紧苦瓜靠近不锈钢碗，来到了不锈钢碗正上方。因此进度提升为80%。", + "state_description": "爪夹夹紧苦瓜，位于不锈钢碗正上方。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹松开，苦瓜落到不锈钢碗里。", + "time": 10.13103064484536 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769242625137": { + "instances": [ + { + "height": 0.37466666666666665, + "id": "bbox_1769242625137_1769242810559_5dy8zgboq", + "width": 0.12699999999999995, + "x": 0.48150000000000004, + "y": 0.3426666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769242631943": { + "instances": [ + { + "height": 0.364, + "id": "bbox_1769242631943_1769242816251_84pgdgl0w", + "width": 0.275, + "x": 0.39049999999999996, + "y": 0.3026666666666667 + } + ], + "type": "bbox" + }, + "point_1769242638914": { + "instances": [ + { + "id": "point_1769242638914_1769242802609_sjoi9euii", + "x": 0.4175, + "y": 0.48000000000000004 + } + ], + "type": "point" + }, + "point_1769242643844": { + "instances": [ + { + "id": "point_1769242643844_1769242804652_jmn0lhuz0", + "x": 0.6425, + "y": 0.48000000000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开苦瓜落到不锈钢碗里，任务完成。", + "frame": 335, + "progress": 100, + "progress_explanation": "爪夹松开苦瓜落到不锈钢碗里，因此进度提升为100%。", + "state_description": "爪夹张开，苦瓜掉落进不锈钢碗里。\n抓取苦瓜放进不锈钢碗里的任务目标完成。", + "time": 11.152130272680411 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769242625137", + "name": "苦瓜" + }, + { + "color": "#FF9800", + "id": "bbox_1769242631943", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769242638914", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769242643844", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-171741-put-bitter gourd-stainless bowl-mix-1/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-171741-put-bitter gourd-stainless bowl-mix-1/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..baf53cdc5ceda43b720cc505d109f6a5361f86c2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-171741-put-bitter gourd-stainless bowl-mix-1/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,626 @@ +{ + "task_description": "抓取苦瓜放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近苦瓜：20%\n爪夹抓取苦瓜：40%\n爪夹夹紧苦瓜接近不锈钢碗：60%\n爪夹夹紧苦瓜靠近不锈钢碗：80%\n爪夹松开苦瓜落到不锈钢碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "time": 1.2968556701030929, + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245026543_b7gdejjde", + "x": 0.6885, + "y": 0.19333333333333333, + "width": 0.06800000000000006, + "height": 0.13733333333333334 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245030618_6z6nf4ggy", + "x": 0.4445, + "y": 0.24133333333333334, + "width": 0.14299999999999996, + "height": 0.15200000000000002 + } + ] + }, + "point_1769245007728": { + "type": "point", + "instances": [ + { + "id": "point_1769245007728_1769245032838_5bixmphc7", + "x": 0.40750000000000003, + "y": 0.3426666666666666 + } + ] + }, + "point_1769245012316": { + "type": "point", + "instances": [ + { + "id": "point_1769245012316_1769245035395_efbnst4x1", + "x": 0.5105000000000001, + "y": 0.3813333333333333 + } + ] + } + } + }, + { + "time": 2.7512, + "frame": 83, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动升高", + "state_description": "爪夹张开，爪夹角度接近平行于桌面。水平上稍微接近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "progress_explanation": "爪夹角度接近平行于桌面。水平上稍微接近了苦瓜。因此进度提升为5%。", + "error_success_analysis": "爪夹向爪夹正前方移动升高缩短了与苦瓜之间的距离。方便继续向苦瓜移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245042007_mbuf6ccr2", + "x": 0.6905, + "y": 0.196, + "width": 0.06299999999999999, + "height": 0.1333333333333333 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245050319_vnetbvlha", + "x": 0.4615, + "y": 0.24000000000000002, + "width": 0.12600000000000006, + "height": 0.15733333333333333 + } + ] + } + } + }, + { + "time": 3.4933, + "frame": 105, + "progress": -5, + "action_description": "爪夹垂直下降并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了错误目标土豆。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹垂直升高，爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了错误目标土豆。比起上阶段多出一步垂直升高。因此进度降低为-5%。", + "error_success_analysis": "爪夹垂直下降靠近了错误目标，不方便抓取苦瓜。", + "correction_plan": "爪夹垂直升高，爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245062884_0npzkkk3y", + "x": 0.6905, + "y": 0.19466666666666665, + "width": 0.06699999999999999, + "height": 0.13066666666666665 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245069933_b47vy0o8p", + "x": 0.4625000000000001, + "y": 0.23866666666666667, + "width": 0.12399999999999993, + "height": 0.16133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹垂直升高，爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，抓取到了错误目标。不方便抓取苦瓜。", + "frame": 125, + "progress": -10, + "progress_explanation": "爪夹抓取到错误目标土豆，比起上一阶段多出一步爪夹张开。因此进度降低为-10%。", + "state_description": "爪夹合拢，抓取到错误目标土豆。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹张开，爪夹垂直升高，爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "time": 4.166666666666667, + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245080959_awzz29ia8", + "x": 0.6925000000000001, + "y": 0.19466666666666665, + "width": 0.06299999999999999, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245090855_ayslqsqa8", + "x": 0.4615, + "y": 0.23466666666666666, + "width": 0.125, + "height": 0.16533333333333333 + } + ] + } + } + }, + { + "time": 5.2671, + "frame": 158, + "progress": -20, + "action_description": "爪夹垂直升高", + "state_description": "爪夹夹紧错误目标，爪夹角度与桌面接近垂直，位于半空中。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹张开，爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，位于半空中。进行了更加错误的步骤。因此进度降低为-20%。", + "error_success_analysis": "爪夹垂直升高，夹紧错误目标。不方便抓取正确目标苦瓜。", + "correction_plan": "爪夹张开，爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245099604_da9nkkyzs", + "x": 0.6905, + "y": 0.19066666666666665, + "width": 0.06399999999999997, + "height": 0.14133333333333337 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245103351_f4llju4z4", + "x": 0.4585000000000001, + "y": 0.23866666666666667, + "width": 0.12899999999999992, + "height": 0.15733333333333335 + } + ] + } + } + }, + { + "time": 5.924484536082475, + "frame": 178, + "progress": 4, + "action_description": "爪夹张开", + "state_description": "爪夹张开，错误目标掉落桌面上。爪夹角度与桌面接近垂直。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，爪夹此时方便向苦瓜抓取，因此进度提升为4%。", + "error_success_analysis": "爪夹张开，方便爪夹向苦瓜移动抓取。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245134645_yfo90m50w", + "x": 0.6905, + "y": 0.19333333333333333, + "width": 0.06399999999999997, + "height": 0.13600000000000004 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245142643_rre5pmqf0", + "x": 0.47850000000000004, + "y": 0.24000000000000002, + "width": 0.11200000000000002, + "height": 0.16133333333333336 + } + ] + } + } + }, + { + "time": 7.4919072164948455, + "frame": 225, + "progress": 12, + "action_description": "爪夹向爪夹右前方移动升高", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平上接近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹继续向爪夹右前方移动下降，来到苦瓜正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了苦瓜。因此进度提升为12%。", + "error_success_analysis": "爪夹向爪夹右前方移动升高缩短了与苦瓜之间的距离。方便抓取苦瓜。", + "correction_plan": "爪夹继续向爪夹右前方移动下降，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245154977_fbjr351r5", + "x": 0.6915, + "y": 0.192, + "width": 0.06200000000000001, + "height": 0.13866666666666666 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245164372_taxuqc5l8", + "x": 0.4455, + "y": 0.24133333333333334, + "width": 0.14299999999999996, + "height": 0.15466666666666667 + } + ] + } + } + }, + { + "time": 8.3803, + "frame": 251, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，爪夹靠近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹合拢抓取苦瓜。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了苦瓜两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了苦瓜，方便抓取苦瓜。", + "correction_plan": "爪夹合拢抓取苦瓜。爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245175523_avt63xk5a", + "x": 0.6905, + "y": 0.192, + "width": 0.06499999999999995, + "height": 0.13733333333333336 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245181375_vlng19vef", + "x": 0.44350000000000006, + "y": 0.24000000000000002, + "width": 0.14499999999999993, + "height": 0.15466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，垂直升高。爪夹向爪夹正前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，不方便抓取苦瓜。", + "frame": 308, + "progress": -10, + "progress_explanation": "爪夹抓取苦瓜失败。比起上一阶段多出一步爪夹张开。因此进度降低为-10%。", + "state_description": "爪夹合拢，抓取苦瓜失败。苦瓜脱落。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹张开，垂直升高。爪夹向爪夹正前方移动下降靠近苦瓜。", + "time": 10.272216494845361, + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245191329_zduvaue55", + "x": 0.7195, + "y": 0.24533333333333335, + "width": 0.06799999999999998, + "height": 0.14133333333333337 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245202015_jqohc81ow", + "x": 0.4445, + "y": 0.24000000000000002, + "width": 0.13999999999999996, + "height": 0.15333333333333335 + } + ] + } + } + }, + { + "time": 11.0048, + "frame": 330, + "progress": -5, + "action_description": "爪夹垂直升高", + "state_description": "爪夹合拢，爪夹位于苦瓜正上方边缘。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹张开，爪夹向爪夹正前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。", + "progress_explanation": "爪夹位于苦瓜正上方边缘，比上一阶段少了一步垂直升高。因此进度提升为-5%。", + "error_success_analysis": "爪夹垂直升高，方便爪夹张开。", + "correction_plan": "爪夹张开，爪夹向爪夹正前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245209323_6fa7y0lhv", + "x": 0.7065, + "y": 0.24666666666666667, + "width": 0.075, + "height": 0.13866666666666666 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245214304_dtv3w7tsk", + "x": 0.4385, + "y": 0.24000000000000002, + "width": 0.14900000000000002, + "height": 0.15466666666666665 + } + ] + } + } + }, + { + "time": 11.909799, + "frame": 357, + "progress": 15, + "action_description": "爪夹张开", + "state_description": "爪夹张开，爪夹位于苦瓜正上方。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹正前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。", + "progress_explanation": "爪夹位于苦瓜正上方，方便抓取苦瓜。因此进度提升为15%。", + "error_success_analysis": "爪夹张开，方便爪夹抓取苦瓜。", + "correction_plan": "爪夹向爪夹正前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245222509_tw3vhy27a", + "x": 0.7075, + "y": 0.24800000000000003, + "width": 0.07300000000000004, + "height": 0.13599999999999998 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245231577_7bh4tyvha", + "x": 0.4415, + "y": 0.23866666666666667, + "width": 0.14400000000000004, + "height": 0.15866666666666665 + } + ] + } + } + }, + { + "time": 12.851, + "frame": 386, + "progress": 20, + "action_description": "爪夹向爪夹正前方移动下降", + "state_description": "爪夹张开，靠近了苦瓜两侧。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹合拢抓取苦瓜。爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。", + "progress_explanation": "爪夹靠近了苦瓜两侧，方便抓取苦瓜。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹正前方移动下降，靠近了苦瓜。方便抓取苦瓜。", + "correction_plan": "爪夹合拢抓取苦瓜。爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245239525_yw2z2jqpn", + "x": 0.7095, + "y": 0.23866666666666667, + "width": 0.07100000000000009, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245245159_wtdahx8zf", + "x": 0.44750000000000006, + "y": 0.23866666666666667, + "width": 0.13799999999999998, + "height": 0.15333333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到苦瓜。方便移动苦瓜到不锈钢碗里。", + "frame": 408, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，抓取到苦瓜。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直，抓取到苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。", + "time": 13.6, + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245250499_j3h54ouqi", + "x": 0.7125000000000001, + "y": 0.22933333333333333, + "width": 0.08499999999999996, + "height": 0.152 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245258515_bbogyrdgm", + "x": 0.4425, + "y": 0.24266666666666667, + "width": 0.14300000000000007, + "height": 0.14933333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧苦瓜向爪夹左后方移动升高", + "correction_plan": "爪夹夹紧苦瓜继续向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左后方移动升高，缩短了与不锈钢碗之间的距离。", + "frame": 448, + "progress": 60, + "progress_explanation": "爪夹水平上接近了不锈钢碗，因此进度提升为60%。", + "state_description": "爪夹夹紧苦瓜，水平上接近了不锈钢碗。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹夹紧苦瓜继续向爪夹左后方移动升高，来到不锈钢碗正上方。", + "time": 14.937164948453608, + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245265193_i6m8xvgde", + "x": 0.5945, + "y": 0.04, + "width": 0.08700000000000001, + "height": 0.18533333333333332 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245270353_q2s5bqfvd", + "x": 0.4445, + "y": 0.24400000000000002, + "width": 0.14299999999999996, + "height": 0.15066666666666664 + } + ] + } + } + }, + { + "time": 16.398599, + "frame": 492, + "progress": 80, + "action_description": "爪夹向爪夹左后方移动下降", + "state_description": "爪夹夹紧苦瓜，位于不锈钢碗正上方。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹松开，苦瓜落到不锈钢碗里。", + "progress_explanation": "爪夹夹紧苦瓜靠近不锈钢碗，来到了不锈钢碗正上方。因此进度提升为80%。", + "error_success_analysis": "爪夹向爪夹左后方移动下降靠近了不锈钢碗正上方，方便苦瓜落到不锈钢碗里。", + "correction_plan": "爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245276281_t3yj83lgs", + "x": 0.4575, + "y": 0.12133333333333333, + "width": 0.07699999999999996, + "height": 0.18533333333333335 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245280314_sbf29fsyp", + "x": 0.4375, + "y": 0.23733333333333334, + "width": 0.14699999999999996, + "height": 0.15733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开苦瓜落到不锈钢碗里，任务完成。", + "frame": 509, + "progress": 100, + "progress_explanation": "爪夹松开苦瓜落到不锈钢碗里，因此进度提升为100%。", + "state_description": "爪夹张开，苦瓜掉落进不锈钢碗里。\n抓取苦瓜放进不锈钢碗里的任务目标完成。", + "time": 16.971082474226804, + "annotations": { + "bbox_1769244994698": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244994698_1769245290030_mqk48pgrz", + "x": 0.49050000000000005, + "y": 0.2693333333333333, + "width": 0.06399999999999997, + "height": 0.10266666666666667 + } + ] + }, + "bbox_1769244999015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769244999015_1769245294018_mmujn5z3x", + "x": 0.44350000000000006, + "y": 0.22933333333333333, + "width": 0.14299999999999996, + "height": 0.168 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769244994698", + "name": "苦瓜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769244999015", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769245007728", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769245012316", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-172148-put-bitter gourd-stainless bowl-mix-1/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-172148-put-bitter gourd-stainless bowl-mix-1/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..d523e9afa8726e2f9ff63b1ec49347a76d523f58 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-172148-put-bitter gourd-stainless bowl-mix-1/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,590 @@ +{ + "task_description": "抓取苦瓜放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近苦瓜：20%\n爪夹抓取苦瓜：40%\n爪夹夹紧苦瓜接近不锈钢碗：60%\n爪夹夹紧苦瓜靠近不锈钢碗：80%\n爪夹松开苦瓜落到不锈钢碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.156, + "id": "bbox_1769392202924_1769392243717_rgltv89ph", + "width": 0.08899999999999997, + "x": 0.6165, + "y": 0.3333333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.17999999999999997, + "id": "bbox_1769392207269_1769392249889_2uc2z75r2", + "width": 0.15600000000000006, + "x": 0.3835, + "y": 0.34 + } + ], + "type": "bbox" + }, + "point_1769392215735": { + "instances": [ + { + "id": "point_1769392215735_1769392257079_zxyuntslb", + "x": 0.3975, + "y": 0.3253333333333333 + } + ], + "type": "point" + }, + "point_1769392220073": { + "instances": [ + { + "id": "point_1769392220073_1769392259881_44sxaws5l", + "x": 0.5015, + "y": 0.36000000000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "time": 1.3470790077319588 + }, + { + "action_description": "爪夹向爪夹正前方移动升高", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.15199999999999997, + "id": "bbox_1769392202924_1769392268812_t5c32v2js", + "width": 0.08999999999999994, + "x": 0.6145, + "y": 0.3360000000000001 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.18266666666666667, + "id": "bbox_1769392207269_1769392277441_swh8q05zd", + "width": 0.14699999999999996, + "x": 0.3905, + "y": 0.33866666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹正前方移动升高，缩短了与苦瓜之间的距离。", + "frame": 81, + "progress": 10, + "progress_explanation": "爪夹角度接近平行于桌面。水平上接近了苦瓜。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近平行于桌面。水平上接近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近苦瓜。", + "time": 2.687999 + }, + { + "action_description": "爪夹向爪夹右前方移动下降并调整爪夹角度", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.14933333333333335, + "id": "bbox_1769392202924_1769392283606_1wsjyvqq4", + "width": 0.08899999999999997, + "x": 0.6155, + "y": 0.336 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.1773333333333334, + "id": "bbox_1769392207269_1769392291218_w7n4iedbn", + "width": 0.15499999999999997, + "x": 0.3825, + "y": 0.34133333333333327 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹右前方移动下降缩短了与苦瓜之间的距离。方便抓取苦瓜。", + "frame": 110, + "progress": 15, + "progress_explanation": "爪夹水平上接近了苦瓜，方便抓取苦瓜。因此进度提升为15%。", + "state_description": "爪夹张开，位于苦瓜正上方。水平上接近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹垂直下降靠近苦瓜。", + "time": 3.6717524953608245 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.14000000000000004, + "id": "bbox_1769392202924_1769392300960_e70l2rfi4", + "width": 0.088, + "x": 0.6165, + "y": 0.348 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.17866666666666664, + "id": "bbox_1769392207269_1769392306140_rc5e0fyt2", + "width": 0.1630000000000001, + "x": 0.40149999999999997, + "y": 0.32933333333333337 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹垂直下降靠近了苦瓜，爪夹角度接近垂直于桌面，方便抓取苦瓜。", + "frame": 130, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了苦瓜两侧。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。", + "time": 4.330666 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.15466666666666667, + "id": "bbox_1769392202924_1769392312787_ebq4sxq02", + "width": 0.10699999999999994, + "x": 0.6235, + "y": 0.336 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1769392207269_1769392317990_qqi6525bo", + "width": 0.15499999999999997, + "x": 0.3825, + "y": 0.3453333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到苦瓜。方便移动苦瓜到不锈钢碗里。", + "frame": 148, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，抓取到苦瓜。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直，抓取到苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。", + "time": 4.933333333333334 + }, + { + "action_description": "爪夹夹紧苦瓜向爪夹左后方移动升高", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.18133333333333332, + "id": "bbox_1769392202924_1769392325819_xexn7f3kb", + "width": 0.08700000000000001, + "x": 0.5585, + "y": 0.17466666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.184, + "id": "bbox_1769392207269_1769392330309_9m2tw3i6g", + "width": 0.15900000000000003, + "x": 0.3815, + "y": 0.34 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左后方移动升高，缩短了与不锈钢碗之间的距离。方便苦瓜放到碗里。", + "frame": 172, + "progress": 60, + "progress_explanation": "爪夹水平上接近了不锈钢碗，方便继续靠近不锈钢碗。因此进度提升为60%。", + "state_description": "爪夹夹紧苦瓜，水平上接近了不锈钢碗。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹夹紧苦瓜向爪夹左方移动，来到不锈钢碗正上方。", + "time": 5.734399 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.12266666666666666, + "id": "bbox_1769392202924_1769392342832_vwqq7hs9y", + "width": 0.12599999999999997, + "x": 0.5185000000000001, + "y": 0.43733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.17600000000000005, + "id": "bbox_1769392207269_1769392347801_1iq3xeya6", + "width": 0.154, + "x": 0.3865, + "y": 0.3453333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹张开，苦瓜掉落到桌面上。需要重新抓取苦瓜。", + "frame": 209, + "progress": 13, + "progress_explanation": "爪夹张开后苦瓜掉落桌面，因此进度降低为13%。", + "state_description": "爪夹张开，苦瓜掉落桌面，爪夹位于苦瓜正上方。爪夹角度接近垂直于桌面。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹垂直下降靠近苦瓜。爪夹合拢抓取苦瓜。", + "time": 6.950927679896907 + }, + { + "action_description": "爪夹向爪夹右后方移动下降", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.12666666666666662, + "id": "bbox_1769392202924_1769392354433_rz01lk4t0", + "width": 0.13600000000000004, + "x": 0.5115000000000001, + "y": 0.42933333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.18266666666666662, + "id": "bbox_1769392207269_1769392358741_6aokbnizi", + "width": 0.15500000000000003, + "x": 0.3845, + "y": 0.34266666666666673 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹右后方移动下降缩短了与苦瓜之间的距离。方便抓取苦瓜。", + "frame": 246, + "progress": 15, + "progress_explanation": "爪夹垂直上接近了苦瓜，方便抓取苦瓜。因此进度提升为15%。", + "state_description": "爪夹张开，位于苦瓜正上方。垂直上接近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹垂直下降靠近苦瓜。爪夹合拢抓取苦瓜。", + "time": 8.197937961340207 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.1213333333333333, + "id": "bbox_1769392202924_1769392379130_lym75q1o4", + "width": 0.13199999999999995, + "x": 0.5095000000000001, + "y": 0.4333333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.17866666666666664, + "id": "bbox_1769392207269_1769392388523_wmnsayhpk", + "width": 0.168, + "x": 0.3845, + "y": 0.3413333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹垂直下降靠近了苦瓜，爪夹角度接近垂直于桌面，方便抓取苦瓜。", + "frame": 271, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了苦瓜两侧。方便抓取苦瓜。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。", + "time": 9.049599 + }, + { + "action_description": "爪夹下降合拢", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.12666666666666662, + "id": "bbox_1769392202924_1769392395239_b9mwk3cfo", + "width": 0.11100000000000003, + "x": 0.5215, + "y": 0.42400000000000004 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.17466666666666666, + "id": "bbox_1769392207269_1769392399329_rlaq114rn", + "width": 0.14399999999999996, + "x": 0.3355, + "y": 0.2986666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到苦瓜。方便移动苦瓜到不锈钢碗里。", + "frame": 285, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，抓取到苦瓜。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直，抓取到苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。", + "time": 9.491133808762886 + }, + { + "action_description": "爪夹夹紧苦瓜垂直升高", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.1426666666666667, + "id": "bbox_1769392202924_1769392409103_fh5llsq15", + "width": 0.11100000000000003, + "x": 0.5375, + "y": 0.376 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1769392207269_1769392417251_ppbrss153", + "width": 0.15100000000000002, + "x": 0.34750000000000003, + "y": 0.316 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧苦瓜垂直升高，来到了半空中。方便继续移动苦瓜向不锈钢碗靠近。", + "frame": 307, + "progress": 50, + "progress_explanation": "爪夹将苦瓜带至半空中，方便后续移动苦瓜向不锈钢碗靠近。因此进度提升为50%。", + "state_description": "爪夹夹紧苦瓜位于半空中，爪夹角度与桌面接近垂直。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹夹紧苦瓜向爪夹左方移动升高，来到不锈钢碗正上方。", + "time": 10.233333333333333 + }, + { + "action_description": "爪夹夹紧苦瓜向爪夹左方移动升高", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.196, + "id": "bbox_1769392202924_1769392426749_nt3d4jzq5", + "width": 0.10299999999999998, + "x": 0.37849999999999995, + "y": 0.04 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1769392207269_1769392437639_8u02npnku", + "width": 0.14300000000000002, + "x": 0.35550000000000004, + "y": 0.316 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降，靠近不锈钢碗。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左方移动升高，缩短了与不锈钢碗之间的距离。方便将苦瓜放到不锈钢碗里。", + "frame": 343, + "progress": 70, + "progress_explanation": "爪夹位于不锈钢碗正上方较高位置。水平上接近了不锈钢碗。方便苦瓜落到碗里。因此进度提升为70%。", + "state_description": "爪夹夹紧苦瓜，位于不锈钢碗正上方。水平上接近了不锈钢碗。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹垂直下降，靠近不锈钢碗。", + "time": 11.423999 + }, + { + "action_description": "爪夹夹紧苦瓜向爪夹左方移动", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.20533333333333334, + "id": "bbox_1769392202924_1769392449505_2rej7d2zd", + "width": 0.092, + "x": 0.2355, + "y": 0.02666666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1769392207269_1769392456849_jxi2io2oy", + "width": 0.154, + "x": 0.3465, + "y": 0.3093333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右方移动下降，靠近不锈钢碗。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左方移动增加了与不锈钢碗之间的距离。苦瓜无法放到不锈钢碗里。", + "frame": 351, + "progress": 65, + "progress_explanation": "爪夹水平上远离了不锈钢碗，不方便苦瓜放到不锈钢碗里。因此进度降低为65%。", + "state_description": "爪夹夹紧苦瓜，水平上微微远离了不锈钢碗。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹右方移动下降，靠近不锈钢碗。", + "time": 11.692799 + }, + { + "action_description": "爪夹向爪夹右方移动下降", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.17733333333333334, + "id": "bbox_1769392202924_1769392464921_i8lddwp3t", + "width": 0.081, + "x": 0.35150000000000003, + "y": 0.192 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.17333333333333337, + "id": "bbox_1769392207269_1769392472029_02f0cc1an", + "width": 0.14700000000000002, + "x": 0.3485, + "y": 0.312 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹右方移动下降靠近了不锈钢碗正上方，方便苦瓜落到不锈钢碗里。", + "frame": 385, + "progress": 80, + "progress_explanation": "爪夹夹紧苦瓜靠近不锈钢碗，来到了不锈钢碗正上方。方便苦瓜落到碗里，因此进度提升为80%。", + "state_description": "爪夹夹紧苦瓜，靠近不锈钢碗。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹松开，苦瓜落到不锈钢碗里。", + "time": 12.847284936597939 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769392202924": { + "instances": [ + { + "height": 0.11333333333333329, + "id": "bbox_1769392202924_1769392482251_38rplq5l8", + "width": 0.08799999999999994, + "x": 0.36750000000000005, + "y": 0.3346666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769392207269": { + "instances": [ + { + "height": 0.16266666666666663, + "id": "bbox_1769392207269_1769392486661_fah9y5pel", + "width": 0.14700000000000008, + "x": 0.3505, + "y": 0.3186666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开苦瓜落到不锈钢碗里，任务完成。", + "frame": 409, + "progress": 100, + "progress_explanation": "爪夹松开苦瓜落到不锈钢碗里，因此进度提升为100%。", + "state_description": "爪夹张开，苦瓜掉落进不锈钢碗里。\n抓取苦瓜放进不锈钢碗里的任务目标完成。", + "time": 13.632439558247421 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769392202924", + "name": "苦瓜" + }, + { + "color": "#FF9800", + "id": "bbox_1769392207269", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769392215735", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769392220073", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-173549-put-bitter gourd-stainless bowl-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-173549-put-bitter gourd-stainless bowl-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..84d526c50e8c818a31d51a57cd0770bc774a768a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260109-lilingchu/20260109-173549-put-bitter gourd-stainless bowl-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,618 @@ +{ + "task_description": "抓取苦瓜放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近苦瓜：20%\n爪夹抓取苦瓜：40%\n爪夹夹紧苦瓜接近不锈钢碗：60%\n爪夹夹紧苦瓜靠近不锈钢碗：80%\n爪夹松开苦瓜落到不锈钢碗里：100%", + "progress_points": [ + { + "time": 1.570188, + "frame": 47, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395025051_kiwb1tc4x", + "x": 0.7315, + "y": 0.4693333333333334, + "width": 0.05800000000000001, + "height": 0.12133333333333324 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395035349_as4ev9xgu", + "x": 0.4135, + "y": 0.452, + "width": 0.196, + "height": 0.23199999999999996 + } + ] + }, + "point_1769395007933": { + "type": "point", + "instances": [ + { + "id": "point_1769395007933_1769395037743_ju5xdl7oy", + "x": 0.41950000000000004, + "y": 0.49333333333333335 + } + ] + }, + "point_1769395012185": { + "type": "point", + "instances": [ + { + "id": "point_1769395012185_1769395040123_6xjiju3g1", + "x": 0.6395000000000001, + "y": 0.49333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动升高", + "correction_plan": "爪夹继续向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹右前方移动升高缩短了与苦瓜之间的距离。方便继续向苦瓜移动抓取。", + "frame": 91, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近平行。水平上微微接近了苦瓜。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近平行。水平上微微接近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹继续向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到苦瓜正上方。", + "time": 3.03142603556701, + "annotations": { + "point_1769395012185": { + "type": "point", + "instances": [ + { + "id": "point_1769395012185_1769395044419_7w1bacmjg", + "x": 0.6415, + "y": 0.47866666666666663 + } + ] + }, + "point_1769395007933": { + "type": "point", + "instances": [ + { + "id": "point_1769395007933_1769395046743_lcue5ybak", + "x": 0.41850000000000004, + "y": 0.48133333333333334 + } + ] + }, + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395052359_zw0qn9pna", + "x": 0.6795000000000001, + "y": 0.37333333333333335, + "width": 0.06099999999999994, + "height": 0.15999999999999998 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395061268_8mele8dm4", + "x": 0.3705, + "y": 0.43733333333333335, + "width": 0.17400000000000002, + "height": 0.23466666666666663 + } + ] + } + } + }, + { + "time": 4.4413916335051535, + "frame": 133, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，位于苦瓜正上方。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近苦瓜。", + "progress_explanation": "爪夹水平上接近了苦瓜，方便抓取苦瓜。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降缩短了与苦瓜之间的距离。方便抓取苦瓜。", + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近苦瓜。爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "point_1769395007933": { + "type": "point", + "instances": [ + { + "id": "point_1769395007933_1769395065312_dc71frjvp", + "x": 0.4175, + "y": 0.48000000000000004 + } + ] + }, + "point_1769395012185": { + "type": "point", + "instances": [ + { + "id": "point_1769395012185_1769395067634_bj9e8js0g", + "x": 0.6415, + "y": 0.47866666666666663 + } + ] + }, + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395073575_lkx4yoxhi", + "x": 0.4915, + "y": 0.3026666666666667, + "width": 0.11100000000000003, + "height": 0.34 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395085327_qx0g4gbgz", + "x": 0.1815, + "y": 0.7093333333333334, + "width": 0.16499999999999998, + "height": 0.17866666666666664 + } + ] + } + } + }, + { + "time": 4.985766, + "frame": 150, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面呈30度，靠近了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。", + "progress_explanation": "爪夹角度与桌面呈30度，靠近了苦瓜。方便抓取苦瓜。因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了苦瓜两侧，方便抓取苦瓜。", + "correction_plan": "爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "point_1769395007933": { + "type": "point", + "instances": [ + { + "id": "point_1769395007933_1769395100096_woibapkm6", + "x": 0.4175, + "y": 0.4746666666666667 + } + ] + }, + "point_1769395012185": { + "type": "point", + "instances": [ + { + "id": "point_1769395012185_1769395102068_n71v7jouo", + "x": 0.6405000000000001, + "y": 0.48533333333333334 + } + ] + }, + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395108221_9xdu08jae", + "x": 0.4405, + "y": 0.23333333333333334, + "width": 0.16499999999999995, + "height": 0.4866666666666667 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395117984_83ng34jem", + "x": 0.1295, + "y": 0.7306666666666667, + "width": 0.17800000000000002, + "height": 0.2133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到苦瓜。方便移动苦瓜到不锈钢碗里。", + "frame": 177, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈30度，抓取到苦瓜。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈30度，抓取到苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹夹紧苦瓜向爪夹左后方移动升高，来到不锈钢碗正上方。", + "time": 5.9, + "annotations": { + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395125030_7k28c7hrl", + "x": 0.4445, + "y": 0.23733333333333334, + "width": 0.16399999999999998, + "height": 0.4866666666666666 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395134258_76mgvydqz", + "x": 0.1125, + "y": 0.7133333333333334, + "width": 0.17800000000000002, + "height": 0.22399999999999995 + } + ] + } + } + }, + { + "time": 7.171597745876288, + "frame": 215, + "progress": 60, + "action_description": "爪夹夹紧苦瓜向爪夹左方移动升高", + "state_description": "爪夹夹紧苦瓜，水平上接近了不锈钢碗。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹夹紧苦瓜向爪夹左后方移动，来到不锈钢碗正上方。", + "progress_explanation": "爪夹水平上接近了不锈钢碗，方便继续靠近不锈钢碗。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左方移动升高，缩短了与不锈钢碗之间的距离。方便继续靠近不锈钢碗。", + "correction_plan": "爪夹夹紧苦瓜向爪夹左后方移动，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395151032_5epln22c1", + "x": 0.4455, + "y": 0.23600000000000002, + "width": 0.162, + "height": 0.48533333333333334 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395160823_vre0wzftz", + "x": 0.23450000000000001, + "y": 0.6386666666666667, + "width": 0.181, + "height": 0.22399999999999995 + } + ] + } + } + }, + { + "time": 7.646499, + "frame": 229, + "progress": 80, + "action_description": "爪夹夹紧苦瓜向爪夹左后方移动", + "state_description": "爪夹夹紧苦瓜位于不锈钢碗正上方。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹松开，苦瓜落到不锈钢碗里。", + "progress_explanation": "爪夹夹紧苦瓜靠近不锈钢碗，来到了不锈钢碗正上方。因此进度提升为80%。", + "error_success_analysis": "爪夹向爪夹左后方移动靠近了不锈钢碗正上方，方便苦瓜落到不锈钢碗里。", + "correction_plan": "爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395169396_jo5w7an76", + "x": 0.4445, + "y": 0.232, + "width": 0.16399999999999998, + "height": 0.49066666666666664 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395180121_twpbe9zem", + "x": 0.4255, + "y": 0.5080000000000001, + "width": 0.18900000000000006, + "height": 0.22666666666666657 + } + ] + } + } + }, + { + "time": 8.118966, + "frame": 244, + "progress": 70, + "action_description": "爪夹夹紧苦瓜向爪夹左方移动", + "state_description": "爪夹夹紧苦瓜，水平上微微远离了不锈钢碗。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹右方移动，来到不锈钢碗正上方。", + "progress_explanation": "爪夹水平上微微远离了不锈钢碗。不方便苦瓜放到不锈钢碗里。因此进度降低为70%。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左方移动，偏离了不锈钢碗正上方。无法将苦瓜放到碗里。", + "correction_plan": "爪夹向爪夹右方移动，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395194958_pvnk7fmre", + "x": 0.4455, + "y": 0.23600000000000002, + "width": 0.16299999999999998, + "height": 0.48133333333333334 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395204477_kdbvxd4ba", + "x": 0.5775, + "y": 0.3893333333333333, + "width": 0.172, + "height": 0.276 + } + ] + } + } + }, + { + "time": 8.554133, + "frame": 257, + "progress": 80, + "action_description": "爪夹夹紧苦瓜向爪夹右方移动", + "state_description": "爪夹夹紧苦瓜位于不锈钢碗正上方。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹松开，苦瓜落到不锈钢碗里。", + "progress_explanation": "爪夹夹紧苦瓜靠近不锈钢碗，来到了不锈钢碗正上方。因此进度提升为80%。", + "error_success_analysis": "爪夹向爪夹右方移动靠近了不锈钢碗正上方，方便苦瓜落到不锈钢碗里。", + "correction_plan": "爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395213776_pui49mhop", + "x": 0.44350000000000006, + "y": 0.23733333333333334, + "width": 0.16399999999999998, + "height": 0.48533333333333334 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395224649_689s16vjs", + "x": 0.4485, + "y": 0.42133333333333334, + "width": 0.199, + "height": 0.26266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧苦瓜向爪夹左方移动", + "correction_plan": "爪夹向爪夹右方移动，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左方移动，偏离了不锈钢碗正上方。无法将苦瓜放到碗里。", + "frame": 272, + "progress": 75, + "progress_explanation": "爪夹水平上微微远离了不锈钢碗。不方便苦瓜放到不锈钢碗里。因此进度降低为75%。", + "state_description": "爪夹夹紧苦瓜，水平上微微远离了不锈钢碗。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹右方移动，来到不锈钢碗正上方。", + "time": 9.081460237628866, + "annotations": { + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395237704_p9zrztuvn", + "x": 0.4455, + "y": 0.23466666666666666, + "width": 0.162, + "height": 0.48800000000000004 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395248046_lrpad4168", + "x": 0.4995, + "y": 0.41733333333333333, + "width": 0.188, + "height": 0.276 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧苦瓜向爪夹左方移动", + "correction_plan": "爪夹向爪夹右方移动，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧苦瓜向爪夹左方移动，更加偏离了不锈钢碗正上方。无法将苦瓜放到碗里。", + "frame": 302, + "progress": 70, + "progress_explanation": "爪夹水平上又微微远离了不锈钢碗。不方便苦瓜放到不锈钢碗里。因此进度降低为70%。", + "state_description": "爪夹夹紧苦瓜，水平上远离了不锈钢碗。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹右方移动，来到不锈钢碗正上方。", + "time": 10.055618287113402, + "annotations": { + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395257314_ofp6dvcac", + "x": 0.4455000000000001, + "y": 0.22933333333333333, + "width": 0.1629999999999999, + "height": 0.49200000000000005 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395267320_8mmjnqgyt", + "x": 0.5595000000000001, + "y": 0.43333333333333335, + "width": 0.17399999999999993, + "height": 0.26933333333333337 + } + ] + } + } + }, + { + "time": 11.364066, + "frame": 341, + "progress": 4, + "action_description": "爪夹张开", + "state_description": "爪夹张开，苦瓜落到桌面上。苦瓜远离了不锈钢碗。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹左前方移动下降，来到苦瓜正上方。", + "progress_explanation": "苦瓜掉落到桌面上，苦瓜远离了不锈钢碗。需要重新抓取苦瓜。因此进度降低为4%。", + "error_success_analysis": "爪夹张开，苦瓜远离了不锈钢碗。苦瓜掉落到桌面上。无法放到不锈钢碗里。", + "correction_plan": "爪夹向爪夹左前方移动下降，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹右后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "point_1769395007933": { + "type": "point", + "instances": [ + { + "id": "point_1769395007933_1769395276248_mncso0cwr", + "x": 0.41850000000000004, + "y": 0.47866666666666663 + } + ] + }, + "point_1769395012185": { + "type": "point", + "instances": [ + { + "id": "point_1769395012185_1769395278232_sax2g5g0v", + "x": 0.6405000000000001, + "y": 0.47866666666666663 + } + ] + }, + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395285646_l3i9d88cz", + "x": 0.17650000000000002, + "y": 0.264, + "width": 0.125, + "height": 0.09733333333333333 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395297254_s94b4b34g", + "x": 0.5445, + "y": 0.4186666666666667, + "width": 0.19699999999999998, + "height": 0.2733333333333334 + } + ] + } + } + }, + { + "time": 12.433333, + "frame": 373, + "progress": 0, + "action_description": "爪夹垂直升高", + "state_description": "爪夹张开，爪夹角度接近平行于桌面，垂直上远离了苦瓜。\n为完成抓取苦瓜放进不锈钢碗里的任务应当：爪夹向爪夹左前方移动下降，调整爪夹角度使其接近垂直于桌面，来到苦瓜正上方。", + "progress_explanation": "爪夹角度接近平行于桌面，垂直上远离了苦瓜。和初始状态差不多，因此进度降低为0%。", + "error_success_analysis": "爪夹垂直升高，远离了苦瓜，未向苦瓜移动靠近抓取。任务失败。", + "correction_plan": "爪夹向爪夹左前方移动下降，调整爪夹角度使其接近垂直于桌面，来到苦瓜正上方。爪夹垂直下降靠近苦瓜，爪夹合拢抓取苦瓜。夹紧苦瓜向爪夹右后方移动升高，来到不锈钢碗正上方。爪夹松开，苦瓜落到不锈钢碗里。", + "annotations": { + "point_1769395007933": { + "type": "point", + "instances": [ + { + "id": "point_1769395007933_1769395301729_194t8niy4", + "x": 0.41850000000000004, + "y": 0.47866666666666663 + } + ] + }, + "point_1769395012185": { + "type": "point", + "instances": [ + { + "id": "point_1769395012185_1769395303642_3cv5fveff", + "x": 0.6415, + "y": 0.48133333333333334 + } + ] + }, + "bbox_1769394997900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394997900_1769395308789_2mq62pxwd", + "x": 0.17550000000000002, + "y": 0.46799999999999997, + "width": 0.11199999999999999, + "height": 0.08133333333333338 + } + ] + }, + "bbox_1769395002007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395002007_1769395318047_b2ijs3a3z", + "x": 0.4885, + "y": 0.596, + "width": 0.17, + "height": 0.2240000000000001 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769394997900", + "name": "苦瓜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769395002007", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769395007933", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769395012185", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260109-175458-put-corn-stainless bowl-good/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260109-175458-put-corn-stainless bowl-good/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..2fc8777f2d1b055c629e1735fe735546e925c401 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260109-175458-put-corn-stainless bowl-good/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,474 @@ +{ + "task_description": "抓取玉米放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹夹紧玉米接近不锈钢碗：60%\n爪夹夹紧玉米靠近不锈钢碗：80%\n爪夹松开玉米落到不锈钢碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹右前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到玉米正上方。", + "time": 1.1026632561855672, + "annotations": { + "point_1769397616252": { + "type": "point", + "instances": [ + { + "id": "point_1769397616252_1769397662981_trk3ftb57", + "x": 0.40149999999999997, + "y": 0.21866666666666668 + } + ] + }, + "point_1769397621713": { + "type": "point", + "instances": [ + { + "id": "point_1769397621713_1769397665555_mbxbbnekl", + "x": 0.48950000000000005, + "y": 0.20133333333333334 + } + ] + }, + "bbox_1769397604951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397604951_1769397670282_fxrxy9rot", + "x": 0.36950000000000005, + "y": 0.36800000000000005, + "width": 0.04799999999999995, + "height": 0.1666666666666666 + } + ] + }, + "bbox_1769397609529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397609529_1769397675787_1ydznz56j", + "x": 0.17850000000000002, + "y": 0.66, + "width": 0.13799999999999998, + "height": 0.184 + } + ] + } + } + }, + { + "time": 2.535833, + "frame": 76, + "progress": 10, + "action_description": "爪夹向爪夹正前方移动升高", + "state_description": "爪夹张开，爪夹角度与桌面接近平行，水平上接近了玉米。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹继续向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到玉米正上方。", + "progress_explanation": "爪夹角度与桌面接近平行，水平上接近了玉米。方便继续向玉米移动靠近。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹正前方移动升高，缩短了与玉米之间的距离。方便抓取玉米。", + "correction_plan": "爪夹继续向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹右前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "point_1769397616252": { + "type": "point", + "instances": [ + { + "id": "point_1769397616252_1769397684501_vd8p67kbd", + "x": 0.3745, + "y": 0.14266666666666666 + } + ] + }, + "point_1769397621713": { + "type": "point", + "instances": [ + { + "id": "point_1769397621713_1769397686774_ay1zbqamp", + "x": 0.47350000000000003, + "y": 0.14266666666666666 + } + ] + }, + "bbox_1769397604951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397604951_1769397693561_h50mp1qjy", + "x": 0.3685, + "y": 0.36666666666666675, + "width": 0.048, + "height": 0.1666666666666666 + } + ] + }, + "bbox_1769397609529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397609529_1769397704249_ltr7p58x6", + "x": 0.17650000000000002, + "y": 0.6599999999999999, + "width": 0.13999999999999999, + "height": 0.1840000000000001 + } + ] + } + } + }, + { + "time": 4.391666, + "frame": 132, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动下降，并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，位于玉米正上方。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹垂直下降靠近玉米两侧。爪夹合拢抓取玉米。", + "progress_explanation": "爪夹角度接近垂直于桌面，位于玉米正上方。方便下降抓取玉米。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降缩短了与玉米之间的距离，并调整爪夹角度更加方便抓取玉米。", + "correction_plan": "爪夹垂直下降靠近玉米两侧。爪夹合拢抓取玉米。爪夹夹紧玉米向爪夹右前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "point_1769397616252": { + "type": "point", + "instances": [ + { + "id": "point_1769397616252_1769397714103_dmgi7vmjj", + "x": 0.35550000000000004, + "y": 0.33866666666666667 + } + ] + }, + "point_1769397621713": { + "type": "point", + "instances": [ + { + "id": "point_1769397621713_1769397716726_zfvizmyna", + "x": 0.44750000000000006, + "y": 0.3453333333333333 + } + ] + }, + "bbox_1769397604951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397604951_1769397720483_n0x8pkm55", + "x": 0.3705, + "y": 0.364, + "width": 0.046, + "height": 0.16666666666666666 + } + ] + }, + "bbox_1769397609529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397609529_1769397724574_vxst1job6", + "x": 0.17750000000000002, + "y": 0.6613333333333333, + "width": 0.14, + "height": 0.18266666666666667 + } + ] + } + } + }, + { + "time": 6.12, + "frame": 184, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了玉米。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹合拢抓取玉米。夹紧玉米向爪夹右前方移动升高，来到不锈钢碗正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了玉米两侧。方便抓取，因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了玉米，爪夹角度接近垂直于桌面，方便抓取玉米。", + "correction_plan": "爪夹合拢抓取玉米。夹紧玉米向爪夹右前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "point_1769397621713": { + "type": "point", + "instances": [ + { + "id": "point_1769397621713_1769397732063_ed55r44dc", + "x": 0.4285, + "y": 0.46266666666666667 + } + ] + }, + "bbox_1769397604951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397604951_1769397736805_5t5a90nol", + "x": 0.3665, + "y": 0.35866666666666663, + "width": 0.054000000000000006, + "height": 0.17200000000000001 + } + ] + }, + "bbox_1769397609529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397609529_1769397740889_p1z0u54n7", + "x": 0.17650000000000002, + "y": 0.6613333333333333, + "width": 0.142, + "height": 0.18000000000000008 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧玉米向爪夹右前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到玉米。方便移动玉米到不锈钢碗里。", + "frame": 238, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，抓取到玉米。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，爪夹抓取到玉米。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹夹紧玉米向爪夹右前方移动升高，来到不锈钢碗正上方。", + "time": 7.923110152061856, + "annotations": { + "bbox_1769397604951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397604951_1769397746839_bj4kk6516", + "x": 0.36150000000000004, + "y": 0.3653333333333333, + "width": 0.04299999999999997, + "height": 0.16400000000000006 + } + ] + }, + "bbox_1769397609529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397609529_1769397754633_i2ou7gxjt", + "x": 0.1775, + "y": 0.66, + "width": 0.13800000000000004, + "height": 0.18800000000000003 + } + ] + } + } + }, + { + "time": 10.214166, + "frame": 306, + "progress": 60, + "action_description": "爪夹夹紧玉米向爪夹右前方移动升高", + "state_description": "爪夹夹紧玉米，水平上接近了不锈钢碗。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹夹紧玉米向爪夹右前方移动，来到不锈钢碗正上方。", + "progress_explanation": "爪夹水平上接近了不锈钢碗，方便继续靠近不锈钢碗。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧玉米向爪夹右前方移动升高缩短了与不锈钢碗之间的距离。方便继续移动靠近。", + "correction_plan": "爪夹夹紧玉米向爪夹右前方移动，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "point_1769397621713": { + "type": "point", + "instances": [ + { + "id": "point_1769397621713_1769397763161_bwhh8fm9b", + "x": 0.3735, + "y": 0.4733333333333334 + } + ] + }, + "bbox_1769397604951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397604951_1769397767627_ksarnzgac", + "x": 0.3075, + "y": 0.38533333333333336, + "width": 0.06899999999999999, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1769397609529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397609529_1769397772721_gqzl55r9j", + "x": 0.17750000000000002, + "y": 0.6626666666666666, + "width": 0.141, + "height": 0.17866666666666678 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧玉米向爪夹右前方移动下降", + "correction_plan": "爪夹夹紧玉米向爪夹右前方移动，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧玉米向爪夹右前方移动下降，更加缩短了与不锈钢碗之间的距离。方便移动靠近到不锈钢碗中间。", + "frame": 342, + "progress": 75, + "progress_explanation": "爪夹水平上接近了不锈钢碗边缘，方便靠近不锈钢碗中心。因此进度提升为75%。", + "state_description": "爪夹夹紧玉米，位于不锈钢碗边缘正上方。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹夹紧玉米继续向爪夹右前方移动，来到不锈钢碗正上方。", + "time": 11.399055251030928, + "annotations": { + "point_1769397621713": { + "type": "point", + "instances": [ + { + "id": "point_1769397621713_1769397777197_zv46ol9qm", + "x": 0.3055, + "y": 0.6946666666666667 + } + ] + }, + "bbox_1769397604951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397604951_1769397781215_t4lwfpdcl", + "x": 0.24050000000000002, + "y": 0.5973333333333334, + "width": 0.07599999999999998, + "height": 0.17200000000000001 + } + ] + }, + "bbox_1769397609529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397609529_1769397790347_cse4nhaqk", + "x": 0.17650000000000002, + "y": 0.6626666666666666, + "width": 0.14100000000000001, + "height": 0.18133333333333337 + } + ] + } + } + }, + { + "time": 12.129295818041237, + "frame": 364, + "progress": 80, + "action_description": "爪夹夹紧玉米向爪夹右前方移动", + "state_description": "爪夹夹紧玉米，位于不锈钢碗正上方。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹松开，玉米落到不锈钢碗里。", + "progress_explanation": "爪夹夹紧玉米靠近不锈钢碗，来到了不锈钢碗正上方。方便玉米放到不锈钢碗里。因此进度提升为80%。", + "error_success_analysis": "爪夹向爪夹右前方移动下靠近了不锈钢碗正上方，方便玉米落到不锈钢碗里。", + "correction_plan": "爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "point_1769397621713": { + "type": "point", + "instances": [ + { + "id": "point_1769397621713_1769397794767_zqlfjca7x", + "x": 0.23850000000000002, + "y": 0.7146666666666667 + } + ] + }, + "bbox_1769397604951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397604951_1769397799008_pmp7r2i7f", + "x": 0.1575, + "y": 0.6146666666666667, + "width": 0.09600000000000002, + "height": 0.15466666666666667 + } + ] + }, + "bbox_1769397609529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397609529_1769397802983_rc08npek7", + "x": 0.17250000000000001, + "y": 0.6626666666666666, + "width": 0.146, + "height": 0.18000000000000008 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开玉米落到不锈钢碗里，任务完成。", + "frame": 393, + "progress": 100, + "progress_explanation": "爪夹松开玉米落到不锈钢碗里，因此进度提升为100%。", + "state_description": "爪夹张开，玉米掉落进不锈钢碗里。\n抓取玉米放进不锈钢碗里的任务目标完成。", + "time": 13.093213366494846, + "annotations": { + "point_1769397621713": { + "type": "point", + "instances": [ + { + "id": "point_1769397621713_1769397807599_qvci5odoe", + "x": 0.2585, + "y": 0.7253333333333334 + } + ] + }, + "point_1769397616252": { + "type": "point", + "instances": [ + { + "id": "point_1769397616252_1769397809644_d8s8r99jn", + "x": 0.1565, + "y": 0.6920000000000001 + } + ] + }, + "bbox_1769397604951": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397604951_1769397813476_q8tqy8kxp", + "x": 0.20550000000000002, + "y": 0.6906666666666667, + "width": 0.07799999999999999, + "height": 0.16400000000000006 + } + ] + }, + "bbox_1769397609529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397609529_1769397816839_hqobw3aew", + "x": 0.17550000000000002, + "y": 0.66, + "width": 0.143, + "height": 0.1853333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769397604951", + "name": "玉米", + "color": "#4CAF50" + }, + { + "id": "bbox_1769397609529", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769397616252", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769397621713", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260109-183602-put-corn-stainless bowl-mix-1/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260109-183602-put-corn-stainless bowl-mix-1/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..a0d3473a2143b541a54a4c21b9bc78897b18aaf0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260109-183602-put-corn-stainless bowl-mix-1/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,734 @@ +{ + "task_description": "抓取玉米放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹夹紧玉米接近不锈钢碗：60%\n爪夹夹紧玉米靠近不锈钢碗：80%\n爪夹松开玉米落到不锈钢碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.15600000000000006, + "id": "bbox_1769407506733_1769407566238_urenr2tl4", + "width": 0.053000000000000026, + "x": 0.20549999999999996, + "y": 0.29733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.14933333333333335, + "id": "bbox_1769407510429_1769407573882_m9eagy0cv", + "width": 0.11800000000000006, + "x": 0.4925, + "y": 0.428 + } + ], + "type": "bbox" + }, + "point_1769407521303": { + "instances": [ + { + "id": "point_1769407521303_1769407591108_nya27dgc8", + "x": 0.3915, + "y": 0.232 + } + ], + "type": "point" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407593954_p4d81lvak", + "x": 0.4755, + "y": 0.24000000000000002 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到玉米正上方。", + "time": 1.365841944845361 + }, + { + "action_description": "爪夹向爪夹右前方移动并调整爪夹角度", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.156, + "id": "bbox_1769407506733_1769407605443_q9nx6tiyi", + "width": 0.05299999999999998, + "x": 0.20750000000000002, + "y": 0.29600000000000004 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.15466666666666676, + "id": "bbox_1769407510429_1769407614942_p8zt311g6", + "width": 0.11900000000000004, + "x": 0.4915, + "y": 0.42666666666666664 + } + ], + "type": "bbox" + }, + "point_1769407521303": { + "instances": [ + { + "id": "point_1769407521303_1769407601186_xhxhf5r4q", + "x": 0.3205, + "y": 0.312 + } + ], + "type": "point" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407598751_7xr5py2sj", + "x": 0.41050000000000003, + "y": 0.328 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方移动来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了与玉米之间的距离，调整爪夹角度方便抓取玉米。", + "frame": 97, + "progress": 10, + "progress_explanation": "爪夹角度与桌面呈70度。水平上接近了玉米。方便向玉米移动靠近。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面呈70度。水平上接近了玉米。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹向爪夹右方移动来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。", + "time": 3.228666 + }, + { + "action_description": "爪夹垂直下降并调整爪夹角度", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.1573333333333333, + "id": "bbox_1769407506733_1769407629905_egosy60tm", + "width": 0.05499999999999998, + "x": 0.20550000000000002, + "y": 0.29600000000000004 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.15866666666666665, + "id": "bbox_1769407510429_1769407641359_1evrvz0un", + "width": 0.12199999999999997, + "x": 0.49050000000000005, + "y": 0.42533333333333334 + } + ], + "type": "bbox" + }, + "point_1769407521303": { + "instances": [ + { + "id": "point_1769407521303_1769407624777_vsqzwayk0", + "x": 0.3315, + "y": 0.36800000000000005 + } + ], + "type": "point" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407676691_zpv9wjxtz", + "x": 0.41550000000000004, + "y": 0.38 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直升高，向爪夹右方移动来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹垂直下降靠近了错误目标西红柿，未向玉米靠近。", + "frame": 120, + "progress": -5, + "progress_explanation": "爪夹一侧触碰到了错误目标西红柿。比起上一阶段多出一步垂直升高。因此进度降低为-5%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，爪夹一侧接触到了错误目标西红柿。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹垂直升高，向爪夹右方移动来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。", + "time": 3.985733 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.1586666666666667, + "id": "bbox_1769407506733_1769407685670_pushk5mpp", + "width": 0.053000000000000026, + "x": 0.2045, + "y": 0.2933333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.156, + "id": "bbox_1769407510429_1769407696839_p6dv8a0to", + "width": 0.12300000000000004, + "x": 0.48949999999999994, + "y": 0.4266666666666667 + } + ], + "type": "bbox" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407679923_oun2dl63r", + "x": 0.41150000000000003, + "y": 0.3813333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹垂直升高，向爪夹右方移动来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢抓取到了错误目标西红柿。未向正确玉米靠近抓取。", + "frame": 140, + "progress": -10, + "progress_explanation": "爪夹角度与桌面接近垂直，抓取到了错误目标西红柿。比起上一阶段多出一步爪夹张开。因此进度降低为-10%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直，抓取到了错误目标西红柿。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹张开，爪夹垂直升高，向爪夹右方移动来到玉米正上方。", + "time": 4.653733 + }, + { + "action_description": "爪夹夹紧错误目标西红柿垂直升高", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.15866666666666665, + "id": "bbox_1769407506733_1769407714371_8z46eezl0", + "width": 0.052000000000000005, + "x": 0.20550000000000002, + "y": 0.29600000000000004 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.15600000000000006, + "id": "bbox_1769407510429_1769407720055_eccvg0hd5", + "width": 0.12200000000000007, + "x": 0.4885, + "y": 0.42533333333333334 + } + ], + "type": "bbox" + }, + "point_1769407521303": { + "instances": [ + { + "id": "point_1769407521303_1769407706220_aglsyfveo", + "x": 0.3305, + "y": 0.3466666666666667 + } + ], + "type": "point" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407708850_0j0plif8t", + "x": 0.41050000000000003, + "y": 0.356 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向爪夹右方移动来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧错误目标西红柿垂直升高，进行了更错误的操作。无法抓取玉米。", + "frame": 186, + "progress": -20, + "progress_explanation": "爪夹夹紧错误目标西红柿垂直升高，不方便抓取玉米。因此进度降低为-20%。", + "state_description": "爪夹夹紧错误目标西红柿，位于半空中。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹张开，爪夹向爪夹右方移动来到玉米正上方。", + "time": 6.2 + }, + { + "action_description": "爪夹夹紧错误目标西红柿左右晃动", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.15733333333333335, + "id": "bbox_1769407506733_1769407734037_hre6q446f", + "width": 0.05500000000000003, + "x": 0.2045, + "y": 0.2946666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.15600000000000006, + "id": "bbox_1769407510429_1769407739481_pybv0268p", + "width": 0.12400000000000003, + "x": 0.4885, + "y": 0.42666666666666664 + } + ], + "type": "bbox" + }, + "point_1769407521303": { + "instances": [ + { + "id": "point_1769407521303_1769407726578_f1blaxr2n", + "x": 0.3545, + "y": 0.3466666666666667 + } + ], + "type": "point" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407728921_knrgavru9", + "x": 0.4365, + "y": 0.35333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向爪夹右方移动来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧错误目标西红柿左右晃动，进行无意义的操作。不方便抓取玉米。", + "frame": 243, + "progress": -21, + "progress_explanation": "爪夹夹紧错误目标西红柿左右晃动，微微远离了玉米，不方便抓取玉米。因此进度降低为-21%。", + "state_description": "爪夹夹紧错误目标西红柿，位于半空中。微微远离了玉米。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹张开，爪夹向爪夹右方移动来到玉米正上方。", + "time": 8.091752698453607 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.15866666666666665, + "id": "bbox_1769407506733_1769407760135_7tybqak3f", + "width": 0.051000000000000024, + "x": 0.2065, + "y": 0.2946666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.1573333333333333, + "id": "bbox_1769407510429_1769407764961_3cqsxjeub", + "width": 0.12100000000000008, + "x": 0.49049999999999994, + "y": 0.4266666666666667 + } + ], + "type": "bbox" + }, + "point_1769407521303": { + "instances": [ + { + "id": "point_1769407521303_1769407751141_t0a59gxtl", + "x": 0.3605, + "y": 0.3453333333333333 + } + ], + "type": "point" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407753681_1wnvgodyz", + "x": 0.44350000000000006, + "y": 0.35200000000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方移动来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹张开，错误目标西红柿掉落，方便爪夹向玉米移动抓取。", + "frame": 257, + "progress": 12, + "progress_explanation": "爪夹角度与桌面接近垂直，爪夹张开西红柿掉落桌面。方便向玉米移动抓取，因此进度提升为12%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。西红柿掉落桌面。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹向爪夹右方移动来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。", + "time": 8.572666 + }, + { + "action_description": "爪夹向爪夹右方移动", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.15866666666666665, + "id": "bbox_1769407506733_1769407779737_yuytp6zya", + "width": 0.052000000000000005, + "x": 0.20750000000000002, + "y": 0.2946666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.15466666666666676, + "id": "bbox_1769407510429_1769407783043_l82337q4k", + "width": 0.12299999999999996, + "x": 0.48950000000000005, + "y": 0.42533333333333334 + } + ], + "type": "bbox" + }, + "point_1769407521303": { + "instances": [ + { + "id": "point_1769407521303_1769407773985_4yav8c11z", + "x": 0.20750000000000002, + "y": 0.316 + } + ], + "type": "point" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407776039_cl0p6zc73", + "x": 0.2895, + "y": 0.3413333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹右方移动来到了玉米正上方，方便抓取玉米。", + "frame": 291, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，位于玉米正上方。方便下降抓取玉米。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于玉米正上方。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。", + "time": 9.708266 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.14399999999999996, + "id": "bbox_1769407506733_1769407791285_lzca16cmn", + "width": 0.099, + "x": 0.17750000000000002, + "y": 0.30933333333333335 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.15733333333333335, + "id": "bbox_1769407510429_1769407798071_fwtulvb33", + "width": 0.12300000000000004, + "x": 0.4875, + "y": 0.42400000000000004 + } + ], + "type": "bbox" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407787363_ibsw12g3j", + "x": 0.2975, + "y": 0.36133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取玉米。夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹垂直下降靠近了玉米，爪夹角度接近垂直于桌面，方便抓取玉米。", + "frame": 303, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了玉米。方便抓取玉米。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了玉米。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹合拢抓取玉米。夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。", + "time": 10.0868 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.14133333333333334, + "id": "bbox_1769407506733_1769407810725_er7wvibks", + "width": 0.09300000000000001, + "x": 0.1795, + "y": 0.31466666666666665 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.15999999999999998, + "id": "bbox_1769407510429_1769407817905_e4zw08fyn", + "width": 0.12300000000000004, + "x": 0.4885, + "y": 0.42533333333333334 + } + ], + "type": "bbox" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407806771_yz3lh8vz8", + "x": 0.2725, + "y": 0.36533333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到玉米。方便移动玉米到不锈钢碗里。", + "frame": 321, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，抓取到玉米。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直，抓取到玉米。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹夹紧玉米向爪夹左前方移动升高，来到不锈钢碗正上方。", + "time": 10.708659954123712 + }, + { + "action_description": "爪夹夹紧玉米向爪夹左前方移动升高", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.14666666666666667, + "id": "bbox_1769407506733_1769407829093_tsmqjd6yy", + "width": 0.081, + "x": 0.28450000000000003, + "y": 0.33066666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.15333333333333332, + "id": "bbox_1769407510429_1769407839319_vymb8dxrl", + "width": 0.11999999999999993, + "x": 0.48950000000000005, + "y": 0.42533333333333334 + } + ], + "type": "bbox" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407824987_ie7o34tcr", + "x": 0.3705, + "y": 0.38266666666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧玉米向爪夹左前方移动下降，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧玉米向爪夹左前方移动升高，缩短了与不锈钢碗之间的距离。", + "frame": 396, + "progress": 60, + "progress_explanation": "爪夹水平上接近了不锈钢碗，方便继续靠近不锈钢碗。因此进度提升为60%。", + "state_description": "爪夹夹紧玉米，爪夹角度与桌面接近垂直。水平上接近了不锈钢碗。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹夹紧玉米向爪夹左前方移动下降，来到不锈钢碗正上方。", + "time": 13.204133 + }, + { + "action_description": "爪夹夹紧玉米向爪夹左前方移动", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.15199999999999997, + "id": "bbox_1769407506733_1769407850833_puikjveru", + "width": 0.08499999999999992, + "x": 0.3605, + "y": 0.33866666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.15466666666666667, + "id": "bbox_1769407510429_1769407859159_me3otcc2p", + "width": 0.12199999999999997, + "x": 0.49050000000000005, + "y": 0.428 + } + ], + "type": "bbox" + }, + "point_1769407525543": { + "instances": [ + { + "id": "point_1769407525543_1769407847089_njldo54ab", + "x": 0.4465, + "y": 0.3813333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧玉米向爪夹左前方移动下降，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧玉米向爪夹左前方移动缩短了与不锈钢碗之间的距离。方便将玉米放到不锈钢碗里。", + "frame": 460, + "progress": 70, + "progress_explanation": "爪夹水平上更加接近了不锈钢碗，方便继续靠近不锈钢碗。因此进度提升为70%。", + "state_description": "爪夹夹紧玉米，爪夹角度与桌面接近垂直。水平上更加接近了不锈钢碗。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹夹紧玉米向爪夹左前方移动下降，来到不锈钢碗正上方。", + "time": 15.341733 + }, + { + "action_description": "爪夹夹紧玉米向爪夹左前方移动下降", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.1666666666666666, + "id": "bbox_1769407506733_1769407867253_d1l0ht1sf", + "width": 0.05499999999999998, + "x": 0.5215, + "y": 0.37466666666666665 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.1573333333333333, + "id": "bbox_1769407510429_1769407873916_a98yg7bf7", + "width": 0.11800000000000006, + "x": 0.4925, + "y": 0.4266666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧玉米向爪夹左前方移动下降。来到了不锈钢碗正上方。方便玉米落到不锈钢碗里。", + "frame": 554, + "progress": 80, + "progress_explanation": "爪夹角度与桌面接近垂直。位于不锈钢碗正上方。方便将玉米放到不锈钢碗里。因此进度提升为80%。", + "state_description": "爪夹夹紧玉米，爪夹角度与桌面接近垂直。位于不锈钢碗正上方。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹松开，玉米落到不锈钢碗里。", + "time": 18.46756041391753 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769407506733": { + "instances": [ + { + "height": 0.1773333333333333, + "id": "bbox_1769407506733_1769407881648_t8n1yipje", + "width": 0.06499999999999995, + "x": 0.5255, + "y": 0.38400000000000006 + } + ], + "type": "bbox" + }, + "bbox_1769407510429": { + "instances": [ + { + "height": 0.15066666666666664, + "id": "bbox_1769407510429_1769407891291_8971n5jvz", + "width": 0.125, + "x": 0.4885, + "y": 0.428 + } + ], + "type": "bbox" + }, + "point_1769407521303": { + "instances": [ + { + "id": "point_1769407521303_1769407878319_x2pbvubpf", + "x": 0.5085, + "y": 0.4346666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开玉米落到不锈钢碗里，任务完成。", + "frame": 598, + "progress": 100, + "progress_explanation": "爪夹松开玉米落到不锈钢碗里，因此进度提升为100%。", + "state_description": "爪夹张开，玉米掉落进不锈钢碗里。\n抓取玉米放进不锈钢碗里的任务目标完成", + "time": 19.936701329381442 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769407506733", + "name": "玉米" + }, + { + "color": "#FF9800", + "id": "bbox_1769407510429", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769407521303", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769407525543", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-093313-put-corn-stainless bowl-bad/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-093313-put-corn-stainless bowl-bad/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..8bb9cf792ce3dcf03507093ee04c3426c2180039 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-093313-put-corn-stainless bowl-bad/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,506 @@ +{ + "task_description": "抓取玉米放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹夹紧玉米接近不锈钢碗：60%\n爪夹夹紧玉米靠近不锈钢碗：80%\n爪夹松开玉米落到不锈钢碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹正前方移动下降，调整爪夹角度接近垂直于桌面，来到玉米正上方。爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹向爪夹正前方移动下降，调整爪夹角度接近垂直于桌面，来到玉米正上方。", + "time": 1.0466494845360823, + "annotations": { + "bbox_1769410224147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410224147_1769410257147_bv7bs4tr5", + "x": 0.4165, + "y": 0.19866666666666666, + "width": 0.11100000000000003, + "height": 0.11599999999999998 + } + ] + }, + "point_1769410240238": { + "type": "point", + "instances": [ + { + "id": "point_1769410240238_1769410259727_sfzyc477l", + "x": 0.6085, + "y": 0.28933333333333333 + } + ] + }, + "point_1769410245670": { + "type": "point", + "instances": [ + { + "id": "point_1769410245670_1769410262079_48crefrsf", + "x": 0.6905, + "y": 0.24400000000000002 + } + ] + }, + "bbox_1769410229204": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410229204_1769410266739_o8inofbtp", + "x": 0.23450000000000001, + "y": 0.21200000000000002, + "width": 0.156, + "height": 0.15866666666666668 + } + ] + } + } + }, + { + "time": 3.006999, + "frame": 90, + "progress": 10, + "action_description": "爪夹向爪夹正前方移动升高", + "state_description": "爪夹张开，爪夹角度与桌面接近平行。水平上接近了玉米。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹向爪夹右方移动来到玉米正上方。调整爪夹角度接近垂直于桌面，爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。", + "progress_explanation": "爪夹水平上接近了玉米。方便向玉米移动靠近。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹正前方移动缩短了与玉米之间的距离，方便抓取玉米。", + "correction_plan": "爪夹向爪夹右方移动来到玉米正上方。调整爪夹角度接近垂直于桌面，爪夹垂直下降靠近玉米，爪夹合拢抓取玉米。夹紧玉米向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "bbox_1769410224147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410224147_1769410280369_96sm4eaa4", + "x": 0.41850000000000004, + "y": 0.19866666666666666, + "width": 0.10899999999999999, + "height": 0.11866666666666666 + } + ] + }, + "bbox_1769410229204": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410229204_1769410284529_bq3hc80tb", + "x": 0.23550000000000004, + "y": 0.20933333333333334, + "width": 0.15399999999999997, + "height": 0.16666666666666663 + } + ] + }, + "point_1769410240238": { + "type": "point", + "instances": [ + { + "id": "point_1769410240238_1769410290472_64vii68sr", + "x": 0.5955, + "y": 0.17333333333333334 + } + ] + } + } + }, + { + "time": 4.993556701030928, + "frame": 150, + "progress": 15, + "action_description": "爪夹向爪夹正前方移动升高并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面接近平行。水平上更加接近了玉米。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹向爪夹正前方移动下降，调整爪夹角度使其靠近玉米两侧。爪夹合拢抓取玉米。", + "progress_explanation": "爪夹角度与桌面接近平行。水平上更加接近了玉米。方便抓取玉米。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹正前方移动升高更加缩短了与玉米之间的距离，方便抓取玉米。", + "correction_plan": "爪夹向爪夹正前方移动下降，调整爪夹角度使其靠近玉米两侧。爪夹合拢抓取玉米。夹紧玉米向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "point_1769410240238": { + "type": "point", + "instances": [ + { + "id": "point_1769410240238_1769410360936_qdr6fplr2", + "x": 0.4325, + "y": 0.09466666666666666 + } + ] + }, + "bbox_1769410224147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410224147_1769410364554_vk52m7vl4", + "x": 0.41850000000000004, + "y": 0.19866666666666666, + "width": 0.10999999999999996, + "height": 0.11466666666666668 + } + ] + }, + "bbox_1769410229204": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410229204_1769410373154_g3oacxnt6", + "x": 0.23650000000000002, + "y": 0.21200000000000002, + "width": 0.15299999999999997, + "height": 0.16133333333333336 + } + ] + } + } + }, + { + "time": 6.417, + "frame": 193, + "progress": 20, + "action_description": "爪夹向爪夹正前方移动下降并调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈70度。靠近了玉米两侧。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹合拢抓取玉米。夹紧玉米向爪夹左方移动升高，来到不锈钢碗正上方。", + "progress_explanation": "爪夹角度与桌面呈70度。靠近了玉米两侧。方便抓取玉米。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹正前方移动下降靠近了玉米两侧。并调整爪夹角度方便抓取玉米。", + "correction_plan": "爪夹合拢抓取玉米。夹紧玉米向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "bbox_1769410224147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410224147_1769410379202_dp1rakp1y", + "x": 0.4205, + "y": 0.2, + "width": 0.10700000000000003, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1769410229204": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410229204_1769410383590_qdhi80j2p", + "x": 0.2355, + "y": 0.21066666666666667, + "width": 0.15300000000000002, + "height": 0.16799999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧玉米向爪夹左方移动升高，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到玉米。方便移动玉米到不锈钢碗里。", + "frame": 233, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈70度。抓取到了玉米。因此进度提升40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈70度。抓取到了玉米。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹夹紧玉米向爪夹左方移动升高，来到不锈钢碗正上方。", + "time": 7.766666666666667, + "annotations": { + "bbox_1769410224147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410224147_1769410392814_hks8osot1", + "x": 0.4205, + "y": 0.19733333333333333, + "width": 0.10599999999999996, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1769410229204": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410229204_1769410402148_u6f6o17qt", + "x": 0.2375, + "y": 0.21200000000000002, + "width": 0.15100000000000002, + "height": 0.15866666666666668 + } + ] + } + } + }, + { + "time": 9.8735, + "frame": 296, + "progress": 50, + "action_description": "爪夹夹紧玉米垂直升高", + "state_description": "爪夹夹紧玉米，位于半空中。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹夹紧玉米向爪夹左方移动下降，来到不锈钢碗正上方。", + "progress_explanation": "爪夹夹紧玉米带至高空，垂直上高过了不锈钢碗，方便向不锈钢碗移动。因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧玉米垂直升高，垂直上方便了玉米向不锈钢碗移动靠近。", + "correction_plan": "爪夹夹紧玉米向爪夹左方移动下降，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "bbox_1769410224147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410224147_1769410408664_5cup0a9kb", + "x": 0.4835, + "y": 0, + "width": 0.08200000000000003, + "height": 0.06133333333333334 + } + ] + }, + "bbox_1769410229204": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410229204_1769410413241_8l0dnegcq", + "x": 0.2375, + "y": 0.21066666666666667, + "width": 0.152, + "height": 0.164 + } + ] + } + } + }, + { + "time": 10.746134020618557, + "frame": 322, + "progress": 60, + "action_description": "爪夹夹紧玉米向爪夹左方移动", + "state_description": "爪夹夹紧玉米，位于半空中。水平上接近了不锈钢碗。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹夹紧玉米向爪夹左方移动下降，来到不锈钢碗正上方。", + "progress_explanation": "爪夹水平上接近了不锈钢碗，方便继续靠近，因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧玉米向爪夹左方移动缩短了与不锈钢碗的距离。方便玉米放到不锈钢碗里。", + "correction_plan": "爪夹夹紧玉米向爪夹左方移动下降，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "bbox_1769410224147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410224147_1769410419255_uwdr5fn7b", + "x": 0.3845, + "y": 0.0013333333333333333, + "width": 0.08900000000000001, + "height": 0.064 + } + ] + }, + "bbox_1769410229204": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410229204_1769410423648_suoz4efef", + "x": 0.23650000000000002, + "y": 0.21066666666666667, + "width": 0.15299999999999997, + "height": 0.16133333333333333 + } + ] + } + } + }, + { + "time": 11.6090206185567, + "frame": 348, + "progress": 80, + "action_description": "爪夹夹紧玉米向爪夹左方移动下降", + "state_description": "爪夹夹紧玉米，位于不锈钢碗正上方。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹松开，玉米落到不锈钢碗里。", + "progress_explanation": "爪夹位于不锈钢碗正上方。方便将玉米放到不锈钢碗里。因此进度提升为80%。", + "error_success_analysis": "爪夹夹紧玉米向爪夹左方移动下降。来到了不锈钢碗正上方。方便玉米落到不锈钢碗里。", + "correction_plan": "爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "point_1769410240238": { + "type": "point", + "instances": [ + { + "id": "point_1769410240238_1769410429520_cbwbb42t6", + "x": 0.3085, + "y": 0.12400000000000001 + } + ] + }, + "bbox_1769410224147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410224147_1769410433977_e0kdqee5w", + "x": 0.2455, + "y": 0.0026666666666666666, + "width": 0.15499999999999997, + "height": 0.16666666666666666 + } + ] + }, + "bbox_1769410229204": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410229204_1769410439203_f3yeznq2c", + "x": 0.23850000000000002, + "y": 0.21200000000000002, + "width": 0.152, + "height": 0.16266666666666665 + } + ] + } + } + }, + { + "time": 12.5085, + "frame": 375, + "progress": 70, + "action_description": "爪夹夹紧玉米向爪夹右方移动下降", + "state_description": "爪夹夹紧玉米，水平上微微远离了不锈钢碗。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹夹紧玉米向爪夹左方移动，来到不锈钢碗正上方。", + "progress_explanation": "爪夹水平上微微远离了不锈钢碗，不方便玉米放到碗里。因此进度降低为70%。", + "error_success_analysis": "爪夹夹紧玉米向爪夹右方移动下降，偏离了不锈钢碗正上方。无法将玉米落到碗里。", + "correction_plan": "爪夹夹紧玉米向爪夹左方移动，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "annotations": { + "point_1769410240238": { + "type": "point", + "instances": [ + { + "id": "point_1769410240238_1769410444635_eixi9pt7p", + "x": 0.3825, + "y": 0.168 + } + ] + }, + "bbox_1769410224147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410224147_1769410449233_lsy03dlci", + "x": 0.3295, + "y": 0.04933333333333333, + "width": 0.137, + "height": 0.16533333333333336 + } + ] + }, + "bbox_1769410229204": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410229204_1769410454545_4vtn6hp6m", + "x": 0.2375, + "y": 0.21466666666666667, + "width": 0.152, + "height": 0.15866666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹向爪夹右方移动下降，调整爪夹角度使其接近垂直于桌面，靠近玉米两侧，爪夹合拢抓取玉米。爪夹夹紧玉米向爪夹左方移动，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "错误的位置时爪夹张开至使玉米掉落桌面上，落到不锈钢碗里失败。", + "frame": 421, + "progress": 13, + "progress_explanation": "玉米掉落桌面上，远离了不锈钢碗。需要重新抓取，因此进度降低为13%。", + "state_description": "爪夹张开，玉米掉落桌面上，远离了不锈钢碗。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹向爪夹右方移动下降，调整爪夹角度使其接近垂直于桌面，靠近玉米两侧，爪夹合拢抓取玉米。", + "time": 14.037886597938142, + "annotations": { + "point_1769410240238": { + "type": "point", + "instances": [ + { + "id": "point_1769410240238_1769410459475_d9rqya7cb", + "x": 0.36350000000000005, + "y": 0.17866666666666667 + } + ] + }, + "bbox_1769410224147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410224147_1769410463566_owlkqud5c", + "x": 0.45149999999999996, + "y": 0.20266666666666666, + "width": 0.125, + "height": 0.11199999999999997 + } + ] + }, + "bbox_1769410229204": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410229204_1769410468760_4g3xtotbo", + "x": 0.23450000000000001, + "y": 0.21200000000000002, + "width": 0.15499999999999997, + "height": 0.16266666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高", + "correction_plan": "爪夹向爪夹右方移动下降，调整爪夹角度使其接近垂直于桌面，靠近玉米两侧，爪夹合拢抓取玉米。爪夹夹紧玉米向爪夹左方移动，来到不锈钢碗正上方。爪夹松开，玉米落到不锈钢碗里。", + "error_success_analysis": "爪夹垂直升高，增加了于玉米之间的距离。不方便抓取玉米。", + "frame": 464, + "progress": 12, + "progress_explanation": "爪夹垂直上微微远离了玉米，不方便抓取玉米。因此进度降低为12%。", + "state_description": "爪夹张开，垂直上远离了玉米。\n为完成抓取玉米放进不锈钢碗里的任务应当：爪夹向爪夹右方移动下降，调整爪夹角度使其接近垂直于桌面，靠近玉米两侧，爪夹合拢抓取玉米。", + "time": 15.466666666666667, + "annotations": { + "point_1769410240238": { + "type": "point", + "instances": [ + { + "id": "point_1769410240238_1769410473511_p0f16uvab", + "x": 0.3375, + "y": 0.11066666666666668 + } + ] + }, + "bbox_1769410224147": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410224147_1769410476809_c8lsfueta", + "x": 0.43550000000000005, + "y": 0.22000000000000003, + "width": 0.129, + "height": 0.10666666666666667 + } + ] + }, + "bbox_1769410229204": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410229204_1769410481667_fn26y71wt", + "x": 0.2355, + "y": 0.21333333333333335, + "width": 0.15300000000000002, + "height": 0.16266666666666663 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769410224147", + "name": "玉米", + "color": "#4CAF50" + }, + { + "id": "bbox_1769410229204", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769410240238", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769410245670", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-100242-put-tomato-stainless steel bowl-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-100242-put-tomato-stainless steel bowl-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..d999f511bbafa0a21b71c7ea66ff4809e53d394d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-100242-put-tomato-stainless steel bowl-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,534 @@ +{ + "task_description": "抓取西红柿放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近西红柿：20%\n爪夹抓取西红柿：40%\n爪夹夹紧西红柿接近不锈钢碗：60%\n爪夹夹紧西红柿靠近不锈钢碗：80%\n爪夹松开西红柿落到不锈钢碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹正前方移动下降，调整爪夹角度接近垂直于桌面，来到西红柿正上方。爪夹垂直下降靠近西红柿，爪夹合拢抓取西红柿。夹紧西红柿向爪夹右前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹向爪夹正前方移动下降，调整爪夹角度接近垂直于桌面，来到西红柿正上方。", + "time": 1.0436941819587628, + "annotations": { + "bbox_1769412161235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412161235_1769412187025_mwuufr62w", + "x": 0.4215, + "y": 0.5053333333333333, + "width": 0.11200000000000002, + "height": 0.16133333333333333 + } + ] + }, + "bbox_1769412166215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412166215_1769412195017_bn9y6xe36", + "x": 0.6125, + "y": 0.33866666666666667, + "width": 0.11900000000000004, + "height": 0.13866666666666666 + } + ] + }, + "point_1769412171828": { + "type": "point", + "instances": [ + { + "id": "point_1769412171828_1769412198637_5n7n0csnd", + "x": 0.4175, + "y": 0.49333333333333335 + } + ] + }, + "point_1769412176073": { + "type": "point", + "instances": [ + { + "id": "point_1769412176073_1769412200714_b9b7hlb0y", + "x": 0.6405000000000001, + "y": 0.49333333333333335 + } + ] + } + } + }, + { + "time": 2.622, + "frame": 79, + "progress": 10, + "action_description": "爪夹向爪夹正前方移动升高", + "state_description": "爪夹张开，爪夹角度与桌面接近平行，位于西红柿正上方。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近西红柿。", + "progress_explanation": "爪夹角度与桌面接近平行，位于西红柿正上方。方便爪夹抓取西红柿，因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹正前方移动升高缩短了于西红柿之间的距离。方便爪夹下降抓取西红柿。", + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹垂直下降靠近西红柿。爪夹合拢抓取西红柿。夹紧西红柿向爪夹右前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "annotations": { + "point_1769412176073": { + "type": "point", + "instances": [ + { + "id": "point_1769412176073_1769412204268_vup6vu7qh", + "x": 0.6405000000000001, + "y": 0.48666666666666664 + } + ] + }, + "point_1769412171828": { + "type": "point", + "instances": [ + { + "id": "point_1769412171828_1769412206113_xhz1h7fb4", + "x": 0.41850000000000004, + "y": 0.492 + } + ] + }, + "bbox_1769412161235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412161235_1769412209670_rlmq6c79t", + "x": 0.4385, + "y": 0.604, + "width": 0.09500000000000001, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1769412166215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412166215_1769412214042_uq2mys93d", + "x": 0.6105, + "y": 0.36800000000000005, + "width": 0.12399999999999993, + "height": 0.15333333333333332 + } + ] + } + } + }, + { + "time": 4.37, + "frame": 131, + "progress": 15, + "action_description": "爪夹调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上接近了西红柿。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹垂直下降靠近西红柿。爪夹合拢抓取西红柿。", + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上接近了西红柿。方便抓取西红柿，因此进度提升为15%。", + "error_success_analysis": "爪夹调整爪夹角度使其接近垂直于桌面，方便抓取西红柿。", + "correction_plan": "爪夹垂直下降靠近西红柿。爪夹合拢抓取西红柿。夹紧西红柿向爪夹右前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "annotations": { + "point_1769412171828": { + "type": "point", + "instances": [ + { + "id": "point_1769412171828_1769412217950_qq6s6liy8", + "x": 0.41550000000000004, + "y": 0.47200000000000003 + } + ] + }, + "point_1769412176073": { + "type": "point", + "instances": [ + { + "id": "point_1769412176073_1769412219594_za18khsri", + "x": 0.6375, + "y": 0.47733333333333333 + } + ] + }, + "bbox_1769412161235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412161235_1769412223134_f0ondbs4a", + "x": 0.49250000000000005, + "y": 0.396, + "width": 0.11099999999999995, + "height": 0.16266666666666668 + } + ] + }, + "bbox_1769412166215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412166215_1769412231372_7syrmjupk", + "x": 0.7175, + "y": 0.10933333333333334, + "width": 0.13600000000000004, + "height": 0.208 + } + ] + } + } + }, + { + "time": 5.491633, + "frame": 165, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了西红柿两侧。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹合拢抓取西红柿。爪夹夹紧西红柿向爪夹右前方移动升高，来到不锈钢碗正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了西红柿两侧。方便抓取西红柿，因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了西红柿，方便抓取西红柿。", + "correction_plan": "爪夹合拢抓取西红柿。爪夹夹紧西红柿向爪夹右前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "annotations": { + "point_1769412171828": { + "type": "point", + "instances": [ + { + "id": "point_1769412171828_1769412236444_risedyg2k", + "x": 0.41450000000000004, + "y": 0.4826666666666667 + } + ] + }, + "point_1769412176073": { + "type": "point", + "instances": [ + { + "id": "point_1769412176073_1769412238516_jl0s1sjcp", + "x": 0.6385, + "y": 0.48000000000000004 + } + ] + }, + "bbox_1769412161235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412161235_1769412242668_b3xcave29", + "x": 0.4345, + "y": 0.38666666666666666, + "width": 0.18800000000000008, + "height": 0.27866666666666673 + } + ] + }, + "bbox_1769412166215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412166215_1769412250443_01m13olba", + "x": 0.7835, + "y": 0.005333333333333332, + "width": 0.15800000000000008, + "height": 0.28800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧西红柿向爪夹右前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到西红柿。方便移动西红柿到不锈钢碗里。", + "frame": 210, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，抓取到西红柿。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直，抓取到西红柿。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹夹紧西红柿向爪夹右前方移动升高，来到不锈钢碗正上方。", + "time": 7, + "annotations": { + "point_1769412171828": { + "type": "point", + "instances": [ + { + "id": "point_1769412171828_1769412259012_6ghwq4igr", + "x": 0.4335, + "y": 0.4733333333333334 + } + ] + }, + "point_1769412176073": { + "type": "point", + "instances": [ + { + "id": "point_1769412176073_1769412261254_b02cf0xzt", + "x": 0.6214999999999999, + "y": 0.4746666666666667 + } + ] + }, + "bbox_1769412161235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412161235_1769412266458_1di9ul0k0", + "x": 0.4295, + "y": 0.376, + "width": 0.20700000000000002, + "height": 0.29466666666666674 + } + ] + }, + "bbox_1769412166215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412166215_1769412271876_j21jcwlhj", + "x": 0.7955, + "y": 0.0026666666666666666, + "width": 0.16400000000000006, + "height": 0.2813333333333333 + } + ] + } + } + }, + { + "time": 9.3518, + "frame": 281, + "progress": 50, + "action_description": "爪夹夹紧西红柿垂直升高", + "state_description": "爪夹夹紧西红柿，位于半空中，垂直上高过了不锈钢碗。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹夹紧西红柿向爪夹右前方移动下降，来到不锈钢碗正上方。", + "progress_explanation": "爪夹垂直上高过了不锈钢碗，方便移动西红柿向不锈钢碗移动。因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧西红柿垂直升高，方便方便移动西红柿向不锈钢碗靠近。", + "correction_plan": "爪夹夹紧西红柿向爪夹右前方移动下降，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "annotations": { + "point_1769412171828": { + "type": "point", + "instances": [ + { + "id": "point_1769412171828_1769412280758_77xo3ouah", + "x": 0.4335, + "y": 0.47866666666666663 + } + ] + }, + "point_1769412176073": { + "type": "point", + "instances": [ + { + "id": "point_1769412176073_1769412282934_7jfr2hdz4", + "x": 0.6235, + "y": 0.4746666666666667 + } + ] + }, + "bbox_1769412161235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412161235_1769412287766_hcu08gncm", + "x": 0.4295, + "y": 0.3706666666666667, + "width": 0.20800000000000002, + "height": 0.3 + } + ] + }, + "bbox_1769412166215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412166215_1769412298859_qujh7hoc3", + "x": 0.6345000000000001, + "y": 0.31333333333333335, + "width": 0.12499999999999992, + "height": 0.18000000000000002 + } + ] + } + } + }, + { + "time": 10.560833, + "frame": 317, + "progress": 60, + "action_description": "爪夹夹紧西红柿向爪夹右前方移动", + "state_description": "爪夹夹紧西红柿，水平上接近了不锈钢碗。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹夹紧西红柿向爪夹右前方移动下降，来到不锈钢碗正上方。", + "progress_explanation": "爪夹水平上接近了不锈钢碗，方便西红柿放到不锈钢碗里。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧西红柿向爪夹右前方移动缩短了与不锈钢碗之间的距离。方便西红柿放到不锈钢碗里。", + "correction_plan": "爪夹夹紧西红柿向爪夹右前方移动下降，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "annotations": { + "point_1769412171828": { + "type": "point", + "instances": [ + { + "id": "point_1769412171828_1769412307362_my07h5ak5", + "x": 0.4335, + "y": 0.4826666666666667 + } + ] + }, + "point_1769412176073": { + "type": "point", + "instances": [ + { + "id": "point_1769412176073_1769412309712_cxx63o2c5", + "x": 0.6225, + "y": 0.47866666666666663 + } + ] + }, + "bbox_1769412161235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412161235_1769412313771_qvmpnw0g9", + "x": 0.4305, + "y": 0.372, + "width": 0.21100000000000002, + "height": 0.3013333333333333 + } + ] + }, + "bbox_1769412166215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412166215_1769412323064_39uw2ff1z", + "x": 0.5445, + "y": 0.3266666666666667, + "width": 0.15300000000000002, + "height": 0.20666666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧西红柿向爪夹右前方移动下降", + "correction_plan": "爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧西红柿向爪夹右前方移动下降来到了不锈钢碗正上方。方便西红柿落到不锈钢碗里。", + "frame": 363, + "progress": 80, + "progress_explanation": "爪夹夹紧西红柿靠近不锈钢碗，来到了不锈钢碗正上方。因此进度提升为80%。", + "state_description": "爪夹夹紧西红柿，位于不锈钢碗正上方。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹松开，西红柿落到不锈钢碗里。", + "time": 12.096340482989692, + "annotations": { + "point_1769412171828": { + "type": "point", + "instances": [ + { + "id": "point_1769412171828_1769412332305_8poeffgsb", + "x": 0.4345, + "y": 0.47866666666666663 + } + ] + }, + "point_1769412176073": { + "type": "point", + "instances": [ + { + "id": "point_1769412176073_1769412334366_1t3k6q9p6", + "x": 0.6235, + "y": 0.47733333333333333 + } + ] + }, + "bbox_1769412161235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412161235_1769412338602_zlznhbjfg", + "x": 0.43050000000000005, + "y": 0.37466666666666665, + "width": 0.209, + "height": 0.29733333333333334 + } + ] + }, + "bbox_1769412166215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412166215_1769412347587_66jvhbg7u", + "x": 0.3835, + "y": 0.3093333333333333, + "width": 0.266, + "height": 0.3440000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开西红柿落到不锈钢碗里，任务完成。", + "frame": 391, + "progress": 100, + "progress_explanation": "爪夹松开西红柿落到不锈钢碗里，因此进度提升为100%。", + "state_description": "爪夹张开，西红柿掉落进不锈钢碗里。\n抓取西红柿放进不锈钢碗里的任务目标完成。", + "time": 13.042422978865979, + "annotations": { + "point_1769412171828": { + "type": "point", + "instances": [ + { + "id": "point_1769412171828_1769412356807_xy72y80g4", + "x": 0.41550000000000004, + "y": 0.47866666666666663 + } + ] + }, + "point_1769412176073": { + "type": "point", + "instances": [ + { + "id": "point_1769412176073_1769412358833_jgs90q63p", + "x": 0.6405000000000001, + "y": 0.48133333333333334 + } + ] + }, + "bbox_1769412161235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412161235_1769412362545_sx4fzd5xf", + "x": 0.46749999999999997, + "y": 0.3866666666666667, + "width": 0.17099999999999999, + "height": 0.21066666666666667 + } + ] + }, + "bbox_1769412166215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412166215_1769412370717_s2kthoor2", + "x": 0.3965, + "y": 0.3186666666666667, + "width": 0.25899999999999995, + "height": 0.34 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769412161235", + "name": "西红柿", + "color": "#4CAF50" + }, + { + "id": "bbox_1769412166215", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769412171828", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769412176073", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-101935-put-tomato-stainless steel bowl-mix/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-101935-put-tomato-stainless steel bowl-mix/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..fd952aa5db7da422505d578ebf5b13c5c95d72af --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-101935-put-tomato-stainless steel bowl-mix/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,820 @@ +{ + "task_description": "抓取西红柿放进不锈钢碗里：\n准备开始移动：0%\n爪夹靠近西红柿：20%\n爪夹抓取西红柿：40%\n爪夹夹紧西红柿接近不锈钢碗：60%\n爪夹夹紧西红柿靠近不锈钢碗：80%\n爪夹松开西红柿落到不锈钢碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.1013333333333333, + "id": "bbox_1769415019144_1769415056213_408qv0eeu", + "width": 0.071, + "x": 0.3295, + "y": 0.2826666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.14399999999999996, + "id": "bbox_1769415024104_1769415060078_vteuiyvv9", + "width": 0.12200000000000007, + "x": 0.40149999999999997, + "y": 0.4066666666666667 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415063161_3vq9tr29j", + "x": 0.4035, + "y": 0.22133333333333335 + } + ], + "type": "point" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415065797_gv1ng3o0y", + "x": 0.4885, + "y": 0.22000000000000003 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到西红柿正上方。爪夹垂直下降靠近西红柿，爪夹合拢抓取西红柿。夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "爪当前为初始状态，爪夹张开，未开始移动。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到西红柿正上方。", + "time": 1.5518041237113402 + }, + { + "action_description": "爪夹向爪夹右前方移动升高并调整角度", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.09600000000000003, + "id": "bbox_1769415019144_1769415080105_wxx8mbg4q", + "width": 0.06799999999999998, + "x": 0.3335, + "y": 0.2866666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.15199999999999997, + "id": "bbox_1769415024104_1769415084353_zigoxeqal", + "width": 0.12200000000000007, + "x": 0.40049999999999997, + "y": 0.4053333333333333 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415076087_uew7u9coo", + "x": 0.3525, + "y": 0.23333333333333334 + } + ], + "type": "point" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415071061_oioezju7k", + "x": 0.44350000000000006, + "y": 0.25866666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动下降，来到西红柿正上方。爪夹垂直下降靠近西红柿，爪夹合拢抓取西红柿。夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹右前方移动升高缩短了与西红柿之间的距离，并调整角度方便了抓取西红柿。", + "frame": 103, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直。水平上接近了西红柿。方便抓取西红柿。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。水平上接近了西红柿。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹向爪夹右前方移动下降，来到西红柿正上方。", + "time": 3.4342 + }, + { + "action_description": "爪夹向爪夹右方移动下降", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.0933333333333333, + "id": "bbox_1769415019144_1769415094999_mpmgk78xz", + "width": 0.071, + "x": 0.3315, + "y": 0.2906666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.15733333333333335, + "id": "bbox_1769415024104_1769415103345_xe9m9e4cf", + "width": 0.121, + "x": 0.3995, + "y": 0.4026666666666667 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415088919_napi3qujn", + "x": 0.3385, + "y": 0.2866666666666667 + } + ], + "type": "point" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415091350_2i2j45eiw", + "x": 0.4175, + "y": 0.31466666666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近西红柿，爪夹合拢抓取西红柿。夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹右方移动下降，来到了西红柿正上方。方便抓取西红柿。", + "frame": 132, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直。位于西红柿正上方。方便抓取西红柿，因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。位于西红柿正上方。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹垂直下降靠近西红柿，爪夹合拢抓取西红柿。", + "time": 4.4154 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.09066666666666669, + "id": "bbox_1769415019144_1769415116603_fz1m2u5dq", + "width": 0.07199999999999998, + "x": 0.3375, + "y": 0.3093333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.15600000000000006, + "id": "bbox_1769415024104_1769415120095_czzrsvw23", + "width": 0.127, + "x": 0.3975, + "y": 0.4026666666666667 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415112985_ovziai9xv", + "x": 0.3435, + "y": 0.336 + } + ], + "type": "point" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415109477_cln2il97r", + "x": 0.4175, + "y": 0.36533333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取西红柿，夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹垂直下降靠近了西红柿两侧。方便抓取西红柿。", + "frame": 159, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了西红柿两侧。方便抓取西红柿，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了西红柿两侧。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹合拢抓取西红柿，夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。", + "time": 5.299123711340205 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1769415019144_1769415136231_9n71dr188", + "width": 0.07100000000000004, + "x": 0.3435, + "y": 0.308 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.1506666666666666, + "id": "bbox_1769415024104_1769415140220_qjpywmf40", + "width": 0.12500000000000006, + "x": 0.39849999999999997, + "y": 0.4066666666666667 + } + ], + "type": "bbox" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415125697_h1iqo02zy", + "x": 0.4135, + "y": 0.3626666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到西红柿。方便移动西红柿到不锈钢碗里。", + "frame": 184, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，抓取到西红柿。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到西红柿。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。", + "time": 6.149742268041238 + }, + { + "action_description": "爪夹夹紧西红柿向爪夹左前方移动升高", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.10533333333333333, + "id": "bbox_1769415019144_1769415153293_e26f9ihg8", + "width": 0.07400000000000002, + "x": 0.3545, + "y": 0.32933333333333337 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.1506666666666667, + "id": "bbox_1769415024104_1769415157239_d570izf9l", + "width": 0.12300000000000004, + "x": 0.3995, + "y": 0.4026666666666667 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415149527_0zwqoter4", + "x": 0.3545, + "y": 0.37733333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧西红柿向爪夹右前方移动缩短了与不锈钢碗之间的距离。方便西红柿放到不锈钢碗里。", + "frame": 231, + "progress": 60, + "progress_explanation": "爪夹水平上接近了不锈钢碗，方便西红柿放到不锈钢碗里。因此进度提升为60%。", + "state_description": "爪夹夹紧西红柿，爪夹角度接近垂直于桌面，水平上接近了不锈钢碗。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。", + "time": 7.693499 + }, + { + "action_description": "爪夹夹紧西红柿向爪夹左前方移动", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.09733333333333333, + "id": "bbox_1769415019144_1769415169679_wen3ly3xz", + "width": 0.07200000000000002, + "x": 0.3735, + "y": 0.34 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.15333333333333332, + "id": "bbox_1769415024104_1769415174314_esv2dhew4", + "width": 0.12100000000000004, + "x": 0.4015000000000001, + "y": 0.40800000000000003 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415162390_aqrq8qogj", + "x": 0.3715, + "y": 0.39066666666666666 + } + ], + "type": "point" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415165539_tge3jz4sf", + "x": 0.44750000000000006, + "y": 0.39466666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续夹紧西红柿向爪夹左前方移动，靠近不锈钢碗中央正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧西红柿向爪夹左前方移动，缩短了与不锈钢碗之间的距离。", + "frame": 256, + "progress": 70, + "progress_explanation": "爪夹角度接近垂直于桌面，位于不锈钢碗边缘。更加接近了不锈钢碗。因此进度提升为70%。", + "state_description": "爪夹夹紧西红柿，爪夹角度接近垂直于桌面，位于不锈钢碗边缘。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹继续夹紧西红柿向爪夹左前方移动，靠近不锈钢碗中央正上方。", + "time": 8.540899 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1769415019144_1769415191596_e1aycvlp8", + "width": 0.07600000000000003, + "x": 0.3265, + "y": 0.2546666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.15199999999999997, + "id": "bbox_1769415024104_1769415196191_frim6gqtc", + "width": 0.12000000000000002, + "x": 0.4025, + "y": 0.404 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415186067_v3730xj5e", + "x": 0.36750000000000005, + "y": 0.376 + } + ], + "type": "point" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415188330_1wphz7ibd", + "x": 0.4575, + "y": 0.384 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右后方移动下降，来到西红柿正上方。爪夹垂直下降靠近西红柿两侧。爪夹合拢抓取西红柿。爪夹夹紧西红柿向爪夹左前方移动，靠近不锈钢碗中央正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹张开，西红柿未落到不锈钢碗里。远离了不锈钢碗。", + "frame": 297, + "progress": 8, + "progress_explanation": "爪夹张开，西红柿掉落回桌面上，需要重新抓取西红柿，因此进度降低为8%。", + "state_description": "爪夹张开，西红柿未落到不锈钢碗里。掉落桌面。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹向爪夹右后方移动下降，来到西红柿正上方。", + "time": 9.9 + }, + { + "action_description": "爪夹向爪夹正后方移动升高", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.10800000000000004, + "id": "bbox_1769415019144_1769415209570_gvzzs24is", + "width": 0.06900000000000003, + "x": 0.3795, + "y": 0.19866666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.15066666666666678, + "id": "bbox_1769415024104_1769415219373_d0zfag4dd", + "width": 0.12199999999999997, + "x": 0.3995, + "y": 0.4066666666666666 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415202019_p2ftnbf7l", + "x": 0.3715, + "y": 0.24533333333333335 + } + ], + "type": "point" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415204785_yc4p4nyhs", + "x": 0.4615, + "y": 0.2546666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正后方移动来到西红柿正上方。爪夹垂直下降靠近西红柿两侧。爪夹合拢抓取西红柿。爪夹夹紧西红柿向爪夹左前方移动，靠近不锈钢碗中央正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹正后方移动升高缩短了与西红柿之间的距离。方便抓取西红柿。", + "frame": 346, + "progress": 10, + "progress_explanation": "爪夹角度接近垂直于桌面。水平上接近了西红柿。方便抓取西红柿。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。水平上接近了西红柿。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹向爪夹正后方移动来到西红柿正上方。爪夹垂直下降靠近西红柿两侧。", + "time": 11.5291 + }, + { + "action_description": "爪夹向爪夹正后方移动下降", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.10133333333333333, + "id": "bbox_1769415019144_1769415248147_pva0pa7gr", + "width": 0.06800000000000002, + "x": 0.3765, + "y": 0.22666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.14800000000000005, + "id": "bbox_1769415024104_1769415252649_tjwpug7tl", + "width": 0.12199999999999997, + "x": 0.3995, + "y": 0.4053333333333333 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415241827_g8t5p941d", + "x": 0.3645, + "y": 0.2613333333333333 + } + ], + "type": "point" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415244335_wbd0h68rn", + "x": 0.4455, + "y": 0.2733333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近西红柿，爪夹合拢抓取西红柿。爪夹夹紧西红柿向爪夹左前方移动，靠近不锈钢碗中央正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹向爪夹右方移动下降，来到了西红柿正上方。方便抓取西红柿。", + "frame": 380, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直。位于西红柿正上方。方便抓取西红柿，因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。位于西红柿正上方。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹垂直下降靠近西红柿，爪夹合拢抓取西红柿。", + "time": 12.678814432989691 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.09733333333333336, + "id": "bbox_1769415019144_1769415259498_lcqtvw4ny", + "width": 0.06600000000000002, + "x": 0.3835, + "y": 0.23733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.14933333333333335, + "id": "bbox_1769415024104_1769415269073_2w3dtjqaj", + "width": 0.12600000000000003, + "x": 0.3975, + "y": 0.404 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取西红柿，夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹垂直下降靠近了西红柿两侧。方便抓取西红柿。", + "frame": 423, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了西红柿两侧。方便抓取西红柿，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了西红柿两侧。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹合拢抓取西红柿，夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。", + "time": 14.104175257731958 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.10533333333333336, + "id": "bbox_1769415019144_1769415277895_sjk32lflu", + "width": 0.07599999999999998, + "x": 0.3785, + "y": 0.22933333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.156, + "id": "bbox_1769415024104_1769415286713_yb7ysafaf", + "width": 0.123, + "x": 0.39849999999999997, + "y": 0.404 + } + ], + "type": "bbox" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415274241_kcsq60awq", + "x": 0.4465, + "y": 0.308 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹合拢，成功抓取到西红柿。方便移动西红柿到不锈钢碗里。", + "frame": 463, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，抓取到西红柿。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到西红柿。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹夹紧西红柿向爪夹左前方移动升高，来到不锈钢碗正上方。", + "time": 15.437577319587627 + }, + { + "action_description": "爪夹夹紧西红柿向爪夹左前方移动升高", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.13466666666666663, + "id": "bbox_1769415019144_1769415299479_9pd60z5rd", + "width": 0.088, + "x": 0.3795, + "y": 0.18266666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.1493333333333333, + "id": "bbox_1769415024104_1769415304781_tvlqivp53", + "width": 0.12299999999999996, + "x": 0.3985, + "y": 0.4066666666666667 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415293087_01154vk24", + "x": 0.3785, + "y": 0.2826666666666667 + } + ], + "type": "point" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415295133_z6ch28v39", + "x": 0.4665, + "y": 0.2906666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧西红柿向爪夹左前方移动下降，来到不锈钢碗正上方。爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧西红柿向爪夹右前方移动缩短了与不锈钢碗之间的距离。方便西红柿放到不锈钢碗里。", + "frame": 525, + "progress": 60, + "progress_explanation": "爪夹水平上接近了不锈钢碗，方便西红柿放到不锈钢碗里。因此进度提升为60%。", + "state_description": "爪夹夹紧西红柿，水平上接近了不锈钢碗。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹夹紧西红柿向爪夹左前方移动下降，来到不锈钢碗正上方。", + "time": 17.506649484536084 + }, + { + "action_description": "爪夹夹紧西红柿向爪夹左前方移动下降", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.11200000000000004, + "id": "bbox_1769415019144_1769415323752_dx2cej0tv", + "width": 0.083, + "x": 0.4285, + "y": 0.3506666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1769415024104_1769415332101_vuoz9ym1t", + "width": 0.12300000000000004, + "x": 0.3995, + "y": 0.4066666666666667 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415317066_kcujtrsat", + "x": 0.4285, + "y": 0.42400000000000004 + } + ], + "type": "point" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415319101_3wex4e5hz", + "x": 0.5115000000000001, + "y": 0.42933333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，西红柿落到不锈钢碗里。", + "error_success_analysis": "爪夹夹紧西红柿向爪夹左前方移动下降来到了不锈钢碗正上方。方便西红柿落到不锈钢碗里。", + "frame": 580, + "progress": 80, + "progress_explanation": "爪夹夹紧西红柿靠近不锈钢碗，来到了不锈钢碗正上方。因此进度提升为80%。", + "state_description": "爪夹夹紧西红柿，位于不锈钢碗正上方。\n为完成抓取西红柿放进不锈钢碗里的任务应当：爪夹松开，西红柿落到不锈钢碗里。", + "time": 19.345824742268043 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769415019144": { + "instances": [ + { + "height": 0.092, + "id": "bbox_1769415019144_1769415341392_6cs84yshl", + "width": 0.09100000000000001, + "x": 0.4165, + "y": 0.44533333333333336 + } + ], + "type": "bbox" + }, + "bbox_1769415024104": { + "instances": [ + { + "height": 0.1506666666666667, + "id": "bbox_1769415024104_1769415348776_o0cv6p0bj", + "width": 0.12199999999999997, + "x": 0.3995, + "y": 0.40800000000000003 + } + ], + "type": "bbox" + }, + "point_1769415035473": { + "instances": [ + { + "id": "point_1769415035473_1769415336158_lrxab05qf", + "x": 0.4265, + "y": 0.42266666666666663 + } + ], + "type": "point" + }, + "point_1769415040470": { + "instances": [ + { + "id": "point_1769415040470_1769415338291_4nqg93brk", + "x": 0.5195000000000001, + "y": 0.43200000000000005 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开西红柿落到不锈钢碗里，任务完成。", + "frame": 616, + "progress": 100, + "progress_explanation": "爪夹松开西红柿落到不锈钢碗里，因此进度提升为100%。", + "state_description": "爪夹张开，西红柿掉落进不锈钢碗里。\n抓取西红柿放进不锈钢碗里的任务目标完成。", + "time": 20.541288659793814 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769415019144", + "name": "西红柿" + }, + { + "color": "#FF9800", + "id": "bbox_1769415024104", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769415035473", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769415040470", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-104137-put-tomato-stainless steel bowl-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-104137-put-tomato-stainless steel bowl-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..0df4e5f75cb15519c47ebb62e708b8455bb0e950 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-104137-put-tomato-stainless steel bowl-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,382 @@ +{ + "task_description": "抓取苦瓜放入不锈钢碗里：\n准备开始移动：0%\n爪夹靠近苦瓜：20%\n爪夹抓取苦瓜：40%\n爪夹抓紧苦瓜接近不锈钢碗：60%\n爪夹将苦瓜放入不锈钢碗：80%\n爪夹松开苦瓜落入不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的左后方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "当前为初始状态，远离苦瓜，未开始移动。因此进度为 0%。", + "state_description": "当前为初始状态，爪夹张开，远离苦瓜，未开始移动。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。", + "time": 1.3883806114690722, + "annotations": { + "point_1769390576312": { + "type": "point", + "instances": [ + { + "id": "point_1769390576312_1769393535612_7219l10zp", + "x": 0.700375, + "y": 0.48219791666666667 + } + ] + }, + "point_1769390566239": { + "type": "point", + "instances": [ + { + "id": "point_1769390566239_1769393540948_y5pf1h7ri", + "x": 0.597375, + "y": 0.4728645833333333 + } + ] + }, + "bbox_1769390555832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390555832_1769393546347_l2bkbqmqx", + "x": 0.811375, + "y": 0.36886458333333333, + "width": 0.13500000000000015, + "height": 0.0733333333333333 + } + ] + }, + "bbox_1769390562151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390562151_1769393551627_8dplw4mih", + "x": 0.636375, + "y": 0.3661979166666667, + "width": 0.13999999999999996, + "height": 0.1933333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的正前方移动，调整爪夹角度。", + "correction_plan": "爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的左后方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近苦瓜移动，方便下一步抓取。", + "frame": 98, + "progress": 5, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，还未接近苦瓜。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近苦瓜。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到苦瓜的正上方。", + "time": 3.277452813530928, + "annotations": { + "bbox_1769390555832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390555832_1769393488316_z87uif2n1", + "x": 0.809375, + "y": 0.3568645833333334, + "width": 0.142, + "height": 0.09599999999999996 + } + ] + }, + "bbox_1769390562151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390562151_1769393493029_k40clpmtl", + "x": 0.635375, + "y": 0.38353125, + "width": 0.15499999999999997, + "height": 0.1760000000000001 + } + ] + }, + "point_1769390566239": { + "type": "point", + "instances": [ + { + "id": "point_1769390566239_1769393506244_23xzazdh1", + "x": 0.641375, + "y": 0.3568645833333334 + } + ] + }, + "point_1769390576312": { + "type": "point", + "instances": [ + { + "id": "point_1769390576312_1769393527947_h3gvfy7c3", + "x": 0.767375, + "y": 0.37686458333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。", + "correction_plan": "爪夹向爪夹正前方的苦瓜移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的左后方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了苦瓜之间的距离。方便后续抓取苦瓜。", + "frame": 153, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了苦瓜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。水平上接近了苦瓜。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹向爪夹正前方的苦瓜移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。", + "time": 5.08416859860295, + "annotations": { + "bbox_1769390562151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390562151_1769393478445_eq6f5yogy", + "x": 0.622375, + "y": 0.36353125000000003, + "width": 0.15899999999999997, + "height": 0.2 + } + ] + }, + "bbox_1769390555832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390555832_1769393483219_1bbojzpva", + "x": 0.8143750000000001, + "y": 0.34753125, + "width": 0.14699999999999988, + "height": 0.11333333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取苦瓜，抓紧苦瓜垂直升高爪夹并向爪夹左后方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了苦瓜，方便抓取。", + "frame": 210, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了苦瓜，方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了苦瓜。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹合拢抓取苦瓜，抓紧苦瓜垂直升高爪夹并向爪夹左后方的不锈钢碗接近", + "time": 6.985631580541236, + "annotations": { + "bbox_1769390555832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390555832_1769393464155_4ag8a2sx2", + "x": 0.809375, + "y": 0.3621979166666666, + "width": 0.13100000000000006, + "height": 0.09333333333333335 + } + ] + }, + "bbox_1769390562151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390562151_1769393472619_j4dhf9ae0", + "x": 0.622375, + "y": 0.38086458333333334, + "width": 0.15700000000000003, + "height": 0.18000000000000008 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧苦瓜垂直升高爪夹并向爪夹左后方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到苦瓜。\n", + "frame": 247, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到苦瓜。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到苦瓜，爪夹角度与桌面接近垂直。\n为完成抓取苦瓜落入不锈钢碗的任务应当：抓紧苦瓜垂直升高爪夹并向爪夹左后方的不锈钢碗接近，水平到达不锈钢碗的正上方", + "time": 8.245799, + "annotations": { + "bbox_1769390562151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390562151_1769393454724_3yi3s3vzy", + "x": 0.629375, + "y": 0.3741979166666667, + "width": 0.146, + "height": 0.19199999999999992 + } + ] + }, + "bbox_1769390555832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390555832_1769393458908_kaijqdqzy", + "x": 0.8003750000000001, + "y": 0.3568645833333334, + "width": 0.11999999999999993, + "height": 0.092 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧苦瓜垂直升高，向爪夹左侧移动。\n", + "correction_plan": "继续向爪夹左后方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹合拢继续夹紧苦瓜，水平上接近了不锈钢碗。更加方便接近不锈钢碗。", + "frame": 310, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧苦瓜，垂直升高并向爪夹左后方的不锈钢碗接近。缩短了与不锈钢碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧苦瓜，水平上接近了不锈钢碗。\n为完成抓取苦瓜落入不锈钢碗的任务应当：继续向爪夹左后方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗", + "time": 10.349666, + "annotations": { + "bbox_1769390555832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390555832_1769393443676_drltoqyb9", + "x": 0.797375, + "y": 0.2661979166666667, + "width": 0.09799999999999995, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1769390562151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390562151_1769393448459_3uv634omv", + "x": 0.635375, + "y": 0.37686458333333334, + "width": 0.14200000000000007, + "height": 0.176 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧苦瓜向爪夹方向的左后方移动。", + "correction_plan": "将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "到了爪夹左后方不锈钢碗的正上方，方便苦瓜落入不锈钢碗。", + "frame": 392, + "progress": 60, + "progress_explanation": "爪夹夹紧苦瓜，到了爪夹左后方不锈钢碗的正上方，方便苦瓜落入不锈钢碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧苦瓜，爪夹角度接近垂直于桌面，位于不锈钢碗正上方。\n为完成抓取苦瓜落入不锈钢碗的任务应当：将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "time": 13.072642009407218, + "annotations": { + "bbox_1769390555832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390555832_1769393437932_z1gikt5jj", + "x": 0.655375, + "y": 0.32753125, + "width": 0.09400000000000004, + "height": 0.15333333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "苦瓜放入不锈钢碗，方便苦瓜落入不锈钢碗", + "frame": 430, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，苦瓜放入不锈钢碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧苦瓜，爪夹角度接近垂直于桌面，苦瓜放入不锈钢碗。\n为完成抓取苦瓜落入不锈钢碗的任务应当：松开爪夹，使苦瓜落入不锈钢碗。", + "time": 14.349514886726805, + "annotations": { + "bbox_1769390555832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390555832_1769393425947_1wxs6reii", + "x": 0.6863750000000001, + "y": 0.3608645833333333, + "width": 0.079, + "height": 0.15866666666666665 + } + ] + }, + "bbox_1769390562151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390562151_1769393431364_mtjeqkg4q", + "x": 0.635375, + "y": 0.3741979166666667, + "width": 0.14500000000000002, + "height": 0.1866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，苦瓜落入不锈钢碗", + "frame": 474, + "progress": 100, + "progress_explanation": "爪夹张开，苦瓜落入不锈钢碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开苦瓜落入不锈钢碗的任务目标完成。", + "time": 15.795966, + "annotations": { + "bbox_1769390555832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390555832_1769393393324_8icvm4ma9", + "x": 0.6603749999999999, + "y": 0.35953125, + "width": 0.09500000000000001, + "height": 0.15333333333333332 + } + ] + }, + "bbox_1769390562151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390562151_1769393399396_8jx9fvf2r", + "x": 0.639375, + "y": 0.38619791666666664, + "width": 0.15100000000000008, + "height": 0.17600000000000005 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769390555832", + "name": "苦瓜" + }, + { + "color": "#FF9800", + "id": "bbox_1769390562151", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769390566239", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769390576312", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-104935-put-pepper-stainless steel bowl-good/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-104935-put-pepper-stainless steel bowl-good/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..78c8f7d32069255ae4e25633706e1062e3f0f2dc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-104935-put-pepper-stainless steel bowl-good/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,358 @@ +{ + "task_description": "抓取辣椒放入不锈钢碗里：\n准备开始移动：0%\n爪夹靠近辣椒：20%\n爪夹抓取辣椒：40%\n爪夹抓紧辣椒接近不锈钢碗：60%\n爪夹将辣椒放入不锈钢碗：80%\n爪夹松开辣椒落入不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。接着落下爪夹靠近辣椒，接近辣椒后爪夹合拢抓取辣椒。抓紧辣椒垂直升高爪夹并向爪夹的左侧的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前为初始状态，远离辣椒，未开始移动。因此进度为 0%。", + "state_description": "当前为初始状态，爪夹张开，远离辣椒，未开始移动。\n为完成抓取辣椒落入不锈钢碗的任务应当：爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。", + "time": 0.608333, + "annotations": { + "bbox_1769393624803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393624803_1769396073456_yf83i6wf1", + "x": 0.5743750000000001, + "y": 0.18619791666666666, + "width": 0.07999999999999999, + "height": 0.10800000000000001 + } + ] + }, + "bbox_1769393630235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393630235_1769396077424_kmlc847ip", + "x": 0.401375, + "y": 0.17019791666666667, + "width": 0.14400000000000004, + "height": 0.14533333333333334 + } + ] + }, + "point_1769393639308": { + "type": "point", + "instances": [ + { + "id": "point_1769393639308_1769396081248_zcje88mcb", + "x": 0.614375, + "y": 0.23553125000000003 + } + ] + }, + "point_1769393645435": { + "type": "point", + "instances": [ + { + "id": "point_1769393645435_1769396084816_lrii2oo7m", + "x": 0.6993750000000001, + "y": 0.19019791666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，调整爪夹角度。", + "correction_plan": "爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到辣椒的正上方。接着落下爪夹靠近辣椒，接近辣椒后爪夹合拢抓取辣椒。抓紧辣椒垂直升高爪夹并向爪夹的左侧的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹向爪夹的右前方移动并调整爪夹，向接近辣椒移动，方便下一步抓取。", + "frame": 63, + "progress": 5, + "progress_explanation": "爪夹微抬并向爪夹的右前方移动，还未接近辣椒。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近辣椒。\n为完成抓取辣椒落入不锈钢碗的任务应当：爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到辣椒的正上方。", + "time": 2.0868342496134016, + "annotations": { + "bbox_1769393630235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393630235_1769396061992_4z0qtmi4l", + "x": 0.397375, + "y": 0.15953125, + "width": 0.15200000000000005, + "height": 0.168 + } + ] + }, + "bbox_1769393624803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393624803_1769396068016_ohzpuef91", + "x": 0.576375, + "y": 0.19686458333333334, + "width": 0.075, + "height": 0.10399999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。", + "correction_plan": "爪夹向爪夹正前方的辣椒移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。接着落下爪夹靠近辣椒，接近辣椒后爪夹合拢抓取辣椒。抓紧辣椒垂直升高爪夹并向爪夹的左侧的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了辣椒之间的距离。方便后续抓取辣椒。", + "frame": 117, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了辣椒。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。水平上接近了辣椒。\n为完成抓取辣椒落入不锈钢碗的任务应当：爪夹向爪夹正前方的辣椒移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。", + "time": 3.8841345177336377, + "annotations": { + "bbox_1769393624803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393624803_1769396051441_3d6ok4dl9", + "x": 0.579375, + "y": 0.17686458333333333, + "width": 0.07199999999999998, + "height": 0.12666666666666665 + } + ] + }, + "bbox_1769393630235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393630235_1769396055984_ij7uzf1qj", + "x": 0.401375, + "y": 0.15953125, + "width": 0.14000000000000004, + "height": 0.168 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取辣椒，抓紧辣椒垂直升高爪夹并向爪夹左侧的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了辣椒，方便抓取。", + "frame": 161, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了辣椒，方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了辣椒。\n为完成抓取辣椒落入不锈钢碗的任务应当：爪夹合拢抓取辣椒，抓紧辣椒垂直升高爪夹并向爪夹左侧的不锈钢碗接近", + "time": 5.377666, + "annotations": { + "bbox_1769393630235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393630235_1769396042920_vrlja9p9z", + "x": 0.395375, + "y": 0.16219791666666666, + "width": 0.15100000000000002, + "height": 0.16400000000000003 + } + ] + }, + "bbox_1769393624803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393624803_1769396046816_vqlt0odrh", + "x": 0.585375, + "y": 0.18619791666666666, + "width": 0.06500000000000003, + "height": 0.11466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧辣椒垂直升高爪夹并向爪夹左侧的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到辣椒。\n", + "frame": 183, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到辣椒。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到辣椒，爪夹角度与桌面接近垂直。\n为完成抓取辣椒落入不锈钢碗的任务应当：抓紧辣椒垂直升高爪夹并向爪夹左侧的不锈钢碗接近，水平到达不锈钢碗的正上方", + "time": 6.107666, + "annotations": { + "bbox_1769393624803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393624803_1769396020785_sl7zn6u2n", + "x": 0.575375, + "y": 0.18219791666666665, + "width": 0.07000000000000002, + "height": 0.11866666666666666 + } + ] + }, + "point_1769393639308": { + "type": "point", + "instances": [ + { + "id": "point_1769393639308_1769396024705_l2nsybq8z", + "x": 0.600375, + "y": 0.23019791666666667 + } + ] + }, + "bbox_1769393630235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393630235_1769396037632_7641koym8", + "x": 0.399375, + "y": 0.16619791666666667, + "width": 0.148, + "height": 0.16133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧辣椒垂直升高。", + "correction_plan": "继续向爪夹左侧的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹合拢继续夹紧辣椒，水平上接近了不锈钢碗。更加方便接近不锈钢碗。", + "frame": 235, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧辣椒，垂直升高并向爪夹左侧的不锈钢碗接近。缩短了与不锈钢碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧辣椒，水平上接近了不锈钢碗。\n为完成抓取辣椒落入不锈钢碗的任务应当：继续向爪夹左侧的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗", + "time": 7.835333, + "annotations": { + "bbox_1769393630235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393630235_1769395999960_fp8odtbnv", + "x": 0.39137500000000003, + "y": 0.15686458333333334, + "width": 0.15499999999999997, + "height": 0.16266666666666665 + } + ] + }, + "bbox_1769393624803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393624803_1769396016288_n9aikzwi8", + "x": 0.589375, + "y": 0.055531250000000004, + "width": 0.06000000000000005, + "height": 0.14 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧辣椒向爪夹方向的左侧移动。", + "correction_plan": "将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "到了爪夹左侧不锈钢碗的正上方，方便辣椒落入不锈钢碗。", + "frame": 286, + "progress": 60, + "progress_explanation": "爪夹夹紧辣椒，到了爪夹左侧不锈钢碗的正上方，方便辣椒落入不锈钢碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧辣椒，爪夹角度接近垂直于桌面，位于不锈钢碗正上方。\n为完成抓取辣椒落入不锈钢碗的任务应当：将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "time": 9.537349917654641, + "annotations": { + "point_1769393639308": { + "type": "point", + "instances": [ + { + "id": "point_1769393639308_1769395984336_ds3spcp8k", + "x": 0.481375, + "y": 0.16353125000000002 + } + ] + }, + "bbox_1769393624803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393624803_1769395988400_2iv9bkj93", + "x": 0.42037500000000005, + "y": 0.06086458333333333, + "width": 0.10499999999999998, + "height": 0.156 + } + ] + }, + "bbox_1769393630235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393630235_1769395993232_pxnz4exqt", + "x": 0.402375, + "y": 0.15686458333333334, + "width": 0.14800000000000005, + "height": 0.17600000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，辣椒落入不锈钢碗", + "frame": 339, + "progress": 100, + "progress_explanation": "爪夹张开，辣椒落入不锈钢碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开辣椒落入不锈钢碗的任务目标完成。", + "time": 11.305906667139176, + "annotations": { + "bbox_1769393624803": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393624803_1769395940593_rilav140s", + "x": 0.41637500000000005, + "y": 0.15853124999999998, + "width": 0.07699999999999996, + "height": 0.11066666666666668 + } + ] + }, + "bbox_1769393630235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769393630235_1769395948952_1mv0moflm", + "x": 0.39137500000000003, + "y": 0.14786458333333335, + "width": 0.15999999999999998, + "height": 0.17466666666666664 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769393624803", + "name": "辣椒" + }, + { + "color": "#FF9800", + "id": "bbox_1769393630235", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769393639308", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769393645435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-111503-put-pepper-stainless steel bowl-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-111503-put-pepper-stainless steel bowl-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..e86271dc82adb694650c05803220dd41cc04e150 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-111503-put-pepper-stainless steel bowl-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,454 @@ +{ + "task_description": "抓取辣椒放入不锈钢碗里：\n准备开始移动：0%\n爪夹靠近辣椒：20%\n爪夹抓取辣椒：40%\n爪夹抓紧辣椒接近不锈钢碗：60%\n爪夹将辣椒放入不锈钢碗：80%\n爪夹松开辣椒落入不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769406245419": { + "instances": [ + { + "height": 0.14533333333333337, + "id": "bbox_1769406245419_1769414830471_bzmcbzdvd", + "width": 0.07400000000000002, + "x": 0.471375, + "y": 0.44253125 + } + ], + "type": "bbox" + }, + "bbox_1769406249538": { + "instances": [ + { + "height": 0.18666666666666668, + "id": "bbox_1769406249538_1769414835087_iflygiq3a", + "width": 0.13400000000000006, + "x": 0.706375, + "y": 0.14253125000000003 + } + ], + "type": "bbox" + }, + "point_1769406255162": { + "instances": [ + { + "id": "point_1769406255162_1769414825135_vysxbemqq", + "x": 0.5703750000000001, + "y": 0.47453125 + } + ], + "type": "point" + }, + "point_1769406260834": { + "instances": [ + { + "id": "point_1769406260834_1769414821151_o9sqe8f5f", + "x": 0.671375, + "y": 0.47053125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。接着落下爪夹靠近辣椒，接近辣椒后爪夹合拢抓取辣椒。抓紧辣椒垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "当前为初始状态，远离辣椒，未开始移动。因此进度为 0%。", + "state_description": "当前为初始状态，爪夹张开，远离辣椒，未开始移动。\n为完成抓取辣椒落入不锈钢碗的任务应当：爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。", + "time": 1.2963487751288658 + }, + { + "action_description": "爪夹微抬并向正前方移动，调整爪夹角度。", + "annotations": { + "bbox_1769406245419": { + "instances": [ + { + "height": 0.1373333333333333, + "id": "bbox_1769406245419_1769414805247_wakdkvs33", + "width": 0.07300000000000004, + "x": 0.472375, + "y": 0.45186458333333335 + } + ], + "type": "bbox" + }, + "bbox_1769406249538": { + "instances": [ + { + "height": 0.18666666666666668, + "id": "bbox_1769406249538_1769414800991_wp6r3vzd3", + "width": 0.13500000000000006, + "x": 0.704375, + "y": 0.14786458333333335 + } + ], + "type": "bbox" + }, + "point_1769406255162": { + "instances": [ + { + "id": "point_1769406255162_1769414807735_3wjwv9ff1", + "x": 0.5663750000000001, + "y": 0.36253125 + } + ], + "type": "point" + }, + "point_1769406260834": { + "instances": [ + { + "id": "point_1769406260834_1769414810767_lbo5t4wv1", + "x": 0.672375, + "y": 0.3611979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到辣椒的正上方。接着落下爪夹靠近辣椒，接近辣椒后爪夹合拢抓取辣椒。抓紧辣椒垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近辣椒移动，方便下一步抓取。", + "frame": 102, + "progress": 15, + "progress_explanation": "爪夹微抬并向正前方移动，接近了辣椒。因此进度提升为15%。", + "state_description": "爪夹张开，调整爪夹角度，接近了辣椒。\n为完成抓取辣椒落入不锈钢碗的任务应当：爪夹继续向爪夹的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到辣椒的正上方。", + "time": 3.3965166637935256 + }, + { + "action_description": "爪夹向爪夹的正前方移动并下降爪夹。", + "annotations": { + "bbox_1769406245419": { + "instances": [ + { + "height": 0.14533333333333331, + "id": "bbox_1769406245419_1769414789487_4feo47pkp", + "width": 0.07699999999999996, + "x": 0.47037500000000004, + "y": 0.43853125 + } + ], + "type": "bbox" + }, + "bbox_1769406249538": { + "instances": [ + { + "height": 0.18, + "id": "bbox_1769406249538_1769414794503_2kay7mk5o", + "width": 0.1410000000000001, + "x": 0.705375, + "y": 0.14786458333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹左侧的辣椒移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。接着落下爪夹靠近辣椒，接近辣椒后爪夹合拢抓取辣椒。抓紧辣椒垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动，至苦瓜的正上方，偏离了辣椒,需调整位置。", + "frame": 142, + "progress": 10, + "progress_explanation": "爪夹向爪夹的正前方移动，至苦瓜的正上方，偏离了辣椒，因此进度降至为10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。\n为完成抓取辣椒落入不锈钢碗的任务应当：爪夹向爪夹左侧的辣椒移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。", + "time": 4.725588722432576 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1769406245419": { + "instances": [ + { + "height": 0.15600000000000006, + "id": "bbox_1769406245419_1769414784551_ho8rx75u3", + "width": 0.08200000000000003, + "x": 0.472375, + "y": 0.43586458333333333 + } + ], + "type": "bbox" + }, + "bbox_1769406249538": { + "instances": [ + { + "height": 0.17733333333333334, + "id": "bbox_1769406249538_1769414780639_wztqdvlds", + "width": 0.14800000000000005, + "x": 0.701375, + "y": 0.15053124999999998 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抬升并重新打开爪夹，向爪夹方向的左后方移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。接着落下爪夹靠近辣椒，接近辣椒后爪夹合拢抓取辣椒。抓紧辣椒垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹偏离辣椒的正上方，合拢没有夹到辣椒，需重新打开爪夹抓取。", + "frame": 203, + "progress": 5, + "progress_explanation": "爪夹偏离辣椒的正上方，合拢没有夹到辣椒，因此进度降至为5%。", + "state_description": "爪夹合拢垂直于桌面。\n为完成抓取辣椒落入不锈钢碗的任务应当：爪夹抬升并重新打开爪夹，向爪夹方向的左后方移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。", + "time": 6.779609176692928 + }, + { + "action_description": "爪夹打开微抬并向爪夹左后方移动", + "annotations": { + "bbox_1769406245419": { + "instances": [ + { + "height": 0.15199999999999997, + "id": "bbox_1769406245419_1769414760855_ho1240ua3", + "width": 0.09299999999999997, + "x": 0.46937500000000004, + "y": 0.4371979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769406249538": { + "instances": [ + { + "height": 0.18800000000000003, + "id": "bbox_1769406249538_1769414771671_4fd8n7j6o", + "width": 0.13799999999999998, + "x": 0.704375, + "y": 0.14386458333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。接着落下爪夹靠近辣椒，接近辣椒后爪夹合拢抓取辣椒。抓紧辣椒垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了辣椒之间的距离。方便后续抓取辣椒。", + "frame": 249, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了辣椒。更加方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。水平上接近了辣椒。\n为完成抓取辣椒落入不锈钢碗的任务应当：爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。", + "time": 8.304183707087628 + }, + { + "action_description": "爪夹向爪夹方向的左侧移动并下降爪夹。", + "annotations": { + "bbox_1769406245419": { + "instances": [ + { + "height": 0.12266666666666672, + "id": "bbox_1769406245419_1769414755279_2y6wzy7y6", + "width": 0.06800000000000006, + "x": 0.502375, + "y": 0.51853125 + } + ], + "type": "bbox" + }, + "bbox_1769406249538": { + "instances": [ + { + "height": 0.18933333333333333, + "id": "bbox_1769406249538_1769414749063_e9mvjez3c", + "width": 0.142, + "x": 0.702375, + "y": 0.14119791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取辣椒，抓紧辣椒垂直升高爪夹并向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了辣椒，方便抓取。", + "frame": 301, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了辣椒，方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了辣椒。\n为完成抓取辣椒落入不锈钢碗的任务应当：爪夹合拢抓取辣椒，抓紧辣椒垂直升高爪夹并向爪夹右前方的不锈钢碗接近", + "time": 10.020599 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769406249538": { + "instances": [ + { + "height": 0.17733333333333332, + "id": "bbox_1769406249538_1769414741623_olt3917a9", + "width": 0.13500000000000006, + "x": 0.704375, + "y": 0.14519791666666668 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧辣椒垂直升高爪夹并向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到辣椒。\n", + "frame": 333, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到辣椒，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到辣椒，爪夹角度与桌面接近垂直。\n为完成抓取辣椒落入不锈钢碗的任务应当：抓紧辣椒垂直升高爪夹并向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方", + "time": 11.089024639552878 + }, + { + "action_description": "爪夹夹紧辣椒垂直升高并向爪夹右前方移动", + "annotations": { + "bbox_1769406245419": { + "instances": [ + { + "height": 0.14133333333333337, + "id": "bbox_1769406245419_1769414727639_xi348wv3o", + "width": 0.02999999999999998, + "x": 0.641375, + "y": 0.22119791666666666 + } + ], + "type": "bbox" + }, + "bbox_1769406249538": { + "instances": [ + { + "height": 0.1706666666666667, + "id": "bbox_1769406249538_1769414731967_g97wwhko9", + "width": 0.1410000000000001, + "x": 0.705375, + "y": 0.15053124999999998 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "爪夹合拢继续夹紧辣椒，水平上接近了不锈钢碗。更加方便接近不锈钢碗。", + "frame": 397, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧辣椒，垂直升高并向爪夹右前方的不锈钢碗接近。缩短了与不锈钢碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧辣椒，水平上接近了不锈钢碗。\n为完成抓取辣椒落入不锈钢碗的任务应当：继续向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将辣椒放入不锈钢碗", + "time": 13.243599 + }, + { + "action_description": "爪夹夹紧辣椒向爪夹方向的右前方移动。", + "annotations": { + "bbox_1769406245419": { + "instances": [ + { + "height": 0.13199999999999998, + "id": "bbox_1769406245419_1769414713743_aojgoevcu", + "width": 0.02999999999999998, + "x": 0.762375, + "y": 0.17719791666666668 + } + ], + "type": "bbox" + }, + "bbox_1769406249538": { + "instances": [ + { + "height": 0.18933333333333335, + "id": "bbox_1769406249538_1769414719391_rlhlz4qmu", + "width": 0.1410000000000001, + "x": 0.705375, + "y": 0.14519791666666668 + } + ], + "type": "bbox" + } + }, + "correction_plan": "将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "到了爪夹右前方不锈钢碗的正上方，方便辣椒落入不锈钢碗。", + "frame": 459, + "progress": 60, + "progress_explanation": "爪夹夹紧辣椒，到了爪夹右前方不锈钢碗的正上方，方便辣椒落入不锈钢碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧辣椒，爪夹角度接近垂直于桌面，位于不锈钢碗正上方。\n为完成抓取辣椒落入不锈钢碗的任务应当：将辣椒放入不锈钢碗，松开爪夹，使辣椒落入不锈钢碗。", + "time": 15.29188118234536 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "annotations": { + "bbox_1769406245419": { + "instances": [ + { + "height": 0.13733333333333334, + "id": "bbox_1769406245419_1769414691936_zldkqo2jh", + "width": 0.03700000000000001, + "x": 0.757375, + "y": 0.18119791666666668 + } + ], + "type": "bbox" + }, + "bbox_1769406249538": { + "instances": [ + { + "height": 0.17866666666666667, + "id": "bbox_1769406249538_1769414696871_d4emmtolo", + "width": 0.13399999999999998, + "x": 0.7063750000000001, + "y": 0.14519791666666668 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使辣椒落入不锈钢碗。", + "error_success_analysis": "辣椒放入不锈钢碗，方便辣椒落入不锈钢碗", + "frame": 504, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，辣椒放入不锈钢碗。因此进度提升为 80%。", + "state_description": "爪夹夹紧辣椒，爪夹角度接近垂直于桌面，辣椒放入不锈钢碗。\n为完成抓取辣椒落入不锈钢碗的任务应当：松开爪夹，使辣椒落入不锈钢碗。", + "time": 16.802190434922682 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769406245419": { + "instances": [ + { + "height": 0.14133333333333334, + "id": "bbox_1769406245419_1769414676431_aobuyb3hh", + "width": 0.029000000000000005, + "x": 0.757375, + "y": 0.16919791666666667 + } + ], + "type": "bbox" + }, + "bbox_1769406249538": { + "instances": [ + { + "height": 0.16533333333333336, + "id": "bbox_1769406249538_1769414680504_5831wb7qf", + "width": 0.11399999999999996, + "x": 0.7113750000000001, + "y": 0.15853124999999998 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，辣椒落入不锈钢碗", + "frame": 547, + "progress": 100, + "progress_explanation": "爪夹张开，辣椒落入不锈钢碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开辣椒落入不锈钢碗的任务目标完成。", + "time": 18.231949860695874 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769406245419", + "name": "辣椒" + }, + { + "color": "#FF9800", + "id": "bbox_1769406249538", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769406255162", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769406260834", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-111503-put-pepper-stainless steel bowl-mix/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-111503-put-pepper-stainless steel bowl-mix/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..9fdc6b101b61cb3e16591f9a309b611a44ad4867 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-111503-put-pepper-stainless steel bowl-mix/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,502 @@ +{ + "task_description": "抓取苦瓜放入不锈钢碗里：\n准备开始移动：0%\n爪夹靠近苦瓜：20%\n爪夹抓取苦瓜：40%\n爪夹抓紧苦瓜接近不锈钢碗：60%\n爪夹将苦瓜放入不锈钢碗：80%\n爪夹松开苦瓜落入不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "当前为初始状态，远离苦瓜，未开始移动。因此进度为 0%。", + "state_description": "当前为初始状态，爪夹张开，远离苦瓜，未开始移动。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹向爪夹方向的左前方移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。", + "time": 0.5709041167761031, + "annotations": { + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482957607_7zrc4rkpp", + "x": 0.32766660597737995, + "y": 0.313388849821871, + "width": 0.09699999407959022, + "height": 0.20133331694878606 + } + ] + }, + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482962000_54tj8vq39", + "x": 0.6586665857747445, + "y": 0.21605552440954393, + "width": 0.16299999005127006, + "height": 0.1919999843750013 + } + ] + }, + "point_1769414879927": { + "type": "point", + "instances": [ + { + "id": "point_1769414879927_1769482980679_pa4ypm6ub", + "x": 0.4016666014607787, + "y": 0.340203674605007 + } + ] + }, + "point_1769414886055": { + "type": "point", + "instances": [ + { + "id": "point_1769414886055_1769482984624_y5tur7jim", + "x": 0.5036665952351931, + "y": 0.3788703381249725 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向正前方移动，调整爪夹角度。", + "correction_plan": "爪夹继续向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近苦瓜移动，方便下一步抓取。", + "frame": 67, + "progress": 10, + "progress_explanation": "爪夹微抬并向正前方移动，接近了苦瓜。因此进度提升为10%。", + "state_description": "爪夹张开，调整爪夹角度，接近了苦瓜。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹继续向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到苦瓜的正上方。", + "time": 2.2395189403350515, + "annotations": { + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482948816_v8jlc4b5u", + "x": 0.6476665864461311, + "y": 0.21472219118471753, + "width": 0.17599998925781318, + "height": 0.1893333179253485 + } + ] + }, + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482952511_fl3bq4jej", + "x": 0.3396666052449581, + "y": 0.3453888472177045, + "width": 0.0759999953613284, + "height": 0.1719999860026053 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了苦瓜之间的距离。方便后续抓取苦瓜。", + "frame": 106, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了苦瓜。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。水平上接近了苦瓜。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。", + "time": 3.548110028994845, + "annotations": { + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482934839_exleaav0c", + "x": 0.31866660652669637, + "y": 0.32805551529496135, + "width": 0.10399999365234414, + "height": 0.1706666527777789 + } + ] + }, + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482939247_hu1rzwyk9", + "x": 0.6576665858357796, + "y": 0.2173888576343703, + "width": 0.15999999023437547, + "height": 0.1919999843750013 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "爪夹合拢抓取苦瓜，抓紧苦瓜垂直升高爪夹并向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了苦瓜，方便抓取。", + "frame": 129, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了苦瓜，方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了苦瓜。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹合拢抓取苦瓜，抓紧苦瓜垂直升高爪夹并向爪夹右前方的不锈钢碗接近", + "time": 4.312, + "annotations": { + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482921840_d29fmhczh", + "x": 0.6576665858357797, + "y": 0.2213888573088495, + "width": 0.16099999017334027, + "height": 0.18133331857639012 + } + ] + }, + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482931495_figfx6p09", + "x": 0.3196666064656612, + "y": 0.30538885047291253, + "width": 0.09599999414062532, + "height": 0.18399998502604292 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧苦瓜垂直升高爪夹并向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到苦瓜。\n", + "frame": 149, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到苦瓜。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到苦瓜，爪夹角度与桌面接近垂直。\n为完成抓取苦瓜落入不锈钢碗的任务应当：抓紧苦瓜垂直升高爪夹并向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方", + "time": 4.977776770410989, + "annotations": { + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482903544_xzfdqlh4c", + "x": 0.3576666041463254, + "y": 0.3027221840232598, + "width": 0.07799999523925813, + "height": 0.17999998535156372 + } + ] + }, + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482906408_a27fc5525", + "x": 0.6566665858968148, + "y": 0.2187221908591967, + "width": 0.16199999011230526, + "height": 0.19733331727430686 + } + ] + }, + "point_1769414886055": { + "type": "point", + "instances": [ + { + "id": "point_1769414886055_1769482910447_8qp1wmi6r", + "x": 0.42866659981282956, + "y": 0.41605550813350356 + } + ] + } + } + }, + { + "action_description": "爪夹夹着苦瓜上升，苦瓜掉落", + "correction_plan": "爪夹重新打开并向爪夹的右侧移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹没有夹紧苦瓜，苦瓜掉落桌面，需重新抓取。", + "frame": 184, + "progress": 5, + "progress_explanation": "爪夹没有夹紧苦瓜，苦瓜掉落桌面，因此进度降至为5%。", + "state_description": "爪夹合拢，苦瓜掉落桌面。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹重新打开并向爪夹的右侧移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。", + "time": 6.141333, + "annotations": { + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482886959_6lvwb2a6p", + "x": 0.654666586018885, + "y": 0.21072219151023833, + "width": 0.16299999005127006, + "height": 0.19999998372395966 + } + ] + }, + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482891103_rrmocy5y3", + "x": 0.4016666014607787, + "y": 0.313388849821871, + "width": 0.10599999353027378, + "height": 0.1666666531032997 + } + ] + } + } + }, + { + "action_description": "爪夹打开并向爪夹方向的右侧移动。", + "correction_plan": "爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹打开并向爪夹方向的右侧移动，缩短了苦瓜之间的距离。方便后续抓取苦瓜。", + "frame": 250, + "progress": 10, + "progress_explanation": "爪夹打开并向爪夹方向的右侧移动，更加方便抓取。因此进度提升为10%。", + "state_description": "爪夹打开，接近垂直于桌面。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹垂直下降，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。", + "time": 8.32623022775802, + "annotations": { + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482878928_xsl7gwiqq", + "x": 0.42666659993489986, + "y": 0.31205551659704456, + "width": 0.06899999578857444, + "height": 0.1706666527777789 + } + ] + }, + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482882767_7qnxh0ew0", + "x": 0.6566665858968148, + "y": 0.20938885828541193, + "width": 0.16799998974609442, + "height": 0.19733331727430684 + } + ] + } + } + }, + { + "action_description": "爪夹左向爪夹方向的左侧推开苦瓜，爪夹下降。", + "correction_plan": "爪夹向爪夹的左侧移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹左向爪夹方向的左侧推开苦瓜，接近了辣椒。", + "frame": 298, + "progress": -10, + "progress_explanation": "爪夹向爪夹方向的右侧移动下降，偏离了苦瓜的正上方，因此进度降至为-10%。", + "state_description": "爪夹张开接近垂直于桌面，位于苦瓜的右侧。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹向爪夹的左侧移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。", + "time": 9.930666, + "annotations": { + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482867912_8xbp0hgfx", + "x": 0.6546665860188852, + "y": 0.22272219053367592, + "width": 0.16399998999023485, + "height": 0.1813333185763901 + } + ] + }, + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482874360_gfp6qyx8x", + "x": 0.35166660451253634, + "y": 0.3213888491708293, + "width": 0.08099999505615263, + "height": 0.15999998697916773 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹打开离开错误目标，向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹合拢抓取到辣椒，抓取到错误目标。", + "frame": 334, + "progress": -20, + "progress_explanation": "爪夹合拢抓取到辣椒，因此进度降至为-20%。", + "state_description": "爪夹合拢抓取到辣椒，爪夹角度与桌面接近垂直。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹打开离开错误目标，向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。", + "time": 11.144, + "annotations": { + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482852360_to9e5j636", + "x": 0.3586666040852903, + "y": 0.2973888511239542, + "width": 0.08599999475097686, + "height": 0.1906666511501749 + } + ] + }, + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482856864_g1diwsos3", + "x": 0.65566658595785, + "y": 0.2187221908591967, + "width": 0.16699998980712943, + "height": 0.18933331792534852 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧辣椒垂直升高。", + "correction_plan": "爪夹打开辣椒掉落桌面，向爪夹方向的左后方移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹合拢夹紧辣椒，垂直升高远离了苦瓜，需重新抓取。", + "frame": 394, + "progress": -30, + "progress_explanation": "爪夹合拢夹紧辣椒，垂直升高并向爪夹右前方的不锈钢碗接近。远离了苦瓜，因此进度降至为-30%。", + "state_description": "爪夹合拢夹紧辣椒，水平上接近了不锈钢碗。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹打开辣椒掉落桌面，向爪夹方向的左后方移动同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。", + "time": 13.141333, + "annotations": { + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482842440_xslty6s6a", + "x": 0.6536665860799202, + "y": 0.20938885828541193, + "width": 0.16999998962402413, + "height": 0.19733331727430684 + } + ] + }, + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482846696_3dl32hy8k", + "x": 0.3586666040852903, + "y": 0.31872218272117653, + "width": 0.07899999517822298, + "height": 0.15866665375434136 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧辣椒向爪夹方向的右前方移动。", + "correction_plan": "爪夹打开离开辣椒，向爪夹方向的左后方移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。接着落下爪夹靠近苦瓜，接近苦瓜后爪夹合拢抓取苦瓜。抓紧苦瓜垂直升高爪夹并向爪夹的右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将苦瓜放入不锈钢碗，松开爪夹，使苦瓜落入不锈钢碗。", + "error_success_analysis": "爪夹夹紧错误目标到了不锈钢碗的正上方，远离了苦瓜，应该向爪夹的左后方移动至苦瓜的正上方。", + "frame": 473, + "progress": -40, + "progress_explanation": "爪夹夹紧辣椒，到了爪夹右前方不锈钢碗的正上方，因此进度降至为-40%。", + "state_description": "爪夹夹紧辣椒，爪夹角度接近垂直于桌面，位于不锈钢碗正上方。\n为完成抓取苦瓜落入不锈钢碗的任务应当：爪夹打开离开辣椒，向爪夹方向的左后方移动，同时调整爪夹的角度使其垂直于桌面，直至苦瓜的正上方。", + "time": 15.773333, + "annotations": { + "point_1769414886055": { + "type": "point", + "instances": [ + { + "id": "point_1769414886055_1769482829943_fu7796fm6", + "x": 0.759666579610194, + "y": 0.24805552180537746 + } + ] + }, + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482833336_mpwz5krsy", + "x": 0.34966660463460664, + "y": 0.31738884949635016, + "width": 0.08699999468994171, + "height": 0.16533331987847333 + } + ] + }, + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482836704_b9t3vs14y", + "x": 0.6526665861409554, + "y": 0.20272219216127993, + "width": 0.16399998999023505, + "height": 0.21199998274739726 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹将辣椒落入不锈钢碗，没有把苦瓜抓取落入不锈钢碗。", + "frame": 527, + "progress": -50, + "progress_explanation": "爪夹张开，辣椒落入不锈钢碗。因此进度降至为-50%。", + "state_description": "爪夹张开，辣椒落入不锈钢碗。", + "time": 17.557732272293812, + "annotations": { + "bbox_1769414866815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414866815_1769482814632_nvljnvnwx", + "x": 0.3576666041463254, + "y": 0.3080555169225654, + "width": 0.08699999468994171, + "height": 0.1773333189019109 + } + ] + }, + "bbox_1769414872903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414872903_1769482819063_87m49happ", + "x": 0.6506665862630256, + "y": 0.20405552538610636, + "width": 0.17099998956298892, + "height": 0.19999998372395966 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769414866815", + "name": "苦瓜" + }, + { + "color": "#FF9800", + "id": "bbox_1769414872903", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769414879927", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769414886055", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-113705-put-pepper-stainless steel bowl-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-113705-put-pepper-stainless steel bowl-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..38257dfb6230e1b6e275faa5a8a68c8f9d2a6249 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-113705-put-pepper-stainless steel bowl-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,504 @@ +{ + "task_description": "抓取辣椒放入塑料碗里：\n准备开始移动：0%\n爪夹靠近辣椒：20%\n爪夹抓取辣椒：40%\n爪夹抓紧辣椒接近塑料碗：60%\n爪夹将辣椒放入塑料碗口：80%\n爪夹松开辣椒落入塑料碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。接着落下爪夹靠近辣椒，接近辣椒后爪夹合拢抓取辣椒。抓紧辣椒垂直升高爪夹并向爪夹的左侧的塑料碗接近，水平到达塑料碗的正上方后将辣椒放入塑料碗，松开爪夹，使辣椒落入塑料碗。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "当前为初始状态，远离辣椒，未开始移动。因此进度为 0%。", + "state_description": "当前为初始状态，爪夹张开，远离辣椒，未开始移动。\n为完成抓取辣椒落入塑料碗的任务应当：爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。", + "time": 1.2642, + "annotations": { + "bbox_1769396173280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396173280_1769399661844_2fcpm26fg", + "x": 0.3216666063435909, + "y": 0.4113147756905293, + "width": 0.16699998980712955, + "height": 0.2199999820963556 + } + ] + }, + "bbox_1769396170112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396170112_1769399667699_s20pi5w5k", + "x": 0.10566661952718386, + "y": 0.4246481079387933, + "width": 0.09999999389648476, + "height": 0.039999996744791905 + } + ] + }, + "point_1769396178041": { + "type": "point", + "instances": [ + { + "id": "point_1769396178041_1769399676067_zm51rw5gh", + "x": 0.4166666005452514, + "y": 0.15798146297351376 + } + ] + }, + "point_1769396184920": { + "type": "point", + "instances": [ + { + "id": "point_1769396184920_1769399689331_97kt1skyo", + "x": 0.5066665950520877, + "y": 0.15398146329903456 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，调整爪夹角度。", + "correction_plan": "爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到辣椒的正上方。接着落下爪夹靠近辣椒，接近辣椒后爪夹合拢抓取辣椒。抓紧辣椒垂直升高爪夹并向爪夹的左侧的塑料碗接近，水平到达塑料碗的正上方后将辣椒放入塑料碗，松开爪夹，使辣椒落入塑料碗。", + "error_success_analysis": "爪夹向爪夹的右前方移动并调整爪夹，向接近辣椒移动，方便下一步抓取。", + "frame": 77, + "progress": 5, + "progress_explanation": "爪夹微抬并向爪夹的右前方移动，还未接近辣椒。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近辣椒。\n为完成抓取辣椒落入塑料碗的任务应当：爪夹继续向爪夹的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到辣椒的正上方。", + "time": 2.5755663071108916, + "annotations": { + "point_1769396184920": { + "type": "point", + "instances": [ + { + "id": "point_1769396184920_1769399622675_hc1kkjgro", + "x": 0.4026666013997436, + "y": 0.22998145711413925 + } + ] + }, + "point_1769396178041": { + "type": "point", + "instances": [ + { + "id": "point_1769396178041_1769399631851_zmw320qlj", + "x": 0.3036666074422236, + "y": 0.20998145874174326 + } + ] + }, + "bbox_1769396170112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396170112_1769399638068_r38o2mcpa", + "x": 0.10266661971028931, + "y": 0.41798144181466135, + "width": 0.10599999353027383, + "height": 0.0493333293185767 + } + ] + }, + "bbox_1769396173280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396173280_1769399649196_fscf85uns", + "x": 0.314666606770837, + "y": 0.4139814421401821, + "width": 0.17499998931884822, + "height": 0.21599998242187646 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。", + "correction_plan": "爪夹向爪夹右前方的辣椒移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。接着落下爪夹靠近辣椒，接近辣椒后爪夹合拢抓取辣椒。抓紧辣椒垂直升高爪夹并向爪夹的左侧的塑料碗接近，水平到达塑料碗的正上方后将辣椒放入塑料碗，松开爪夹，使辣椒落入塑料碗。", + "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了辣椒之间的距离。方便后续抓取辣椒。", + "frame": 114, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了辣椒。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。水平上接近了辣椒。\n为完成抓取辣椒落入塑料碗的任务应当：爪夹向爪夹右前方的辣椒移动，同时调整爪夹的角度使其垂直于桌面，直至辣椒的正上方。", + "time": 3.8055, + "annotations": { + "bbox_1769396173280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396173280_1769399604420_ggmemk8z3", + "x": 0.31866660652669637, + "y": 0.4166481085898349, + "width": 0.17099998956298887, + "height": 0.21333331597222369 + } + ] + }, + "bbox_1769396170112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396170112_1769399608796_h3sc1uubq", + "x": 0.10466661958821902, + "y": 0.42198144148914046, + "width": 0.09999999389648476, + "height": 0.042666663194444725 + } + ] + }, + "point_1769396178041": { + "type": "point", + "instances": [ + { + "id": "point_1769396178041_1769399615347_u0n9dq78v", + "x": 0.163666615987145, + "y": 0.32864811575129266 + } + ] + }, + "point_1769396184920": { + "type": "point", + "instances": [ + { + "id": "point_1769396184920_1769399618700_dbr9nwth9", + "x": 0.2366666115315789, + "y": 0.3753147786202166 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取辣椒，抓紧辣椒垂直升高爪夹并向爪夹左侧的塑料碗接近，水平到达塑料碗的正上方后将辣椒放入塑料碗，松开爪夹，使辣椒落入塑料碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了辣椒，方便抓取。", + "frame": 156, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了辣椒，方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了辣椒。\n为完成抓取辣椒落入塑料碗的任务应当：爪夹合拢抓取辣椒，抓紧辣椒垂直升高爪夹并向爪夹左侧的塑料碗接近", + "time": 5.1954630494760385, + "annotations": { + "point_1769396184920": { + "type": "point", + "instances": [ + { + "id": "point_1769396184920_1769399589436_cg462iizh", + "x": 0.17466661531575833, + "y": 0.47798143693184925 + } + ] + }, + "bbox_1769396170112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396170112_1769399595259_siegw5l21", + "x": 0.10566661952718386, + "y": 0.4206481082643141, + "width": 0.10999999328613322, + "height": 0.04399999641927111 + } + ] + }, + "bbox_1769396173280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396173280_1769399599691_srngwyvly", + "x": 0.3176666065877315, + "y": 0.41798144181466135, + "width": 0.16999998962402402, + "height": 0.2173333156467028 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧辣椒垂直升高爪夹并向爪夹左侧的塑料碗接近，水平到达塑料碗的正上方后将辣椒放入塑料碗，松开爪夹，使辣椒落入塑料碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到辣椒。\n", + "frame": 197, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到辣椒。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到辣椒，爪夹角度与桌面接近垂直。\n为完成抓取辣椒落入塑料碗的任务应当：抓紧辣椒垂直升高爪夹并向爪夹左侧的塑料碗接近，水平到达塑料碗的正上方", + "time": 6.5661, + "annotations": { + "bbox_1769396173280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396173280_1769399560699_4r5q7s3nr", + "x": 0.3176666065877315, + "y": 0.41264810891535575, + "width": 0.16799998974609434, + "height": 0.2106666495225709 + } + ] + }, + "bbox_1769396170112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396170112_1769399572499_6camzar9n", + "x": 0.11766661879476203, + "y": 0.3846481111940014, + "width": 0.12199999255371138, + "height": 0.06933332769097263 + } + ] + }, + "point_1769396184920": { + "type": "point", + "instances": [ + { + "id": "point_1769396184920_1769399583300_b25kugv00", + "x": 0.1526666166585317, + "y": 0.4339814405125781 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧辣椒升高并向爪夹方向的左侧移动。", + "correction_plan": "继续向爪夹左侧的塑料碗接近，水平到达塑料碗的正上方后将辣椒放入塑料碗，松开爪夹，使辣椒落入塑料碗。", + "error_success_analysis": "爪夹合拢继续夹紧辣椒，水平上接近了塑料碗。更加方便接近塑料碗。", + "frame": 238, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧辣椒，垂直升高并向爪夹左侧的塑料碗接近。缩短了与塑料碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧辣椒，水平上接近了塑料碗。\n为完成抓取辣椒落入塑料碗的任务应当：继续向爪夹左侧的塑料碗接近，水平到达塑料碗的正上方后将辣椒放入塑料碗", + "time": 7.9464, + "annotations": { + "point_1769396184920": { + "type": "point", + "instances": [ + { + "id": "point_1769396184920_1769399543323_1l0py3l5n", + "x": 0.20366661354573892, + "y": 0.43798144018705726 + } + ] + }, + "bbox_1769396170112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396170112_1769399547996_bgwuwwrdt", + "x": 0.16466661592610984, + "y": 0.38464811119400133, + "width": 0.12899999212646532, + "height": 0.07066666091579912 + } + ] + }, + "bbox_1769396173280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396173280_1769399556596_bqzehsg5p", + "x": 0.31466660677083697, + "y": 0.4139814421401821, + "width": 0.17299998944091857, + "height": 0.22266664854600843 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧辣椒向爪夹方向的左侧移动。", + "correction_plan": "将辣椒放入塑料碗，松开爪夹，使辣椒落入塑料碗。", + "error_success_analysis": "到了爪夹左侧塑料碗的正上方，方便辣椒落入塑料碗。", + "frame": 279, + "progress": 60, + "progress_explanation": "爪夹夹紧辣椒，到了爪夹左侧塑料碗的正上方，方便辣椒落入塑料碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧辣椒，爪夹角度接近垂直于桌面，位于塑料碗的正上方。\n为完成抓取辣椒落入塑料碗的任务应当：将辣椒放入塑料碗，松开爪夹，使辣椒落入塑料碗。", + "time": 9.3009, + "annotations": { + "point_1769396184920": { + "type": "point", + "instances": [ + { + "id": "point_1769396184920_1769399508947_d2urtw7nr", + "x": 0.42666659993489986, + "y": 0.41264810891535575 + } + ] + }, + "point_1769396178041": { + "type": "point", + "instances": [ + { + "id": "point_1769396178041_1769399514979_0eabtewjf", + "x": 0.40866660103353264, + "y": 0.40998144246570295 + } + ] + }, + "bbox_1769396170112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396170112_1769399519539_2rc6v5yr7", + "x": 0.40566660121663806, + "y": 0.3406481147747302, + "width": 0.036999997741699354, + "height": 0.09999999186197985 + } + ] + }, + "bbox_1769396173280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396173280_1769399525300_wkgf06lwj", + "x": 0.3176666065877315, + "y": 0.4139814421401821, + "width": 0.16699998980712955, + "height": 0.2106666495225708 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使辣椒落入塑料碗。", + "error_success_analysis": "辣椒放入塑料碗，方便辣椒落入塑料碗", + "frame": 313, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，辣椒放入塑料碗口。因此进度提升为 80%。", + "state_description": "爪夹夹紧辣椒，爪夹角度接近垂直于桌面，辣椒放入塑料碗口。\n为完成抓取辣椒落入塑料碗的任务应当：松开爪夹，使辣椒落入塑料碗。", + "time": 10.4232, + "annotations": { + "point_1769396184920": { + "type": "point", + "instances": [ + { + "id": "point_1769396184920_1769399491923_ocmhicgvp", + "x": 0.4156666006062865, + "y": 0.4913147691801132 + } + ] + }, + "point_1769396178041": { + "type": "point", + "instances": [ + { + "id": "point_1769396178041_1769399495163_3ffuv2t95", + "x": 0.3976666017049193, + "y": 0.493981435629766 + } + ] + }, + "bbox_1769396170112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396170112_1769399499587_hyx8s8tef", + "x": 0.3976666017049193, + "y": 0.42331477471396695, + "width": 0.027999998291015692, + "height": 0.10399999153645899 + } + ] + }, + "bbox_1769396173280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396173280_1769399503819_ygm5yh9vg", + "x": 0.3226666062825557, + "y": 0.40464810956639735, + "width": 0.17099998956298887, + "height": 0.22533331499566125 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，辣椒落入塑料碗", + "frame": 340, + "progress": 100, + "progress_explanation": "爪夹张开，辣椒落入塑料碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开辣椒落入塑料碗的任务目标完成。", + "time": 11.3391, + "annotations": { + "point_1769396184920": { + "type": "point", + "instances": [ + { + "id": "point_1769396184920_1769399468267_mztksvdys", + "x": 0.44266659895833743, + "y": 0.5019814349787244 + } + ] + }, + "point_1769396178041": { + "type": "point", + "instances": [ + { + "id": "point_1769396178041_1769399471820_5f3q0gvco", + "x": 0.34966660463460664, + "y": 0.4833147698311548 + } + ] + }, + "bbox_1769396170112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396170112_1769399476107_ngy9puxjr", + "x": 0.379666602803552, + "y": 0.4646481046835852, + "width": 0.04499999725341817, + "height": 0.13866665538194536 + } + ] + }, + "bbox_1769396173280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769396173280_1769399479900_l90jnuvyk", + "x": 0.3206666064046261, + "y": 0.4193147750394877, + "width": 0.17199998950195372, + "height": 0.20666664984809166 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769396170112", + "name": "辣椒" + }, + { + "color": "#FF9800", + "id": "bbox_1769396173280", + "name": "塑料碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769396178041", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769396184920", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-113705-put-pepper-stainless steel bowl-bad/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-113705-put-pepper-stainless steel bowl-bad/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b3bc9109b08f126f3cb3d90653be34aa93075c35 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-113705-put-pepper-stainless steel bowl-bad/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,338 @@ +{ + "task_description": "抓取茄子放入不锈钢碗里：\n准备开始移动：0%\n爪夹靠近茄子：20%\n爪夹抓取茄子：40%\n爪夹抓紧茄子接近不锈钢碗：60%\n爪夹将茄子放入不锈钢碗：80%\n爪夹松开茄子落入不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，直至茄子的正上方。接着落下爪夹靠近茄子，接近茄子后爪夹合拢抓取茄子。抓紧茄子垂直升高爪夹并向爪夹的正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将茄子放入不锈钢碗，松开爪夹，使茄子落入不锈钢碗。", + "error_success_analysis": "", + "frame": 75, + "progress": 0, + "progress_explanation": "当前为初始状态，远离茄子，未开始移动。因此进度为 0%。", + "state_description": "当前为初始状态，爪夹张开，远离茄子，未开始移动。\n为完成抓取茄子落入不锈钢碗的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，直至茄子的正上方。", + "time": 2.5088, + "annotations": { + "bbox_1769399885539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399885539_1769406051315_1du4rhbpe", + "x": 0.5816665904744512, + "y": 0.21753701029158448, + "width": 0.16099999017334038, + "height": 0.1733333192274317 + } + ] + }, + "bbox_1769399882252": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399882252_1769406063547_cn90668kx", + "x": 0.5476665925496464, + "y": 0.3028703366804739, + "width": 0.08099999505615267, + "height": 0.23866664724392522 + } + ] + }, + "point_1769399891019": { + "type": "point", + "instances": [ + { + "id": "point_1769399891019_1769406066819_54qwxwh6p", + "x": 0.41166660085042717, + "y": 0.3322036676266547 + } + ] + }, + "point_1769399897091": { + "type": "point", + "instances": [ + { + "id": "point_1769399897091_1769406069836_q1gogxqa1", + "x": 0.5146665945638065, + "y": 0.36953699792179384 + } + ] + } + } + }, + { + "action_description": "爪夹微抬并向爪夹方向的正前方移动，调整爪夹角度。", + "correction_plan": "爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到茄子的正上方。接着落下爪夹靠近茄子，接近茄子后爪夹合拢抓取茄子。抓紧茄子垂直升高爪夹并向爪夹的正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将茄子放入不锈钢碗，松开爪夹，使茄子落入不锈钢碗。", + "error_success_analysis": "爪夹向爪夹的正前方移动并调整爪夹，向接近茄子移动，方便下一步抓取。", + "frame": 111, + "progress": 5, + "progress_explanation": "爪夹微抬并向爪夹的正前方移动，还未接近茄子。因此进度提升为 5%。", + "state_description": "爪夹张开，调整爪夹角度，还未接近茄子。\n为完成抓取茄子落入不锈钢碗的任务应当：爪夹继续向爪夹的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到茄子的正上方。", + "time": 3.6999764039388188, + "annotations": { + "bbox_1769399882252": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399882252_1769406034099_blml0yfjv", + "x": 0.5446665927327519, + "y": 0.3148703357039115, + "width": 0.08899999456787136, + "height": 0.22799998144531408 + } + ] + }, + "bbox_1769399885539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399885539_1769406039067_s8pt9qn40", + "x": 0.5846665902913458, + "y": 0.21620367706675805, + "width": 0.15699999041748097, + "height": 0.1866666514756957 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的正前方移动。", + "correction_plan": "爪夹向爪夹正前方的茄子移动，同时调整爪夹的角度使其垂直于桌面，直至茄子的正上方。接着落下爪夹靠近茄子，接近茄子后爪夹合拢抓取茄子。抓紧茄子垂直升高爪夹并向爪夹的正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将茄子放入不锈钢碗，松开爪夹，使茄子落入不锈钢碗。", + "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了茄子之间的距离。方便后续抓取茄子。", + "frame": 146, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了茄子，更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。水平上接近了茄子。\n为完成抓取茄子落入不锈钢碗的任务应当：爪夹向爪夹正前方的茄子移动，同时调整爪夹的角度使其垂直于桌面，直至茄子的正上方。", + "time": 4.873866, + "annotations": { + "bbox_1769399885539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399885539_1769406015691_lihzdejld", + "x": 0.5796665905965215, + "y": 0.22153700996606365, + "width": 0.15999999023437567, + "height": 0.16533331987847333 + } + ] + }, + "bbox_1769399882252": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399882252_1769406025395_2m5newyh3", + "x": 0.5486665924886113, + "y": 0.3042036699053003, + "width": 0.08099999505615259, + "height": 0.2399999804687516 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取茄子，抓紧茄子垂直升高爪夹并向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将茄子放入不锈钢碗，松开爪夹，使茄子落入不锈钢碗。", + "error_success_analysis": "爪夹垂直向下移动，靠近了茄子，方便抓取。", + "frame": 185, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，靠近了茄子，方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，靠近了茄子。\n为完成抓取茄子落入不锈钢碗的任务应当：爪夹合拢抓取茄子，抓紧茄子垂直升高爪夹并向爪夹正前方的不锈钢碗接近", + "time": 6.1544, + "annotations": { + "bbox_1769399882252": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399882252_1769405998779_ntxhww2le", + "x": 0.5486665924886113, + "y": 0.3175370021535643, + "width": 0.0769999953002932, + "height": 0.23599998079427245 + } + ] + }, + "bbox_1769399885539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399885539_1769406003962_e1q28pfly", + "x": 0.5886665900472051, + "y": 0.21353701061710526, + "width": 0.15199999072265688, + "height": 0.17999998535156367 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧茄子垂直升高爪夹并向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将茄子放入不锈钢碗，松开爪夹，使茄子落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到茄子。\n", + "frame": 215, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到茄子。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到茄子，爪夹角度与桌面接近垂直。\n为完成抓取茄子落入不锈钢碗的任务应当：抓紧茄子垂直升高爪夹并向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方", + "time": 7.160533, + "annotations": { + "bbox_1769399885539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399885539_1769405986267_6aktg6d0l", + "x": 0.6276665876668341, + "y": 0.20953701094262606, + "width": 0.1519999907226568, + "height": 0.1746666524522581 + } + ] + }, + "bbox_1769399882252": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399882252_1769405991819_s19mf9e2c", + "x": 0.5316665935262088, + "y": 0.30153700345564755, + "width": 0.12099999261474652, + "height": 0.19466665082465404 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧茄子垂直升高。", + "correction_plan": "继续向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将茄子放入不锈钢碗，松开爪夹，使茄子落入不锈钢碗。", + "error_success_analysis": "爪夹合拢继续夹紧茄子，水平上接近了不锈钢碗。更加方便接近不锈钢碗。", + "frame": 253, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧茄子垂直升高，缩短了与不锈钢碗的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧茄子，水平上接近了塑料碗。\n为完成抓取茄子落入不锈钢碗的任务应当：继续向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后将茄子放入不锈钢碗", + "time": 8.441066, + "annotations": { + "bbox_1769399882252": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399882252_1769405960531_8gpq48vt8", + "x": 0.5536665921834355, + "y": 0.0015370278697080183, + "width": 0.0959999941406254, + "height": 0.23866664724392522 + } + ] + }, + "bbox_1769399885539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399885539_1769405975571_bwblf89ae", + "x": 0.6256665877889045, + "y": 0.21887034351641085, + "width": 0.15699999041748108, + "height": 0.17066665277777887 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧茄子向爪夹方向的正前方移动。", + "correction_plan": "将茄子放入不锈钢碗，松开爪夹，使茄子落入不锈钢碗。", + "error_success_analysis": "到了爪夹正前方的不锈钢碗的正上方，方便茄子落入不锈钢碗。", + "frame": 294, + "progress": 60, + "progress_explanation": "爪夹夹紧茄子，到了爪夹正前方的不锈钢碗的正上方，方便茄子落入不锈钢碗。因此进度提升为 60%。", + "state_description": "爪夹夹紧茄子，爪夹角度接近垂直于桌面，位于不锈钢碗的正上方。\n为完成抓取茄子落入不锈钢碗的任务应当：将茄子放入不锈钢碗，松开爪夹，使茄子落入不锈钢碗。", + "time": 9.786933, + "annotations": { + "bbox_1769399885539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399885539_1769405945947_grib87yhd", + "x": 0.62266658797201, + "y": 0.21620367706675805, + "width": 0.16199999011230526, + "height": 0.1706666527777789 + } + ] + }, + "bbox_1769399882252": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399882252_1769405951715_r6bk6tmt3", + "x": 0.6516665862019905, + "y": 0.02953702559106237, + "width": 0.12999999206543017, + "height": 0.2359999807942724 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，茄子落入不锈钢碗", + "frame": 337, + "progress": 100, + "progress_explanation": "爪夹张开，茄子落入不锈钢碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开茄子落入不锈钢碗的任务目标完成。", + "time": 11.24361873339512, + "annotations": { + "bbox_1769399882252": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399882252_1769405927587_6kgl93xeb", + "x": 0.668666585164393, + "y": 0.09887035328203504, + "width": 0.15599999047851618, + "height": 0.234666647569446 + } + ] + }, + "bbox_1769399885539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399885539_1769405936122_1cvoxh1d5", + "x": 0.6236665879109748, + "y": 0.1988703451440149, + "width": 0.16099999017334046, + "height": 0.19466665082465406 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769399882252", + "name": "茄子" + }, + { + "color": "#FF9800", + "id": "bbox_1769399885539", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769399891019", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769399897091", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-141852-put-carrot-stainless steel bowl-good-1/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-141852-put-carrot-stainless steel bowl-good-1/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..80d762b7fdce583e969faa6d7780a99bfab66f7f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-141852-put-carrot-stainless steel bowl-good-1/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,402 @@ +{ + "task_description": "抓取胡萝卜放进不锈钢碗里：\n开始准备移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓紧胡萝卜接近不锈钢碗：60%\n爪夹抓紧胡萝卜移动到不锈钢碗上方：80%\n爪夹松开胡萝卜落入不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769397822060": { + "instances": [ + { + "height": 0.221333315321182, + "id": "bbox_1769397822060_1769397895842_cnhw9kncb", + "width": 0.06399999609375015, + "x": 0.43066659969075916, + "y": 0.2722036725094668 + } + ], + "type": "bbox" + }, + "bbox_1769397860667": { + "instances": [ + { + "height": 0.15999998697916779, + "id": "bbox_1769397860667_1769397913491_1kfxezvhw", + "width": 0.12499999237060591, + "x": 0.445666598775232, + "y": 0.45753699076033605 + } + ], + "type": "bbox" + }, + "point_1769397869043": { + "instances": [ + { + "id": "point_1769397869043_1769397924130_b98i5b648", + "x": 0.4016666014607787, + "y": 0.21087034416745248 + } + ], + "type": "point" + }, + "point_1769397874298": { + "instances": [ + { + "id": "point_1769397874298_1769397926474_mevussoa9", + "x": 0.48766659621175557, + "y": 0.21620367706675805 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "无", + "frame": 27, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹正前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 0.9141494845360825 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769397822060": { + "instances": [ + { + "height": 0.21599998242187649, + "id": "bbox_1769397822060_1769398207340_f63qdtlsu", + "width": 0.06599999597167994, + "x": 0.4346665994466187, + "y": 0.2815370050832515 + } + ], + "type": "bbox" + }, + "bbox_1769397860667": { + "instances": [ + { + "height": 0.15866665375434122, + "id": "bbox_1769397860667_1769398220132_64kadmdky", + "width": 0.12199999255371133, + "x": 0.4466665987141968, + "y": 0.4588703239851625 + } + ], + "type": "bbox" + }, + "point_1769397869043": { + "instances": [ + { + "id": "point_1769397869043_1769398229794_qbzr3rkz8", + "x": 0.4556665981648805, + "y": 0.25620367381155 + } + ], + "type": "point" + }, + "point_1769397874298": { + "instances": [ + { + "id": "point_1769397874298_1769398232323_502vyv2id", + "x": 0.5516665923055057, + "y": 0.23753700866398042 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了胡萝卜。", + "frame": 114, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面。水平上接近了胡萝卜。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗里的任务应当：爪夹向爪夹正前方的黄色方块移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 3.8 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769397822060": { + "instances": [ + { + "height": 0.1919999843750012, + "id": "bbox_1769397822060_1769398389168_qaryrb331", + "width": 0.053999996704101785, + "x": 0.4466665987141968, + "y": 0.2868703379825572 + } + ], + "type": "bbox" + }, + "bbox_1769397860667": { + "instances": [ + { + "height": 0.15999998697916779, + "id": "bbox_1769397860667_1769398398170_0ldbcxqcs", + "width": 0.12299999249267612, + "x": 0.4476665986531617, + "y": 0.45753699076033605 + } + ], + "type": "bbox" + }, + "point_1769397869043": { + "instances": [ + { + "id": "point_1769397869043_1769398407312_i82lncb9z", + "x": 0.4366665993245483, + "y": 0.39753699564314815 + } + ], + "type": "point" + }, + "point_1769397874298": { + "instances": [ + { + "id": "point_1769397874298_1769398409479_jmc1ohuej", + "x": 0.5336665934041386, + "y": 0.3855369966197106 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了胡萝卜，方便抓取胡萝卜。", + "frame": 178, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹正前方移动并垂直向下移动，靠近了胡萝卜。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹正前方移动并垂直向下移动，靠近了胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹正前方的不锈钢碗接近。", + "time": 5.941159793814434 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769397822060": { + "instances": [ + { + "height": 0.17999998535156378, + "id": "bbox_1769397822060_1769398591715_c36kskuix", + "width": 0.031999998046875075, + "x": 0.4726665971272828, + "y": 0.3028703366804739 + } + ], + "type": "bbox" + }, + "bbox_1769397860667": { + "instances": [ + { + "height": 0.15599998730468853, + "id": "bbox_1769397860667_1769398605123_qfy45yyak", + "width": 0.12499999237060591, + "x": 0.445666598775232, + "y": 0.46020365720998885 + } + ], + "type": "bbox" + }, + "point_1769397869043": { + "instances": [ + { + "id": "point_1769397869043_1769398621507_gc1tw6j8w", + "x": 0.4686665973714234, + "y": 0.38420366339488415 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧胡萝卜垂直升高爪夹并向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了胡萝卜，爪夹合拢抓取到了胡萝卜。", + "frame": 202, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到胡萝卜。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：抓紧胡萝卜垂直升高爪夹并向爪夹正前方的不锈钢碗接近。", + "time": 6.733333333333333 + }, + { + "action_description": "爪夹夹紧胡萝卜，垂直升高，向爪夹正前方移动。", + "annotations": { + "bbox_1769397822060": { + "instances": [ + { + "height": 0.152, + "id": "bbox_1769397822060_1769398818999_zd4g012od", + "width": 0.0950000000000002, + "x": 0.46737499999999993, + "y": 0.21619791666666666 + } + ], + "type": "bbox" + }, + "bbox_1769397860667": { + "instances": [ + { + "height": 0.15999999999999998, + "id": "bbox_1769397860667_1769398840710_a3gffitai", + "width": 0.12599999999999997, + "x": 0.4443750000000001, + "y": 0.45753124999999994 + } + ], + "type": "bbox" + }, + "point_1769397869043": { + "instances": [ + { + "id": "point_1769397869043_1769398852766_c9sz6lcwq", + "x": 0.516375, + "y": 0.3161979166666667 + } + ], + "type": "point" + }, + "point_1769397874298": { + "instances": [ + { + "id": "point_1769397874298_1769398854838_db9x8ci11", + "x": 0.5493750000000001, + "y": 0.3001979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹合拢继续夹紧胡萝卜，水平上接近了不锈钢碗。更加方便接近不锈钢碗。", + "frame": 257, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧胡萝卜，垂直升高并向爪夹前边的不锈钢碗接近。缩短了与不锈钢碗的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧胡萝卜，水平上接近了不锈钢碗。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：继续向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "time": 8.56507731958763 + }, + { + "action_description": "爪夹夹紧胡萝卜，向爪夹正前方移动", + "annotations": { + "bbox_1769397822060": { + "instances": [ + { + "height": 0.18133331857639015, + "id": "bbox_1769397822060_1769399098609_ntkd94rpr", + "width": 0.04299999737548852, + "x": 0.4746665970052126, + "y": 0.4108703278914121 + } + ], + "type": "bbox" + }, + "bbox_1769397860667": { + "instances": [ + { + "height": 0.15866665375434136, + "id": "bbox_1769397860667_1769399106578_34rr0lfxk", + "width": 0.12099999261474662, + "x": 0.4496665985310913, + "y": 0.4602036572099888 + } + ], + "type": "bbox" + }, + "point_1769397869043": { + "instances": [ + { + "id": "point_1769397869043_1769399119977_8q6fy113x", + "x": 0.47966659670003675, + "y": 0.4748703226830792 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹移动到了不锈钢碗正上方。", + "frame": 319, + "progress": 80, + "progress_explanation": "爪夹夹紧胡萝卜，到了爪夹正前方的不锈钢碗正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧胡萝卜，爪夹角度接近垂直于桌面，位于不锈钢碗正上方。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：松开爪夹，使胡萝卜落入不锈钢碗。", + "time": 10.643427835051545 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769397822060": { + "instances": [ + { + "height": 0.19999998372395963, + "id": "bbox_1769397822060_1769399303933_1gxst4id0", + "width": 0.046999997131347906, + "x": 0.4826665965169313, + "y": 0.4122036611162386 + } + ], + "type": "bbox" + }, + "bbox_1769397860667": { + "instances": [ + { + "height": 0.1626666534288205, + "id": "bbox_1769397860667_1769399311653_ra7ipqvxy", + "width": 0.12199999255371133, + "x": 0.4476665986531617, + "y": 0.45220365786103045 + } + ], + "type": "bbox" + }, + "point_1769397869043": { + "instances": [ + { + "id": "point_1769397869043_1769399321421_t0a3gj628", + "x": 0.4576665980428102, + "y": 0.484203655256864 + } + ], + "type": "point" + }, + "point_1769397874298": { + "instances": [ + { + "id": "point_1769397874298_1769399343797_3wbebn8is", + "x": 0.5666665913899785, + "y": 0.4633147714587588 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，胡萝卜落入不锈钢碗。", + "frame": 344, + "progress": 100, + "progress_explanation": "爪夹张开，胡萝卜落入不锈钢碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开胡萝卜落入不锈钢碗的任务目标完成。", + "time": 11.461778350515463 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769397822060", + "name": "胡萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1769397860667", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769397869043", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769397874298", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-144115-put-carrot--stainless steel bowl-mix/annotations/chunk-000/observation.images.left/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-144115-put-carrot--stainless steel bowl-mix/annotations/chunk-000/observation.images.left/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..a748cf5841ca1ae1f5405f13801b412a62d731e0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-144115-put-carrot--stainless steel bowl-mix/annotations/chunk-000/observation.images.left/episode_000006.json @@ -0,0 +1,784 @@ +{ + "task_description": "抓取胡萝卜放进不锈钢碗：\n开始准备移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓紧胡萝卜接近不锈钢碗：60%\n爪夹抓紧胡萝卜移动到不锈钢碗上方：80%\n爪夹松开胡萝卜落入不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.18533333333333335, + "id": "bbox_1769403122433_1769403177902_e022c5bn0", + "width": 0.13899999999999987, + "x": 0.591375, + "y": 0.23019791666666667 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.14933333333333332, + "id": "bbox_1769403136378_1769403186949_25tg8pydz", + "width": 0.13399999999999995, + "x": 0.39837500000000003, + "y": 0.15686458333333334 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769403201085_rrkx1r0du", + "x": 0.617375, + "y": 0.23686458333333335 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769403203117_8ngaupdey", + "x": 0.701375, + "y": 0.19419791666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "无", + "frame": 40, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 1.3217401320376598 + }, + { + "action_description": "爪夹向爪夹右前方移动。", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.1826666518012165, + "id": "bbox_1769403122433_1769403525271_dfw71whyd", + "width": 0.14699999102783262, + "x": 0.5906665899251349, + "y": 0.2322036757646748 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.14533332150607733, + "id": "bbox_1769403136378_1769403537768_d3c27o4oi", + "width": 0.13399999182128952, + "x": 0.3986666016438841, + "y": 0.15753701517439656 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769403550119_unptpcmj1", + "x": 0.6136665885213264, + "y": 0.09353702038272946 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769403552671_ucin0zhhe", + "x": 0.7036665830281625, + "y": 0.08553702103377107 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹水平上接近了胡萝卜。", + "frame": 102, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，水平上接近了胡萝卜。因此进度提升为 10%。", + "state_description": "爪夹张开，水平上接近了胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 3.4069329359536087 + }, + { + "action_description": "爪夹向正前方移动。", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.19199998437500135, + "id": "bbox_1769403122433_1769403815665_5187cb3zu", + "width": 0.14699999102783262, + "x": 0.5896665899861699, + "y": 0.22687034286536925 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.14266665505642454, + "id": "bbox_1769403136378_1769403825136_mtmdusib1", + "width": 0.1339999918212896, + "x": 0.3986666016438841, + "y": 0.16020368162404935 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769403879640_4ebwyld6d", + "x": 0.581375, + "y": 0.28119791666666666 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769403881887_yw5vmg689", + "x": 0.725375, + "y": 0.24786458333333336 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上垂直升高并向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹向正前方移动，接近了胡萝卜左侧，并未接近胡萝卜。", + "frame": 147, + "progress": -10, + "progress_explanation": "爪夹向正前方移动，接近了胡萝卜左侧，并未接近目标胡萝卜。需要多一次爪夹向上垂直升高因此进度降低为 -10%。", + "state_description": "爪夹向正前方移动，接近了胡萝卜左侧。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向上垂直升高并向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 4.88844494007732 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.1493333333333333, + "id": "bbox_1769403122433_1769404213120_b0j9rbt2g", + "width": 0.14099999999999993, + "x": 0.592375, + "y": 0.2291979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.14533333333333331, + "id": "bbox_1769403136378_1769404226456_pkgfnrqbz", + "width": 0.13500000000000006, + "x": 0.398375, + "y": 0.15986458333333334 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769404237264_muybsy69o", + "x": 0.617375, + "y": 0.3051979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹未抓取到胡萝卜。水平上未靠近胡萝卜。", + "frame": 181, + "progress": -20, + "progress_explanation": "爪夹未抓取到胡萝卜。水平上未靠近胡萝卜。需要多两步张开爪夹，垂直向上升高，因此进度降低为 -20%。", + "state_description": "爪夹合拢爪夹，未抓取到胡萝卜。水平上未靠近胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 6.021365884407216 + }, + { + "action_description": "爪夹张开，向上垂直移动。", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.17733331890191098, + "id": "bbox_1769403122433_1769405311218_6e71q8yi8", + "width": 0.1579999903564458, + "x": 0.58966658998617, + "y": 0.23457403689989934 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.14266665505642456, + "id": "bbox_1769403136378_1769405326754_5ptne03ks", + "width": 0.12999999206543017, + "x": 0.399666601582849, + "y": 0.16124070953444747 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769405342610_ft2j496if", + "x": 0.6296665875447639, + "y": 0.17457404178271144 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769405349897_6bu6qa4sw", + "x": 0.7146665823567759, + "y": 0.17857404145719064 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹处于胡萝卜左上方，应该向爪夹右方胡萝卜移动。", + "frame": 217, + "progress": -10, + "progress_explanation": "爪夹张开。应当向爪夹右方胡萝卜移动，这时还未靠近胡萝卜，需要多一步向上升高因此进度为 -10%", + "state_description": "爪夹张开，停留在胡萝卜左上方。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 7.219647652448454 + }, + { + "action_description": "爪夹向上垂直移动并向爪夹右方黄色积木移动，移动到胡萝卜正上方，垂直向下移动并调整爪夹角度垂直于桌面靠近胡萝卜。", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.18799998242187646, + "id": "bbox_1769403122433_1769405680530_3ie8dtwl2", + "width": 0.15399998980712953, + "x": 0.5916665905965215, + "y": 0.22938885774287723 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.14533333333333337, + "id": "bbox_1769403136378_1769405696865_liffqlxqo", + "width": 0.13399999999999998, + "x": 0.397375, + "y": 0.15853124999999998 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769405710137_2oknogt7y", + "x": 0.632375, + "y": 0.31453125 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769405713234_8226q9jks", + "x": 0.7113750000000001, + "y": 0.3011979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹接近垂直于桌面，移动到胡萝卜正上方，向下移动靠近了胡萝卜，方便抓取。", + "frame": 266, + "progress": 20, + "progress_explanation": "爪夹张开接近垂直于桌面，移动到胡萝卜正上方，向下移动靠近了胡萝卜。方便抓取胡萝卜，因此进度提升为 20%。", + "state_description": "爪夹张开接近垂直于桌面，移动到胡萝卜正上方，向下移动靠近了胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近。", + "time": 8.860021325748823 + }, + { + "action_description": "爪夹合拢，抓取胡萝卜。", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.19066665115017487, + "id": "bbox_1769403122433_1769406026243_y41u1o1pb", + "width": 0.1529999906616216, + "x": 0.5996665893758185, + "y": 0.23487034221432762 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.1413333218315982, + "id": "bbox_1769403136378_1769406034090_ip0w8ovmh", + "width": 0.13499999176025437, + "x": 0.3976666017049193, + "y": 0.16020368162404933 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769406048611_fyys90vzu", + "x": 0.6596665857137094, + "y": 0.33753700052596025 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769406050586_umzqidlm7", + "x": 0.7056665829060923, + "y": 0.3002036702308211 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹垂直于桌面合拢，抓取到了胡萝卜。", + "frame": 299, + "progress": 40, + "progress_explanation": "爪夹垂直于桌面合拢，抓取到了胡萝卜。因此进度提升为 40%。", + "state_description": "爪夹垂直于桌面合拢，抓取到胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近。", + "time": 9.971155258925904 + }, + { + "action_description": "爪夹夹紧胡萝卜，垂直升高，向爪夹左前方移动。", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.15733333333333333, + "id": "bbox_1769403122433_1769406204215_xrif7td8y", + "width": 0.129, + "x": 0.446375, + "y": 0.0038645833333333327 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.14266666666666664, + "id": "bbox_1769403136378_1769406214184_c20wq2g1z", + "width": 0.13400000000000004, + "x": 0.399375, + "y": 0.16119791666666666 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769406224831_l9k3vm5et", + "x": 0.519375, + "y": 0.12253125 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769406227534_44q3rqs0f", + "x": 0.571375, + "y": 0.07853125 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹合拢继续夹紧胡萝卜，水平上接近了不锈钢碗。更加方便接近不锈钢碗。", + "frame": 388, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧胡萝卜，垂直升高并向爪夹左前的不锈钢碗接近。缩短了与不锈钢碗的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧胡萝卜，水平上接近了不锈钢碗。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：继续向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "time": 12.94961319780928 + }, + { + "action_description": "爪夹松开，未移动", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.09599999218750076, + "id": "bbox_1769403122433_1769406486986_xotwib0w0", + "width": 0.21899998663330159, + "x": 0.3616666039021848, + "y": 0.29487033733151546 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.137333322157119, + "id": "bbox_1769403136378_1769406498281_ruavjb9kv", + "width": 0.13599999169921925, + "x": 0.3986666016438842, + "y": 0.15753701517439656 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769406511889_p2gj2hic1", + "x": 0.4956665957234743, + "y": 0.1402036832516534 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769406513889_m0jvvok5v", + "x": 0.5826665904134161, + "y": 0.10153701973168784 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "夹紧的胡萝卜掉落桌面上，高度上远离了胡萝卜。需重新抓取胡萝卜。", + "frame": 413, + "progress": 10, + "progress_explanation": "夹紧的胡萝卜掉落桌面，远离了胡萝卜。需重新抓取胡萝卜，因此进度降低为 10%。", + "state_description": "爪夹张开，夹紧的胡萝卜掉落桌面，垂直高度上远离了黄色积木。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹正前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 13.777516964819586 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.11866665700954936, + "id": "bbox_1769403122433_1769406861586_lo65qmezs", + "width": 0.20499998748779374, + "x": 0.3616666039021848, + "y": 0.28953700443221003 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.1399999886067718, + "id": "bbox_1769403136378_1769406877130_nqiqev5i7", + "width": 0.17999998901367253, + "x": 0.39966660158284895, + "y": 0.15753701517439658 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769406893170_kxr0iamcq", + "x": 0.44266659895833743, + "y": 0.35087033277422425 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769406897178_g2zfs1vy7", + "x": 0.4996665954793337, + "y": 0.2975370037811683 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了胡萝卜，方便抓取胡萝卜。", + "frame": 470, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹正前方移动并垂直向下移动，靠近了胡萝卜。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹正前方移动并垂直向下移动，靠近了胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹右前方的不锈钢碗接近。", + "time": 15.666666666666666 + }, + { + "action_description": "爪夹合拢，抓取胡萝卜。", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.15599998730468864, + "id": "bbox_1769403122433_1769407342712_uhw4o3i8w", + "width": 0.17999998901367248, + "x": 0.399666601582849, + "y": 0.262870339935682 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.1253333231336814, + "id": "bbox_1769403136378_1769407354040_ephk4a3q4", + "width": 0.12999999206543017, + "x": 0.40566660121663806, + "y": 0.15620368194957016 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769407366424_q3bamngo3", + "x": 0.46466659761556406, + "y": 0.3442036666500922 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769407368456_bxy5z1i7d", + "x": 0.5166665944417361, + "y": 0.3002036702308211 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧胡萝卜垂直升高爪夹并向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹垂直于桌面合拢，抓取到了胡萝卜。", + "frame": 493, + "progress": 40, + "progress_explanation": "爪夹垂直于桌面合拢，抓取到了胡萝卜。因此进度提升为 40%。", + "state_description": "爪夹垂直于桌面合拢，抓取到胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：抓紧胡萝卜垂直升高爪夹并向爪夹右前方的不锈钢碗接近。", + "time": 16.466666666666665 + }, + { + "action_description": "爪夹夹紧胡萝卜，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.227999981445314, + "id": "bbox_1769403122433_1769407482469_xwyx5cnnr", + "width": 0.18199998889160227, + "x": 0.4316665996297241, + "y": 0.08287035458411827 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.14933332118055656, + "id": "bbox_1769403136378_1769407494293_5vflyuer8", + "width": 0.14199999133300828, + "x": 0.4096666009724975, + "y": 0.14953701582543816 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769407506493_emc844tfa", + "x": 0.497666595601404, + "y": 0.1948703454695357 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769407508652_3e9i6mj1h", + "x": 0.543666592793787, + "y": 0.16287034807370215 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹合拢继续夹紧胡萝卜，水平上接近了不锈钢碗。更加方便接近不锈钢碗。", + "frame": 547, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧胡萝卜，垂直升高并向爪夹右前的不锈钢碗接近。缩短了与不锈钢碗的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧胡萝卜，水平上接近了不锈钢碗。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：继续向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "time": 18.222052977190724 + }, + { + "action_description": "爪夹夹紧胡萝卜，向爪夹右前方移动", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.1853333182508693, + "id": "bbox_1769403122433_1769407641802_5yf7w7hk5", + "width": 0.16399998999023505, + "x": 0.46666659749349365, + "y": 0.09353702038272946 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.13733332215711902, + "id": "bbox_1769403136378_1769407652241_zxrp3m0jc", + "width": 0.13499999176025446, + "x": 0.40966660097249746, + "y": 0.15620368194957016 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹移动到了不锈钢正上方。", + "frame": 583, + "progress": 80, + "progress_explanation": "爪夹夹紧胡萝卜，到了爪夹右前方的不锈钢碗正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧胡萝卜，爪夹角度接近垂直于桌面，位于不锈钢碗正上方。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：松开爪夹，使胡萝卜落入不锈钢碗。", + "time": 19.42033474523196 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769403122433": { + "instances": [ + { + "height": 0.1319999892578134, + "id": "bbox_1769403122433_1769407915195_pwnw6q9op", + "width": 0.16499998992919976, + "x": 0.45166659840902107, + "y": 0.15220368227509098 + } + ], + "type": "bbox" + }, + "bbox_1769403136378": { + "instances": [ + { + "height": 0.1413333218315982, + "id": "bbox_1769403136378_1769407923532_r53ajpo9t", + "width": 0.1259999923095707, + "x": 0.40666660115560294, + "y": 0.15620368194957018 + } + ], + "type": "bbox" + }, + "point_1769403143929": { + "instances": [ + { + "id": "point_1769403143929_1769407935019_kb57ptuoc", + "x": 0.48166659657796645, + "y": 0.1402036832516534 + } + ], + "type": "point" + }, + "point_1769403149704": { + "instances": [ + { + "id": "point_1769403149704_1769407937491_1o9orn2rc", + "x": 0.569666591206873, + "y": 0.1442036829261326 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，胡萝卜落入不锈钢碗。", + "frame": 606, + "progress": 100, + "progress_explanation": "爪夹张开，胡萝卜落入不锈钢碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开胡萝卜落入不锈钢碗的任务目标完成。", + "time": 20.204664629768043 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769403122433", + "name": "胡萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1769403136378", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769403143929", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769403149704", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-150054-put-carrot--stainless steel bowl-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-150054-put-carrot--stainless steel bowl-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..44221702b837aa04b2717cd5667e27f8496fe795 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-150054-put-carrot--stainless steel bowl-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,370 @@ +{ + "task_description": "抓取胡萝卜放进不锈钢碗：\n开始准备移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓紧胡萝卜接近不锈钢碗：60%\n爪夹抓紧胡萝卜移动到不锈钢碗上方：80%\n爪夹松开胡萝卜落入不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769408699508": { + "instances": [ + { + "height": 0.2453333133680572, + "id": "bbox_1769408699508_1769408855969_3kx2y32cr", + "width": 0.09699999407959004, + "x": 0.7186665821126353, + "y": 0.3095370028046059 + } + ], + "type": "bbox" + }, + "bbox_1769408706284": { + "instances": [ + { + "height": 0.15599998730468853, + "id": "bbox_1769408706284_1769408869824_jyrjd3bbs", + "width": 0.11999999267578172, + "x": 0.5976665894978888, + "y": 0.09353702038272946 + } + ], + "type": "bbox" + }, + "point_1769408719917": { + "instances": [ + { + "id": "point_1769408719917_1769408882288_mioemr9j4", + "x": 0.5296665936482792, + "y": 0.4695369897837736 + } + ], + "type": "point" + }, + "point_1769408729148": { + "instances": [ + { + "id": "point_1769408729148_1769408884624_wxpgjdcze", + "x": 0.6346665872395881, + "y": 0.4388703256127665 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "无", + "frame": 34, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 1.1450165395824605 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1769408699508": { + "instances": [ + { + "height": 0.17466665245225813, + "id": "bbox_1769408699508_1769409169434_dlm9it6ac", + "width": 0.06499999603271514, + "x": 0.7166665822347056, + "y": 0.31887033537839066 + } + ], + "type": "bbox" + }, + "bbox_1769408706284": { + "instances": [ + { + "height": 0.1599999869791677, + "id": "bbox_1769408706284_1769409183449_gug6gn25x", + "width": 0.12399999243164102, + "x": 0.596666589558924, + "y": 0.09353702038272946 + } + ], + "type": "bbox" + }, + "point_1769408719917": { + "instances": [ + { + "id": "point_1769408719917_1769409194554_l27ut7coy", + "x": 0.6716665849812875, + "y": 0.3855369966197106 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了胡萝卜。", + "frame": 124, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面。水平上接近了胡萝卜。因此进度提升为 10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 4.1273195876288655 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769408699508": { + "instances": [ + { + "height": 0.23066664789496685, + "id": "bbox_1769408699508_1769409409885_ima8gbvfj", + "width": 0.08199999499511748, + "x": 0.7166665822347056, + "y": 0.3028703366804739 + } + ], + "type": "bbox" + }, + "bbox_1769408706284": { + "instances": [ + { + "height": 0.17199998600260527, + "id": "bbox_1769408706284_1769409421517_b8zq290kv", + "width": 0.12399999243164102, + "x": 0.5956665896199591, + "y": 0.08687035425859747 + } + ], + "type": "bbox" + }, + "point_1769408719917": { + "instances": [ + { + "id": "point_1769408719917_1769409433524_hljs7xaj1", + "x": 0.7016665831502329, + "y": 0.4228703269148497 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了胡萝卜，方便抓取胡萝卜。", + "frame": 157, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了胡萝卜。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近。", + "time": 5.239036900531767 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769408699508": { + "instances": [ + { + "height": 0.25466664594184196, + "id": "bbox_1769408699508_1769409670328_bahpc2yja", + "width": 0.06399999609375025, + "x": 0.707666582784022, + "y": 0.30494441284632057 + } + ], + "type": "bbox" + }, + "bbox_1769408706284": { + "instances": [ + { + "height": 0.16533331987847327, + "id": "bbox_1769408706284_1769409661384_x2774ag2b", + "width": 0.12299999249267621, + "x": 0.5946665896809942, + "y": 0.09294443009892334 + } + ], + "type": "bbox" + }, + "point_1769408719917": { + "instances": [ + { + "id": "point_1769408719917_1769409684656_g7bhes0qu", + "x": 0.7196665820516002, + "y": 0.42761106953034916 + } + ], + "type": "point" + }, + "point_1769408729148": { + "instances": [ + { + "id": "point_1769408729148_1769409686840_k3ma9q34x", + "x": 0.7656665792439832, + "y": 0.42361106985586994 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了胡萝卜，爪夹合拢抓取到了胡萝卜。", + "frame": 178, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到胡萝卜。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近。", + "time": 5.944742268041237 + }, + { + "action_description": "爪夹夹紧胡萝卜，垂直升高，向爪夹左后方移动。", + "annotations": { + "bbox_1769408699508": { + "instances": [ + { + "height": 0.34266663878038417, + "id": "bbox_1769408699508_1769409869804_p0gvi06m6", + "width": 0.08799999462890647, + "x": 0.6926665836995494, + "y": 0.08153702135929188 + } + ], + "type": "bbox" + }, + "bbox_1769408706284": { + "instances": [ + { + "height": 0.17066665277777887, + "id": "bbox_1769408706284_1769409887668_s7ajvjpgt", + "width": 0.1299999920654301, + "x": 0.5936665897420295, + "y": 0.08687035425859747 + } + ], + "type": "bbox" + }, + "point_1769408719917": { + "instances": [ + { + "id": "point_1769408719917_1769409915971_9lojjgkgp", + "x": 0.7140000000000001, + "y": 0.2942222086588542 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后，松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹合拢继续夹紧胡萝卜，水平上远离了不锈钢碗。", + "frame": 260, + "progress": 30, + "progress_explanation": "爪夹合拢夹紧胡萝卜，垂直升高并向爪夹左后的蓝色塑料碗接近。增加了与不锈钢碗的距离。因此进度降低为 30%", + "state_description": "爪夹合拢夹紧胡萝卜，水平上远离了不锈钢碗。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹正前方的不锈钢碗接近，水平到达不锈钢碗的正上方后，松开爪夹，使胡萝卜落入不锈钢碗。", + "time": 8.660067613105847 + }, + { + "action_description": "爪夹夹紧胡萝卜，向爪夹左后方移动", + "annotations": { + "bbox_1769408706284": { + "instances": [ + { + "height": 0.16266665342882056, + "id": "bbox_1769408706284_1769410641660_rrdho6x2i", + "width": 0.12099999261474662, + "x": 0.5976665894978888, + "y": 0.09220368715790306 + } + ], + "type": "bbox" + }, + "point_1769408719917": { + "instances": [ + { + "id": "point_1769408719917_1769410651108_d5g6fd5io", + "x": 0.5816665904744512, + "y": 0.5295369849009616 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后，松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹移动到了蓝色塑料碗正上方，水平上更加远离了不锈钢碗。", + "frame": 328, + "progress": 20, + "progress_explanation": "爪夹夹紧胡萝卜，到了爪夹左后方的蓝色塑料碗正上方，增加了与不锈钢碗的距离。因此进度降低为 20%", + "state_description": "爪夹夹紧胡萝卜，爪夹角度接近垂直于桌面，位于蓝色塑料碗正上方。水平上更加远离了不锈钢碗。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后，松开爪夹，使胡萝卜落入不锈钢碗。", + "time": 10.933333333333334 + }, + { + "action_description": "爪夹松开，未移动", + "annotations": { + "bbox_1769408699508": { + "instances": [ + { + "height": 0.19199998437500115, + "id": "bbox_1769408699508_1769411125258_hzpccisyd", + "width": 0.10099999383544951, + "x": 0.5776665907185918, + "y": 0.3468703330997451 + } + ], + "type": "bbox" + }, + "bbox_1769408706284": { + "instances": [ + { + "height": 0.16133332020399413, + "id": "bbox_1769408706284_1769411144682_3f5igmkvm", + "width": 0.12499999237060581, + "x": 0.5956665896199591, + "y": 0.09087035393307666 + } + ], + "type": "bbox" + }, + "point_1769408719917": { + "instances": [ + { + "id": "point_1769408719917_1769411157746_mofkrao29", + "x": 0.5616665916951542, + "y": 0.517536985877524 + } + ], + "type": "point" + }, + "point_1769408729148": { + "instances": [ + { + "id": "point_1769408729148_1769411160002_qn9x7c7cs", + "x": 0.7296665814412486, + "y": 0.4588703239851624 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方的蓝色塑料碗移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色塑料碗的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹右前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "夹紧的胡萝卜掉入蓝色塑料碗，高度上远离了胡萝卜。需重新抓取胡萝卜。", + "frame": 356, + "progress": -10, + "progress_explanation": "夹紧的胡萝卜掉入蓝色塑料碗，远离了胡萝卜。需重新抓取胡萝卜，因此进度降低为 -10%。", + "state_description": "爪夹张开，夹紧的胡萝卜掉入蓝色塑料碗，垂直高度上远离了胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹正前方的蓝色塑料碗移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色塑料碗的正上方。", + "time": 11.870789060562663 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769408699508", + "name": "胡萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1769408706284", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769408719917", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769408729148", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-150054-put-carrot--stainless steel bowl-bad/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-150054-put-carrot--stainless steel bowl-bad/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f24beab48f113735af9b42950b14248cd7e8d5f2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-150054-put-carrot--stainless steel bowl-bad/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,478 @@ +{ + "task_description": "抓取胡萝卜放进不锈钢碗：\n开始准备移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓紧胡萝卜接近不锈钢碗：60%\n爪夹抓紧胡萝卜移动到不锈钢碗上方：80%\n爪夹松开胡萝卜落入不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769412313961": { + "instances": [ + { + "height": 0.15599999999999986, + "id": "bbox_1769412313961_1769412395752_o0ecnpmgo", + "width": 0.27299999999999996, + "x": 0.6783750000000001, + "y": 0.39086458333333335 + } + ], + "type": "bbox" + }, + "bbox_1769412329473": { + "instances": [ + { + "height": 0.156, + "id": "bbox_1769412329473_1769412407304_h0wizgo8k", + "width": 0.14300000000000007, + "x": 0.577375, + "y": 0.20019791666666667 + } + ], + "type": "bbox" + }, + "point_1769412337625": { + "instances": [ + { + "id": "point_1769412337625_1769412417432_g6q6wxstm", + "x": 0.382375, + "y": 0.27753125 + } + ], + "type": "point" + }, + "point_1769412370265": { + "instances": [ + { + "id": "point_1769412370265_1769412419519_qvksodsin", + "x": 0.49437500000000006, + "y": 0.3241979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "frame": 63, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 2.0902619823453605 + }, + { + "action_description": "爪夹向爪夹右前方移动。", + "annotations": { + "bbox_1769412313961": { + "instances": [ + { + "height": 0.15599998730468864, + "id": "bbox_1769412313961_1769412694497_gdieul3fs", + "width": 0.2779999830322275, + "x": 0.6806665844319711, + "y": 0.3935369959686689 + } + ], + "type": "bbox" + }, + "bbox_1769412329473": { + "instances": [ + { + "height": 0.1573333205295149, + "id": "bbox_1769412329473_1769412714809_7hgqolqvd", + "width": 0.13899999151611375, + "x": 0.5786665906575567, + "y": 0.2010925739670757 + } + ], + "type": "bbox" + }, + "point_1769412337625": { + "instances": [ + { + "id": "point_1769412337625_1769412726208_2rmf33o90", + "x": 0.3416666051228878, + "y": 0.17975924236985333 + } + ], + "type": "point" + }, + "point_1769412370265": { + "instances": [ + { + "id": "point_1769412370265_1769412729753_scoj3ih78", + "x": 0.5336665934041386, + "y": 0.18242590881950613 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了胡萝卜。", + "frame": 143, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，水平上接近了胡萝卜。因此进度提升为 10%。", + "state_description": "爪夹张开，水平上接近了胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹右前方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 4.763251615335052 + }, + { + "action_description": "爪夹向正前方移动，同时降低角度使爪夹接近垂直于桌面", + "annotations": { + "bbox_1769412313961": { + "instances": [ + { + "height": 0.15333332085503565, + "id": "bbox_1769412313961_1769412961333_ktwu05bxd", + "width": 0.26599998376464945, + "x": 0.681666584370936, + "y": 0.39353699596866903 + } + ], + "type": "bbox" + }, + "bbox_1769412329473": { + "instances": [ + { + "height": 0.15199998763020933, + "id": "bbox_1769412329473_1769412975557_446bud85k", + "width": 0.14299999127197321, + "x": 0.5786665906575567, + "y": 0.20287034481849409 + } + ], + "type": "bbox" + }, + "point_1769412337625": { + "instances": [ + { + "id": "point_1769412337625_1769412995508_goakv732j", + "x": 0.36966660341390356, + "y": 0.3388703337507867 + } + ], + "type": "point" + }, + "point_1769412370265": { + "instances": [ + { + "id": "point_1769412370265_1769412997540_utaufo3p1", + "x": 0.5356665932820682, + "y": 0.33753700052596025 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上垂直升高并爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹向正前方移动，同时降低角度使爪夹接近垂直于桌面，接近了马铃薯，并未接近胡萝卜。", + "frame": 170, + "progress": -10, + "progress_explanation": "爪夹向正前方移动，爪夹接近垂直于桌面，接近了马铃薯，并未接近目标胡萝卜。需要多一次爪夹向上垂直升高因此进度降低为 -10%。", + "state_description": "爪夹向正前方移动，同时降低角度使爪夹接近垂直于桌面，接近了马铃薯。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向上垂直升高并向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 5.654248159664948 + }, + { + "action_description": "爪夹向下垂直移动，并合拢爪夹。", + "annotations": { + "bbox_1769412313961": { + "instances": [ + { + "height": 0.14933332118055648, + "id": "bbox_1769412313961_1769413313294_woi2s4gbf", + "width": 0.269999983520509, + "x": 0.6776665846150766, + "y": 0.3948703291934954 + } + ], + "type": "bbox" + }, + "bbox_1769412329473": { + "instances": [ + { + "height": 0.15199998763020936, + "id": "bbox_1769412329473_1769413322397_rcpxs6qg4", + "width": 0.14199999133300834, + "x": 0.5786665906575567, + "y": 0.2015370115936677 + } + ], + "type": "bbox" + }, + "point_1769412337625": { + "instances": [ + { + "id": "point_1769412337625_1769413332694_0smjhat6t", + "x": 0.40766660109456776, + "y": 0.3762036640459258 + } + ], + "type": "point" + }, + "point_1769412370265": { + "instances": [ + { + "id": "point_1769412370265_1769413334925_wm8u1xd0y", + "x": 0.4946665957845095, + "y": 0.3815369969452314 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹向下垂直移动，并合拢爪夹，爪夹未抓取到马铃薯。水平上未靠近胡萝卜。", + "frame": 191, + "progress": -20, + "progress_explanation": "爪夹未抓取到马铃薯。水平上未靠近胡萝卜。需要多两步张开爪夹，垂直向上升高，因此进度降低为 -20%。", + "state_description": "爪夹合拢爪夹，未抓取到马铃薯。水平上未靠近胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 6.370227525644329 + }, + { + "action_description": "爪夹张开，向上垂直移动。", + "annotations": { + "bbox_1769412313961": { + "instances": [ + { + "height": 0.15599998730468853, + "id": "bbox_1769412313961_1769413562608_zcrjgflhr", + "width": 0.2709999834594736, + "x": 0.6796665844930063, + "y": 0.39353699596866903 + } + ], + "type": "bbox" + }, + "bbox_1769412329473": { + "instances": [ + { + "height": 0.1559999873046885, + "id": "bbox_1769412329473_1769413575289_byamtxp11", + "width": 0.14099999139404346, + "x": 0.5786665906575567, + "y": 0.20287034481849409 + } + ], + "type": "bbox" + }, + "point_1769412337625": { + "instances": [ + { + "id": "point_1769412337625_1769413589896_h42aoo3ef", + "x": 0.3326666056722042, + "y": 0.26953700605981395 + } + ], + "type": "point" + }, + "point_1769412370265": { + "instances": [ + { + "id": "point_1769412370265_1769413592472_o6au8yrwy", + "x": 0.5096665948689822, + "y": 0.2442036747881124 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的胡萝卜移动，保持爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹接近垂直于桌面，处于错误目标左上方，应该向爪夹右方胡萝卜移动。", + "frame": 247, + "progress": -10, + "progress_explanation": "爪夹张开，爪夹接近垂直于桌面。应当向爪夹右方胡萝卜移动，这时靠近马铃薯还未靠近胡萝卜，需要多一步向上升高因此进度为 -10%", + "state_description": "爪夹张开，爪夹接近垂直于桌面，停留在马铃薯左上方。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 8.23177387719072 + }, + { + "action_description": "爪夹向右前方移动并向下垂直移动，合拢爪夹。", + "annotations": { + "bbox_1769412313961": { + "instances": [ + { + "height": 0.16666665310329964, + "id": "bbox_1769412313961_1769413884602_02ph4eu1t", + "width": 0.27199998339843867, + "x": 0.6796665844930063, + "y": 0.380203663720405 + } + ], + "type": "bbox" + }, + "bbox_1769412329473": { + "instances": [ + { + "height": 0.15866665375434139, + "id": "bbox_1769412329473_1769413900650_vbo9ufmlb", + "width": 0.13999999145507855, + "x": 0.5796665905965216, + "y": 0.1997592407422493 + } + ], + "type": "bbox" + }, + "point_1769412337625": { + "instances": [ + { + "id": "point_1769412337625_1769413911802_9pcl6bnbm", + "x": 0.41166660085042717, + "y": 0.3344258964497155 + } + ], + "type": "point" + }, + "point_1769412370265": { + "instances": [ + { + "id": "point_1769412370265_1769413913738_cxmfd4daz", + "x": 0.5356665932820682, + "y": 0.34109256257384746 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向上垂直升高并爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹向右前方移动并向下垂直移动，合拢爪夹。爪夹抓取到马铃薯。水平上未靠近胡萝卜。", + "frame": 294, + "progress": -20, + "progress_explanation": "爪夹抓取到马铃薯。水平上未靠近胡萝卜。需要多两步张开爪夹，垂直向上升高，因此进度降低为 -20%。", + "state_description": "爪夹合拢爪夹，抓取到马铃薯。水平上未靠近胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹张开，爪夹向上垂直升高并向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 9.80692848234536 + }, + { + "action_description": "爪夹夹紧马铃薯，垂直升高，向爪夹右前方移动。", + "annotations": { + "bbox_1769412313961": { + "instances": [ + { + "height": 0.16533331987847333, + "id": "bbox_1769412313961_1769414126348_6o7w69jq7", + "width": 0.2739999832763684, + "x": 0.6796665844930062, + "y": 0.3855369966197105 + } + ], + "type": "bbox" + }, + "bbox_1769412329473": { + "instances": [ + { + "height": 0.15733332052951493, + "id": "bbox_1769412329473_1769414139060_7mkj76gfl", + "width": 0.14099999139404334, + "x": 0.5806665905354864, + "y": 0.20020367836884126 + } + ], + "type": "bbox" + }, + "point_1769412337625": { + "instances": [ + { + "id": "point_1769412337625_1769414149556_trj68xl9t", + "x": 0.5316665935262088, + "y": 0.08687035425859747 + } + ], + "type": "point" + }, + "point_1769412370265": { + "instances": [ + { + "id": "point_1769412370265_1769414151507_s5gv91usa", + "x": 0.674666584798182, + "y": 0.10687035263099344 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开并向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹合拢继续夹紧马铃薯，水平上接近了胡萝卜。", + "frame": 378, + "progress": -10, + "progress_explanation": "爪夹合拢夹紧马铃薯，垂直升高并向爪夹右前的不锈钢碗接近。缩短了与胡萝卜的距离。因此进度提升为 -10%", + "state_description": "爪夹合拢夹紧马铃薯，水平上接近了胡萝卜。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹张开并向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 12.607203335953608 + }, + { + "action_description": "爪夹松开，未移动", + "annotations": { + "bbox_1769412313961": { + "instances": [ + { + "height": 0.1573333205295149, + "id": "bbox_1769412313961_1769414440310_m015fwlbu", + "width": 0.2739999832763682, + "x": 0.680666584431971, + "y": 0.3908703295190162 + } + ], + "type": "bbox" + }, + "bbox_1769412329473": { + "instances": [ + { + "height": 0.1573333205295149, + "id": "bbox_1769412329473_1769414451630_n04ea73w8", + "width": 0.14099999139404334, + "x": 0.5796665905965216, + "y": 0.20553701126814689 + } + ], + "type": "bbox" + }, + "point_1769412337625": { + "instances": [ + { + "id": "point_1769412337625_1769414459238_dgoa4yik1", + "x": 0.48766659621175557, + "y": 0.11620368520477822 + } + ], + "type": "point" + }, + "point_1769412370265": { + "instances": [ + { + "id": "point_1769412370265_1769414461350_u15y0320o", + "x": 0.65566658595785, + "y": 0.1295370174530422 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹左前方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使胡萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹接近垂直于桌面，处于错误目标上方，应该向爪夹右方胡萝卜移动。", + "frame": 400, + "progress": 10, + "progress_explanation": "爪夹张开，爪夹接近垂直于桌面。应当向爪夹右方胡萝卜移动，这时靠近马铃薯还未靠近胡萝卜，因此进度为 10%", + "state_description": "爪夹张开，爪夹接近垂直于桌面，停留在马铃薯正上方。\n为完成抓取胡萝卜放进不锈钢碗的任务应当：爪夹向爪夹右方的胡萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 13.323182701932987 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769412313961", + "name": "胡萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1769412329473", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769412337625", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769412370265", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-150807-put-red radish-stainless steel bowl-good/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-150807-put-red radish-stainless steel bowl-good/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..e05bbb2718740587fff093d61223159bb7bea8d2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-150807-put-red radish-stainless steel bowl-good/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,392 @@ +{ + "task_description": "抓取红萝卜放入不锈钢碗中：\n开始准备移动：0%\n爪夹靠近红萝卜：20%\n爪夹抓取红萝卜：40%\n爪夹抓紧红萝卜接近不锈钢碗：60%\n爪夹抓紧红萝卜移动到不锈钢碗上方：80%\n爪夹松开红萝卜落入不锈钢碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1769415683326": { + "instances": [ + { + "height": 0.15999998697916776, + "id": "bbox_1769415683326_1769415795755_233r33al9", + "width": 0.11199999316406281, + "x": 0.42266660017904056, + "y": 0.09753702005720864 + } + ], + "type": "bbox" + }, + "bbox_1769415691413": { + "instances": [ + { + "height": 0.1306666560329869, + "id": "bbox_1769415691413_1769415806147_x9m0trff5", + "width": 0.1229999924926763, + "x": 0.569666591206873, + "y": 0.145537016150959 + } + ], + "type": "bbox" + }, + "point_1769415698582": { + "instances": [ + { + "id": "point_1769415698582_1769415820379_bshx1epdx", + "x": 0.6216665880330451, + "y": 0.2602036734860292 + } + ], + "type": "point" + }, + "point_1769415704140": { + "instances": [ + { + "id": "point_1769415704140_1769415822522_xhyxnxodl", + "x": 0.7126665824788463, + "y": 0.21220367739227886 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的红萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到红萝卜的正上方。接着落下爪夹靠近红萝卜，接近红萝卜后爪夹合拢抓取红萝卜。抓紧红萝卜垂直升高爪夹并向爪夹右后方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使红萝卜落入不锈钢碗。", + "error_success_analysis": "无", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离红萝卜，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离红萝卜，未开始移动。\n为完成抓取红萝卜放入不锈钢碗中的任务应当：爪夹向爪夹右前方的红萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到红萝卜的正上方。", + "time": 1.5135180081185566 + }, + { + "action_description": "爪夹向爪夹右前方移动。", + "annotations": { + "bbox_1769415683326": { + "instances": [ + { + "height": 0.16266666666666665, + "id": "bbox_1769415683326_1769416094325_c2kn7jwdb", + "width": 0.09699999999999998, + "x": 0.42337500000000006, + "y": 0.09319791666666667 + } + ], + "type": "bbox" + }, + "bbox_1769415691413": { + "instances": [ + { + "height": 0.13199999999999998, + "id": "bbox_1769415691413_1769416106365_38q9k8g54", + "width": 0.1299999999999999, + "x": 0.5653750000000001, + "y": 0.14253125000000003 + } + ], + "type": "bbox" + }, + "point_1769415704140": { + "instances": [ + { + "id": "point_1769415704140_1769416148564_eemiwcpve", + "x": 0.592, + "y": 0.03422220865885416 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的红萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到红萝卜的正上方。接着落下爪夹靠近红萝卜，接近红萝卜后爪夹合拢抓取红萝卜。抓紧红萝卜垂直升高爪夹并向爪夹右后方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使红萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹水平上接近了红萝卜。", + "frame": 154, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，水平上接近了红萝卜。因此进度提升为 10%。", + "state_description": "爪夹张开，水平上接近了红萝卜。\n为完成抓取红萝卜放入不锈钢碗中的任务应当：爪夹向爪夹右前方的红萝卜移动，同时调整爪夹的角度使其垂直于桌面，并移动到红萝卜的正上方。", + "time": 5.141249887500001 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "annotations": { + "bbox_1769415683326": { + "instances": [ + { + "height": 0.17599998567708447, + "id": "bbox_1769415683326_1769416352745_61jy8x9qt", + "width": 0.0989999939575199, + "x": 0.4196666003621459, + "y": 0.0785740495952108 + } + ], + "type": "bbox" + }, + "bbox_1769415691413": { + "instances": [ + { + "height": 0.137333322157119, + "id": "bbox_1769415691413_1769416360699_3bpiuptz9", + "width": 0.12999999206543017, + "x": 0.5656665914510136, + "y": 0.14124071116205147 + } + ], + "type": "bbox" + }, + "point_1769415698582": { + "instances": [ + { + "id": "point_1769415698582_1769416381215_oby2iazcq", + "x": 0.39266660201009507, + "y": 0.1572407098599683 + } + ], + "type": "point" + }, + "point_1769415704140": { + "instances": [ + { + "id": "point_1769415704140_1769416383903_zndyf40t3", + "x": 0.5266665938313846, + "y": 0.16524070920892667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取红萝卜。抓紧红萝卜垂直升高爪夹并向爪夹右后方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使红萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了红萝卜，方便抓取红萝卜。", + "frame": 219, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了红萝卜。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了红萝卜。\n为完成抓取红萝卜放入不锈钢碗中的任务应当：爪夹合拢抓取红萝卜。抓紧红萝卜垂直升高爪夹并向爪夹右后方的不锈钢碗接近。", + "time": 7.2973412392712005 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769415683326": { + "instances": [ + { + "height": 0.14133332183159816, + "id": "bbox_1769415683326_1769416610531_u9bp03xzp", + "width": 0.05899999639892597, + "x": 0.41166660085042717, + "y": 0.08953702070825026 + } + ], + "type": "bbox" + }, + "bbox_1769415691413": { + "instances": [ + { + "height": 0.13599998893229254, + "id": "bbox_1769415691413_1769416619674_i4qdun7j4", + "width": 0.1299999920654301, + "x": 0.5646665915120488, + "y": 0.1415370164764798 + } + ], + "type": "bbox" + }, + "point_1769415698582": { + "instances": [ + { + "id": "point_1769415698582_1769416627898_8mk98p3at", + "x": 0.4176666004842162, + "y": 0.14287034970130616 + } + ], + "type": "point" + }, + "point_1769415704140": { + "instances": [ + { + "id": "point_1769415704140_1769416630000_rdmj7ssi1", + "x": 0.5116665947469119, + "y": 0.1282036842282158 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧红萝卜垂直升高爪夹并向爪夹右后方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使红萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了红萝卜，爪夹合拢抓取到了红萝卜。", + "frame": 242, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到红萝卜。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取红萝卜。\n为完成抓取红萝卜放入不锈钢碗中的任务应当：抓紧红萝卜垂直升高爪夹并向爪夹右后方的不锈钢碗接近。", + "time": 8.077985218427836 + }, + { + "action_description": "爪夹夹紧红萝卜，垂直升高，向爪夹右后方移动。", + "annotations": { + "bbox_1769415683326": { + "instances": [ + { + "height": 0.0599999951171879, + "id": "bbox_1769415683326_1769416827630_04jk0f09n", + "width": 0.06199999621582055, + "x": 0.46766659743245864, + "y": 0.0034629513783405452 + } + ], + "type": "bbox" + }, + "bbox_1769415691413": { + "instances": [ + { + "height": 0.1293333228081606, + "id": "bbox_1769415691413_1769416803302_3eipgz6ml", + "width": 0.13299999188232475, + "x": 0.562666591634119, + "y": 0.14287034970130616 + } + ], + "type": "bbox" + }, + "point_1769415698582": { + "instances": [ + { + "id": "point_1769415698582_1769416872741_6xtclej3w", + "x": 0.49037500000000006, + "y": 0.005197916666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右后方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使红萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹合拢继续夹紧红萝卜，水平上接近了不锈钢碗。更加方便接近不锈钢碗。", + "frame": 297, + "progress": 60, + "progress_explanation": "爪夹合拢夹紧红萝卜，垂直升高并向爪夹右后的不锈钢碗接近。缩短了与不锈钢碗的距离。因此进度提升为 60%", + "state_description": "爪夹合拢夹紧红萝卜，水平上接近了不锈钢碗。\n为完成抓取红萝卜放入不锈钢碗中的任务应当：继续向爪夹右后方的不锈钢碗接近，水平到达不锈钢碗的正上方后松开爪夹，使红萝卜落入不锈钢碗。", + "time": 9.904282598946383 + }, + { + "action_description": "爪夹夹紧红萝卜，向爪夹右后方移动", + "annotations": { + "bbox_1769415683326": { + "instances": [ + { + "height": 0.16933331955295247, + "id": "bbox_1769415683326_1769417482616_xj0sww2w0", + "width": 0.1009999938354496, + "x": 0.5746665909016972, + "y": 0.004203694319360814 + } + ], + "type": "bbox" + }, + "bbox_1769415691413": { + "instances": [ + { + "height": 0.13733332215711896, + "id": "bbox_1769415691413_1769417498889_eki5tsb7m", + "width": 0.1289999921264653, + "x": 0.5666665913899785, + "y": 0.1442036829261326 + } + ], + "type": "bbox" + }, + "point_1769415698582": { + "instances": [ + { + "id": "point_1769415698582_1769417511456_obdwltbvl", + "x": 0.6386665869954475, + "y": 0.08553702103377107 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使红萝卜落入不锈钢碗。", + "error_success_analysis": "爪夹移动到了不锈钢碗正上方。", + "frame": 369, + "progress": 80, + "progress_explanation": "爪夹夹紧红萝卜，到了爪夹右后方的不锈钢碗正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧红萝卜，位于不锈钢碗正上方。\n为完成抓取红萝卜放入不锈钢碗中的任务应当：松开爪夹，使红萝卜落入不锈钢碗。", + "time": 12.286782377190722 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1769415683326": { + "instances": [ + { + "height": 0.16133332020399413, + "id": "bbox_1769415683326_1769417807778_1u531a0c1", + "width": 0.12899999212646537, + "x": 0.5676665913289434, + "y": 0.07087035556068069 + } + ], + "type": "bbox" + }, + "bbox_1769415691413": { + "instances": [ + { + "height": 0.14533332150607733, + "id": "bbox_1769415691413_1769417859728_gxtuz3lne", + "width": 0.1269999922485356, + "x": 0.569666591206873, + "y": 0.1366481313762914 + } + ], + "type": "bbox" + }, + "point_1769415698582": { + "instances": [ + { + "id": "point_1769415698582_1769417877256_8ucn79uqs", + "x": 0.6266665877278694, + "y": 0.09664813463149947 + } + ], + "type": "point" + }, + "point_1769415704140": { + "instances": [ + { + "id": "point_1769415704140_1769417881072_l4ictl8er", + "x": 0.7766665785725965, + "y": 0.08998146850736748 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，红萝卜落入不锈钢碗。", + "frame": 408, + "progress": 100, + "progress_explanation": "爪夹张开，红萝卜落入不锈钢碗，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开。\n爪夹松开红萝卜落入不锈钢碗的任务目标完成。", + "time": 13.605957606056702 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769415683326", + "name": "红萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1769415691413", + "name": "不锈钢碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769415698582", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769415704140", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-152335-put-red radish-stainless steel bowl-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-152335-put-red radish-stainless steel bowl-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..a5095a76d553ad7a3b56585a648ffc95f78901c1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-152335-put-red radish-stainless steel bowl-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,676 @@ +{ + "task_description": "把红色萝卜放入不锈钢碗中。\n准备开始移动：0%\n爪夹靠近红色萝卜：25%\n爪夹夹取红色萝卜：50%\n爪夹移动红色萝卜：75%\n爪夹放置红色萝卜：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向前移动到红色萝卜的正上方，爪夹调整角度与桌面平行，爪夹向下移动靠近红色萝卜，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，处于初始状态，远离红色萝卜。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹向前移动到红色萝卜的正上方，爪夹调整角度与桌面平行，爪夹向下移动靠近红色萝卜，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "time": 0.7847938009020617, + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413614768_0i88o18fl", + "x": 0.5303749999999999, + "y": 0.09919791666666668, + "width": 0.09500000000000011, + "height": 0.2213333333333333 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413625256_ii9cyz5gd", + "x": 0.702375, + "y": 0.2898645833333333, + "width": 0.12699999999999995, + "height": 0.16800000000000004 + } + ] + }, + "point_1769413572985": { + "type": "point", + "instances": [ + { + "id": "point_1769413572985_1769413635367_sspx29mti", + "x": 0.5653750000000001, + "y": 0.4791979166666667 + } + ] + }, + "point_1769413573192": { + "type": "point", + "instances": [ + { + "id": "point_1769413573192_1769413639215_2plnjeaxz", + "x": 0.667375, + "y": 0.46453125 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，", + "correction_plan": "爪夹向前移动到红色萝卜的正上方，爪夹调整角度与桌面平行，爪夹向下移动靠近红色萝卜，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "error_success_analysis": "爪夹向上移动，方便后续调整角度。", + "frame": 55, + "progress": 5, + "progress_explanation": "爪夹向上移动，方便调整角度，因此进度提升到5%。", + "state_description": "爪夹张开，向正上方移动，爪夹与桌面平行。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹向前移动到红色萝卜的正上方，爪夹调整角度与桌面平行，爪夹向下移动靠近红色萝卜，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "time": 1.821219899871134, + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413648855_wke7rlo3f", + "x": 0.5313749999999999, + "y": 0.09919791666666668, + "width": 0.09100000000000001, + "height": 0.21866666666666662 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413659536_339r0uoaz", + "x": 0.697375, + "y": 0.29253124999999996, + "width": 0.1330000000000001, + "height": 0.16133333333333338 + } + ] + }, + "point_1769413572985": { + "type": "point", + "instances": [ + { + "id": "point_1769413572985_1769413662927_hnwjtxujs", + "x": 0.555375, + "y": 0.46053125 + } + ] + }, + "point_1769413573192": { + "type": "point", + "instances": [ + { + "id": "point_1769413573192_1769413665294_7cet642c0", + "x": 0.665375, + "y": 0.43786458333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "爪夹调整角度与桌面平行，爪夹向下移动靠近红色萝卜，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "error_success_analysis": "爪夹向正前方移动，缩短与红色萝卜的距离。", + "frame": 90, + "progress": 10, + "progress_explanation": "爪夹向正前方移动，拉短与红色萝卜的距离，因此进度提升到10%。", + "state_description": "爪夹张开，爪夹向正前方移动，爪夹与桌面垂直。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹调整角度与桌面平行，爪夹向下移动靠近红色萝卜，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "time": 2.9971648967783504, + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413671391_ko9rhr5ni", + "x": 0.5293749999999999, + "y": 0.09519791666666667, + "width": 0.09600000000000009, + "height": 0.22000000000000006 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413681246_t5lnwwy20", + "x": 0.716375, + "y": 0.2978645833333333, + "width": 0.11400000000000006, + "height": 0.14933333333333335 + } + ] + }, + "point_1769413572985": { + "type": "point", + "instances": [ + { + "id": "point_1769413572985_1769413694566_xtgxy1who", + "x": 0.614375, + "y": 0.16453125000000002 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度。", + "correction_plan": "爪夹向前下移动靠近红色萝卜，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "error_success_analysis": "爪夹调整角度与桌面平行，方便后续移动，", + "frame": 139, + "progress": 15, + "progress_explanation": "爪夹调整角度与桌面平行，方便后续抓取，因此进度提升到15%。", + "state_description": "爪夹张开，爪夹调整角度与桌面平行。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹向前下移动靠近红色萝卜，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "time": 4.631529129768041, + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413702502_w9s5zb80s", + "x": 0.528375, + "y": 0.09519791666666667, + "width": 0.096, + "height": 0.18533333333333335 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413711925_16oy88d89", + "x": 0.703375, + "y": 0.2911979166666666, + "width": 0.1280000000000001, + "height": 0.1666666666666667 + } + ] + }, + "point_1769413572985": { + "type": "point", + "instances": [ + { + "id": "point_1769413572985_1769413738844_ct4qe2yfn", + "x": 0.536375, + "y": 0.36453125 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹张开，爪夹向正前方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "error_success_analysis": "爪夹远离红色萝卜，爪夹合拢未夹取到任何物品。", + "frame": 156, + "progress": 5, + "progress_explanation": "爪夹合拢，未夹取到任何物品，因此进度降低到5%。", + "state_description": "爪夹合拢，未抓取到任何物品，爪夹与桌面平行。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹张开，爪夹向正前方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "time": 5.1896047215206185, + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413746364_kfku61z13", + "x": 0.530375, + "y": 0.09786458333333334, + "width": 0.092, + "height": 0.18266666666666667 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413752389_a3ehpfj80", + "x": 0.697375, + "y": 0.28719791666666666, + "width": 0.13199999999999995, + "height": 0.1706666666666667 + } + ] + } + } + }, + { + "time": 6.664518785438144, + "frame": 200, + "progress": 10, + "action_description": "爪夹张开。", + "state_description": "爪夹张开，爪夹平行于桌面，未接近红色萝卜。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹向正前方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "progress_explanation": "爪夹张开，因此进度提升到10%。", + "error_success_analysis": "爪夹张开，方便后续抓取红色萝卜。", + "correction_plan": "爪夹向正前方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413758908_gb6jtvgjc", + "x": 0.530375, + "y": 0.09919791666666668, + "width": 0.11200000000000002, + "height": 0.21333333333333335 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413767707_6w69d7hfn", + "x": 0.704375, + "y": 0.29119791666666667, + "width": 0.12499999999999992, + "height": 0.164 + } + ] + }, + "point_1769413572985": { + "type": "point", + "instances": [ + { + "id": "point_1769413572985_1769413777714_44gq385iv", + "x": 0.571375, + "y": 0.20053125 + } + ] + } + } + }, + { + "time": 7.760738697809278, + "frame": 233, + "progress": 15, + "action_description": "爪夹向正前方移动。", + "state_description": "爪夹张开，与桌面平行，爪夹缩短与红色萝卜的距离。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹向下方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "progress_explanation": "爪夹向正前方移动到红色萝卜附近，因此进度提升到15%。", + "error_success_analysis": "爪夹向前方移动，爪夹缩短与红色萝卜的距离。", + "correction_plan": "爪夹向下方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413785931_jwgje8k20", + "x": 0.526375, + "y": 0.05919791666666666, + "width": 0.11100000000000003, + "height": 0.252 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413801018_wk1o3uac6", + "x": 0.702375, + "y": 0.28853125, + "width": 0.12699999999999995, + "height": 0.17066666666666663 + } + ] + }, + "point_1769413572985": { + "type": "point", + "instances": [ + { + "id": "point_1769413572985_1769413804002_bo627snp5", + "x": 0.547375, + "y": 0.12719791666666666 + } + ] + } + } + }, + { + "time": 8.557989543170102, + "frame": 257, + "progress": 10, + "action_description": "爪夹向左下方移动。", + "state_description": "爪夹张开，向左下方移动，爪夹与桌面平行。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹向右下方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "progress_explanation": "爪夹向左下方移动，未达到红色萝卜的正上方，因此进度降低到10%。", + "error_success_analysis": "爪夹向左前方移动，偏离红色萝卜正上方。", + "correction_plan": "爪夹向右下方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413813154_97vnb3rpu", + "x": 0.524375, + "y": 0.13386458333333331, + "width": 0.07199999999999998, + "height": 0.17333333333333337 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413818226_bdmdt3wy9", + "x": 0.698375, + "y": 0.29519791666666667, + "width": 0.13400000000000006, + "height": 0.16266666666666668 + } + ] + }, + "point_1769413572985": { + "type": "point", + "instances": [ + { + "id": "point_1769413572985_1769413829985_1821ti1zk", + "x": 0.500375, + "y": 0.20186458333333332 + } + ] + } + } + }, + { + "time": 9.674140726675258, + "frame": 290, + "progress": 5, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢，未抓取到红色萝卜，爪夹与桌面平行。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹张开，爪夹向右下方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "progress_explanation": "爪夹合拢，未抓取到红色萝卜，因此进度降低到5%。", + "error_success_analysis": "爪夹未移动到红色萝卜正上方，爪夹合拢未夹取到红色萝卜。", + "correction_plan": "爪夹张开，爪夹向右下方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413837785_4wpizvlj3", + "x": 0.501375, + "y": 0.14053125, + "width": 0.075, + "height": 0.13466666666666666 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413842777_frgqjsyfv", + "x": 0.6993750000000001, + "y": 0.29119791666666667, + "width": 0.1299999999999999, + "height": 0.16266666666666668 + } + ] + } + } + }, + { + "time": 10.850085723582474, + "frame": 326, + "progress": 10, + "action_description": "爪夹张开。", + "state_description": "爪夹张开，爪夹与桌面平行。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹向右下方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "progress_explanation": "爪夹张开，方便后续抓取，因此进度提升到10%。", + "error_success_analysis": "爪夹张开，方便后续抓取。", + "correction_plan": "爪夹向右下方移动，爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413852529_sus6jjxt6", + "x": 0.537375, + "y": 0.11786458333333334, + "width": 0.06699999999999999, + "height": 0.15466666666666662 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413863089_zfoqypa9a", + "x": 0.6953750000000001, + "y": 0.29119791666666667, + "width": 0.13600000000000004, + "height": 0.16933333333333334 + } + ] + }, + "point_1769413572985": { + "type": "point", + "instances": [ + { + "id": "point_1769413572985_1769413865881_oz814iu2g", + "x": 0.515375, + "y": 0.18453125 + } + ] + } + } + }, + { + "time": 11.866580551417526, + "frame": 356, + "progress": 25, + "action_description": "爪夹向右下方移动。", + "state_description": "爪夹张开，向右下方移动，爪夹与桌面平行。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "progress_explanation": "爪夹向右下方移动，接近红色萝卜的正上方，因此进度提升到20%。", + "error_success_analysis": "爪夹向右下方移动，接近红色萝卜，方便后续夹取。", + "correction_plan": "爪夹合拢夹取红色萝卜，爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413873729_s4lbfptgl", + "x": 0.541375, + "y": 0.13919791666666667, + "width": 0.06899999999999995, + "height": 0.15466666666666667 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413877600_2zu6ijzl5", + "x": 0.701375, + "y": 0.28586458333333337, + "width": 0.1290000000000001, + "height": 0.16800000000000004 + } + ] + }, + "point_1769413572985": { + "type": "point", + "instances": [ + { + "id": "point_1769413572985_1769413880384_oe20kewat", + "x": 0.522375, + "y": 0.18586458333333333 + } + ] + } + } + }, + { + "time": 13.062456819458763, + "frame": 392, + "progress": 50, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢夹紧红色萝卜，爪夹与桌面平行。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "progress_explanation": "爪夹合拢夹取到红色萝卜，因此进度提升到50%。", + "error_success_analysis": "爪夹位于红色萝卜上方，爪夹合拢方便抓取。", + "correction_plan": "爪夹向上移动，爪夹向右后方移动的不锈钢碗的正上方，松开爪夹。", + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413885928_ueuh8ry3x", + "x": 0.532375, + "y": 0.14586458333333333, + "width": 0.06200000000000001, + "height": 0.13600000000000004 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413889623_kais7bywq", + "x": 0.6993750000000001, + "y": 0.28853125, + "width": 0.13100000000000006, + "height": 0.16933333333333334 + } + ] + } + } + }, + { + "time": 14.57723342564433, + "frame": 437, + "progress": 60, + "action_description": "爪夹向后上方移动。", + "state_description": "爪夹合拢夹紧红色萝卜，爪夹向后上方移动。\n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹向右方移动的不锈钢碗的正上方，松开爪夹。", + "progress_explanation": "爪夹夹取红色萝卜向后上方移动，接近不锈钢碗。因此进度提升到60%。", + "error_success_analysis": "爪夹合拢夹紧红色萝卜，方便后续放置红色萝卜。", + "correction_plan": "爪夹向右方移动的不锈钢碗的正上方，松开爪夹。", + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413897656_exs94e6i0", + "x": 0.636375, + "y": 0.15119791666666668, + "width": 0.07399999999999993, + "height": 0.15066666666666667 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413901719_8i45m1koc", + "x": 0.734375, + "y": 0.2991979166666666, + "width": 0.09500000000000011, + "height": 0.14666666666666675 + } + ] + } + } + }, + { + "time": 16.650085623582473, + "frame": 500, + "progress": 75, + "action_description": "爪夹向右方移动。", + "state_description": "爪夹合拢夹紧红色萝卜，向右方移动到不锈钢碗正上方，爪夹与桌面平行。 \n为了完成夹取红色萝卜并放到不锈钢碗中的任务应当：爪夹向右方移动的不锈钢碗的正上方，松开爪夹。", + "progress_explanation": "爪夹移动到不锈钢碗正上方，因此进度提升到75%。", + "error_success_analysis": "爪夹合拢夹紧红色萝卜，移动到不锈钢碗正上方，方便后续放置红色萝卜。", + "correction_plan": "松开爪夹。", + "annotations": { + "bbox_1769413571891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413571891_1769413914167_wg5o9mjic", + "x": 0.7073750000000001, + "y": 0.23786458333333335, + "width": 0.08899999999999997, + "height": 0.27066666666666667 + } + ] + }, + "bbox_1769413572305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769413572305_1769413926703_5ia8fp7m2", + "x": 0.701375, + "y": 0.29253124999999996, + "width": 0.10400000000000009, + "height": 0.13066666666666665 + } + ] + }, + "point_1769413572985": { + "type": "point", + "instances": [ + { + "id": "point_1769413572985_1769413933807_7itinmw8r", + "x": 0.742375, + "y": 0.38719791666666664 + } + ] + } + } + }, + { + "time": 19.32087595554124, + "frame": 580, + "progress": 100, + "action_description": "爪夹张开。爪夹向上移动。", + "state_description": "爪夹张开，红色萝卜落于不锈钢碗中。\n爪夹夹取红色萝卜放置到不锈钢碗中的任务目标完成。", + "progress_explanation": "爪夹松开，红色萝卜落于不锈钢碗中，因此进度提升到100%。", + "error_success_analysis": "爪夹张开，红色萝卜落于不锈钢碗中。", + "correction_plan": "", + "annotations": { + "point_1769413572985": { + "type": "point", + "instances": [ + { + "id": "point_1769413572985_1769413942559_dzex56459", + "x": 0.641375, + "y": 0.28186458333333336 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769413571891", + "name": "红色萝卜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769413572305", + "name": "不锈钢碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769413572985", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769413573192", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-154638-put-red radish-stainless steel bowl-bad/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-154638-put-red radish-stainless steel bowl-bad/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6b1225053b9cc02ba51b6897e7a401f15ae24aee --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-154638-put-red radish-stainless steel bowl-bad/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,511 @@ +{ + "task_description": "把红色萝卜放入不锈钢碗中。\n准备开始移动：0%\n爪夹接近红色萝卜：25%\n爪夹夹取红色萝卜：50%\n爪夹接近不锈钢碗：75%\n爪夹放置红色萝卜：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向左前方移动到红色萝卜的正上方，爪夹调整角度垂直于桌面，爪夹向下移动到红色萝卜正上方，合拢爪夹夹取红色萝卜，爪夹向上移动，爪夹向右侧移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "爪夹未开始移动，处于初始状态，因此进度为0%。", + "state_description": "爪夹张开，处于初始状态，爪夹未开始移动，爪夹垂直于桌面。\n为了完成爪夹夹取红色萝卜放入不锈钢碗的任务目标应当：爪夹向左前方移动到红色萝卜的正上方，爪夹调整角度垂直于桌面，爪夹向下移动到红色萝卜正上方，合拢爪夹夹取红色萝卜，爪夹向上移动，爪夹向右侧移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "time": 0.6838617032216494, + "annotations": { + "bbox_1769415693049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693049_1769415728432_6ime8x5m7", + "x": 0.455375, + "y": 0.31286458333333333, + "width": 0.08700000000000001, + "height": 0.22 + } + ] + }, + "bbox_1769415693210": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693210_1769415734439_ql2ydqncg", + "x": 0.28337500000000004, + "y": 0.26253125, + "width": 0.11599999999999996, + "height": 0.14533333333333334 + } + ] + }, + "bbox_1769415706656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415706656_1769415744071_o9vutyjqs", + "x": 0.344375, + "y": 0.4971979166666667, + "width": 0.16099999999999998, + "height": 0.19866666666666663 + } + ] + }, + "point_1769415694033": { + "type": "point", + "instances": [ + { + "id": "point_1769415694033_1769415754158_nfa7lem0z", + "x": 0.406375, + "y": 0.21586458333333336 + } + ] + }, + "point_1769415694176": { + "type": "point", + "instances": [ + { + "id": "point_1769415694176_1769415757119_vk3z2g24y", + "x": 0.491375, + "y": 0.22119791666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，爪夹调整角度。", + "correction_plan": "爪夹向左前方移动到红色萝卜的正上方，爪夹调整角度垂直于桌面，爪夹向下移动到红色萝卜正上方，合拢爪夹夹取红色萝卜，爪夹向上移动，爪夹向右侧移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "error_success_analysis": "爪夹向上移动，并调整爪夹角度，方便后续抓取。", + "frame": 85, + "progress": 10, + "progress_explanation": "爪夹调整角度，向正上方移动，方便后续夹取红色萝卜。因此进度提升到10%。", + "state_description": "爪夹向正上方移动，爪夹调整角度与桌面呈45度。\n为了完成爪夹夹取红色萝卜放入不锈钢碗的任务目标应当：爪夹向左前方移动到红色萝卜的正上方，爪夹调整角度垂直于桌面，爪夹向下移动到红色萝卜正上方，合拢爪夹夹取红色萝卜，爪夹向上移动，爪夹向右侧移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "time": 2.84310575064433, + "annotations": { + "bbox_1769415693049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693049_1769415795622_z8raxdxmi", + "x": 0.450375, + "y": 0.32853125, + "width": 0.09000000000000004, + "height": 0.20666666666666664 + } + ] + }, + "bbox_1769415693210": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693210_1769415806670_griogsht2", + "x": 0.28137500000000004, + "y": 0.26719791666666665, + "width": 0.119, + "height": 0.14000000000000004 + } + ] + }, + "bbox_1769415706656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415706656_1769415812581_c7qu5r9ks", + "x": 0.34137500000000004, + "y": 0.49786458333333333, + "width": 0.16299999999999998, + "height": 0.20266666666666666 + } + ] + }, + "point_1769415694033": { + "type": "point", + "instances": [ + { + "id": "point_1769415694033_1769415826518_o3gtpk7m6", + "x": 0.41937499999999994, + "y": 0.1591979166666667 + } + ] + }, + "point_1769415694176": { + "type": "point", + "instances": [ + { + "id": "point_1769415694176_1769415830741_pu71cn2zc", + "x": 0.506375, + "y": 0.15119791666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，爪夹调整位置。", + "correction_plan": "合拢爪夹夹取红色萝卜，爪夹向上移动，爪夹向右侧移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "error_success_analysis": "爪夹移动到红色萝卜的正上方，方便夹取。", + "frame": 157, + "progress": 25, + "progress_explanation": "爪夹移动到红色萝卜的正上方，因此进度提升到25%。", + "state_description": "爪夹向下移动到红色萝卜的正上方，调整爪夹角度与桌面垂直。\n为了完成爪夹夹取红色萝卜放入不锈钢碗的任务目标应当：合拢爪夹夹取红色萝卜，爪夹向上移动，爪夹向右侧移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "time": 5.24496148878866, + "annotations": { + "bbox_1769415693049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693049_1769415848109_iuvzo6rec", + "x": 0.455375, + "y": 0.32053125, + "width": 0.08399999999999999, + "height": 0.21066666666666667 + } + ] + }, + "bbox_1769415693210": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693210_1769415851940_p4efp3weg", + "x": 0.28037500000000004, + "y": 0.2631979166666667, + "width": 0.121, + "height": 0.1426666666666667 + } + ] + }, + "bbox_1769415706656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415706656_1769415872604_zqxm2fgd8", + "x": 0.344375, + "y": 0.49786458333333333, + "width": 0.16, + "height": 0.19999999999999993 + } + ] + }, + "point_1769415694033": { + "type": "point", + "instances": [ + { + "id": "point_1769415694033_1769415882412_hqkb1oq2s", + "x": 0.46537500000000004, + "y": 0.40053125 + } + ] + }, + "point_1769415694176": { + "type": "point", + "instances": [ + { + "id": "point_1769415694176_1769415884820_7s0sgj61z", + "x": 0.546375, + "y": 0.41253125 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向上移动，爪夹向右侧移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "error_success_analysis": "爪夹位于红色萝卜的正上方，方便抓取。", + "frame": 178, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧红色萝卜，因此进度提升到50%。", + "state_description": "爪夹合拢夹取红色萝卜，爪夹与桌面垂直。\n为了完成爪夹夹取红色萝卜放入不锈钢碗的任务目标应当：爪夹向上移动，爪夹向右侧移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "time": 5.936404807345361, + "annotations": { + "bbox_1769415693049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693049_1769415893445_ili46x74i", + "x": 0.45437500000000003, + "y": 0.3071979166666667, + "width": 0.083, + "height": 0.23066666666666666 + } + ] + }, + "bbox_1769415693210": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693210_1769415902467_d7awnk83m", + "x": 0.282375, + "y": 0.26453125, + "width": 0.11800000000000002, + "height": 0.1426666666666666 + } + ] + }, + "bbox_1769415706656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415706656_1769415927546_70httwuwl", + "x": 0.34137500000000004, + "y": 0.4951979166666666, + "width": 0.16399999999999998, + "height": 0.20400000000000004 + } + ] + }, + "point_1769415694033": { + "type": "point", + "instances": [ + { + "id": "point_1769415694033_1769415930555_1guz5bda9", + "x": 0.489375, + "y": 0.40853125 + } + ] + }, + "point_1769415694176": { + "type": "point", + "instances": [ + { + "id": "point_1769415694176_1769415932531_0mnz6j95m", + "x": 0.5353749999999999, + "y": 0.41119791666666666 + } + ] + } + } + }, + { + "time": 7.755992487757732, + "frame": 233, + "progress": 60, + "action_description": "爪夹向上方移动。", + "state_description": "爪夹合拢夹紧红色萝卜，爪夹向上移动。\n为了完成爪夹夹取红色萝卜放入不锈钢碗的任务目标应当：爪夹向右侧移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "progress_explanation": "爪夹向正上方移动，方便后续移动，因此进度提升到60%。", + "error_success_analysis": "爪夹夹紧红色萝卜向上移动，方便向不锈钢碗移动。", + "correction_plan": "爪夹向右侧移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "annotations": { + "bbox_1769415693049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693049_1769415956617_axfyrdizt", + "x": 0.42037500000000005, + "y": 0.20186458333333332, + "width": 0.11600000000000002, + "height": 0.17333333333333334 + } + ] + }, + "bbox_1769415693210": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693210_1769415961481_rfdpe2i68", + "x": 0.28437499999999993, + "y": 0.26453125, + "width": 0.11600000000000002, + "height": 0.14 + } + ] + }, + "bbox_1769415706656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415706656_1769415980345_2mxow4yy2", + "x": 0.347375, + "y": 0.4951979166666666, + "width": 0.15499999999999997, + "height": 0.20400000000000004 + } + ] + }, + "point_1769415694033": { + "type": "point", + "instances": [ + { + "id": "point_1769415694033_1769415986281_4zi2deu4u", + "x": 0.464375, + "y": 0.26586458333333335 + } + ] + }, + "point_1769415694176": { + "type": "point", + "instances": [ + { + "id": "point_1769415694176_1769415988593_t6c8pldus", + "x": 0.520375, + "y": 0.26453125 + } + ] + } + } + }, + { + "time": 10.072934134149484, + "frame": 302, + "progress": 50, + "action_description": "爪夹向正前方移动。", + "state_description": "爪夹合拢爪夹夹紧红色萝卜，向前方移动到蓝色碗的正上方。\n为了完成爪夹夹取红色萝卜放入不锈钢碗的任务目标应当：爪夹向右后方移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "progress_explanation": "爪夹向前移动，远离不锈钢碗，因此进度降低到50%。", + "error_success_analysis": "爪夹合拢夹紧红色萝卜，向正前方移动，远离不锈钢碗。", + "correction_plan": "爪夹向右后方移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "annotations": { + "bbox_1769415693049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693049_1769416038431_xnupswngv", + "x": 0.350375, + "y": 0.4271979166666667, + "width": 0.10899999999999999, + "height": 0.22533333333333339 + } + ] + }, + "bbox_1769415693210": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693210_1769416042272_mpcwggctc", + "x": 0.284375, + "y": 0.26719791666666665, + "width": 0.11600000000000002, + "height": 0.13866666666666666 + } + ] + }, + "bbox_1769415706656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415706656_1769416047999_h3ecsewpv", + "x": 0.345375, + "y": 0.5071979166666667, + "width": 0.15900000000000003, + "height": 0.1946666666666666 + } + ] + }, + "point_1769415694033": { + "type": "point", + "instances": [ + { + "id": "point_1769415694033_1769416050895_3r03w0u0q", + "x": 0.397375, + "y": 0.5111979166666667 + } + ] + }, + "point_1769415694176": { + "type": "point", + "instances": [ + { + "id": "point_1769415694176_1769416052719_up7f20hw1", + "x": 0.459375, + "y": 0.5111979166666667 + } + ] + } + } + }, + { + "time": 11.766667, + "frame": 353, + "progress": -50, + "action_description": "爪夹张开爪夹。", + "state_description": "爪夹张开，红色萝卜落于蓝色碗中，未落于不锈钢碗中。\n为了完成爪夹夹取红色萝卜放入不锈钢碗的任务目标应当：爪夹向下移动到红色萝卜上方，合拢爪夹夹取红色萝卜，爪夹向上移动，爪夹向右后方移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "progress_explanation": "爪夹张开，红色萝卜落于蓝色碗中，因此进度降低到-50%。", + "error_success_analysis": "爪夹未移动到不锈钢碗上方，爪夹张开，红色萝卜落于蓝色碗中。", + "correction_plan": "爪夹向下移动到红色萝卜上方，合拢爪夹夹取红色萝卜，爪夹向上移动，爪夹向右后方移动到不锈钢碗的正上方，松开爪夹放置红色萝卜到不锈钢碗中。", + "annotations": { + "bbox_1769415693049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693049_1769416061743_5a9si6rxl", + "x": 0.32237499999999997, + "y": 0.4738645833333333, + "width": 0.13099999999999995, + "height": 0.23200000000000015 + } + ] + }, + "bbox_1769415693210": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415693210_1769416071718_mdtnrrro4", + "x": 0.283375, + "y": 0.26586458333333335, + "width": 0.11499999999999999, + "height": 0.13066666666666665 + } + ] + }, + "bbox_1769415706656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769415706656_1769416084481_u5khhpteq", + "x": 0.34137500000000004, + "y": 0.49386458333333333, + "width": 0.16299999999999998, + "height": 0.20533333333333334 + } + ] + }, + "point_1769415694033": { + "type": "point", + "instances": [ + { + "id": "point_1769415694033_1769416086711_51sitbbof", + "x": 0.371375, + "y": 0.52453125 + } + ] + }, + "point_1769415694176": { + "type": "point", + "instances": [ + { + "id": "point_1769415694176_1769416088622_ne2cxptrr", + "x": 0.481375, + "y": 0.5311979166666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769415693049", + "name": "红色萝卜", + "color": "#4CAF50" + }, + { + "id": "bbox_1769415693210", + "name": "不锈钢碗", + "color": "#FF9800" + }, + { + "id": "bbox_1769415706656", + "name": "蓝色碗", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1769415694033", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769415694176", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-161511-put-evaporating dish-tripod-stand-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-161511-put-evaporating dish-tripod-stand-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f005dcef801b98e9add308f45bfd0b171b657ed7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-161511-put-evaporating dish-tripod-stand-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,315 @@ +{ + "task_description": "把蒸发皿放到三脚架上方。\n准备开始移动：0%\n爪夹接近蒸发皿：25%\n爪夹夹取蒸发皿：50%\n爪夹接近三脚架：75%\n爪夹放置蒸发皿：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "向右前方移动爪夹到蒸发皿的正上方，爪夹调整角度与桌面垂直，爪夹向下移动夹取蒸发皿，爪夹向上移动，高于三脚架，爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，处于初始状态，爪夹与桌面平行。\n为了完成抓取蒸发皿放置到三脚架上方的任务目标应当：向右前方移动爪夹到蒸发皿的正上方，爪夹调整角度与桌面垂直，爪夹向下移动夹取蒸发皿，爪夹向上移动，高于三脚架，爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "time": 1.1077921289948454, + "annotations": { + "bbox_1769419194946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419194946_1769419234460_mxk66b1ej", + "x": 0.641375, + "y": 0.3258645833333333, + "width": 0.10099999999999998, + "height": 0.12933333333333336 + } + ] + }, + "bbox_1769419195117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419195117_1769419244899_yyet1xs70", + "x": 0.626375, + "y": 0.11119791666666665, + "width": 0.11900000000000004, + "height": 0.20400000000000004 + } + ] + }, + "point_1769419196070": { + "type": "point", + "instances": [ + { + "id": "point_1769419196070_1769419254963_omatbkps3", + "x": 0.551375, + "y": 0.4858645833333333 + } + ] + }, + "point_1769419196317": { + "type": "point", + "instances": [ + { + "id": "point_1769419196317_1769419257483_2zlv57rzi", + "x": 0.654375, + "y": 0.46719791666666666 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度。", + "correction_plan": "向右前方移动爪夹到蒸发皿的正上方，爪夹调整角度与桌面垂直，爪夹向下移动夹取蒸发皿，爪夹向上移动，高于三脚架，爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整角度，方便后续抓取蒸发皿。", + "frame": 50, + "progress": 5, + "progress_explanation": "爪夹调整角度，方便后续抓取，因此进度提升到5%。", + "state_description": "爪夹张开，调整角度与桌面呈45度，爪夹远离蒸发皿。\n为了完成抓取蒸发皿放置到三脚架上方的任务目标应当：向右前方移动爪夹到蒸发皿的正上方，爪夹调整角度与桌面垂直，爪夹向下移动夹取蒸发皿，爪夹向上移动，高于三脚架，爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "time": 1.6769330393041237, + "annotations": { + "bbox_1769419194946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419194946_1769419266546_c1b1d3ln4", + "x": 0.639375, + "y": 0.3271979166666667, + "width": 0.10200000000000005, + "height": 0.1373333333333333 + } + ] + }, + "bbox_1769419195117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419195117_1769419272091_bc8qybfwp", + "x": 0.623375, + "y": 0.10853125, + "width": 0.11799999999999997, + "height": 0.20933333333333337 + } + ] + }, + "point_1769419196070": { + "type": "point", + "instances": [ + { + "id": "point_1769419196070_1769419281458_755aitlbx", + "x": 0.547375, + "y": 0.50453125 + } + ] + }, + "point_1769419196317": { + "type": "point", + "instances": [ + { + "id": "point_1769419196317_1769419283378_1qlhsanhx", + "x": 0.646375, + "y": 0.4778645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向正前方移动。", + "correction_plan": "向下方移动爪夹到蒸发皿的正上方，爪夹调整角度与桌面垂直，爪夹向下移动夹取蒸发皿，爪夹向上移动，高于三脚架，爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动，缩短与蒸发皿的距离。", + "frame": 81, + "progress": 10, + "progress_explanation": "爪夹向前移动，缩短与蒸发皿的距离，因此进度提升到10%。", + "state_description": "爪夹向正前方移动，爪夹与桌面呈45度，接近蒸发皿。\n为了完成抓取蒸发皿放置到三脚架上方的任务目标应当：向下方移动爪夹到蒸发皿的正上方，爪夹调整角度与桌面垂直，爪夹向下移动夹取蒸发皿，爪夹向上移动，高于三脚架，爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "time": 2.6874485331185567, + "annotations": { + "bbox_1769419194946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419194946_1769419380575_iuclicnql", + "x": 0.645375, + "y": 0.3271979166666667, + "width": 0.09800000000000005, + "height": 0.13733333333333336 + } + ] + }, + "bbox_1769419195117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419195117_1769419404759_97yv7cnvd", + "x": 0.6263750000000001, + "y": 0.10986458333333335, + "width": 0.11699999999999991, + "height": 0.17866666666666664 + } + ] + }, + "point_1769419196070": { + "type": "point", + "instances": [ + { + "id": "point_1769419196070_1769419413567_ngnhq9rka", + "x": 0.546375, + "y": 0.3418645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，爪甲调整角度。", + "correction_plan": "爪夹夹取蒸发皿，爪夹向上移动，高于三脚架，爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动，爪夹调整角度，方便后续抓取。", + "frame": 129, + "progress": 25, + "progress_explanation": "爪夹向下移动并调整位置，方便抓取，因此进度提升到25%。", + "state_description": "爪夹张开，爪夹向下方移动，调整爪夹角度与桌面垂直。\n为了完成抓取蒸发皿放置到三脚架上方的任务目标应当：爪夹夹取蒸发皿，爪夹向上移动，高于三脚架，爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "time": 4.301950299097938, + "annotations": { + "bbox_1769419194946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419194946_1769419420198_8d63ee2mr", + "x": 0.637375, + "y": 0.3258645833333333, + "width": 0.10499999999999998, + "height": 0.12933333333333336 + } + ] + }, + "bbox_1769419195117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419195117_1769419425463_5oy84h69g", + "x": 0.625375, + "y": 0.10453125, + "width": 0.12000000000000002, + "height": 0.1733333333333333 + } + ] + } + } + }, + { + "time": 4.9291668125, + "frame": 148, + "progress": 50, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢抓取蒸发皿，爪夹与桌面垂直。\n为了完成抓取蒸发皿放置到三脚架上方的任务目标应当：爪夹向上移动，高于三脚架，爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹合拢，夹取蒸发皿，因此进度提升到50%。", + "error_success_analysis": "爪夹位于蒸发皿上方，爪夹合拢夹取蒸发皿。", + "correction_plan": "爪夹向上移动，高于三脚架，爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769419194946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419194946_1769419432102_xdvvmn4se", + "x": 0.641375, + "y": 0.33253125, + "width": 0.10400000000000001, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1769419195117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419195117_1769419437134_fbamdjtg5", + "x": 0.630375, + "y": 0.11119791666666666, + "width": 0.11500000000000003, + "height": 0.176 + } + ] + } + } + }, + { + "time": 6.822431473324742, + "frame": 205, + "progress": 60, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢夹紧蒸发皿，爪夹向上移动，爪夹与桌面垂直，高于三脚架。\n为了完成抓取蒸发皿放置到三脚架上方的任务目标应当：爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向上移动，高于三脚架，因此进度提升到60%。", + "error_success_analysis": "爪夹夹紧蒸发皿，向上移动，高于三脚架，方便后续放置三脚架。", + "correction_plan": "爪夹向前移动到三脚架上方，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1769419194946": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419194946_1769419445629_bbsh1jjqo", + "x": 0.666375, + "y": 0.21386458333333333, + "width": 0.10599999999999996, + "height": 0.15733333333333335 + } + ] + } + } + }, + { + "time": 7.949098173324743, + "frame": 238, + "progress": 70, + "action_description": "爪夹向前方移动。", + "state_description": "爪夹夹紧蒸发皿，向前移动到三脚架的正上方。\n为了完成抓取蒸发皿放置到三脚架上方的任务目标应当：爪夹向下移动，松开爪夹。", + "progress_explanation": "爪夹向前方移动到三脚架正上方，因此进度提升到70%。", + "error_success_analysis": "爪夹向前移动到三脚架上方，方便后续放置。", + "correction_plan": "爪夹向下移动，松开爪夹。" + }, + { + "time": 9.017689270231958, + "frame": 271, + "progress": 75, + "action_description": "爪夹向下移动。", + "state_description": "爪夹夹紧蒸发皿，向下移动接近蒸发皿。\n为了完成抓取蒸发皿放置到三脚架上方的任务目标应当：松开爪夹。", + "progress_explanation": "爪夹向下移动，靠近三脚架，因此进度提升到75%。", + "error_success_analysis": "爪夹夹紧蒸发皿，向下移动接近三脚架，方便放置。", + "correction_plan": "松开爪夹。" + }, + { + "time": 11.212947067139178, + "frame": 336, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "爪夹张开，蒸发皿放置于三脚架之上。\n爪夹夹取蒸发皿放置到三脚架上方的任务目标完成。", + "progress_explanation": "爪夹张开，蒸发皿落于三脚架之上，因此进度提升到100%。", + "error_success_analysis": "爪夹张开，蒸发皿落于三脚架。", + "correction_plan": "", + "annotations": {} + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769419194946", + "name": "蒸发皿", + "color": "#4CAF50" + }, + { + "id": "bbox_1769419195117", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769419196070", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769419196317", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-161511-put-evaporating dish-tripod-stand-good/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-161511-put-evaporating dish-tripod-stand-good/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..2479bbaf8798faa1b33880a1ba693bd967c50ebd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-161511-put-evaporating dish-tripod-stand-good/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,534 @@ +{ + "task_description": "将蒸发皿放到三脚架上。\n准备开始移动：0%\n爪夹接近蒸发皿：25%\n爪夹夹取蒸发皿：50%\n爪夹接近三脚架：75%\n爪夹放置蒸发皿：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向右前方移动，调整爪夹角度与桌面垂直，爪夹向下移动到蒸发皿正上方，合拢爪夹，爪夹向上移动高于三脚架，爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "爪夹未开始移动，处于初始状态，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，处于初始状态，爪夹与桌面平行。\n为了完成夹取蒸发皿放到三脚架上的任务目标应当：爪夹向右前方移动，调整爪夹角度与桌面垂直，爪夹向下移动到蒸发皿正上方，合拢爪夹，爪夹向上移动高于三脚架，爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "time": 0.9697723609536083, + "annotations": { + "bbox_1769477498500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498500_1769477522667_d21idvtmo", + "x": 0.300375, + "y": 0.42453125, + "width": 0.10099999999999998, + "height": 0.12933333333333336 + } + ] + }, + "bbox_1769477498660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498660_1769477527475_yqqck4awy", + "x": 0.4483750000000001, + "y": 0.3791979166666667, + "width": 0.10399999999999991, + "height": 0.19866666666666663 + } + ] + }, + "point_1769477499387": { + "type": "point", + "instances": [ + { + "id": "point_1769477499387_1769477535131_hw5pjufoj", + "x": 0.401375, + "y": 0.23253125000000002 + } + ] + }, + "point_1769477499547": { + "type": "point", + "instances": [ + { + "id": "point_1769477499547_1769477537642_p14513k9q", + "x": 0.484375, + "y": 0.24453125 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，爪夹调整角度。", + "correction_plan": "爪夹向右前方移动，调整爪夹角度与桌面垂直，爪夹向下移动到蒸发皿正上方，合拢爪夹，爪夹向上移动高于三脚架，爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "error_success_analysis": "爪夹调整角度，方便后续夹取蒸发皿。", + "frame": 72, + "progress": 5, + "progress_explanation": "爪夹调整角度，方便夹取蒸发皿，因此进度提升到5%。", + "state_description": "爪夹与桌面呈30度，爪夹向上移动。\n为了完成夹取蒸发皿放到三脚架上的任务目标应当：爪夹向右前方移动，调整爪夹角度与桌面垂直，爪夹向下移动到蒸发皿正上方，合拢爪夹，爪夹向上移动高于三脚架，爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "time": 2.4028995444587626, + "annotations": { + "bbox_1769477498500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498500_1769477546650_tdvc5580t", + "x": 0.300375, + "y": 0.42853125, + "width": 0.10099999999999998, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1769477498660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498660_1769477552306_anah3mi07", + "x": 0.446375, + "y": 0.38053125, + "width": 0.10899999999999999, + "height": 0.20000000000000007 + } + ] + }, + "point_1769477499387": { + "type": "point", + "instances": [ + { + "id": "point_1769477499387_1769477560154_k7rrmbjbi", + "x": 0.397375, + "y": 0.22186458333333334 + } + ] + }, + "point_1769477499547": { + "type": "point", + "instances": [ + { + "id": "point_1769477499547_1769477563265_6xqr1qbfn", + "x": 0.48637500000000006, + "y": 0.2271979166666667 + } + ] + } + } + }, + { + "time": 3.753346313530928, + "frame": 113, + "progress": 10, + "action_description": "爪夹向前移动，调整爪夹角度。", + "state_description": "爪夹张开，向前移动，爪夹调整角度与桌面呈45度。\n为了完成夹取蒸发皿放到三脚架上的任务目标应当：爪夹向右方移动，调整爪夹角度与桌面垂直，爪夹向下移动到蒸发皿正上方，合拢爪夹，爪夹向上移动高于三脚架，爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "progress_explanation": "爪夹向前移动，缩短与蒸发皿的距离，因此进度提升到10%。", + "error_success_analysis": "爪夹向前移动，缩短爪夹与蒸发皿的距离，方便后续抓取。", + "correction_plan": "爪夹向右方移动，调整爪夹角度与桌面垂直，爪夹向下移动到蒸发皿正上方，合拢爪夹，爪夹向上移动高于三脚架，爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "annotations": { + "bbox_1769477498500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498500_1769477574556_sao6wy7qe", + "x": 0.299375, + "y": 0.42853125, + "width": 0.10299999999999998, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1769477498660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498660_1769477579113_14hakk01b", + "x": 0.4473750000000001, + "y": 0.38053125, + "width": 0.10799999999999992, + "height": 0.2040000000000001 + } + ] + }, + "point_1769477499387": { + "type": "point", + "instances": [ + { + "id": "point_1769477499387_1769477586641_wbdcys7x5", + "x": 0.371375, + "y": 0.3111979166666667 + } + ] + }, + "point_1769477499547": { + "type": "point", + "instances": [ + { + "id": "point_1769477499547_1769477588865_4tdrl62ii", + "x": 0.460375, + "y": 0.3271979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动，爪夹调整角度。", + "correction_plan": "合拢爪夹，爪夹向上移动高于三脚架，爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "error_success_analysis": "爪夹向下移动接近蒸发皿，方便后续抓取。", + "frame": 168, + "progress": 25, + "progress_explanation": "爪夹调整角度，并移动到蒸发皿正上方，因此进度提升到25%。", + "state_description": "爪夹张开，爪夹向右下方移动，调整爪夹角度与桌面垂直。\n为了完成夹取蒸发皿放到三脚架上的任务目标应当：合拢爪夹，爪夹向上移动高于三脚架，爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "time": 5.599875569201031, + "annotations": { + "bbox_1769477498500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498500_1769477595064_wcro79ogo", + "x": 0.302375, + "y": 0.42853125, + "width": 0.09899999999999998, + "height": 0.12000000000000005 + } + ] + }, + "bbox_1769477498660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498660_1769477600322_jinajgt4y", + "x": 0.464375, + "y": 0.3831979166666667, + "width": 0.10800000000000001, + "height": 0.1973333333333334 + } + ] + }, + "point_1769477499387": { + "type": "point", + "instances": [ + { + "id": "point_1769477499387_1769477607928_lw3hz6ozv", + "x": 0.334375, + "y": 0.5111979166666667 + } + ] + }, + "point_1769477499547": { + "type": "point", + "instances": [ + { + "id": "point_1769477499547_1769477609688_knx846fc7", + "x": 0.417375, + "y": 0.5338645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向上移动高于三脚架，爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "error_success_analysis": "爪夹接近蒸发皿正上方，方便爪夹合拢夹紧蒸发皿。", + "frame": 182, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧蒸发皿，因此进度提升到50%。", + "state_description": "爪夹合拢夹紧蒸发皿，爪夹与桌面垂直。\n为了完成夹取蒸发皿放到三脚架上的任务目标应当：爪夹向上移动高于三脚架，爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "time": 6.0683979176546385, + "annotations": { + "bbox_1769477498500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498500_1769477617840_a172mr79g", + "x": 0.301375, + "y": 0.43119791666666674, + "width": 0.09300000000000001, + "height": 0.12666666666666657 + } + ] + }, + "bbox_1769477498660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498660_1769477628136_mucabzx5t", + "x": 0.44837499999999997, + "y": 0.38186458333333334, + "width": 0.10400000000000001, + "height": 0.19866666666666669 + } + ] + }, + "point_1769477499387": { + "type": "point", + "instances": [ + { + "id": "point_1769477499387_1769477636824_wh0l6qrx1", + "x": 0.379375, + "y": 0.5311979166666666 + } + ] + }, + "point_1769477499547": { + "type": "point", + "instances": [ + { + "id": "point_1769477499547_1769477639488_fprp8gs9w", + "x": 0.40037500000000004, + "y": 0.5311979166666666 + } + ] + } + } + }, + { + "time": 7.956267380541237, + "frame": 239, + "progress": 60, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢夹紧蒸发皿，爪夹向上移动。\n为了完成夹取蒸发皿放到三脚架上的任务目标应当：爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "progress_explanation": "爪夹夹紧蒸发皿，向上移动，因此进度提升到60%。", + "error_success_analysis": "爪夹合拢夹紧蒸发皿，方便向上移动。", + "correction_plan": "爪夹向左移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "annotations": { + "bbox_1769477498500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498500_1769477644912_euomxssc7", + "x": 0.27137500000000003, + "y": 0.39386458333333335, + "width": 0.10199999999999995, + "height": 0.11600000000000002 + } + ] + }, + "bbox_1769477498660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498660_1769477658240_3c3q67ue2", + "x": 0.44837499999999997, + "y": 0.38586458333333334, + "width": 0.10600000000000005, + "height": 0.1946666666666667 + } + ] + }, + "point_1769477499387": { + "type": "point", + "instances": [ + { + "id": "point_1769477499387_1769477663479_a7kvqth7z", + "x": 0.355375, + "y": 0.46853125 + } + ] + }, + "point_1769477499547": { + "type": "point", + "instances": [ + { + "id": "point_1769477499547_1769477665663_1ciulgitf", + "x": 0.366375, + "y": 0.47253125 + } + ] + } + } + }, + { + "time": 9.237813804252577, + "frame": 277, + "progress": 70, + "action_description": "爪夹向左移动。", + "state_description": "爪夹合拢夹紧蒸发皿，向左移动，位于三脚架前上方。\n为了完成夹取蒸发皿放到三脚架上的任务目标应当：爪夹向后移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "progress_explanation": "爪夹向左移动到三脚架前上方，缩短与三脚架的距离，因此进度提升到70%。", + "error_success_analysis": "爪夹向左移动，缩短与三脚架的距离，方便后续放置。", + "correction_plan": "爪夹向后移动到三脚架正上方，爪夹向下，松开爪夹放置蒸发皿。", + "annotations": { + "bbox_1769477498500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498500_1769477673711_zrwbpfme4", + "x": 0.4603750000000001, + "y": 0.3618645833333333, + "width": 0.09999999999999991, + "height": 0.12933333333333336 + } + ] + }, + "bbox_1769477498660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498660_1769477686623_uu6ymwgx6", + "x": 0.45137499999999997, + "y": 0.38586458333333334, + "width": 0.08600000000000003, + "height": 0.19600000000000004 + } + ] + }, + "point_1769477499387": { + "type": "point", + "instances": [ + { + "id": "point_1769477499387_1769477688831_oxz8ilz02", + "x": 0.552375, + "y": 0.4151979166666667 + } + ] + }, + "point_1769477499547": { + "type": "point", + "instances": [ + { + "id": "point_1769477499547_1769477691134_7dcucposb", + "x": 0.567375, + "y": 0.4138645833333333 + } + ] + } + } + }, + { + "time": 10.670940987757731, + "frame": 320, + "progress": 75, + "action_description": "爪夹向后移动。", + "state_description": "爪夹合拢夹紧蒸发皿，向后移动到三脚架的正上方。\n为了完成夹取蒸发皿放到三脚架上的任务目标应当：松开爪夹放置蒸发皿。", + "progress_explanation": "爪夹夹紧蒸发皿，向后移动到三脚架正上方，因此进度提升到75%。", + "error_success_analysis": "爪夹夹紧蒸发皿，爪夹高于三脚架，向后移动到三脚架正上方，方便后续放置蒸发皿。", + "correction_plan": "松开爪夹放置蒸发皿。", + "annotations": { + "bbox_1769477498500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498500_1769477703224_6poqtbs3n", + "x": 0.4483750000000001, + "y": 0.33653125, + "width": 0.10399999999999991, + "height": 0.12933333333333336 + } + ] + }, + "bbox_1769477498660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498660_1769477716230_ir8xyc3vn", + "x": 0.44737499999999997, + "y": 0.38719791666666664, + "width": 0.09900000000000002, + "height": 0.1933333333333334 + } + ] + }, + "point_1769477499387": { + "type": "point", + "instances": [ + { + "id": "point_1769477499387_1769477718622_8oseqb4je", + "x": 0.544375, + "y": 0.40453125 + } + ] + }, + "point_1769477499547": { + "type": "point", + "instances": [ + { + "id": "point_1769477499547_1769477720861_hk8obg2n9", + "x": 0.556375, + "y": 0.3991979166666667 + } + ] + } + } + }, + { + "time": 13.366667, + "frame": 401, + "progress": 100, + "action_description": "爪夹张开，爪夹向上移动。", + "state_description": "爪夹松开，蒸发皿落于三脚架上方。\n爪夹夹取蒸发皿放置到三脚架上方的任务目标完成。", + "progress_explanation": "爪夹张开，蒸发皿落于三脚架上方，因此进度提升到100%。", + "error_success_analysis": "爪夹张开，蒸发皿落于三脚架。", + "correction_plan": "", + "annotations": { + "bbox_1769477498500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498500_1769477729214_q2zhjatvh", + "x": 0.45737500000000003, + "y": 0.34853125, + "width": 0.11200000000000002, + "height": 0.12533333333333332 + } + ] + }, + "bbox_1769477498660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769477498660_1769477735085_am96gpbhk", + "x": 0.44737499999999997, + "y": 0.38453125000000005, + "width": 0.10200000000000005, + "height": 0.1933333333333333 + } + ] + }, + "point_1769477499387": { + "type": "point", + "instances": [ + { + "id": "point_1769477499387_1769477742333_7b28h53l2", + "x": 0.515375, + "y": 0.40053125 + } + ] + }, + "point_1769477499547": { + "type": "point", + "instances": [ + { + "id": "point_1769477499547_1769477744933_7g1i2awmf", + "x": 0.615375, + "y": 0.37386458333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769477498500", + "name": "蒸发皿", + "color": "#4CAF50" + }, + { + "id": "bbox_1769477498660", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769477499387", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769477499547", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-163146-put-evaporating dish-tripod-stand-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-163146-put-evaporating dish-tripod-stand-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..7c876a7308ca4b64855e309282b4cb2400651e84 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-163146-put-evaporating dish-tripod-stand-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,858 @@ +{ + "task_description": "将蒸发皿放置到三脚架上。\n准备开始移动：0%\n爪夹接近蒸发皿：25%\n爪夹夹紧蒸发皿：50%\n爪夹接近三脚架：75%\n爪夹放置蒸发皿：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向右前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，爪夹与桌面呈30度，处于初始状态。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹向右前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "time": 0.7066623815721649, + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480071758_8a3gzfrkw", + "x": 0.580375, + "y": 0.37386458333333333, + "width": 0.11000000000000006, + "height": 0.11333333333333334 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480085246_vbq7sn072", + "x": 0.386375, + "y": 0.23919791666666665, + "width": 0.12900000000000006, + "height": 0.24533333333333338 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480089382_eb2tt0uq5", + "x": 0.414375, + "y": 0.49253125 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480091350_rsgkwfdrw", + "x": 0.634375, + "y": 0.4911979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动。", + "correction_plan": "爪夹向右前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "error_success_analysis": "爪夹向右移动，缩短与坩埚的距离，方便后续接近蒸发皿。", + "frame": 80, + "progress": 5, + "progress_explanation": "爪夹向右移动，缩短与蒸发皿的距离，因此进度提升到5%。", + "state_description": "爪夹张开，爪夹向右移动，爪夹与桌面呈30度。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹向右前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "time": 2.6608892145618555, + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480097254_4qexefvxs", + "x": 0.555375, + "y": 0.3338645833333333, + "width": 0.10499999999999998, + "height": 0.12400000000000003 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480104239_1l5c4eir1", + "x": 0.376375, + "y": 0.21386458333333333, + "width": 0.12400000000000003, + "height": 0.22400000000000003 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480106782_pbe7xp781", + "x": 0.414375, + "y": 0.48053125 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480108766_4zwx3wn7f", + "x": 0.640375, + "y": 0.4858645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动。", + "correction_plan": "爪夹向左前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "error_success_analysis": "爪夹向右移动，远离坩埚，接近量筒。", + "frame": 132, + "progress": -10, + "progress_explanation": "爪夹向右移动，接近量筒，未接近蒸发皿，因此进度降低到-10%。", + "state_description": "爪夹张开，接近量筒，爪夹与桌面的角度为45度。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹向左前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "time": 4.405734601159794, + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480115045_8aotjctok", + "x": 0.244375, + "y": 0.29253124999999996, + "width": 0.121, + "height": 0.18800000000000003 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480129901_o7pn5bkoh", + "x": 0.06737499999999999, + "y": 0.44853125000000005, + "width": 0.15, + "height": 0.1586666666666666 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480132541_am19eizug", + "x": 0.41237500000000005, + "y": 0.4818645833333334 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480134468_p365nnsnr", + "x": 0.634375, + "y": 0.5071979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹张开，爪夹向左前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "error_success_analysis": "爪夹夹紧量筒，应当松开爪夹，移动到蒸发皿上方。", + "frame": 152, + "progress": -25, + "progress_explanation": "爪夹合拢夹紧量筒，为接近蒸发皿，因此进度降低到-25%。", + "state_description": "爪夹合拢夹紧量筒，爪夹与桌面呈45度。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹张开，爪夹向左前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "time": 5.057143545489691, + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480142157_dn76bh6mq", + "x": 0.242375, + "y": 0.29119791666666667, + "width": 0.127, + "height": 0.18800000000000003 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480151061_isb7unyyi", + "x": 0.060375, + "y": 0.42853125, + "width": 0.15000000000000002, + "height": 0.16533333333333336 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480153396_4ffy24lps", + "x": 0.485375, + "y": 0.47386458333333337 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480155102_ythmch9cs", + "x": 0.567375, + "y": 0.4791979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动。", + "correction_plan": "爪夹张开，爪夹向正前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "error_success_analysis": "爪夹未张开，未接近蒸发皿。", + "frame": 195, + "progress": -50, + "progress_explanation": "爪夹夹紧量筒向左移动，因此进度降低到-50%。", + "state_description": "爪夹夹紧量筒，向左移动，爪夹与桌面呈45度。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹张开，爪夹向正前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "time": 6.499549065077319, + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480162588_8tsahf5j4", + "x": 0.47837499999999994, + "y": 0.21786458333333333, + "width": 0.14400000000000004, + "height": 0.17733333333333332 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480171901_uwthgby4n", + "x": 0.20837500000000003, + "y": 0.12853125, + "width": 0.20199999999999996, + "height": 0.26533333333333337 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480178988_ii3ej2401", + "x": 0.487375, + "y": 0.4818645833333334 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480181052_10479mhgx", + "x": 0.5623750000000001, + "y": 0.48453125 + } + ] + } + } + }, + { + "time": 7.220751824871133, + "frame": 217, + "progress": 5, + "action_description": "爪夹张开。", + "state_description": "爪夹张开，松开量筒。爪夹与桌面呈45度角。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹向上移动，爪夹向正前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "progress_explanation": "爪夹松开，放置量筒，因此进度提升到5%。", + "error_success_analysis": "爪夹张开，放置量筒，方便后续夹取蒸发皿。", + "correction_plan": "爪夹向上移动，爪夹向正前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480189188_m1d6pdf4k", + "x": 0.460375, + "y": 0.20186458333333332, + "width": 0.14500000000000002, + "height": 0.17066666666666666 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480194668_mf139gucg", + "x": 0.20837499999999998, + "y": 0.10586458333333333, + "width": 0.191, + "height": 0.2613333333333333 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480203164_7oubpkagk", + "x": 0.414375, + "y": 0.4791979166666667 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480205702_aggsgwf9b", + "x": 0.639375, + "y": 0.48053125 + } + ] + } + } + }, + { + "time": 7.941954584664948, + "frame": 238, + "progress": 10, + "action_description": "爪夹向上移动。", + "state_description": "爪夹张开，与桌面呈45度夹角，爪夹未接近蒸发皿。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹向正前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "progress_explanation": "爪夹向上移动，方便接近蒸发皿，因此进度提升到10%。", + "error_success_analysis": "爪夹向上移动，方便后续接近蒸发皿。", + "correction_plan": "爪夹向正前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480212083_w3ht4zvo2", + "x": 0.433375, + "y": 0.4058645833333333, + "width": 0.096, + "height": 0.11733333333333337 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480225474_bpxzrkes9", + "x": 0.264375, + "y": 0.3191979166666667, + "width": 0.121, + "height": 0.19600000000000004 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480228146_nmf7hzi8e", + "x": 0.417375, + "y": 0.48853125000000003 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480230883_v954aael8", + "x": 0.635375, + "y": 0.48453125 + } + ] + } + } + }, + { + "time": 9.105184842396906, + "frame": 273, + "progress": 15, + "action_description": "爪夹向做前方移动。", + "state_description": "爪夹张开，爪夹向左前方移动，绕过量筒，爪夹与桌面呈45度。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹向右前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "progress_explanation": "爪夹向左前方移动，绕过量筒方便后续夹取蒸发皿，因此进度提升到15%。", + "error_success_analysis": "爪夹向左前方移动，绕过量筒，方便后续抓取蒸发皿。", + "correction_plan": "爪夹向右前方移动到蒸发皿正上方，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480241524_caeqbw6oo", + "x": 0.697375, + "y": 0.50453125, + "width": 0.092, + "height": 0.11466666666666671 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480246874_um96fdlpi", + "x": 0.516375, + "y": 0.4511979166666667, + "width": 0.13099999999999995, + "height": 0.18133333333333332 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480249042_5qu52i5rq", + "x": 0.41537500000000005, + "y": 0.4951979166666666 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480251746_um5zp71ps", + "x": 0.634375, + "y": 0.49786458333333333 + } + ] + } + } + }, + { + "time": 10.873294834149485, + "frame": 326, + "progress": 20, + "action_description": "爪夹向右下方移动，爪夹调整角度。", + "state_description": "爪夹张开，向右下方移动，爪夹调整角度，位于蒸发皿上方。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹向正下方移动到蒸发皿附近，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "progress_explanation": "爪夹接近蒸发皿，因此进度提升到20%。", + "error_success_analysis": "爪夹向右下方移动，接近蒸发皿，方便后续抓取。", + "correction_plan": "爪夹向正下方移动到蒸发皿附近，爪夹调整角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480257370_l4tnebvkw", + "x": 0.557375, + "y": 0.3618645833333333, + "width": 0.2120000000000001, + "height": 0.2800000000000001 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480267394_0ys5ar7nj", + "x": 0.224375, + "y": 0.5631979166666667, + "width": 0.253, + "height": 0.29066666666666663 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480274506_lpadftke4", + "x": 0.410375, + "y": 0.48853125000000003 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480276705_5hgzlhh5h", + "x": 0.639375, + "y": 0.49253125 + } + ] + } + } + }, + { + "time": 12.199377327963916, + "frame": 366, + "progress": 25, + "action_description": "爪夹向下移动。", + "state_description": "爪夹张开，爪夹与桌面垂直，位于蒸发皿正上方。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "progress_explanation": "爪夹接近蒸发皿，因此进度提升到25%。", + "error_success_analysis": "爪夹向下移动，接近蒸发皿，方便后续夹取。", + "correction_plan": "合拢爪夹夹紧蒸发皿，爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480284249_grgs9fdnj", + "x": 0.49437500000000006, + "y": 0.3511979166666667, + "width": 0.25999999999999995, + "height": 0.32799999999999996 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480288097_0bas6ihz0", + "x": 0.172375, + "y": 0.5911979166666668, + "width": 0.254, + "height": 0.356 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480300001_2hxhbybt4", + "x": 0.41237500000000005, + "y": 0.48453125 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480301912_uvqstp78x", + "x": 0.636375, + "y": 0.48453125 + } + ] + } + } + }, + { + "time": 13.758105873324743, + "frame": 413, + "progress": 50, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢夹紧蒸发皿，爪夹与桌面垂直。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "progress_explanation": "爪夹合拢夹紧蒸发皿，因此进度提升到50%。", + "error_success_analysis": "爪夹移动到蒸发皿正上方，方便爪夹合拢夹紧蒸发皿。", + "correction_plan": "爪夹向上移动，爪夹向左移动到三脚架正上方，爪夹松开。", + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480307561_fhgidqch9", + "x": 0.518375, + "y": 0.33786458333333336, + "width": 0.25599999999999995, + "height": 0.34400000000000003 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480318456_1ntvej2az", + "x": 0.127375, + "y": 0.6071979166666667, + "width": 0.24799999999999994, + "height": 0.3533333333333334 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480333528_cbw6ahpx9", + "x": 0.514375, + "y": 0.47386458333333337 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480336008_22s266rel", + "x": 0.536375, + "y": 0.47386458333333337 + } + ] + } + } + }, + { + "time": 16.29394783518041, + "frame": 489, + "progress": 60, + "action_description": "爪夹向上移动，爪夹向左移动。", + "state_description": "爪夹合拢夹紧蒸发皿，爪夹向正上方移动，爪夹向左侧移动。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹向左移动到三脚架正上方，爪夹松开。", + "progress_explanation": "爪夹夹紧蒸发皿，向上移动，缩短与三脚架的距离，因此进度提升到60%。", + "error_success_analysis": "爪夹合拢夹紧蒸发皿，向上移动，接近三脚架。", + "correction_plan": "爪夹向左移动到三脚架正上方，爪夹松开。", + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480349768_0406ivhig", + "x": 0.520375, + "y": 0.34453125000000007, + "width": 0.23199999999999993, + "height": 0.308 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480359919_he08jkeyz", + "x": 0.476375, + "y": 0.44586458333333334, + "width": 0.12599999999999997, + "height": 0.19866666666666663 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480362015_hbypnznkk", + "x": 0.516375, + "y": 0.47386458333333337 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480363936_jclhcc10q", + "x": 0.5393749999999999, + "y": 0.47253125 + } + ] + } + } + }, + { + "time": 17.8294117753866, + "frame": 535, + "progress": 65, + "action_description": "爪夹向下移动。", + "state_description": "爪夹合拢夹紧蒸发皿，向下移动到三脚架上方，\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹向下移动到三脚架正上方，爪夹松开。", + "progress_explanation": "爪夹向下移动接近三脚架，因此进度提升到65%。", + "error_success_analysis": "爪夹向下移动，缩短了与三脚架的距离，方便后续放置蒸发皿。", + "correction_plan": "爪夹向下移动到三脚架正上方，爪夹松开。", + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480371039_mhh8x9f7s", + "x": 0.519375, + "y": 0.34053125, + "width": 0.23499999999999996, + "height": 0.3066666666666666 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480380639_cjzpr20j6", + "x": 0.39437500000000003, + "y": 0.41653125, + "width": 0.20799999999999996, + "height": 0.2293333333333333 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480389150_3nftwj6x9", + "x": 0.515375, + "y": 0.4791979166666667 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480391230_nccpy3wst", + "x": 0.540375, + "y": 0.4778645833333333 + } + ] + } + } + }, + { + "time": 20.481576763015465, + "frame": 614, + "progress": 75, + "action_description": "爪夹向下移动。", + "state_description": "爪夹合拢夹紧蒸发皿，向下移动到三脚架的正上方。\n为了完成爪夹夹取蒸发皿并放置到三脚架上的任务目标应当：爪夹松开。", + "progress_explanation": "爪夹向下移动到三脚架正上方，因此进度提升到75%。", + "error_success_analysis": "爪夹向下调整位置，位于三脚架正上方，方便后续放置。", + "correction_plan": "松开爪夹。", + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480397022_r077e0pqj", + "x": 0.519375, + "y": 0.34453125, + "width": 0.23199999999999993, + "height": 0.3133333333333334 + } + ] + }, + "bbox_1769480045439": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480045439_1769480408415_dz5nvuapb", + "x": 0.409375, + "y": 0.37786458333333334, + "width": 0.22800000000000004, + "height": 0.2293333333333333 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480415166_9unedpzop", + "x": 0.515375, + "y": 0.47519791666666666 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480418270_fscw92fwn", + "x": 0.5393749999999999, + "y": 0.4791979166666667 + } + ] + } + } + }, + { + "time": 22.505597411469076, + "frame": 675, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "爪夹张开，蒸发皿落于三脚架上方。\n爪夹夹取蒸发皿放置到三脚架上方的任务目标完成。", + "progress_explanation": "爪夹张开，蒸发皿放置到三脚架上方，因此进度提升到100%。", + "error_success_analysis": "爪夹松开，蒸发皿落于三脚架上方。", + "correction_plan": "", + "annotations": { + "bbox_1769480042416": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480042416_1769480424702_cebgokl2g", + "x": 0.3973749999999999, + "y": 0.48719791666666673, + "width": 0.15500000000000003, + "height": 0.22000000000000006 + } + ] + }, + "point_1769480043279": { + "type": "point", + "instances": [ + { + "id": "point_1769480043279_1769480431662_9zz19q3aw", + "x": 0.41237500000000005, + "y": 0.4791979166666667 + } + ] + }, + "point_1769480043415": { + "type": "point", + "instances": [ + { + "id": "point_1769480043415_1769480433661_x3dmv2kih", + "x": 0.634375, + "y": 0.4858645833333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769480042416", + "name": "蒸发皿", + "color": "#4CAF50" + }, + { + "id": "bbox_1769480045439", + "name": "三脚架", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1769480043279", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769480043415", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-165657-put-evaporating dish-tripod-stand-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-165657-put-evaporating dish-tripod-stand-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..4d9f634d327992a369f181996b7f151f2036c4bd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-165657-put-evaporating dish-tripod-stand-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,938 @@ +{ + "task_description": "将蒸发皿放在三脚架上：\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近蒸发皿：20%\n爪夹抓取蒸发皿：40%\n爪夹抓住蒸发皿并接近三脚架：60%\n爪夹将蒸发皿移动至三脚架上方：80%\n爪夹松开，使蒸发皿落到三脚架上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的前方移动并调整爪夹角度，到达蒸发皿的正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将蒸发皿放在三脚架上的任务应当：向爪夹方向的前方移动并调整爪夹角度，到达蒸发皿的正上方后下降。", + "time": 1.0812593244446855, + "annotations": { + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769394828607_6k5exc43g", + "x": 0.432666599568689, + "y": 0.4249444030806964, + "width": 0.13699999163818397, + "height": 0.1439999882812509 + } + ] + }, + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769394839218_7h9plcvcq", + "x": 0.6246665878499396, + "y": 0.31161107897045254, + "width": 0.14699999102783262, + "height": 0.27199997786458513 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769394848650_ueq9xuuzu", + "x": 0.4136666007283568, + "y": 0.49694439722132183 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769394850726_jkc40662z", + "x": 0.6386665869954475, + "y": 0.49694439722132183 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起。", + "correction_plan": "向爪夹方向的前方移动并调整爪夹角度，到达蒸发皿的正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "error_success_analysis": "爪夹成功向爪夹方向的上方抬起爪夹并调整爪夹方向。", + "frame": 67, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的上方抬起，爪夹已开始移动。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，爪夹与桌面呈70°倾斜。\n为完成将蒸发皿放在三脚架上的任务应当：向爪夹方向的前方移动，到达蒸发皿的正上方后下降。", + "time": 2.2418777813121817, + "annotations": { + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769394854822_1v7w687qr", + "x": 0.6396665869344124, + "y": 0.48761106464753706 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769394857885_f1rjqtzk7", + "x": 0.4136666007283568, + "y": 0.49027773109718986 + } + ] + }, + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769394864516_07pledyu1", + "x": 0.6166665883382209, + "y": 0.27161108222566066, + "width": 0.15699999041748108, + "height": 0.2559999791666684 + } + ] + }, + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769394868834_o7bkmlqzv", + "x": 0.4206666003011108, + "y": 0.3609444082890293, + "width": 0.13899999151611375, + "height": 0.15866665375434127 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并抬起爪夹。", + "correction_plan": "继续向爪夹方向的前方移动，到达蒸发皿的正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，成功拉近爪夹与蒸发皿的水平距离。", + "frame": 89, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的前方移动，与蒸发皿的水平距离略微拉近。因此进度提升至15%", + "state_description": "当前状态为爪夹打开，与蒸发皿的水平距离略微拉近。\n为完成将蒸发皿放在三脚架上的任务应当：继续向爪夹方向的前方移动，到达蒸发皿的正上方后下降。", + "time": 2.9561045239998713, + "annotations": { + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769394878694_qrucv8beq", + "x": 0.41266660078939205, + "y": 0.42761106953034916, + "width": 0.14099999139404346, + "height": 0.17599998567708455 + } + ] + }, + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769394885564_so0mkop2e", + "x": 0.6046665890706426, + "y": 0.37427774053729324, + "width": 0.1739999893798835, + "height": 0.234666647569446 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769394888644_xbpjkp2vy", + "x": 0.4156666006062865, + "y": 0.4889443978723635 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769394891385_p3693vj4b", + "x": 0.6376665870564826, + "y": 0.4889443978723635 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "下降并合拢爪夹，抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，成功移动至蒸发皿的上方。", + "frame": 99, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的前方移动，移动至蒸发皿的上方，已靠近蒸发皿。因此进度提升至20%", + "state_description": "当前状态为爪夹打开，位于蒸发皿的上方。\n为完成将蒸发皿放在三脚架上的任务应当：下降并合拢爪夹，抓取蒸发皿后竖直上升。", + "time": 3.283458447731729, + "annotations": { + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769394896440_2o92fgwnu", + "x": 0.6386665869954475, + "y": 0.4836110649730579 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769394898473_s0gf70gss", + "x": 0.41466660066732164, + "y": 0.48627773142271064 + } + ] + }, + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769394907234_jjg5f6k0o", + "x": 0.43066659969075927, + "y": 0.3809444066614252, + "width": 0.16899998968505922, + "height": 0.21999998209635574 + } + ] + }, + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769394916945_hc1jiws9d", + "x": 0.6446665866292366, + "y": 0.3716110740876405, + "width": 0.21799998669433665, + "height": 0.234666647569446 + } + ] + } + } + }, + { + "time": 3.810399, + "frame": 114, + "progress": 15, + "action_description": "爪夹向爪夹方向的左方移动。", + "state_description": "当前爪夹张开，与蒸发皿的水平距离拉远.\n为完成将蒸发皿放在三脚架上的任务应当：向爪夹方向的右方移动，到达蒸发皿的正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的左方移动，与蒸发皿的水平距离拉远。因此进度下降至15%", + "error_success_analysis": "爪夹移动方向错误，导致爪夹与蒸发皿的水平距离拉远。", + "correction_plan": "向爪夹方向的右方移动，到达蒸发皿的正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769394932659_zmpgjuspa", + "x": 0.7826665782063855, + "y": 0.5289443946171554, + "width": 0.14799999096679742, + "height": 0.18799998470052212 + } + ] + }, + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769394940475_09modieov", + "x": 0.5776665907185918, + "y": 0.4649443998254883, + "width": 0.14199999133300834, + "height": 0.19733331727430686 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769394946731_b8h1dbsbc", + "x": 0.41266660078939205, + "y": 0.49027773109718986 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769394948667_66pzzhs5w", + "x": 0.6386665869954475, + "y": 0.48494439819788426 + } + ] + } + } + }, + { + "time": 4.622633590271148, + "frame": 139, + "progress": 10, + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "state_description": "当前爪夹张开，与蒸发皿的水平距离再次拉远.\n为完成将蒸发皿放在三脚架上的任务应当：向爪夹方向的右后方移动并抬起爪夹，到达蒸发皿的正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的左前方移动并下降，与蒸发皿的水平距离再次拉远。因此进度下降至10%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，再次拉远与蒸发皿的水平距离。", + "correction_plan": "向爪夹方向的右后方移动并抬起爪夹，到达蒸发皿的正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769394958874_mvals8do4", + "x": 0.7626665794270886, + "y": 0.4782777320737523, + "width": 0.16599998986816464, + "height": 0.29866664236111296 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769394966692_3w7d99zmb", + "x": 0.4136666007283568, + "y": 0.4942777307716691 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769394968680_cblzmcsxd", + "x": 0.641666586812342, + "y": 0.48627773142271064 + } + ] + } + } + }, + { + "time": 5.513533, + "frame": 165, + "progress": 5, + "action_description": "爪夹合拢，抓取药瓶。", + "state_description": "当前爪夹合拢，位于桌面上方。\n为完成将蒸发皿放在三脚架上的任务应当：张开爪夹，向爪夹方向的右后方移动并抬起爪夹。", + "progress_explanation": "爪夹合拢未抓取到目标，因此进度下降至5%。", + "error_success_analysis": "爪夹未移动至蒸发皿上方就合拢爪夹，导致未抓取到蒸发皿。", + "correction_plan": "张开爪夹，随后向爪夹方向的右后方移动并抬起爪夹，到达蒸发皿的正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769394973382_yd45e8ubc", + "x": 0.5346665933431034, + "y": 0.47694439884892587 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769394975194_74wwtktik", + "x": 0.5196665942586307, + "y": 0.47694439884892587 + } + ] + }, + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769394980848_ntwfig7r2", + "x": 0.7836665781453505, + "y": 0.540944393640593, + "width": 0.16599998986816455, + "height": 0.28933330978732835 + } + ] + } + } + }, + { + "time": 7.2861041515439915, + "frame": 219, + "progress": 10, + "action_description": "爪夹张开。", + "state_description": "当前爪夹张开，位于药瓶上方。.\n为完成将蒸发皿放在三脚架上的任务应当：向爪夹方向的右后方移动并抬起爪夹，到达蒸发皿的正上方后下降。", + "progress_explanation": "爪夹张开方便抓取蒸发皿，因此进度提升至10%", + "error_success_analysis": "爪夹张开，方便下一步抓取蒸发皿。", + "correction_plan": "向爪夹方向的右后方移动并抬起爪夹，到达蒸发皿的正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769394992200_assynah8z", + "x": 0.7786665784505262, + "y": 0.5116110626944123, + "width": 0.16299999005127006, + "height": 0.298666642361113 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769394998344_dy4iitzh0", + "x": 0.4136666007283568, + "y": 0.4889443978723635 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395000104_7ol9iwqlc", + "x": 0.6386665869954475, + "y": 0.4889443978723635 + } + ] + } + } + }, + { + "time": 8.255865, + "frame": 248, + "progress": -20, + "action_description": "爪夹向爪夹方向的右前方移动，随后合拢爪夹抓取药瓶。", + "state_description": "当前爪夹合拢，抓住药瓶。\n为完成将蒸发皿放在三脚架上的任务应当：张开爪夹，随后向爪夹方向的右后方移动并抬起爪夹。", + "progress_explanation": "爪夹合拢，抓取目标错误。因此进度下降至-20%", + "error_success_analysis": "爪夹抓取目标错误。", + "correction_plan": "张开爪夹，随后向爪夹方向的右后方移动并抬起爪夹，到达蒸发皿的正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395007861_p72wzbomi", + "x": 0.569666591206873, + "y": 0.4836110649730579 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769395009746_9w28iehxd", + "x": 0.48566659633382586, + "y": 0.4782777320737523 + } + ] + }, + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769395021780_4j8ppa7uo", + "x": 0.7936665775349989, + "y": 0.5542777258888569, + "width": 0.17599998925781302, + "height": 0.29866664236111323 + } + ] + } + } + }, + { + "time": 9.728066, + "frame": 292, + "progress": -15, + "action_description": "爪夹向爪夹方向的上方抬起并向爪夹方向的右后方移动。", + "state_description": "当前爪夹合拢，与蒸发皿的水平距离略微拉近。\n为完成将蒸发皿放在三脚架上的任务应当：张开爪夹，继续向爪夹方向的右后方移动。", + "progress_explanation": "爪夹向爪夹方向的右后方移动，略微拉近与蒸发皿的水平距离。因此进度提升至-15%", + "error_success_analysis": "爪夹向爪夹方向的上方抬起并向爪夹方向的右后方移动，成功略微拉近与蒸发皿的水平距离。", + "correction_plan": "张开爪夹，继续向爪夹方向的右后方移动，到达蒸发皿的正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769395031554_f7ls4v6o5", + "x": 0.7116665825398814, + "y": 0.5196110620433706, + "width": 0.1549999905395513, + "height": 0.24266664691840442 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769395037776_sbufmbp14", + "x": 0.48666659627279074, + "y": 0.4836110649730579 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395040004_nhc5an6ec", + "x": 0.563666591573084, + "y": 0.47961106529857866 + } + ] + } + } + }, + { + "time": 10.521899, + "frame": 316, + "progress": -10, + "action_description": "爪夹向爪夹方向的右后方移动，随后抬起爪夹。", + "state_description": "当前爪夹合拢，位于蒸发皿上方。\n为完成将蒸发皿放在三脚架上的任务应当：张开爪夹，向爪夹方向的下方移动。", + "progress_explanation": "爪夹向爪夹方向的右后方移动，移动至蒸发皿的上方，因此进度提升至-10%", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，成功移动至蒸发皿的上方。", + "correction_plan": "张开爪夹，向爪夹方向的下方移动，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395044830_u9cvbaojq", + "x": 0.563666591573084, + "y": 0.48494439819788426 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769395048365_51sjbbt67", + "x": 0.48766659621175557, + "y": 0.48761106464753706 + } + ] + }, + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769395063353_4zpq82vwe", + "x": 0.674666584798182, + "y": 0.38227773988625163, + "width": 0.1949999880981453, + "height": 0.2506666462673628 + } + ] + } + } + }, + { + "time": 10.827478417370454, + "frame": 325, + "progress": -5, + "action_description": "爪夹向爪夹方向的下方略微移动。", + "state_description": "当前爪夹合拢，略微拉近与蒸发皿的垂直距离。\n为完成将蒸发皿放在三脚架上的任务应当：张开爪夹，继续向爪夹方向的下方移动。", + "progress_explanation": "爪夹向爪夹方向的下方移动，略微拉近与蒸发皿的垂直距离。因此进度提升至-5%", + "error_success_analysis": "爪夹向爪夹方向的下方略微移动，成功略微拉近爪夹与蒸发皿的垂直距离。", + "correction_plan": "张开爪夹，继续向爪夹方向的下方移动，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769395077469_f3mspr7ck", + "x": 0.681666584370936, + "y": 0.37427774053729324, + "width": 0.20999998718261786, + "height": 0.2653333117404531 + } + ] + }, + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769395107464_vzd1stq8x", + "x": 0.41666660054525134, + "y": 0.45161106757722436, + "width": 0.1689999896850593, + "height": 0.22799998144531397 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769395116371_24vx9o6z5", + "x": 0.4926665959065798, + "y": 0.49027773109718986 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395118573_kr7cj0cop", + "x": 0.5616665916951542, + "y": 0.48761106464753706 + } + ] + } + } + }, + { + "time": 11.31850930296824, + "frame": 340, + "progress": -10, + "action_description": "爪夹向爪夹方向的上方移动。", + "state_description": "当前爪夹合拢，与蒸发皿的垂直距离拉远。\n为完成将蒸发皿放在三脚架上的任务应当：张开爪夹，向爪夹方向的下方移动。", + "progress_explanation": "爪夹向爪夹方向的上方移动，与蒸发皿的垂直距离略微拉远。因此进度下降至-10%", + "error_success_analysis": "爪夹向爪夹方向的上方移动，拉远与蒸发皿的垂直距离。", + "correction_plan": "张开爪夹，向爪夹方向的下方移动，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395122161_z4i2i05j8", + "x": 0.5616665916951542, + "y": 0.49294439754684266 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769395124301_n5393qjzb", + "x": 0.4926665959065798, + "y": 0.49694439722132183 + } + ] + }, + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769395130713_sjrkxuh4q", + "x": 0.6686665851643929, + "y": 0.41827773695656434, + "width": 0.18199998889160235, + "height": 0.2253333149956613 + } + ] + } + } + }, + { + "time": 11.561099, + "frame": 347, + "progress": -5, + "action_description": "爪夹向爪夹方向的左后方移动并下降。", + "state_description": "当前爪夹合拢，与蒸发皿的垂直距离略微拉近。\n为完成将蒸发皿放在三脚架上的任务应当：张开爪夹，继续向爪夹方向的下方移动。", + "progress_explanation": "爪夹向爪夹方向的左后方移动并下降，略微拉近与蒸发皿的垂直距离。因此进度提升至-5%", + "error_success_analysis": "爪夹向爪夹方向的左后方移动并下降，成功略微拉近爪夹与蒸发皿的垂直距离。", + "correction_plan": "张开爪夹，继续向爪夹方向的下方移动，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769395146150_imd4glofk", + "x": 0.6836665842488656, + "y": 0.3556110753897237, + "width": 0.20799998730468836, + "height": 0.25333331271701554 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769395154358_e5spuv51g", + "x": 0.4896665960896852, + "y": 0.5009443968958011 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395157052_hokkfi8qv", + "x": 0.5626665916341191, + "y": 0.4942777307716691 + } + ] + }, + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769395162688_6d0oyghne", + "x": 0.44066659908040784, + "y": 0.42227773663104357, + "width": 0.16899998968505914, + "height": 0.21333331597222369 + } + ] + } + } + }, + { + "time": 11.820899, + "frame": 355, + "progress": -10, + "action_description": "爪夹向爪夹方向的右方移动同时抬起爪夹。", + "state_description": "当前爪夹合拢，与蒸发皿的垂直距离略微拉远。\n为完成将蒸发皿放在三脚架上的任务应当：张开爪夹，向爪夹方向的左下方移动。", + "progress_explanation": "爪夹向爪夹方向的右方移动同时抬起爪夹，拉远与蒸发皿的垂直距离。因此进度下降至-10%", + "error_success_analysis": "爪夹移动方向错误，导致爪夹与蒸发皿的垂直距离拉远。", + "correction_plan": "张开爪夹，向爪夹方向的左下方移动，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769395173286_4disxx6b8", + "x": 0.4916665959676149, + "y": 0.49294439754684266 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395175542_lw2kv3agf", + "x": 0.563666591573084, + "y": 0.4889443978723635 + } + ] + }, + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769395183108_x96a7fkk5", + "x": 0.6626665855306039, + "y": 0.42627773630552274, + "width": 0.17999998901367248, + "height": 0.22399998177083483 + } + ] + } + } + }, + { + "time": 12.095133, + "frame": 363, + "progress": -15, + "action_description": "爪夹向爪夹方向的右方移动。", + "state_description": "当前爪夹合拢，与蒸发皿的水平距离略微拉远。\n为完成将蒸发皿放在三脚架上的任务应当：张开爪夹，随后向爪夹方向的左方移动。", + "progress_explanation": "爪夹向爪夹方向的右方移动，与蒸发皿的水平距离略微拉远。因此进度下降至-15%", + "error_success_analysis": "爪夹向爪夹方向的右方移动，拉远爪夹与蒸发皿的水平距离。", + "correction_plan": "张开爪夹，向爪夹方向的左方移动，移动至蒸发皿正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769395194720_uvqbgj3wt", + "x": 0.4896665960896852, + "y": 0.49294439754684266 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395196981_1d0psbv30", + "x": 0.5616665916951542, + "y": 0.4889443978723635 + } + ] + } + } + }, + { + "time": 12.484833, + "frame": 375, + "progress": -20, + "action_description": "爪夹继续向爪夹方向的右方移动。", + "state_description": "当前爪夹合拢，位于三脚架的正上方，与蒸发皿的水平距离再次拉远。\n为完成将蒸发皿放在三脚架上的任务应当：张开爪夹，随后向爪夹方向的左方移动。", + "progress_explanation": "爪夹向爪夹方向的右方移动，再次拉远与蒸发皿的水平距离。因此进度下降至-20%", + "error_success_analysis": "爪夹继续向爪夹方向的右方移动，使爪夹与蒸发皿的水平距离再次拉远。", + "correction_plan": "张开爪夹，向爪夹方向的左方移动，移动至蒸发皿正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395200955_idveqzrfv", + "x": 0.5616665916951542, + "y": 0.49294439754684266 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769395203243_8nmfcsl7f", + "x": 0.4916665959676149, + "y": 0.49294439754684266 + } + ] + }, + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769395211045_utdia3io5", + "x": 0.4736665970662477, + "y": 0.4582777337013563, + "width": 0.13599999169921925, + "height": 0.22799998144531386 + } + ] + } + } + }, + { + "time": 12.932266, + "frame": 388, + "progress": 10, + "action_description": "爪夹张开，药瓶掉落。", + "state_description": "当前爪夹张开，位于三脚架上方。\n为完成将蒸发皿放在三脚架上的任务应当：向爪夹方向的左方移动，移动至蒸发皿正上方后下降。", + "progress_explanation": "爪夹张开，方便下一步抓取蒸发皿。因此进度提升至10%", + "error_success_analysis": "爪夹成功张开，方便抓取蒸发皿。", + "correction_plan": "向爪夹方向的左方移动，移动至蒸发皿正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "bbox_1769394802936": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802936_1769395224818_azhbzycz6", + "x": 0.46266659773763436, + "y": 0.43961106855378673, + "width": 0.1539999906005865, + "height": 0.23733331401909882 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769395231999_n850nbsil", + "x": 0.4156666006062865, + "y": 0.48494439819788426 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395233651_rcnkyhtte", + "x": 0.6386665869954475, + "y": 0.49027773109718986 + } + ] + } + } + }, + { + "time": 14.433333, + "frame": 433, + "progress": 15, + "action_description": "爪夹向爪夹方向的左方移动。", + "state_description": "当前爪夹张开，与蒸发皿的水平距离拉近。\n为完成将蒸发皿放在三脚架上的任务应当：继续向爪夹方向的左方移动，移动至蒸发皿正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的左方移动，与蒸发皿的水平距离拉近。因此进度提升至15%", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功拉近爪夹与蒸发皿的水平距离。", + "correction_plan": "继续向爪夹方向的左方移动，移动至蒸发皿正上方后下降，合拢爪夹抓取蒸发皿后竖直上升，向爪夹方向的右方移动，直至蒸发皿处于三脚架正上方，松开爪夹，使蒸发皿落到三脚架上。", + "annotations": { + "bbox_1769394802818": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769394802818_1769395241606_xs097eqg6", + "x": 0.40866660103353264, + "y": 0.5569443923385098, + "width": 0.1269999922485356, + "height": 0.16533331987847313 + } + ] + }, + "point_1769394803737": { + "type": "point", + "instances": [ + { + "id": "point_1769394803737_1769395248223_16zloyry9", + "x": 0.41266660078939205, + "y": 0.48627773142271064 + } + ] + }, + "point_1769394803906": { + "type": "point", + "instances": [ + { + "id": "point_1769394803906_1769395250072_l794yzfqt", + "x": 0.6396665869344124, + "y": 0.47694439884892587 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769394802818", + "name": "蒸发皿", + "color": "#4CAF50" + }, + { + "id": "bbox_1769394802936", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769394803737", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769394803906", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-174526-put-potassium permanganate-evaporating dish-good-1/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-174526-put-potassium permanganate-evaporating dish-good-1/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..14dca089cb54725a5c67af26fd82e6399e6346b0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-174526-put-potassium permanganate-evaporating dish-good-1/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,360 @@ +{ + "task_description": "将高锰酸钾倒入蒸发皿中；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近高锰酸钾：20%\n爪夹抓取高锰酸钾：40%\n爪夹抓住高锰酸钾并接近蒸发皿：60%\n爪夹将高锰酸钾移动至蒸发皿上方：80%\n调整爪夹角度，使高锰酸钾倒入蒸发皿：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1769398830660": { + "instances": [ + { + "height": 0.1199999902343758, + "id": "bbox_1769398830660_1769398854758_by94da23x", + "width": 0.13199999194335993, + "x": 0.26666660970052425, + "y": 0.1831666415880012 + } + ], + "type": "bbox" + }, + "bbox_1769398831262": { + "instances": [ + { + "height": 0.09199999251302143, + "id": "bbox_1769398831262_1769398871090_cmpe1pmtn", + "width": 0.04299999737548843, + "x": 0.615666588399256, + "y": 0.38716662498644006 + } + ], + "type": "bbox" + }, + "point_1769398831830": { + "instances": [ + { + "id": "point_1769398831830_1769398874539_9gmyvqm20", + "x": 0.37166660329183326, + "y": 0.2818333002251546 + } + ], + "type": "point" + }, + "point_1769398831958": { + "instances": [ + { + "id": "point_1769398831958_1769398876588_7gc93k8bw", + "x": 0.48366659645589616, + "y": 0.31116663117133536 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降。", + "time": 1.0460930730469336 + }, + { + "action_description": "爪夹向爪夹方向的上方移动。", + "annotations": { + "bbox_1769398831262": { + "instances": [ + { + "height": 0.0893333260633686, + "id": "bbox_1769398831262_1769398884212_5nnqqqvkq", + "width": 0.040999997497558824, + "x": 0.6166665883382209, + "y": 0.38716662498644006 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹方向的前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功向爪夹方向的上方移动。", + "frame": 61, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的上方移动，爪夹开始移动。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降。", + "time": 2.0193576334558463 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "annotations": { + "bbox_1769398831262": { + "instances": [ + { + "height": 0.09199999251302149, + "id": "bbox_1769398831262_1769398891169_q73uq1k4e", + "width": 0.036999997741699354, + "x": 0.6196665881551154, + "y": 0.38849995821126637 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹方向的前方移动并下降，到达高锰酸钾的上方后，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功拉近与高锰酸钾的水平距离。", + "frame": 83, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，与高锰酸钾的水平距离略微拉近。因此进度提升至15%", + "state_description": "当前状态为爪夹打开，与高锰酸钾的水平距离略微拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续向爪夹方向的前方移动并下降，到达高锰酸钾的上方后合拢爪夹。", + "time": 2.7542716892748214 + }, + { + "action_description": "爪夹继续向爪夹方向的前方移动并下降。", + "annotations": { + "bbox_1769398830660": { + "instances": [ + { + "height": 0.12533332313368142, + "id": "bbox_1769398830660_1769398903827_ih6jiuufz", + "width": 0.13199999194335987, + "x": 0.26766660963948913, + "y": 0.18849997448730674 + } + ], + "type": "bbox" + }, + "bbox_1769398831262": { + "instances": [ + { + "height": 0.0679999944661463, + "id": "bbox_1769398831262_1769398915475_9fjmfdz2l", + "width": 0.030999998107910275, + "x": 0.6276665876668341, + "y": 0.4044999569091832 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，成功移动至高锰酸钾上方。", + "frame": 121, + "progress": 20, + "progress_explanation": "爪夹继续向爪夹方向的前方移动并下降，再次拉近与高锰酸钾的水平距离。因此进度提升至20%", + "state_description": "当前状态为爪夹打开，与高锰酸钾的水平距离进一步拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：合拢爪夹，抓取高锰酸钾后竖直上升。", + "time": 4.025474380421157 + }, + { + "action_description": "爪夹合拢，抓取高锰酸钾。", + "annotations": { + "bbox_1769398830660": { + "instances": [ + { + "height": 0.13466665570746622, + "id": "bbox_1769398830660_1769398920611_48g49puwg", + "width": 0.13499999176025437, + "x": 0.2666666097005243, + "y": 0.18183330836317477 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，成功抓取到高锰酸钾。", + "frame": 165, + "progress": 40, + "progress_explanation": "当前爪夹已抓取到高锰酸钾。因此进度提升至40%", + "state_description": "当前爪夹合拢，抓住高锰酸钾。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：抓取高锰酸钾后竖直上升，向爪夹方向的左方移动。", + "time": 5.495302492059107 + }, + { + "action_description": "爪夹向爪夹方向的后方移动并抬起爪夹。", + "correction_plan": "向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功抓取并抬起高锰酸钾。", + "frame": 202, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向的后方移动并抬起爪夹，抬起高锰酸钾。因此进度提升至50%", + "state_description": "当前爪夹合拢，位于桌面上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方。", + "time": 6.7466426411562805 + }, + { + "action_description": "爪夹向爪夹方向的左方移动并抬起爪夹。", + "annotations": { + "bbox_1769398830660": { + "instances": [ + { + "height": 0.12133332345920218, + "id": "bbox_1769398830660_1769398934015_6q3qu076h", + "width": 0.13399999182128958, + "x": 0.2656666097615594, + "y": 0.18849997448730677 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的左方移动并抬起爪夹，成功拉近与蒸发皿的水平距离。", + "frame": 226, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的左方移动并抬起，拉近与蒸发皿的水平距离。因此进度提升至60%", + "state_description": "当前爪夹合拢，与蒸发皿的水平距离拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方。", + "time": 7.521281781073578 + }, + { + "action_description": "爪夹向爪夹方向的左方移动。", + "annotations": { + "bbox_1769398830660": { + "instances": [ + { + "height": 0.1279999895833342, + "id": "bbox_1769398830660_1769398943557_r6o4sdamx", + "width": 0.130999992004395, + "x": 0.268666609578454, + "y": 0.185833308037654 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹方向的前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功使爪夹与蒸发皿的水平距离略微拉近。", + "frame": 252, + "progress": 65, + "progress_explanation": "爪夹向爪夹方向的左方移动，与蒸发皿的水平距离略微拉近。因此进度提升至65%", + "state_description": "当前爪夹合拢，与蒸发皿的水平距离略微拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的前方移动，直至高锰酸钾处于蒸发皿正上方。", + "time": 8.415096173285846 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并抬起。", + "annotations": { + "bbox_1769398830660": { + "instances": [ + { + "height": 0.13199998925781337, + "id": "bbox_1769398830660_1769398953005_4zkps2cyp", + "width": 0.13299999188232473, + "x": 0.2646666098225946, + "y": 0.1831666415880012 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功想爪夹方向的前方移动至蒸发皿上方。", + "frame": 272, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的前方移动并抬起，移动至蒸发皿上方。因此进度提升至80%", + "state_description": "当前爪夹合拢，位于蒸发皿上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "time": 9.070560060908175 + }, + { + "action_description": "爪夹向爪夹方向的右方调整爪夹角度。", + "annotations": { + "bbox_1769398830660": { + "instances": [ + { + "height": 0.1266666563585078, + "id": "bbox_1769398830660_1769398964037_q7nx96uw7", + "width": 0.13399999182128958, + "x": 0.2656666097615594, + "y": 0.18716664126248037 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功向爪夹方向的右方调整爪夹角度。", + "frame": 308, + "progress": 85, + "progress_explanation": "爪夹向爪夹方向的右方调整爪夹角度，准备将高锰酸钾倒入蒸发皿。因此进度提升至85%", + "state_description": "当前爪夹合拢，与蒸发皿水平平行。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "time": 10.262312583857863 + }, + { + "action_description": "爪夹向爪夹方向的上方抬起爪夹。", + "annotations": { + "bbox_1769398830660": { + "instances": [ + { + "height": 0.13066665603298694, + "id": "bbox_1769398830660_1769398971685_6schxxa4b", + "width": 0.13199999194335987, + "x": 0.26666660970052425, + "y": 0.185833308037654 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹方向的右方调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功向爪夹方向的上方抬起爪夹，方便下一步将高锰酸钾倒入蒸发皿中。", + "frame": 359, + "progress": 90, + "progress_explanation": "爪夹向爪夹方向的上方抬起爪夹，方便使高锰酸钾倒入蒸发皿。因此进度提升至90%", + "state_description": "当前爪夹合拢，位于蒸发皿上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "time": 11.95062865803659 + }, + { + "action_description": "爪夹向爪夹方向的右方调整爪夹角度，高锰酸钾倒入蒸发皿中。", + "annotations": { + "bbox_1769398830660": { + "instances": [ + { + "height": 0.13333332248263977, + "id": "bbox_1769398830660_1769398982196_a8lzy60bn", + "width": 0.13099999200439502, + "x": 0.26666660970052425, + "y": 0.185833308037654 + } + ], + "type": "bbox" + }, + "bbox_1769398831262": { + "instances": [ + { + "height": 0.03333333062065993, + "id": "bbox_1769398831262_1769398986970_6bdur5ahr", + "width": 0.06999999572753932, + "x": 0.2986666077473994, + "y": 0.2551666357286267 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功将高锰酸钾倒入蒸发皿中。", + "frame": 453, + "progress": 100, + "progress_explanation": "当前高锰酸钾已倒入蒸发皿中。因此进度提升至100%", + "state_description": "当前爪夹合拢，高锰酸钾已倒入蒸发皿中。已完成将高锰酸钾倒入蒸发皿中的任务。", + "time": 15.088910301804106 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769398830660", + "name": "蒸发皿" + }, + { + "color": "#FF9800", + "id": "bbox_1769398831262", + "name": "高锰酸钾" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769398831830", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769398831958", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-181033-put-potassium permanganate-evaporating dish-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-181033-put-potassium permanganate-evaporating dish-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..235bd4cde387749b08a3f7881cfa280ef3981592 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-181033-put-potassium permanganate-evaporating dish-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,524 @@ +{ + "task_description": "将高锰酸钾倒入蒸发皿；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近高锰酸钾：20%\n爪夹抓取高锰酸钾：40%\n爪夹抓住高锰酸钾并接近蒸发皿：60%\n爪夹将高锰酸钾移动至蒸发皿上方：80%\n调整爪夹角度，使高锰酸钾倒入蒸发皿：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降。", + "time": 1.513996668049375, + "annotations": { + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408355169_rqlzhr5hq", + "x": 0.5256665938924198, + "y": 0.15383331064182043, + "width": 0.11799999279785194, + "height": 0.1519999876302093 + } + ] + }, + "bbox_1769408327779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327779_1769408364963_dl3hvt4a3", + "x": 0.674666584798182, + "y": 0.4844999503987671, + "width": 0.038999997619629044, + "height": 0.05466666221788229 + } + ] + }, + "point_1769408328279": { + "type": "point", + "instances": [ + { + "id": "point_1769408328279_1769408367621_hzge9uzcc", + "x": 0.5586665918782597, + "y": 0.47516661782498226 + } + ] + }, + "point_1769408328405": { + "type": "point", + "instances": [ + { + "id": "point_1769408328405_1769408369483_hwwmehffj", + "x": 0.6376665870564826, + "y": 0.4631666188015447 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功向爪夹方向的上方移动。", + "frame": 79, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的上方移动，爪夹开始移动。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降。", + "time": 2.6316598441145844, + "annotations": { + "point_1769408328405": { + "type": "point", + "instances": [ + { + "id": "point_1769408328405_1769408374635_xtvi7psko", + "x": 0.6386665869954475, + "y": 0.38716662498644006 + } + ] + }, + "point_1769408328279": { + "type": "point", + "instances": [ + { + "id": "point_1769408328279_1769408377487_1hamdrbiu", + "x": 0.5576665919392949, + "y": 0.4044999569091832 + } + ] + }, + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408382250_if618nk2v", + "x": 0.5256665938924198, + "y": 0.15516664386664683, + "width": 0.11799999279785194, + "height": 0.15199998763020936 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。\n", + "correction_plan": "向爪夹方向的左前方移动，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功略微拉近与高锰酸钾的水平距离。", + "frame": 105, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降，与高锰酸钾的水平距离略微拉近。因此进度提升至15%", + "state_description": "当前爪夹张开，与高锰酸钾的水平距离略微拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左前方移动，到达高锰酸钾的正上方后下降。", + "time": 3.511522344421239, + "annotations": { + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408393553_db150o9yt", + "x": 0.5256665938924198, + "y": 0.15649997709147323, + "width": 0.11899999273681683, + "height": 0.15199998763020933 + } + ] + }, + "bbox_1769408327779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327779_1769408404548_iqhysr0nf", + "x": 0.6736665848592172, + "y": 0.48583328362359346, + "width": 0.03999999755859385, + "height": 0.051999995768229466 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的有前方移动并下降。", + "correction_plan": "抬起爪夹，向爪夹方向的左方移动，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹移动方向错误，导致与高锰酸钾的水平距离略微拉远。", + "frame": 148, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的有前方移动并下降，与高锰酸钾的水平距离略微拉远。因此进度下降至10%", + "state_description": "当前爪夹张开，与高锰酸钾的水平距离略微拉远。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：抬起爪夹，向爪夹方向的左方移动。", + "time": 4.9383263989725705, + "annotations": { + "bbox_1769408327779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327779_1769408411759_esi8frlct", + "x": 0.6736665848592172, + "y": 0.4844999503987671, + "width": 0.04099999749755874, + "height": 0.05466666221788229 + } + ] + }, + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408417587_98f312709", + "x": 0.5266665938313846, + "y": 0.15649997709147323, + "width": 0.11399999304199256, + "height": 0.15066665440538296 + } + ] + }, + "point_1769408328279": { + "type": "point", + "instances": [ + { + "id": "point_1769408328279_1769408431733_lh4xgrdgv", + "x": 0.7566665797932994, + "y": 0.5364999461669966 + } + ] + } + } + }, + { + "action_description": "合拢爪夹进行抓取动作。", + "correction_plan": "抬起并张开爪夹，向爪夹方向的左方移动，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹未移动到高锰酸钾上方就合拢爪夹，导致未能抓取到高锰酸钾。", + "frame": 170, + "progress": 5, + "progress_explanation": "爪夹合拢为抓取到高锰酸钾。因此进度下降至5%", + "state_description": "当前爪夹合拢，未抓取到高锰酸钾。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：抬起并张开爪夹，向爪夹方向的左方移动。", + "time": 5.651728426248236, + "annotations": { + "bbox_1769408327779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327779_1769408442491_1d61wzitc", + "x": 0.6726665849202523, + "y": 0.4831666171739407, + "width": 0.04199999743652363, + "height": 0.05466666221788223 + } + ] + }, + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408446887_520epxxep", + "x": 0.5246665939534549, + "y": 0.15516664386664683, + "width": 0.11899999273681675, + "height": 0.1519999876302093 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "抬起爪夹，向爪夹方向的左方移动，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功张开，方便抓取高锰酸钾。", + "frame": 215, + "progress": 10, + "progress_explanation": "当前爪夹张开，位于桌面上方。因此进度提升至10%", + "state_description": "当前爪夹张开，位于桌面上放。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：抬起爪夹，向爪夹方向的左方移动。", + "time": 7.17365275110299, + "annotations": { + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408459215_dekq8w2r8", + "x": 0.5246665939534549, + "y": 0.15649997709147323, + "width": 0.11799999279785203, + "height": 0.1479999879557302 + } + ] + }, + "bbox_1769408327779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327779_1769408468229_x078aff36", + "x": 0.6726665849202523, + "y": 0.4831666171739407, + "width": 0.04099999749755874, + "height": 0.05733332866753512 + } + ] + }, + "point_1769408328279": { + "type": "point", + "instances": [ + { + "id": "point_1769408328279_1769408475979_5zo9j4euf", + "x": 0.7566665797932994, + "y": 0.5018332823215103 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "correction_plan": "向爪夹方向的右前方移动，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功略微拉近与高锰酸钾的水平距离。", + "frame": 260, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的左后方移动，与高锰酸钾的水平距离略微拉近因此进度提升至15%", + "state_description": "当前爪夹张开，与高锰酸钾的水平距离略微拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的右前方移动，到达高锰酸钾的正上方后下降。", + "time": 8.671797008381887, + "annotations": { + "point_1769408328279": { + "type": "point", + "instances": [ + { + "id": "point_1769408328279_1769408492801_f40hu1dl4", + "x": 0.6046665890706426, + "y": 0.5618332774386982 + } + ] + }, + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408498797_d5sjbrftf", + "x": 0.5246665939534549, + "y": 0.15516664386664683, + "width": 0.11899999273681683, + "height": 0.14933332118055656 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功向爪夹方向的右前方移动至高锰酸钾上方。", + "frame": 298, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降，移动至高锰酸钾上方。因此进度提升至20%", + "state_description": "当前爪夹张开，位于高锰酸钾上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动。", + "time": 9.93214058990223, + "annotations": { + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408509869_b60ipg252", + "x": 0.5256665938924198, + "y": 0.15649997709147323, + "width": 0.11699999285888714, + "height": 0.1493333211805565 + } + ] + }, + "point_1769408328279": { + "type": "point", + "instances": [ + { + "id": "point_1769408328279_1769408517525_3gawizdqo", + "x": 0.6316665874226935, + "y": 0.5858332754855733 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功移动至高锰酸钾两侧，方便抓取。", + "frame": 330, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的下方移动，拉近与高锰酸钾的垂直距离。因此进度提升至30%", + "state_description": "当前爪夹张开，位于高锰酸钾两侧。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动。", + "time": 11.002243630815727, + "annotations": { + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408525772_3frmc80kg", + "x": 0.5266665938313847, + "y": 0.15649997709147323, + "width": 0.11699999285888704, + "height": 0.1506666544053829 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取高锰酸钾。", + "correction_plan": "抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹想爪夹方向的右前方移动并下降，成功抓取到高锰酸钾。", + "frame": 366, + "progress": 40, + "progress_explanation": "当前爪夹已抓取到高锰酸钾。因此进度提升至40%", + "state_description": "当前爪夹合拢，抓住高锰酸钾。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动。", + "time": 12.191247009608507, + "annotations": { + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408536399_vp9ut1s05", + "x": 0.5246665939534549, + "y": 0.15383331064182043, + "width": 0.11799999279785203, + "height": 0.15333332085503576 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起。", + "correction_plan": "向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功将高锰酸钾向爪夹方向的上方抬起。", + "frame": 416, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向的上方抬起，将高锰酸钾抬起。因此进度提升至50%", + "state_description": "当前爪夹合拢，抓住高锰酸钾位于桌面上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方。", + "time": 13.855851739918393, + "annotations": { + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408586019_7dcakm2ir", + "x": 0.5246665939534549, + "y": 0.15516664386664683, + "width": 0.11999999267578172, + "height": 0.1519999876302093 + } + ] + } + } + }, + { + "time": 14.426573361738924, + "frame": 433, + "progress": 60, + "action_description": "爪夹向爪夹方向的前方移动。", + "state_description": "当前爪夹合拢，与蒸发皿的水平距离拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方。", + "progress_explanation": "爪夹向爪夹方向的前方移动，与蒸发皿的水平距离拉近。因此进度提升至60%", + "error_success_analysis": "爪夹成功拉近与蒸发皿的水平距离。", + "correction_plan": "继续向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "annotations": { + "bbox_1769408327649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327649_1769408597633_vizhy6v9l", + "x": 0.5246665939534549, + "y": 0.15649997709147323, + "width": 0.11999999267578162, + "height": 0.1493333211805565 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功将高锰酸钾移动至蒸发皿上方。", + "frame": 456, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的左前方移动，移动至蒸发皿上方。因此进度提升至80%", + "state_description": "当前爪夹合拢，位于蒸发皿上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "time": 15.187535524166302 + }, + { + "action_description": "爪夹向爪夹方向的右方调整爪夹角度。", + "correction_plan": "调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功向爪夹方向的右方调整爪夹角度，方便将高锰酸钾倒入蒸发皿中。", + "frame": 518, + "progress": 90, + "progress_explanation": "爪夹向爪夹方向的右方调整爪夹角度，方便高锰酸钾倒入蒸发皿中。因此进度提升至90%", + "state_description": "当前爪夹合拢，爪夹位于蒸发皿的正上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "time": 17.280181470841587, + "annotations": { + "point_1769408328279": { + "type": "point", + "instances": [ + { + "id": "point_1769408328279_1769408611179_y03uyh1fz", + "x": 0.5066665950520877, + "y": 0.14583331129286206 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方调整爪夹方向，高锰酸钾倒入蒸发皿中。", + "correction_plan": "", + "error_success_analysis": "爪夹已成功将高锰酸钾倒入蒸发皿中。", + "frame": 616, + "progress": 100, + "progress_explanation": "高锰酸钾已倒入蒸发皿中。因此进度提升至100%", + "state_description": "当前爪夹合拢，高锰酸钾已经倒入蒸发皿中。已完成将高锰酸钾倒入蒸发皿的任务。", + "time": 20.529333, + "annotations": { + "point_1769408328279": { + "type": "point", + "instances": [ + { + "id": "point_1769408328279_1769408621561_mbv658p5z", + "x": 0.5526665922444707, + "y": 0.11383331389702848 + } + ] + }, + "bbox_1769408327779": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769408327779_1769408626484_wn0zbr2e6", + "x": 0.5516665923055057, + "y": 0.22316663833279313, + "width": 0.025999998413086, + "height": 0.05733332866753512 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769408327649", + "name": "蒸发皿", + "color": "#4CAF50" + }, + { + "id": "bbox_1769408327779", + "name": "高锰酸钾", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769408328279", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769408328405", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-181033-put-potassium permanganate-evaporating dish-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-181033-put-potassium permanganate-evaporating dish-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..4055320b122c166f96465eec550da39115d68c3c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-181033-put-potassium permanganate-evaporating dish-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,797 @@ +{ + "task_description": "将高锰酸钾倒入蒸发皿中；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近高锰酸钾：20%\n爪夹抓取高锰酸钾：40%\n爪夹抓住高锰酸钾并接近蒸发皿：60%\n爪夹将高锰酸钾移动至蒸发皿上方：80%\n调整爪夹角度，使高锰酸钾倒入蒸发皿：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降。", + "time": 1.3880287579527701, + "annotations": { + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411066833_qvx5dstf9", + "x": 0.40966660097249746, + "y": 0.26849996797689063, + "width": 0.13799999157714896, + "height": 0.09733332541232707 + } + ] + }, + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411075701_t3whyehui", + "x": 0.6176665882771857, + "y": 0.6071666070827957, + "width": 0.048999997009277506, + "height": 0.08133332671441025 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411085390_qkc31lhvh", + "x": 0.4226666001790405, + "y": 0.49783328264703103 + } + ] + }, + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411087750_ae23zs6wl", + "x": 0.6316665874226935, + "y": 0.49783328264703103 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功向爪夹方向的上方移动。", + "frame": 86, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的上方移动，爪夹开始移动。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降。", + "time": 2.873595652105546, + "annotations": { + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411095022_3140zx2gx", + "x": 0.4166666005452514, + "y": 0.3484999614664745, + "width": 0.12099999261474652, + "height": 0.1266666563585078 + } + ] + }, + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411105859_4q8a0snu2", + "x": 0.5856665902303106, + "y": 0.6458332706027612, + "width": 0.04399999731445323, + "height": 0.059999995117187885 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411108515_zqw53omeu", + "x": 0.4196666003621459, + "y": 0.5071666152208159 + } + ] + }, + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411110422_rjltw3den", + "x": 0.6316665874226935, + "y": 0.49916661587185746 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并调整爪夹角度。", + "correction_plan": "下降并合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功移动至高锰酸钾上方。", + "frame": 127, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的右前方移动并调整爪夹角度，移动至高锰酸钾上方。因此进度提升至20%", + "state_description": "当前状态为爪夹打开，位于高锰酸钾上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：下降并合拢爪夹，抓取高锰酸钾后竖直上升。", + "time": 4.224111010426251, + "annotations": { + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411120106_jqy0yby4l", + "x": 0.12666661824544564, + "y": 0.1778333086886956, + "width": 0.12299999249267624, + "height": 0.26133331206597393 + } + ] + }, + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411127523_icp06sslk", + "x": 0.5106665948079471, + "y": 0.4351666210801904, + "width": 0.048999997009277506, + "height": 0.06799999446614624 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411132908_gnvecqc22", + "x": 0.4226666001790405, + "y": 0.4951666161973783 + } + ] + }, + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411134890_2mlzo43eh", + "x": 0.6326665873616585, + "y": 0.48716661684841983 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "继续下降并合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功拉近与高锰酸钾的垂直距离。", + "frame": 142, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的下方移动，与高锰酸钾的垂直距离拉近。因此进度提升至30%", + "state_description": "当前爪夹张开，与高锰酸钾的垂直距离拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续下降并合拢爪夹，抓取高锰酸钾后竖直上升。", + "time": 4.741808564449188, + "annotations": { + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411139622_494qxopnp", + "x": 0.47166659718831794, + "y": 0.40183329045953037, + "width": 0.072999995544434, + "height": 0.09599999218750063 + } + ] + }, + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411147652_dujsu7s5y", + "x": 0.009666625386558509, + "y": 0.09783331519911172, + "width": 0.11499999298095745, + "height": 0.3426666387803843 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411155469_5xeb3p36y", + "x": 0.4226666001790405, + "y": 0.48183328394911423 + } + ] + }, + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411157238_q2qzreec4", + "x": 0.6326665873616585, + "y": 0.4791666174994615 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的后方移动并下降，同时合拢爪夹。\n", + "correction_plan": "张开并抬起爪夹，向爪夹方向的前方移动，移动至高锰酸钾上方后，下降并合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹未移动至高锰酸钾两侧就合拢爪夹，导致未抓取到高锰酸钾。", + "frame": 181, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的后方移动并下降，合拢爪夹未抓取到高锰酸钾。因此进度下降至10%", + "state_description": "当前爪夹合拢，位于桌面上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：张开并抬起爪夹，向爪夹方向的前方移动。", + "time": 6.047306744159203, + "annotations": { + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411161358_achrfgapm", + "x": 0.537666593159998, + "y": 0.48049995072428786 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411163398_xq6m4qb67", + "x": 0.5156665945027713, + "y": 0.4791666174994615 + } + ] + }, + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411168121_2iohhni9u", + "x": 0.48866659615072044, + "y": 0.30049996537272416, + "width": 0.08899999456787136, + "height": 0.11866665700954944 + } + ] + }, + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411173120_glrl290yj", + "x": -0.003333373819984507, + "y": 0.0004999897867846853, + "width": 0.11699999285888714, + "height": 0.3133333078342035 + } + ] + } + } + }, + { + "action_description": "张开爪夹。", + "correction_plan": "抬起爪夹，向爪夹方向的前方移动，移动至高锰酸钾上方后，下降并合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功张开，方便抓取高锰酸钾。", + "frame": 211, + "progress": 15, + "progress_explanation": "爪夹张开，方便抓取高锰酸钾，因此进度提升至15%", + "state_description": "当前爪夹张开位于桌面上。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：抬起爪夹，向爪夹方向的前方移动。", + "time": 7.037684673594385, + "annotations": { + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411188775_vr6nq2ey4", + "x": 0.48666659627279074, + "y": 0.30316663182237696, + "width": 0.08899999456787136, + "height": 0.11199999088541741 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411190886_1ntfpbo7r", + "x": 0.41466660066732175, + "y": 0.48716661684841983 + } + ] + }, + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411193126_rfk52zbda", + "x": 0.6376665870564826, + "y": 0.4844999503987671 + } + ] + }, + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411199916_n8cqxxw0q", + "x": -0.0003333740030899656, + "y": 0.0004999897867846853, + "width": 0.11699999285888715, + "height": 0.32399997363281463 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并抬起爪夹。", + "correction_plan": "下降并合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并抬起，成功移动至高锰酸钾正上方。", + "frame": 241, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的前方移动并抬起爪夹，移动至高锰酸钾上方。因此进度提升至20%", + "state_description": "当前爪夹张开，位于高锰酸钾正上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：下降并合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动。", + "time": 8.028062603029571, + "annotations": { + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411211616_aji500xnk", + "x": 0.022666624593101526, + "y": 0.11116664744737569, + "width": 0.13099999200439502, + "height": 0.3439999720052106 + } + ] + }, + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411220973_89i7tztjk", + "x": 0.48166659657796645, + "y": 0.4671666184760239, + "width": 0.06799999584960963, + "height": 0.09466665896267426 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411223272_iano2dl16", + "x": 0.41266660078939205, + "y": 0.4831666171739407 + } + ] + }, + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411225552_msb3eecsp", + "x": 0.6396665869344124, + "y": 0.48049995072428786 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功拉近与高锰酸钾的垂直距离，方便抓取。", + "frame": 268, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的下方移动，与高锰酸钾的垂直距离拉近。因此进度提升至30%", + "state_description": "当前爪夹张开，位于高锰酸钾两侧。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动。", + "time": 8.928406175243374, + "annotations": { + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411229244_pifgqbaey", + "x": 0.6386665869954475, + "y": 0.4831666171739407 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411231124_upca1uut6", + "x": 0.4136666007283568, + "y": 0.48583328362359346 + } + ] + }, + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411235646_1vk3xmhax", + "x": 0.5016665953572634, + "y": 0.4564999526774127, + "width": 0.09599999414062532, + "height": 0.14133332183159808 + } + ] + } + } + }, + { + "action_description": "合拢爪夹，抓取高锰酸钾。", + "correction_plan": "抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹想爪夹方向的有前方移动并下降，成功抓取到高锰酸钾。", + "frame": 313, + "progress": 40, + "progress_explanation": "当前爪夹已抓取到高锰酸钾，因此进度提升至40%", + "state_description": "当前爪夹合拢，抓住高锰酸钾。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：抓取高锰酸钾后竖直上升，向爪夹方向的左前方移动。", + "time": 10.436481658701496, + "annotations": { + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411248231_nip34qn70", + "x": 0.4766665968831423, + "y": 0.44716662010362795, + "width": 0.09899999395751982, + "height": 0.13999998860677182 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411250726_zy3ydf9oa", + "x": 0.478666596761072, + "y": 0.4738332846001559 + } + ] + }, + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411252616_sh658cvrj", + "x": 0.576666590779627, + "y": 0.4738332846001559 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起。", + "correction_plan": "向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功将高锰酸钾向爪夹方向的上方抬起。", + "frame": 369, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向的上方抬起，将高锰酸钾抬起。因此进度提升至50%", + "state_description": "当前爪夹合拢，抓住高锰酸钾位于桌面上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方。", + "time": 12.304694571045138, + "annotations": { + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411257330_jc5dj7we8", + "x": 0.5756665908406621, + "y": 0.4724999513753295 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411259540_n03mvkmy9", + "x": 0.4756665969441774, + "y": 0.4791666174994615 + } + ] + }, + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411263462_pyqhutve7", + "x": 0.4776665968221071, + "y": 0.45249995300293355, + "width": 0.1019999937744144, + "height": 0.1426666550564245 + } + ] + }, + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411268632_iz5i4nexx", + "x": 0.21866661263021162, + "y": 0.3458332950168217, + "width": 0.12399999243164106, + "height": 0.2173333156467028 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "继续向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功拉近高锰酸钾与蒸发皿的水平距离。", + "frame": 391, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的左前方移动，与蒸发皿的水平距离拉近。因此进度提升至60%", + "state_description": "当前爪夹合拢，与蒸发皿的水平距离拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方。", + "time": 13.047478018121526, + "annotations": { + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411278664_bdfd6gla2", + "x": 0.42166660024007563, + "y": 0.32049996374512013, + "width": 0.15599999047851618, + "height": 0.20266665017361246 + } + ] + }, + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411287278_ut8jyvddu", + "x": 0.478666596761072, + "y": 0.45249995300293355, + "width": 0.09399999426269563, + "height": 0.14133332183159808 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411293378_jz7l2z57e", + "x": 0.47966659670003675, + "y": 0.47649995104980863 + } + ] + }, + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411295690_cr2x65id8", + "x": 0.5746665909016972, + "y": 0.4738332846001559 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，随后开始向爪夹方向的左方调整爪夹角度。", + "correction_plan": "继续调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功将高锰酸钾向爪夹方向的左前方移动至蒸发皿的正上方。", + "frame": 408, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的左前方移动，移动至蒸发皿的上方。因此进度提升至80%", + "state_description": "当前爪夹合拢，位于蒸发皿的上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "time": 13.610192750755152, + "annotations": { + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411300366_gb54dfseu", + "x": 0.5736665909627324, + "y": 0.47649995104980863 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411303564_b6kayrjl2", + "x": 0.48166659657796645, + "y": 0.47516661782498226 + } + ] + }, + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411307238_ueg1re4xj", + "x": 0.48166659657796657, + "y": 0.45249995300293355, + "width": 0.09299999432373074, + "height": 0.13599998893229254 + } + ] + }, + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411315600_9stis1q4r", + "x": 0.5386665930989627, + "y": 0.29516663247341857, + "width": 0.18499998870849677, + "height": 0.2506666462673628 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左上方抬起爪夹。", + "correction_plan": "继续想爪夹方向的左上方抬起爪夹，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功向爪夹方向的左上方抬起爪夹。", + "frame": 491, + "progress": 90, + "progress_explanation": "爪夹向爪夹方向的左上方抬起爪夹，准备将高锰酸钾倒入蒸发皿。因此进度提升至90%", + "state_description": "当前爪夹合拢，位于蒸发皿的正上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续想爪夹方向的左上方抬起爪夹，使高锰酸钾倒入蒸发皿中。", + "time": 16.356240646007254, + "annotations": { + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411325972_v65t09m90", + "x": 0.5926665898030645, + "y": 0.07649998360188935, + "width": 0.3289999799194348, + "height": 0.5039999589843784 + } + ] + }, + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411334192_85w9be5fy", + "x": 0.4766665968831423, + "y": 0.4538332862277599, + "width": 0.1019999937744144, + "height": 0.13333332248263982 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411336510_1g63insna", + "x": 0.478666596761072, + "y": 0.4791666174994615 + } + ] + }, + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411338420_8r8g9ui4x", + "x": 0.5776665907185918, + "y": 0.4711666181505031 + } + ] + } + } + }, + { + "time": 19.16981430917539, + "frame": 575, + "progress": 100, + "action_description": "爪夹左右晃动，高锰酸钾倒入蒸发皿中。", + "state_description": "当前爪夹合拢，高锰酸钾已倒入蒸发皿。已完成将高锰酸钾倒入蒸发皿中的任务。", + "progress_explanation": "当前高锰酸钾已倒入蒸发皿中。因此进度提升至100%", + "error_success_analysis": "爪夹成功将高锰酸钾倒入蒸发皿中。", + "correction_plan": "", + "annotations": { + "bbox_1769411050550": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050550_1769411358279_79xf2fstx", + "x": 0.5926665898030645, + "y": 0.15916664354112603, + "width": 0.2459999849853526, + "height": 0.41466663292100964 + } + ] + }, + "bbox_1769411050680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769411050680_1769411368536_0qnak9n86", + "x": 0.4766665968831423, + "y": 0.4538332862277599, + "width": 0.10099999383544951, + "height": 0.13866665538194536 + }, + { + "id": "bbox_1769411050680_1769411375588_tg4omedlo", + "x": 0.6796665844930063, + "y": 0.22449997155761953, + "width": 0.124999992370606, + "height": 0.21199998274739718 + } + ] + }, + "point_1769411051262": { + "type": "point", + "instances": [ + { + "id": "point_1769411051262_1769411387052_koaborx7d", + "x": 0.4776665968221071, + "y": 0.48583328362359346 + } + ] + }, + "point_1769411051408": { + "type": "point", + "instances": [ + { + "id": "point_1769411051408_1769411389406_gajouw2vj", + "x": 0.5786665906575567, + "y": 0.47649995104980863 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769411050550", + "name": "蒸发皿", + "color": "#4CAF50" + }, + { + "id": "bbox_1769411050680", + "name": "高锰酸钾", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769411051262", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769411051408", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-181033-put-potassium permanganate-evaporating dish-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-181033-put-potassium permanganate-evaporating dish-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..5308848d326146a48a642bbb4dfd2bacb19a58cd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-181033-put-potassium permanganate-evaporating dish-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,917 @@ +{ + "task_description": "将高锰酸钾倒入蒸发皿中；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近高锰酸钾：20%\n爪夹抓取高锰酸钾：40%\n爪夹抓住高锰酸钾并接近蒸发皿：60%\n爪夹将高锰酸钾移动至蒸发皿上方：80%\n调整爪夹角度，使高锰酸钾倒入蒸发皿：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降。", + "time": 1.513996668049375, + "annotations": { + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414123331_p45fa8e52", + "x": 0.4776665968221071, + "y": 0.3018332985975506, + "width": 0.13699999163818405, + "height": 0.1079999912109382 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414129316_nwb0ee7q3", + "x": 0.4436665988973023, + "y": 0.49649994942220466 + } + ] + }, + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414131307_k2jugl3pa", + "x": 0.6076665888875372, + "y": 0.4898332832980727 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功向爪夹方向的上方移动。", + "frame": 88, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的上方移动，爪夹开始移动。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的右前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降。", + "time": 2.917020655024851, + "annotations": { + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414134427_b2txikr35", + "x": 0.6076665888875372, + "y": 0.49249994974772543 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414136447_8g296fsys", + "x": 0.4396665991414429, + "y": 0.49383328297255186 + } + ] + }, + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414141597_fxij0xg9s", + "x": 0.48666659627279074, + "y": 0.32049996374512013, + "width": 0.13499999176025437, + "height": 0.1413333218315982 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动。", + "correction_plan": "调整爪夹角度，随后下降并合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功向爪夹方向的右方移动至高锰酸钾上方。", + "frame": 102, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的右方移动，移动至高锰酸钾上方。因此进度提升至20%", + "state_description": "当前爪夹张开，位于高锰酸钾上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：调整爪夹角度，随后下降并合拢爪夹，抓取高锰酸钾后竖直上升。", + "time": 3.416402074117817, + "annotations": { + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414149815_jxg7mevbp", + "x": 0.2646666098225946, + "y": 0.36316662693956486, + "width": 0.11899999273681687, + "height": 0.1626666534288205 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414155153_am0t1qgf6", + "x": 0.4396665991414429, + "y": 0.48183328394911423 + } + ] + }, + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414157141_ekz90surw", + "x": 0.6126665885823614, + "y": 0.4791666174994615 + } + ] + }, + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414161447_y7yd015mt", + "x": 0.5056665951131227, + "y": 0.6791666012234212, + "width": 0.031999998046875165, + "height": 0.041333329969618283 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右方移动。", + "correction_plan": "向爪夹方向的左方移动并调整爪夹角度，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹移动方向错误，导致与高锰酸钾的水平距离略微拉远。", + "frame": 125, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的右方移动，与高锰酸钾的水平距离略微拉远。因此进度下降至15%", + "state_description": "当前爪夹张开，与高锰酸钾的水平距离略微拉远。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左方移动并调整爪夹角度，到达高锰酸钾的正上方后下降。", + "time": 4.153584168969338, + "annotations": { + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414180969_kutyhck1g", + "x": 0.4366665993245483, + "y": 0.6738332683241155, + "width": 0.04599999719238301, + "height": 0.05599999544270868 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414183359_a0he9v89v", + "x": 0.44466659883626714, + "y": 0.4791666174994615 + } + ] + }, + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414185373_fl4tnzbg4", + "x": 0.6136665885213264, + "y": 0.47649995104980863 + } + ] + }, + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414189284_ppjqd0jzq", + "x": 0.15866661629232076, + "y": 0.4084999565836624, + "width": 0.08999999450683627, + "height": 0.19199998437500126 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动并下降。", + "correction_plan": "向爪夹方向的左方移动并抬起爪夹，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的右方移动并下降，再次拉远与高锰酸钾的水平距离。", + "frame": 150, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的右方移动并下降，与高锰酸钾的水平距离再次拉远。因此进度下降至10%", + "state_description": "当前爪夹张开，与高锰酸钾的水平距离再次拉远。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左方移动并抬起爪夹，到达高锰酸钾的正上方后下降。", + "time": 4.9858865341242815, + "annotations": { + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414202251_c81powmsv", + "x": 0.0016666258748397292, + "y": 0.3324999627685577, + "width": 0.04999999694824237, + "height": 0.25866664561632113 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414208051_26q7rm958", + "x": 0.438666599202478, + "y": 0.47649995104980863 + } + ] + }, + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414209771_f7gjyzrvy", + "x": 0.609666588765467, + "y": 0.4791666174994615 + } + ] + } + } + }, + { + "action_description": "合拢爪夹，未抓取到高锰酸钾。", + "correction_plan": "张开爪夹，随后向爪夹方向的左方移动并抬起爪夹，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹未移动至高锰酸钾上方就合拢爪夹，导致未抓取到高锰酸钾。", + "frame": 191, + "progress": 5, + "progress_explanation": "爪夹合拢未抓取到高锰酸钾。因此进度下降至5%", + "state_description": "当前爪夹张开，与高锰酸钾的水平距离再次拉远。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：张开爪夹，随后向爪夹方向的左方移动并抬起爪夹。", + "time": 6.365130453523902, + "annotations": { + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414213067_ubrjci0ti", + "x": 0.5346665933431034, + "y": 0.4724999513753295 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414214436_c5jbcmsbf", + "x": 0.5216665941365604, + "y": 0.4738332846001559 + } + ] + }, + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414217857_9nmnat0pl", + "x": 0.3256666060994503, + "y": 0.5604999442138717, + "width": 0.07399999548339871, + "height": 0.10666665798611182 + } + ] + }, + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414221537_dowy0vky1", + "x": 0.017666624898277288, + "y": 0.3364999624430369, + "width": 0.05799999645996114, + "height": 0.24133331369357797 + } + ] + } + } + }, + { + "action_description": "张开爪夹。", + "correction_plan": "向爪夹方向的左方移动并抬起爪夹，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功张开，方便后续抓取高锰酸钾。", + "frame": 212, + "progress": 10, + "progress_explanation": "当前爪夹张开，方便抓取高锰酸钾。因此进度提升至10%", + "state_description": "当前爪夹张开，位于桌面上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左方移动并抬起爪夹，到达高锰酸钾的正上方后下降。", + "time": 7.054752413223712, + "annotations": { + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414230816_7weaxsggl", + "x": 0.03666662373860939, + "y": 0.40183329045953037, + "width": 0.06399999609375023, + "height": 0.22799998144531397 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414236569_qumrdv5cq", + "x": 0.40766660109456776, + "y": 0.47649995104980863 + } + ] + }, + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414238421_6h8kar2cj", + "x": 0.642666586751307, + "y": 0.4831666171739407 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动并抬起。\n", + "correction_plan": "向爪夹方向的左前方移动，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动并抬起，成功拉近与高锰酸钾的水平距离。", + "frame": 248, + "progress": 15, + "progress_explanation": "当前爪夹张开，与高锰酸钾的水平距离略微拉近，因此进度提升至15%", + "state_description": "当前爪夹张开，与高锰酸钾的水平距离略微拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左前方移动，到达高锰酸钾的正上方后下降。", + "time": 8.267535859592343, + "annotations": { + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414241389_ioa4vjk30", + "x": 0.641666586812342, + "y": 0.48716661684841983 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414243215_h6c6yy2nw", + "x": 0.40966660097249746, + "y": 0.48183328394911423 + } + ] + }, + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414246569_inuzkd8nc", + "x": 0.5086665949300173, + "y": 0.5738332764621357, + "width": 0.053999996704101785, + "height": 0.06266666156684077 + } + ] + }, + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414250753_tj6iiwai2", + "x": 0.2616666100057, + "y": 0.1084999809977229, + "width": 0.18199998889160227, + "height": 0.20266665017361246 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "向爪夹方向的右前方移动并下降，随后合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功拉近与高锰酸钾的垂直距离。", + "frame": 274, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的下方移动，爪夹已靠近高锰酸钾。因此进度提升至20%", + "state_description": "当前爪夹张开，位于高锰酸钾的上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的右前方移动并下降，随后合拢爪夹抓取高锰酸钾后竖直上升。", + "time": 9.147398359898997, + "annotations": { + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414259116_fzqazipin", + "x": 0.14566661708577774, + "y": 0.001833323011611083, + "width": 0.16699998980712955, + "height": 0.2466666465928836 + } + ] + }, + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414266407_rpwvupgxd", + "x": 0.5356665932820682, + "y": 0.45249995300293355, + "width": 0.06199999621582055, + "height": 0.07999999348958386 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414268055_7mys9rb1v", + "x": 0.40766660109456776, + "y": 0.4791666174994615 + } + ] + }, + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414269489_iv38fzlci", + "x": 0.642666586751307, + "y": 0.48583328362359346 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动并下降。", + "correction_plan": "下降并合拢爪夹，抓取高锰酸钾后竖直上升，向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的右方移动并下降，成功移动至高锰酸钾的正上方。", + "frame": 301, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的右方移动并下降，再次拉近与高锰酸钾的水平距离，因此进度提升至30%", + "state_description": "当前爪夹张开，位于高锰酸钾的正上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：下降并合拢爪夹，抓取高锰酸钾后竖直上升。", + "time": 10.027260860205653, + "annotations": { + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414272959_iep30z91f", + "x": 0.6396665869344124, + "y": 0.4844999503987671 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414274679_0avc3dngv", + "x": 0.41166660085042717, + "y": 0.4738332846001559 + } + ] + }, + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414277686_s4c7iqou4", + "x": 0.02666662434896091, + "y": -0.0008333434380417124, + "width": 0.15299999066162165, + "height": 0.27466664431423793 + } + ] + }, + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414285441_es4jepshg", + "x": 0.471666597188318, + "y": 0.440499953979496, + "width": 0.07799999523925809, + "height": 0.10133332508680618 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "合拢爪夹，抓取高锰酸钾后竖直上升，随后向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功再次拉近与高锰酸钾的垂直距离。", + "frame": 324, + "progress": 35, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，再次拉近与高锰酸钾的垂直距离。因此进度提升至35%", + "state_description": "当前爪夹张开，位于高锰酸钾两侧。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：合拢爪夹，抓取高锰酸钾后竖直上升，随后向爪夹方向的左前方移动。", + "time": 10.812003090208886, + "annotations": { + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414289113_kdnzwpks1", + "x": 0.4986665955403689, + "y": 0.4618332855767183, + "width": 0.1009999938354496, + "height": 0.13599998893229248 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414292589_so6qnd4wn", + "x": 0.40766660109456776, + "y": 0.4724999513753295 + } + ] + }, + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414293979_z6hhlx5l4", + "x": 0.641666586812342, + "y": 0.4738332846001559 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取高锰酸钾。\n", + "correction_plan": "抓取高锰酸钾后竖直上升，随后向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，成功抓取到高锰酸钾。", + "frame": 365, + "progress": 40, + "progress_explanation": "当前爪夹已抓取到高锰酸钾。因此进度提升至40%", + "state_description": "当前爪夹合拢，抓住高锰酸钾。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：抓取高锰酸钾后竖直上升，随后向爪夹方向的左前方移动。", + "time": 12.16746694203265, + "annotations": { + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414306256_qllc1tkhe", + "x": 0.4776665968221071, + "y": 0.4711666181505031, + "width": 0.09599999414062532, + "height": 0.1319999892578134 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414307891_lkmp8qr4m", + "x": 0.47966659670003675, + "y": 0.4844999503987671 + } + ] + }, + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414309587_o6dr82idz", + "x": 0.5756665908406621, + "y": 0.4791666174994615 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起。", + "correction_plan": "向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功将高锰酸钾向爪夹方向的上方抬起。", + "frame": 421, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向的上方抬起，抬起高锰酸钾位于桌面上方。因此进度提升至50%", + "state_description": "当前爪夹合拢，抓住高锰酸钾位于桌面上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左前方移动，直至高锰酸钾处于蒸发皿正上方。", + "time": 14.022312212949382, + "annotations": { + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414315385_mf92a1elz", + "x": 0.5726665910237676, + "y": 0.48583328362359346 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414317506_1yokg5c7m", + "x": 0.48166659657796645, + "y": 0.4898332832980727 + } + ] + }, + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414322395_zdhr6315t", + "x": 0.48466659639486104, + "y": 0.4724999513753295, + "width": 0.08999999450683624, + "height": 0.1293333228081605 + } + ] + }, + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414326061_wp1mbxybh", + "x": 0.17066661555989893, + "y": 0.20849997285970273, + "width": 0.12799999218750047, + "height": 0.22933331467014043 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "继续向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功使高锰酸钾与蒸发皿的水平距离拉近。", + "frame": 434, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的左前方移动，与蒸发皿的水平距离略微拉近。因此进度提升至60%", + "state_description": "当前爪夹合拢，与蒸发皿的水平距离略微拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续向爪夹方向的左方移动，直至高锰酸钾处于蒸发皿正上方。", + "time": 14.45035342931478, + "annotations": { + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414334241_8sb2moy8c", + "x": 0.3216666063435909, + "y": 0.3431666285671689, + "width": 0.15599999047851618, + "height": 0.2266666482204876 + } + ] + }, + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414340875_lv1da9zcy", + "x": 0.4806665966390017, + "y": 0.4724999513753295, + "width": 0.09499999420166043, + "height": 0.1293333228081605 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414349655_nqsqxhnkx", + "x": 0.478666596761072, + "y": 0.48583328362359346 + } + ] + }, + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414351419_3rxzjqbic", + "x": 0.5716665910848027, + "y": 0.48183328394911423 + } + ] + } + } + }, + { + "time": 14.949734848407745, + "frame": 448, + "progress": 80, + "action_description": "爪夹向爪夹方向的左方移动。", + "state_description": "当前爪夹合拢，位于蒸发皿的上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "progress_explanation": "爪夹向爪夹方向的左方移动，已移动至蒸发皿的上方。因此进度提升至80%", + "error_success_analysis": "爪夹成功向爪夹方向的左方移动至蒸发皿的上方。", + "correction_plan": "调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "annotations": { + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414355323_p8eqp0sm1", + "x": 0.5736665909627324, + "y": 0.48583328362359346 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414357593_amj5hx3p0", + "x": 0.47966659670003675, + "y": 0.48716661684841983 + } + ] + }, + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414362057_wkwxjman4", + "x": 0.4806665966390017, + "y": 0.46983328492567666, + "width": 0.09399999426269563, + "height": 0.13066665603298702 + } + ] + }, + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414368967_l4my8k4u8", + "x": 0.4726665971272829, + "y": 0.38183329208713446, + "width": 0.17399998937988342, + "height": 0.2373333140190987 + } + ] + } + } + }, + { + "time": 17.530666, + "frame": 526, + "progress": 90, + "action_description": "爪夹向爪夹方向的左方抬起爪夹调整爪夹角度。", + "state_description": "当前爪夹合拢，位于蒸发皿的上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：继续调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "progress_explanation": "爪夹向爪夹方向的左方抬起爪夹调整爪夹角度，准备将高锰酸钾倒入蒸发皿。因此进度提升至90%", + "error_success_analysis": "爪夹成功向爪夹方向的左方抬起爪夹，调整爪夹角度方便将高锰酸钾倒入蒸发皿中。", + "correction_plan": "继续调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "annotations": { + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414379273_jqas1eckk", + "x": 0.6926665836995493, + "y": 0.2418333034803627, + "width": 0.2219999864501962, + "height": 0.37866663585069704 + } + ] + }, + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414387259_s0gsbd1x2", + "x": 0.47966659670003675, + "y": 0.4711666181505031, + "width": 0.09499999420166053, + "height": 0.1319999892578134 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414393441_mtd34aa07", + "x": 0.48166659657796645, + "y": 0.48849995007324626 + } + ] + }, + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414395497_x617c8dgt", + "x": 0.5726665910237676, + "y": 0.4844999503987671 + } + ] + } + } + }, + { + "time": 20.4832, + "frame": 614, + "progress": 100, + "action_description": "爪夹继续向爪夹方向的左方抬起。", + "state_description": "当前爪夹合拢，高锰酸钾已经倒入蒸发皿中。已完成将高锰酸钾倒入蒸发皿中的任务。", + "progress_explanation": "高锰酸钾已倒入蒸发皿中。因此进度提升至100%", + "error_success_analysis": "爪夹成功将高锰酸钾倒入蒸发皿中。", + "correction_plan": "", + "annotations": { + "point_1769414107586": { + "type": "point", + "instances": [ + { + "id": "point_1769414107586_1769414399299_89gs7b9n2", + "x": 0.5756665908406621, + "y": 0.49649994942220466 + } + ] + }, + "point_1769414107447": { + "type": "point", + "instances": [ + { + "id": "point_1769414107447_1769414401133_3r5hosrfs", + "x": 0.48466659639486104, + "y": 0.49916661587185746 + } + ] + }, + "bbox_1769414106947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106947_1769414404614_t3xuramau", + "x": 0.48166659657796645, + "y": 0.4791666174994615, + "width": 0.09099999444580113, + "height": 0.12799998958333406 + }, + { + "id": "bbox_1769414106947_1769414411813_vzw46u6u6", + "x": 0.8036665769246472, + "y": 0.3218332969699465, + "width": 0.10199999377441457, + "height": 0.21333331597222377 + } + ] + }, + "bbox_1769414106825": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414106825_1769414419525_qj6aq3d99", + "x": 0.7306665813802135, + "y": 0.24316663670518907, + "width": 0.2019999876708991, + "height": 0.4106666332465306 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769414106825", + "name": "蒸发皿", + "color": "#4CAF50" + }, + { + "id": "bbox_1769414106947", + "name": "高锰酸钾", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769414107447", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769414107586", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-184016-put-potassium permanganate-evaporating dish-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-184016-put-potassium permanganate-evaporating dish-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..746edd3d577c5c4db4a612a482d799480358bd81 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260112-lilingchu/20260112-184016-put-potassium permanganate-evaporating dish-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,494 @@ +{ + "task_description": "将高锰酸钾倒入蒸发皿中；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近高锰酸钾：20%\n爪夹抓取高锰酸钾：40%\n爪夹抓住高锰酸钾并接近蒸发皿：60%\n爪夹将高锰酸钾移动至蒸发皿上方：80%\n调整爪夹角度，使高锰酸钾倒入蒸发皿：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的右前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降。", + "time": 0.6551655646232958, + "annotations": { + "bbox_1769416399735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399735_1769416440026_mwqsy6kse", + "x": 0.5346665933431034, + "y": 0.2298333044569251, + "width": 0.1239999924316411, + "height": 0.09199999251302143 + } + ] + }, + "point_1769416400294": { + "type": "point", + "instances": [ + { + "id": "point_1769416400294_1769416444440_dvejxiq7u", + "x": 0.41266660078939205, + "y": 0.48849995007324626 + } + ] + }, + "point_1769416400417": { + "type": "point", + "instances": [ + { + "id": "point_1769416400417_1769416446962_jo94bbuhm", + "x": 0.6376665870564826, + "y": 0.48849995007324626 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方移动。", + "correction_plan": "向爪夹方向的左前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的右前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功向爪夹方向的上方移动。", + "frame": 52, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的上方移动，爪夹开始移动。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左前方移动并调整爪夹角度，到达高锰酸钾的正上方后下降。", + "time": 1.7498734297617848, + "annotations": { + "point_1769416400417": { + "type": "point", + "instances": [ + { + "id": "point_1769416400417_1769416451016_rty91otuk", + "x": 0.641666586812342, + "y": 0.48049995072428786 + } + ] + }, + "point_1769416400294": { + "type": "point", + "instances": [ + { + "id": "point_1769416400294_1769416452921_ba5toatei", + "x": 0.41266660078939205, + "y": 0.48583328362359346 + } + ] + }, + "bbox_1769416399735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399735_1769416457204_tjwue8acr", + "x": 0.5426665928548221, + "y": 0.18849997448730677, + "width": 0.13199999194335987, + "height": 0.12133332345920224 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并调整爪夹角度。", + "correction_plan": "向爪夹方向的左方移动并下降，到达高锰酸钾的正上方后继续下降，合拢爪夹抓取高锰酸钾后竖直上升，向爪夹方向的右前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功拉近与高锰酸钾的水平距离。", + "frame": 80, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的左前方移动，已移动至高锰酸钾上方。因此进度提升至20%", + "state_description": "当前爪夹张开，位于高锰酸钾上方。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的左方移动并下降，到达高锰酸钾的正上方后继续下降。", + "time": 2.6704232254464237, + "annotations": { + "bbox_1769416399735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399735_1769416466080_pemmtkiyw", + "x": 0.7296665814412486, + "y": 0.24049997025553627, + "width": 0.11999999267578172, + "height": 0.18266665180121647 + } + ] + }, + "bbox_1769416399862": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399862_1769416476250_u7iu1i73h", + "x": 0.48466659639486104, + "y": 0.48716661684841983, + "width": 0.038999997619629044, + "height": 0.047999996093750316 + } + ] + }, + "point_1769416400294": { + "type": "point", + "instances": [ + { + "id": "point_1769416400294_1769416481576_qtql7p4x3", + "x": 0.41266660078939205, + "y": 0.4831666171739407 + } + ] + }, + "point_1769416400417": { + "type": "point", + "instances": [ + { + "id": "point_1769416400417_1769416483580_png8rrhjk", + "x": 0.641666586812342, + "y": 0.4844999503987671 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左方移动，随后向爪夹方向的前方移动并下降。", + "correction_plan": "向爪夹方向的前方移动并下降，随后合拢爪夹抓取高锰酸钾，随后竖直上升，向爪夹方向的右前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹成功拉近与高锰酸钾的垂直距离。", + "frame": 114, + "progress": 30, + "progress_explanation": "爪夹与高锰酸钾的垂直距离拉近，因此进度提升至30%", + "state_description": "当前爪夹张开，与高锰酸钾的垂直距离拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的前方移动并下降，随后合拢爪夹抓取高锰酸钾。", + "time": 3.8148905390002987, + "annotations": { + "point_1769416400417": { + "type": "point", + "instances": [ + { + "id": "point_1769416400417_1769416488652_ty1dxcz6p", + "x": 0.6436665866902718, + "y": 0.48049995072428786 + } + ] + }, + "point_1769416400294": { + "type": "point", + "instances": [ + { + "id": "point_1769416400294_1769416490980_y7ixjo5wa", + "x": 0.4136666007283568, + "y": 0.47649995104980863 + } + ] + }, + "bbox_1769416399862": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399862_1769416495234_ptnkzg2tr", + "x": 0.5346665933431034, + "y": 0.3898332914360928, + "width": 0.060999996276855664, + "height": 0.08266665993923669 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "correction_plan": "向爪夹方向的右前方移动并下降，移动至高锰酸钾两侧后，合拢爪夹抓取高锰酸钾，随后竖直上升，向爪夹方向的右前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "error_success_analysis": "爪夹移动方向错误，导致与高锰酸钾的水平距离拉远。", + "frame": 141, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的左后方移动，与高锰酸钾的水平距离拉远。因此进度下降至15%", + "state_description": "当前爪夹张开，与高锰酸钾的水平距离拉远。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：向爪夹方向的右前方移动并下降，移动至高锰酸钾两侧后，合拢爪夹抓取高锰酸钾。", + "time": 4.710560610477244, + "annotations": { + "bbox_1769416399862": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399862_1769416505616_q0yll3fuh", + "x": 0.7896665777791395, + "y": 0.2884999663492866, + "width": 0.09799999401855493, + "height": 0.09066665928819505 + } + ] + }, + "point_1769416400294": { + "type": "point", + "instances": [ + { + "id": "point_1769416400294_1769416511434_1y801rexa", + "x": 0.4136666007283568, + "y": 0.4791666174994615 + } + ] + }, + "point_1769416400417": { + "type": "point", + "instances": [ + { + "id": "point_1769416400417_1769416513462_4ccr61o5j", + "x": 0.6376665870564826, + "y": 0.48049995072428786 + } + ] + } + } + }, + { + "time": 5.56891109564265, + "frame": 167, + "progress": -20, + "action_description": "爪夹合拢，抓取酒精杯。\n", + "state_description": "当前爪夹合拢，抓住酒精杯。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：张开爪夹，随后向爪夹方向的右前方移动并下降，移动至高锰酸钾两侧。", + "progress_explanation": "爪夹合拢夹取目标错误。因此进度下降至-20%", + "error_success_analysis": "爪夹未移动至高锰酸钾两侧就合拢爪夹，导致抓取目标错误。", + "correction_plan": "张开爪夹，随后向爪夹方向的右前方移动并下降，移动至高锰酸钾两侧后，合拢爪夹抓取高锰酸钾，随后竖直上升，向爪夹方向的右前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "annotations": { + "point_1769416400417": { + "type": "point", + "instances": [ + { + "id": "point_1769416400417_1769416518017_dj5i842r9", + "x": 0.5616665916951542, + "y": 0.4724999513753295 + } + ] + }, + "point_1769416400294": { + "type": "point", + "instances": [ + { + "id": "point_1769416400294_1769416520130_6hzedvh2i", + "x": 0.4926665959065798, + "y": 0.47516661782498226 + } + ] + }, + "bbox_1769416399862": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399862_1769416528876_k52cato1z", + "x": 0.7946665774739637, + "y": 0.3218332969699465, + "width": 0.08499999481201197, + "height": 0.0773333270399311 + } + ] + } + } + }, + { + "time": 7.422450549115774, + "frame": 223, + "progress": -15, + "action_description": "爪夹向爪夹方向的右前方移动并抬起。", + "state_description": "当前爪夹合拢，与高锰酸钾的水平距离拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：张开爪夹，随后向爪夹方向的下方下降，移动至高锰酸钾两侧后合拢爪夹。", + "progress_explanation": "爪夹向爪夹方向的右前方移动并抬起，与高锰酸钾的水平距离拉近。因此进度提升至-15%", + "error_success_analysis": "爪夹成功拉近与高锰酸钾的水平距离。", + "correction_plan": "张开爪夹，随后向爪夹方向的下方下降，移动至高锰酸钾两侧后合拢爪夹，抓取高锰酸钾，随后竖直上升，向爪夹方向的右前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "annotations": { + "bbox_1769416399735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399735_1769416540628_2qz3ykum0", + "x": 0.7656665792439832, + "y": 0.19916664028591796, + "width": 0.11599999291992233, + "height": 0.16133332020399413 + } + ] + }, + "point_1769416400294": { + "type": "point", + "instances": [ + { + "id": "point_1769416400294_1769416558142_jnknar5vd", + "x": 0.4916665959676149, + "y": 0.47649995104980863 + } + ] + }, + "point_1769416400417": { + "type": "point", + "instances": [ + { + "id": "point_1769416400417_1769416560114_vjxqd2b5p", + "x": 0.5586665918782597, + "y": 0.47516661782498226 + } + ] + } + } + }, + { + "time": 9.835783797261987, + "frame": 295, + "progress": -25, + "action_description": "爪夹向爪夹方向的右方移动并调整爪夹角度。", + "state_description": "当前爪夹合拢，与高锰酸钾的水平距离拉远。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：张开爪夹，随后向爪夹方向的左方移动并调整爪夹角度，移动至高锰酸钾上方后下降。", + "progress_explanation": "爪夹向爪夹方向的右方移动，与高锰酸钾的水平距离拉远并调整爪夹角度。因此进度下降至-25%", + "error_success_analysis": "爪夹移动方向错误，导致与高锰酸钾的水平距离再次拉远。", + "correction_plan": "张开爪夹，随后向爪夹方向的左方移动并调整爪夹角度，移动至高锰酸钾上方后下降，抓取高锰酸钾，随后竖直上升，向爪夹方向的右前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "annotations": { + "point_1769416400417": { + "type": "point", + "instances": [ + { + "id": "point_1769416400417_1769416563746_ss8geek82", + "x": 0.5586665918782597, + "y": 0.47649995104980863 + } + ] + }, + "point_1769416400294": { + "type": "point", + "instances": [ + { + "id": "point_1769416400294_1769416565718_r3hmrm2ss", + "x": 0.4936665958455446, + "y": 0.4844999503987671 + } + ] + }, + "bbox_1769416399862": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399862_1769416569815_6o9kgeyew", + "x": 0.7046665829671274, + "y": 0.5631666106635245, + "width": 0.05899999639892606, + "height": 0.07066666091579918 + } + ] + }, + "bbox_1769416399735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399735_1769416577274_y0har6uww", + "x": 0.6166665883382209, + "y": 0.07649998360188935, + "width": 0.2009999877319343, + "height": 0.3239999736328147 + } + ] + } + } + }, + { + "time": 11.117089593958175, + "frame": 334, + "progress": -20, + "action_description": "爪夹向爪夹方向的左方移动并调整爪夹角度。", + "state_description": "当前爪夹合拢，与高锰酸钾的水平距离略微拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：张开爪夹，随后向爪夹方向的左方移动，移动至高锰酸钾上方后下降。", + "progress_explanation": "爪夹向爪夹方向的左方移动，与高锰酸钾的水平距离略微拉近。因此进度提升至-20%", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功与高锰酸钾的水平距离略微拉近。", + "correction_plan": "张开爪夹，随后向爪夹方向的左方移动，移动至高锰酸钾上方后下降，抓取高锰酸钾，随后竖直上升，向爪夹方向的右前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "annotations": { + "bbox_1769416399735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399735_1769416587684_5khoj8jg6", + "x": 0.6046665890706426, + "y": 0.1804999751383484, + "width": 0.21199998706054757, + "height": 0.267999978190106 + } + ] + }, + "point_1769416400294": { + "type": "point", + "instances": [ + { + "id": "point_1769416400294_1769416595030_htkaqinny", + "x": 0.4946665957845095, + "y": 0.47649995104980863 + } + ] + }, + "point_1769416400417": { + "type": "point", + "instances": [ + { + "id": "point_1769416400417_1769416596826_pd2xo58ef", + "x": 0.5626665916341191, + "y": 0.47516661782498226 + } + ] + } + } + }, + { + "time": 12.066667, + "frame": 362, + "progress": -15, + "action_description": "爪夹向爪夹方向的左方移动，同时调整爪夹角度至垂直于桌面。", + "state_description": "当前爪夹合拢，与高锰酸钾的水平距离再次拉近。\n为完成将高锰酸钾倒入蒸发皿中的任务应当：张开爪夹，随后向爪夹方向的左方移动，移动至高锰酸钾上方后下降。", + "progress_explanation": "爪夹向爪夹方向的左方移动，与高锰酸钾的水平距离再次拉近，同时爪夹角度已垂直于桌面。因此进度提升至-15%", + "error_success_analysis": "爪夹成功再次拉近与高锰酸钾的水平距离，同时成功垂直于桌面。", + "correction_plan": "张开爪夹，随后向爪夹方向的左方移动，移动至高锰酸钾上方后下降，抓取高锰酸钾，随后竖直上升，向爪夹方向的右前方移动，直至高锰酸钾处于蒸发皿正上方，调整爪夹角度，使高锰酸钾倒入蒸发皿中。", + "annotations": { + "point_1769416400417": { + "type": "point", + "instances": [ + { + "id": "point_1769416400417_1769416420574_30jcwm0l4", + "x": 0.5626665916341191, + "y": 0.48183328394911423 + } + ] + }, + "point_1769416400294": { + "type": "point", + "instances": [ + { + "id": "point_1769416400294_1769416422822_ckm8767h5", + "x": 0.4926665959065798, + "y": 0.48183328394911423 + } + ] + }, + "bbox_1769416399735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769416399735_1769416430154_2b75jt46v", + "x": 0.6476665864461311, + "y": 0.15516664386664683, + "width": 0.1999999877929695, + "height": 0.27199997786458513 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769416399735", + "name": "蒸发皿", + "color": "#4CAF50" + }, + { + "id": "bbox_1769416399862", + "name": "高锰酸钾", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769416400294", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769416400417", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-100314-drop-liquid-rubber head dropper-evaporating dish-good/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-100314-drop-liquid-rubber head dropper-evaporating dish-good/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..9a549dc3df89a9d190ee63c02927ab9c2b234a1d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-100314-drop-liquid-rubber head dropper-evaporating dish-good/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,478 @@ +{ + "task_description": "将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中。 \n爪夹开始移动:0%\n爪夹靠近胶头滴管:20%\n爪夹夹起胶头滴管:40%\n爪夹将液体吸入胶头滴管中:60%\n爪夹将胶头滴管放入蒸发皿中:80%\n爪夹捏紧，液体落入蒸发皿中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.10400000000000004, + "id": "bbox_1769392411725_1769392448277_7vpmbeq1h", + "width": 0.050999999999999976, + "x": 0.314375, + "y": 0.39219791666666665 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.16266666666666668, + "id": "bbox_1769392421115_1769392452532_dflhuye1g", + "width": 0.14400000000000004, + "x": 0.662375, + "y": 0.26686458333333335 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769392456651_z9m8ise8g", + "x": 0.417375, + "y": 0.4961979166666667 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769392460068_yb5u7cmzi", + "x": 0.636375, + "y": 0.49353125000000003 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度向上抬起，然后向爪夹方向的左侧移动至胶头滴管上方，准备下降抓取胶头滴管，抓取胶头滴管后竖直上升，向爪夹的右前方移动，直至到达蒸发皿的上方，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触胶头滴管，\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:调整爪夹角度向上抬起，然后向爪夹方向的左侧移动至胶头滴管上方，准备下降抓取胶头滴管。", + "time": 0.7531314432989691 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.0733333333333333, + "id": "bbox_1769392411725_1769392476123_u5fjtzqjv", + "width": 0.04299999999999997, + "x": 0.40737500000000004, + "y": 0.5961979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.18800000000000003, + "id": "bbox_1769392421115_1769392472516_j289k9768", + "width": 0.12299999999999996, + "x": 0.729375, + "y": 0.4188645833333334 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769392467051_tl0rfxiu6", + "x": 0.414375, + "y": 0.4908645833333333 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769392463882_mwua691ov", + "x": 0.635375, + "y": 0.4908645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的左侧移动至胶头滴管上方，准备下降抓取胶头滴管，抓取胶头滴管后竖直上升，向爪夹的右前方移动，直至到达蒸发皿的上方，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向爪夹方向左侧移动至交投滴管上方。", + "frame": 64, + "progress": 10, + "progress_explanation": "目前爪夹向上抬升，进度提升为10%。", + "state_description": "当前状态为爪夹打开，向上抬升\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹向爪夹方向的左侧移动至胶头滴管上方，准备下降抓取胶头滴管。", + "time": 2.117499 + }, + { + "action_description": "爪夹向爪夹方向左侧移动然后微微下降。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.07066666666666664, + "id": "bbox_1769392411725_1769392481043_s20z2v1h7", + "width": 0.04499999999999993, + "x": 0.511375, + "y": 0.42953125000000003 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.29066666666666674, + "id": "bbox_1769392421115_1769392485634_z2qi1846d", + "width": 0.040000000000000036, + "x": 0.9573750000000001, + "y": 0.26019791666666664 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769392488219_ptezu5pke", + "x": 0.414375, + "y": 0.47886458333333337 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769392490819_ur0cpnx3i", + "x": 0.635375, + "y": 0.48553125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降抓取胶头滴管，抓取胶头滴管后竖直上升，向爪夹的右前方移动，直至到达蒸发皿的上方，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向左侧移动，然后微微下降靠近胶头滴管，方便爪夹合拢抓取。", + "frame": 95, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向左侧移动，然后微微下降靠近胶头滴管，方便爪夹合拢抓取，进度提升为15%。", + "state_description": "当前状态为爪夹打开，靠近胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹下降靠近胶头滴管，方便爪夹合拢抓取。", + "time": 3.1823 + }, + { + "action_description": "爪夹下降调整角度。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.09599999999999996, + "id": "bbox_1769392411725_1769392510594_jmunql82v", + "width": 0.046, + "x": 0.519375, + "y": 0.45753125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.26000000000000006, + "id": "bbox_1769392421115_1769392507219_mc9fnp4lu", + "width": 0.025, + "x": 0.970375, + "y": 0.34553124999999996 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769392502435_ik626e83b", + "x": 0.442375, + "y": 0.4841979166666667 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769392500067_p57ux52y9", + "x": 0.610375, + "y": 0.48019791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取胶头滴管，抓取胶头滴管后竖直上升，向爪夹的右前方移动，直至到达蒸发皿的上方，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹下降，成功靠近胶头滴管，方便爪夹合拢抓取。", + "frame": 134, + "progress": 20, + "progress_explanation": "目前爪夹靠近胶头滴管，方便爪夹合拢抓取，进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹合拢抓取胶头滴管，将液体吸入胶头滴管中。", + "time": 4.4528 + }, + { + "action_description": "爪夹合拢夹取胶头滴管。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.09733333333333327, + "id": "bbox_1769392411725_1769392514267_8inuf3ph2", + "width": 0.04499999999999993, + "x": 0.507375, + "y": 0.4401979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.27866666666666673, + "id": "bbox_1769392421115_1769392524994_qid9m9rhs", + "width": 0.03600000000000012, + "x": 0.961375, + "y": 0.3001979166666667 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769392528403_n13ca3k4c", + "x": 0.510375, + "y": 0.48019791666666667 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769392530929_gs1i83s22", + "x": 0.537375, + "y": 0.47753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取胶头滴管后竖直上升，向爪夹的右前方移动，直至到达蒸发皿的上方，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹合拢成功抓取胶头滴管，", + "frame": 178, + "progress": 40, + "progress_explanation": "目前爪夹合拢成功抓取胶头滴管，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹合拢抓取胶头滴管，然后向上抬升。", + "time": 5.9169 + }, + { + "action_description": "爪机向上抬升。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.1293333333333333, + "id": "bbox_1769392411725_1769392547730_18sr29svg", + "width": 0.03600000000000003, + "x": 0.510375, + "y": 0.39353125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.22799999999999995, + "id": "bbox_1769392421115_1769392542953_pbz8l7zuv", + "width": 0.11300000000000007, + "x": 0.842375, + "y": 0.25886458333333334 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769392538450_rqx3l6lj3", + "x": 0.510375, + "y": 0.47219791666666666 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769392535162_xh4p6toab", + "x": 0.5393749999999999, + "y": 0.47753125 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹的右前方移动，直至到达蒸发皿的上方，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹抓紧胶头滴管向上抬升远离滴瓶，方便爪夹向爪夹方向右前方移动靠近蒸发皿。", + "frame": 232, + "progress": 60, + "progress_explanation": "目前爪夹抓紧胶头滴管向上抬升远离滴瓶，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹抓紧胶头滴管向爪夹方向右前方移动靠近蒸发皿。", + "time": 7.744 + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.11599999999999995, + "id": "bbox_1769392411725_1769392559872_pv92b5qom", + "width": 0.03300000000000001, + "x": 0.512375, + "y": 0.4041979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.17466666666666672, + "id": "bbox_1769392421115_1769392563617_7j09makid", + "width": 0.14699999999999996, + "x": 0.455375, + "y": 0.36953125 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769392566689_o1loxoqf4", + "x": 0.512375, + "y": 0.4761979166666667 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769392569040_7yh8pfsxw", + "x": 0.541375, + "y": 0.47219791666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向右前方移动，成功靠近蒸发皿，方便爪夹捏紧将液体滴入蒸发皿中。", + "frame": 285, + "progress": 80, + "progress_explanation": "目前爪夹向爪夹方向右前方移动，成功靠近蒸发皿，进度提升为80%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹抓紧胶头滴管，将胶头滴管中的液体滴入蒸发皿中。", + "time": 9.4864 + }, + { + "action_description": "爪夹捏紧胶头滴管。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.15199999999999997, + "id": "bbox_1769392411725_1769392587265_6mygk96uq", + "width": 0.03500000000000005, + "x": 0.514375, + "y": 0.3708645833333334 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.22133333333333335, + "id": "bbox_1769392421115_1769392580889_c5kiw8ll0", + "width": 0.16399999999999998, + "x": 0.46537500000000004, + "y": 0.28286458333333336 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769392574585_0hrchk626", + "x": 0.515375, + "y": 0.47353125 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769392571744_4hq79xj66", + "x": 0.536375, + "y": 0.47219791666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹在蒸发皿上方，捏紧胶头滴管成功将液体滴入蒸发皿中。", + "frame": 339, + "progress": 100, + "progress_explanation": "目前爪夹在蒸发皿上方，捏紧胶头滴管将液体滴入蒸发皿中，进度提升为100%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n已完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务。", + "time": 11.289299 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769392411725", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769392421115", + "name": "蒸发皿" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769392427404", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769392432467", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-103447-drop-liquid-rubber head dropper-evaporating dish-mix/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-103447-drop-liquid-rubber head dropper-evaporating dish-mix/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..a86c730bab5d42440db6409bfcdbf802abc59522 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-103447-drop-liquid-rubber head dropper-evaporating dish-mix/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,738 @@ +{ + "task_description": "将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中。 \n爪夹开始移动:0%\n爪夹靠近胶头滴管:20%\n爪夹夹起胶头滴管:40%\n爪夹移动胶头滴管:60%\n爪夹将胶头滴管放入蒸发皿中:80%\n爪夹捏紧，液体落入蒸发皿中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.05066666666666665, + "id": "bbox_1769392411725_1769395136018_ukscw2m6m", + "width": 0.025999999999999978, + "x": 0.515375, + "y": 0.34953125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.1333333333333333, + "id": "bbox_1769392421115_1769395132986_edr3dfqqm", + "width": 0.11699999999999999, + "x": 0.21437500000000004, + "y": 0.15353125 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769395128914_47byt8h2g", + "x": 0.406375, + "y": 0.19886458333333332 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769395126195_f3mls4sw7", + "x": 0.496375, + "y": 0.19753125 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度向上抬起，随后爪夹向前移动，然后向爪夹方向的左侧移动至胶头滴管上方，使爪夹垂直桌面，准备下降抓取胶头滴管，抓取胶头滴管后竖直上升，向爪夹的右后方移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "", + "frame": 37, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触胶头滴管，\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:调整爪夹角度向上抬起，然后向爪夹方向的左前方移动至胶头滴管上方，使爪夹垂直桌面，准备下降抓取胶头滴管。", + "time": 1.240824719458763 + }, + { + "action_description": "爪夹向上抬起。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1769392411725_1769395112298_zi3v7it6z", + "width": 0.03599999999999994, + "x": 0.511375, + "y": 0.34953125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.152, + "id": "bbox_1769392421115_1769395116459_gx9zwwe73", + "width": 0.10800000000000001, + "x": 0.21937500000000001, + "y": 0.14553125 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769395120362_olo36hoiy", + "x": 0.409375, + "y": 0.1561979166666667 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769395123435_e04b0zgel", + "x": 0.500375, + "y": 0.15753124999999998 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向前移动，然后向爪夹方向的左侧移动至胶头滴管上方，使爪夹垂直桌面，准备下降抓取胶头滴管，抓取胶头滴管后竖直上升，向爪夹的右后方移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向爪夹方向前方移动靠近交投滴管。", + "frame": 57, + "progress": 5, + "progress_explanation": "目前爪夹向上抬升，进度提升为5%。", + "state_description": "当前状态为爪夹打开，向上抬升\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹向爪夹方向的前方移动，方便爪夹靠近胶头滴管。", + "time": 1.9138143978092785 + }, + { + "action_description": "爪夹向前移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.04133333333333334, + "id": "bbox_1769392411725_1769395108404_yzf0wfn5p", + "width": 0.02399999999999993, + "x": 0.515375, + "y": 0.34953125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1769392421115_1769395105467_sk46bqjuu", + "width": 0.11600000000000002, + "x": 0.215375, + "y": 0.15886458333333334 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769395100260_y724miuug", + "x": 0.409375, + "y": 0.24286458333333333 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769395097547_nq4eosd5a", + "x": 0.502375, + "y": 0.25353125000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的左侧移动至胶头滴管上方，使爪夹垂直桌面，准备下降抓取胶头滴管，抓取胶头滴管后竖直上升，向爪夹的右后方移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹向前移动，与上一阶段相比，爪夹距离胶头滴管更近。", + "frame": 89, + "progress": 10, + "progress_explanation": "目前爪夹向前移动，与上一阶段相比，爪夹距离胶头滴管更近，进度提升为10%。", + "state_description": "当前状态为爪夹打开，向前移动\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹向爪夹方向的左前方移动，方便爪夹靠近胶头滴管。", + "time": 2.955733 + }, + { + "action_description": "爪夹向爪夹方向左前方移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.05599999999999999, + "id": "bbox_1769392411725_1769395085747_ga2cbn91b", + "width": 0.025, + "x": 0.514375, + "y": 0.3401979166666667 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.13733333333333334, + "id": "bbox_1769392421115_1769395090099_z5tdtti3e", + "width": 0.11700000000000003, + "x": 0.222375, + "y": 0.1561979166666667 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769395092251_rvzdwey6x", + "x": 0.49037500000000006, + "y": 0.3641979166666667 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769395094500_g93565mtq", + "x": 0.580375, + "y": 0.35219791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取胶头滴管，抓取胶头滴管后竖直上升，向爪夹的右后方移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹向左前移动，与上一阶段相比，爪夹靠近胶头滴管，方便爪夹合拢抓取胶头滴管。", + "frame": 120, + "progress": 20, + "progress_explanation": "目前爪夹向左前移动，与上一阶段相比，爪夹靠近胶头滴管，方便爪夹合拢抓取胶头滴管，进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹合拢抓取胶头滴管，将液体吸入胶头滴管中，然后向上抬升。", + "time": 3.989333 + }, + { + "action_description": "爪夹合拢抓取。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.05066666666666665, + "id": "bbox_1769392411725_1769395082644_qfce9naau", + "width": 0.027999999999999935, + "x": 0.511375, + "y": 0.34286458333333336 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.13199999999999998, + "id": "bbox_1769392421115_1769395079579_teza1lhqw", + "width": 0.12399999999999997, + "x": 0.21237500000000004, + "y": 0.15219791666666668 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769395074627_tnbf6o6hd", + "x": 0.545375, + "y": 0.34419791666666666 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769395072172_2q6va408o", + "x": 0.5543750000000001, + "y": 0.34419791666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，调整角度重新合拢抓取胶头滴管，将液体吸入胶头滴管中，然后向上抬升，随后向爪夹的右后方移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹合拢准备抓取胶头滴管，爪夹没成功抓取胶头滴管，与上一阶段相比爪夹需要重新张开抓取胶头滴管的动作。", + "frame": 143, + "progress": 10, + "progress_explanation": "目前爪夹合拢准备抓取胶头滴管，爪夹没成功抓取胶头滴管，与上一阶段相比爪夹需要重新张开抓取胶头滴管的动作，进度倒退为10%。", + "state_description": "当前状态为爪夹合拢，\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹张开，调整角度重新合拢抓取胶头滴管，将液体吸入胶头滴管中，然后向上抬升。", + "time": 4.774020530798969 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.060000000000000026, + "id": "bbox_1769392411725_1769395059109_p4igb6xqf", + "width": 0.026999999999999958, + "x": 0.512375, + "y": 0.34686458333333337 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.14800000000000002, + "id": "bbox_1769392421115_1769395062859_1ftam7lfp", + "width": 0.123, + "x": 0.21237500000000004, + "y": 0.14553125 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769395066252_b3k6o1v4h", + "x": 0.502375, + "y": 0.34286458333333336 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769395068803_47zepb1zp", + "x": 0.589375, + "y": 0.33086458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "调整角度重新合拢抓取胶头滴管，将液体吸入胶头滴管中，然后向上抬升，随后向爪夹的右后方移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹张开，与上一阶段相比，爪夹秩序调整角度靠近胶头滴管，方便爪夹合拢抓取胶头滴管。", + "frame": 191, + "progress": 15, + "progress_explanation": "目前爪夹张开，与上一阶段相比，爪夹秩序调整角度靠近胶头滴管，方便爪夹合拢抓取胶头滴管，进度提升为15%。", + "state_description": "当前状态为爪夹张开，\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:调整爪夹角度重新靠近胶头滴管，爪夹合拢将液体吸入胶头滴管中，然后向上抬升。", + "time": 6.3817180957474235 + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.05599999999999999, + "id": "bbox_1769392411725_1769395055524_2lmz5mttd", + "width": 0.02999999999999998, + "x": 0.512375, + "y": 0.34686458333333337 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.13466666666666666, + "id": "bbox_1769392421115_1769395051764_o74394cn7", + "width": 0.11600000000000002, + "x": 0.21637499999999998, + "y": 0.15086458333333336 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769395047341_26tqqbot1", + "x": 0.479375, + "y": 0.37353125000000004 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769395044652_s1lzvwsui", + "x": 0.5663750000000001, + "y": 0.37353125000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取胶头滴管，将液体吸入胶头滴管中，然后向上抬升，随后向爪夹的右后方移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向右侧移动成功靠近胶头滴管，方便爪夹合拢抓取胶头滴管。", + "frame": 241, + "progress": 20, + "progress_explanation": "目前爪夹向爪夹方向右侧移动成功靠近胶头滴管，方便爪夹合拢抓取胶头滴管，进度提升为20%。", + "state_description": "当前状态为爪夹张开，靠近胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹合拢将液体吸入胶头滴管中。", + "time": 8.033066 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.04933333333333329, + "id": "bbox_1769392411725_1769395032381_wrkv5ekhu", + "width": 0.021999999999999974, + "x": 0.512375, + "y": 0.33753125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.14533333333333331, + "id": "bbox_1769392421115_1769395035829_nddqdaovl", + "width": 0.12199999999999997, + "x": 0.21037500000000003, + "y": 0.14686458333333335 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769395038429_28y575k9d", + "x": 0.519375, + "y": 0.35219791666666667 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769395040908_lvphy9ej4", + "x": 0.5313749999999999, + "y": 0.34953125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹的右后方移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹合拢抓取胶头滴管，将液体吸入胶头滴管中，方便爪夹向上抬升远离滴瓶。", + "frame": 277, + "progress": 30, + "progress_explanation": "目前爪夹合拢抓取胶头滴管，将液体吸入胶头滴管中，进度提升为30%。", + "state_description": "当前状态为爪夹合拢，将液体吸入胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹夹取胶头滴管向上抬升远离滴瓶，然后向爪夹方向右后方移动。", + "time": 9.247999 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.168, + "id": "bbox_1769392411725_1769395028661_t4jisuk6q", + "width": 0.02300000000000004, + "x": 0.546375, + "y": 0.21753125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.14266666666666666, + "id": "bbox_1769392421115_1769395024332_ivbzg4by4", + "width": 0.11299999999999999, + "x": 0.217375, + "y": 0.14286458333333335 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769395019749_42vuqlb9b", + "x": 0.5503750000000001, + "y": 0.24419791666666668 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769395015901_ucrkh05l3", + "x": 0.5623750000000001, + "y": 0.23619791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹持续抬升，向爪夹的右后方移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹合拢抓取胶头滴管，向上抬升并开始移动。", + "frame": 340, + "progress": 40, + "progress_explanation": "目前爪夹合拢抓取胶头滴管，向上抬升并开始移动，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹持续向上抬升。", + "time": 11.335669894716496 + }, + { + "action_description": "爪夹持续向上抬升。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.22133333333333333, + "id": "bbox_1769392411725_1769395001189_br4juqdhi", + "width": 0.025999999999999978, + "x": 0.49037500000000006, + "y": 0.07086458333333333 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.13999999999999999, + "id": "bbox_1769392421115_1769395005901_863elakc4", + "width": 0.12000000000000002, + "x": 0.215375, + "y": 0.15219791666666668 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769395008733_z9vtue9qj", + "x": 0.497375, + "y": 0.09619791666666667 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769395012380_kdj46ott3", + "x": 0.514375, + "y": 0.08953125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右后方移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹爪夹持续向上抬升远离胶头滴管，方便爪夹向爪夹方向右后方移动。", + "frame": 376, + "progress": 50, + "progress_explanation": "目前爪夹爪夹持续向上抬升远离胶头滴管，进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹向爪夹方向右后方移动靠近蒸发皿。", + "time": 12.530133 + }, + { + "action_description": "爪夹向爪夹方向右后方移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.18533333333333332, + "id": "bbox_1769392411725_1769394982510_2154ldisd", + "width": 0.039999999999999994, + "x": 0.28137500000000004, + "y": 0.00019791666666666666 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.14666666666666667, + "id": "bbox_1769392421115_1769394986310_lxle166a0", + "width": 0.11699999999999999, + "x": 0.215375, + "y": 0.15219791666666668 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向右后方移动，靠近蒸发皿，方便爪夹将胶头滴管放进蒸发皿中。", + "frame": 418, + "progress": 60, + "progress_explanation": "目前爪夹向爪夹方向右后方移动，靠近蒸发皿，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，靠近蒸发皿\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹下降将胶头滴管放进蒸发皿中。", + "time": 13.944533 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.20133333333333334, + "id": "bbox_1769392411725_1769394975870_rr8yu85fc", + "width": 0.02799999999999998, + "x": 0.256375, + "y": 0.00953125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.1373333333333333, + "id": "bbox_1769392421115_1769394971839_rn2s6fype", + "width": 0.11999999999999997, + "x": 0.21437500000000004, + "y": 0.15219791666666668 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769394967606_yexpw36vx", + "x": 0.257375, + "y": 0.03353125 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769394963728_yirgoddlc", + "x": 0.27737500000000004, + "y": 0.03753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹下降将胶头滴管放进蒸发皿中，方便爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "frame": 467, + "progress": 80, + "progress_explanation": "目前爪夹下降将胶头滴管放进蒸发皿中，进度提升为80%。", + "state_description": "当前状态为爪夹合拢，靠近蒸发皿\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "time": 15.560549542139174 + }, + { + "action_description": "爪夹捏紧。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.19733333333333333, + "id": "bbox_1769392411725_1769394949630_oxj46dwuj", + "width": 0.020000000000000018, + "x": 0.259375, + "y": 0.016197916666666666 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.14533333333333334, + "id": "bbox_1769392421115_1769394953199_xm4krno5g", + "width": 0.11400000000000002, + "x": 0.21637499999999998, + "y": 0.14553125 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769394957087_58asgt6s9", + "x": 0.256375, + "y": 0.029531250000000002 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769394959670_in1vdu34q", + "x": 0.272375, + "y": 0.03619791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹捏紧胶头滴管，成功将液体滴入蒸发皿中。", + "frame": 518, + "progress": 100, + "progress_explanation": "目前爪夹捏紧胶头滴管，成功将液体滴入蒸发皿中，进度提升为100%。", + "state_description": "当前状态为爪夹合拢，将液体滴入蒸发皿中\n已完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务。", + "time": 17.262933 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769392411725", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769392421115", + "name": "蒸发皿" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769392427404", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769392432467", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-111630-drop-liquid-rubber head dropper-evaporating dish-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-111630-drop-liquid-rubber head dropper-evaporating dish-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..95caa3382346aed86c19a6ed61d63b6b5c0c31be --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-111630-drop-liquid-rubber head dropper-evaporating dish-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,422 @@ +{ + "task_description": "将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中。 \n爪夹开始移动:0%\n爪夹靠近胶头滴管:20%\n爪夹夹起胶头滴管:40%\n爪夹移动胶头滴管:60%\n爪夹将胶头滴管放入蒸发皿中:80%\n爪夹捏紧，液体落入蒸发皿中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.060000000000000026, + "id": "bbox_1769392411725_1769396388102_3aqq7637f", + "width": 0.028000000000000025, + "x": 0.514375, + "y": 0.32553125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.12666666666666662, + "id": "bbox_1769392421115_1769396392590_n7thmev73", + "width": 0.121, + "x": 0.21037500000000003, + "y": 0.27353125000000006 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769396395366_5g87dk06w", + "x": 0.390375, + "y": 0.1908645833333333 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769396397862_bt28q10th", + "x": 0.477375, + "y": 0.19886458333333332 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度向上抬起，随后向爪夹方向的左前方移动至胶头滴管上方，爪夹合拢抓取胶头滴管，抓取胶头滴管后竖直上升，向爪夹的右侧移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触胶头滴管，\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:调整爪夹角度向上抬起，然后向爪夹方向的左前方移动至胶头滴管上方，准备合拢抓取胶头滴管。", + "time": 1.0158075918814433 + }, + { + "action_description": "爪夹向上抬起。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.05599999999999999, + "id": "bbox_1769392411725_1769396411494_moi7b2ia3", + "width": 0.022999999999999955, + "x": 0.516375, + "y": 0.32686458333333335 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.13066666666666665, + "id": "bbox_1769392421115_1769396408239_0wdxahsek", + "width": 0.127, + "x": 0.20237500000000003, + "y": 0.27353125000000006 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769396404206_ek4350inn", + "x": 0.40437500000000004, + "y": 0.20553125 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769396401527_mijup4442", + "x": 0.506375, + "y": 0.20019791666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的左前方移动至胶头滴管上方，爪夹合拢抓取胶头滴管，抓取胶头滴管后竖直上升，向爪夹的右侧移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向爪夹方向左前方移动靠近胶头滴管。", + "frame": 64, + "progress": 10, + "progress_explanation": "目前爪夹向上抬升，进度提升为10%。", + "state_description": "当前状态为爪夹打开，向上抬升\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹向爪夹方向的左前方移动，方便爪夹合拢抓取胶头滴管。", + "time": 2.1374571114690726 + }, + { + "action_description": "爪夹向爪夹方向左前方移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.04933333333333335, + "id": "bbox_1769392411725_1769396417190_d7mhvh4f4", + "width": 0.025, + "x": 0.516375, + "y": 0.33086458333333335 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.14, + "id": "bbox_1769392421115_1769396421486_ozgss4qkg", + "width": 0.12599999999999997, + "x": 0.20637500000000003, + "y": 0.26553125 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769396426070_26t7z13xw", + "x": 0.48637500000000006, + "y": 0.34686458333333337 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769396428270_57psk4v2g", + "x": 0.5743750000000001, + "y": 0.33086458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取胶头滴管，抓取胶头滴管后竖直上升，向爪夹的右侧移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹向左前移动，与上一阶段相比，爪夹靠近胶头滴管，方便爪夹合拢抓取胶头滴管。", + "frame": 111, + "progress": 20, + "progress_explanation": "目前爪夹向左前移动，与上一阶段相比，爪夹靠近胶头滴管，方便爪夹合拢抓取胶头滴管，进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹合拢抓取胶头滴管，将液体吸入胶头滴管中，然后向上抬升。", + "time": 3.712 + }, + { + "action_description": "爪夹合拢捏紧。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1769392411725_1769396440733_0l1ple32d", + "width": 0.025, + "x": 0.514375, + "y": 0.31886458333333334 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.14133333333333334, + "id": "bbox_1769392421115_1769396437458_guolk025a", + "width": 0.125, + "x": 0.20637500000000003, + "y": 0.27086458333333335 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769396433718_b45e79iaa", + "x": 0.521375, + "y": 0.33886458333333336 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769396431142_3aa8ji2cp", + "x": 0.5353749999999999, + "y": 0.33753125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取胶头滴管后竖直上升，向爪夹的右侧移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹合拢抓取胶头滴管，将液体吸入胶头滴管中，方便爪夹夹取胶头滴管向上抬升远离滴瓶。", + "frame": 150, + "progress": 30, + "progress_explanation": "目前爪夹合拢抓取胶头滴管，将液体吸入胶头滴管中，进度提升为30%。", + "state_description": "当前状态为爪夹合拢，将液体吸入胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹夹取胶头滴管向上抬升远离滴瓶，然后向爪夹方向右后方移动。", + "time": 5.013333 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.18, + "id": "bbox_1769392411725_1769396444917_8ur675zxb", + "width": 0.03200000000000003, + "x": 0.5273749999999999, + "y": 0.17619791666666668 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.12666666666666668, + "id": "bbox_1769392421115_1769396449311_0lmdjrgq1", + "width": 0.123, + "x": 0.20637500000000003, + "y": 0.27619791666666665 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769396452717_qk94seodg", + "x": 0.534375, + "y": 0.19219791666666666 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769396455492_1bwlos4h4", + "x": 0.546375, + "y": 0.18553125 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹的右侧移动，直至到达蒸发皿的上方，爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹合拢抓取成功胶头滴管，向上抬升并开始移动。", + "frame": 183, + "progress": 40, + "progress_explanation": "目前爪夹合拢抓取胶头滴管，向上抬升并开始移动，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹向爪夹方向右侧移动靠近蒸发皿。", + "time": 6.101333 + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.18133333333333332, + "id": "bbox_1769392411725_1769396473333_7a2wqe3m3", + "width": 0.020999999999999998, + "x": 0.27537500000000004, + "y": 0.057531250000000006 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.13199999999999998, + "id": "bbox_1769392421115_1769396469389_3zdhp1r06", + "width": 0.10999999999999996, + "x": 0.21437500000000004, + "y": 0.27353125000000006 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769396462252_lpkdc8har", + "x": 0.282375, + "y": 0.057531250000000006 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769396458981_3gss9xv2o", + "x": 0.28937500000000005, + "y": 0.06686458333333332 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降将胶头滴管放进蒸发皿中，爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，成功靠近蒸发皿，方便爪夹下降将胶头滴管放进蒸发皿中。", + "frame": 216, + "progress": 60, + "progress_explanation": "目前爪夹向爪夹方向右侧移动，靠近蒸发皿，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹下降将胶头滴管放入蒸发皿中。", + "time": 7.189333 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.18266666666666662, + "id": "bbox_1769392411725_1769396477855_h51mzcx7v", + "width": 0.02799999999999998, + "x": 0.26937500000000003, + "y": 0.12953125000000001 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.13600000000000004, + "id": "bbox_1769392421115_1769396482164_bvla16aa4", + "width": 0.119, + "x": 0.21237500000000004, + "y": 0.26286458333333335 + } + ], + "type": "bbox" + }, + "point_1769392427404": { + "instances": [ + { + "id": "point_1769392427404_1769396485716_5cvrnvhbo", + "x": 0.274375, + "y": 0.13086458333333334 + } + ], + "type": "point" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769396487965_zka31l1gn", + "x": 0.28737500000000005, + "y": 0.13753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "error_success_analysis": "爪夹下降将胶头滴管放进蒸发皿中，方便爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "frame": 255, + "progress": 80, + "progress_explanation": "目前爪夹下降将胶头滴管放进蒸发皿中，进度提升为80%。", + "state_description": "当前状态为爪夹合拢，靠近蒸发皿\n为完成将液体小心地吸入带有橡胶头滴管的容器中，然后放入蒸发皿中的任务应当:爪夹捏紧胶头滴管将液体滴入蒸发皿中。", + "time": 8.490666 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769392411725", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769392421115", + "name": "蒸发皿" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769392427404", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769392432467", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-114158-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-114158-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..863bd9435b8f4fda89ea566978f4495d5270e850 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-114158-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,258 @@ +{ + "task_description": "将橡胶头滴管放入培养瓶中。\n爪夹开始移动:0%\n爪夹移动胶头滴管:30%\n爪夹靠近培养瓶:60%\n爪夹下降，将胶头滴管放入培养瓶中：90%\n爪夹张开，胶头滴管放入培养瓶中：100%", + "progress_points": [ + { + "action_description": "爪夹保持合拢状态，暂未移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.09866666666666667, + "id": "bbox_1769392411725_1769398138875_pjqfmeve4", + "width": 0.06299999999999999, + "x": 0.342375, + "y": 0.0018645833333333333 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.19333333333333333, + "id": "bbox_1769392421115_1769398132693_h18ubyyi6", + "width": 0.08499999999999996, + "x": 0.612375, + "y": 0.16586458333333332 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度向上抬起，随后向爪夹方向的右侧移动，爪夹后退至培养瓶上方，随后爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹合拢，准备开始移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:调整爪夹角度向上抬起，然后向爪夹方向的右侧移动，随后爪夹后退至培养瓶上方。", + "time": 0.7269157885309279 + }, + { + "action_description": "爪夹向上抬起。", + "annotations": { + "bbox_1769392421115": { + "instances": [ + { + "height": 0.18666666666666668, + "id": "bbox_1769392421115_1769398124074_lh9wpks6b", + "width": 0.07400000000000002, + "x": 0.625375, + "y": 0.16853125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹方向的右侧移动，爪夹后退至培养瓶上方，随后爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "爪夹向上抬升，远离蒸发皿，发辫爪夹向爪夹方向右侧移动。", + "frame": 61, + "progress": 10, + "progress_explanation": "目前爪夹向上抬升，远离蒸发皿，方便爪夹向爪夹方向右侧移动，进度提升为10%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹向爪夹方向的右侧移动，随后爪夹后退至培养瓶上方。", + "time": 2.039630530798969 + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "annotations": { + "bbox_1769392421115": { + "instances": [ + { + "height": 0.19333333333333333, + "id": "bbox_1769392421115_1769398118291_wcxr4u4e4", + "width": 0.08499999999999996, + "x": 0.619375, + "y": 0.16286458333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹后退至培养瓶上方，随后爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，远离蒸发皿，方便爪夹后退靠近培养瓶。", + "frame": 102, + "progress": 20, + "progress_explanation": "目前爪夹向爪夹方向右侧移动，远离蒸发皿，方便爪夹后退靠近培养瓶，进度提升为20%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将橡胶头滴管放入培养瓶中的任务应当:随后爪夹后退至培养瓶上方。", + "time": 3.404853862757732 + }, + { + "action_description": "爪夹后退。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.14, + "id": "bbox_1769392411725_1769398110571_akyi2602e", + "width": 0.046, + "x": 0.689375, + "y": 0.00053125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.176, + "id": "bbox_1769392421115_1769398105667_yctldss7o", + "width": 0.075, + "x": 0.622375, + "y": 0.17786458333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "随后爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "爪夹后退成功至培养瓶正上方，方便爪夹下降，将胶头滴管放进培养瓶中。", + "frame": 131, + "progress": 30, + "progress_explanation": "目前爪夹后退成功至培养瓶正上方，方便爪夹下降，将胶头滴管放进培养瓶中，进度提升为30%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹下降至培养瓶正上方，方便爪夹下降将胶头滴管放进培养瓶中。", + "time": 4.380266 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.164, + "id": "bbox_1769392411725_1769398093867_9sectv6id", + "width": 0.03100000000000005, + "x": 0.681375, + "y": 0.027197916666666665 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.18133333333333332, + "id": "bbox_1769392421115_1769398098627_o7xrsy8as", + "width": 0.08099999999999996, + "x": 0.615375, + "y": 0.17253125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "爪夹下降至培养瓶正上方，方便将胶头滴管放进培养瓶中.", + "frame": 177, + "progress": 60, + "progress_explanation": "目前爪夹下降至培养瓶正上方，方便将胶头滴管放进培养瓶中，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹下降将胶头滴管放进培养瓶中。", + "time": 5.908266 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.057333333333333326, + "id": "bbox_1769392411725_1769398087828_axlvnr4f5", + "width": 0.03799999999999999, + "x": 0.657375, + "y": 0.14853125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.17333333333333334, + "id": "bbox_1769392421115_1769398078220_vgk520azb", + "width": 0.08800000000000008, + "x": 0.6083749999999999, + "y": 0.18453125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "爪夹下降，成功将胶头滴管放进培养瓶中。", + "frame": 234, + "progress": 90, + "progress_explanation": "目前爪夹下降将胶头滴管放进培养瓶中，进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹张开，将胶头滴管放进培养瓶中。", + "time": 7.792799 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.08133333333333333, + "id": "bbox_1769392411725_1769398058636_jzf5o151z", + "width": 0.03099999999999996, + "x": 0.6743750000000001, + "y": 0.13119791666666666 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.15999999999999998, + "id": "bbox_1769392421115_1769398063108_97nlmm5le", + "width": 0.079, + "x": 0.615375, + "y": 0.19386458333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹下降，成功将胶头滴管放进培养瓶中。", + "frame": 336, + "progress": 100, + "progress_explanation": "目前爪夹下降，成功将胶头滴管放进培养瓶中，进度提升为100%。", + "state_description": "当前状态为爪夹张开，胶头滴管在培养瓶中\n已完成将橡胶头滴管放入培养瓶中的任务。", + "time": 11.205333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769392411725", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769392421115", + "name": "培养瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769392427404", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769392432467", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-114158-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-114158-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..17d2256d823c2f952e3115e52b33f0913d91a38b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-114158-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,278 @@ +{ + "task_description": "将橡胶头滴管放入培养瓶中。\n爪夹开始移动:0%\n爪夹移动胶头滴管:30%\n爪夹靠近培养瓶:60%\n爪夹下降，将胶头滴管放入培养瓶中：90%\n爪夹张开，胶头滴管放入培养瓶中：100%", + "progress_points": [ + { + "action_description": "爪夹保持合拢状态，暂未移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.27466666666666667, + "id": "bbox_1769392411725_1769399075942_f7xrss40y", + "width": 0.06500000000000003, + "x": 0.559375, + "y": 0.004197916666666667 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.14666666666666667, + "id": "bbox_1769392421115_1769399080822_63kvocimu", + "width": 0.05800000000000001, + "x": 0.45237499999999997, + "y": 0.23619791666666667 + } + ], + "type": "bbox" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769399083925_i2t59euft", + "x": 0.592375, + "y": 0.03753125 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，随后向爪夹方向的左侧移动，爪夹下降至培养瓶上方，随后爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹合拢，准备开始移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:调整爪夹角度，然后向爪夹方向的左侧移动，随后爪夹下降至培养瓶上方。", + "time": 0.7952448453608247 + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.12933333333333333, + "id": "bbox_1769392411725_1769399095557_agtzgdmjb", + "width": 0.051999999999999956, + "x": 0.46937500000000004, + "y": 0.004197916666666667 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.176, + "id": "bbox_1769392421115_1769399091934_6hs9rccnt", + "width": 0.08999999999999994, + "x": 0.42437500000000006, + "y": 0.21353125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹持续向爪夹方向的左侧移动，爪夹下降至培养瓶上方，随后爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "爪夹向爪夹方向左侧移动，远离蒸发皿，方便爪夹靠近培养瓶。", + "frame": 55, + "progress": 10, + "progress_explanation": "目前爪夹向爪夹方向左侧移动，远离蒸发皿，方便爪夹靠近培养瓶，进度提升为10%。", + "state_description": "当前状态为爪夹合拢，\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹持续向爪夹方向的左侧移动至培养瓶上方，方便爪夹下降至培养瓶上方。", + "time": 1.838199 + }, + { + "action_description": "爪夹持续向爪夹方向的左侧移动。", + "annotations": { + "bbox_1769392421115": { + "instances": [ + { + "height": 0.18666666666666665, + "id": "bbox_1769392421115_1769399103893_jp9osntrs", + "width": 0.07400000000000002, + "x": 0.43537499999999996, + "y": 0.20586458333333332 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降至培养瓶上方，随后爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "爪夹持续向爪夹方向的左侧移动至培养瓶上方位置，方便爪夹下降将胶头滴管放进培养瓶中。", + "frame": 83, + "progress": 20, + "progress_explanation": "目前爪夹持续向爪夹方向的左侧移动至培养瓶上方位置，进度提升为20%。", + "state_description": "当前状态为爪夹合拢，\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹下降至培养瓶上方。", + "time": 2.7775 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.20266666666666666, + "id": "bbox_1769392411725_1769399114141_mqux52hkq", + "width": 0.03499999999999996, + "x": 0.446375, + "y": 0.002864583333333333 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.19066666666666665, + "id": "bbox_1769392421115_1769399109661_4456o4clf", + "width": 0.075, + "x": 0.434375, + "y": 0.20686458333333332 + } + ], + "type": "bbox" + }, + "point_1769392432467": { + "instances": [ + { + "id": "point_1769392432467_1769399116966_gw81tfc13", + "x": 0.46937500000000004, + "y": 0.029531250000000002 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "爪夹下降至培养瓶正上方，方便爪夹下降将胶头滴管放进培养瓶中。", + "frame": 130, + "progress": 30, + "progress_explanation": "目前爪夹下降至培养瓶正上方，方便爪夹下降将胶头滴管放进培养瓶中，进度提升为30%。", + "state_description": "当前状态为爪夹合拢，靠近培养瓶\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹持续下降将胶头滴管放进培养瓶中。", + "time": 4.343 + }, + { + "action_description": "抓夹调整角度。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.20666666666666667, + "id": "bbox_1769392411725_1769399129156_lje6bt559", + "width": 0.03499999999999996, + "x": 0.45737500000000003, + "y": 0.0045312500000000006 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.17866666666666667, + "id": "bbox_1769392421115_1769399124677_mb3xs7v9l", + "width": 0.06999999999999992, + "x": 0.43637500000000007, + "y": 0.21519791666666668 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "爪夹调整角度，夹取胶头滴管贴近培养瓶正上方，方便爪夹下降将胶头滴管放进培养瓶中。", + "frame": 177, + "progress": 60, + "progress_explanation": "目前爪夹调整角度，夹取胶头滴管贴近培养瓶正上方，方便爪夹下降将胶头滴管放进培养瓶中，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，靠近培养瓶\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹持续下降将胶头滴管放进培养瓶中。", + "time": 5.888299 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769392421115": { + "instances": [ + { + "height": 0.18133333333333337, + "id": "bbox_1769392421115_1769399136334_1qc1ix76a", + "width": 0.07400000000000002, + "x": 0.425375, + "y": 0.22553125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，胶头滴管放入培养瓶中。", + "error_success_analysis": "爪夹下降，成功将胶头滴管放进培养瓶中。", + "frame": 236, + "progress": 90, + "progress_explanation": "目前爪夹下降将胶头滴管放进培养瓶中，进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹张开，将胶头滴管放进培养瓶中。", + "time": 7.8578 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769392411725": { + "instances": [ + { + "height": 0.060000000000000026, + "id": "bbox_1769392411725_1769399144453_d8n6yh5oe", + "width": 0.02999999999999998, + "x": 0.43637500000000007, + "y": 0.20453125 + } + ], + "type": "bbox" + }, + "bbox_1769392421115": { + "instances": [ + { + "height": 0.17066666666666666, + "id": "bbox_1769392421115_1769399140645_6vngnflmf", + "width": 0.06800000000000006, + "x": 0.42737499999999995, + "y": 0.23519791666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹下降，成功将胶头滴管放进培养瓶中。", + "frame": 287, + "progress": 100, + "progress_explanation": "目前爪夹下降，成功将胶头滴管放进培养瓶中，进度提升为100%。", + "state_description": "当前状态为爪夹张开，胶头滴管在培养瓶中\n已完成将橡胶头滴管放入培养瓶中的任务。", + "time": 9.552048969072164 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769392411725", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769392421115", + "name": "培养瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769392427404", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769392432467", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-114158-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-114158-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..3ccc33500db38cf0488d1b266930f15cdd954507 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-114158-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,478 @@ +{ + "task_description": "将橡胶头滴管放入培养瓶中。\n爪夹开始移动:0%\n爪夹移动胶头滴管:30%\n爪夹靠近培养瓶:60%\n爪夹下降，将胶头滴管放入培养瓶中：90%\n爪夹张开，胶头滴管放入培养瓶中：100%", + "progress_points": [ + { + "action_description": "爪夹保持合拢状态，暂未移动。", + "correction_plan": "调整爪夹角度，随后向爪夹方向的右侧移动，爪夹向前移动，接着向爪夹方向右前方移动至培养瓶上方，爪夹下降至培养瓶瓶口上方，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹合拢，准备开始移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:调整爪夹角度，然后向爪夹方向的右侧移动，随后爪夹向前移动，然后向爪夹方向右前方移动至培养瓶上方。", + "time": 1.2766580359536082, + "annotations": { + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769404974955_54aa93tp5", + "x": 0.639375, + "y": 0.49786458333333333, + "width": 0.07300000000000004, + "height": 0.11733333333333337 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769404983315_8mxi2bu7g", + "x": 0.516375, + "y": 0.4858645833333333 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769404986107_grae5xceo", + "x": 0.5313749999999999, + "y": 0.4818645833333334 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769405008265_fhoboevyh", + "x": 0.516375, + "y": 0.5151979166666667, + "width": 0.022999999999999955, + "height": 0.05333333333333326 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "correction_plan": "爪夹向前移动，接着向爪夹方向右前方移动至培养瓶上方，爪夹下降至培养瓶瓶口上方，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，远离蒸发皿，方便爪夹靠近培养瓶。", + "frame": 63, + "progress": 10, + "progress_explanation": "目前爪夹向爪夹方向右侧移动，远离蒸发皿，方便爪夹靠近培养瓶，进度提升为10%。", + "state_description": "当前状态为爪夹合拢，向右移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹向爪夹方向的前方移动靠近培养瓶，随后向爪夹方向右前方移动至培养瓶上方，方便爪夹下降至培养瓶瓶口上方。", + "time": 2.114466, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769404989978_7wdphhmw8", + "x": 0.5313749999999999, + "y": 0.49386458333333333 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769404992370_cgojx4zcx", + "x": 0.520375, + "y": 0.4911979166666667 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769404997274_7m5c5aoh3", + "x": 0.5693750000000001, + "y": 0.5191979166666667, + "width": 0.046, + "height": 0.12933333333333336 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769405001426_1frzbk95z", + "x": 0.516375, + "y": 0.5191979166666667, + "width": 0.01899999999999995, + "height": 0.04799999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "爪夹向爪夹方向右前方移动至培养瓶上方，爪夹下降至培养瓶瓶口上方，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹向爪夹方向前方移动，方便爪夹靠近培养瓶。", + "frame": 91, + "progress": 20, + "progress_explanation": "目前爪夹向爪夹方向前方移动，方便爪夹靠近培养瓶，进度提升为20%。", + "state_description": "当前状态为爪夹合拢，向前移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:随后向爪夹方向右前方移动至培养瓶上方，方便爪夹下降至培养瓶瓶口上方。", + "time": 3.037533, + "annotations": { + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769405014449_u30ajoc9z", + "x": 0.512375, + "y": 0.50453125, + "width": 0.022999999999999955, + "height": 0.060000000000000026 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769405018922_nicyeckcp", + "x": 0.555375, + "y": 0.49386458333333333, + "width": 0.054000000000000006, + "height": 0.13866666666666666 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769405021393_elp8dl7x8", + "x": 0.519375, + "y": 0.48853125000000003 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769405024481_icatjgwl2", + "x": 0.5313749999999999, + "y": 0.48719791666666673 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "爪夹下降至培养瓶瓶口上方，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹向爪夹方向右前方移动，方便爪夹下降靠近培养瓶。", + "frame": 134, + "progress": 30, + "progress_explanation": "目前爪夹向爪夹方向右前方移动，方便爪夹下降靠近培养瓶，进度提升为30%。", + "state_description": "当前状态为爪夹合拢，靠近培养瓶\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹下降至培养瓶瓶口上方，方便爪夹下降将胶头滴管放进培养瓶中。", + "time": 4.475799, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769405027209_76x49hcbx", + "x": 0.530375, + "y": 0.47253125 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769405029801_2dv9la996", + "x": 0.517375, + "y": 0.47519791666666666 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769405035201_pth42jaee", + "x": 0.509375, + "y": 0.5538645833333333, + "width": 0.03799999999999999, + "height": 0.09066666666666663 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769405039265_71s08u703", + "x": 0.517375, + "y": 0.50053125, + "width": 0.019000000000000038, + "height": 0.04666666666666674 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹持续下降至培养瓶瓶口上方，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹下降将胶头滴管至培养瓶上方，方便将胶头滴管放进培养瓶中。", + "frame": 178, + "progress": 50, + "progress_explanation": "目前爪夹下降将胶头滴管至培养瓶上方，进度提升为50%。", + "state_description": "当前状态为爪夹合拢，靠近培养瓶\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹下降至培养瓶瓶口上方，方便爪夹将胶头滴管放进培养瓶中。", + "time": 5.924799, + "annotations": { + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769405043305_3z94o5q0e", + "x": 0.517375, + "y": 0.5058645833333333, + "width": 0.01799999999999997, + "height": 0.04666666666666674 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769405047618_1txkqnsy1", + "x": 0.502375, + "y": 0.53253125, + "width": 0.04400000000000004, + "height": 0.0986666666666667 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769405050257_tr4ll5s6t", + "x": 0.517375, + "y": 0.47386458333333337 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769405053576_8fak1nicp", + "x": 0.532375, + "y": 0.4778645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹持续下降。", + "correction_plan": "爪夹持续下降价格胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹持续下降，成功将胶头滴管至培养瓶里。", + "frame": 209, + "progress": 60, + "progress_explanation": "目前爪夹持续下降将胶头滴管至培养瓶上方，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，靠近培养瓶\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹微微调整角度，将胶头滴管放进培养瓶中。", + "time": 6.975283288530927, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769405056713_pnrvqn8to", + "x": 0.530375, + "y": 0.47419791666666666 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769405060128_wqkk6pvp5", + "x": 0.519375, + "y": 0.47019791666666666 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769405064928_9rww8y5y8", + "x": 0.495375, + "y": 0.53553125, + "width": 0.054000000000000006, + "height": 0.07999999999999995 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769405069914_azzt1t5ay", + "x": 0.515375, + "y": 0.5021979166666667, + "width": 0.01899999999999995, + "height": 0.04800000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹微微调整角度。", + "correction_plan": "爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹调整角度，成功将胶头滴管放进培养瓶里。", + "frame": 238, + "progress": 90, + "progress_explanation": "目前爪夹调整角度将胶头滴管放进培养瓶里，进度提升为90%。", + "state_description": "当前状态为爪夹合拢，靠近培养瓶\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹张开，胶头滴管落入培养瓶中", + "time": 7.937963671005155, + "annotations": { + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769405075273_3glpjq9g8", + "x": 0.515375, + "y": 0.50453125, + "width": 0.021999999999999974, + "height": 0.05599999999999999 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769405080240_tpemf3reu", + "x": 0.49437500000000006, + "y": 0.5258645833333333, + "width": 0.052999999999999936, + "height": 0.08933333333333339 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769405082600_5wsgjypsk", + "x": 0.519375, + "y": 0.47519791666666666 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769405085560_sqk7cosct", + "x": 0.5313749999999999, + "y": 0.47253125 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，胶头滴管成功落入培养瓶里。", + "frame": 272, + "progress": 100, + "progress_explanation": "目前爪夹张开，胶头滴管成功落入培养瓶里，进度提升为100%。", + "state_description": "当前状态为爪夹张开，胶头滴管落入培养瓶里\n已完成将橡胶头滴管放入培养瓶中的任务。", + "time": 9.069666, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769405088120_jcttd7gns", + "x": 0.639375, + "y": 0.48219791666666667 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769405090544_njny8u3fd", + "x": 0.414375, + "y": 0.48219791666666667 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769405093903_dycupt4b4", + "x": 0.463375, + "y": 0.48219791666666667, + "width": 0.09400000000000004, + "height": 0.12666666666666662 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769405116520_pcpbbfi67", + "x": 0.491375, + "y": 0.52753125, + "width": 0.03399999999999999, + "height": 0.042666666666666644 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769392411725", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769392421115", + "name": "培养瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769392427404", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769392432467", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-135005-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-135005-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..394b312117c93d9e8e346309ff9de84ba67577f9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-135005-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,702 @@ +{ + "task_description": "将橡胶头滴管放入培养瓶中。\n爪夹开始移动:0%\n爪夹移动胶头滴管:30%\n爪夹靠近培养瓶:60%\n爪夹下降，将胶头滴管放入培养瓶中：90%\n爪夹张开，胶头滴管放入培养瓶中：100%", + "progress_points": [ + { + "action_description": "爪夹保持合拢状态，暂未移动。", + "correction_plan": "调整爪夹角度向上抬升，随后爪夹向爪夹方向右侧移动靠近培养瓶，随后爪夹向爪夹方向右前方移动至培养瓶上方，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹合拢，准备开始移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:调整爪夹角度，向上抬升，随后爪夹向爪夹方向右侧移动靠近培养瓶。", + "time": 0.8296391752577319, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407431126_i3o5fnoa2", + "x": 0.5623750000000001, + "y": 0.17919791666666668 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407433830_1o3ihwko8", + "x": 0.5503750000000001, + "y": 0.18053125 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407438119_okt4wkacs", + "x": 0.28937500000000005, + "y": 0.33786458333333336, + "width": 0.07799999999999999, + "height": 0.128 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407442591_5fa3qt7r4", + "x": 0.536375, + "y": 0.17119791666666667, + "width": 0.03799999999999999, + "height": 0.18400000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "随后爪夹向爪夹方向右侧移动靠近培养瓶，随后爪夹向爪夹方向右前方移动至培养瓶上方，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向爪夹方向右侧移动靠近培养瓶。", + "frame": 40, + "progress": 10, + "progress_explanation": "目前爪夹向上抬升，方便爪夹向爪夹方向右侧移动靠近培养瓶，进度提升为10%。", + "state_description": "当前状态为爪夹合拢，爪夹向上抬升\n为完成将橡胶头滴管放入培养瓶中的任务应当:随后爪夹向爪夹方向右侧移动靠近培养瓶。", + "time": 1.3456, + "annotations": { + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407418599_4stjhb7tn", + "x": 0.5353749999999999, + "y": 0.045864583333333334, + "width": 0.041000000000000016, + "height": 0.23600000000000004 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407422151_7hzp3xwwt", + "x": 0.28937500000000005, + "y": 0.33919791666666665, + "width": 0.075, + "height": 0.12533333333333332 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407424487_3hwo8ycn5", + "x": 0.545375, + "y": 0.06586458333333334 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407426727_71myputk8", + "x": 0.556375, + "y": 0.061864583333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "correction_plan": "爪夹持续向爪夹方向右侧移动靠近培养瓶，随后爪夹向爪夹方向右前方移动至培养瓶上方，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹向爪夹方向右侧移动靠近培养瓶，方便爪夹将胶头滴管放进培养瓶中。", + "frame": 62, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向右侧移动靠近培养瓶，进度提升为15%。", + "state_description": "当前状态为爪夹合拢，爪夹向右移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:持续向爪夹方向右侧移动靠近培养瓶。", + "time": 2.0764, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407398241_kysm3zzm4", + "x": 0.445375, + "y": 0.09519791666666667 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407401665_a80bs64cj", + "x": 0.430375, + "y": 0.09386458333333333 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407407863_ul2i3m9mu", + "x": 0.296375, + "y": 0.33919791666666665, + "width": 0.06800000000000002, + "height": 0.128 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407412863_nxsxcd1tw", + "x": 0.422375, + "y": 0.08853124999999999, + "width": 0.041999999999999996, + "height": 0.18933333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹持续向爪夹方向右侧移动。", + "correction_plan": "爪夹向爪夹方向右前方移动至培养瓶上方，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹持续向爪夹方向右侧移动靠近培养瓶，方便爪夹将胶头滴管放进培养瓶中。", + "frame": 87, + "progress": 20, + "progress_explanation": "目前爪夹持续向爪夹方向右侧移动靠近培养瓶，方便爪夹将胶头滴管放进培养瓶中，进度提升为20%。", + "state_description": "当前状态为爪夹合拢，爪夹向右移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹向爪夹方向右前方移动至培养瓶上方。", + "time": 2.9116, + "annotations": { + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407386040_hoeruoho3", + "x": 0.354375, + "y": 0.1561979166666667, + "width": 0.04299999999999997, + "height": 0.16666666666666663 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407390111_u41in7m09", + "x": 0.28937500000000005, + "y": 0.3401979166666667, + "width": 0.07799999999999999, + "height": 0.1293333333333333 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407392863_g93bhfm2t", + "x": 0.360375, + "y": 0.17086458333333335 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407395535_2b4lt9e70", + "x": 0.372375, + "y": 0.17619791666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹向爪夹方向右前方移动靠近培养瓶，方便爪夹将胶头滴管放进培养瓶中。", + "frame": 115, + "progress": 30, + "progress_explanation": "目前爪夹向爪夹方向右前方移动靠近培养瓶，方便爪夹将胶头滴管放进培养瓶中，进度提升为30%。", + "state_description": "当前状态为爪夹合拢，爪夹向右前方移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹夹紧胶头滴管下降将其放进培养瓶中。", + "time": 3.819329896907217, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407358392_j9tt4y8gf", + "x": 0.32937500000000003, + "y": 0.2511979166666667 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407361000_jtz92b0oh", + "x": 0.317375, + "y": 0.24453125 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407376903_snl6ggye2", + "x": 0.296375, + "y": 0.3338645833333333, + "width": 0.07000000000000002, + "height": 0.13066666666666665 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407380648_ahoi49nzb", + "x": 0.310375, + "y": 0.23786458333333332, + "width": 0.04699999999999997, + "height": 0.12800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹重新抬升至培养瓶上方，方便爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹下降，没有将胶头滴管放进培养瓶中，与上一阶段相比，爪夹需要重新向上抬升至培养瓶上方。", + "frame": 145, + "progress": 25, + "progress_explanation": "目前爪夹下降，没有将胶头滴管放进培养瓶中，与上一阶段相比，爪夹需要重新向上抬升至培养瓶上方，进度倒退为25%。", + "state_description": "当前状态为爪夹合拢，爪夹下降\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹重新抬升至培养瓶上方，方便爪夹下降将胶头滴管放进培养瓶中。", + "time": 4.833333333333333, + "annotations": { + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407346233_aiz6ij0cy", + "x": 0.314375, + "y": 0.28953124999999996, + "width": 0.05499999999999998, + "height": 0.10133333333333336 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407350193_wx7zkik7y", + "x": 0.295375, + "y": 0.34286458333333336, + "width": 0.07100000000000004, + "height": 0.11999999999999998 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407352416_cob7ipw33", + "x": 0.315375, + "y": 0.29753124999999997 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407354969_4rzzyfp2f", + "x": 0.325375, + "y": 0.2988645833333334 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "爪夹调整角度，下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹重新抬升至培养瓶上方，方便爪夹将胶头滴管放进培养瓶中。", + "frame": 188, + "progress": 30, + "progress_explanation": "目前爪夹重新抬升至培养瓶上方，方便爪夹将胶头滴管放进培养瓶中，进度提升为30%。", + "state_description": "当前状态为爪夹合拢，向上抬升\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹微微调整角度，将胶头滴管放在培养瓶上方。", + "time": 6.264, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407327561_ra4fjx532", + "x": 0.312375, + "y": 0.19786458333333334 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407331865_58lhco5vo", + "x": 0.302375, + "y": 0.19253125000000001 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407336129_sub2myd8v", + "x": 0.297375, + "y": 0.18586458333333333, + "width": 0.04200000000000004, + "height": 0.148 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407340105_uzmtvt5ki", + "x": 0.292375, + "y": 0.34053125, + "width": 0.077, + "height": 0.12533333333333332 + } + ] + } + } + }, + { + "time": 7.25, + "frame": 218, + "progress": 60, + "action_description": "爪夹微微调整角度。", + "state_description": "当前状态为爪夹合拢，\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹下降将胶头滴管放进培养瓶中。", + "progress_explanation": "目前爪夹调整角度，方便爪夹下降将胶头滴管放进培养瓶中，进度提升为60%。", + "error_success_analysis": "爪夹调整角度，方便爪夹下降将胶头滴管放进培养瓶中。", + "correction_plan": "爪夹下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管落入培养瓶中。", + "annotations": { + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407315137_i2u3ag8zf", + "x": 0.28137500000000004, + "y": 0.17753125, + "width": 0.04299999999999997, + "height": 0.15866666666666665 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407319393_tr37rjbhc", + "x": 0.28937500000000005, + "y": 0.34553124999999996, + "width": 0.073, + "height": 0.11733333333333337 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407322472_p732fqsms", + "x": 0.284375, + "y": 0.18019791666666668 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407324777_qkve9ke7w", + "x": 0.295375, + "y": 0.19219791666666666 + } + ] + } + } + }, + { + "action_description": "爪夹微微下降。", + "correction_plan": "爪夹持续下降将胶头滴管放进培养瓶中，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹微微下降将胶头滴管放进培养瓶瓶口正上方，方便爪夹下降将胶头滴管放进培养瓶中。", + "frame": 241, + "progress": 80, + "progress_explanation": "目前爪夹微微下降将胶头滴管放进培养瓶瓶口正上方，方便爪夹下降将胶头滴管放进培养瓶中，进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹下降\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹持续下降将胶头滴管放进培养瓶中。", + "time": 8.0272, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407297074_a47e7qabw", + "x": 0.299375, + "y": 0.23786458333333332 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407300161_u8hjoo1e2", + "x": 0.291375, + "y": 0.22853125000000002 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407304449_7t6rkqvj9", + "x": 0.28737500000000005, + "y": 0.23253125000000002, + "width": 0.039999999999999994, + "height": 0.13199999999999998 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407308738_2ctpycpaf", + "x": 0.291375, + "y": 0.34453125, + "width": 0.07300000000000004, + "height": 0.12266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹持续下降。", + "correction_plan": "爪夹下降将胶头滴管放进培养瓶瓶中，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹持续下降将胶头滴管放进培养瓶瓶中。", + "frame": 274, + "progress": 85, + "progress_explanation": "目前爪夹持续下降将胶头滴管放进培养瓶瓶中，进度提升为85%。", + "state_description": "当前状态为爪夹合拢，爪夹持续下降\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹持续下降将胶头滴管放进培养瓶中。", + "time": 9.1176, + "annotations": { + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407283569_9s69hbd0c", + "x": 0.291375, + "y": 0.25886458333333334, + "width": 0.040000000000000036, + "height": 0.09999999999999996 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407288321_025e08frb", + "x": 0.292375, + "y": 0.34553124999999996, + "width": 0.07000000000000002, + "height": 0.12000000000000005 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407291146_0ddxpmxl1", + "x": 0.294375, + "y": 0.27086458333333335 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407293866_i35g3w175", + "x": 0.305375, + "y": 0.27753125 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹持续下降将胶头滴管放进培养瓶瓶中，方便爪夹张开，胶头滴管落入培养瓶中。", + "frame": 300, + "progress": 90, + "progress_explanation": "目前爪夹持续下降将胶头滴管放进培养瓶瓶中，进度提升为90%。", + "state_description": "当前状态为爪夹合拢，爪夹持续下降\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹张开，胶头滴管落入培养瓶中。", + "time": 10.013969072164947, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407267114_s1jiwjqwn", + "x": 0.306375, + "y": 0.28586458333333337 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407269818_kqrmheoqm", + "x": 0.296375, + "y": 0.28053125 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407274194_pb9p73mqw", + "x": 0.292375, + "y": 0.3418645833333333, + "width": 0.07200000000000002, + "height": 0.11999999999999998 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407278266_ha0e0jsa0", + "x": 0.296375, + "y": 0.2711979166666667, + "width": 0.03599999999999999, + "height": 0.0933333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，成功将胶头滴管落入培养瓶瓶中。", + "frame": 333, + "progress": 100, + "progress_explanation": "目前爪夹张开，成功将胶头滴管落入培养瓶瓶中，进度提升为100%。", + "state_description": "当前状态为爪夹张开，胶头滴管落入培养瓶中\n已完成将橡胶头滴管放入培养瓶中的任务。", + "time": 11.1, + "annotations": { + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769407253706_px4ia6lfy", + "x": 0.310375, + "y": 0.32019791666666664, + "width": 0.020999999999999998, + "height": 0.050666666666666714 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769407257706_415hjijck", + "x": 0.294375, + "y": 0.35219791666666667, + "width": 0.06800000000000002, + "height": 0.11199999999999997 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769407260498_07s16ybjj", + "x": 0.256375, + "y": 0.26019791666666664 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769407263610_n1q9oulbu", + "x": 0.345375, + "y": 0.3068645833333334 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769392411725", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769392421115", + "name": "培养瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769392427404", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769392432467", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-141012-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-141012-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..020c7b9c63b8c77923016ed75ab91e3e60361406 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-141012-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,478 @@ +{ + "task_description": "将橡胶头滴管放入培养瓶中。\n爪夹开始移动:0%\n爪夹移动胶头滴管:30%\n爪夹靠近培养瓶:60%\n爪夹下降，将胶头滴管放入培养瓶中：90%\n爪夹张开，胶头滴管放入培养瓶中：100%", + "progress_points": [ + { + "action_description": "爪夹保持合拢状态，暂未移动。", + "correction_plan": "调整爪夹角度向上抬升，随后爪夹向爪夹方向左前方移动至培养瓶上方，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹合拢，准备开始移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:调整爪夹角度，向上抬升，随后爪夹向爪夹方向左侧移动，方便爪夹向爪夹方向前方移动靠近培养瓶。", + "time": 1.3071777916237115, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769409644959_nuu75yxi4", + "x": 0.5313749999999999, + "y": 0.47519791666666666 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769409647360_m2ob1ppan", + "x": 0.519375, + "y": 0.4778645833333333 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769409662407_7vajl01e0", + "x": 0.39237500000000003, + "y": 0.34719791666666666, + "width": 0.06900000000000003, + "height": 0.12133333333333335 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769409666607_194ssjyuu", + "x": 0.520375, + "y": 0.48719791666666673, + "width": 0.016000000000000014, + "height": 0.06799999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "随后爪夹向爪夹方向左前方移动至培养瓶上方，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向爪夹方向左侧移动。", + "frame": 63, + "progress": 10, + "progress_explanation": "目前爪夹向上抬升，方便爪夹向爪夹方向左侧移动，进度提升为10%。", + "state_description": "当前状态为爪夹合拢，爪夹向上抬升\n为完成将橡胶头滴管放入培养瓶中的任务应当:随后爪夹向爪夹方向左侧移动，方便爪夹向爪夹方向前方移动靠近培养瓶。", + "time": 2.096966, + "annotations": { + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769409632247_2s7jzi83x", + "x": 0.517375, + "y": 0.47253125, + "width": 0.020000000000000018, + "height": 0.08666666666666671 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769409637008_6ycu8c5ey", + "x": 0.42737499999999995, + "y": 0.4058645833333333, + "width": 0.06200000000000001, + "height": 0.10933333333333337 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769409639160_zenwotfze", + "x": 0.519375, + "y": 0.47519791666666666 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769409641832_ihtnec011", + "x": 0.5313749999999999, + "y": 0.47253125 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "correction_plan": "重新调整爪夹角度，随后爪夹向爪夹方向右前方移动靠近培养瓶，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹向方向左侧移动，与上一阶段相比，爪夹距离培养瓶距离更远些。", + "frame": 89, + "progress": -10, + "progress_explanation": "目前爪夹向方向左侧移动，与上一阶段相比，爪夹距离培养瓶距离更远些，进度倒退为-10%。", + "state_description": "当前状态为爪夹合拢，爪夹向左侧移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:重新调整爪夹角度，随后爪夹向爪夹方向右前方移动靠近培养瓶。", + "time": 2.9725041967783508, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769409614440_pp79o69ce", + "x": 0.5313749999999999, + "y": 0.47519791666666666 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769409616744_fk7raqoui", + "x": 0.517375, + "y": 0.47386458333333337 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769409621793_8afyqw9wu", + "x": 0.591375, + "y": 0.3538645833333333, + "width": 0.075, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769409626297_rvp2x9lzm", + "x": 0.517375, + "y": 0.4858645833333333, + "width": 0.021999999999999974, + "height": 0.0653333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹持续向爪夹方向左侧移动。", + "correction_plan": "重新调整爪夹角度，随后爪夹向爪夹方向右前方移动靠近培养瓶，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹持续向爪夹方向左侧移动，与上一阶段相比，爪夹距离培养瓶距离更远些。", + "frame": 110, + "progress": -20, + "progress_explanation": "目前爪夹持续向爪夹方向左侧移动，与上一阶段相比，爪夹需要重新向爪机方向右前方移动靠近培养瓶的动作，进度倒退为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹向左侧移动\n为完成将橡胶头滴管放入培养瓶中的任务应当:重新调整爪夹角度，随后爪夹向爪夹方向右前方移动靠近培养瓶。", + "time": 3.652133, + "annotations": { + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769409601289_5k2cea9l8", + "x": 0.684375, + "y": 0.41253125, + "width": 0.071, + "height": 0.0933333333333333 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769409604657_ru73a5e1p", + "x": 0.515375, + "y": 0.4791979166666667, + "width": 0.019999999999999928, + "height": 0.07199999999999994 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769409607808_ruwq5u6se", + "x": 0.521375, + "y": 0.47519791666666666 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769409610569_cmo18vary", + "x": 0.532375, + "y": 0.47386458333333337 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "重新调整爪夹角度，随后爪夹向爪夹方向右前方移动靠近培养瓶，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹下降靠近烧瓶，与上一阶段相比，爪夹距离培养瓶距离更远些。", + "frame": 149, + "progress": -30, + "progress_explanation": "目前爪夹下降靠近烧瓶，与上一阶段相比，爪夹需要重新向爪机方向右前方移动靠近培养瓶的动作，进度倒退为-30%。", + "state_description": "当前状态为爪夹合拢，爪夹靠近烧瓶\n为完成将橡胶头滴管放入培养瓶中的任务应当:重新调整爪夹角度，随后爪夹向爪夹方向右前方移动靠近培养瓶。", + "time": 4.956466, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769409579945_easaexnqo", + "x": 0.5313749999999999, + "y": 0.4711979166666667 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769409582466_azzuua3hn", + "x": 0.514375, + "y": 0.47386458333333337 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769409587105_luntpy3me", + "x": 0.708375, + "y": 0.35919791666666673, + "width": 0.09900000000000002, + "height": 0.09866666666666664 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769409591049_hdbu3luc3", + "x": 0.517375, + "y": 0.4818645833333334, + "width": 0.019000000000000038, + "height": 0.0733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹持续下降。", + "correction_plan": "重新调整爪夹角度，随后爪夹向爪夹方向右前方移动靠近培养瓶，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹持续下降靠近烧瓶，与上一阶段相比，爪夹距离培养瓶距离更远些。", + "frame": 184, + "progress": -35, + "progress_explanation": "目前爪夹持续下降靠近烧瓶，与上一阶段相比，爪夹需要重新向爪机方向右前方移动靠近培养瓶的动作，进度倒退为-35%。", + "state_description": "当前状态为爪夹合拢，爪夹靠近烧瓶\n为完成将橡胶头滴管放入培养瓶中的任务应当:重新调整爪夹角度，随后爪夹向爪夹方向右前方移动靠近培养瓶。", + "time": 6.120333, + "annotations": { + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769409567593_vkg9b64bs", + "x": 0.734375, + "y": 0.34553124999999996, + "width": 0.10500000000000007, + "height": 0.11200000000000004 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769409572122_so9styqqh", + "x": 0.519375, + "y": 0.47886458333333337, + "width": 0.015999999999999924, + "height": 0.07466666666666662 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769409574553_suhux7zig", + "x": 0.515375, + "y": 0.47353125 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769409577137_50jdh3b1g", + "x": 0.530375, + "y": 0.47219791666666666 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "重新调整爪夹角度，随后爪夹向爪夹方向右前方移动靠近培养瓶，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹持续下降靠近烧瓶，与上一阶段相比，爪夹需要重新向爪机方向右前方移动靠近培养瓶的动作。", + "frame": 222, + "progress": -40, + "progress_explanation": "目前爪夹持续下降靠近烧瓶，与上一阶段相比，爪夹需要重新向爪机方向右前方移动靠近培养瓶的动作，进度倒退为-40%。", + "state_description": "当前状态为爪夹合拢，爪夹靠近烧瓶\n为完成将橡胶头滴管放入培养瓶中的任务应当:重新调整爪夹角度，随后爪夹向爪夹方向右前方移动靠近培养瓶。", + "time": 7.394566, + "annotations": { + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769409543810_rq6431ah7", + "x": 0.534375, + "y": 0.4841979166666667 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769409545962_viuqlj7u0", + "x": 0.515375, + "y": 0.48019791666666667 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769409551298_ouce7yf2b", + "x": 0.7533749999999999, + "y": 0.32553125, + "width": 0.11400000000000006, + "height": 0.10800000000000001 + } + ] + }, + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769409556057_o32lcmvb4", + "x": 0.519375, + "y": 0.48019791666666667, + "width": 0.012999999999999989, + "height": 0.06533333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹下降，重新合拢抓取胶头滴管，随后爪夹向爪夹方向右前方移动靠近培养瓶，爪夹下降将胶头滴管放进培养瓶里，爪夹张开，胶头滴管落入培养瓶中。", + "error_success_analysis": "爪夹张开，胶头滴管落入烧瓶，与上一阶段相比，爪夹需要重新下降抓取胶头滴管，随后向爪机方向右前方移动靠近培养瓶的动作。", + "frame": 259, + "progress": -50, + "progress_explanation": "目前爪夹张开，胶头滴管落入烧瓶，与上一阶段相比，爪夹需要重新下降抓取胶头滴管，随后向爪机方向右前方移动靠近培养瓶的动作，进度倒退为-50%。", + "state_description": "当前状态为爪夹张开，胶头滴管落入烧瓶中\n为完成将橡胶头滴管放入培养瓶中的任务应当:爪夹下降，重新合拢抓取胶头滴管，随后爪夹向爪夹方向右前方移动靠近培养瓶。", + "time": 8.618633, + "annotations": { + "bbox_1769392411725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392411725_1769409521627_pa66v4smb", + "x": 0.516375, + "y": 0.44453125, + "width": 0.04299999999999997, + "height": 0.08666666666666666 + } + ] + }, + "bbox_1769392421115": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769392421115_1769409527531_jtvba7jot", + "x": 0.7823749999999999, + "y": 0.27786458333333336, + "width": 0.12300000000000014, + "height": 0.13066666666666665 + } + ] + }, + "point_1769392427404": { + "type": "point", + "instances": [ + { + "id": "point_1769392427404_1769409535858_14t8f1pui", + "x": 0.414375, + "y": 0.48053125 + } + ] + }, + "point_1769392432467": { + "type": "point", + "instances": [ + { + "id": "point_1769392432467_1769409538394_n7r6fcktz", + "x": 0.639375, + "y": 0.4858645833333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769392411725", + "name": "胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769392421115", + "name": "培养瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769392427404", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769392432467", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-142229-liquid-dropper-graduated cylinder-good/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-142229-liquid-dropper-graduated cylinder-good/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe1cebc0c6d3f603a01e2a8a06f5154d345f0aa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-142229-liquid-dropper-graduated cylinder-good/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,504 @@ +{ + "task_description": "将溶液从橡胶头滴管滴入玻璃量杯中\n爪夹准备移动：0\n爪夹接近滴管：20%\n爪夹抓取滴管：40%\n爪夹夹住滴管接近量杯：60%\n爪夹将滴管移动至量杯正上方：80%\n爪夹挤压，溶液滴入玻璃量杯中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.04648739632572774, + "id": "bbox_1769407530184_1769407753925_xsr99t1l4", + "width": 0.025356993824997787, + "x": 0.39937260437908817, + "y": 0.31399534401218826 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.25779374326085386, + "id": "bbox_1769407534425_1769407759220_sodbmv9kl", + "width": 0.08874947838749234, + "x": 0.5388360704165762, + "y": 0.28441245544127064 + } + ], + "type": "bbox" + }, + "point_1769407550015": { + "instances": [ + { + "id": "point_1769407550015_1769407750472_29fuaacyp", + "x": 0.41205110129158706, + "y": 0.21045523401397645 + } + ], + "type": "point" + }, + "point_1769407556454": { + "instances": [ + { + "id": "point_1769407556454_1769407748355_q9icktxxr", + "x": 0.4992157675650171, + "y": 0.21468136095267898 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整角度向右前方移动，随后下降，接近滴管；爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向左前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，没有接近滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹调整角度向右前方移动，随后下降，接近滴管。", + "time": 1.037965996104169 + }, + { + "action_description": "爪夹向上抬升，随后向右调整角度", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.05071352326443025, + "id": "bbox_1769407530184_1769407739803_crfmwchg0", + "width": 0.042789927079683834, + "x": 0.38986373169471394, + "y": 0.31610840748153957 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.2451153624447463, + "id": "bbox_1769407534425_1769407736494_lmtmkk54j", + "width": 0.08399504204530528, + "x": 0.5404208825306386, + "y": 0.28863858237997314 + } + ], + "type": "bbox" + }, + "point_1769407550015": { + "instances": [ + { + "id": "point_1769407550015_1769407741995_ng1ik9w0x", + "x": 0.39144854380877636, + "y": 0.1977768531978689 + } + ], + "type": "point" + }, + "point_1769407556454": { + "instances": [ + { + "id": "point_1769407556454_1769407744563_vohnzvi6m", + "x": 0.4865372706525181, + "y": 0.2083421705446252 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动，随后下降，接近滴管；爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向左前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹调整角度，方便接近滴瓶。", + "frame": 74, + "progress": 10, + "progress_explanation": "爪夹向上抬升并调整角度，稍微接近滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，没有接近滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹向右前方移动，随后下降，接近滴管。", + "time": 2.482999 + }, + { + "action_description": "爪夹向右前方移动，随后下降", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.044374332856376535, + "id": "bbox_1769407530184_1769407721380_x3w7v6vqa", + "width": 0.023772181710935404, + "x": 0.40095741649315053, + "y": 0.31188228054283695 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.2493414893834488, + "id": "bbox_1769407534425_1769407727388_sdwun5kb2", + "width": 0.09033429050155473, + "x": 0.5340816340743891, + "y": 0.28441245544127064 + } + ], + "type": "bbox" + }, + "point_1769407550015": { + "instances": [ + { + "id": "point_1769407550015_1769407718444_k0v49j554", + "x": 0.3581674894134667, + "y": 0.3266737248282958 + } + ], + "type": "point" + }, + "point_1769407556454": { + "instances": [ + { + "id": "point_1769407556454_1769407716012_tashb6toa", + "x": 0.44533215568689666, + "y": 0.352030486460511 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向左前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了滴管，方便抓取滴管。", + "frame": 107, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，爪夹接近滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹合拢抓取滴管。", + "time": 3.578066 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.06550496754988906, + "id": "bbox_1769407530184_1769407705935_3pj46yscv", + "width": 0.02694180593906017, + "x": 0.4057118528353376, + "y": 0.31399534401218826 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.24511536244474635, + "id": "bbox_1769407534425_1769407701252_w47urm5zx", + "width": 0.09350391472967949, + "x": 0.5356664461884514, + "y": 0.2907516458493244 + } + ], + "type": "bbox" + }, + "point_1769407550015": { + "instances": [ + { + "id": "point_1769407550015_1769407708612_8xajuqj99", + "x": 0.4088814770634624, + "y": 0.3330129152363496 + } + ], + "type": "point" + }, + "point_1769407556454": { + "instances": [ + { + "id": "point_1769407556454_1769407711467_gyz2t93sa", + "x": 0.4231447860900236, + "y": 0.33723904217505213 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹住滴管向上抬升，向左前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹角度接近垂直桌面，方便抓取滴管。", + "frame": 175, + "progress": 40, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹夹住滴管向上抬升，随后向左前方移动，接近量杯。", + "time": 5.846505340198485 + }, + { + "action_description": "爪夹夹住滴管向上抬升", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.13100993509977818, + "id": "bbox_1769407530184_1769407677998_uvu3w0rw7", + "width": 0.020602557482810722, + "x": 0.40412704072127525, + "y": 0.2914559895915116 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.23666310856734127, + "id": "bbox_1769407534425_1769407692172_tqju3jfyr", + "width": 0.08557985415936767, + "x": 0.5356664461884514, + "y": 0.2949777727880269 + } + ], + "type": "bbox" + }, + "point_1769407550015": { + "instances": [ + { + "id": "point_1769407550015_1769407680701_s9qn3tk49", + "x": 0.4057118528353376, + "y": 0.3182214709508908 + } + ], + "type": "point" + }, + "point_1769407556454": { + "instances": [ + { + "id": "point_1769407556454_1769407683932_cwf85b0gh", + "x": 0.41680553763377415, + "y": 0.3182214709508908 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹住滴继续向上抬升，向左前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹夹住滴管向上抬升，滴管稍微脱离滴瓶。", + "frame": 218, + "progress": 45, + "progress_explanation": "爪夹夹住滴管向上抬升，滴管稍微脱离滴瓶，因此任务进度提升为45%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹夹住滴管继续向上抬升，随后向左前方移动，接近量杯。", + "time": 7.265765851450992 + }, + { + "action_description": "爪夹夹住滴管继续向上抬升", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.19017571224161353, + "id": "bbox_1769407530184_1769407663157_uetc0w4v9", + "width": 0.025356993824997787, + "x": 0.41522072551971184, + "y": 0.14495026646408735 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.2514545528528001, + "id": "bbox_1769407534425_1769407658133_zvfookj68", + "width": 0.08874947838749243, + "x": 0.5356664461884514, + "y": 0.28441245544127064 + } + ], + "type": "bbox" + }, + "point_1769407550015": { + "instances": [ + { + "id": "point_1769407550015_1769407666125_43gqstz4j", + "x": 0.41680553763377415, + "y": 0.1850984723817613 + } + ], + "type": "point" + }, + "point_1769407556454": { + "instances": [ + { + "id": "point_1769407556454_1769407668310_3btil0rvl", + "x": 0.4310688466603354, + "y": 0.1914376627898151 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向上抬升，滴管脱离滴瓶，方便接近量杯。", + "frame": 254, + "progress": 50, + "progress_explanation": "爪夹向上抬升，滴管脱离滴瓶，因此任务进度提升为为50%", + "state_description": "爪夹当前为合拢状态，滴管远离滴瓶，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹夹住滴管向左前方移动，接近量杯。", + "time": 8.454933 + }, + { + "action_description": "爪夹向左前方移动", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.22187166428188246, + "id": "bbox_1769407530184_1769407625079_h74x33n6k", + "width": 0.03962030285155915, + "x": 0.5087246402493912, + "y": 0.09846287013835961 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.2493414893834488, + "id": "bbox_1769407534425_1769407637725_o1k60qdhq", + "width": 0.08399504204530528, + "x": 0.5435905067587632, + "y": 0.28863858237997314 + } + ], + "type": "bbox" + }, + "point_1769407550015": { + "instances": [ + { + "id": "point_1769407550015_1769407619358_uoac1xyu5", + "x": 0.516648700819703, + "y": 0.1470633299334386 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向左前方移动，滴管接近了量杯，方便溶液滴入量杯中。", + "frame": 267, + "progress": 60, + "progress_explanation": "爪夹向左前方移动，滴管接近了量杯，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管接近量杯，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹继续向左前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "time": 8.887866 + }, + { + "action_description": "爪夹轻微抬升，随后向左前方移动并轻微下降。", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.21553247387382868, + "id": "bbox_1769407530184_1769407610966_hp09kyq8r", + "width": 0.04912917553593328, + "x": 0.5784563732681353, + "y": 0.10480206054641338 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.24088923550604377, + "id": "bbox_1769407534425_1769407605758_cfopyadl2", + "width": 0.08874947838749234, + "x": 0.5324968219603268, + "y": 0.29286470931867564 + } + ], + "type": "bbox" + }, + "point_1769407550015": { + "instances": [ + { + "id": "point_1769407550015_1769407614022_r9ff1vyxr", + "x": 0.5911348701806342, + "y": 0.15128945687214115 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹挤压，溶液滴入玻璃量杯中", + "error_success_analysis": "爪夹向左前方移动，滴管在量杯正上方，确保溶液滴入量杯里。", + "frame": 306, + "progress": 80, + "progress_explanation": "爪夹向左前方移动，滴管在量杯正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，滴管在量杯正上方，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹挤压，溶液滴入玻璃量杯中。", + "time": 10.189018844777053 + }, + { + "action_description": "爪夹挤压滴管", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.2028540930577211, + "id": "bbox_1769407530184_1769407580271_yow51fdt0", + "width": 0.04595955130780851, + "x": 0.5800411853821976, + "y": 0.11959350483187221 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.24300229897539502, + "id": "bbox_1769407534425_1769407590239_a10o3mv56", + "width": 0.08716466627342996, + "x": 0.5324968219603268, + "y": 0.2907516458493244 + } + ], + "type": "bbox" + }, + "point_1769407550015": { + "instances": [ + { + "id": "point_1769407550015_1769407574423_qrua219iu", + "x": 0.5911348701806342, + "y": 0.17101137183848966 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹挤压，溶液滴入玻璃量杯中。", + "frame": 343, + "progress": 100, + "progress_explanation": "爪夹挤压，溶液滴入玻璃量杯中，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，溶液滴入玻璃量杯中，爪夹已完成将溶液从橡胶头滴管滴入玻璃量杯中的任务。", + "time": 11.438815414387468 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769407530184", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769407534425", + "name": "玻璃量杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769407550015", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769407556454", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-145443-liquid-dropper-graduated cylinder-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-145443-liquid-dropper-graduated cylinder-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..14a72dc11a42044584b9eab3acab66c51ff050de --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-145443-liquid-dropper-graduated cylinder-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,424 @@ +{ + "task_description": "将溶液从橡胶头滴管滴入玻璃量杯中\n爪夹准备移动：0\n爪夹接近滴管：20%\n爪夹抓取滴管：40%\n爪夹夹住滴管接近量杯：60%\n爪夹将滴管移动至量杯正上方：80%\n爪夹挤压，溶液滴入玻璃量杯中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹调整角度向右前方移动，随后下降，接近滴管；爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向左侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，没有接近滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹调整角度向右前方移动，随后下降，接近滴管。", + "time": 1.5522908625130158, + "annotations": { + "point_1769407550015": { + "type": "point", + "instances": [ + { + "id": "point_1769407550015_1769410069953_qqy5c1r2m", + "x": 0.5546841915571998, + "y": 0.4914926754376942 + } + ] + }, + "point_1769407556454": { + "type": "point", + "instances": [ + { + "id": "point_1769407556454_1769410071690_1e15rkeqe", + "x": 0.6608666031993782, + "y": 0.48304042156028915 + } + ] + }, + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769410075299_m2jaqh9tv", + "x": 0.621246300347819, + "y": 0.2189074878913815, + "width": 0.031696242281247324, + "height": 0.048600459795078994 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769410078809_v7tb9pl73", + "x": 0.4215599739759613, + "y": 0.21256829748332773, + "width": 0.06497729667655686, + "height": 0.23243698162863874 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向正前方移动", + "correction_plan": "爪夹向右前方移动，随后下降，接近滴管；爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向左侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向正前方移动，缩短了与滴管的距离。", + "frame": 85, + "progress": 5, + "progress_explanation": "爪夹向上抬升并向正前方移动，稍微接近滴管，因此任务进度提升为5%。", + "state_description": "爪夹当前为张开状态，开始接近滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹向右前方移动，随后下降，接近滴管。", + "time": 2.821, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769410062706_fu5k1mzcs", + "x": 0.41997516186189887, + "y": 0.21045523401397645, + "width": 0.06339248456249455, + "height": 0.23666310856734127 + } + ] + }, + "point_1769407550015": { + "type": "point", + "instances": [ + { + "id": "point_1769407550015_1769410065110_1hlnd6wmk", + "x": 0.5451753188728257, + "y": 0.3097692170734857 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动并下降", + "correction_plan": "爪夹继续向右前方移动，随后下降，接近滴管；爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向左侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向右前方移动并下降，水平上接近了滴管。", + "frame": 120, + "progress": 15, + "progress_explanation": "爪夹向右前方移动并下降，水平上接近了滴管，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开状态，水平上接近了滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹继续向正前方移动，接近滴管。", + "time": 4.007078154723436, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769410056426_h9p0086bd", + "x": 0.4183903497478365, + "y": 0.21256829748332773, + "width": 0.069731733018744, + "height": 0.2303239181592875 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，随后向正前方移动，爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向左侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹合拢，接近了滴管，方便抓取滴管。", + "frame": 161, + "progress": 20, + "progress_explanation": "爪夹合拢，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，接近了滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹张开，随后向正前方移动，更加接近滴管。", + "time": 5.37887105331161, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769410051595_tmg0ojbc6", + "x": 0.4136359134056494, + "y": 0.2083421705446252, + "width": 0.07131654513280639, + "height": 0.23666310856734127 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向正前方移动", + "correction_plan": "爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向左侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向正前方移动，爪夹在滴管的两侧，更加方便夹取滴管。", + "frame": 250, + "progress": 30, + "progress_explanation": "爪夹向正前方移动，更加接近滴管，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开状态，爪夹在滴管的两侧，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹合拢抓取滴管。", + "time": 8.33905572921241, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769410043490_47nc5cvp4", + "x": 0.4215599739759613, + "y": 0.21679442442203023, + "width": 0.061807672448432174, + "height": 0.22821085468993624 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹住滴管向上抬升，向左侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹角度接近垂直桌面，方便抓取滴管。", + "frame": 346, + "progress": 40, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹夹住滴管向上抬升，随后向左侧移动，接近量杯。", + "time": 11.5444, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769410034578_ef8cokqk5", + "x": 0.41997516186189887, + "y": 0.21256829748332773, + "width": 0.061807672448432174, + "height": 0.23243698162863874 + } + ] + } + } + }, + { + "action_description": "爪夹夹住滴管向上抬升", + "correction_plan": "爪夹夹住滴管向上抬升，向左侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹夹住滴管向上抬升，滴管稍微脱离滴瓶。", + "frame": 442, + "progress": 47, + "progress_explanation": "爪夹夹住滴管向上抬升，滴管稍微脱离滴瓶，因此任务进度提升为47%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹夹住滴管继续向上抬升，随后向左侧移动，接近量杯。", + "time": 14.728722651583647, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769410026523_sya4vy2kz", + "x": 0.4183903497478365, + "y": 0.21256829748332773, + "width": 0.06497729667655694, + "height": 0.23243698162863874 + } + ] + } + } + }, + { + "action_description": "爪夹夹住滴管继续向上抬升", + "correction_plan": "爪夹向左侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向上抬升，滴管脱离滴瓶，方便接近量杯。", + "frame": 490, + "progress": 50, + "progress_explanation": "爪夹向上抬升，滴管脱离滴瓶，因此任务进度提升为为50%", + "state_description": "爪夹当前为合拢状态，滴管远离滴瓶，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹夹住滴管向左侧移动，接近量杯。", + "time": 16.3184, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769409996173_vyzj6hqz3", + "x": 0.4136359134056494, + "y": 0.21045523401397645, + "width": 0.07131654513280639, + "height": 0.23666310856734127 + } + ] + }, + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769410011115_o94ty1tol", + "x": 0.5943044944087589, + "y": 0.16185477421889743, + "width": 0.05546842399218273, + "height": 0.03380901550962019 + } + ] + }, + "point_1769407550015": { + "type": "point", + "instances": [ + { + "id": "point_1769407550015_1769410016516_qxka8uswe", + "x": 0.6307551730321933, + "y": 0.17664621850435627 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "爪夹继续向左侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向左侧移动，滴管接近了量杯，方便溶液滴入量杯中。", + "frame": 523, + "progress": 60, + "progress_explanation": "爪夹向左侧移动，滴管接近了量杯，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管接近量杯，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹继续向左侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "time": 17.43620863563926, + "annotations": { + "point_1769407550015": { + "type": "point", + "instances": [ + { + "id": "point_1769407550015_1769409981605_w7c64s7re", + "x": 0.5546841915571998, + "y": 0.17664621850435627 + } + ] + }, + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769409986027_4ogrm0dri", + "x": 0.49446133122283, + "y": 0.16819396462695121, + "width": 0.08399504204530528, + "height": 0.025356761632215157 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769409990139_rnrmvvo7n", + "x": 0.41205110129158706, + "y": 0.21045523401397645, + "width": 0.08241022993124289, + "height": 0.23455004509799 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动并轻微下降。", + "correction_plan": "爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向左侧移动，滴管在量杯正上方，确保溶液滴入量杯里。", + "frame": 564, + "progress": 80, + "progress_explanation": "爪夹向左侧移动，滴管在量杯正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，滴管在量杯正上方，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹挤压，溶液滴入玻璃量杯中。", + "time": 18.808001534227436, + "annotations": { + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769409968884_d54knwygz", + "x": 0.4231447860900236, + "y": 0.19355072625916636, + "width": 0.08874947838749243, + "height": 0.05282658673378154 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769409974036_kfxdnpvsk", + "x": 0.41205110129158706, + "y": 0.22524667829943526, + "width": 0.07607098147499344, + "height": 0.21553247387382868 + } + ] + }, + "point_1769407550015": { + "type": "point", + "instances": [ + { + "id": "point_1769407550015_1769409977075_xu74j0d1x", + "x": 0.49129170699470526, + "y": 0.20622910707527392 + } + ] + } + } + }, + { + "action_description": "爪夹挤压滴管", + "correction_plan": "", + "error_success_analysis": "爪夹挤压，溶液滴入玻璃量杯中。", + "frame": 618, + "progress": 100, + "progress_explanation": "爪夹挤压，溶液滴入玻璃量杯中，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，溶液滴入玻璃量杯中，爪夹已完成将溶液从橡胶头滴管滴入玻璃量杯中的任务。", + "time": 20.612992190264507, + "annotations": { + "point_1769407550015": { + "type": "point", + "instances": [ + { + "id": "point_1769407550015_1769409943584_99onegfn6", + "x": 0.49446133122283, + "y": 0.21961183163356868 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769409951061_fiz9mb5ut", + "x": 0.41522072551971184, + "y": 0.21045523401397645, + "width": 0.07290135724686868, + "height": 0.23455004509799 + } + ] + }, + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769409960309_g3vpp1ko9", + "x": 0.43582328300252254, + "y": 0.20411604360592267, + "width": 0.0713165451328063, + "height": 0.0697310944885916 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769407530184", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769407534425", + "name": "玻璃量杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769407550015", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769407556454", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-145443-liquid-dropper-graduated cylinder-mix/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-145443-liquid-dropper-graduated cylinder-mix/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..b92900fe466acfd4d8b2e257cc514c55beb072ba --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-145443-liquid-dropper-graduated cylinder-mix/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,429 @@ +{ + "task_description": "将溶液从橡胶头滴管滴入玻璃量杯中\n爪夹准备移动：0\n爪夹接近滴管：20%\n爪夹抓取滴管：40%\n爪夹夹住滴管接近量杯：60%\n爪夹将滴管移动至量杯正上方：80%\n爪夹挤压，溶液滴入玻璃量杯中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向上提升，随后向左前方移动并下降，接近滴管；爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向右侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，没有接近滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹向上提升，向左前方移动，随后下降，接近滴管。", + "time": 1.0023092559809232, + "annotations": { + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769413384755_v5vppp0hw", + "x": 0.5895500580665718, + "y": 0.10268899707706212, + "width": 0.09191910261561712, + "height": 0.46487396325727753 + }, + { + "id": "bbox_1769407530184_1769413390203_x73incrxd", + "x": 0.4469169678009591, + "y": 0.14072413952538482, + "width": 0.03803549073749677, + "height": 0.17538426795615472 + } + ] + }, + "point_1769407550015": { + "type": "point", + "instances": [ + { + "id": "point_1769407550015_1769413394772_qsvcv7dhi", + "x": 0.3930333559228387, + "y": 0.32456066135894457 + } + ] + }, + "point_1769407556454": { + "type": "point", + "instances": [ + { + "id": "point_1769407556454_1769413397435_4abem1bm3", + "x": 0.4976309554509547, + "y": 0.3816133750314286 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹向左前方移动并下降，接近滴管；爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向右侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向上抬升，高度上接近滴管，方便接近滴管。", + "frame": 93, + "progress": 10, + "progress_explanation": "爪夹向上抬升，高度上接近滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，爪夹在滴管上方，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹向左前方移动，随后下降。", + "time": 3.087115053350195, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769413365795_hjkn0iuxv", + "x": 0.5879652459525095, + "y": 0.10057593360771086, + "width": 0.09033429050155464, + "height": 0.4521955824411698 + } + ] + }, + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769413374803_pfirttclw", + "x": 0.44057771934470963, + "y": 0.14072413952538482, + "width": 0.04437473919374622, + "height": 0.17961039489485722 + } + ] + } + } + }, + { + "action_description": "爪夹向左前方移动，随后下降", + "correction_plan": "爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向右侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向左前方移动并下降，接近了滴管，方便抓取滴管。", + "frame": 170, + "progress": 20, + "progress_explanation": "爪夹向左前方移动并下降，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，接近了滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹合拢抓取滴管。", + "time": 5.653029880881607, + "annotations": { + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769413354118_gmaf3aeim", + "x": 0.4469169678009591, + "y": 0.16819396462695121, + "width": 0.03645067862343439, + "height": 0.137349125507832 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769413359124_ts5gqs0uw", + "x": 0.5911348701806342, + "y": 0.09423674319965708, + "width": 0.08557985415936767, + "height": 0.4627608997879262 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，随后向左前方移动，接近滴管，爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向右侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹抓取滴管失败，需重新抓取。", + "frame": 230, + "progress": 15, + "progress_explanation": "爪夹合拢，抓取滴管失败，因此任务进度倒退为15%。", + "state_description": "爪夹当前为合拢状态，远离了滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹张开，随后向左前方移动，接近滴管。", + "time": 7.666666666666667, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769413339124_4vqo19li2", + "x": 0.5927196822946965, + "y": 0.09846287013835961, + "width": 0.09033429050155473, + "height": 0.4648739632572774 + } + ] + }, + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769413344212_vwv5mzmpy", + "x": 0.44850177991502144, + "y": 0.1428372029947361, + "width": 0.034865866509372, + "height": 0.20285409305772106 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向左前方移动", + "correction_plan": "爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向右侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向左前方移动，接近了滴管，方便抓取滴管。", + "frame": 279, + "progress": 20, + "progress_explanation": "爪夹向左前方移动，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，接近了滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹合拢抓取滴管。", + "time": 9.301440026277835, + "annotations": { + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769413324886_cijoqgw9a", + "x": 0.45008659202908385, + "y": 0.16396783768824869, + "width": 0.03011143016718485, + "height": 0.1542536332626421 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769413331269_qezq4kdo5", + "x": 0.5895500580665718, + "y": 0.10268899707706212, + "width": 0.09191910261561712, + "height": 0.4627608997879262 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹住滴管向上抬升，向右侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹与桌面形成夹角，方便抓取滴管。", + "frame": 392, + "progress": 40, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹向上抬升，向右侧移动，接近量杯。", + "time": 13.0622, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769413312765_2i9auyjy0", + "x": 0.5943044944087589, + "y": 0.10268899707706212, + "width": 0.08716466627343004, + "height": 0.4564217093798724 + } + ] + }, + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769413318268_oxhtc2268", + "x": 0.45008659202908385, + "y": 0.1914376627898151, + "width": 0.03011143016718485, + "height": 0.12889687163042696 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹夹住滴管继续向上抬升，向右侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹夹住滴管向上抬升，滴管稍微脱离滴瓶。", + "frame": 518, + "progress": 47, + "progress_explanation": "爪夹夹住滴管向上抬升，滴管稍微脱离滴瓶，因此任务进度提升为47%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹夹住滴管继续向上抬升，随后向右侧移动，接近量杯。", + "time": 17.266666666666666, + "annotations": { + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769413298197_dym9auaxf", + "x": 0.4389929072306472, + "y": 0.13438494911733107, + "width": 0.03962030285155915, + "height": 0.1246707446917244 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769413304485_1v6rw6nt3", + "x": 0.5927196822946965, + "y": 0.10057593360771086, + "width": 0.09191910261561712, + "height": 0.4564217093798725 + } + ] + } + } + }, + { + "action_description": "爪夹夹住滴管继续向上抬升", + "correction_plan": "爪夹右侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向上抬升，滴管脱离滴瓶，方便接近量杯。", + "frame": 568, + "progress": 50, + "progress_explanation": "爪夹向上抬升，滴管脱离滴瓶，因此任务进度提升为50%", + "state_description": "爪夹当前为合拢状态，滴管远离滴瓶，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹夹住滴管向右侧移动，接近量杯。", + "time": 18.923620629520627, + "annotations": { + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769413276845_zki4nixnx", + "x": 0.3851092953525269, + "y": 0.001261950548201584, + "width": 0.03645067862343439, + "height": 0.06973109448859162 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769413284557_e0q9t0uzl", + "x": 0.5863804338384472, + "y": 0.10268899707706212, + "width": 0.09508872684374178, + "height": 0.45430864591052117 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "爪夹右侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向右侧移动，滴管接近了量杯，方便溶液滴入量杯中。", + "frame": 614, + "progress": 60, + "progress_explanation": "爪夹向右侧移动，滴管接近了量杯，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，滴管接近量杯，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹继续向右侧移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "time": 20.4609, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769413258846_hnr31xq4k", + "x": 0.5863804338384472, + "y": 0.09846287013835961, + "width": 0.09033429050155464, + "height": 0.46064783631857503 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动，随后下降", + "correction_plan": "爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向左侧移动，滴管在量杯里，确保溶液滴入量杯里。", + "frame": 645, + "progress": 80, + "progress_explanation": "爪夹向右侧移动，滴管在量杯里，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，滴管伸进量杯里，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹挤压，溶液滴入玻璃量杯中。", + "time": 21.489535457052042, + "annotations": { + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769413234446_pn4l9srt7", + "x": 0.6038133670931332, + "y": 0.001261950548201584, + "width": 0.0586380482203074, + "height": 0.1690450775481009 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769413241287_x35yeakpp", + "x": 0.5847956217243848, + "y": 0.10268899707706212, + "width": 0.09350391472967941, + "height": 0.46064783631857503 + } + ] + } + } + }, + { + "action_description": "爪夹挤压滴管", + "correction_plan": "", + "error_success_analysis": "爪夹挤压，溶液滴入玻璃量杯中", + "frame": 696, + "progress": 100, + "progress_explanation": "爪夹挤压，溶液滴入玻璃量杯中，因此任务进度提升为100%。", + "state_description": "爪夹当前为合拢状态，溶液滴入玻璃量杯中，爪夹已完成将溶液从橡胶头滴管滴入玻璃量杯中的任务。", + "time": 23.213509481799708, + "annotations": { + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769413180911_lga2qdfby", + "x": 0.599058930750946, + "y": 0.001966294290388753, + "width": 0.06180767244843226, + "height": 0.2028540930577211 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769413188975_3y3cf9x1m", + "x": 0.5895500580665718, + "y": 0.09846287013835961, + "width": 0.08874947838749234, + "height": 0.4585347728492237 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769407530184", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769407534425", + "name": "玻璃量杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769407550015", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769407556454", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-152024-liquid-dropper-graduated cylinder-bad/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-152024-liquid-dropper-graduated cylinder-bad/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..06075780085f5554cc5c7c017b1624d1b828acd6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-152024-liquid-dropper-graduated cylinder-bad/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,392 @@ +{ + "task_description": "将溶液从橡胶头滴管滴入玻璃量杯中\n爪夹准备移动：0\n爪夹接近滴管：20%\n爪夹抓取滴管：40%\n爪夹夹住滴管接近量杯：60%\n爪夹将滴管移动至量杯正上方：80%\n爪夹挤压，溶液滴入玻璃量杯中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.194401839180316, + "id": "bbox_1769407530184_1769415332242_0xbejriyd", + "width": 0.04437473919374613, + "x": 0.47861321008220636, + "y": 0.22947280523813782 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.3275248377494455, + "id": "bbox_1769407534425_1769415327354_fvg9abw4o", + "width": 0.07448616936093107, + "x": 0.5388360704165762, + "y": -0.0008511129211496772 + } + ], + "type": "bbox" + }, + "point_1769407550015": { + "instances": [ + { + "id": "point_1769407550015_1769415334570_o0ym23nz7", + "x": 0.3597523015275291, + "y": 0.32456066135894457 + } + ], + "type": "point" + }, + "point_1769407556454": { + "instances": [ + { + "id": "point_1769407556454_1769415337481_r9rg1ocsr", + "x": 0.4738587737400192, + "y": 0.352030486460511 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上提升，随后向正前方移动并下降，接近滴管；爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向正前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴管，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，没有接近滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹向上提升，向正前方移动，随后下降，接近滴管。", + "time": 1.153862460724133 + }, + { + "action_description": "爪夹向上抬升，随后向正前方移动", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.18594958530291097, + "id": "bbox_1769407530184_1769415312409_hunzexydt", + "width": 0.041205114965621445, + "x": 0.4817828343103311, + "y": 0.23158586870748907 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.3317509646881481, + "id": "bbox_1769407534425_1769415317642_5to2u52vs", + "width": 0.07448616936093107, + "x": 0.5388360704165762, + "y": -0.0008511129211496772 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，接近滴管；爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向正前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向上抬升，水平上接近滴管，方便抓取滴管。", + "frame": 81, + "progress": 10, + "progress_explanation": "爪夹向上抬升并向正前方移动，水平上接近滴管，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，爪夹在滴管上方，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹下降，接近滴管。", + "time": 2.714971429963939 + }, + { + "action_description": "爪夹下降", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.17115814101745216, + "id": "bbox_1769407530184_1769415306258_j8bkuzjhg", + "width": 0.031696242281247324, + "x": 0.4865372706525181, + "y": 0.22947280523813782 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.3338640281574993, + "id": "bbox_1769407534425_1769415302602_3fs1996v1", + "width": 0.07448616936093107, + "x": 0.5404208825306386, + "y": 0.001261950548201584 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取滴管，随后爪夹夹住滴管向上抬升，向正前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹下降，接近了滴管，方便抓取滴管。", + "frame": 128, + "progress": 20, + "progress_explanation": "爪夹下降，接近了滴管，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，接近了滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹合拢抓取滴管。", + "time": 4.276080399203745 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1769407534425": { + "instances": [ + { + "height": 0.3338640281574993, + "id": "bbox_1769407534425_1769415294515_fndf1texv", + "width": 0.07131654513280639, + "x": 0.5404208825306386, + "y": -0.0008511129211496772 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住滴管向上抬升，向正前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹与桌面形成夹角，方便抓取滴管。", + "frame": 195, + "progress": 40, + "progress_explanation": "爪夹成功抓住滴管，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹向上抬升，向正前方移动，接近量杯。", + "time": 6.515932398547815 + }, + { + "action_description": "爪夹向上抬升", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.16693201407874964, + "id": "bbox_1769407530184_1769415283093_7txxag4mi", + "width": 0.050713987649995663, + "x": 0.45959546471345797, + "y": 0.17242009156565377 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.3275248377494455, + "id": "bbox_1769407534425_1769415287868_ycvnupo4l", + "width": 0.07765579358905583, + "x": 0.5340816340743891, + "y": 0.0033750140175528454 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住滴管继续向上抬升，向正前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹夹住滴管向上抬升，滴管稍微脱离滴瓶。", + "frame": 230, + "progress": 45, + "progress_explanation": "爪夹夹住滴管向上抬升，滴管稍微脱离滴瓶，因此任务进度提升为45%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹夹住滴管继续向上抬升，随后向正前方移动，接近量杯。", + "time": 7.666666666666667 + }, + { + "action_description": "爪夹夹住滴管继续向上抬升", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.17749733142550594, + "id": "bbox_1769407530184_1769415274811_wnd53x6hu", + "width": 0.07607098147499344, + "x": 0.4057118528353376, + "y": 0.00971420442560663 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.32963790121879677, + "id": "bbox_1769407534425_1769415270027_sf2secke4", + "width": 0.06814692090468162, + "x": 0.5451753188728257, + "y": 0.0033750140175528454 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向正前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向上抬升，滴管脱离滴瓶，方便接近量杯。", + "frame": 268, + "progress": 50, + "progress_explanation": "爪夹向上抬升，滴管脱离滴瓶，因此任务进度提升为50%", + "state_description": "爪夹当前为合拢状态，滴管远离滴瓶，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹夹住滴管向正前方移动，接近量杯。", + "time": 8.93678253925302 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.23243698162863874, + "id": "bbox_1769407530184_1769415255923_vcauji5vq", + "width": 0.1267849691249891, + "x": 0.5198183250478279, + "y": 0.0033750140175528454 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.32963790121879677, + "id": "bbox_1769407534425_1769415262148_3how9ic7o", + "width": 0.07765579358905583, + "x": 0.5356664461884514, + "y": 0.0033750140175528454 + } + ], + "type": "bbox" + }, + "point_1769407556454": { + "instances": [ + { + "id": "point_1769407556454_1769415251292_c44c21ud5", + "x": 0.546760130986888, + "y": 0.05620160075133438 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左前方移动，接近量杯，随后爪夹继续向左前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹向右侧移动接近了错误的物品，没有接近量杯。", + "frame": 297, + "progress": -30, + "progress_explanation": "爪夹向右侧移动，没有接近量杯，因此任务进度倒退为-30%。", + "state_description": "爪夹当前为合拢状态，爪夹接近白色物体，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹向左前方移动，接近量杯。", + "time": 9.88702278139899 + }, + { + "action_description": "爪夹继续向右侧移动，随后下降。", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.26624599713825897, + "id": "bbox_1769407530184_1769415243956_cqscbijk9", + "width": 0.09033429050155473, + "x": 0.6180766761196944, + "y": 0.08578448932225204 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.3317509646881481, + "id": "bbox_1769407534425_1769415239803_vn9qn93a0", + "width": 0.07924060570311822, + "x": 0.5356664461884514, + "y": 0.001261950548201584 + } + ], + "type": "bbox" + }, + "point_1769407556454": { + "instances": [ + { + "id": "point_1769407556454_1769415247028_ust0g6a3o", + "x": 0.6434336699446922, + "y": 0.1470633299334386 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左前方移动，接近量杯，随后爪夹继续向左前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹移动至错误物品的正上方，没有接近正确物品。", + "frame": 328, + "progress": -40, + "progress_explanation": "爪夹向右侧移动至白色物品正上方，没有接近量杯，因此任务进度倒退为-40%。", + "state_description": "爪夹当前为合拢状态，爪夹在白色物体的正上方，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹向左前方移动，接近量杯。", + "time": 10.948 + }, + { + "action_description": "爪夹挤压滴管", + "annotations": { + "bbox_1769407530184": { + "instances": [ + { + "height": 0.24722842591409755, + "id": "bbox_1769407530184_1769415227108_disovgo29", + "width": 0.08399504204530528, + "x": 0.6196614882337567, + "y": 0.10057593360771086 + } + ], + "type": "bbox" + }, + "bbox_1769407534425": { + "instances": [ + { + "height": 0.3338640281574993, + "id": "bbox_1769407534425_1769415232436_1n2zhnle4", + "width": 0.06497729667655694, + "x": 0.5451753188728257, + "y": -0.0008511129211496772 + } + ], + "type": "bbox" + }, + "point_1769407556454": { + "instances": [ + { + "id": "point_1769407556454_1769415222852_y2u7jgf0d", + "x": 0.6370944214884428, + "y": 0.16044605449173335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左前方移动，接近量杯，随后爪夹继续向左前方移动至量杯正上方，随后爪夹挤压，溶液滴入玻璃量杯中。", + "error_success_analysis": "爪夹使溶液滴入错误物品里，没有滴入量杯里。", + "frame": 355, + "progress": -50, + "progress_explanation": "爪夹挤压滴管，溶液滴入白色物品里，因此任务进度倒退为-50%。", + "state_description": "爪夹当前为合拢状态，溶液滴入白色物品里，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹向左前方移动，接近量杯。", + "time": 11.832752801031212 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769407530184", + "name": "滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769407534425", + "name": "玻璃量杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769407550015", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769407556454", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-152746-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.right/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-152746-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..8bdd5a805953d39aa61846426a0edd8a3e2dfead --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-152746-put-rubber head dropper-bropping-bottle-good/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,258 @@ +{ + "task_description": "将橡胶头滴管放入滴瓶中\n爪夹准备移动：0\n爪夹接近滴瓶：25%\n爪夹使橡胶头滴管紧挨着滴瓶正上方：50%\n爪夹将橡胶头滴管放入滴瓶：75%\n爪夹松开，橡胶头滴管完全放入滴瓶中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向上提升，向左前方移动，随后下降，接近滴瓶，爪夹继续下降，使滴管紧挨着滴瓶，随后爪夹下降，使滴管放入滴瓶，爪夹松开，橡胶头滴管完全放入滴瓶中。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近滴瓶，因此任务进度为0.", + "state_description": "爪夹当前为合拢状态，爪夹夹住滴管，为完成将溶液从橡胶头滴管滴入玻璃量杯中的任务，应当：爪夹向上提升，向左前方移动，随后下降，接近滴瓶。", + "time": 1.998465263700849, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769417326631_11numzw4e", + "x": 0.5071398281353289, + "y": 0.17242009156565377, + "width": 0.07290135724686878, + "height": 0.185949585302911 + } + ] + }, + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769417333298_mh2s49ers", + "x": 0.5261575735040773, + "y": -0.0008511129211496772, + "width": 0.061807672448432174, + "height": 0.20496715652707234 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后轻微向左侧移动", + "correction_plan": "爪夹向正前方移动，随后下降，接近滴瓶，爪夹下降，使滴管紧挨着滴瓶，随后爪夹下降，使滴管放入滴瓶，爪夹松开，橡胶头滴管完全放入滴瓶中。", + "error_success_analysis": "爪夹轻微向左侧移动，爪夹远离了量杯。", + "frame": 81, + "progress": 10, + "progress_explanation": "爪夹轻微向左侧移动，爪夹远离了量杯，因此任务进度提升为10%。", + "state_description": "爪夹当前为合拢状态，爪夹远离量杯，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹向正前方移动，随后下降，接近滴瓶。", + "time": 2.71336358418705, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769417311176_oz5nhg3zb", + "x": 0.5071398281353289, + "y": 0.1703070280963025, + "width": 0.0808254178171806, + "height": 0.185949585302911 + } + ] + } + } + }, + { + "action_description": "爪夹向正前方移动，随后下降", + "correction_plan": "爪夹下降，接近滴瓶，爪夹继续下降，使滴管紧挨着滴瓶，随后爪夹下降，使滴管放入滴瓶，爪夹松开，橡胶头滴管完全放入滴瓶中。", + "error_success_analysis": "爪夹向正前方移动并下降，缩短了与滴瓶的距离。", + "frame": 122, + "progress": 20, + "progress_explanation": "爪夹向正前方移动并下降，水平上接近了滴瓶，因此任务进度提升为20%。", + "state_description": "爪夹当前为合拢状态，爪夹在滴瓶上方，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹下降，接近滴瓶。", + "time": 4.082466, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769417305904_7uer630lu", + "x": 0.5023853917931418, + "y": 0.1703070280963025, + "width": 0.08399504204530528, + "height": 0.18806264877226225 + } + ] + } + } + }, + { + "action_description": "爪夹下降", + "correction_plan": "爪夹继续下降，使滴管紧挨着滴瓶，随后爪夹下降，使滴管放入滴瓶，爪夹松开，橡胶头滴管完全放入滴瓶中。", + "error_success_analysis": "爪夹下降，接近了滴瓶，方便橡胶头滴管放入滴瓶。", + "frame": 150, + "progress": 25, + "progress_explanation": "爪夹下降，接近了滴瓶，因此任务进度提升为25%。", + "state_description": "爪夹当前为合拢状态，爪夹接近滴瓶，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹继续下降，使滴管紧挨着滴瓶。", + "time": 5.0103, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769417295399_qzbm0z5ro", + "x": 0.5087246402493912, + "y": 0.17242009156565377, + "width": 0.07448616936093115, + "height": 0.18806264877226225 + } + ] + }, + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769417299512_5krz07jok", + "x": 0.5229879492759525, + "y": 0.0054880774869041065, + "width": 0.033281054395309616, + "height": 0.08874866571275297 + } + ] + } + } + }, + { + "action_description": "爪夹继续下降", + "correction_plan": "爪夹下降，使滴管放入滴瓶，爪夹松开，橡胶头滴管完全放入滴瓶中。", + "error_success_analysis": "爪夹继续下降，使滴管紧挨着滴瓶，更加方便橡胶头滴管放入滴瓶。", + "frame": 194, + "progress": 50, + "progress_explanation": "爪夹继续下降，使滴管紧挨着滴瓶，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，滴管紧挨着滴瓶，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹继续下降，使滴管放入滴瓶。", + "time": 6.465533, + "annotations": { + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769417243273_9c0i15ssu", + "x": 0.5198183250478279, + "y": 0.0033750140175528454, + "width": 0.025356993824997787, + "height": 0.2007410295883698 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769417259449_yt27ze54f", + "x": 0.5023853917931418, + "y": 0.17242009156565377, + "width": 0.08716466627343004, + "height": 0.1817234583642085 + } + ] + } + } + }, + { + "action_description": "爪夹继续下降", + "correction_plan": "爪夹松开，橡胶头滴管完全放入滴瓶中。", + "error_success_analysis": "爪夹下降，使滴管放入滴瓶三分之一。", + "frame": 220, + "progress": 75, + "progress_explanation": "爪夹继续下降，滴管放入滴瓶三分之一，因此任务进度提升为75%。", + "state_description": "爪夹当前为合拢状态，滴管放入滴瓶，为完成将橡胶头滴管放入滴瓶中的任务，应当：爪夹松开，橡胶头滴管完全放入滴瓶中。", + "time": 7.327707289143437, + "annotations": { + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769417233273_cbkl0j5om", + "x": 0.5087246402493912, + "y": 0.17453315503500502, + "width": 0.07290135724686878, + "height": 0.1817234583642085 + } + ] + }, + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769417237569_5jd9rv8sr", + "x": 0.5229879492759525, + "y": 0.06465385462873943, + "width": 0.03645067862343439, + "height": 0.17327120448680342 + } + ] + } + } + }, + { + "action_description": "爪夹松开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，橡胶头滴管完全放入滴瓶中", + "frame": 250, + "progress": 100, + "progress_explanation": "爪夹松开，橡胶头滴管完全放入滴瓶中，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，橡胶头滴管完全放入滴瓶中，爪夹已完成将橡胶头滴管放入滴瓶中的任务。", + "time": 8.335064013464901, + "annotations": { + "bbox_1769407530184": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407530184_1769417199223_t0ps19j47", + "x": 0.5198183250478279, + "y": 0.12241091204341065, + "width": 0.03803549073749668, + "height": 0.14157525244653452 + } + ] + }, + "bbox_1769407534425": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407534425_1769417204657_xl1rq1txh", + "x": 0.5008005796790794, + "y": 0.17664621850435627, + "width": 0.08241022993124299, + "height": 0.17538426795615472 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769407530184", + "name": "橡胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769407534425", + "name": "滴瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769407550015", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769407556454", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-155853-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-155853-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..26c2de11139b80eb639faca1829b60208c9695cb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-155853-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,666 @@ +{ + "task_description": "将橡胶头滴管放入滴管瓶中\n准备开始移动：0%\n向滴管瓶靠近：20%\n将胶头滴管移动至滴管瓶旁：50%\n准备开始放胶头滴管：70%\n放入胶头滴管：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向上移动，向左移动至滴管瓶上方，向下移动，调整角度，对准滴管瓶口，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将橡胶头滴管放入滴管瓶中的任务应当：向上移动，向左移动至滴管瓶上方。", + "time": 1.00462636245953, + "annotations": { + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769408082409_dhu8orn4c", + "x": 0.5139202977207628, + "y": 0.4804242831045624, + "width": 0.022913646074393855, + "height": 0.06983140384646251 + } + ] + }, + "bbox_1769407528019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407528019_1769408085142_z81tw7er5", + "x": 0.2585968128918029, + "y": 0.7466565102692008, + "width": 0.05401073717535687, + "height": 0.06983140384646246 + } + ] + }, + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769408093329_hoj0npjiu", + "x": 0.5335605657845288, + "y": 0.48478874584496634 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769408095785_vhjrgue1g", + "x": 0.5106469197101351, + "y": 0.47605982036415856 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向左移动至滴管瓶上方，向下移动，调整角度，对准滴管瓶口，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动\n为了完成将橡胶头滴管放入滴管瓶中的任务应当：向上移动，向左移动至滴管瓶上方。", + "time": 2.296289767013184, + "annotations": { + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769408058207_1z7shzwv2", + "x": 0.5090102307048212, + "y": 0.4695131262535527, + "width": 0.0327337801062769, + "height": 0.08074256069747227 + } + ] + }, + "bbox_1769407528019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407528019_1769408061145_f152r3tto", + "x": 0.27332701393962755, + "y": 0.7728432867116243, + "width": 0.06383087120723996, + "height": 0.07201363521666444 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769408100504_5njq4krp3", + "x": 0.5106469197101351, + "y": 0.4804242831045624 + } + ] + }, + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769408102608_6eraftcv7", + "x": 0.5368339437951566, + "y": 0.48697097721516835 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动", + "correction_plan": "向左移动至滴管瓶上方，向下移动，调整角度，对准滴管瓶口，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向左移动正确，成功向滴管瓶靠近", + "frame": 93, + "progress": 20, + "progress_explanation": "爪夹向滴管瓶靠近，进度20%", + "state_description": "当前状态为爪夹向滴管瓶靠近\n为了完成将橡胶头滴管放入滴管瓶中的任务应当：向上移动，向左移动至滴管瓶上方。", + "time": 3.0856396253515284, + "annotations": { + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769408070091_5icbodnw2", + "x": 0.5073735416995074, + "y": 0.4738775889939566, + "width": 0.026187024085021448, + "height": 0.07637809795706835 + } + ] + }, + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769408114096_dlzcgclud", + "x": 0.531923876779215, + "y": 0.48697097721516835 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769408115864_swc9fazp9", + "x": 0.5073735416995074, + "y": 0.47605982036415856 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动", + "correction_plan": "向左移动至滴管瓶上方，向下移动，调整角度，对准滴管瓶口，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向左侧移动正确，成功继续靠近滴管瓶", + "frame": 126, + "progress": 25, + "progress_explanation": "爪夹继续向滴管瓶靠近，进度25%", + "state_description": "当前状态为爪夹继续向滴管瓶靠近\n为了完成将橡胶头滴管放入滴管瓶中的任务应当：向左移动至滴管瓶上方。", + "time": 4.185945488489827, + "annotations": { + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769408038266_wrx321xxp", + "x": 0.512283608715449, + "y": 0.4804242831045624, + "width": 0.031097091100963058, + "height": 0.08292479206767418 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769408119240_znt4ucn12", + "x": 0.5073735416995074, + "y": 0.4913354399555722 + } + ] + }, + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769408121817_k8ijm1x66", + "x": 0.5401073218057844, + "y": 0.48915320858537026 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左然后稍微向下移动", + "correction_plan": "向下移动，调整角度，对准滴管瓶口，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向左移动正确，成功将胶头滴管移动至滴管瓶上方空中", + "frame": 160, + "progress": 30, + "progress_explanation": "爪夹将胶头滴管移动至滴管瓶上方空中，进度30%", + "state_description": "当前状态为爪夹将胶头滴管移动至滴管瓶上方空中\n为了完成将橡胶头滴管放入滴管瓶中的任务应当：向下移动，调整角度", + "time": 5.334090736981963, + "annotations": { + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769408034923_vyi3a21wv", + "x": 0.5024634746835658, + "y": 0.4695131262535527, + "width": 0.04255391413816003, + "height": 0.06546694110605861 + } + ] + }, + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769408124929_xuw5rjbhi", + "x": 0.5417440108110981, + "y": 0.48915320858537026 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769408127368_3m69xphjq", + "x": 0.5024634746835658, + "y": 0.4716953576237547 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，调整角度，对准滴管瓶口，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近滴管瓶", + "frame": 191, + "progress": 40, + "progress_explanation": "爪夹更加接近滴管瓶，进度40%", + "state_description": "当前状态为爪夹更加接近滴管瓶\n为了完成将橡胶头滴管放入滴管瓶中的任务应当：向下移动，调整角度", + "time": 6.362637522089503, + "annotations": { + "bbox_1769407528019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407528019_1769408028018_0uxe0cux2", + "x": 0.47627645059854434, + "y": 0.408410647887898, + "width": 0.052374048170042986, + "height": 0.058920246995452764 + } + ] + }, + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769408030570_tu415qoua", + "x": 0.5139202977207628, + "y": 0.46514866351314876, + "width": 0.026187024085021538, + "height": 0.06328470973585668 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769408130984_2vllf2ury", + "x": 0.5106469197101351, + "y": 0.47605982036415856 + } + ] + }, + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769408133512_b72c3s7lr", + "x": 0.5368339437951566, + "y": 0.46514866351314876 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，调整角度，对准滴管瓶口，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功将胶头滴管移动至滴管瓶旁", + "frame": 238, + "progress": 50, + "progress_explanation": "将胶头滴管移动至滴管瓶旁，进度50%", + "state_description": "当前状态为将胶头滴管移动至滴管瓶旁\n为了完成将橡胶头滴管放入滴管瓶中的任务应当：调整角度，对准滴管瓶口，向下移动，松开爪夹。", + "time": 7.917417546089272, + "annotations": { + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769408020514_osafyw975", + "x": 0.5073735416995074, + "y": 0.456419738032341, + "width": 0.03600715811690458, + "height": 0.07419586658686643 + } + ] + }, + "bbox_1769407528019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407528019_1769408023521_oxygv8m3l", + "x": 0.436995914471012, + "y": 0.33203254993082965, + "width": 0.09165458429757534, + "height": 0.12220495673130939 + } + ] + }, + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769408137296_mk0jaht76", + "x": 0.5401073218057844, + "y": 0.4738775889939566 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769408140167_le66fqzll", + "x": 0.512283608715449, + "y": 0.46296643214294686 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，然后向前移动", + "correction_plan": "调整角度，对准滴管瓶口，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动正确，成功更加接近滴管瓶口\n", + "frame": 280, + "progress": 55, + "progress_explanation": "更加接近滴管瓶口，进度55%", + "state_description": "当前状态为更加接近滴管瓶口\n为了完成将橡胶头滴管放入滴管瓶中的任务应当：调整角度，对准滴管瓶口，向下移动，松开爪夹。", + "time": 9.328679414027523, + "annotations": { + "bbox_1769407528019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407528019_1769408013418_e22s65vua", + "x": 0.4680930055719751, + "y": 0.47605982036415856, + "width": 0.0572841151859846, + "height": 0.091653717548482 + } + ] + }, + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769408016154_i5s0qf2oc", + "x": 0.5139202977207628, + "y": 0.4673308948833508, + "width": 0.029460402095649218, + "height": 0.08292479206767418 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769408144408_wwy7vggdt", + "x": 0.500826785678252, + "y": 0.48478874584496634 + } + ] + }, + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769408146607_fdczn3mhv", + "x": 0.5417440108110981, + "y": 0.47605982036415856 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左后晃动", + "correction_plan": "对准滴管瓶口，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向左晃动正确，成功将胶头滴管移动至滴管瓶正上方", + "frame": 309, + "progress": 60, + "progress_explanation": "爪夹将胶头滴管移动至滴管瓶正上方，进度60%", + "state_description": "当前状态为爪夹将胶头滴管移动至滴管瓶正上方\n为了完成将橡胶头滴管放入滴管瓶中的任务应当：向下移动，松开爪夹。", + "time": 10.309386813781225, + "annotations": { + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769407998429_5mz17sacj", + "x": 0.5073735416995074, + "y": 0.46514866351314876, + "width": 0.0327337801062769, + "height": 0.058920246995452764 + } + ] + }, + "bbox_1769407528019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407528019_1769408001579_p52w9t6fe", + "x": 0.4860965846304274, + "y": 0.456419738032341, + "width": 0.055647426180670756, + "height": 0.07856032932727033 + } + ] + }, + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769408150407_6dd8pv4ks", + "x": 0.5351972547898427, + "y": 0.4716953576237547 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769408153079_ea7c61h2j", + "x": 0.512283608715449, + "y": 0.4738775889939566 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功准备开始放胶头滴管", + "frame": 339, + "progress": 70, + "progress_explanation": "爪夹准备开始放胶头滴管，进度70%", + "state_description": "当前状态为爪夹准备开始放胶头滴管\n为了完成将橡胶头滴管放入滴管瓶中的任务应当：向下移动，松开爪夹。", + "time": 11.314013906211844, + "annotations": { + "bbox_1769407528019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407528019_1769407991157_6udjusmsd", + "x": 0.4860965846304274, + "y": 0.4367796557005234, + "width": 0.06710424921786765, + "height": 0.10474710576969375 + } + ] + }, + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769407993635_z2up0djcc", + "x": 0.5073735416995074, + "y": 0.46514866351314876, + "width": 0.03600715811690458, + "height": 0.06328470973585668 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769408157103_mo2fedll3", + "x": 0.5090102307048212, + "y": 0.47605982036415856 + } + ] + }, + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769408159103_tp4daovhi", + "x": 0.5401073218057844, + "y": 0.4804242831045624 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将胶头滴管放入滴管瓶", + "frame": 373, + "progress": 90, + "progress_explanation": "爪夹将胶头滴管放入滴管瓶，进度90%", + "state_description": "当前状态为爪夹将胶头滴管放入滴管瓶\n为了完成将橡胶头滴管放入滴管瓶中的任务应当：松开爪夹。", + "time": 12.438239462027061, + "annotations": { + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769407840102_q0gwcnbxg", + "x": 0.5041001636888798, + "y": 0.45860196940254294, + "width": 0.0327337801062769, + "height": 0.056738015625250784 + } + ] + }, + "bbox_1769407528019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407528019_1769407845421_iizjgc5t6", + "x": 0.5024634746835658, + "y": 0.408410647887898, + "width": 0.08347113927100613, + "height": 0.11347603125050157 + } + ] + }, + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769408162482_79ffc88iw", + "x": 0.5351972547898427, + "y": 0.46296643214294686 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769408165527_4svmjugfl", + "x": 0.5073735416995074, + "y": 0.4716953576237547 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 401, + "progress": 100, + "progress_explanation": "爪夹将胶头滴管完全放入滴管瓶，进度100%", + "state_description": "当前状态为爪夹将胶头滴管完全放入滴管瓶", + "time": 13.371107476426923, + "annotations": { + "point_1769407529100": { + "type": "point", + "instances": [ + { + "id": "point_1769407529100_1769407761119_0xtjr9lbj", + "x": 0.6432187291405566, + "y": 0.4811516824618937 + } + ] + }, + "point_1769407528916": { + "type": "point", + "instances": [ + { + "id": "point_1769407528916_1769407763111_67h5ziqvc", + "x": 0.4140822683966182, + "y": 0.4804242831045624 + } + ] + }, + "bbox_1769407528019": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407528019_1769407772119_a8cj1c2mj", + "x": 0.49264334065168275, + "y": 0.4127751106283019, + "width": 0.10311140733477223, + "height": 0.09383594891868399 + } + ] + }, + "bbox_1769407527859": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769407527859_1769407775071_f6kasm4et", + "x": 0.5237404317526458, + "y": 0.4455085811813312, + "width": 0.027823713090335378, + "height": 0.041462396033837126 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769407527859", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769407528019", + "name": "滴管瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769407528916", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769407529100", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-161443-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-161443-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..43268204c4b0b2357a72297ca964d4b763a8a2de --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-161443-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,146 @@ +{ + "task_description": "将胶头滴管放入滴瓶：\n准备开始移动：0%\n爪夹向后移动：20%\n爪夹接近滴瓶：40%\n爪夹移动到滴瓶正上方：60%\n爪夹将胶头滴管放入滴瓶：80%\n爪夹松开胶头滴管落入滴瓶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹夹紧胶头滴管向后移动，同时调整爪夹角度使其接近垂直于桌面，并继续向爪夹左后方移动。爪夹接近滴瓶并移动到滴瓶正上方，调整爪夹角度，垂直下降至合适位置后，松开爪夹，胶头滴管落入滴瓶。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "当前为初始状态，远离胶头滴管，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离胶头滴管，未开始移动。\n为完成将胶头滴管放入滴瓶的任务应当：爪夹夹紧胶头滴管向后移动，同时调整爪夹角度使其接近垂直于桌面，并继续向爪夹左后方移动。", + "time": 1.0727392013413681 + }, + { + "action_description": "爪夹夹紧胶头滴管向后移动。", + "correction_plan": "调整爪夹角度使其接近垂直于桌面，并继续向爪夹左后方移动。爪夹接近滴瓶并移动到滴瓶正上方，调整爪夹角度，垂直下降至合适位置后，松开爪夹，胶头滴管落入滴瓶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了滴瓶，缩短了与滴瓶之间的距离。", + "frame": 86, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了滴瓶，缩短了与滴瓶之间的距离。因此进度提升为20%", + "state_description": "爪夹夹紧胶头滴管向后移动，爪夹角度接近垂直于桌面。\n为完成将胶头滴管放入滴瓶的任务应当：调整爪夹角度使其接近垂直于桌面，并继续向爪夹左后方移动。", + "time": 2.8574, + "annotations": { + "bbox_1769479623426": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769479623426_1769479660292_tnpyzp1hk", + "x": 0.5000049524639312, + "y": 0.37660743637686483, + "width": 0.08479617666215171, + "height": 0.1715445940487331 + } + ] + }, + "point_1769479637401": { + "type": "point", + "instances": [ + { + "id": "point_1769479637401_1769479663408_1vnhc7ub0", + "x": 0.5058529646475278, + "y": 0.49356965959191007 + } + ] + }, + "point_1769479637593": { + "type": "point", + "instances": [ + { + "id": "point_1769479637593_1769479665882_86cp9ik8l", + "x": 0.5438650438409062, + "y": 0.4974684003657449 + } + ] + }, + "bbox_1769479623598": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769479623598_1769479671532_5y7rx9yfd", + "x": 0.3274885930478293, + "y": 0.5832406973901115, + "width": 0.08187217057035338, + "height": 0.11696222321504521 + } + ] + } + } + }, + { + "action_description": "爪夹继续夹紧滴瓶，向爪夹左后方移动", + "correction_plan": "爪夹接近滴瓶并移动到滴瓶正上方，调整爪夹角度，垂直下降至合适位置后，松开爪夹，胶头滴管落入滴瓶。", + "error_success_analysis": "爪夹夹紧胶头滴管继续向左后方接近，靠近了滴瓶。", + "frame": 122, + "progress": 40, + "progress_explanation": "爪夹夹紧胶头滴管继续向左后方接近，靠近了滴瓶。因此进度提升为40%", + "state_description": "爪夹向左后方移动。\n为完成将胶头滴管放入滴瓶的任务应当：爪夹接近滴瓶并移动到滴瓶正上方。", + "time": 4.0506 + }, + { + "action_description": "爪夹垂直下降，接近滴瓶", + "correction_plan": "爪夹继续接近滴瓶并移动到滴瓶正上方，调整爪夹角度，垂直下降至合适位置后，松开爪夹，胶头滴管落入滴瓶。", + "error_success_analysis": "爪夹夹紧胶头滴管，向滴瓶接近，缩短了与滴瓶之间的距离。", + "frame": 151, + "progress": 50, + "progress_explanation": "爪夹夹紧胶头滴管，向滴瓶接近，缩短了与滴瓶之间的距离。因此进度提升为50%", + "state_description": "爪夹夹紧胶头滴管，水平上接近了滴瓶\n为完成将胶头滴管放入滴瓶的任务应当：爪夹接近滴瓶并移动到滴瓶正上方。", + "time": 5.0284687787653635 + }, + { + "action_description": "爪夹移动到了滴瓶正上方", + "correction_plan": "调整爪夹角度，垂直下降至合适位置后，松开爪夹，胶头滴管落入滴瓶。", + "error_success_analysis": "爪夹移动到了滴瓶的正上方，方便将胶头滴管放入滴瓶。", + "frame": 217, + "progress": 60, + "progress_explanation": "爪夹夹紧胶头滴管，到了滴瓶的正上方，方便将胶头滴管放入滴瓶。因此进度提升为60%", + "state_description": "爪夹夹紧胶头滴管，移动到了滴瓶正上方。\n为完成将胶头滴管放入滴瓶的任务应当：调整爪夹角度，垂直下降至合适位置后，松开爪夹，胶头滴管落入滴瓶。", + "time": 7.240995491561835 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，胶头滴管落入滴瓶。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便胶头滴管插入滴瓶。", + "frame": 253, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，胶头滴管插入滴瓶。因此进度提升为80%", + "state_description": "爪夹夹紧胶头滴管，爪夹角度接近垂直于桌面，胶头滴管插入滴瓶。\n为完成将胶头滴管放入滴瓶的任务应当：松开爪夹，胶头滴管落入滴瓶。", + "time": 8.447828243996275 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取胶头滴管落入滴瓶的任务完成。", + "error_success_analysis": "爪夹张开，胶头滴管落入滴瓶，任务完成。", + "frame": 290, + "progress": 100, + "progress_explanation": "爪夹张开，胶头滴管落入滴瓶，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取胶头滴管落入滴瓶的任务完成。", + "time": 9.654660996430712 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769479623426", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769479623598", + "name": "滴瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769479637401", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769479637593", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-163542-liquid-dropper-dropped-beaker-good/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-163542-liquid-dropper-dropped-beaker-good/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..87d9a2602a71dee1afa2643c5f0e2e8bcb1464ee --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-163542-liquid-dropper-dropped-beaker-good/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,120 @@ +{ + "task_description": "将胶头滴管中的液体滴入烧杯：\n准备开始移动：0%\n爪夹靠近胶头滴管：20%\n爪夹抓取胶头滴管：40%\n爪夹抓紧胶头滴管接近烧杯：60%\n爪夹挤压胶头滴管：80%\n爪夹挤压胶头滴管液体落入烧杯：100%", + "progress_points": [ + { + "time": 1.353333, + "frame": 41, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离胶头滴管，未开始移动。\n为完成将胶头滴管中的液体滴入烧杯的任务应当：爪夹向爪夹右前方的胶头滴管移动，同时调整爪夹的角度使其接近垂直于桌面，并移动到胶头滴管的正上方。", + "progress_explanation": "当前为初始状态，远离胶头滴管，未开始移动。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的胶头滴管移动，同时调整爪夹的角度使其接近垂直于桌面，并移动到胶头滴管的正上方。接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高并向爪夹前方的烧杯接近，水平到达烧杯的正上方后，调整爪夹角度，爪夹挤压胶头滴管，使液体落入烧杯。" + }, + { + "time": 2.2106035569517952, + "frame": 66, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近胶头滴管。\n为完成将胶头滴管中的液体滴入烧杯的任务应当：爪夹向爪夹右前方的胶头滴管移动，同时调整爪夹的角度使其接近垂直于桌面，并移动到胶头滴管的正上方。", + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面。方便抓取。因此进度提升为 5%。", + "error_success_analysis": "爪夹的角度接近垂直于桌面。水平上未接近胶头滴管。", + "correction_plan": "爪夹向爪夹右前方的胶头滴管移动，同时调整爪夹的角度使其接近垂直于桌面，并移动到胶头滴管的正上方。接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高并向爪夹前方的烧杯接近，水平到达烧杯的正上方后，调整爪夹角度，爪夹挤压胶头滴管，使液体落入烧杯。" + }, + { + "time": 3.545733, + "frame": 106, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了胶头滴管。\n为完成将胶头滴管中的液体滴入烧杯的任务应当：爪夹向爪夹右前方的胶头滴管移动，同时调整爪夹的角度使其接近垂直于桌面，并移动到胶头滴管的正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，水水平上接近了胶头滴管，更加方便抓取。因此进度提升为15%", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了胶头滴管之间的距离，方便后续抓取胶头滴管。", + "correction_plan": "爪夹继续向爪夹右前方的胶头滴管移动，同时调整爪夹的角度使其接近垂直于桌面，并移动到胶头滴管的正上方。接着落下爪夹靠近胶头滴管，接近胶头滴管后爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高并向爪夹前方的烧杯接近，水平到达烧杯的正上方后，调整爪夹角度，爪夹挤压胶头滴管，使液体落入烧杯。" + }, + { + "time": 5.071386342500434, + "frame": 152, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了胶头滴管，准备抓取胶头滴管。\n为完成将胶头滴管中的液体滴入烧杯的任务应当：爪夹合拢抓取胶头滴管，抓紧胶头滴管垂直升高并向爪夹前方的烧杯接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了胶头滴管，方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了胶头滴管，方便抓取。", + "correction_plan": "爪夹合拢抓取胶头滴管。抓紧胶头滴管垂直升高并向爪夹前方的烧杯接近，水平到达烧杯的正上方后，调整爪夹角度，爪夹挤压胶头滴管，使液体落入烧杯。" + }, + { + "time": 7.077933, + "frame": 212, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到胶头滴管，爪夹角度接近垂直于桌面。\n为完成将胶头滴管中的液体滴入烧杯的任务应当：抓紧胶头滴管垂直升高并向爪夹前方的烧杯接近。", + "progress_explanation": "爪夹合拢抓取到胶头滴管。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取胶头滴管。", + "correction_plan": "抓紧胶头滴管垂直升高并向爪夹前方的烧杯接近，水平到达烧杯的正上方后，调整爪夹角度，爪夹挤压胶头滴管，使液体落入烧杯。" + }, + { + "time": 8.972453777339487, + "frame": 269, + "progress": 50, + "action_description": "爪夹夹紧胶头滴管，垂直升高", + "state_description": "爪夹合拢夹紧胶头滴管，水平上接近了烧杯。\n为完成将胶头滴管中的液体滴入烧杯的任务应当：继续向爪夹前方的烧杯接近，水平到达烧杯的正上方后，调整爪夹角度，爪夹挤压胶头滴管，使液体落入烧杯。", + "progress_explanation": "爪夹合拢夹紧胶头滴管，垂直升高，准备向爪夹左前方的烧杯接近。因此进度提升为50%", + "error_success_analysis": "爪夹合拢继续夹紧胶头滴管，水平上接近了烧杯，更加方便接近烧杯。", + "correction_plan": "继续向爪夹前方的烧杯接近，水平到达烧杯的正上方后，调整爪夹角度，爪夹挤压胶头滴管，使液体落入烧杯。" + }, + { + "time": 10.501866, + "frame": 315, + "progress": 60, + "action_description": "爪夹夹紧胶头滴管，向爪夹左前方移动", + "state_description": "爪夹夹紧胶头滴管，爪夹角度接近垂直于桌面，位于烧杯正上方。\n为完成将胶头滴管中的液体滴入烧杯的任务应当：调整爪夹角度，爪夹挤压胶头滴管，使液体落入烧杯。", + "progress_explanation": "爪夹夹紧胶头滴管，到了爪夹左前方的烧杯的正上方，方便将胶头滴管中的液体滴入烧杯。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了烧杯正上方，方便将胶头滴管中的液体滴入烧杯。", + "correction_plan": "调整爪夹角度，爪夹挤压胶头滴管，使液体落入烧杯。" + }, + { + "time": 11.616510594285957, + "frame": 348, + "progress": 80, + "action_description": "爪夹调整角度，挤压胶头滴管。", + "state_description": "爪夹夹紧胶头滴管移动到了烧杯正上方，挤压胶头滴管。\n为完成将胶头滴管中的液体滴入烧杯的任务应当：爪夹挤压胶头滴管，使液体落入烧杯。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹挤压胶头滴管。因此进度提升为80%", + "error_success_analysis": "爪夹挤压胶头滴管，爪夹位于烧杯正上方。", + "correction_plan": "爪夹挤压胶头滴管，使液体落入烧杯。" + }, + { + "time": 12.830176018458106, + "frame": 385, + "progress": 100, + "action_description": "爪夹继续挤压胶头滴管", + "state_description": "爪夹继续挤压胶头滴管，液体落入烧杯。\n爪夹将胶头滴管中的液体滴入烧杯的任务完成。", + "progress_explanation": "爪夹挤压胶头滴管，液体落入烧杯，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹挤压胶头滴管，液体落入烧杯，任务完成。", + "correction_plan": "爪夹将胶头滴管中的液体滴入烧杯的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769491710617", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769491710768", + "name": "烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769491722182", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769491722389", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-163542-liquid-dropper-dropped-beaker-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-163542-liquid-dropper-dropped-beaker-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5b141be9dbea199ff84d213304c2c213fa18768b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-163542-liquid-dropper-dropped-beaker-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "滴管中的液体滴入烧杯中：\n爪夹准备移动：0%\n靠近橡胶头滴管：20%\n抓取橡胶头滴管：40%\n抓取橡胶头滴管接近烧杯：60%\n抓取橡胶头滴管移动至烧杯正上方：80%\n抓取橡胶头滴管垂直下降至烧杯中：90%\n爪夹收紧将橡胶头滴管中的液体滴入烧杯中：100%。", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前上方移动，爪夹向爪夹右前方移动至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "", + "frame": 7, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成滴管中的液体滴入烧杯中的任务应当：爪夹向爪夹方向前方移动。", + "time": 0.2387319412169818 + }, + { + "action_description": "爪夹向爪夹方向前上方移动。", + "correction_plan": "爪夹向爪夹右前方移动至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功向爪夹方向前上方移动，使爪夹与橡胶头滴管水平距离略微接近。", + "frame": 57, + "progress": 5, + "progress_explanation": "此时爪夹与橡胶头滴管水平距离略微接近，因此当前进度为5%", + "state_description": "当前爪夹张开，此时爪夹与橡胶头滴管水平距离略微接近，为完成滴管中的液体滴入烧杯中的任务应当：爪夹向爪夹方向右前方移动至橡胶头滴管正上方。", + "time": 1.894666 + }, + { + "action_description": "爪夹向爪夹右前方移动至橡胶头滴管正上方", + "correction_plan": "爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功移动至橡胶头滴管正上方。", + "frame": 100, + "progress": 10, + "progress_explanation": "此时爪夹位于橡胶头滴管正上方，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于橡胶头滴管正上方。为完成滴管中的液体滴入烧杯中的任务应当：爪夹垂直下降靠近橡胶头滴管", + "time": 3.329199 + }, + { + "action_description": "爪夹垂直下降靠近橡胶头滴管。", + "correction_plan": "爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "爪夹垂直下降成功靠近橡胶头滴管", + "frame": 134, + "progress": 20, + "progress_explanation": "此时爪夹靠近橡胶头滴管，因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近橡胶头滴管，为完成滴管中的液体滴入烧杯中的任务应当：爪夹合拢抓取橡胶头滴管。", + "time": 4.479533 + }, + { + "action_description": "当前爪夹略微合拢即将抓取橡胶头滴管。", + "correction_plan": "爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹缓缓合拢防止滴管中的液体泄漏，此时爪夹即将抓取橡胶头滴管比上一阶段更进一步。", + "frame": 179, + "progress": 30, + "progress_explanation": "此时爪夹即将抓取橡胶头滴管，因此当前进度提升至30%。", + "state_description": "当前爪夹略微合拢，此时爪夹即将抓取橡胶头滴管，为完成滴管中的液体滴入烧杯中的任务应当：爪夹合拢抓取橡胶头滴管。", + "time": 5.968199 + }, + { + "action_description": "当前爪夹合拢抓取橡胶头滴管。", + "correction_plan": "爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功完全抓取橡胶头滴管。", + "frame": 214, + "progress": 40, + "progress_explanation": "此时爪夹完全抓取橡胶头滴管，因此当前进度提升至40%。", + "state_description": "当前爪夹合拢，此时爪夹完全抓取橡胶头滴管。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管竖直上升。", + "time": 7.118533 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管竖直上升。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管竖直上升。", + "frame": 248, + "progress": 50, + "progress_explanation": "此时橡胶头滴管脱离滴瓶，因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管脱离滴瓶。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯。", + "time": 8.255333 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左后方移动接近烧杯。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管向爪夹方向右边移动，使橡胶头滴管接近烧杯。", + "frame": 293, + "progress": 55, + "progress_explanation": "此时橡胶头滴管接近烧杯，因此当前进度提升至55%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管略微接近烧杯。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方。", + "time": 9.781823889192129 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左后方移动至烧杯正上方。", + "correction_plan": "爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管移动至烧杯正上方。", + "frame": 314, + "progress": 80, + "progress_explanation": "此时橡胶头滴管位于烧杯正上方，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管位于烧杯正上方。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管垂直下降进入烧杯中。", + "time": 10.479418329833587 + }, + { + "time": 10.799599, + "frame": 324, + "progress": 100, + "action_description": "爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时滴管中的液体滴入烧杯中。已完成滴管中的液体滴入烧杯中的任务。", + "progress_explanation": "此时滴管中的液体滴入烧杯中，因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将滴管中的液体滴入烧杯。", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-163542-liquid-dropper-dropped-beaker-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-163542-liquid-dropper-dropped-beaker-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..562429a57f575d0bc621892abab4eca2c8e6e7f5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-163542-liquid-dropper-dropped-beaker-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,746 @@ +{ + "task_description": "滴管中的液体滴入烧杯中：\n爪夹准备移动：0%\n靠近橡胶头滴管：20%\n抓取橡胶头滴管：40%\n抓取橡胶头滴管接近烧杯：60%\n抓取橡胶头滴管移动至烧杯正上方：80%\n抓取橡胶头滴管垂直下降至烧杯中：90%\n爪夹收紧将橡胶头滴管中的液体滴入烧杯中：100%。", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.23999998046875165, + "id": "bbox_1769412244250_1769412573011_njfyms8uu", + "width": 0.15699999041748117, + "x": 0.6641110434502535, + "y": 0.3923518154010567 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.19466665082465406, + "id": "bbox_1769412245076_1769412568324_x5dh01x1o", + "width": 0.020999998718261813, + "x": 0.491111054009335, + "y": 0.24568516067015295 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412560976_5ubz60ehh", + "x": 0.41211105883111215, + "y": 0.48835180758855734 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412562738_sxuq5e06j", + "x": 0.6391110449761325, + "y": 0.49368514048786294 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向前上方移动，爪夹向爪夹前方移动至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成滴管中的液体滴入烧杯中的任务应当：爪夹向爪夹方向前上方移动。", + "time": 0.8125959709407234 + }, + { + "action_description": "爪夹向爪夹方向前上方移动。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.20666664984809155, + "id": "bbox_1769412244250_1769412545078_tm27dg075", + "width": 0.14699999102783243, + "x": 0.6721110429619725, + "y": 0.5350184704574813 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412533704_uac3jgonj", + "x": 0.4131110587700769, + "y": 0.48035180823959894 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412535176_ffd6ooz6a", + "x": 0.6401110449150973, + "y": 0.48168514146442537 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹前方移动至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功向爪夹方向前上方移动，使爪夹与橡胶头滴管水平距离略微接近。", + "frame": 82, + "progress": 5, + "progress_explanation": "此时爪夹与橡胶头滴管水平距离略微接近，因此当前进度提升至5%。", + "state_description": "当前爪夹张开，此时爪夹与橡胶头滴管水平距离略微接近，为完成滴管中的液体滴入烧杯中的任务应当：爪夹向爪夹方向前方移动至橡胶头滴管正上方。", + "time": 2.719778025162214 + }, + { + "action_description": "爪夹向爪夹前方移动至橡胶头滴管正上方。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.20933331629774443, + "id": "bbox_1769412244250_1769412526686_sz1xecawo", + "width": 0.1779999891357428, + "x": 0.6821110423516209, + "y": 0.6483517945677251 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.04666666286892394, + "id": "bbox_1769412245076_1769412522227_shu8fif03", + "width": 0.029999998168945476, + "x": 0.5011110533989835, + "y": 0.46701847599133495 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412516246_7olld9ejl", + "x": 0.41011105895318234, + "y": 0.47635180856511977 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412518140_ohshjw8i3", + "x": 0.6411110448540621, + "y": 0.47768514178994614 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功移动至橡胶头滴管正上方。", + "frame": 118, + "progress": 10, + "progress_explanation": "此时爪夹位于橡胶头滴管正上方，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于橡胶头滴管正上方。为完成滴管中的液体滴入烧杯中的任务应当：爪夹垂直下降靠近橡胶头滴管", + "time": 3.918433 + }, + { + "action_description": "爪夹垂直下降靠近橡胶头滴管。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.2639999785156268, + "id": "bbox_1769412244250_1769412503762_j6yyesswf", + "width": 0.20599998742675868, + "x": 0.6861110421074803, + "y": 0.641685128443593 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.06133332834201439, + "id": "bbox_1769412245076_1769412493836_zax2pqfb1", + "width": 0.03999999755859394, + "x": 0.48811105419244055, + "y": 0.48301847468925174 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412488206_kx3d5pjqz", + "x": 0.40911105901421757, + "y": 0.4790184750147725 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412489852_jwe8ocpwa", + "x": 0.6391110449761325, + "y": 0.48035180823959894 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "爪夹垂直下降成功靠近橡胶头滴管", + "frame": 154, + "progress": 20, + "progress_explanation": "此时爪夹靠近橡胶头滴管，因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近橡胶头滴管，为完成滴管中的液体滴入烧杯中的任务应当：爪夹合拢抓取橡胶头滴管。", + "time": 5.127466 + }, + { + "action_description": "当前爪夹略微合拢即将抓取橡胶头滴管。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.23599998079427234, + "id": "bbox_1769412244250_1769412475812_qt4i43wck", + "width": 0.176999989196778, + "x": 0.7111110405816016, + "y": 0.6776851255139058 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.05733332866753506, + "id": "bbox_1769412245076_1769412484098_llxtkur0t", + "width": 0.03999999755859385, + "x": 0.5271110518120696, + "y": 0.47635180856511977 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412468762_hy6gqtaxj", + "x": 0.4691110553521084, + "y": 0.4750184753402934 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412470491_29iasc535", + "x": 0.5841110483330658, + "y": 0.4683518092161613 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹缓缓合拢防止滴管中的液体泄漏。", + "frame": 190, + "progress": 30, + "progress_explanation": "此时爪夹即将抓取橡胶头滴管，因此当前进度提升至30%。", + "state_description": "当前爪夹略微合拢，此时爪夹即将抓取橡胶头滴管，为完成滴管中的液体滴入烧杯中的任务应当：爪夹合拢抓取橡胶头滴管。", + "time": 6.323901592194951 + }, + { + "action_description": "当前爪夹略微合拢即将抓取橡胶头滴管。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.24266664691840442, + "id": "bbox_1769412244250_1769412461208_ccic2to6m", + "width": 0.17899998907470768, + "x": 0.6991110413140234, + "y": 0.655018460691857 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.05333332899305591, + "id": "bbox_1769412245076_1769412453682_6m43lh7bf", + "width": 0.03499999786376966, + "x": 0.5161110524834562, + "y": 0.4576851434175502 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412447500_a2cdp0nro", + "x": 0.4961110537041593, + "y": 0.4750184753402934 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412449191_ujokys5v9", + "x": 0.5541110501641204, + "y": 0.4736851421154669 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹缓缓合拢防止滴管中的液体泄漏，此时爪夹即将抓取橡胶头滴管比上一阶段更进一步。", + "frame": 239, + "progress": 35, + "progress_explanation": "此时爪夹即将抓取橡胶头滴管比上一阶段更进一步，因此当前进度提升至35%。", + "state_description": "当前爪夹略微合拢，此时爪夹即将抓取橡胶头滴管。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管。", + "time": 7.9534 + }, + { + "action_description": "当前爪夹合拢抓取橡胶头滴管。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.23733331401909888, + "id": "bbox_1769412244250_1769412438298_86ifgxb5w", + "width": 0.1779999891357429, + "x": 0.7001110412529881, + "y": 0.6576851271415098 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.059999995117187885, + "id": "bbox_1769412245076_1769412432276_9uzu0boxv", + "width": 0.027999998291015783, + "x": 0.5131110526665617, + "y": 0.4483518108437654 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412424940_efstkm2di", + "x": 0.5101110528496672, + "y": 0.4736851421154669 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412427198_mu2oa3dqo", + "x": 0.5431110508355071, + "y": 0.4710184756658142 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功完全抓取橡胶头滴管。", + "frame": 261, + "progress": 40, + "progress_explanation": "此时爪夹完全抓取橡胶头滴管，因此当前进度提升至40%。", + "state_description": "当前爪夹合拢，此时爪夹完全抓取橡胶头滴管。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管竖直上升。", + "time": 8.696616273824835 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管竖直上升。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.1919999843750014, + "id": "bbox_1769412244250_1769412415068_vzeltynme", + "width": 0.15699999041748108, + "x": 0.6731110429009373, + "y": 0.6603517935911626 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.06266666156684071, + "id": "bbox_1769412245076_1769412408362_c4xum1an6", + "width": 0.029999998168945385, + "x": 0.5121110527275968, + "y": 0.4496851440685918 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412400488_k5q50mh0b", + "x": 0.5091110529107022, + "y": 0.4750184753402934 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412402772_a39lqln4h", + "x": 0.5431110508355071, + "y": 0.4683518092161613 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管竖直上升。", + "frame": 295, + "progress": 50, + "progress_explanation": "此时橡胶头滴管脱离滴瓶，因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管脱离滴瓶。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯。", + "time": 9.837922070051869 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向右边移动。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.1333333224826397, + "id": "bbox_1769412244250_1769412392058_ho5gdmwyg", + "width": 0.09199999438476603, + "x": 0.6261110457695894, + "y": 0.5883517994505372 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.061333328342014264, + "id": "bbox_1769412245076_1769412384488_xxet7rgq3", + "width": 0.028999998229980582, + "x": 0.5121110527275968, + "y": 0.453685143743071 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412377110_80b6r5d2w", + "x": 0.5091110529107022, + "y": 0.4790184750147725 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412379432_xyygs4lyo", + "x": 0.5431110508355071, + "y": 0.4750184753402934 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管向爪夹方向右边移动，使橡胶头滴管略微接近烧杯。", + "frame": 331, + "progress": 55, + "progress_explanation": "此时橡胶头滴管略微接近烧杯，因此当前进度提升至55%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管略微接近烧杯。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯。", + "time": 11.02427941086681 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向右后方移动接近烧杯。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.1479999879557301, + "id": "bbox_1769412244250_1769412360230_gppp7b225", + "width": 0.10899999334716837, + "x": 0.5171110524224211, + "y": 0.48316663243272845 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.0639999947916671, + "id": "bbox_1769412245076_1769412356346_tl2p9tqdb", + "width": 0.028999998229980582, + "x": 0.5121110527275968, + "y": 0.44849996858724217 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412348628_5knpqr0wu", + "x": 0.5071110530327726, + "y": 0.47383329985894374 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412350764_wrqrgez3k", + "x": 0.5431110508355071, + "y": 0.4724999666341173 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管接近烧杯。", + "frame": 352, + "progress": 60, + "progress_explanation": "此时橡胶头滴管接近烧杯，因此当前进度提升至60%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管接近烧杯，为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方。", + "time": 11.730086942744057 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向右后方移动至烧杯正上方。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.1706666527777789, + "id": "bbox_1769412244250_1769412339614_8dpuhrs5p", + "width": 0.12599999230957087, + "x": 0.4771110548638271, + "y": 0.4230184795720638 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.06266666156684071, + "id": "bbox_1769412245076_1769412334944_6ricnayix", + "width": 0.031999998046875075, + "x": 0.5101110528496672, + "y": 0.4496851440685918 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412327214_wpl18cf36", + "x": 0.5081110529717374, + "y": 0.4750184753402934 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412329234_cpahiim8e", + "x": 0.5461110506524016, + "y": 0.4736851421154669 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管垂直下降进入烧杯，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管移动至烧杯正上方。", + "frame": 368, + "progress": 80, + "progress_explanation": "此时橡胶头滴管位于烧杯正上方，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管位于烧杯正上方。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管垂直下降进入烧杯中。", + "time": 12.270705477798966 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管垂直下降进入烧杯内。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.20133331694878606, + "id": "bbox_1769412244250_1769412316680_u5nrjv0io", + "width": 0.14599999108886771, + "x": 0.47411105504693263, + "y": 0.400351814750015 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.061333328342014264, + "id": "bbox_1769412245076_1769412310774_mxjuchc3r", + "width": 0.030999998107910275, + "x": 0.511111052788632, + "y": 0.4496851440685918 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412301512_smcc14gf5", + "x": 0.5091110529107022, + "y": 0.4736851421154669 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412303880_hekdmjiuv", + "x": 0.5431110508355071, + "y": 0.4710184756658142 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管进入烧杯。", + "frame": 382, + "progress": 90, + "progress_explanation": "此时橡胶头滴管进入烧杯内，因此当前进度提升至90%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管进入烧杯内。为完成滴管中的液体滴入烧杯中的任务应当：爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "time": 12.7167 + }, + { + "action_description": "爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "annotations": { + "bbox_1769412244250": { + "instances": [ + { + "height": 0.19866665049913326, + "id": "bbox_1769412244250_1769412279336_g7s05t7j6", + "width": 0.1469999910278325, + "x": 0.4731110551079678, + "y": 0.40464811528844274 + } + ], + "type": "bbox" + }, + "bbox_1769412245076": { + "instances": [ + { + "height": 0.06399999479166703, + "id": "bbox_1769412245076_1769412289950_h01cmnx2u", + "width": 0.026999998352050893, + "x": 0.5141110526055266, + "y": 0.44731477848288753 + } + ], + "type": "bbox" + }, + "point_1769412245810": { + "instances": [ + { + "id": "point_1769412245810_1769412268878_nwr31zgf7", + "x": 0.5141110526055266, + "y": 0.4753147762042419 + } + ], + "type": "point" + }, + "point_1769412245942": { + "instances": [ + { + "id": "point_1769412245942_1769412271242_ytmcr2c7x", + "x": 0.5401110510186126, + "y": 0.4753147762042419 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将滴管中的液体滴入烧杯。", + "frame": 407, + "progress": 100, + "progress_explanation": "此时滴管中的液体滴入烧杯中，因此当前进度提升至100%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时滴管中的液体滴入烧杯中。已完成滴管中的液体滴入烧杯中的任务。", + "time": 13.577200270848335 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769412244250", + "name": "烧杯" + }, + { + "color": "#FF9800", + "id": "bbox_1769412245076", + "name": "橡胶头滴管" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769412245810", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769412245942", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-165449-liquid-dropper-dropped-beaker-mix/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-165449-liquid-dropper-dropped-beaker-mix/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..560bbd0b4a7e9012368509f15e39aedd2cc467ed --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-165449-liquid-dropper-dropped-beaker-mix/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,526 @@ +{ + "task_description": "滴管中的液体滴入烧杯中：\n爪夹准备移动：0%\n靠近橡胶头滴管：20%\n抓取橡胶头滴管：40%\n抓取橡胶头滴管接近烧杯：60%\n抓取橡胶头滴管移动至烧杯正上方：80%\n抓取橡胶头滴管垂直下降至烧杯中：90%\n爪夹收紧将橡胶头滴管中的液体滴入烧杯中：100%。", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹前上方移动，爪夹向爪夹方向左前方移动至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成滴管中的液体滴入烧杯中的任务应当：爪夹向爪夹前上方移动。", + "time": 0.6134168351262461, + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409866773_ytdzekst6", + "x": 0.24011106932915832, + "y": 0.21116665456814332, + "width": 0.12899999212646535, + "height": 0.2106666495225709 + } + ] + }, + "bbox_1769409515919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409515919_1769409876105_5k7hbu0n7", + "x": 0.4691110553521084, + "y": 0.22049998714192812, + "width": 0.03799999768066416, + "height": 0.20799998307291806 + } + ] + }, + "point_1769409516755": { + "type": "point", + "instances": [ + { + "id": "point_1769409516755_1769409880797_tii8apbv9", + "x": 0.38011106078423695, + "y": 0.3246481262493387 + } + ] + }, + "point_1769409516883": { + "type": "point", + "instances": [ + { + "id": "point_1769409516883_1769409882679_50ny90t5v", + "x": 0.4761110549248623, + "y": 0.3593147900948251 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前上方移动。", + "correction_plan": "爪夹向爪夹方向左前方移动至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功向爪夹方向前上方移动，使爪夹与橡胶头滴管水平距离略微接近。", + "frame": 56, + "progress": 5, + "progress_explanation": "此时爪夹与橡胶头滴管水平距离略微接近，因此当前进度提升至5%。", + "state_description": "当前爪夹张开，此时爪夹与橡胶头滴管水平距离略微接近。为完成滴管中的液体滴入烧杯中的任务应当：爪夹向爪夹方向左前方移动至橡胶头滴管正上方。", + "time": 1.8696366612359643, + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409833587_7ux6pagt4", + "x": 0.2711110674370686, + "y": 0.21101849682466658, + "width": 0.11199999316406291, + "height": 0.22399998177083483 + } + ] + }, + "bbox_1769409515919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409515919_1769409840611_piivx8n9p", + "x": 0.46711105547417875, + "y": 0.21901849617362498, + "width": 0.036999997741699354, + "height": 0.21199998274739723 + } + ] + } + } + }, + { + "time": 2.497457, + "frame": 75, + "progress": -5, + "action_description": "当前爪夹向爪夹方向右下方移动靠近小口烧杯。", + "state_description": "当前爪夹张开，此时爪夹靠近小口烧杯，为完成滴管中的液体滴入烧杯中的任务应当：爪夹向爪夹方向左前方移动并上升。", + "progress_explanation": "此时爪夹靠近小口烧杯，因此当前进度跌落至-5%。", + "error_success_analysis": "当前爪夹靠近小口烧杯未能按照任务规划进行。", + "correction_plan": "爪夹向爪夹方向左前方移动并上升至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409823013_xtikzf0de", + "x": 0.22911107000054504, + "y": 0.21368516327431938, + "width": 0.1429999912719732, + "height": 0.23066664789496683 + } + ] + } + } + }, + { + "time": 2.994876, + "frame": 90, + "progress": -10, + "action_description": "爪夹合拢抓取小口烧杯。", + "state_description": "当前爪夹合拢抓取小口烧杯，为完成滴管中的液体滴入烧杯中的任务应当：爪夹松开。", + "progress_explanation": "当前爪夹合拢抓取小口烧杯，因此当前进度跌落至-10%。", + "error_success_analysis": "当前爪夹抓取错误目标，使得任务进度大大降低。", + "correction_plan": "爪夹松开向爪夹方向左前方移动并上升至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409802027_026d0rbnx", + "x": 0.24011106932915832, + "y": 0.24435182744532655, + "width": 0.12999999206543017, + "height": 0.20266665017361243 + } + ] + }, + "point_1769409516883": { + "type": "point", + "instances": [ + { + "id": "point_1769409516883_1769409806663_1quhlsdmn", + "x": 0.6541110440606052, + "y": 0.45249996826172134 + } + ] + } + } + }, + { + "time": 3.876379, + "frame": 116, + "progress": -12, + "action_description": "当前爪夹合拢抓取小口烧杯竖直上升。", + "state_description": "当前爪夹合拢抓取小口烧杯，此时小口烧杯与桌面垂直距离增加，为完成滴管中的液体滴入烧杯中的任务应当：爪夹松开。", + "progress_explanation": "当前爪夹合拢抓取错误目标竖直上升，因此当前进度跌落至-12%。", + "error_success_analysis": "当前爪夹抓取错误目标竖直上升，使得任务进度进一步跌落。", + "correction_plan": "爪夹松开向爪夹方向左前方移动至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409795065_qwkbwkmge", + "x": 0.23411106969536927, + "y": 0.20168516425088182, + "width": 0.13599999169921925, + "height": 0.23999998046875157 + } + ] + }, + "point_1769409516883": { + "type": "point", + "instances": [ + { + "id": "point_1769409516883_1769409811321_hcojt3yi3", + "x": 0.6211110460747652, + "y": 0.37901848315279274 + } + ] + } + } + }, + { + "time": 5.194799, + "frame": 156, + "progress": 6, + "action_description": "松开爪夹", + "state_description": "当前爪夹张开，此时爪夹与橡胶头滴管水平距离略微接近。为完成滴管中的液体滴入烧杯中的任务应当：爪夹向爪夹方向左前方移动至橡胶头滴管正上方。", + "progress_explanation": "此时爪夹与橡胶头滴管水平距离略微接近，因此当前进度提升至6%", + "error_success_analysis": "当前爪夹成功放下错误目标，使当前任务回到正轨。", + "correction_plan": "爪夹向爪夹方向左前方移动至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409781567_jvvhsn3rp", + "x": 0.23311106975640442, + "y": 0.20435183070053461, + "width": 0.13599999169921925, + "height": 0.23733331401909877 + } + ] + } + } + }, + { + "time": 6.413333, + "frame": 192, + "progress": 10, + "action_description": "当前爪夹向爪夹方向左前方移动至橡胶头滴管正上方。", + "state_description": "当前爪夹张开，此时爪夹位于橡胶头滴管正上方。为完成滴管中的液体滴入烧杯中的任务应当：爪夹垂直下降靠近橡胶头滴管。", + "progress_explanation": "此时爪夹位于橡胶头滴管正上方，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动，使爪夹位于橡胶头滴管正上方。", + "correction_plan": "爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409762203_z2nfv4mc1", + "x": 0.22611107018365048, + "y": 0.20035183102605542, + "width": 0.1429999912719732, + "height": 0.24133331369357797 + } + ] + }, + "bbox_1769409515919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409515919_1769409770577_krrj7uo4h", + "x": 0.4681110554131435, + "y": 0.21901849617362498, + "width": 0.028999998229980582, + "height": 0.20399998339843886 + } + ] + } + } + }, + { + "time": 7.555684295206268, + "frame": 227, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近橡胶头滴管。", + "state_description": "当前爪夹张开，此时爪夹靠近橡胶头滴管。为完成滴管中的液体滴入烧杯中的任务应当：爪夹合拢抓取橡胶头滴管。", + "progress_explanation": "此时爪夹靠近橡胶头滴管，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近橡胶头滴管。", + "correction_plan": "爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409748167_lti9oq847", + "x": 0.22611107018365048, + "y": 0.20849998811849055, + "width": 0.1429999912719732, + "height": 0.23333331434461962 + } + ] + } + } + }, + { + "time": 8.7953749130777, + "frame": 264, + "progress": 30, + "action_description": "当前爪夹略微合拢即将抓取橡胶头滴管。", + "state_description": "当前爪夹略微合拢，此时爪夹靠近橡胶头滴管，为完成滴管中的液体滴入烧杯中的任务应当：爪夹合拢抓取橡胶头滴管。", + "progress_explanation": "此时爪夹靠近橡胶头滴管但未抓取目标，因此当前进度提升至30%。", + "error_success_analysis": "当前爪夹略微合拢即将抓取橡胶头滴管，使人物进度略微提升。", + "correction_plan": "爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409734051_fa74expr4", + "x": 0.22611107018365048, + "y": 0.2096851635998402, + "width": 0.1609999901733404, + "height": 0.2306666478949668 + } + ] + } + } + }, + { + "time": 11.109464066437704, + "frame": 333, + "progress": 40, + "action_description": "当前爪夹合拢抓取橡胶头滴管。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，为完成滴管中的液体滴入烧杯中的任务应当：当前爪夹合拢抓取橡胶头滴管竖直上升。", + "progress_explanation": "当前爪夹合拢抓取橡胶头滴管。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取橡胶头滴管。", + "correction_plan": "爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409650541_ix3uq1eq2", + "x": 0.22511107024468563, + "y": 0.21101849682466658, + "width": 0.15299999066162165, + "height": 0.22933331467014043 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取橡胶头滴管竖直上升。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管成功竖直上升。", + "frame": 381, + "progress": 50, + "progress_explanation": "此时橡胶头滴管即将脱离滴瓶，因此当前进度提升至50%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管即将脱离滴瓶。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左上方移动接近烧杯。", + "time": 12.696268057313139, + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409633069_5zj7xwnou", + "x": 0.22511107024468563, + "y": 0.2070184971501874, + "width": 0.14399999121093804, + "height": 0.2319999811197932 + } + ] + }, + "bbox_1769409515919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409515919_1769409642217_1fv7ucikh", + "x": 0.4481110566338466, + "y": 0.14701850203299952, + "width": 0.04299999737548843, + "height": 0.19199998437500126 + } + ] + } + } + }, + { + "time": 13.676433, + "frame": 410, + "progress": 60, + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左边移动接近烧杯。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管接近烧杯。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方。", + "progress_explanation": "此时橡胶头滴管接近烧杯，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管接近烧杯。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409609628_cojqma3e0", + "x": 0.2221110704277911, + "y": 0.2070184971501874, + "width": 0.14699999102783257, + "height": 0.241333313693578 + } + ] + }, + "bbox_1769409515919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409515919_1769409617419_0beng3dqc", + "x": 0.321111064385311, + "y": 0.021685178899318126, + "width": 0.05599999658203143, + "height": 0.1826666518012165 + } + ] + } + } + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左边移动至烧杯正上方。", + "correction_plan": "爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管移动至烧杯正上方。", + "frame": 423, + "progress": 80, + "progress_explanation": "此时橡胶头滴管位于烧杯正上方，因此当前进度提升至80%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于烧杯正上方。为完成滴管中的液体滴入烧杯中的任务应当：爪夹抓取橡胶头滴管垂直下降至烧杯内。", + "time": 14.10125075756743, + "annotations": { + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409588216_jao1ve233", + "x": 0.22611107018365048, + "y": 0.2096851635998402, + "width": 0.14699999102783257, + "height": 0.23333331434461962 + } + ] + }, + "bbox_1769409515919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409515919_1769409599091_ite8l2vik", + "x": 0.2111110710991778, + "y": 0.024351845348970922, + "width": 0.0509999968872072, + "height": 0.17733331890191092 + } + ] + } + } + }, + { + "time": 14.606366, + "frame": 438, + "progress": 90, + "action_description": "当前爪夹抓取橡胶头滴管垂直下降至烧杯内。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管一端进入烧杯内，为完成滴管中的液体滴入烧杯中的任务应当：爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "progress_explanation": "此时橡胶头滴管一端进入烧杯内，因此当前进度提升至90%。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管下降至烧杯内，使任务成功率大大提升。", + "correction_plan": "爪夹收紧将橡胶头滴管中的液体滴入烧杯中。", + "annotations": { + "bbox_1769409515919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409515919_1769409566115_vbmkae8q4", + "x": 0.24611106896294746, + "y": 0.0963518394895964, + "width": 0.05199999682617205, + "height": 0.1813333185763901 + } + ] + }, + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409576418_2du4mezm2", + "x": 0.23011106993950986, + "y": 0.2070184971501874, + "width": 0.13999999145507863, + "height": 0.23999998046875157 + } + ] + } + } + }, + { + "action_description": "爪夹收紧将橡胶头滴管中的液体滴入烧杯中", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将滴管中的液体滴入烧杯中。", + "frame": 451, + "progress": 100, + "progress_explanation": "此时爪夹收紧滴液滴入烧杯中，因此当前进度提升至100%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时爪夹收紧滴液滴入烧杯中。已完成滴管中的液体滴入烧杯中的任务。", + "time": 15.026886418911433, + "annotations": { + "bbox_1769409515919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409515919_1769409543706_u2g8w0a0q", + "x": 0.249111068779842, + "y": 0.11516664712185488, + "width": 0.04099999749755874, + "height": 0.15866665375434133 + } + ] + }, + "bbox_1769409516033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769409516033_1769409551717_1vw2o6mnp", + "x": 0.22911107000054504, + "y": 0.21383330575900833, + "width": 0.1389999915161138, + "height": 0.23199998111979322 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769409515919", + "name": "橡胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769409516033", + "name": "烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769409516755", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769409516883", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-171727-liquid-dropper-dropped-beaker-bad/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-171727-liquid-dropper-dropped-beaker-bad/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f3eb10a1a93d88722d41c6cb54cede0f6cc146c2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-171727-liquid-dropper-dropped-beaker-bad/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,470 @@ +{ + "task_description": "将橡胶头滴管放入烧杯中：\n爪夹准备移动：0%\n靠近橡胶头滴管：20%\n抓取橡胶头滴管：40%\n抓取橡胶头滴管接近烧杯：60%\n抓取橡胶头滴管移动至烧杯正上方：80%\n抓取橡胶头滴管垂直下降至烧杯中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹前上方移动，当前爪夹向前方移动至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右前方移动，爪夹抓取橡胶头滴管向爪夹方向右前方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成将橡胶头滴管放入烧杯中的任务应当：爪夹向爪夹前上方移动。", + "time": 0.8819240746614704, + "annotations": { + "point_1769399291400": { + "type": "point", + "instances": [ + { + "id": "point_1769399291400_1769399567330_d83rai84p", + "x": 0.6791110425347264, + "y": 0.2473147890368824 + } + ] + }, + "point_1769399291292": { + "type": "point", + "instances": [ + { + "id": "point_1769399291292_1769399569412_7pu0zggfz", + "x": 0.5971110475396089, + "y": 0.2926481186809799 + } + ] + }, + "bbox_1769399290501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290501_1769399574620_2ubth1y59", + "x": 0.4921110539482999, + "y": 0.27664811998306316, + "width": 0.03599999780273446, + "height": 0.23733331401909882 + } + ] + }, + "bbox_1769399290388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290388_1769399579652_y9kpbcr5f", + "x": 0.5541110501641204, + "y": 0.13131479847698582, + "width": 0.1289999921264653, + "height": 0.23333331434461957 + } + ] + } + } + }, + { + "time": 1.726055, + "frame": 52, + "progress": 5, + "action_description": "当前爪夹向爪夹方向前上方移动。", + "state_description": "当前爪夹张开，此时爪夹与橡胶头滴管水平距离略微接近，为完成将橡胶头滴管放入烧杯中的任务应当：爪夹向爪夹方向前方移动至橡胶头滴管正上方。", + "progress_explanation": "此时爪夹与橡胶头滴管水平距离略微接近，因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前上方移动，使爪夹与橡胶头滴管水平距离略微接近。", + "correction_plan": "当前爪夹向前方移动至橡胶头滴管正上方，爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右前方移动，爪夹抓取橡胶头滴管向爪夹方向右前方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯。", + "annotations": { + "point_1769399291292": { + "type": "point", + "instances": [ + { + "id": "point_1769399291292_1769399526870_emneqq50l", + "x": 0.583111048394101, + "y": 0.1913147935941737 + } + ] + }, + "bbox_1769399290501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290501_1769399532698_oegd12qcj", + "x": 0.4921110539482999, + "y": 0.2806481196575424, + "width": 0.038999997619629044, + "height": 0.23199998111979317 + } + ] + }, + "bbox_1769399290388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290388_1769399543075_o20g5t6cd", + "x": 0.5531110502251555, + "y": 0.1339814649266386, + "width": 0.12799999218750058, + "height": 0.23066664789496683 + } + ] + }, + "point_1769399291400": { + "type": "point", + "instances": [ + { + "id": "point_1769399291400_1769399560690_8m7yi7d4p", + "x": 0.668111043206113, + "y": 0.1473147971749026 + } + ] + } + } + }, + { + "time": 2.609501, + "frame": 78, + "progress": 10, + "action_description": "当前爪夹向前方移动至橡胶头滴管正上方", + "state_description": "当前爪夹张开，此时爪夹位于橡胶头滴管正上方。为完成将橡胶头滴管放入烧杯中的任务应当：爪夹垂直下降靠近橡胶头滴管。", + "progress_explanation": "此时爪夹位于橡胶头滴管正上方，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹前方移动至橡胶头滴管正上方。", + "correction_plan": "爪夹垂直下降靠近橡胶头滴管，爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右前方移动，爪夹抓取橡胶头滴管向爪夹方向右前方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯。", + "annotations": { + "point_1769399291292": { + "type": "point", + "instances": [ + { + "id": "point_1769399291292_1769399500015_zpvj6lnt6", + "x": 0.4961110537041593, + "y": 0.13812962234459455 + } + ] + }, + "bbox_1769399290501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290501_1769399505524_wkc1h9k88", + "x": 0.498111053582089, + "y": 0.2794629441761927, + "width": 0.031999998046875075, + "height": 0.23199998111979317 + } + ] + }, + "bbox_1769399290388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290388_1769399515607_2lu061cr9", + "x": 0.5531110502251555, + "y": 0.13412962267011533, + "width": 0.12899999212646537, + "height": 0.22533331499566123 + } + ] + } + } + }, + { + "time": 3.768035, + "frame": 113, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近橡胶头滴管。", + "state_description": "当前爪夹张开，此时爪夹靠近橡胶头滴管，为完成将橡胶头滴管放入烧杯中的任务应当：爪夹合拢抓取橡胶头滴管。", + "progress_explanation": "此时爪夹靠近橡胶头滴管，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近橡胶头滴管。", + "correction_plan": "爪夹合拢抓取橡胶头滴管，爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右前方移动，爪夹抓取橡胶头滴管向爪夹方向右前方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯。", + "annotations": { + "point_1769399291292": { + "type": "point", + "instances": [ + { + "id": "point_1769399291292_1769399473584_wraxpwzc3", + "x": 0.46711105547417875, + "y": 0.3354629396189014 + } + ] + }, + "bbox_1769399290501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290501_1769399479031_7qmwpkiv1", + "x": 0.49211105394829985, + "y": 0.30212960899824143, + "width": 0.03499999786376975, + "height": 0.2106666495225708 + } + ] + }, + "bbox_1769399290388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290388_1769399492189_4iaktv145", + "x": 0.5641110495537689, + "y": 0.14212962201907373, + "width": 0.11899999273681683, + "height": 0.21466664919705003 + } + ] + } + } + }, + { + "time": 4.385744, + "frame": 132, + "progress": 40, + "action_description": "当前爪夹合拢抓取橡胶头滴管。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，为完成将橡胶头滴管放入烧杯中的任务应当：爪夹抓取橡胶头滴管竖直上升。", + "progress_explanation": "当前爪夹合拢抓取橡胶头滴管，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取橡胶头滴管。", + "correction_plan": "爪夹抓取橡胶头滴管竖直上升，爪夹抓取橡胶头滴管向爪夹方向右前方移动，爪夹抓取橡胶头滴管向爪夹方向右前方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯。", + "annotations": { + "point_1769399291292": { + "type": "point", + "instances": [ + { + "id": "point_1769399291292_1769399447919_j9ikj08rm", + "x": 0.5041110532158781, + "y": 0.32864811575129266 + } + ] + }, + "bbox_1769399290501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290501_1769399453951_br2d9s8b7", + "x": 0.491111054009335, + "y": 0.3193147831775079, + "width": 0.028999998229980582, + "height": 0.1866666514756957 + } + ] + }, + "bbox_1769399290388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290388_1769399463797_ryvg75p2b", + "x": 0.550111050408261, + "y": 0.1446481307252498, + "width": 0.13399999182128958, + "height": 0.21599998242187643 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取橡胶头滴管竖直上升。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向右前方移动，爪夹抓取橡胶头滴管向爪夹方向右前方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管离开滴瓶。", + "frame": 184, + "progress": 50, + "progress_explanation": "此时橡胶头滴管离开滴瓶，因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管离开滴瓶。为完成将橡胶头滴管放入烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向右前方移动。", + "time": 6.127284569350751, + "annotations": { + "point_1769399291292": { + "type": "point", + "instances": [ + { + "id": "point_1769399291292_1769399412883_i1bodudh6", + "x": 0.5421110508965422, + "y": 0.12464813235285382 + } + ] + }, + "bbox_1769399290501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290501_1769399417669_z5r5acaas", + "x": 0.5011110533989835, + "y": 0.10598146720528426, + "width": 0.06699999591064473, + "height": 0.22799998144531403 + } + ] + }, + "bbox_1769399290388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290388_1769399429084_je19j0g18", + "x": 0.5541110501641204, + "y": 0.1339814649266386, + "width": 0.12899999212646537, + "height": 0.22799998144531403 + } + ] + } + } + }, + { + "time": 6.528, + "frame": 196, + "progress": 55, + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向右边移动。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管与烧杯水平距离略微接近。为完成将橡胶头滴管放入烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向右前方移动接近烧杯。", + "progress_explanation": "此时橡胶头滴管与烧杯水平距离略微接近，因此当前进度提升至55%。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管向爪夹方向右边移动，使橡胶头滴管与烧杯水平距离略微接近。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向右前方移动接近烧杯，爪夹抓取橡胶头滴管向爪夹方向右边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯。", + "annotations": { + "bbox_1769399290501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290501_1769399381629_q7n4le2e4", + "x": 0.5491110504692962, + "y": 0.001981475668825222, + "width": 0.07199999560546902, + "height": 0.15599998730468856 + } + ] + }, + "bbox_1769399290388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290388_1769399390045_0mciozfdq", + "x": 0.5541110501641204, + "y": 0.1366481313762914, + "width": 0.1299999920654301, + "height": 0.2253333149956612 + } + ] + } + } + }, + { + "time": 6.8256, + "frame": 205, + "progress": 60, + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向右前方移动接近烧杯。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管接近烧杯。为完成将橡胶头滴管放入烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向右边移动至烧杯正上方。", + "progress_explanation": "此时橡胶头滴管接近烧杯，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管接近烧杯。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向右边移动至烧杯正上方，爪夹抓取橡胶头滴管垂直下降进入烧杯。", + "annotations": { + "bbox_1769399290501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290501_1769399358192_4cecjcaw9", + "x": 0.58911104802789, + "y": -0.0006851907808275732, + "width": 0.031999998046875165, + "height": 0.05333332899305591 + } + ] + }, + "bbox_1769399290388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290388_1769399366998_m4vnacvjy", + "x": 0.5521110502861907, + "y": 0.1326481317018122, + "width": 0.12899999212646537, + "height": 0.234666647569446 + } + ] + } + } + }, + { + "time": 7.104073, + "frame": 213, + "progress": 80, + "action_description": "爪夹抓取橡胶头滴管向爪夹方向右边移动至烧杯正上方。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于烧杯正上方。为完成将橡胶头滴管放入烧杯中的任务应当：爪夹抓取橡胶头滴管垂直下降进入烧杯。", + "progress_explanation": "此时橡胶头滴管位于烧杯正上方，因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管移动至烧杯正上方。", + "correction_plan": "爪夹抓取橡胶头滴管垂直下降进入烧杯。", + "annotations": { + "bbox_1769399290501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290501_1769399339042_eqpowfiwt", + "x": 0.6371110450982027, + "y": 0.0016851805269221577, + "width": 0.029999998168945385, + "height": 0.07599999381510467 + } + ] + }, + "bbox_1769399290388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290388_1769399345274_u41cdlt9k", + "x": 0.5521110502861907, + "y": 0.13398146492663857, + "width": 0.13099999200439508, + "height": 0.23066664789496685 + } + ] + } + } + }, + { + "action_description": "爪夹抓取橡胶头滴管垂直下降进入烧杯", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将橡胶头滴管抓取至烧杯中。", + "frame": 247, + "progress": 100, + "progress_explanation": "此时橡胶头滴管位于烧杯中，因此当前进度提升至100%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于烧杯中。已完成将橡胶头滴管放入烧杯中的任务。", + "time": 8.225428767226465, + "annotations": { + "bbox_1769399290501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290501_1769399315648_fqgtmkqgt", + "x": 0.6201110461358004, + "y": 0.02983332073296544, + "width": 0.029999998168945476, + "height": 0.1853333182508693 + } + ] + }, + "bbox_1769399290388": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769399290388_1769399325501_p3migy0v2", + "x": 0.5521110502861907, + "y": 0.13383331226942446, + "width": 0.12999999206543017, + "height": 0.22933331467014043 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769399290388", + "name": "烧杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1769399290501", + "name": "橡胶头滴管", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769399291292", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769399291400", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-175541-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-175541-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..44fe1af72cf85496fd7f159c88e79594681e6926 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-175541-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,516 @@ +{ + "task_description": "将橡胶头滴管放入滴瓶中：\n爪夹准备移动：0%\n爪夹抓取橡胶头滴管离开烧杯：20%\n爪夹抓取橡胶头滴管接近滴瓶：40%\n爪夹抓取橡胶头滴管移动至滴瓶正上方：60%\n爪夹抓取橡胶头滴管下降至滴瓶内：80%\n爪夹松开使橡胶头滴管落入滴瓶中：100%", + "progress_points": [ + { + "action_description": "当前爪夹抓取橡胶头滴管，爪夹准备移动。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向竖直上升离开烧杯，爪夹抓取橡胶头滴管向爪夹方向后方移动，爪夹抓取橡胶头滴管向爪夹方向后方移动接近滴瓶，爪夹抓取橡胶头滴管向爪夹方向后方移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降进入滴瓶，爪夹松开使橡胶头滴管落入滴瓶中。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "当前爪夹抓取橡胶头滴管，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时爪夹静止不动，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向竖直上升离开烧杯。", + "time": 1.3293466765824669, + "annotations": { + "point_1769397314639": { + "type": "point", + "instances": [ + { + "id": "point_1769397314639_1769397533503_ncsr69sjr", + "x": 0.6281110456475191, + "y": 0.030722206158674627 + } + ] + }, + "bbox_1769397313231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313231_1769397539354_mosc18e95", + "x": 0.6041110471123627, + "y": 0.0122036936683192, + "width": 0.046999997131347816, + "height": 0.1853333182508693 + } + ] + }, + "bbox_1769397313358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313358_1769397548995_sdqth3m08", + "x": 0.4801110546807217, + "y": 0.4202036604651969, + "width": 0.08699999468994175, + "height": 0.20133331694878615 + } + ] + } + } + }, + { + "time": 1.718684, + "frame": 52, + "progress": 20, + "action_description": "爪夹抓取橡胶头滴管向爪夹方向竖直上升离开烧杯", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管离开烧杯。为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向后方移动。", + "progress_explanation": "此时橡胶头滴管离开烧杯，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管离开烧杯。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向后方移动，爪夹抓取橡胶头滴管向爪夹方向后方移动接近滴瓶，爪夹抓取橡胶头滴管向爪夹方向后方移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降进入滴瓶，爪夹松开使橡胶头滴管落入滴瓶中。", + "annotations": { + "bbox_1769397313358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313358_1769397518801_ymyilgjmy", + "x": 0.48311105449761627, + "y": 0.4242036601396761, + "width": 0.08499999481201206, + "height": 0.1959999840494805 + } + ] + }, + "bbox_1769397313231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313231_1769397525675_l5ghqso79", + "x": 0.5971110475396089, + "y": 0.0002036946448816207, + "width": 0.04099999749755874, + "height": 0.13733332215711896 + } + ] + } + } + }, + { + "time": 2.314409, + "frame": 69, + "progress": 25, + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向后方移动。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管与滴瓶水平距离较远，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向后方移动。", + "progress_explanation": "此时橡胶头滴管与滴瓶水平距离较远，因此当前进度提升至25%。", + "error_success_analysis": "当前爪夹抓起橡胶头滴管向爪夹方向后方移动，使橡胶头滴管比上一阶段接近滴瓶。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向后方移动，爪夹抓取橡胶头滴管向爪夹方向后方移动接近滴瓶，爪夹抓取橡胶头滴管向爪夹方向后方移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降进入滴瓶，爪夹松开使橡胶头滴管落入滴瓶中。", + "annotations": { + "bbox_1769397313231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313231_1769397504415_k3lqhpbmx", + "x": 0.550111050408261, + "y": 0.004203694319360814, + "width": 0.04099999749755874, + "height": 0.16399998665364693 + } + ] + }, + "bbox_1769397313358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313358_1769397509359_4d4d8oau6", + "x": 0.4801110546807217, + "y": 0.4228703269148497, + "width": 0.08799999462890665, + "height": 0.19599998404948044 + } + ] + } + } + }, + { + "time": 3.0324, + "frame": 91, + "progress": 30, + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向后方移动。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管略微接近滴瓶。为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向后方移动接近滴瓶。", + "progress_explanation": "此时橡胶头滴管略微接近滴瓶，因此当前进度提升至30%。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管向爪夹方向后方移动，使橡胶头滴管略微接近滴瓶。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向后方移动接近滴瓶，爪夹抓取橡胶头滴管向爪夹方向后方移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降进入滴瓶，爪夹松开使橡胶头滴管落入滴瓶中。", + "annotations": { + "bbox_1769397313231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313231_1769397488541_5e29tbim6", + "x": 0.491111054009335, + "y": 0.008203693993840007, + "width": 0.04599999719238301, + "height": 0.1639999866536469 + } + ] + }, + "bbox_1769397313358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313358_1769397493181_avu7jg8jo", + "x": 0.48111105461968656, + "y": 0.4202036604651969, + "width": 0.08699999468994175, + "height": 0.201333316948786 + } + ] + } + } + }, + { + "time": 3.648, + "frame": 109, + "progress": 40, + "action_description": "爪夹抓取橡胶头滴管向爪夹方向后方移动接近滴瓶", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管接近滴瓶，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向后方移动至滴瓶正上方", + "progress_explanation": "此时橡胶头滴管接近滴瓶，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管接近滴瓶。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向后方移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降进入滴瓶，爪夹松开使橡胶头滴管落入滴瓶中。", + "annotations": { + "point_1769397314639": { + "type": "point", + "instances": [ + { + "id": "point_1769397314639_1769397464529_naj7lje7x", + "x": 0.4711110552300381, + "y": 0.09753702005720864 + } + ] + }, + "bbox_1769397313231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313231_1769397469241_2z973u7hx", + "x": 0.44411105687798724, + "y": 0.08020368813446548, + "width": 0.057999996459961164, + "height": 0.1906666511501749 + } + ] + }, + "bbox_1769397313358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313358_1769397473911_j71lk9p1w", + "x": 0.478111054802792, + "y": 0.42153699369002334, + "width": 0.08899999456787144, + "height": 0.1959999840494805 + } + ] + } + } + }, + { + "time": 3.9672, + "frame": 119, + "progress": 45, + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向后方移动至滴瓶左上方。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于滴瓶左上方。为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向右边移动至滴瓶正上方。", + "progress_explanation": "此时橡胶头滴管位于滴瓶左上方，因此当前进度提升至45%。", + "error_success_analysis": "因为烧杯与滴瓶不在同一水平线上，因此爪夹抓取橡胶头滴管做水平运动时与滴瓶偏移。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向右边移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降进入滴瓶，爪夹松开使橡胶头滴管落入滴瓶中。", + "annotations": { + "point_1769397314639": { + "type": "point", + "instances": [ + { + "id": "point_1769397314639_1769397448117_umynteg9h", + "x": 0.46111105584038964, + "y": 0.1855370128957509 + } + ] + }, + "bbox_1769397313231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313231_1769397452939_ra749roq2", + "x": 0.43911105718316296, + "y": 0.16953701419783412, + "width": 0.0499999969482424, + "height": 0.20799998307291806 + } + ] + }, + "bbox_1769397313358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313358_1769397457429_2wj90hh06", + "x": 0.478111054802792, + "y": 0.4242036601396761, + "width": 0.08899999456787144, + "height": 0.19333331759982772 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取橡胶头滴管垂直下降。", + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向右上方移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降进入滴瓶，爪夹松开使橡胶头滴管落入滴瓶中。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管接近滴瓶时没有调整爪夹与滴瓶的位置，因此爪夹抓取橡胶头滴管垂直下降时没能进入滴瓶中。", + "frame": 157, + "progress": 38, + "progress_explanation": "此时爪夹抓取橡胶头滴管下降至滴瓶外部，因此当前进度跌落至37%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于滴瓶外部。为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管想爪夹方向右上方移动至滴瓶正上方。", + "time": 5.23120210116973, + "annotations": { + "point_1769397314639": { + "type": "point", + "instances": [ + { + "id": "point_1769397314639_1769397424011_sviowjzwy", + "x": 0.48511105437554586, + "y": 0.35353699922387705 + } + ] + }, + "bbox_1769397313231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313231_1769397432311_zmvpzzjt5", + "x": 0.45611105614556535, + "y": 0.3442036666500922, + "width": 0.029999998168945476, + "height": 0.18266665180121647 + } + ] + }, + "bbox_1769397313358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313358_1769397438859_s8yyqaamc", + "x": 0.4821110545586514, + "y": 0.4215369936900233, + "width": 0.08499999481201206, + "height": 0.19866665049913332 + } + ] + } + } + }, + { + "time": 6.7032, + "frame": 201, + "progress": 60, + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向右上方移动至滴瓶正上方。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于滴瓶正上方。为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管垂直下降进入滴瓶", + "progress_explanation": "此时橡胶头滴管位于滴瓶正上方，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管成功移动至滴瓶正上方。", + "correction_plan": "爪夹抓取橡胶头滴管垂直下降进入滴瓶，爪夹松开使橡胶头滴管落入滴瓶中。", + "annotations": { + "point_1769397314639": { + "type": "point", + "instances": [ + { + "id": "point_1769397314639_1769397403831_mvkvhlyx2", + "x": 0.4481110566338466, + "y": 0.1282036842282158 + } + ] + }, + "bbox_1769397313231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313231_1769397408061_2auydtged", + "x": 0.4271110579155848, + "y": 0.1268703510033894, + "width": 0.07099999566650421, + "height": 0.18799998470052207 + } + ] + }, + "bbox_1769397313358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313358_1769397413332_tf4mfp3my", + "x": 0.4801110546807217, + "y": 0.4228703269148497, + "width": 0.08599999475097694, + "height": 0.19599998404948044 + } + ] + } + } + }, + { + "time": 8.0256, + "frame": 241, + "progress": 70, + "action_description": "当前爪夹抓取橡胶头滴管垂直下降并调整爪夹使橡胶头滴管对准滴瓶顶部孔洞。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管对准滴瓶顶部孔洞，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管垂直下降进入滴瓶中。", + "progress_explanation": "此时橡胶头滴管对准滴瓶顶部孔洞，因此当前进度提升至70%。", + "error_success_analysis": "当前爪夹成功调整橡胶头滴管与滴瓶顶部孔洞的位置，使橡胶头滴管对准滴瓶顶部孔洞。", + "correction_plan": "爪夹抓取橡胶头滴管垂直下降进入滴瓶，爪夹松开使橡胶头滴管落入滴瓶中。", + "annotations": { + "point_1769397314639": { + "type": "point", + "instances": [ + { + "id": "point_1769397314639_1769397382039_mcdxmp3pt", + "x": 0.47911105474175686, + "y": 0.2442036747881124 + } + ] + }, + "bbox_1769397313231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313231_1769397386135_fx0getis1", + "x": 0.4501110565117763, + "y": 0.24020367511363322, + "width": 0.06799999584960963, + "height": 0.19733331727430684 + } + ] + }, + "bbox_1769397313358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313358_1769397391657_vpuja6z8d", + "x": 0.4821110545586514, + "y": 0.42153699369002334, + "width": 0.08299999493408236, + "height": 0.19733331727430692 + } + ] + } + } + }, + { + "action_description": "爪夹抓取橡胶头滴管垂直下降进入滴瓶。", + "correction_plan": "爪夹松开使橡胶头滴管落入滴瓶中。", + "error_success_analysis": "当前爪夹成功将橡胶头滴管一端放入滴瓶中。", + "frame": 280, + "progress": 80, + "progress_explanation": "此时橡胶头滴管一端位于滴瓶中，因此当前进度提升至80%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管一端位于滴瓶中。为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹松开使橡胶头滴管落入滴瓶中。", + "time": 9.332851327618387, + "annotations": { + "point_1769397314639": { + "type": "point", + "instances": [ + { + "id": "point_1769397314639_1769397364141_q041bt571", + "x": 0.5141110526055266, + "y": 0.3255370015025226 + } + ] + }, + "bbox_1769397313231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313231_1769397369299_951x0talq", + "x": 0.4931110538872647, + "y": 0.3255370015025226, + "width": 0.04099999749755874, + "height": 0.17199998600260535 + } + ] + }, + "bbox_1769397313358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313358_1769397376113_y660s1ijx", + "x": 0.4841110544365811, + "y": 0.4255369933645025, + "width": 0.08299999493408236, + "height": 0.19199998437500135 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使橡胶头滴管落入滴瓶中。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将橡胶头滴管放入滴瓶中。", + "frame": 312, + "progress": 100, + "progress_explanation": "此时橡胶头滴管位移滴瓶中，因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时橡胶头滴管位移滴瓶中，已完成将橡胶头滴管放入滴瓶中的任务。", + "time": 10.40233579640586, + "annotations": { + "point_1769397314513": { + "type": "point", + "instances": [ + { + "id": "point_1769397314513_1769397334235_zuxpofebz", + "x": 0.4771110548638272, + "y": 0.2699814595809766 + } + ] + }, + "point_1769397314639": { + "type": "point", + "instances": [ + { + "id": "point_1769397314639_1769397336281_g0py19ci8", + "x": 0.5781110486992768, + "y": 0.3233147885740325 + } + ] + }, + "bbox_1769397313231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313231_1769397343799_i1k134s1m", + "x": 0.49711105364312413, + "y": 0.38864811659052595, + "width": 0.046999997131347816, + "height": 0.21333331597222369 + } + ] + }, + "bbox_1769397313358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769397313358_1769397350429_u4bmtemrq", + "x": 0.48111105461968656, + "y": 0.42198144721118597, + "width": 0.08499999481201206, + "height": 0.19733331727430675 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769397313231", + "name": "橡胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769397313358", + "name": "滴瓶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769397314513", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769397314639", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-175541-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-175541-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..17b19549260d498008d3d7ae2581348d5a80b906 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-175541-put-rubber head dropper-bropping-bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,646 @@ +{ + "task_description": "将橡胶头滴管放入滴瓶中：\n爪夹准备移动：0%\n爪夹抓取橡胶头滴管离开烧杯：20%\n爪夹抓取橡胶头滴管接近滴瓶：40%\n爪夹抓取橡胶头滴管移动至滴瓶正上方：60%\n爪夹抓取橡胶头滴管下降至滴瓶内：80%\n爪夹松开使橡胶头滴管落入滴瓶中：100%", + "progress_points": [ + { + "action_description": "当前爪夹合拢抓取橡胶头滴管，爪夹准备移动。", + "annotations": { + "bbox_1769394463484": { + "instances": [ + { + "height": 0.11066665766059103, + "id": "bbox_1769394463484_1769394839984_4xry0qlqs", + "width": 0.05999999633789095, + "x": 0.5001110534600186, + "y": 0.41901848498384725 + } + ], + "type": "bbox" + }, + "bbox_1769394463618": { + "instances": [ + { + "height": 0.09733332541232707, + "id": "bbox_1769394463618_1769394849964_fz7n3zq5x", + "width": 0.08799999462890659, + "x": 0.2801110668877522, + "y": 0.539018475218223 + } + ], + "type": "bbox" + }, + "point_1769394464324": { + "instances": [ + { + "id": "point_1769394464324_1769394832599_7iywulr4m", + "x": 0.5141110526055266, + "y": 0.46835181430242395 + } + ], + "type": "point" + }, + "point_1769394464444": { + "instances": [ + { + "id": "point_1769394464444_1769394834880_uoiborqqn", + "x": 0.5371110512017181, + "y": 0.46835181430242395 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左上方移动离开烧杯，爪夹抓取橡胶头滴管向爪夹方向左边移动，爪夹抓取橡胶头滴管向爪夹方向左边移动接近滴瓶，爪夹抓取橡胶头滴管向爪夹方向左边移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降至滴瓶中，爪夹松开使橡胶头滴管落入滴瓶内。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "当前爪夹合拢抓取橡胶头滴管，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时爪夹静止不动，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左上方移动离开烧杯。", + "time": 0.7424547526511437 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左上方移动离开烧杯。", + "annotations": { + "bbox_1769394463484": { + "instances": [ + { + "height": 0.117333323784723, + "id": "bbox_1769394463484_1769394809664_yf6n01ieh", + "width": 0.055999996582031475, + "x": 0.5021110533379484, + "y": 0.415018485309368 + } + ], + "type": "bbox" + }, + "bbox_1769394463618": { + "instances": [ + { + "height": 0.09733332541232702, + "id": "bbox_1769394463618_1769394819408_2yp8tanlv", + "width": 0.09299999432373078, + "x": 0.3091110651177328, + "y": 0.5216851432954799 + } + ], + "type": "bbox" + }, + "point_1769394464324": { + "instances": [ + { + "id": "point_1769394464324_1769394797219_fof77unyi", + "x": 0.5141110526055266, + "y": 0.4710184807520768 + } + ], + "type": "point" + }, + "point_1769394464444": { + "instances": [ + { + "id": "point_1769394464444_1769394799672_uvs636wmn", + "x": 0.5361110512627532, + "y": 0.4670184810775976 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左边移动，爪夹抓取橡胶头滴管向爪夹方向左边移动接近滴瓶，爪夹抓取橡胶头滴管向爪夹方向左边移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降至滴瓶中，爪夹松开使橡胶头滴管落入滴瓶内。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管离开烧杯。", + "frame": 46, + "progress": 20, + "progress_explanation": "此时橡胶头滴管离开烧杯，因此当前进度提升至20%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管离开烧杯，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左边移动。", + "time": 1.523834 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左边移动。", + "annotations": { + "bbox_1769394463484": { + "instances": [ + { + "height": 0.11599999055989661, + "id": "bbox_1769394463484_1769394779292_whw658rng", + "width": 0.053999996704101695, + "x": 0.5021110533379484, + "y": 0.4162036607907177 + } + ], + "type": "bbox" + }, + "bbox_1769394463618": { + "instances": [ + { + "height": 0.09066665928819499, + "id": "bbox_1769394463618_1769394786808_ee909tuex", + "width": 0.08199999499511752, + "x": 0.3851110604790612, + "y": 0.5028703204044336 + } + ], + "type": "bbox" + }, + "point_1769394464324": { + "instances": [ + { + "id": "point_1769394464324_1769394762642_o586kq3hj", + "x": 0.5171110524224211, + "y": 0.4735369894582528 + } + ], + "type": "point" + }, + "point_1769394464444": { + "instances": [ + { + "id": "point_1769394464444_1769394764938_5uuspf4d6", + "x": 0.5381110511406828, + "y": 0.4735369894582529 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左边移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降至滴瓶中，爪夹松开使橡胶头滴管落入滴瓶内。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管向爪夹方向左边移动，使橡胶头滴管略微接近滴瓶。", + "frame": 61, + "progress": 30, + "progress_explanation": "此时橡胶头滴管略微接近滴瓶，因此当前进度提升至30%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管略微接近滴瓶，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左边移动接近滴瓶", + "time": 2.019947 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左边移动接近滴瓶。", + "annotations": { + "bbox_1769394463484": { + "instances": [ + { + "height": 0.11999999023437577, + "id": "bbox_1769394463484_1769394742576_dc5gajllx", + "width": 0.0509999968872072, + "x": 0.5061110530938078, + "y": 0.415018485309368 + } + ], + "type": "bbox" + }, + "bbox_1769394463618": { + "instances": [ + { + "height": 0.09199999251302143, + "id": "bbox_1769394463618_1769394749164_ydynrdpm1", + "width": 0.06499999603271504, + "x": 0.4431110569390224, + "y": 0.4643518146279447 + } + ], + "type": "bbox" + }, + "point_1769394464324": { + "instances": [ + { + "id": "point_1769394464324_1769394733556_80d1k637u", + "x": 0.5161110524834562, + "y": 0.46835181430242395 + } + ], + "type": "point" + }, + "point_1769394464444": { + "instances": [ + { + "id": "point_1769394464444_1769394736588_brto06z0d", + "x": 0.5361110512627532, + "y": 0.4656851478527712 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左边移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降至滴瓶中，爪夹松开使橡胶头滴管落入滴瓶内。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管接近滴瓶。", + "frame": 72, + "progress": 40, + "progress_explanation": "此时橡胶头滴管接近滴瓶，因此当前进度提升至40%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管接近滴瓶，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左边移动至滴瓶正上方。", + "time": 2.392699 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向左边移动至滴瓶正上方。", + "annotations": { + "bbox_1769394463484": { + "instances": [ + { + "height": 0.11999999023437583, + "id": "bbox_1769394463484_1769394714398_dwdipwyl3", + "width": 0.05899999639892597, + "x": 0.5041110532158781, + "y": 0.4108703278914121 + } + ], + "type": "bbox" + }, + "bbox_1769394463618": { + "instances": [ + { + "height": 0.10533332476128544, + "id": "bbox_1769394463618_1769394723534_3leiuwyqq", + "width": 0.07299999554443382, + "x": 0.5181110523613859, + "y": 0.36820366469696736 + } + ], + "type": "bbox" + }, + "point_1769394464324": { + "instances": [ + { + "id": "point_1769394464324_1769394707687_37q5rvjj1", + "x": 0.5161110524834562, + "y": 0.47087032300860004 + } + ], + "type": "point" + }, + "point_1769394464444": { + "instances": [ + { + "id": "point_1769394464444_1769394709730_zinws05sw", + "x": 0.5361110512627532, + "y": 0.4668703233341208 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管垂直下降至滴瓶中，爪夹松开使橡胶头滴管落入滴瓶内。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴瓶移动至滴瓶正上方。", + "frame": 96, + "progress": 60, + "progress_explanation": "此时橡胶头滴管位于滴瓶正上方，因此当前进度提升至60%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于滴瓶正上方，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管垂直下降至滴瓶中。", + "time": 3.197512 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管垂直下降未能进入滴瓶中。", + "annotations": { + "bbox_1769394463484": { + "instances": [ + { + "height": 0.12399998990885498, + "id": "bbox_1769394463484_1769394678328_h93ujuwk5", + "width": 0.05499999664306658, + "x": 0.5021110533379484, + "y": 0.406870328216933 + } + ], + "type": "bbox" + }, + "bbox_1769394463618": { + "instances": [ + { + "height": 0.13333332248263974, + "id": "bbox_1769394463618_1769394693604_hn133zgbo", + "width": 0.09799999401855511, + "x": 0.41611105858697145, + "y": 0.2602036734860292 + } + ], + "type": "bbox" + }, + "point_1769394464324": { + "instances": [ + { + "id": "point_1769394464324_1769394668589_eyvroxhnw", + "x": 0.5171110524224211, + "y": 0.47087032300860004 + } + ], + "type": "point" + }, + "point_1769394464444": { + "instances": [ + { + "id": "point_1769394464444_1769394671282_dg4eivi2g", + "x": 0.5361110512627532, + "y": 0.4695369897837736 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左边移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降至滴瓶中，爪夹松开使橡胶头滴管落入滴瓶内。", + "error_success_analysis": "当前爪夹抓取滴管垂直下降未能使橡胶头滴管对准滴瓶顶部的孔洞导致橡胶头滴管偏移至滴瓶外部。", + "frame": 128, + "progress": 37, + "progress_explanation": "此时橡胶头滴管接近滴瓶，因此当前进度跌落至37%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管略微接近滴瓶，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左前方移动并上升直至滴瓶正上方。", + "time": 4.251423499898097 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向左上方移动再次接近滴瓶。", + "annotations": { + "bbox_1769394463484": { + "instances": [ + { + "height": 0.1226666566840286, + "id": "bbox_1769394463484_1769394648666_xxg0yqaix", + "width": 0.04199999743652363, + "x": 0.5161110524834562, + "y": 0.4095369946665857 + } + ], + "type": "bbox" + }, + "bbox_1769394463618": { + "instances": [ + { + "height": 0.09333332573784787, + "id": "bbox_1769394463618_1769394659572_fequ2e0a5", + "width": 0.07099999566650421, + "x": 0.4701110552910732, + "y": 0.4108703278914121 + } + ], + "type": "bbox" + }, + "point_1769394464324": { + "instances": [ + { + "id": "point_1769394464324_1769394639422_8vrjkp2pd", + "x": 0.5141110526055266, + "y": 0.4695369897837736 + } + ], + "type": "point" + }, + "point_1769394464444": { + "instances": [ + { + "id": "point_1769394464444_1769394641574_h47ewngkd", + "x": 0.5341110513848235, + "y": 0.4668703233341208 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左边移动至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降至滴瓶中，爪夹松开使橡胶头滴管落入滴瓶内。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管再次尝试靠近滴瓶。", + "frame": 166, + "progress": 45, + "progress_explanation": "此时橡胶头滴管再次接近滴瓶，因此当前进度提升至45%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管再次接近滴瓶，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左边移动至滴瓶正上方。", + "time": 5.532978 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向左边略微移动并垂直下降。", + "annotations": { + "bbox_1769394463484": { + "instances": [ + { + "height": 0.13333332248263977, + "id": "bbox_1769394463484_1769394614372_9e97buskd", + "width": 0.030999998107910275, + "x": 0.5061110530938078, + "y": 0.40020366209280095 + } + ], + "type": "bbox" + }, + "bbox_1769394463618": { + "instances": [ + { + "height": 0.12666665635850774, + "id": "bbox_1769394463618_1769394621978_ojrj0tgyz", + "width": 0.08699999468994175, + "x": 0.43711105730523325, + "y": 0.3855369966197106 + } + ], + "type": "bbox" + }, + "point_1769394464324": { + "instances": [ + { + "id": "point_1769394464324_1769394597550_5c0hhpy8l", + "x": 0.5171110524224211, + "y": 0.4722036562334264 + } + ], + "type": "point" + }, + "point_1769394464444": { + "instances": [ + { + "id": "point_1769394464444_1769394599730_2k97f654k", + "x": 0.5361110512627532, + "y": 0.47087032300860004 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左后方移动并上升直至滴瓶正上方，爪夹抓取橡胶头滴管垂直下降至滴瓶中，爪夹松开使橡胶头滴管落入滴瓶内。", + "error_success_analysis": "当前爪夹还未将橡胶头滴管抓取到滴瓶正上方就垂直下降导致橡胶头滴管偏移出滴瓶外。", + "frame": 199, + "progress": 46, + "progress_explanation": "此时橡胶头滴管又一次偏移出滴瓶外，因此当前进度为46%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管接近滴瓶，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左后方移动并上升直至滴瓶正上方。", + "time": 6.625478262886959 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左后方移动并上升直至滴瓶正上方。", + "annotations": { + "bbox_1769394463484": { + "instances": [ + { + "height": 0.11066665766059097, + "id": "bbox_1769394463484_1769394577958_vflp6s4wt", + "width": 0.026999998352050893, + "x": 0.5101110528496672, + "y": 0.4175369940155441 + } + ], + "type": "bbox" + }, + "bbox_1769394463618": { + "instances": [ + { + "height": 0.10133332508680618, + "id": "bbox_1769394463618_1769394585330_vihruipkq", + "width": 0.0759999953613284, + "x": 0.48811105419244055, + "y": 0.3788703304955786 + } + ], + "type": "bbox" + }, + "point_1769394464324": { + "instances": [ + { + "id": "point_1769394464324_1769394567733_7rdgydvup", + "x": 0.5171110524224211, + "y": 0.47087032300860004 + } + ], + "type": "point" + }, + "point_1769394464444": { + "instances": [ + { + "id": "point_1769394464444_1769394570070_mcr7n5jr5", + "x": 0.5371110512017181, + "y": 0.4668703233341208 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管垂直下降至滴瓶中，爪夹松开使橡胶头滴管落入滴瓶内。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管再次移动至滴瓶正上方。", + "frame": 239, + "progress": 63, + "progress_explanation": "此时橡胶头滴管再次移动至滴瓶正上方，因此当前进度提升至63%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于滴瓶正上方，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹抓取橡胶头滴管垂直下降至滴瓶中。", + "time": 7.953086 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管垂直下降进入滴瓶中。", + "annotations": { + "bbox_1769394463484": { + "instances": [ + { + "height": 0.12533332313368142, + "id": "bbox_1769394463484_1769394549672_zfk0wmgku", + "width": 0.029999998168945385, + "x": 0.5061110530938078, + "y": 0.4042036617672801 + } + ], + "type": "bbox" + }, + "bbox_1769394463618": { + "instances": [ + { + "height": 0.117333323784723, + "id": "bbox_1769394463618_1769394559276_4w8u5xajj", + "width": 0.08799999462890665, + "x": 0.4761110549248623, + "y": 0.3548703324487034 + } + ], + "type": "bbox" + }, + "point_1769394464324": { + "instances": [ + { + "id": "point_1769394464324_1769394540326_ea3ztnxk6", + "x": 0.5161110524834562, + "y": 0.4695369897837736 + } + ], + "type": "point" + }, + "point_1769394464444": { + "instances": [ + { + "id": "point_1769394464444_1769394542370_f717yijnj", + "x": 0.5331110514458587, + "y": 0.4668703233341208 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开使橡胶头滴管落入滴瓶内。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管进入滴瓶。", + "frame": 277, + "progress": 80, + "progress_explanation": "此时橡胶头滴管一端进入滴瓶中，因此当前进度提升至80%。", + "state_description": "当前抓夹抓取橡胶头滴管，此时橡胶头滴管一端进入滴瓶中，为完成将橡胶头滴管放入滴瓶中的任务应当：爪夹松开使橡胶头滴管落入滴瓶内。", + "time": 9.231148124704003 + }, + { + "action_description": "当前爪夹松开使橡胶头滴管落入滴瓶中。", + "annotations": { + "bbox_1769394463484": { + "instances": [ + { + "height": 0.04533332964409755, + "id": "bbox_1769394463484_1769394502168_fx5z53zms", + "width": 0.030999998107910275, + "x": 0.4871110542534757, + "y": 0.39931478238913715 + } + ], + "type": "bbox" + }, + "bbox_1769394463618": { + "instances": [ + { + "height": 0.11999999023437577, + "id": "bbox_1769394463618_1769394516270_qsdc5aozp", + "width": 0.08799999462890655, + "x": 0.4661110555352138, + "y": 0.3486481198457341 + } + ], + "type": "bbox" + }, + "point_1769394464324": { + "instances": [ + { + "id": "point_1769394464324_1769394488522_e37agz8ul", + "x": 0.4111110588921473, + "y": 0.47664810942906827 + } + ], + "type": "point" + }, + "point_1769394464444": { + "instances": [ + { + "id": "point_1769394464444_1769394490202_or8abx60q", + "x": 0.6381110450371676, + "y": 0.47664810942906827 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将橡胶头滴管放入滴瓶中。", + "frame": 294, + "progress": 100, + "progress_explanation": "此时橡胶头滴管落入滴瓶中，因此当前进度提升至100%。", + "state_description": "当前爪夹松开，此时橡胶头滴管落入滴瓶中。已完成将橡胶头滴管放入滴瓶中的任务", + "time": 9.811183 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769394463484", + "name": "橡胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769394463618", + "name": "滴瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769394464324", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769394464444", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-183156-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-183156-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..940900f0709c3fb58e96beed1189e6bc982311f5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-183156-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,430 @@ +{ + "task_description": "将橡胶头滴管放入另一个烧杯中：\n爪夹准备移动：0%\n爪夹抓取橡胶头滴管离开烧杯：20%\n爪夹抓取橡胶头滴管接近另一个烧杯：40%\n爪夹抓取橡胶头滴管移动至另一个烧杯正上方：60%\n爪夹抓取橡胶头滴管下降至另一个烧杯内：80%\n爪夹松开使橡胶头滴管落入另一个烧杯中：100%", + "progress_points": [ + { + "action_description": "当前爪夹合拢抓取橡胶头滴管，爪夹准备移动。", + "annotations": { + "bbox_1769248082838": { + "instances": [ + { + "height": 0.19466665082465404, + "id": "bbox_1769248082838_1769248324304_3ev05plcf", + "width": 0.06999999572753941, + "x": 0.654111044060605, + "y": 0.003166646063912267 + } + ], + "type": "bbox" + }, + "bbox_1769248082958": { + "instances": [ + { + "height": 0.15066665440538293, + "id": "bbox_1769248082958_1769248342830_fm0clai1h", + "width": 0.0889999945678714, + "x": 0.3021110655449789, + "y": 0.16731479554729856 + } + ], + "type": "bbox" + }, + "point_1769248083636": { + "instances": [ + { + "id": "point_1769248083636_1769248337669_3r1ccv0yb", + "x": 0.7131110404595311, + "y": 0.005833312513565062 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴液管向爪夹方向左上方移动离开烧杯，爪夹抓取橡胶头滴液管向爪夹方向左边移动，爪夹抓取橡胶头滴液管向爪夹方向左边移动接近另一个烧杯，爪夹抓取橡胶头滴液管向爪夹方向左边移动至另一个烧杯正上方，爪夹抓取橡胶头滴液管垂直下降至另一个烧杯内，爪夹松开使橡胶头滴液管落入另一个烧杯中。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前爪夹合拢抓取橡胶头滴管，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时爪夹静止不动，为完成将橡胶头滴管放入另一个烧杯中的任务应当：爪夹抓取橡胶头滴液管向爪夹方向左上方移动离开烧杯。", + "time": 1.4922410311555507 + }, + { + "action_description": "爪夹抓取橡胶头滴液管向爪夹方向左上方移动离开烧杯。", + "annotations": { + "bbox_1769248082838": { + "instances": [ + { + "height": 0.08533332638888945, + "id": "bbox_1769248082838_1769248306182_uotlsw8ea", + "width": 0.04199999743652363, + "x": 0.6241110458916597, + "y": 0.00035184730209576 + } + ], + "type": "bbox" + }, + "bbox_1769248082958": { + "instances": [ + { + "height": 0.1466666547309038, + "id": "bbox_1769248082958_1769248301696_3pa48zp6r", + "width": 0.08799999462890655, + "x": 0.30411106542290856, + "y": 0.16998146199695133 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴液管向爪夹方向左边移动，爪夹抓取橡胶头滴液管向爪夹方向左边移动接近另一个烧杯，爪夹抓取橡胶头滴液管向爪夹方向左边移动至另一个烧杯正上方，爪夹抓取橡胶头滴液管垂直下降至另一个烧杯内，爪夹松开使橡胶头滴液管落入另一个烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴液管离开烧杯。", + "frame": 71, + "progress": 20, + "progress_explanation": "此时橡胶头滴液管离开烧杯，因此当前进度提升至20%。", + "state_description": "当前爪夹合拢抓取橡胶头滴液管，此时橡胶头滴液管离开烧杯。为完成将橡胶头滴管放入另一个烧杯中的任务应当：爪夹抓取橡胶头滴液管向爪夹方向左边移动。", + "time": 2.368234 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向左边移动。", + "annotations": { + "bbox_1769248082838": { + "instances": [ + { + "height": 0.0679999944661463, + "id": "bbox_1769248082838_1769248288538_ihmwp7if7", + "width": 0.04099999749755874, + "x": 0.4661110555352138, + "y": 0.00331480889365162 + } + ], + "type": "bbox" + }, + "bbox_1769248082958": { + "instances": [ + { + "height": 0.15199998763020933, + "id": "bbox_1769248082958_1769248281898_qgadt23yi", + "width": 0.08499999481201201, + "x": 0.30711106523980314, + "y": 0.16598146232247216 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴液管向爪夹方向左边移动接近另一个烧杯，爪夹抓取橡胶头滴液管向爪夹方向左边移动至另一个烧杯正上方，爪夹抓取橡胶头滴液管垂直下降至另一个烧杯内，爪夹松开使橡胶头滴液管落入另一个烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管向爪夹方向左边移动，使橡胶头滴管与另一个烧杯水平距离略微接近。", + "frame": 94, + "progress": 30, + "progress_explanation": "此时橡胶头滴管与另一个烧杯水平距离略微接近，因此当前进度提升至30%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管与另一个烧杯水平距离略微接近，为完成将橡胶头滴管放入另一个烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左边移动接近另一个烧杯。", + "time": 3.125096 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向左边移动。", + "annotations": { + "bbox_1769248082838": { + "instances": [ + { + "height": 0.08266665993923666, + "id": "bbox_1769248082838_1769248266998_n7x667ohg", + "width": 0.046999997131347816, + "x": 0.3941110599297448, + "y": 0.0006481424439988245 + } + ], + "type": "bbox" + }, + "bbox_1769248082958": { + "instances": [ + { + "height": 0.15466665407986216, + "id": "bbox_1769248082958_1769248263941_042jty3qy", + "width": 0.08299999493408232, + "x": 0.3091110651177328, + "y": 0.16731479554729853 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴液管向爪夹方向左边移动至另一个烧杯正上方，爪夹抓取橡胶头滴液管垂直下降至另一个烧杯内，爪夹松开使橡胶头滴液管落入另一个烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管接近另一个烧杯。", + "frame": 108, + "progress": 40, + "progress_explanation": "此时橡胶头滴管接近另一个烧杯，因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管接近另一个烧杯。为完成将橡胶头滴管放入另一个烧杯中的任务应当：爪夹抓取橡胶头滴液管向爪夹方向左边移动至另一个烧杯正上方。", + "time": 3.594333 + }, + { + "action_description": "爪夹抓取橡胶头滴液管向爪夹方向左边移动至另一个烧杯正上方。", + "annotations": { + "bbox_1769248082838": { + "instances": [ + { + "height": 0.14266665505642456, + "id": "bbox_1769248082838_1769248245896_sq7k4ai7s", + "width": 0.041999997436523585, + "x": 0.3391110632866782, + "y": 0.0004999796142594715 + } + ], + "type": "bbox" + }, + "bbox_1769248082958": { + "instances": [ + { + "height": 0.1519999876302093, + "id": "bbox_1769248082958_1769248239200_n5pm0pvwc", + "width": 0.08499999481201201, + "x": 0.30711106523980314, + "y": 0.16701850040539548 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴液管垂直下降至另一个烧杯内，爪夹松开使橡胶头滴液管落入另一个烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴液管移动至另一个烧杯正上方。", + "frame": 126, + "progress": 60, + "progress_explanation": "此时胶头滴液管位于另一个烧杯正上方，因此当前进度提升至60%。", + "state_description": "当前爪夹合拢抓取橡胶头滴液管，此时胶头滴液管位于另一个烧杯正上方。为完成将橡胶头滴管放入另一个烧杯中的任务应当：爪夹抓取橡胶头滴液管垂直下降进入另一个烧杯。", + "time": 4.204596 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管垂直下降试图进入烧杯失败。", + "annotations": { + "bbox_1769248082838": { + "instances": [ + { + "height": 0.17066665277777895, + "id": "bbox_1769248082838_1769248219350_ikt93o42a", + "width": 0.05199999682617205, + "x": 0.33111106377495947, + "y": -0.0006851907808275732 + } + ], + "type": "bbox" + }, + "bbox_1769248082958": { + "instances": [ + { + "height": 0.15066665440538293, + "id": "bbox_1769248082958_1769248214447_xeyfawhmf", + "width": 0.09099999444580109, + "x": 0.30111106560601403, + "y": 0.16998146199695133 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向右边略微调整，爪夹抓取橡胶头滴液管垂直下降至另一个烧杯内，爪夹松开使橡胶头滴液管落入另一个烧杯中。", + "error_success_analysis": "当前爪夹试图将滴管放入另一个烧杯失败，准备第二次尝试。", + "frame": 140, + "progress": 62, + "progress_explanation": "此时爪夹试图将滴管放入另一个烧杯失败，因此当前进度为62%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于另一个烧杯正上方。为完成将橡胶头滴管放入另一个烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向右边略微调整。", + "time": 4.653416 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向右边移动。", + "annotations": { + "bbox_1769248082838": { + "instances": [ + { + "height": 0.18533331825086927, + "id": "bbox_1769248082838_1769248189693_eoamiei8p", + "width": 0.04299999737548843, + "x": 0.354111062371151, + "y": 0.001981475668825222 + } + ], + "type": "bbox" + }, + "bbox_1769248082958": { + "instances": [ + { + "height": 0.15199998763020933, + "id": "bbox_1769248082958_1769248201180_1qo4tt5zg", + "width": 0.08499999481201201, + "x": 0.30611106530083826, + "y": 0.16598146232247216 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左边略微移动，爪夹抓取橡胶头滴液管垂直下降至另一个烧杯内，爪夹松开使橡胶头滴液管落入另一个烧杯中。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管移动时橡胶头滴管卡触碰导致橡胶头滴管被弹过烧杯口，使橡胶头滴管紧贴杯壁。", + "frame": 162, + "progress": 58, + "progress_explanation": "此时橡胶头滴管紧贴烧杯杯壁，因此当前进度跌落至58%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管紧贴烧杯杯壁，为完成将橡胶头滴管放入另一个烧杯中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左边略微移动。", + "time": 5.399267 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向左上方略微移动。", + "annotations": { + "bbox_1769248082838": { + "instances": [ + { + "height": 0.15333332085503576, + "id": "bbox_1769248082838_1769248168542_huk1q6053", + "width": 0.05199999682617205, + "x": 0.3361110634697837, + "y": 0.0003518473020957599 + } + ], + "type": "bbox" + }, + "bbox_1769248082958": { + "instances": [ + { + "height": 0.15199998763020933, + "id": "bbox_1769248082958_1769248157248_h19lmjahg", + "width": 0.08699999468994166, + "x": 0.30311106548394373, + "y": 0.16731479554729853 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴液管垂直下降至另一个烧杯内，爪夹松开使橡胶头滴液管落入另一个烧杯中。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管尝试第二次放入。", + "frame": 181, + "progress": 70, + "progress_explanation": "此时橡胶头滴管位于烧杯口正上方，因此当前进度提升至70%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于烧杯口正上方，为完成将橡胶头滴管放入另一个烧杯中的任务应当：爪夹抓取橡胶头滴液管垂直下降至另一个烧杯内。", + "time": 6.029415 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管垂直下降进入烧杯内。", + "annotations": { + "bbox_1769248082838": { + "instances": [ + { + "height": 0.16533331987847333, + "id": "bbox_1769248082838_1769248135720_xq69idhnm", + "width": 0.05199999682617205, + "x": 0.3351110635308189, + "y": 0.05131480498740194 + } + ], + "type": "bbox" + }, + "bbox_1769248082958": { + "instances": [ + { + "height": 0.14799998795573013, + "id": "bbox_1769248082958_1769248148736_fdd0i4law", + "width": 0.08999999450683624, + "x": 0.30311106548394373, + "y": 0.17131479522177775 + } + ], + "type": "bbox" + }, + "point_1769248083636": { + "instances": [ + { + "id": "point_1769248083636_1769248128680_ov2s58j0g", + "x": 0.3761110610283776, + "y": 0.053981471437054736 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开使橡胶头滴液管落入另一个烧杯中。", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管下降至另一个烧杯内。", + "frame": 217, + "progress": 80, + "progress_explanation": "此时橡胶头滴管位于烧杯内，因此当前进度提升至80%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于烧杯内。为完成将橡胶头滴管放入另一个烧杯中的任务应当：爪夹松开使橡胶头滴管落入另一个烧杯中。", + "time": 7.240282125142575 + }, + { + "action_description": "当前爪夹松开使橡胶头滴管落入另一个烧杯中。", + "annotations": { + "bbox_1769248082838": { + "instances": [ + { + "height": 0.1879999847005221, + "id": "bbox_1769248082838_1769248110036_kvtf96hvp", + "width": 0.048999997009277506, + "x": 0.32411106420220553, + "y": 0.10731480043011064 + } + ], + "type": "bbox" + }, + "bbox_1769248082958": { + "instances": [ + { + "height": 0.15066665440538296, + "id": "bbox_1769248082958_1769248115697_sdxxr9jkh", + "width": 0.08299999493408232, + "x": 0.3091110651177328, + "y": 0.16731479554729853 + } + ], + "type": "bbox" + }, + "point_1769248083636": { + "instances": [ + { + "id": "point_1769248083636_1769248102624_k2vmuyjqy", + "x": 0.3391110632866782, + "y": 0.07531480303427711 + } + ], + "type": "point" + }, + "point_1769248083750": { + "instances": [ + { + "id": "point_1769248083750_1769248104692_lgowoytwr", + "x": 0.4201110583428309, + "y": 0.05664813788670753 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将橡胶头滴管放入另一个烧杯中。", + "frame": 242, + "progress": 100, + "progress_explanation": "此时橡胶头滴管位于另一个烧杯中，因此当前进度提升至100%。", + "state_description": "当前爪夹松开，此时橡胶头滴管位于另一个烧杯中。已完成将橡胶头滴管放入另一个烧杯中的任务。", + "time": 8.080797568131244 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769248082838", + "name": "橡胶头滴管" + }, + { + "color": "#FF9800", + "id": "bbox_1769248082958", + "name": "另一个烧杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769248083636", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769248083750", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-183156-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-183156-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..9c52d61891c0b05fef9a061c3313d2cba243fea5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260107-0113-lilingchu/20260113-lilingchu/20260113-183156-put-rubber head dropper-bropping-bottle-bad/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,406 @@ +{ + "task_description": "将橡胶头滴管放入试管中：\n爪夹准备移动：0%\n爪夹抓取橡胶头滴管离开烧杯：20%\n爪夹抓取橡胶头滴管接近试管：40%\n爪夹抓取橡胶头滴管移动至试管正上方：60%\n爪夹抓取橡胶头滴管下降至试管内：80%\n爪夹松开使橡胶头滴管落入试管中：100%", + "progress_points": [ + { + "action_description": "爪夹抓取橡胶头滴管，爪夹准备移动。", + "annotations": { + "bbox_1769391852099": { + "instances": [ + { + "height": 0.41333329969618327, + "id": "bbox_1769391852099_1769392028225_21vr05wf6", + "width": 0.15999999023437558, + "x": 0.1741110733574784, + "y": 0.04968518170693508 + } + ], + "type": "bbox" + }, + "bbox_1769391852241": { + "instances": [ + { + "height": 0.17733331890191092, + "id": "bbox_1769391852241_1769392038669_6ca6p6koy", + "width": 0.022999998596191507, + "x": 0.5491110504692962, + "y": 0.1656851722668317 + } + ], + "type": "bbox" + }, + "point_1769391853020": { + "instances": [ + { + "id": "point_1769391853020_1769392034453_6a00q4f2p", + "x": 0.5741110489434174, + "y": 0.17501850484061648 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管竖直上升离开烧杯，爪夹抓取橡胶头滴管向爪夹方向左上方移动，爪夹抓取橡胶头滴管向爪夹方向左上方移动接近试管，爪夹抓取橡胶头滴管向爪夹方向左上方移动至试管正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹松开使橡胶头滴管落入试管中。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "爪夹抓取橡胶头滴管，爪夹准备移动。因此当前进度为0%。", + "state_description": "爪夹合拢抓取胶头滴管，此时爪夹静止不动。为完成将橡胶头滴管放入试管中的任务应当：爪夹抓取橡胶头滴管竖直上升离开烧杯。", + "time": 0.71811345957903 + }, + { + "action_description": "爪夹抓取橡胶头滴管竖直上升离开烧杯。", + "annotations": { + "bbox_1769391852099": { + "instances": [ + { + "height": 0.3573333042534746, + "id": "bbox_1769391852099_1769392018877_zjn1qt5xq", + "width": 0.14699999102783257, + "x": 0.1861110726250566, + "y": 0.10435184392481739 + } + ], + "type": "bbox" + }, + "bbox_1769391852241": { + "instances": [ + { + "height": 0.18533331825086927, + "id": "bbox_1769391852241_1769392011775_z3jlm2vx1", + "width": 0.026999998352050893, + "x": 0.5561110500420501, + "y": 0.08568517877724782 + } + ], + "type": "bbox" + }, + "point_1769391853020": { + "instances": [ + { + "id": "point_1769391853020_1769392006193_b7qqpzp34", + "x": 0.5801110485772065, + "y": 0.09768517780068539 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左上方移动，爪夹抓取橡胶头滴管向爪夹方向左上方移动接近试管，爪夹抓取橡胶头滴管向爪夹方向左上方移动至试管正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹松开使橡胶头滴管落入试管中。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管成功离开烧杯。", + "frame": 41, + "progress": 20, + "progress_explanation": "此时橡胶头滴管离开烧杯，因此当前进度提升至20%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管离开烧杯，为完成将橡胶头滴管放入试管中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左上方移动。", + "time": 1.364955 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左上方移动。", + "annotations": { + "bbox_1769391852099": { + "instances": [ + { + "height": 0.4119999664713569, + "id": "bbox_1769391852099_1769391985365_frefw2jpr", + "width": 0.15699999041748106, + "x": 0.17711107317437297, + "y": 0.05087035718828473 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左上方移动接近试管，爪夹抓取橡胶头滴管向爪夹方向左上方移动至试管正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹松开使橡胶头滴管落入试管中。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管成功向爪夹方向左上方移动，使橡胶头滴管略微接近试管。", + "frame": 58, + "progress": 30, + "progress_explanation": "此时橡胶头滴管与试管略微接近，因此当前进度提升至30%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管与试管略微接近，为完成将橡胶头滴管放入试管中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左上方移动接近试管。", + "time": 1.93423 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左上方移动接近试管", + "annotations": { + "bbox_1769391852099": { + "instances": [ + { + "height": 0.4159999661458361, + "id": "bbox_1769391852099_1769391974561_js0tg33zw", + "width": 0.15999999023437558, + "x": 0.1741110733574784, + "y": 0.04687035751380554 + } + ], + "type": "bbox" + }, + "bbox_1769391852241": { + "instances": [ + { + "height": 0.030666664171007153, + "id": "bbox_1769391852241_1769391995403_y98pod2h4", + "width": 0.015999999023437583, + "x": 0.24111106926812317, + "y": 0.0027222084373202766 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左上方移动至试管正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹松开使橡胶头滴管落入试管中。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管成功接近试管。", + "frame": 74, + "progress": 40, + "progress_explanation": "此时橡胶头滴管接近试管，因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管接近试管，为完成将橡胶头滴管放入试管中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左上方移动至试管正上方。", + "time": 2.473835 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左上方移动至试管正上方。", + "annotations": { + "bbox_1769391852099": { + "instances": [ + { + "height": 0.4119999664713569, + "id": "bbox_1769391852099_1769391960059_n7banslo9", + "width": 0.16099999017334043, + "x": 0.17311107341851356, + "y": 0.05087035718828473 + } + ], + "type": "bbox" + }, + "bbox_1769391852241": { + "instances": [ + { + "height": 0.06533332801649348, + "id": "bbox_1769391852241_1769391964359_h0u3gq1g8", + "width": 0.022999998596191486, + "x": 0.17711107317437297, + "y": 0.0002036946448816207 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹松开使橡胶头滴管落入试管中。", + "error_success_analysis": "当前爪夹成功抓取胶头滴管移动至试管正上方。", + "frame": 88, + "progress": 60, + "progress_explanation": "此时橡胶头滴管位于试管正上方，因此当前进度提升至60%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管位于试管正上方。为完成将橡胶头滴管放入试管中的任务应当：爪夹抓取橡胶头滴管垂直下降至烧杯内。", + "time": 2.924576 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管向爪夹方向右下方移动。", + "annotations": { + "bbox_1769391852099": { + "instances": [ + { + "height": 0.43733329774305846, + "id": "bbox_1769391852099_1769391952277_k3181xqhe", + "width": 0.16999998962402407, + "x": 0.1631110740288651, + "y": 0.02420369269175678 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管向爪夹方向左上方移动至试管正上方，爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹松开使橡胶头滴管落入试管中。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管时突然向爪夹方向右边移动导致橡胶头滴管远离试管。", + "frame": 107, + "progress": 37, + "progress_explanation": "此时橡胶头滴管与试管略微接近，因此当前进度跌落至37%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管与试管略微接近。为完成将橡胶头滴管放入试管中的任务应当：爪夹抓取橡胶头滴管向爪夹方向左上方移动至试管正上方。", + "time": 3.556115 + }, + { + "action_description": "爪夹抓取橡胶头滴管向爪夹方向左上方移动至试管正上方。", + "annotations": { + "bbox_1769391852099": { + "instances": [ + { + "height": 0.41333329969618327, + "id": "bbox_1769391852099_1769391940057_7105xanj8", + "width": 0.1619999901123053, + "x": 0.17111107354058389, + "y": 0.04953702396345834 + } + ], + "type": "bbox" + }, + "bbox_1769391852241": { + "instances": [ + { + "height": 0.07199999414062548, + "id": "bbox_1769391852241_1769391944049_dk9qryqk4", + "width": 0.024999998474121175, + "x": 0.17911107305230264, + "y": -0.0011296385799447772 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取橡胶头滴管垂直下降至烧杯内，爪夹松开使橡胶头滴管落入试管中。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管又一次移动至试管正上方，准备第二次尝试将橡胶头滴管放入试管中。", + "frame": 133, + "progress": 62, + "progress_explanation": "此时橡胶头滴管位于试管正上方，因此当前进度提升至62%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于试管正上方，为完成将橡胶头滴管放入试管中的任务应当：爪夹抓取橡胶头滴管垂直下降至烧杯内", + "time": 4.438008 + }, + { + "action_description": "爪夹抓取橡胶头滴管垂直下降至烧杯内", + "annotations": { + "bbox_1769391852099": { + "instances": [ + { + "height": 0.4159999661458361, + "id": "bbox_1769391852099_1769391928963_3f67yrmzm", + "width": 0.16699998980712952, + "x": 0.16611107384575965, + "y": 0.04553702428897914 + } + ], + "type": "bbox" + }, + "bbox_1769391852241": { + "instances": [ + { + "height": 0.13866665538194536, + "id": "bbox_1769391852241_1769391924125_np1ih4ng6", + "width": 0.05199999682617207, + "x": 0.17111107354058389, + "y": -0.0011296385799447772 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开使橡胶头滴管落入试管中", + "error_success_analysis": "当前爪夹成功抓取橡胶头滴管下降至试管内。", + "frame": 158, + "progress": 80, + "progress_explanation": "此时橡胶头滴管位于试管中，因此当前进度提升至80%。", + "state_description": "当前爪夹抓取橡胶头滴管，此时橡胶头滴管位于试管中，为完成将橡胶头滴管放入试管中的任务应当：爪夹松开使橡胶头滴管落入试管中。", + "time": 5.25351 + }, + { + "action_description": "当前爪夹抓取橡胶头滴管继续垂直下降。", + "annotations": { + "bbox_1769391852099": { + "instances": [ + { + "height": 0.4026666338975721, + "id": "bbox_1769391852099_1769391904144_5z6jy2cu1", + "width": 0.1559999904785162, + "x": 0.1781110731133378, + "y": 0.058870356537243124 + } + ], + "type": "bbox" + }, + "bbox_1769391852241": { + "instances": [ + { + "height": 0.21199998274739726, + "id": "bbox_1769391852241_1769391898310_b394qfbhk", + "width": 0.046999997131347816, + "x": 0.19211107225884566, + "y": 0.033537025265541566 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开使橡胶头滴管落入试管中。", + "error_success_analysis": "当前爪夹抓取橡胶头滴管继续向试管内下降，大大增加将橡胶头滴管放入试管中的成功率。", + "frame": 183, + "progress": 90, + "progress_explanation": "此时橡胶头滴管完全位于试管中，因此当前进度提升至90%。", + "state_description": "当前爪夹合拢抓取橡胶头滴管，此时橡胶头滴管完全位于试管中，为完成将橡胶头滴管放入试管中的任务应当：", + "time": 6.107305 + }, + { + "action_description": "当前爪夹松开使橡胶头滴管落入试管中。", + "annotations": { + "bbox_1769391852099": { + "instances": [ + { + "height": 0.40666663357205135, + "id": "bbox_1769391852099_1769391888973_fke88azze", + "width": 0.11699999285888714, + "x": 0.21611107079400202, + "y": 0.04731481103496818 + } + ], + "type": "bbox" + }, + "bbox_1769391852241": { + "instances": [ + { + "height": 0.18133331857639012, + "id": "bbox_1769391852241_1769391876039_jllg7cfat", + "width": 0.02399999853515635, + "x": 0.26611106774224436, + "y": 0.22331479671205268 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将橡胶头滴管放入试管中。", + "frame": 221, + "progress": 100, + "progress_explanation": "此时橡胶头滴管落入试管中，因此当前进度提升至100%。", + "state_description": "当前爪夹松开，此时橡胶头滴管落入试管中，已完成将橡胶头滴管放入试管中的任务。", + "time": 7.380233 + }, + { + "action_description": "关键帧 2/3 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 500, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 16.666666666666668 + }, + { + "action_description": "关键帧 3/3 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 540, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 18 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769391852099", + "name": "试管" + }, + { + "color": "#FF9800", + "id": "bbox_1769391852241", + "name": "橡胶头滴管" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769391852925", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769391853020", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260109-044709-put-triangular-beaker-onto-tripod-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260109-044709-put-triangular-beaker-onto-tripod-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b3e7d835996b2cd3cdbb9ad3e0b499e9e087a59f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260109-044709-put-triangular-beaker-onto-tripod-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,606 @@ +{ + "task_description": "将三角烧杯放在三脚架上。\n爪夹准备移动：0%\n爪夹开始移动：10%\n爪夹靠近三角烧杯：20%\n爪夹抓取三角烧杯：40%\n爪夹合拢并靠近三脚架：60%\n爪夹移动到三脚架的正上方：80%\n爪夹松开，三角烧杯落在三脚架上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动并松开爪夹，将三角烧杯放在三脚架上。", + "error_success_analysis": "", + "frame": 7, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动，靠近三角烧杯。", + "time": 0.2488659881443299, + "annotations": { + "bbox_1769390321521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321521_1769394820843_kbqtb7e3i", + "x": 0.5675, + "y": 0.41600000000000004, + "width": 0.18000000000000008, + "height": 0.2546666666666667 + } + ] + }, + "bbox_1769390321697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321697_1769394824067_smbu2xr5y", + "x": 0.3755, + "y": 0.5133333333333333, + "width": 0.07599999999999998, + "height": 0.11733333333333337 + } + ] + }, + "point_1769390322297": { + "type": "point", + "instances": [ + { + "id": "point_1769390322297_1769394834675_4s4zwxk7k", + "x": 0.4445, + "y": 0.18000000000000002 + } + ] + }, + "point_1769390322497": { + "type": "point", + "instances": [ + { + "id": "point_1769390322497_1769394837539_kxwu424lg", + "x": 0.5405, + "y": 0.196 + } + ] + } + } + }, + { + "time": 1.0508, + "frame": 32, + "progress": 10, + "action_description": "爪夹向爪夹的上方抬起，并调整爪夹方向，靠近三角烧杯。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离略微缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的正上方。", + "progress_explanation": "当前爪夹在水平方向上略微接近三角烧杯，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并开始调整爪夹方向，在水平方向上接近三角烧杯。", + "correction_plan": "爪夹向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769390322497": { + "type": "point", + "instances": [ + { + "id": "point_1769390322497_1769394843379_n70mdrugg", + "x": 0.5385, + "y": 0.13066666666666665 + } + ] + }, + "point_1769390322297": { + "type": "point", + "instances": [ + { + "id": "point_1769390322297_1769394846379_zjttirsei", + "x": 0.4345, + "y": 0.116 + } + ] + }, + "bbox_1769390321521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321521_1769394850763_ipibnrf8v", + "x": 0.5545, + "y": 0.4186666666666667, + "width": 0.191, + "height": 0.252 + } + ] + }, + "bbox_1769390321697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321697_1769394854387_htfm7hcb4", + "x": 0.3785, + "y": 0.5146666666666666, + "width": 0.06799999999999998, + "height": 0.11066666666666673 + } + ] + } + } + }, + { + "time": 1.846, + "frame": 55, + "progress": 20, + "action_description": "爪夹向爪夹的右前方移动，靠近三角烧杯。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离进一步缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹继续向爪夹的右前方移动，爪夹移动到三角烧杯的两侧，爪夹向爪夹的前方移动，并合拢爪夹抓取三角烧杯。", + "progress_explanation": "当前爪夹张开，在水平方向上再次接近三角烧杯，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的右前方移动，在水平方向上再次接近三角烧杯。", + "correction_plan": "爪夹继续向爪夹的右前方移动，爪夹移动到三角烧杯的两侧，爪夹向爪夹的前方移动，并合拢爪夹抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769390321521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321521_1769394864179_111k57qz5", + "x": 0.5445, + "y": 0.40800000000000003, + "width": 0.20700000000000002, + "height": 0.25999999999999995 + } + ] + }, + "bbox_1769390321697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321697_1769394867986_j145g95id", + "x": 0.36950000000000005, + "y": 0.508, + "width": 0.079, + "height": 0.11999999999999998 + } + ] + }, + "point_1769390322297": { + "type": "point", + "instances": [ + { + "id": "point_1769390322297_1769394871171_mny5bk3yb", + "x": 0.34750000000000003, + "y": 0.41733333333333333 + } + ] + }, + "point_1769390322497": { + "type": "point", + "instances": [ + { + "id": "point_1769390322497_1769394873859_pnmttbwrt", + "x": 0.4465, + "y": 0.4533333333333333 + } + ] + } + } + }, + { + "time": 2.518133, + "frame": 76, + "progress": 30, + "action_description": "爪夹继续向爪夹的右前方移动，爪夹移动到三角烧杯的两侧。", + "state_description": "当前爪夹张开，在水平方向位于三角烧杯的两侧。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的前方移动，并合拢爪夹抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架。", + "progress_explanation": "当前爪夹已经移动到三角烧杯的两侧，因此进度提升至30%。", + "error_success_analysis": "爪夹继续向爪夹的右前方移动，爪夹成功移动到三角烧杯的两侧。", + "correction_plan": "爪夹向爪夹的前方移动，并合拢爪夹抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769390322497": { + "type": "point", + "instances": [ + { + "id": "point_1769390322497_1769394876755_c5xy06j8o", + "x": 0.4625, + "y": 0.5426666666666667 + } + ] + }, + "point_1769390322297": { + "type": "point", + "instances": [ + { + "id": "point_1769390322297_1769394878979_mxummeswx", + "x": 0.3645, + "y": 0.5133333333333333 + } + ] + }, + "bbox_1769390321697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321697_1769394882643_6lj1z3579", + "x": 0.36950000000000005, + "y": 0.5133333333333333, + "width": 0.08099999999999996, + "height": 0.11866666666666668 + } + ] + }, + "bbox_1769390321521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321521_1769394886771_4ipqkwwzf", + "x": 0.5575, + "y": 0.41333333333333333, + "width": 0.19299999999999998, + "height": 0.26133333333333336 + } + ] + } + } + }, + { + "time": 3.228133, + "frame": 97, + "progress": 20, + "action_description": "爪夹合拢，进行抓取动作。", + "state_description": "当前爪夹合拢，未抓取到三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹张开，向爪夹的前方移动到三角烧杯的两侧，爪夹合拢抓取三角烧杯。", + "progress_explanation": "当前爪夹没有抓住三角烧杯，因此进度下降至20%。", + "error_success_analysis": "爪夹需要张开，重新向爪夹的前方移动到三角烧杯的两侧，并合拢爪夹才能抓取到三角烧杯。", + "correction_plan": "爪夹张开，向爪夹的前方移动到三角烧杯的两侧，爪夹合拢抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769390321521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321521_1769394891618_0dzxvd36g", + "x": 0.5465, + "y": 0.4186666666666667, + "width": 0.203, + "height": 0.25600000000000006 + } + ] + }, + "bbox_1769390321697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321697_1769394895498_9lkjt6xi8", + "x": 0.3645, + "y": 0.512, + "width": 0.07200000000000002, + "height": 0.11199999999999997 + } + ] + } + } + }, + { + "time": 4.53326476443299, + "frame": 136, + "progress": 30, + "action_description": "爪夹张开，方便抓取。", + "state_description": "当前爪夹张开，在水平方向上接近三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的前方移动到三角烧杯的两侧，爪夹合拢抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架。", + "progress_explanation": "当前爪夹张开，准备抓取三角烧杯，因此进度提升至30%。", + "error_success_analysis": "爪夹张开，向爪夹的前方移动，并合拢爪夹抓取三角烧被。", + "correction_plan": "爪夹向爪夹的前方移动到三角烧杯的两侧，爪夹合拢抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769390321697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321697_1769394900322_035xhb22c", + "x": 0.3625, + "y": 0.5106666666666667, + "width": 0.07400000000000002, + "height": 0.11466666666666671 + } + ] + }, + "bbox_1769390321521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321521_1769394904867_55gtkt1m6", + "x": 0.5585, + "y": 0.42133333333333334, + "width": 0.188, + "height": 0.25199999999999995 + } + ] + }, + "point_1769390322297": { + "type": "point", + "instances": [ + { + "id": "point_1769390322297_1769394907547_dq42ihfhg", + "x": 0.3355, + "y": 0.47200000000000003 + } + ] + }, + "point_1769390322497": { + "type": "point", + "instances": [ + { + "id": "point_1769390322497_1769394909538_vscx2lwcx", + "x": 0.4305, + "y": 0.516 + } + ] + } + } + }, + { + "time": 6.001866, + "frame": 180, + "progress": 40, + "action_description": "爪夹向爪夹的前方移动到三角烧杯的两侧，爪夹合拢抓取三角烧杯。", + "state_description": "当前爪夹合拢，已经抓取到三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架。", + "progress_explanation": "当前爪夹已经抓住三角烧杯，因此进度提升至40%。", + "error_success_analysis": "爪夹向爪夹的前方移动到三角烧杯的两侧，爪夹合拢成功抓取到三角烧杯。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769390322497": { + "type": "point", + "instances": [ + { + "id": "point_1769390322497_1769394913723_odtjkle7u", + "x": 0.40650000000000003, + "y": 0.5519999999999999 + } + ] + }, + "point_1769390322297": { + "type": "point", + "instances": [ + { + "id": "point_1769390322297_1769394916282_rnqmercmo", + "x": 0.3805, + "y": 0.5399999999999999 + } + ] + }, + "bbox_1769390321697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321697_1769394920386_8fevddtsb", + "x": 0.3435, + "y": 0.5066666666666667, + "width": 0.07799999999999999, + "height": 0.10800000000000001 + } + ] + }, + "bbox_1769390321521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321521_1769394929034_ifpnv5267", + "x": 0.5565, + "y": 0.412, + "width": 0.192, + "height": 0.2573333333333334 + } + ] + } + } + }, + { + "time": 6.699862778865979, + "frame": 201, + "progress": 60, + "action_description": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架。", + "state_description": "当前爪夹合拢，在水平方向上接近三脚架。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹继续向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方。", + "progress_explanation": "当前爪夹抓住三角烧杯，并靠近三脚架，因此进度提升至60%。", + "error_success_analysis": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，在水平方向上成功接近三脚架。", + "correction_plan": "爪夹继续向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769390321521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321521_1769394933498_meoxe9ip3", + "x": 0.5585, + "y": 0.4186666666666667, + "width": 0.18600000000000003, + "height": 0.252 + } + ] + }, + "bbox_1769390321697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321697_1769394937418_toludhsqm", + "x": 0.3735, + "y": 0.48133333333333334, + "width": 0.081, + "height": 0.12266666666666672 + } + ] + } + } + }, + { + "time": 7.904666, + "frame": 237, + "progress": 30, + "action_description": "爪夹向爪夹的下方移动，并松开爪夹，三角烧杯掉落在桌子上。", + "state_description": "当前爪夹张开，三角烧杯在水平方向上位于桌子上。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的前方移动，同时向爪夹的下方移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯。", + "progress_explanation": "当前爪夹张开，三角烧杯掉落在桌子上，因此进度下降至30%。", + "error_success_analysis": "爪夹重新向爪夹的前方移动，并向爪夹的下方移动，使爪夹位于三角烧杯的两侧。", + "correction_plan": "爪夹向爪夹的前方移动，同时向爪夹的下方移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769390321697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321697_1769394941218_cwltqvl58", + "x": 0.40049999999999997, + "y": 0.516, + "width": 0.07000000000000002, + "height": 0.10933333333333337 + } + ] + }, + "point_1769390322297": { + "type": "point", + "instances": [ + { + "id": "point_1769390322297_1769394943522_fs78cleqs", + "x": 0.40449999999999997, + "y": 0.52 + } + ] + }, + "point_1769390322497": { + "type": "point", + "instances": [ + { + "id": "point_1769390322497_1769394945450_p3049k74u", + "x": 0.4545, + "y": 0.536 + } + ] + }, + "bbox_1769390321521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321521_1769394949834_w7hcoff45", + "x": 0.5535, + "y": 0.41333333333333333, + "width": 0.19299999999999998, + "height": 0.25733333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹保持张开状态，并向爪夹的上方抬起，同时向爪夹的后方移动。", + "correction_plan": "爪夹向爪夹的左边调整爪夹方向，并向爪夹方向的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹向爪夹的下方移动，并合拢爪夹抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动并松开爪夹，将三角烧杯放在三脚架上。", + "error_success_analysis": "爪夹需要向爪夹的左边调整爪夹方向，并向爪夹的前方移动，才能接近三角烧杯。", + "frame": 261, + "progress": 10, + "progress_explanation": "当前爪夹张开，与三角烧杯的水平距离变远，因此进度下降至10%。", + "state_description": "当前爪夹张开，在水平方向上远离三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的左边调整爪夹方向，并向爪夹方向的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧。", + "time": 8.710309585051544, + "annotations": { + "bbox_1769390321521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321521_1769394953866_pgt5pcbk4", + "x": 0.5485, + "y": 0.41333333333333333, + "width": 0.199, + "height": 0.2653333333333333 + } + ] + }, + "bbox_1769390321697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321697_1769394957714_danwad3np", + "x": 0.3975, + "y": 0.49600000000000005, + "width": 0.06999999999999998, + "height": 0.136 + } + ] + }, + "point_1769390322297": { + "type": "point", + "instances": [ + { + "id": "point_1769390322297_1769394960098_96j52x1wi", + "x": 0.3765, + "y": 0.132 + } + ] + }, + "point_1769390322497": { + "type": "point", + "instances": [ + { + "id": "point_1769390322497_1769394962586_wnznz09dv", + "x": 0.44350000000000006, + "y": 0.14400000000000002 + } + ] + } + } + }, + { + "time": 9.466667, + "frame": 284, + "progress": 0, + "action_description": "爪夹保持张开，向爪夹的后方移动，并向爪夹的左下方移动。", + "state_description": "当前爪夹张开，在水平方向上再次远离三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动，靠近三角烧杯。", + "progress_explanation": "当前爪夹张开，向爪夹的后方移动，并回到了爪夹的原来位置，因此进度下降至0%。", + "error_success_analysis": "爪夹回到原来位置，需要向爪夹的右前方移动，才能靠近三角烧杯。", + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769390322497": { + "type": "point", + "instances": [ + { + "id": "point_1769390322497_1769394966234_pch9mbupc", + "x": 0.5305, + "y": 0.12666666666666668 + } + ] + }, + "point_1769390322297": { + "type": "point", + "instances": [ + { + "id": "point_1769390322297_1769394968426_p3pvdlrqn", + "x": 0.4965, + "y": 0.12666666666666668 + } + ] + }, + "bbox_1769390321697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321697_1769394972930_l2zvk89v1", + "x": 0.4025, + "y": 0.512, + "width": 0.06399999999999997, + "height": 0.11333333333333341 + } + ] + }, + "bbox_1769390321521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769390321521_1769394977842_oqe37ta0s", + "x": 0.5475000000000001, + "y": 0.4066666666666667, + "width": 0.19799999999999995, + "height": 0.25866666666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769390321521", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1769390321697", + "name": "三角烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769390322297", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769390322497", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260109-045252-put-triangular-beaker-onto-tripod-good1/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260109-045252-put-triangular-beaker-onto-tripod-good1/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..447290cdecb3f8cc41fdc15850d8b74fd2d7d7e2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260109-045252-put-triangular-beaker-onto-tripod-good1/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,534 @@ +{ + "task_description": "将三角烧杯放在三脚架上。\n爪夹准备移动：0%\n爪夹开始移动：10%\n爪夹靠近三角烧杯：20%\n爪夹抓取三角烧杯：40%\n爪夹合拢并靠近三脚架：60%\n爪夹移动到三脚架的正上方：80%\n爪夹松开，三角烧杯落在三脚架上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动，靠近三角烧杯。", + "time": 1.5441408242268042, + "annotations": { + "point_1769395123097": { + "type": "point", + "instances": [ + { + "id": "point_1769395123097_1769397806378_72o7aro8q", + "x": 0.5365, + "y": 0.19066666666666665 + } + ] + }, + "point_1769395122937": { + "type": "point", + "instances": [ + { + "id": "point_1769395122937_1769397809394_jpyh0tfg5", + "x": 0.43950000000000006, + "y": 0.18666666666666668 + } + ] + }, + "bbox_1769395122145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395122145_1769397812946_t6jcotqdt", + "x": 0.48250000000000004, + "y": 0.37733333333333335, + "width": 0.17699999999999996, + "height": 0.24933333333333335 + } + ] + }, + "bbox_1769395121969": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395121969_1769397816538_y6ai397e5", + "x": 0.3775, + "y": 0.3346666666666667, + "width": 0.06499999999999999, + "height": 0.1213333333333333 + } + ] + } + } + }, + { + "time": 2.155666, + "frame": 65, + "progress": 10, + "action_description": "爪夹向爪夹的上方抬起，并调整爪夹方向，向爪夹的右前方靠近三角烧杯。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯。", + "progress_explanation": "当前爪夹在水平方向上略微接近三角烧杯，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并开始调整爪夹方向，在水平方向上接近三角烧杯。", + "correction_plan": "爪夹向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769395121969": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395121969_1769397791578_8tc8z6b5f", + "x": 0.3715, + "y": 0.336, + "width": 0.07200000000000006, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1769395122145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395122145_1769397798450_uym2rz991", + "x": 0.47850000000000004, + "y": 0.38, + "width": 0.18099999999999997, + "height": 0.24666666666666667 + } + ] + }, + "point_1769395122937": { + "type": "point", + "instances": [ + { + "id": "point_1769395122937_1769397800970_wy2wxnwcl", + "x": 0.4175, + "y": 0.15066666666666667 + } + ] + }, + "point_1769395123097": { + "type": "point", + "instances": [ + { + "id": "point_1769395123097_1769397803802_yuq27t648", + "x": 0.5225000000000001, + "y": 0.16 + } + ] + } + } + }, + { + "time": 2.705733, + "frame": 81, + "progress": 20, + "action_description": "爪夹向爪夹的右前方移动，靠近三角烧杯。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离进一步缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯。", + "progress_explanation": "当前爪夹张开，在水平方向上再次接近三角烧杯，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的右前方移动，在水平方向上再次接近三角烧杯。", + "correction_plan": "爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769395122145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395122145_1769397771058_3hlg42kcy", + "x": 0.4805, + "y": 0.37866666666666665, + "width": 0.179, + "height": 0.256 + } + ] + }, + "point_1769395122937": { + "type": "point", + "instances": [ + { + "id": "point_1769395122937_1769397773658_k9fkzl94d", + "x": 0.36350000000000005, + "y": 0.32266666666666666 + } + ] + }, + "point_1769395123097": { + "type": "point", + "instances": [ + { + "id": "point_1769395123097_1769397783090_r38jdzhwc", + "x": 0.45549999999999996, + "y": 0.35333333333333333 + } + ] + }, + "bbox_1769395121969": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395121969_1769397786978_fwybxfti2", + "x": 0.3735, + "y": 0.3346666666666667, + "width": 0.07000000000000006, + "height": 0.12666666666666662 + } + ] + } + } + }, + { + "time": 3.151733, + "frame": 95, + "progress": 30, + "action_description": "爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧。", + "state_description": "当前爪夹张开，在水平方向位于三角烧杯的两侧。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近三脚架。", + "progress_explanation": "当前爪夹已经移动到三角烧杯的两侧，因此进度提升至30%。", + "error_success_analysis": "爪夹向爪夹的下方移动，爪夹成功移动到三角烧杯的两侧。", + "correction_plan": "爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769395121969": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395121969_1769397756987_mayo4fsuj", + "x": 0.3715, + "y": 0.3426666666666666, + "width": 0.071, + "height": 0.11866666666666668 + } + ] + }, + "point_1769395122937": { + "type": "point", + "instances": [ + { + "id": "point_1769395122937_1769397759363_s3dr5iuzg", + "x": 0.36750000000000005, + "y": 0.37466666666666665 + } + ] + }, + "point_1769395123097": { + "type": "point", + "instances": [ + { + "id": "point_1769395123097_1769397761946_2xipi270x", + "x": 0.4285, + "y": 0.3973333333333333 + } + ] + }, + "bbox_1769395122145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395122145_1769397766178_efhcolqor", + "x": 0.4805, + "y": 0.37733333333333335, + "width": 0.17700000000000005, + "height": 0.2546666666666667 + } + ] + } + } + }, + { + "time": 3.672066, + "frame": 110, + "progress": 40, + "action_description": "爪夹合拢并抓取三角烧杯。", + "state_description": "当前爪夹合拢，已经抓住三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近三脚架。", + "progress_explanation": "当前爪夹已经抓住三角烧杯，因此进度提升至40%。", + "error_success_analysis": "爪夹合拢成功抓住三角烧杯。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769395122145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395122145_1769397745155_fextjt2zd", + "x": 0.47750000000000004, + "y": 0.372, + "width": 0.18099999999999997, + "height": 0.26 + } + ] + }, + "point_1769395122937": { + "type": "point", + "instances": [ + { + "id": "point_1769395122937_1769397747211_ztthxnsbk", + "x": 0.3855, + "y": 0.37733333333333335 + } + ] + }, + "point_1769395123097": { + "type": "point", + "instances": [ + { + "id": "point_1769395123097_1769397749691_8f17vurk3", + "x": 0.41150000000000003, + "y": 0.392 + } + ] + }, + "bbox_1769395121969": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395121969_1769397753138_nt4mz2jwg", + "x": 0.36150000000000004, + "y": 0.3333333333333333, + "width": 0.07299999999999995, + "height": 0.12666666666666668 + } + ] + } + } + }, + { + "time": 4.430266, + "frame": 133, + "progress": 50, + "action_description": "爪夹保持合拢，向爪夹的上方抬起，准备靠近三脚架。", + "state_description": "当前爪夹合拢，与三脚架的水平距离缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的左前方移动，靠近三脚架，爪夹保持合拢，并移动到三脚架的正上方。", + "progress_explanation": "当前爪夹抓住抓住三角烧杯，并抬起爪夹，在水平方向上接近三脚架，因此进度提升至50%。", + "error_success_analysis": "爪夹保持合拢，向爪夹的上方抬起，在水平方向上接近三脚架。", + "correction_plan": "爪夹向爪夹的左前方移动，靠近三脚架，爪夹保持合拢，并移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769395123097": { + "type": "point", + "instances": [ + { + "id": "point_1769395123097_1769397730051_0pn4xlhhk", + "x": 0.3885, + "y": 0.30133333333333334 + } + ] + }, + "point_1769395122937": { + "type": "point", + "instances": [ + { + "id": "point_1769395122937_1769397732331_oou5uiyf7", + "x": 0.35550000000000004, + "y": 0.28800000000000003 + } + ] + }, + "bbox_1769395121969": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395121969_1769397736571_riuctqcwz", + "x": 0.3365, + "y": 0.23866666666666667, + "width": 0.075, + "height": 0.16533333333333336 + } + ] + }, + "bbox_1769395122145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395122145_1769397739963_amepep6py", + "x": 0.47850000000000004, + "y": 0.37733333333333335, + "width": 0.179, + "height": 0.25333333333333335 + } + ] + } + } + }, + { + "time": 5.619599, + "frame": 169, + "progress": 60, + "action_description": "爪夹向爪夹的左前方移动，靠近三脚架。", + "state_description": "当前爪夹已经抓住三角烧杯，在水平方向上再次接近三脚架。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹继续向爪夹的左前方移动，爪夹移动到三脚架的正上方。", + "progress_explanation": "当前爪夹抓住三角烧杯，并靠近三脚架，因此进度提升至60%。", + "error_success_analysis": "爪夹向爪夹的左前方移动，水平方向上成功接近三脚架。", + "correction_plan": "爪夹继续向爪夹的左前方移动，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769395121969": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395121969_1769397718411_58lgdspv5", + "x": 0.41950000000000004, + "y": 0.224, + "width": 0.088, + "height": 0.18400000000000002 + } + ] + }, + "bbox_1769395122145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395122145_1769397721507_2ggjmhz8t", + "x": 0.47250000000000003, + "y": 0.36533333333333334, + "width": 0.184, + "height": 0.2586666666666666 + } + ] + }, + "point_1769395122937": { + "type": "point", + "instances": [ + { + "id": "point_1769395122937_1769397724467_wafgx4q8t", + "x": 0.4445, + "y": 0.2866666666666667 + } + ] + }, + "point_1769395123097": { + "type": "point", + "instances": [ + { + "id": "point_1769395123097_1769397727171_mji72eg3l", + "x": 0.4795, + "y": 0.2906666666666667 + } + ] + } + } + }, + { + "time": 6.020999, + "frame": 181, + "progress": 80, + "action_description": "爪夹继续向爪夹的左前方移动，爪夹移动到三脚架的正上方。", + "state_description": "当前爪夹合拢，在水平方向上位于三脚架的正上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "progress_explanation": "当前爪夹已经移动到三脚架的正上方，因此进度提升至80%。", + "error_success_analysis": "爪夹向爪夹的左前方移动，爪夹成功移动到三脚架的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769395123097": { + "type": "point", + "instances": [ + { + "id": "point_1769395123097_1769397704419_6djr3v5oe", + "x": 0.5965, + "y": 0.3893333333333333 + } + ] + }, + "point_1769395122937": { + "type": "point", + "instances": [ + { + "id": "point_1769395122937_1769397707218_00i9jzwtb", + "x": 0.5635, + "y": 0.396 + } + ] + }, + "bbox_1769395122145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395122145_1769397710643_0dqj47w61", + "x": 0.4885, + "y": 0.37333333333333335, + "width": 0.17300000000000004, + "height": 0.25466666666666665 + } + ] + }, + "bbox_1769395121969": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395121969_1769397713955_oksrvcq91", + "x": 0.5285, + "y": 0.3266666666666667, + "width": 0.07999999999999999, + "height": 0.13866666666666666 + } + ] + } + } + }, + { + "time": 6.935299, + "frame": 208, + "progress": 100, + "action_description": "爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "state_description": "当前爪夹张开，三角烧杯在水平方向上位于三脚架上，已经完成将三角烧杯放在三脚架上的任务。", + "progress_explanation": "当前爪夹已经将三角烧杯放在三脚架上，因此进度提升至100%。", + "error_success_analysis": "爪夹向爪夹的下方移动，并松开爪夹，成功将三角烧杯放在三脚架上。", + "correction_plan": "", + "annotations": { + "bbox_1769395121969": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395121969_1769397692651_ky8o158ii", + "x": 0.5415, + "y": 0.392, + "width": 0.06799999999999998, + "height": 0.12666666666666668 + } + ] + }, + "bbox_1769395122145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769395122145_1769397696907_sv1ke3n6e", + "x": 0.48650000000000004, + "y": 0.37866666666666665, + "width": 0.17299999999999996, + "height": 0.25066666666666665 + } + ] + }, + "point_1769395122937": { + "type": "point", + "instances": [ + { + "id": "point_1769395122937_1769397698931_sbfu99kxe", + "x": 0.5355000000000001, + "y": 0.44666666666666666 + } + ] + }, + "point_1769395123097": { + "type": "point", + "instances": [ + { + "id": "point_1769395123097_1769397701243_8kmjz06e7", + "x": 0.6435000000000001, + "y": 0.436 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769395121969", + "name": "三角烧杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1769395122145", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769395122937", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769395123097", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260111-204118-put-triangular-beaker-onto-tripod-good2/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260111-204118-put-triangular-beaker-onto-tripod-good2/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f3487d31d12c3d6a81f2ad21d3387256e4bbe724 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260111-204118-put-triangular-beaker-onto-tripod-good2/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,534 @@ +{ + "task_description": "将三角烧杯放在三脚架上。\n爪夹准备移动：0%\n爪夹开始移动：10%\n爪夹靠近三角烧杯：20%\n爪夹抓取三角烧杯：40%\n爪夹合拢并靠近三脚架：60%\n爪夹移动到三脚架的正上方：80%\n爪夹松开，三角烧杯落在三脚架上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动，靠近三角烧杯，爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动，靠近三角烧杯。", + "time": 0.26302403969072163, + "annotations": { + "bbox_1769398931409": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931409_1769399645603_o2s0iim1h", + "x": 0.2895, + "y": 0.316, + "width": 0.07600000000000003, + "height": 0.1293333333333333 + } + ] + }, + "bbox_1769398931577": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931577_1769399649499_8ulz1o8m5", + "x": 0.4405, + "y": 0.2706666666666667, + "width": 0.172, + "height": 0.24399999999999994 + } + ] + }, + "point_1769398932249": { + "type": "point", + "instances": [ + { + "id": "point_1769398932249_1769399651843_zb045bw4i", + "x": 0.4385, + "y": 0.17866666666666667 + } + ] + }, + "point_1769398932401": { + "type": "point", + "instances": [ + { + "id": "point_1769398932401_1769399654267_aj5vcfc77", + "x": 0.5395000000000001, + "y": 0.188 + } + ] + } + } + }, + { + "time": 0.533199, + "frame": 16, + "progress": 10, + "action_description": "爪夹向爪夹的上方抬起，并调整爪夹方向，向爪夹的右前方靠近三角烧杯。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹继续向爪夹的右前方移动，靠近三角烧杯，爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧。", + "progress_explanation": "当前爪夹在水平方向上略微接近三角烧杯，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并开始调整爪夹方向，在水平方向上接近三角烧杯。", + "correction_plan": "爪夹继续向爪夹的右前方移动，靠近三角烧杯，爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769398931577": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931577_1769399661602_42akz6i9j", + "x": 0.4445000000000001, + "y": 0.272, + "width": 0.1589999999999999, + "height": 0.23866666666666667 + } + ] + }, + "bbox_1769398931409": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931409_1769399665050_s8sn03vr6", + "x": 0.2985, + "y": 0.3106666666666667, + "width": 0.07100000000000004, + "height": 0.13200000000000003 + } + ] + }, + "point_1769398932249": { + "type": "point", + "instances": [ + { + "id": "point_1769398932249_1769399667906_yyf9iboca", + "x": 0.4255, + "y": 0.08 + } + ] + }, + "point_1769398932401": { + "type": "point", + "instances": [ + { + "id": "point_1769398932401_1769399670042_jfrr0qocw", + "x": 0.5365, + "y": 0.09466666666666666 + } + ] + } + } + }, + { + "time": 1.003333, + "frame": 30, + "progress": 20, + "action_description": "爪夹向爪夹的右前方移动，靠近三角烧杯。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离进一步缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯。", + "progress_explanation": "当前爪夹张开，在水平方向上再次接近三角烧杯，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的右前方移动，在水平方向上再次接近三角烧杯。", + "correction_plan": "爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769398931577": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931577_1769399680306_0hzzzzcrv", + "x": 0.4425, + "y": 0.268, + "width": 0.16100000000000003, + "height": 0.24799999999999997 + } + ] + }, + "bbox_1769398931409": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931409_1769399684434_acwpualta", + "x": 0.2935, + "y": 0.3106666666666667, + "width": 0.07000000000000002, + "height": 0.13200000000000003 + } + ] + }, + "point_1769398932249": { + "type": "point", + "instances": [ + { + "id": "point_1769398932249_1769399686698_a5z1k03z3", + "x": 0.2655, + "y": 0.2 + } + ] + }, + "point_1769398932401": { + "type": "point", + "instances": [ + { + "id": "point_1769398932401_1769399690003_4uwh34rms", + "x": 0.3485, + "y": 0.27599999999999997 + } + ] + } + } + }, + { + "time": 1.656933, + "frame": 50, + "progress": 30, + "action_description": "爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧。", + "state_description": "当前爪夹张开，在水平方向位于三角烧杯的两侧。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架。", + "progress_explanation": "当前爪夹已经移动到三角烧杯的两侧，因此进度提升至30%。", + "error_success_analysis": "爪夹向爪夹的下方移动，爪夹成功移动到三角烧杯的两侧。", + "correction_plan": "爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769398932401": { + "type": "point", + "instances": [ + { + "id": "point_1769398932401_1769399693322_i2aj4u8eb", + "x": 0.35350000000000004, + "y": 0.38 + } + ] + }, + "point_1769398932249": { + "type": "point", + "instances": [ + { + "id": "point_1769398932249_1769399696570_hvr9ddicz", + "x": 0.2725, + "y": 0.32266666666666666 + } + ] + }, + "bbox_1769398931409": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931409_1769399700298_dm16f3ken", + "x": 0.2985, + "y": 0.31333333333333335, + "width": 0.06700000000000003, + "height": 0.13066666666666665 + } + ] + }, + "bbox_1769398931577": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931577_1769399703642_1z814f6xv", + "x": 0.4385, + "y": 0.268, + "width": 0.16900000000000004, + "height": 0.24133333333333334 + } + ] + } + } + }, + { + "time": 2.264666, + "frame": 68, + "progress": 40, + "action_description": "爪夹合拢并进行抓取动作。", + "state_description": "当前爪夹合拢，已经抓住三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架。", + "progress_explanation": "当前爪夹已经抓住三角烧杯，因此进度提升至40%。", + "error_success_analysis": "爪夹合拢成功抓住三角烧杯。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769398931577": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931577_1769399708242_fobgvqrw7", + "x": 0.44350000000000006, + "y": 0.27466666666666667, + "width": 0.16299999999999998, + "height": 0.23600000000000002 + } + ] + }, + "point_1769398932249": { + "type": "point", + "instances": [ + { + "id": "point_1769398932249_1769399711298_si0tatj8o", + "x": 0.2985, + "y": 0.33866666666666667 + } + ] + }, + "point_1769398932401": { + "type": "point", + "instances": [ + { + "id": "point_1769398932401_1769399714002_p0v3fmafj", + "x": 0.3235, + "y": 0.36000000000000004 + } + ] + }, + "bbox_1769398931409": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931409_1769399718058_hnblvg90e", + "x": 0.2895, + "y": 0.312, + "width": 0.06299999999999999, + "height": 0.12533333333333338 + } + ] + } + } + }, + { + "time": 2.958281614948454, + "frame": 89, + "progress": 50, + "action_description": "爪夹保持合拢，向爪夹的上方抬起，准备靠近三脚架。", + "state_description": "当前爪夹合拢，与三脚架的水平距离缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹保持合拢，并继续向爪夹的上方抬起，同时向爪夹的左边移动，靠近三脚架。", + "progress_explanation": "当前爪夹抓住抓住三角烧杯，并抬起爪夹，在水平方向上接近三脚架，因此进度提升至50%。", + "error_success_analysis": "爪夹保持合拢，向爪夹的上方抬起，在水平方向上接近三脚架。", + "correction_plan": "爪夹保持合拢，并继续向爪夹的上方抬起，同时向爪夹的左边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769398931409": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931409_1769399723002_7pxj97tpl", + "x": 0.26949999999999996, + "y": 0.2573333333333333, + "width": 0.06100000000000003, + "height": 0.14266666666666666 + } + ] + }, + "point_1769398932249": { + "type": "point", + "instances": [ + { + "id": "point_1769398932249_1769399724994_cu1s0510q", + "x": 0.2875, + "y": 0.2733333333333333 + } + ] + }, + "point_1769398932401": { + "type": "point", + "instances": [ + { + "id": "point_1769398932401_1769399727562_ki90x3caw", + "x": 0.3125, + "y": 0.3 + } + ] + }, + "bbox_1769398931577": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931577_1769399731594_nb4c94c27", + "x": 0.4385, + "y": 0.26666666666666666, + "width": 0.17300000000000004, + "height": 0.24133333333333334 + } + ] + } + } + }, + { + "time": 3.755333, + "frame": 113, + "progress": 60, + "action_description": "爪夹保持合拢，并继续向爪夹的上方抬起，同时向爪夹的左边移动，靠近三脚架。", + "state_description": "当前爪夹已经抓住三角烧杯，在水平方向上再次接近三脚架。\n为完成将三角烧杯放在三脚架上的任务应当：", + "progress_explanation": "当前爪夹抓住三角烧杯，并靠近三脚架，因此进度提升至60%。", + "error_success_analysis": "爪夹保持合拢，并继续向爪夹的上方抬起，同时向爪夹的左边移动，水平方向上成功接近三脚架。", + "correction_plan": "爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769398931577": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931577_1769399737122_5nnmpn81l", + "x": 0.44350000000000006, + "y": 0.27599999999999997, + "width": 0.16299999999999998, + "height": 0.23600000000000002 + } + ] + }, + "bbox_1769398931409": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931409_1769399740514_q2tr5ex70", + "x": 0.3325, + "y": 0.17733333333333334, + "width": 0.08099999999999996, + "height": 0.18000000000000002 + } + ] + }, + "point_1769398932249": { + "type": "point", + "instances": [ + { + "id": "point_1769398932249_1769399743250_zsc1hcmjp", + "x": 0.3485, + "y": 0.2 + } + ] + }, + "point_1769398932401": { + "type": "point", + "instances": [ + { + "id": "point_1769398932401_1769399745778_xmsx73ea6", + "x": 0.3835, + "y": 0.21600000000000003 + } + ] + } + } + }, + { + "time": 4.397466, + "frame": 132, + "progress": 80, + "action_description": "爪夹向爪夹的左边移动，爪夹移动到三脚架的正上方。", + "state_description": "当前爪夹合拢，在水平方向上位于三脚架的正上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "progress_explanation": "当前爪夹已经移动到三脚架的正上方，因此进度提升至80%。", + "error_success_analysis": "爪夹向爪夹的左边移动，爪夹成功移动到三脚架的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769398932401": { + "type": "point", + "instances": [ + { + "id": "point_1769398932401_1769399748826_vwp42o8wd", + "x": 0.5425, + "y": 0.2506666666666667 + } + ] + }, + "point_1769398932249": { + "type": "point", + "instances": [ + { + "id": "point_1769398932249_1769399751026_sat7dng0y", + "x": 0.5075000000000001, + "y": 0.2573333333333333 + } + ] + }, + "bbox_1769398931409": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931409_1769399754946_8r26jsze7", + "x": 0.5025000000000001, + "y": 0.21866666666666668, + "width": 0.07699999999999996, + "height": 0.15999999999999998 + } + ] + }, + "bbox_1769398931577": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931577_1769399758825_dli58nnz1", + "x": 0.4345, + "y": 0.2706666666666667, + "width": 0.17600000000000007, + "height": 0.2533333333333333 + } + ] + } + } + }, + { + "time": 5.286133, + "frame": 159, + "progress": 100, + "action_description": "爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "state_description": "当前爪夹张开，三角烧杯在水平方向上位于三脚架上，已经完成将三角烧杯放在三脚架上的任务。", + "progress_explanation": "当前爪夹已经将三角烧杯放在三脚架上，因此进度提升至100%。", + "error_success_analysis": "爪夹向爪夹的下方移动，并松开爪夹，成功将三角烧杯放在三脚架上。", + "correction_plan": "", + "annotations": { + "bbox_1769398931577": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931577_1769399763338_2t7x7sxl9", + "x": 0.43950000000000006, + "y": 0.26266666666666666, + "width": 0.16799999999999998, + "height": 0.256 + } + ] + }, + "bbox_1769398931409": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769398931409_1769399766721_j83j98cc5", + "x": 0.49350000000000005, + "y": 0.256, + "width": 0.08199999999999993, + "height": 0.12666666666666668 + } + ] + }, + "point_1769398932249": { + "type": "point", + "instances": [ + { + "id": "point_1769398932249_1769399768802_3p6mkvddd", + "x": 0.49350000000000005, + "y": 0.292 + } + ] + }, + "point_1769398932401": { + "type": "point", + "instances": [ + { + "id": "point_1769398932401_1769399771394_z5se4d4ii", + "x": 0.5745, + "y": 0.264 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769398931409", + "name": "三角烧杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1769398931577", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769398932249", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769398932401", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260111-210220-put-triangular-beaker-onto-tripod-mix2/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260111-210220-put-triangular-beaker-onto-tripod-mix2/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..5015cbe43bc69e6ef068eb01254a0dee6f66fe69 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260111-210220-put-triangular-beaker-onto-tripod-mix2/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,658 @@ +{ + "task_description": "将三角烧杯放在三脚架上。\n爪夹准备移动：0%\n爪夹开始移动：10%\n爪夹靠近三角烧杯：20%\n爪夹抓取三角烧杯：40%\n爪夹合拢并靠近三脚架：60%\n爪夹移动到三脚架的正上方：80%\n爪夹松开，三角烧杯落在三脚架上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动，靠近三角烧杯。", + "time": 0.64596221185567, + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410202074_y3g90j5s0", + "x": 0.7275, + "y": 0.3626666666666667, + "width": 0.23399999999999999, + "height": 0.30133333333333334 + } + ] + }, + "point_1769406770975": { + "type": "point", + "instances": [ + { + "id": "point_1769406770975_1769410205330_l6zs7pe9x", + "x": 0.9365, + "y": 0.5466666666666666 + } + ] + }, + "bbox_1769406770198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770198_1769410209066_f2qucxip5", + "x": 0.8714999999999999, + "y": 0.348, + "width": 0.05899999999999998, + "height": 0.08533333333333334 + } + ] + } + } + }, + { + "time": 1.819666, + "frame": 55, + "progress": 10, + "action_description": "爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动靠近三角烧杯。", + "state_description": "当前爪夹张开，在水平方向上略微接近三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧。", + "progress_explanation": "当前爪夹与三角烧杯的水平距离缩短，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的右前方移动，爪夹与三角烧杯的水平距离缩短。", + "correction_plan": "爪夹向爪夹的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770198_1769410213738_d72bc8ylb", + "x": 0.8745, + "y": 0.348, + "width": 0.04899999999999984, + "height": 0.0786666666666667 + } + ] + }, + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410559327_x7anywkhm", + "x": 0.7145, + "y": 0.35733333333333334, + "width": 0.24899999999999994, + "height": 0.31333333333333335 + } + ] + } + } + }, + { + "time": 2.815333, + "frame": 84, + "progress": 5, + "action_description": "爪夹向爪夹的下方移动。", + "state_description": "当前爪夹张开，在水平方向上位于量杯的两侧。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的上方抬起，并向爪夹的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧。", + "progress_explanation": "当前爪夹没有移动到三角烧杯的两侧，而是向爪夹的下方移动，到量杯的两侧，因此进度下降至5%。", + "error_success_analysis": "爪夹向爪夹的下方移动到量杯的两侧。", + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410564463_rk5t5qz7s", + "x": 0.7235, + "y": 0.36000000000000004, + "width": 0.2419999999999999, + "height": 0.30799999999999994 + } + ] + }, + "bbox_1769406770198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770198_1769410568503_nccovi2o2", + "x": 0.8775000000000001, + "y": 0.35200000000000004, + "width": 0.05, + "height": 0.08000000000000002 + } + ] + } + } + }, + { + "time": 3.5535, + "frame": 107, + "progress": -5, + "action_description": "爪夹合拢。", + "state_description": "当前爪夹合拢，没有抓住物体。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹张开，向爪夹的上方抬起，并向爪夹的前方移动，靠近三角烧杯。", + "progress_explanation": "当前爪夹合拢，爪夹需要张开，向爪夹的上方抬起，并向爪夹的前方移动，才能靠近三角烧杯，因此进度下降至-5%。", + "error_success_analysis": "爪夹合拢，没有向爪夹的上方抬起，同时向爪夹的前方移动，靠近三角烧杯。", + "correction_plan": "爪夹张开，向爪夹的上方抬起，并向爪夹的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770198_1769410574143_1urnoid2h", + "x": 0.8724999999999999, + "y": 0.348, + "width": 0.05400000000000009, + "height": 0.08533333333333334 + } + ] + }, + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410579399_8hqrtw6ib", + "x": 0.7135, + "y": 0.36000000000000004, + "width": 0.251, + "height": 0.3146666666666667 + } + ] + } + } + }, + { + "time": 4.3775, + "frame": 131, + "progress": 0, + "action_description": "爪夹张开。", + "state_description": "当前爪夹张开，位于桌面上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的上方抬起，并向爪夹的前方移动，靠近三角烧杯。", + "progress_explanation": "当前爪夹张开，准备靠近三角烧杯，因此进度提升至0%。", + "error_success_analysis": "爪夹张开，准备向爪夹的上方抬起，并向爪夹的前方移动，靠近三角烧杯。", + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410584871_idd6a0a5f", + "x": 0.7205, + "y": 0.356, + "width": 0.23900000000000005, + "height": 0.30266666666666675 + } + ] + }, + "bbox_1769406770198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770198_1769410587935_w0kxmtsuc", + "x": 0.8815, + "y": 0.3506666666666666, + "width": 0.051000000000000156, + "height": 0.0786666666666667 + } + ] + } + } + }, + { + "time": 5.15, + "frame": 155, + "progress": 10, + "action_description": "爪夹向爪夹的上方抬起，并靠近三角烧杯。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯。", + "progress_explanation": "当前爪夹张开，在水平方向上接近三角烧杯，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并靠近三角烧杯，在水平方向上接近三角烧杯。", + "correction_plan": "爪夹向爪夹的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770198_1769410592319_50m19a7fs", + "x": 0.8724999999999999, + "y": 0.3506666666666666, + "width": 0.060000000000000143, + "height": 0.08533333333333334 + } + ] + }, + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410597318_q7vpzro71", + "x": 0.7165, + "y": 0.36933333333333335, + "width": 0.24899999999999994, + "height": 0.3026666666666667 + } + ] + } + } + }, + { + "time": 5.760567122164948, + "frame": 173, + "progress": 20, + "action_description": "爪夹向爪夹的前方移动，靠近三角烧杯。", + "state_description": "当前爪夹张开，在水平方向上再次接近三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯。", + "progress_explanation": "当前爪夹张开，与三角烧杯的水平距离再次缩短，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的前方移动，靠近三角烧杯，与三角烧杯的水平距离再次缩短。", + "correction_plan": "爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410602846_68rlw1lin", + "x": 0.7225, + "y": 0.37333333333333335, + "width": 0.22499999999999992, + "height": 0.2906666666666667 + } + ] + }, + "bbox_1769406770198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770198_1769410605551_eno7ig2ew", + "x": 0.8925000000000001, + "y": 0.3506666666666666, + "width": 0.04299999999999997, + "height": 0.08400000000000005 + } + ] + } + } + }, + { + "time": 6.1285, + "frame": 184, + "progress": 30, + "action_description": "爪夹向爪夹的下方移动，爪夹移动到三角烧杯的两侧。", + "state_description": "当前爪夹张开，在水平方向上位于三角烧杯的两侧。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架。", + "progress_explanation": "当前爪夹已经移动到三角烧杯的两侧，因此进度提升至30%。", + "error_success_analysis": "爪夹向爪夹的下方移动，爪夹成功移动到三角烧杯的两侧。", + "correction_plan": "爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410612006_lxmisjlve", + "x": 0.7125, + "y": 0.37333333333333335, + "width": 0.23599999999999993, + "height": 0.2933333333333333 + } + ] + } + } + }, + { + "time": 6.918166, + "frame": 208, + "progress": 10, + "action_description": "爪夹合拢并抓取三角烧杯。", + "state_description": "当前爪夹合拢，未抓取到三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹张开，向爪夹的上方抬起，并重新抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架。", + "progress_explanation": "当前爪夹合拢，没有抓住三角烧杯，因此进度下降至10%。", + "error_success_analysis": "爪夹合拢，进行抓取动作，爪夹没有抓住三角烧杯，爪夹需要张开，并调整爪夹角度，重新进行抓取动作。", + "correction_plan": "爪夹张开，向爪夹的上方抬起，并重新抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410615870_r0c64uias", + "x": 0.7285, + "y": 0.35866666666666663, + "width": 0.23399999999999999, + "height": 0.31466666666666665 + } + ] + } + } + }, + { + "time": 7.330166, + "frame": 220, + "progress": 20, + "action_description": "爪夹张开。", + "state_description": "当前爪夹张开，在水平方向上位于桌面上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹张开，向爪夹的前方移动，使爪夹位于三角烧杯的两侧，爪夹合拢并抓取三角烧杯。", + "progress_explanation": "当前爪夹张开，准备再次抓取三角烧杯，因此进度提升至20%。", + "error_success_analysis": "爪夹张开，重新向爪夹的前方移动，进行抓取动作。", + "correction_plan": "爪夹张开，向爪夹的前方移动，使爪夹位于三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410620798_82x7xdksy", + "x": 0.7275, + "y": 0.36800000000000005, + "width": 0.23100000000000004, + "height": 0.29600000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方抬起，并调整爪夹角度，使爪夹位于三角烧杯的两侧。\n", + "correction_plan": "爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并调整爪夹角度，爪夹成功移动到三角烧杯的两侧。\n", + "frame": 265, + "progress": 30, + "progress_explanation": "当前爪夹张开，已经移动到三角烧杯的两侧，因此进度提升至30%。", + "state_description": "当前爪夹张开，在水平方向上位于三角烧杯的两侧。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架。", + "time": 8.822251030412371, + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410625743_8k4kjvxnd", + "x": 0.7205, + "y": 0.36133333333333334, + "width": 0.2290000000000001, + "height": 0.30933333333333335 + } + ] + } + } + }, + { + "time": 9.600945203608248, + "frame": 288, + "progress": 40, + "action_description": "爪夹合拢并抓取三角烧杯。", + "state_description": "当前爪夹合拢，已经抓住三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架。", + "progress_explanation": "当前爪夹已经抓住三角烧杯，因此进度提升至40%。", + "error_success_analysis": "爪夹合拢成功抓取三角烧杯。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410630750_qt2m7xiax", + "x": 0.7165, + "y": 0.36533333333333334, + "width": 0.23700000000000002, + "height": 0.3026666666666666 + } + ] + } + } + }, + { + "time": 10.538917730412372, + "frame": 316, + "progress": 20, + "action_description": "爪夹向爪夹的上方抬起，爪夹没有抓牢三角烧杯，三角烧杯掉落在桌子上。", + "state_description": "当前爪夹略微张开，三角烧杯在水平方向上位于桌面上。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹张开，向爪夹的下方移动，同时向爪夹的前方移动，爪夹移动至三角烧杯的两侧。", + "progress_explanation": "当前爪夹略微张开，三角烧杯掉落在桌面上，因此进度下降至20%。", + "error_success_analysis": "爪夹需要重新张开，并向爪夹的前方移动，重新进行抓取动作。", + "correction_plan": "爪夹张开，向爪夹的下方移动，同时向爪夹的前方移动，爪夹移动至三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410636071_f41tmwp9l", + "x": 0.7215, + "y": 0.36533333333333334, + "width": 0.24299999999999997, + "height": 0.2986666666666667 + } + ] + } + } + }, + { + "time": 11.937027723195875, + "frame": 358, + "progress": 30, + "action_description": "爪夹微调角度，并张开爪夹。", + "state_description": "当前爪夹张开，位于桌面上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的下方移动，同时向爪夹的前方移动，爪夹移动至三角烧杯的两侧。", + "progress_explanation": "当前爪夹张开，准备再次抓取三角烧杯，因此进度提升至30%。", + "error_success_analysis": "爪夹保持张开，并向爪夹的下方移动，重新抓取三角烧杯。", + "correction_plan": "爪夹向爪夹的下方移动，同时向爪夹的前方移动，爪夹移动至三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410640534_v5hcb3dxa", + "x": 0.7155, + "y": 0.356, + "width": 0.24500000000000002, + "height": 0.30933333333333335 + } + ] + } + } + }, + { + "time": 12.772, + "frame": 383, + "progress": 40, + "action_description": "爪夹向爪夹的下方移动，同时向爪夹的前方移动，爪夹移动至三角烧杯的两侧，爪夹合拢并抓取三角烧杯。", + "state_description": "当前爪夹合拢，已经抓住三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架。", + "progress_explanation": "当前爪夹已经抓住三角烧杯，因此进度提升至40%。", + "error_success_analysis": "爪夹向爪夹的下方移动，同时向爪夹的前方移动，爪夹移动至三角烧杯的两侧，爪夹成功抓住三角烧杯。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410644862_sme18xkto", + "x": 0.7265, + "y": 0.36533333333333334, + "width": 0.23100000000000004, + "height": 0.2973333333333333 + } + ] + } + } + }, + { + "time": 13.4415, + "frame": 403, + "progress": 50, + "action_description": "爪夹保持合拢，向爪夹的上方抬起，靠近三角架。", + "state_description": "当前爪夹合拢，与三脚架的水平距离缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方。", + "progress_explanation": "当前爪夹抓住抓住三角烧杯，并抬起爪夹，在水平方向上接近三脚架，因此进度提升至50%。", + "error_success_analysis": "爪夹保持合拢，向爪夹的上方抬起，在水平方向上接近三脚架。", + "correction_plan": "爪夹向爪夹的左后方移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410650558_hhyfb38rk", + "x": 0.7205, + "y": 0.372, + "width": 0.2290000000000001, + "height": 0.29333333333333333 + } + ] + }, + "bbox_1769406770198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770198_1769410654398_pm2tfggc4", + "x": 0.8885, + "y": 0.312, + "width": 0.0700000000000001, + "height": 0.10800000000000001 + } + ] + } + } + }, + { + "time": 14.379295811855672, + "frame": 431, + "progress": 60, + "action_description": "爪夹向爪夹的左后方移动，靠近三脚架。", + "state_description": "当前爪夹已经抓住三角烧杯，在水平方向上再次接近三脚架。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹继续向爪夹的左后方移动，爪夹移动到三脚架的正上方。", + "progress_explanation": "当前爪夹抓住三角烧杯，并靠近三脚架，因此进度提升至60%。", + "error_success_analysis": "爪夹向爪夹的左后方移动，水平方向上成功接近三脚架。", + "correction_plan": "爪夹继续向爪夹的左后方移动，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769406770198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770198_1769410658590_vdop3zpwb", + "x": 0.8845000000000001, + "y": 0.22133333333333335, + "width": 0.0959999999999999, + "height": 0.13599999999999995 + } + ] + }, + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410666526_63xtjkm6o", + "x": 0.7115, + "y": 0.36133333333333334, + "width": 0.242, + "height": 0.3133333333333334 + } + ] + }, + "point_1769406770975": { + "type": "point", + "instances": [ + { + "id": "point_1769406770975_1769410681158_khn3gv8fi", + "x": 0.9575000000000001, + "y": 0.21066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的左后方移动，爪夹移动到三脚架的正上方。", + "correction_plan": "爪夹松开，将三角烧杯放在三脚架上。", + "error_success_analysis": "爪夹向爪夹的左前方移动，爪夹成功移动到三脚架的正上方。", + "frame": 464, + "progress": 80, + "progress_explanation": "当前爪夹已经移动到三脚架的正上方，因此进度提升至80%。", + "state_description": "当前爪夹合拢，在水平方向上位于三脚架的正上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹松开，将三角烧杯放在三脚架上。", + "time": 15.45884909742268, + "annotations": { + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410670630_kx5ll18hr", + "x": 0.7205, + "y": 0.35333333333333333, + "width": 0.242, + "height": 0.3186666666666667 + } + ] + }, + "bbox_1769406770198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770198_1769410674198_nciq3wzcg", + "x": 0.8314999999999999, + "y": 0.316, + "width": 0.11300000000000007, + "height": 0.13066666666666665 + } + ] + }, + "point_1769406770975": { + "type": "point", + "instances": [ + { + "id": "point_1769406770975_1769410677702_3i9gj6zfd", + "x": 0.8885, + "y": 0.3173333333333333 + } + ] + } + } + }, + { + "time": 16.874833, + "frame": 506, + "progress": 100, + "action_description": "爪夹松开，三角烧杯落下。", + "state_description": "当前爪夹张开，三角烧杯在水平方向上位于三脚架上，已经完成将三角烧杯放在三脚架上的任务。", + "progress_explanation": "当前爪夹已经将三角烧杯放在三脚架上，因此进度提升至100%。", + "error_success_analysis": "爪夹松开，成功将三角烧杯放在三脚架上。", + "correction_plan": "", + "annotations": { + "point_1769406770975": { + "type": "point", + "instances": [ + { + "id": "point_1769406770975_1769410684030_c1mu10fjt", + "x": 0.8665, + "y": 0.328 + } + ] + }, + "bbox_1769406770198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770198_1769410688342_jmxwti0rx", + "x": 0.8205, + "y": 0.324, + "width": 0.11400000000000006, + "height": 0.128 + } + ] + }, + "bbox_1769406770023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769406770023_1769410692678_kxjmqj8ua", + "x": 0.7245, + "y": 0.3626666666666667, + "width": 0.24099999999999994, + "height": 0.304 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769406770023", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1769406770198", + "name": "三角烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769406770975", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769406771127", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260111-210220-put-triangular-beaker-onto-tripod-mix2/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260111-210220-put-triangular-beaker-onto-tripod-mix2/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9f52198a24f43ba6bc4e27449a5c602cf879074f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260111-210220-put-triangular-beaker-onto-tripod-mix2/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,850 @@ +{ + "task_description": "将三角烧杯放在三脚架上。\n爪夹准备移动：0%\n爪夹开始移动：10%\n爪夹靠近三角烧杯：20%\n爪夹抓取三角烧杯：40%\n爪夹合拢并靠近三脚架：60%\n爪夹移动到三脚架的正上方：80%\n爪夹松开，三角烧杯落在三脚架上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的左前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的上方抬起，并调整爪夹方向，爪夹向爪夹的左前方移动，靠近三角烧杯。", + "time": 0.4152577221649484, + "annotations": { + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413836171_9ji2s1vi2", + "x": 0.4135, + "y": 0.192, + "width": 0.21400000000000005, + "height": 0.268 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413839931_j952gi7ti", + "x": 0.3095, + "y": 0.26266666666666666, + "width": 0.061999999999999965, + "height": 0.1386666666666667 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769413842299_beitlcxt3", + "x": 0.3995, + "y": 0.4613333333333333 + } + ] + }, + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769413844611_zg905s7a4", + "x": 0.6195, + "y": 0.45733333333333337 + } + ] + } + } + }, + { + "time": 1.003466, + "frame": 30, + "progress": 10, + "action_description": "爪夹向爪夹的上方抬起，并调整爪夹方向，向爪夹的左前方移动靠近三角烧杯。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹继续向爪夹的左前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧。", + "progress_explanation": "当前爪夹在水平方向上略微接近三角烧杯，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并开始调整爪夹方向，在水平方向上接近三角烧杯。", + "correction_plan": "爪夹继续向爪夹的左前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769413847627_t3kvyeoye", + "x": 0.6214999999999999, + "y": 0.4613333333333333 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769413850451_kurny70gh", + "x": 0.39849999999999997, + "y": 0.45733333333333337 + } + ] + }, + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413854563_khdst9dbq", + "x": 0.5835, + "y": 0.22000000000000003, + "width": 0.21800000000000005, + "height": 0.296 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413857491_h55z84yty", + "x": 0.4495, + "y": 0.18533333333333335, + "width": 0.08200000000000003, + "height": 0.14133333333333334 + } + ] + } + } + }, + { + "time": 1.540533, + "frame": 46, + "progress": 15, + "action_description": "爪夹保持张开，并向爪夹的下方移动。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离再次缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹抬起，并向爪夹的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧。", + "progress_explanation": "当前爪夹在水平方向上再次接近三角烧杯，因此进度提升至15%。", + "error_success_analysis": "爪夹没有继续向爪夹的左前方移动，靠近三角烧被。", + "correction_plan": "爪夹抬起，并向爪夹的前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413865675_uri3b2erv", + "x": 0.7085, + "y": 0.17600000000000002, + "width": 0.263, + "height": 0.34933333333333333 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413869555_5j0tf55bs", + "x": 0.5665, + "y": 0.025333333333333333, + "width": 0.10200000000000005, + "height": 0.168 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769413872211_z9dmaibpu", + "x": 0.3995, + "y": 0.45866666666666667 + } + ] + }, + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769413874603_wqujzxry4", + "x": 0.6185, + "y": 0.45466666666666666 + } + ] + } + } + }, + { + "time": 2.529866, + "frame": 76, + "progress": 5, + "action_description": "爪夹向爪夹的前方移动，并合拢爪夹。", + "state_description": "当前爪夹合拢，未抓取到物体。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹张开，向爪夹的上方抬起，并向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧。", + "progress_explanation": "当前爪夹合拢，没有抓住物体，爪夹需要张开，向爪夹的上方抬起，并向爪夹的右前方移动，才能再次接近三角烧杯，因此进度下降至5%。", + "error_success_analysis": "爪夹没有像爪夹的右前方移动，靠近三角烧杯，并合拢爪夹。", + "correction_plan": "爪夹张开，向爪夹的上方抬起，并向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413882083_ija83ny1x", + "x": 0.6005, + "y": 0.04533333333333334, + "width": 0.13100000000000006, + "height": 0.17466666666666666 + } + ] + }, + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413887899_x4axxas7n", + "x": 0.7375, + "y": 0.23733333333333334, + "width": 0.2290000000000001, + "height": 0.3706666666666667 + } + ] + } + } + }, + { + "time": 3.717066, + "frame": 112, + "progress": 10, + "action_description": "爪夹张开。", + "state_description": "当前爪夹张开，在水平方向上位于桌面上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧。", + "progress_explanation": "当前爪夹张开，准备向爪夹的上方抬起，并向爪夹的右前方移动，靠近三角烧杯，因此进度提升至10%。", + "error_success_analysis": "爪夹张开，向爪夹的上方抬起，并向爪夹的右前方移动，才能接近三角烧杯。", + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413892611_yr7snvo34", + "x": 0.7485, + "y": 0.22000000000000003, + "width": 0.23500000000000004, + "height": 0.3546666666666667 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413896931_dui5krsmc", + "x": 0.5985, + "y": 0.04, + "width": 0.10699999999999994, + "height": 0.19466666666666665 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769413899859_hyoenfrp7", + "x": 0.3995, + "y": 0.45866666666666667 + } + ] + }, + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769413902475_1duxanp4v", + "x": 0.6195, + "y": 0.45733333333333337 + } + ] + } + } + }, + { + "time": 4.579199, + "frame": 137, + "progress": 20, + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近三角烧杯。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹继续向爪夹的右前方移动接近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯。", + "progress_explanation": "当前爪夹张开，在水平方向上接近三角烧杯，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，爪夹在水平方向上接近三角烧杯。", + "correction_plan": "爪夹继续向爪夹的右前方移动接近三角烧杯，爪夹移动到三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769413905427_a72nesr27", + "x": 0.6195, + "y": 0.46 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769413907523_lvg8lzakb", + "x": 0.39849999999999997, + "y": 0.46 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413911307_n4ei8nglo", + "x": 0.5065000000000001, + "y": 0.22933333333333333, + "width": 0.071, + "height": 0.14266666666666666 + } + ] + }, + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413916131_9sizzu0lz", + "x": 0.6695, + "y": 0.268, + "width": 0.21500000000000002, + "height": 0.3186666666666667 + } + ] + } + } + }, + { + "time": 5.639199, + "frame": 169, + "progress": 30, + "action_description": "爪夹向爪夹的右前方移动，并向爪夹的下方移动，靠近三角烧杯。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离再次缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的前方移动，使爪夹位于三角烧杯的两侧，爪夹合拢并抓取三角烧杯。", + "progress_explanation": "当前爪夹张开，在水平方向上再次接近三角烧杯，因此进度接近30%。", + "error_success_analysis": "爪夹向爪夹的右前方移动，并向爪夹的下方移动，在水平方向上再次接近三角烧杯。", + "correction_plan": "爪夹向爪夹的前方移动，使爪夹位于三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413921251_0ye2umsb3", + "x": 0.7235000000000001, + "y": 0.396, + "width": 0.17999999999999988, + "height": 0.4013333333333334 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413925291_26k6p0487", + "x": 0.4455, + "y": 0.34933333333333333, + "width": 0.10300000000000002, + "height": 0.14666666666666667 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769413932147_hs6l9lxv4", + "x": 0.3995, + "y": 0.46 + } + ] + }, + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769413934162_u5sm9nlv9", + "x": 0.6185, + "y": 0.456 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方抬起，并调整爪夹角度。", + "correction_plan": "爪夹向爪夹的前方移动，使爪夹位于三角烧杯的两侧，爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并调整爪夹角度，准备抓取三角烧杯。", + "frame": 204, + "progress": 35, + "progress_explanation": "当前爪夹张开，准备抓取三角烧杯，因此进度提升至35%。", + "state_description": "当前爪夹张开，在水平方向上位于桌面上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的前方移动，使爪夹位于三角烧杯的两侧，爪夹合拢并抓取三角烧杯。", + "time": 6.8, + "annotations": { + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769413937034_i0x0z06n8", + "x": 0.6185, + "y": 0.45733333333333337 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769413938955_qmbbz9mad", + "x": 0.40149999999999997, + "y": 0.456 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413942650_ovweo8p80", + "x": 0.4585, + "y": 0.31333333333333335, + "width": 0.10899999999999999, + "height": 0.156 + } + ] + }, + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413947130_n8dgolip9", + "x": 0.7775000000000001, + "y": 0.324, + "width": 0.18200000000000002, + "height": 0.4693333333333333 + } + ] + } + } + }, + { + "time": 7.533066, + "frame": 226, + "progress": 10, + "action_description": "爪夹合拢。", + "state_description": "当前爪夹合拢，未抓住三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹张开，向爪夹的前方移动，并合拢爪夹抓取三角烧杯。", + "progress_explanation": "当前爪夹合拢，没有抓住三角烧杯，因此进度下降至10%。", + "error_success_analysis": "爪夹需要张开，并向爪夹的前方移动，重新进行抓取动作。", + "correction_plan": "爪夹张开，向爪夹的前方移动，并合拢爪夹抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413951306_hve8jwkxt", + "x": 0.6855, + "y": 0.32133333333333336, + "width": 0.273, + "height": 0.4586666666666667 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413955146_t72ee2otj", + "x": 0.4405, + "y": 0.328, + "width": 0.11600000000000002, + "height": 0.14533333333333337 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769413957042_hze39t3fc", + "x": 0.49850000000000005, + "y": 0.44666666666666666 + } + ] + }, + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769413959098_j27y419q9", + "x": 0.5135, + "y": 0.444 + } + ] + } + } + }, + { + "time": 8.706133, + "frame": 261, + "progress": 20, + "action_description": "爪夹张开。", + "state_description": "当前爪夹张开，在水平方向上位于桌面上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的前方移动，并合拢爪夹抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架。", + "progress_explanation": "当前爪夹准备向爪夹的前方移动，并进行抓取动作，因此进度提升至20%。", + "error_success_analysis": "爪夹张开，准备向爪夹的前方移动，并合拢爪夹抓取三角烧杯。", + "correction_plan": "爪夹向爪夹的前方移动，并合拢爪夹抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769413961466_d89xbd96j", + "x": 0.6134999999999999, + "y": 0.46266666666666667 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769413963978_mud464g27", + "x": 0.40750000000000003, + "y": 0.456 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413967450_38ahki93d", + "x": 0.42350000000000004, + "y": 0.3373333333333334, + "width": 0.10899999999999999, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413971282_fu01c8j0i", + "x": 0.7185, + "y": 0.29733333333333334, + "width": 0.21899999999999994, + "height": 0.4653333333333333 + } + ] + } + } + }, + { + "time": 9.342133, + "frame": 280, + "progress": 30, + "action_description": "爪夹调整爪夹角度，并向爪夹的左前方移动。", + "state_description": "当前爪夹张开，在水平方向位于三角烧杯的两侧。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架。", + "progress_explanation": "当前爪夹已经移动到三角烧杯的两侧，因此进度提升至30%。", + "error_success_analysis": "爪夹调整爪夹角度，并向爪夹的左前方移动，爪夹成功移动到三角烧杯的两侧。", + "correction_plan": "爪夹合拢并抓取三角烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413975946_cgyiwl4op", + "x": 0.7555, + "y": 0.43066666666666664, + "width": 0.19000000000000003, + "height": 0.4173333333333334 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413979650_doe1lj1j1", + "x": 0.47050000000000003, + "y": 0.38533333333333336, + "width": 0.12999999999999998, + "height": 0.1493333333333333 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769413981906_3sdb5v1vp", + "x": 0.40650000000000003, + "y": 0.45866666666666667 + } + ] + }, + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769413984250_227krlzoa", + "x": 0.6134999999999999, + "y": 0.45866666666666667 + } + ] + } + } + }, + { + "time": 10.289066, + "frame": 309, + "progress": 40, + "action_description": "爪夹合拢并抓取三角烧杯。", + "state_description": "当前爪夹合拢，已经抓住三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架。", + "progress_explanation": "当前爪夹已经抓住三角烧杯，因此进度提升至40%。", + "error_success_analysis": "爪夹合拢成功抓住三角烧杯。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769413986730_nnd7tbw39", + "x": 0.5465, + "y": 0.44933333333333336 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769413988938_ev7w3uplt", + "x": 0.4715, + "y": 0.448 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769413992034_nd1m25v0v", + "x": 0.45149999999999996, + "y": 0.4013333333333334, + "width": 0.12100000000000008, + "height": 0.16133333333333327 + } + ] + }, + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769413996146_6zr0zmrhg", + "x": 0.7065, + "y": 0.412, + "width": 0.255, + "height": 0.43866666666666665 + } + ] + } + } + }, + { + "time": 11.589333, + "frame": 348, + "progress": 60, + "action_description": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近三脚架。", + "state_description": "当前爪夹已经抓住三角烧杯，在水平方向上接近三脚架。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方。", + "progress_explanation": "当前爪夹抓住三角烧杯，并靠近三脚架，因此进度提升至60%。", + "error_success_analysis": "爪夹向爪夹的左前方移动，水平方向上成功接近三脚架。", + "correction_plan": "爪夹向爪夹的右边移动，靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769414001114_fv1vi4wo6", + "x": 0.6575, + "y": 0.36000000000000004, + "width": 0.2079999999999999, + "height": 0.3853333333333333 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769414005322_y36mckyjx", + "x": 0.4535, + "y": 0.4013333333333334, + "width": 0.11200000000000002, + "height": 0.15733333333333335 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769414007626_3r1r4ft21", + "x": 0.47450000000000003, + "y": 0.44666666666666666 + } + ] + }, + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769414009801_52kb0opaw", + "x": 0.5455, + "y": 0.44666666666666666 + } + ] + } + } + }, + { + "time": 12.677599, + "frame": 380, + "progress": 80, + "action_description": "爪夹向爪夹的右边移动，爪夹移动到三脚架的正上方。", + "state_description": "当前爪夹合拢，在水平方向上位于三脚架的正上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "progress_explanation": "当前爪夹已经移动到三脚架的正上方，因此进度提升至80%。", + "error_success_analysis": "爪夹向爪夹的左前方移动，爪夹成功移动到三脚架的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并松开爪夹，将三角烧杯放在三脚架上。", + "annotations": { + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769414013082_ar6v99pj9", + "x": 0.5475000000000001, + "y": 0.448 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769414015178_zzflw20p6", + "x": 0.47250000000000003, + "y": 0.44933333333333336 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769414018866_i3b52sjxy", + "x": 0.4545, + "y": 0.41466666666666663, + "width": 0.11100000000000003, + "height": 0.14133333333333334 + } + ] + }, + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769414023098_rdxuxb84a", + "x": 0.3645, + "y": 0.2986666666666667, + "width": 0.282, + "height": 0.3853333333333333 + } + ] + } + } + }, + { + "time": 13.610399, + "frame": 408, + "progress": 100, + "action_description": "爪夹向爪夹的下方移动，并松开爪夹，三角烧杯落在三脚架上。", + "state_description": "当前爪夹张开，三角烧杯在水平方向上位于三脚架上，已经完成将三角烧杯放在三脚架上的任务。", + "progress_explanation": "当前爪夹已经将三角烧杯放在三脚架上，因此进度提升至100%。", + "error_success_analysis": "爪夹向爪夹的下方移动，并松开爪夹，成功将三角烧杯放在三脚架上。", + "correction_plan": "", + "annotations": { + "bbox_1769410944324": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944324_1769414027306_fcqtllpwx", + "x": 0.3555, + "y": 0.27599999999999997, + "width": 0.312, + "height": 0.39866666666666667 + } + ] + }, + "bbox_1769410944500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769410944500_1769414031034_kvps1uh8f", + "x": 0.4425, + "y": 0.4066666666666667, + "width": 0.121, + "height": 0.14133333333333334 + } + ] + }, + "point_1769410945404": { + "type": "point", + "instances": [ + { + "id": "point_1769410945404_1769414033466_7zpaw7ffe", + "x": 0.41050000000000003, + "y": 0.46266666666666667 + } + ] + }, + "point_1769410945564": { + "type": "point", + "instances": [ + { + "id": "point_1769410945564_1769414035794_1gaudpayw", + "x": 0.6054999999999999, + "y": 0.46266666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769410944324", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1769410944500", + "name": "三角烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769410945404", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769410945564", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-010937-put-small-beaker-onto-tripod-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-010937-put-small-beaker-onto-tripod-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d1c1ee34b01d2fa01117aa289aa332a73dd1ffc2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-010937-put-small-beaker-onto-tripod-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,682 @@ +{ + "task_description": "把小烧杯放在三脚架上。\n爪夹准备移动：0%\n爪夹开始移动：10%\n爪夹靠近小烧杯：20%\n爪夹抓取小烧杯：405\n爪夹合拢并靠近三脚架：60%\n爪夹移动到三脚架的正上方：80%\n爪夹松开，使小烧杯落在三脚架上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近小烧杯，爪夹移动到小烧杯的正上方，爪夹向爪夹的下方移动，使爪夹位于小烧杯的两侧，爪夹合拢并抓取小烧杯，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触三角烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近小烧杯。", + "time": 0.5177835231958764, + "annotations": { + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418281110_mb25n1ikh", + "x": 0.6165, + "y": 0.33066666666666666, + "width": 0.05700000000000003, + "height": 0.1 + } + ] + }, + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418285862_2gakg3w88", + "x": 0.3775, + "y": 0.18266666666666667, + "width": 0.173, + "height": 0.25733333333333336 + } + ] + }, + "point_1769414364855": { + "type": "point", + "instances": [ + { + "id": "point_1769414364855_1769418289406_gjbxlwl2o", + "x": 0.39849999999999997, + "y": 0.4613333333333333 + } + ] + }, + "point_1769414365031": { + "type": "point", + "instances": [ + { + "id": "point_1769414365031_1769418291734_b3t48t8pw", + "x": 0.6214999999999999, + "y": 0.46 + } + ] + } + } + }, + { + "time": 1.2476117273195877, + "frame": 37, + "progress": 10, + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近小烧杯。", + "state_description": "当前爪夹张开，与小烧杯的水平距离略微缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹继续向爪夹的右前方移动，靠近小烧杯，爪夹移动到小烧杯的正上方。", + "progress_explanation": "当前爪夹在水平方向上略微接近小烧杯，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，爪夹在水平方向上略微接近小烧杯。", + "correction_plan": "爪夹继续向爪夹的右前方移动，靠近小烧杯，爪夹移动到小烧杯的正上方，爪夹向爪夹的下方移动，使爪夹位于小烧杯的两侧，爪夹合拢并抓取小烧杯，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "annotations": { + "point_1769414365031": { + "type": "point", + "instances": [ + { + "id": "point_1769414365031_1769418294782_ncf76wswb", + "x": 0.6245, + "y": 0.45866666666666667 + } + ] + }, + "point_1769414364855": { + "type": "point", + "instances": [ + { + "id": "point_1769414364855_1769418297094_jey7ybc3b", + "x": 0.3965, + "y": 0.464 + } + ] + }, + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418301542_cval3q4tm", + "x": 0.2545, + "y": 0.20933333333333334, + "width": 0.15600000000000006, + "height": 0.2706666666666667 + } + ] + }, + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418305190_lfgbigum6", + "x": 0.5025000000000001, + "y": 0.3173333333333333, + "width": 0.05599999999999996, + "height": 0.09200000000000005 + } + ] + } + } + }, + { + "time": 1.8492268685567015, + "frame": 55, + "progress": 15, + "action_description": "爪夹向爪夹的右前方移动，靠近小烧杯。", + "state_description": "当前爪夹张开，与小烧杯的水平距离再次缩短。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹继续向爪夹的右前方移动，靠近小烧杯，爪夹移动到小烧杯的正上方。", + "progress_explanation": "当前爪夹在水平方向上再次接近小烧杯，因此进度提升至15%。", + "error_success_analysis": "爪夹向爪夹的右前方移动，爪夹在水平方向上再次接近小烧杯。", + "correction_plan": "爪夹继续向爪夹的右前方移动，靠近小烧杯，爪夹移动到小烧杯的正上方，爪夹向爪夹的下方移动，使爪夹位于小烧杯的两侧，爪夹合拢并抓取小烧杯，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "annotations": { + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418315950_m0fn75fqb", + "x": 0.0635, + "y": 0.43333333333333335, + "width": 0.217, + "height": 0.388 + } + ] + }, + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418318926_lvc878u10", + "x": 0.3875, + "y": 0.356, + "width": 0.09900000000000002, + "height": 0.12533333333333332 + } + ] + }, + "point_1769414364855": { + "type": "point", + "instances": [ + { + "id": "point_1769414364855_1769418321390_6hlrhy4dv", + "x": 0.3975, + "y": 0.45733333333333337 + } + ] + }, + "point_1769414365031": { + "type": "point", + "instances": [ + { + "id": "point_1769414365031_1769418323454_gwnlulm7e", + "x": 0.6185, + "y": 0.46 + } + ] + } + } + }, + { + "time": 2.362966, + "frame": 71, + "progress": 20, + "action_description": "爪夹向爪夹的左下方移动，靠近小烧杯的两侧。", + "state_description": "当前爪夹张开，在水平方向上位于桌面上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的前方移动，使爪夹移动到小烧杯的两侧，爪夹合拢并抓取小烧杯。", + "progress_explanation": "当前爪夹张开，准备向爪夹的前方移动抓取小烧杯，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的左下方移动，在水平方向上靠近小烧杯的两侧。", + "correction_plan": "爪夹向爪夹的前方移动，使爪夹移动到小烧杯的两侧，爪夹合拢并抓取小烧杯，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "annotations": { + "point_1769414365031": { + "type": "point", + "instances": [ + { + "id": "point_1769414365031_1769418327126_1gpwxmx2e", + "x": 0.6174999999999999, + "y": 0.4653333333333334 + } + ] + }, + "point_1769414364855": { + "type": "point", + "instances": [ + { + "id": "point_1769414364855_1769418329270_nuae5n47u", + "x": 0.3965, + "y": 0.4613333333333333 + } + ] + }, + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418333766_8j10psj60", + "x": 0.0035000000000000005, + "y": 0.37733333333333335, + "width": 0.23400000000000004, + "height": 0.5079999999999999 + } + ] + }, + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418337918_rg7dr624u", + "x": 0.4135, + "y": 0.316, + "width": 0.14800000000000005, + "height": 0.19466666666666665 + } + ] + } + } + }, + { + "time": 3.023066, + "frame": 91, + "progress": 10, + "action_description": "爪夹合拢。", + "state_description": "当前爪夹合拢，未抓取到小烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹张开，向爪夹的前方移动，并合拢爪夹抓取小烧杯。", + "progress_explanation": "当前爪夹没有抓住小烧杯，因此进度下降至10%。", + "error_success_analysis": "，爪夹需要张开，重新向爪夹的前方移动，并合拢爪夹，才能抓住小烧杯。", + "correction_plan": "爪夹张开，向爪夹的前方移动，并合拢爪夹抓取小烧杯，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "annotations": { + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418350029_1e4oo39mg", + "x": 0.0025, + "y": 0.36133333333333334, + "width": 0.251, + "height": 0.5213333333333333 + } + ] + }, + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418353885_u73t9xfce", + "x": 0.43150000000000005, + "y": 0.264, + "width": 0.15999999999999998, + "height": 0.19600000000000004 + } + ] + } + } + }, + { + "time": 4.2763, + "frame": 128, + "progress": 20, + "action_description": "爪夹张开。", + "state_description": "当前爪夹张开，在水平方向上位于桌面上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的前方移动，并合拢爪夹抓取小烧杯，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架。", + "progress_explanation": "当前爪夹张开，准备向爪夹的前方移动并抓取小烧杯，因此进度提升至20%。", + "error_success_analysis": "爪夹保持张开并向爪夹的前方移动，进行抓取动作。", + "correction_plan": "爪夹向爪夹的前方移动，并合拢爪夹抓取小烧杯，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "annotations": { + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418357838_01p31yo5m", + "x": 0.4585, + "y": 0.30533333333333335, + "width": 0.142, + "height": 0.176 + } + ] + }, + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418363053_t3eifr7th", + "x": 0.0015, + "y": 0.33066666666666666, + "width": 0.229, + "height": 0.5200000000000001 + } + ] + }, + "point_1769414364855": { + "type": "point", + "instances": [ + { + "id": "point_1769414364855_1769418368381_5ccqybimr", + "x": 0.39849999999999997, + "y": 0.4693333333333333 + } + ] + }, + "point_1769414365031": { + "type": "point", + "instances": [ + { + "id": "point_1769414365031_1769418370733_ejp1ers2f", + "x": 0.6225, + "y": 0.46266666666666667 + } + ] + } + } + }, + { + "time": 4.8967527479381445, + "frame": 147, + "progress": 30, + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的左边略微移动。", + "state_description": "当前爪夹张开，在水平方向上位于小烧杯的正上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取小烧杯，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架。", + "progress_explanation": "当前爪夹已经移动到小烧杯的正上方，因此进度提升至30%。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并向爪夹的左边略微移动，爪夹成功移动到小烧杯的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取小烧杯，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "annotations": { + "point_1769414365031": { + "type": "point", + "instances": [ + { + "id": "point_1769414365031_1769418375101_dvjfm76du", + "x": 0.6205, + "y": 0.4693333333333333 + } + ] + }, + "point_1769414364855": { + "type": "point", + "instances": [ + { + "id": "point_1769414364855_1769418377533_jt9hi64r2", + "x": 0.3965, + "y": 0.46 + } + ] + }, + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418382845_1qm63qq53", + "x": 0.0475, + "y": 0.4, + "width": 0.257, + "height": 0.46799999999999997 + } + ] + }, + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418386381_rqmms1144", + "x": 0.5115000000000001, + "y": 0.428, + "width": 0.11600000000000002, + "height": 0.14400000000000002 + } + ] + } + } + }, + { + "time": 5.606066, + "frame": 168, + "progress": 40, + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取小烧杯。", + "state_description": "当前爪夹合拢，已经抓住小烧杯。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架。", + "progress_explanation": "当前爪夹已经抓住小烧杯，因此进度提升至40%。", + "error_success_analysis": "爪夹向爪夹的下方移动，爪夹成功抓住小烧杯。", + "correction_plan": "爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "annotations": { + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418398653_1f3m1p5e7", + "x": 0.0035000000000000005, + "y": 0.3893333333333333, + "width": 0.26, + "height": 0.516 + } + ] + }, + "point_1769414364855": { + "type": "point", + "instances": [ + { + "id": "point_1769414364855_1769418401917_hmaw47v3n", + "x": 0.49850000000000005, + "y": 0.4533333333333333 + } + ] + }, + "point_1769414365031": { + "type": "point", + "instances": [ + { + "id": "point_1769414365031_1769418403774_1hsgxc37a", + "x": 0.5195000000000001, + "y": 0.44933333333333336 + } + ] + }, + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418407485_0blng78w0", + "x": 0.48950000000000005, + "y": 0.388, + "width": 0.15099999999999997, + "height": 0.1733333333333333 + } + ] + } + } + }, + { + "time": 6.563522565463917, + "frame": 197, + "progress": 60, + "action_description": "爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动靠近三脚架。", + "state_description": "当前爪夹合拢，在水平方向上接近三脚架。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹继续向爪夹的左边移动，爪夹移动到三脚架的正上方。", + "progress_explanation": "当前爪夹抓住小烧杯，并靠近三脚架，因此进度提升至60%。", + "error_success_analysis": "爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动，爪夹在水平方向上成功接近三脚架。", + "correction_plan": "爪夹继续向爪夹的左边移动，爪夹移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "annotations": { + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418411493_k8o50uzka", + "x": 0.46749999999999997, + "y": 0.3626666666666667, + "width": 0.16500000000000004, + "height": 0.192 + } + ] + }, + "point_1769414364855": { + "type": "point", + "instances": [ + { + "id": "point_1769414364855_1769418413605_23m412wrs", + "x": 0.4995, + "y": 0.45066666666666666 + } + ] + }, + "point_1769414365031": { + "type": "point", + "instances": [ + { + "id": "point_1769414365031_1769418415613_ekctg2d6g", + "x": 0.5215, + "y": 0.44933333333333336 + } + ] + }, + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418419685_4z3i8zkwn", + "x": 0.22949999999999998, + "y": 0.38266666666666665, + "width": 0.203, + "height": 0.3133333333333333 + } + ] + } + } + }, + { + "time": 7.079333, + "frame": 212, + "progress": 80, + "action_description": "爪夹向爪夹的左边移动，爪夹移动到三脚架的正上方。", + "state_description": "当前爪夹在水平方向上位于三脚架的正上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "progress_explanation": "当前爪夹已经移动到三脚架的正上方，因此进度提升至80%。", + "error_success_analysis": "爪夹向爪夹的左边移动，爪夹成功移动到三脚架的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "annotations": { + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418428517_aqjzug6o3", + "x": 0.41550000000000004, + "y": 0.2866666666666667, + "width": 0.21200000000000002, + "height": 0.28 + } + ] + }, + "point_1769414364855": { + "type": "point", + "instances": [ + { + "id": "point_1769414364855_1769418431605_q73ipwjhj", + "x": 0.4995, + "y": 0.448 + } + ] + }, + "point_1769414365031": { + "type": "point", + "instances": [ + { + "id": "point_1769414365031_1769418433949_dap7nthhq", + "x": 0.5175, + "y": 0.448 + } + ] + }, + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418437533_4uvr6nte3", + "x": 0.47250000000000003, + "y": 0.3706666666666667, + "width": 0.15299999999999994, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "time": 8.189066, + "frame": 246, + "progress": 70, + "action_description": "爪夹向爪夹的后方移动。", + "state_description": "当前爪夹保持合拢，在水平方向上略微远离三脚架的正上方。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹保持合拢，并向爪夹的前方移动，重新移动到三脚架的正上方。", + "progress_explanation": "当前爪夹位于三脚架的边缘处，略微远离了三脚架的正上方，因此进度下降至70%。", + "error_success_analysis": "爪夹向爪夹的后方移动，在水平方向上略微远离三脚架的正上方。", + "correction_plan": "爪夹保持合拢，并向爪夹的前方移动，重新移动到三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将小烧杯放在三脚架上。", + "annotations": { + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418446828_6v17yfma9", + "x": 0.3135, + "y": 0.07200000000000001, + "width": 0.30899999999999994, + "height": 0.4013333333333334 + } + ] + }, + "point_1769414364855": { + "type": "point", + "instances": [ + { + "id": "point_1769414364855_1769418456244_b2onfvnku", + "x": 0.49750000000000005, + "y": 0.44666666666666666 + } + ] + }, + "point_1769414365031": { + "type": "point", + "instances": [ + { + "id": "point_1769414365031_1769418459101_85ory1gqu", + "x": 0.5165, + "y": 0.45066666666666666 + } + ] + }, + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418463332_57ahtybwe", + "x": 0.4715, + "y": 0.3706666666666667, + "width": 0.158, + "height": 0.17866666666666664 + } + ] + } + } + }, + { + "time": 9.566667, + "frame": 287, + "progress": 0, + "action_description": "爪夹松开，小烧杯掉落。", + "state_description": "当前爪夹张开，小烧杯在水平方向上位于桌面上。\n为完成将三角烧杯放在三脚架上的任务应当：爪夹向爪夹的上方移动，并向爪夹的前方移动，爪夹移动至三脚架的正上方。", + "progress_explanation": "当前爪夹张开，小烧杯没有落在三脚架上，因此进度下降至0%。", + "error_success_analysis": "爪夹松开，小烧杯掉落在桌面上。", + "correction_plan": "爪夹向爪夹的上方移动，并向爪夹的前方移动，爪夹移动至三脚架的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取三脚架，爪夹向爪夹的上方抬起，并向爪夹的左边移动，爪夹移动到小烧杯的左侧，爪夹向爪夹的下方移动，并松开爪夹，将三脚架放在桌面上，爪夹向爪夹的右边移动，并向爪夹的下方移动，爪夹移动到蒸发皿的正上方，爪夹向爪夹的下方移动并合拢爪夹抓取蒸发皿，爪夹保持合拢，并向爪夹的上方移动，同时向爪夹的左边移动，爪夹移动至三脚架的正上方，爪夹向爪夹的下方移动，并松开爪夹，将蒸发皿放在三脚架上，爪夹向爪夹的右边移动靠近小烧杯，爪夹移动至小烧杯的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取小烧杯，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左边移动，靠近三脚架，爪夹移动至三脚架的正上方，爪夹松开，使小烧杯落在三脚架上。", + "annotations": { + "bbox_1769414363703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363703_1769418467812_xcbz5fktw", + "x": 0.4165, + "y": 0.2, + "width": 0.07999999999999999, + "height": 0.13866666666666666 + } + ] + }, + "bbox_1769414363855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769414363855_1769418471292_4i78vkl77", + "x": 0.3945, + "y": 0.14800000000000002, + "width": 0.16800000000000007, + "height": 0.27999999999999997 + } + ] + }, + "point_1769414364855": { + "type": "point", + "instances": [ + { + "id": "point_1769414364855_1769418477981_q9zdgocpn", + "x": 0.48550000000000004, + "y": 0.4533333333333333 + } + ] + }, + "point_1769414365031": { + "type": "point", + "instances": [ + { + "id": "point_1769414365031_1769418480188_7n0yqz2mk", + "x": 0.5315000000000001, + "y": 0.444 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769414363703", + "name": "小烧杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1769414363855", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769414364855", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769414365031", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-011544-put-small-beaker-onto-tripod-good1/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-011544-put-small-beaker-onto-tripod-good1/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..cac0005c417a21f8f11fa2ab5339dd1e1862a67c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-011544-put-small-beaker-onto-tripod-good1/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,115 @@ +{ + "task_description": "抓取小烧杯放在三脚架上：\n准备开始移动：0%\n爪夹靠近小烧杯：20%\n爪夹抓取小烧杯：40%\n爪夹抓紧小烧杯接近三脚架：60%\n爪夹将小烧杯放在三脚架上：80%\n爪夹松开小烧杯落在三脚架上：100%", + "progress_points": [ + { + "time": 0.7918, + "frame": 24, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离小烧杯，未开始移动。\n为完成抓取小烧杯放在三脚架上的任务应当：爪夹向爪夹左前方的小烧杯移动，同时调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。", + "progress_explanation": "当前为初始状态，远离小烧杯，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左前方的小烧杯移动，同时调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。接着落下爪夹靠近小烧杯，接近小烧杯后爪夹合拢抓取小烧杯。抓紧小烧杯垂直升高爪夹并向爪夹右前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。" + }, + { + "time": 1.4457643698529692, + "frame": 43, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。还未接近小烧杯。\n为完成抓取小烧杯放在三脚架上的任务应当：爪夹向爪夹左前方的小烧杯移动，同时调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。", + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为 5%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近小烧杯。", + "correction_plan": "爪夹向爪夹左前方的小烧杯移动，同时调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。接着落下爪夹靠近小烧杯，接近小烧杯后爪夹合拢抓取小烧杯。抓紧小烧杯垂直升高爪夹并向爪夹右前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。" + }, + { + "time": 2.0202, + "frame": 61, + "progress": 15, + "action_description": "爪夹向爪夹左前方移动", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。水平上接近了小烧杯。\n为完成抓取小烧杯放在三脚架上的任务应当：爪夹向爪夹左前方的小烧杯移动，同时调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了小烧杯。更加方便抓取，因此进度提升为 15%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了小烧杯之间的距离。方便后续抓取小烧杯。", + "correction_plan": "爪夹继续向爪夹左前方的小烧杯移动，同时调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。接着落下爪夹靠近小烧杯，接近小烧杯后爪夹合拢抓取小烧杯。抓紧小烧杯垂直升高爪夹并向爪夹右前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。" + }, + { + "time": 2.8638, + "frame": 86, + "progress": 20, + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了小烧杯。准备抓取小烧杯。\n为完成抓取小烧杯放在三脚架上的任务应当：爪夹合拢抓取小烧杯，抓紧小烧杯垂直升高爪夹并向爪夹右前方的三脚架接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了小烧杯。方便抓取，因此进度提升为 20%。", + "error_success_analysis": "爪夹垂直向下移动，靠近了小烧杯，方便抓取。", + "correction_plan": "爪夹合拢抓取小烧杯。抓紧小烧杯垂直升高爪夹并向爪夹右前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。" + }, + { + "time": 3.4484, + "frame": 103, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到小烧杯，爪夹角度与桌面接近垂直。\n为完成抓取小烧杯放在三脚架上的任务应当：抓紧小烧杯垂直升高爪夹并向爪夹右前方的三脚架接近。", + "progress_explanation": "爪夹合拢抓取到了小烧杯。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到小烧杯。", + "correction_plan": "抓紧小烧杯垂直升高爪夹并向爪夹右前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。" + }, + { + "time": 4.5954, + "frame": 138, + "progress": 50, + "action_description": "爪夹夹紧小烧杯，垂直升高，向爪夹右前方移动。", + "state_description": "爪夹合拢夹紧小烧杯，水平上接近了三脚架。\n为完成抓取小烧杯放在三脚架上的任务应当：继续向爪夹右前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "progress_explanation": "爪夹合拢夹紧小烧杯，垂直升高并向爪夹右边的三脚架接近。缩短了与三脚架的距离。因此进度提升为 50%", + "error_success_analysis": "爪夹合拢继续夹紧小烧杯，水平上接近了三脚架，更加方便接近三脚架。", + "correction_plan": "继续向爪夹右前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。" + }, + { + "time": 5.7942, + "frame": 174, + "progress": 60, + "action_description": "爪夹夹紧小烧杯，向爪夹右前方移动", + "state_description": "爪夹夹紧小烧杯，爪夹角度接近垂直于桌面，位于三脚架正上方。\n为完成抓取小烧杯放在三脚架上的任务应当：调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "progress_explanation": "爪夹夹紧小烧杯，到了爪夹右前方的三脚架正上方，方便抓取小烧杯放在三脚架上。因此进度提升为 60%。", + "error_success_analysis": "爪夹移动到了爪夹右前方的三脚架正上方，方便小烧杯落在三脚架上。", + "correction_plan": "调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。" + }, + { + "time": 6.6896, + "frame": 201, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧小烧杯，爪夹角度接近垂直于桌面，垂直下降至合适位置。\n为完成抓取小烧杯放在三脚架上的任务应当：松开爪夹，使小烧杯落在三脚架上。", + "progress_explanation": "爪夹角度接近垂直于桌面，垂直下降至合适位置。因此进度提升为 80%。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便小烧杯落在三脚架上。", + "correction_plan": "松开爪夹，使小烧杯落在三脚架上。" + }, + { + "time": 7.363, + "frame": 221, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取小烧杯放在三脚架上的任务完成。", + "progress_explanation": "爪夹张开，小烧杯落在三脚架上，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，小烧杯落在三脚架上，任务完成。", + "correction_plan": "爪夹抓取小烧杯放在三脚架上的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769496909014", + "name": "小烧杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1769496909174", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769496917177", + "name": "爪夹左", + "color": "#2196F3" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-014349-put-small-beaker-onto-tripod-mix/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-014349-put-small-beaker-onto-tripod-mix/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..379e709ad30b27ebc9df8ff1aa45dc46809d97fb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-014349-put-small-beaker-onto-tripod-mix/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,170 @@ +{ + "task_description": "抓取小烧杯放在三脚架上：\n准备开始移动：0%\n爪夹靠近小烧杯：20%\n爪夹抓取小烧杯：40%\n爪夹抓紧小烧杯接近三脚架：60%\n爪夹将小烧杯放在三脚架上：80%\n爪夹松开小烧杯落在三脚架上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前方的小烧杯移动，同时调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。接着落下爪夹靠近小烧杯，接近小烧杯后爪夹合拢抓取小烧杯。抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "当前为初始状态，远离小烧杯，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离小烧杯，未开始移动。\n为完成抓取小烧杯放在三脚架上的任务应当：爪夹向爪夹前方的小烧杯移动，同时调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。", + "time": 0.675 + }, + { + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取小烧杯。抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。 ", + "error_success_analysis": "爪夹垂直向下移动，靠近了小烧杯，方便抓取。", + "frame": 54, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了小烧杯。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了小烧杯。准备抓取小烧杯。\n为完成抓取小烧杯放在三脚架上的任务应当：爪夹合拢抓取小烧杯，抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近。", + "time": 1.812499 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。接着落下爪夹靠近小烧杯，接近小烧杯后爪夹合拢抓取小烧杯。抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "爪夹合拢未抓取到小烧杯，需要再次抓取。", + "frame": 79, + "progress": 30, + "progress_explanation": "爪夹合拢未抓取到小烧杯，需要再次抓取。因此进度为30%", + "state_description": "爪夹合拢未抓取到小烧杯，爪夹角度与桌面接近垂直。\n为完成抓取小烧杯放在三脚架上的任务应当：调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。", + "time": 2.642347475265612 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。接着落下爪夹靠近小烧杯，接近小烧杯后爪夹合拢抓取小烧杯。抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "爪夹张开，远离小烧杯。", + "frame": 107, + "progress": 0, + "progress_explanation": "爪夹张开，远离小烧杯，准备抓取小烧杯，因此进度降低为0%", + "state_description": "爪夹张开，准备再次抓取小烧杯。\n为完成抓取小烧杯放在三脚架上的任务应当：调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。", + "time": 3.562499 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取小烧杯。抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "爪夹垂直向下移动，靠近了小烧杯，方便抓取。", + "frame": 131, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了小烧杯。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了小烧杯。准备抓取小烧杯。\n为完成抓取小烧杯放在三脚架上的任务应当：爪夹合拢抓取小烧杯，抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近。", + "time": 4.3638776869830975 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到小烧杯。", + "frame": 156, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到了小烧杯。因此进度提升为40%", + "state_description": "爪夹合拢抓取到小烧杯，爪夹角度与桌面接近垂直。\n为完成抓取小烧杯放在三脚架上的任务应当：抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近。", + "time": 5.2125 + }, + { + "action_description": "爪夹夹紧小烧杯，垂直升高", + "correction_plan": "继续向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "爪夹合拢继续夹紧小烧杯，水平上接近了三脚架，更加方便接近三脚架。", + "frame": 172, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧小烧杯，垂直升高，缩短了与三脚架的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧小烧杯，水平上接近了三脚架。\n为完成抓取小烧杯放在三脚架上的任务应当：继续向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "time": 5.7250876218294815 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。接着落下爪夹靠近小烧杯，接近小烧杯后爪夹合拢抓取小烧杯。抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "爪夹张开，远离小烧杯，需要重新抓取小烧杯。", + "frame": 208, + "progress": 0, + "progress_explanation": "爪夹张开，远离小烧杯，需要重新抓取小烧杯，因此进度降低为0%", + "state_description": "爪夹张开，小烧杯落在桌面上。\n为完成抓取小烧杯放在三脚架上的任务应当：调整爪夹的角度使其垂直于桌面，并移动到小烧杯的正上方。", + "time": 6.92615521139982 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取小烧杯。抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了小烧杯，方便抓取。", + "frame": 247, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了小烧杯。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了小烧杯。准备抓取小烧杯。\n为完成抓取小烧杯放在三脚架上的任务应当：爪夹合拢抓取小烧杯，抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近。", + "time": 8.247329559927193 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到小烧杯。", + "frame": 260, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到了小烧杯。因此进度提升为40%", + "state_description": "爪夹合拢抓取到小烧杯，爪夹角度与桌面接近垂直。\n为完成抓取小烧杯放在三脚架上的任务应当：抓紧小烧杯垂直升高爪夹并向爪夹前方的三脚架接近。", + "time": 8.6625 + }, + { + "action_description": "爪夹夹紧小烧杯，垂直升高，向爪夹前方移动。", + "correction_plan": "继续向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "爪夹合拢继续夹紧小烧杯，水平上接近了三脚架，更加方便接近三脚架。", + "frame": 297, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧小烧杯，垂直升高并向爪夹前边的三脚架接近。缩短了与三脚架的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧小烧杯，水平上接近了三脚架。\n为完成抓取小烧杯放在三脚架上的任务应当：继续向爪夹前方的三脚架接近，水平到达三脚架的正上方后，调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "time": 9.888788599006656 + }, + { + "action_description": "爪夹夹紧小烧杯，向爪夹前方移动", + "correction_plan": "调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "爪夹移动到了爪夹前方的三脚架正上方，方便小烧杯落在三脚架上。", + "frame": 322, + "progress": 60, + "progress_explanation": "爪夹夹紧小烧杯，到了爪夹前方的三脚架正上方，方便抓取小烧杯放在三脚架上。因此进度提升为 60%。", + "state_description": "爪夹夹紧小烧杯，爪夹角度接近垂直于桌面，位于三脚架正上方。\n为完成抓取小烧杯放在三脚架上的任务应当：调整爪夹的角度，垂直下降至合适的位置，松开爪夹，使小烧杯落在三脚架上。", + "time": 10.729535911705893 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使小烧杯落在三脚架上。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便小烧杯落在三脚架上。", + "frame": 333, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，垂直下降至合适位置。因此进度提升为 80%。", + "state_description": "爪夹夹紧小烧杯，爪夹角度接近垂直于桌面，垂直下降至合适位置。\n为完成抓取小烧杯放在三脚架上的任务应当：松开爪夹，使小烧杯落在三脚架上。", + "time": 11.1125 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取小烧杯放在三脚架上的任务完成。", + "error_success_analysis": "爪夹张开，小烧杯落在三脚架上，任务完成。", + "frame": 360, + "progress": 100, + "progress_explanation": "爪夹张开，小烧杯落在三脚架上，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取小烧杯放在三脚架上的任务完成。", + "time": 12.0125 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769499403177", + "name": "小烧杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1769499403341", + "name": "三脚架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769499412503", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769499412676", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-014349-put-small-beaker-onto-tripod-mix/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-014349-put-small-beaker-onto-tripod-mix/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..1b67397df0532a1021df554020c0df8500e0a11e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-014349-put-small-beaker-onto-tripod-mix/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,562 @@ +{ + "task_description": "将小烧杯放在三脚架上\n爪夹开始移动：0\n爪夹接近烧杯：20%\n爪夹抓取烧杯：40%\n爪夹夹住烧杯接近三脚架：60%\n爪夹夹住烧杯移动至三脚架正上方：80%\n爪夹松开，烧杯放在三脚架上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向上抬升，随后向正前方移动，接近烧杯，爪夹合拢抓取烧杯，爪夹抓住烧杯向上抬升，随后向正前方移动，接近三脚架，爪夹继续向正前方移动至三脚架正上方，随后下降，爪夹松开，烧杯放在三脚架上。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近烧杯，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将小烧杯放在三脚架上的任务，应当：爪夹向正前方移动，接近小烧杯。", + "time": 0.5573005821636668, + "annotations": { + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769480535397_gfylxljnq", + "x": 0.9286998504759177, + "y": 0.563336833395637 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480540358_7906iyun8", + "x": 0.7622945784993694, + "y": 0.4428922156426152, + "width": 0.0681469209046817, + "height": 0.12255768122237315 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480546424_o4fo4ybcv", + "x": 0.690978033366563, + "y": 0.21256829748332773, + "width": 0.17432933254686, + "height": 0.24722842591409755 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升并向左前方移动，轻微下降", + "correction_plan": "爪夹先向右前方移动，随后向正前方移动接近烧杯，爪夹合拢抓取烧杯，爪夹抓住烧杯向上抬升，随后向正前方移动，接近三脚架，爪夹继续向正前方移动至三脚架正上方，随后下降，爪夹松开，烧杯放在三脚架上。", + "error_success_analysis": "爪夹向左前方移动，缩短了与烧杯的距离。", + "frame": 47, + "progress": 10, + "progress_explanation": "爪夹向左前方移动，水平上接近了烧杯，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，开始接近烧杯，为完成将小烧杯放在三脚架上的任务，应当：爪夹向右前方移动，接近烧杯。", + "time": 1.560442854597174, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480524876_ozo2a7a4b", + "x": 0.7543705179290576, + "y": 0.44077915217326397, + "width": 0.0808254178171806, + "height": 0.11621849081431937 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480529549_e7yms2kvb", + "x": 0.686223597024376, + "y": 0.21045523401397645, + "width": 0.17749895677498478, + "height": 0.24300229897539502 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769480531613_4aternjxf", + "x": 0.8050845055790532, + "y": 0.586580531558501 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向左前方移动，随后爪夹合拢", + "correction_plan": "爪夹张开，爪夹先向右前方移动，随后向正前方移动接近烧杯，爪夹合拢抓取烧杯，爪夹抓住烧杯向上抬升，随后向正前方移动，接近三脚架，爪夹继续向正前方移动至三脚架正上方，随后下降，爪夹松开，烧杯放在三脚架上。", + "error_success_analysis": "爪夹抓取错误物品失败，需重新抓取正确物品。", + "frame": 80, + "progress": -10, + "progress_explanation": "爪夹合拢抓取失败，同时抓取错误物品，因此任务进度倒退为-10%。", + "state_description": "爪夹当前为合拢状态，没有接近烧杯，为完成将小烧杯放在三脚架上的任务，应当：爪夹张开，爪夹向右前方移动，接近烧杯。", + "time": 2.6527533290247707, + "annotations": { + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769480497965_wpkvaw89p", + "x": 0.7892363844384296, + "y": 0.5802413411504472 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480504535_9sp15z4gz", + "x": 0.6878084091384384, + "y": 0.2083421705446252, + "width": 0.17908376888904715, + "height": 0.24300229897539502 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480511605_1189aus6w", + "x": 0.7607097663853071, + "y": 0.4428922156426152, + "width": 0.07448616936093115, + "height": 0.12467074469172447 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向上抬升，随后向右前方移动", + "correction_plan": "爪夹向正前方移动接近烧杯，爪夹合拢抓取烧杯，爪夹抓住烧杯向上抬升，随后向正前方移动，接近三脚架，爪夹继续向正前方移动至三脚架正上方，随后下降，爪夹松开，烧杯放在三脚架上。", + "error_success_analysis": "爪夹向右前方移动，缩短了与烧杯的距离。", + "frame": 140, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，缩短了与烧杯的距离，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，开始接近烧杯，为完成将小烧杯放在三脚架上的任务，应当：爪夹向正前方移动，接近烧杯。", + "time": 4.681329924390307, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480484942_ju92dab3o", + "x": 0.7512008937009329, + "y": 0.4386660887039127, + "width": 0.08399504204530528, + "height": 0.12044461775302183 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480490509_o4ucf5vwn", + "x": 0.6846387849103136, + "y": 0.20622910707527392, + "width": 0.17274452043279762, + "height": 0.24722842591409758 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769480493461_l8rokbwp6", + "x": 0.8209326267196768, + "y": 0.3964048193168875 + } + ] + } + } + }, + { + "action_description": "爪夹向正前方移动，随后轻微下降。", + "correction_plan": "爪夹合拢抓取烧杯，爪夹抓住烧杯向上抬升，随后向正前方移动，接近三脚架，爪夹继续向正前方移动至三脚架正上方，随后下降，爪夹松开，烧杯放在三脚架上。", + "error_success_analysis": "爪夹向正前方移动，接近了烧杯，方便抓取。", + "frame": 164, + "progress": 20, + "progress_explanation": "爪夹向正前方移动，接近了烧杯，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了烧杯，为完成将小烧杯放在三脚架上的任务，应当：爪夹合拢抓取烧杯。", + "time": 5.46155169183859, + "annotations": { + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480460221_670rz734v", + "x": 0.6878084091384384, + "y": 0.2083421705446252, + "width": 0.17432933254685992, + "height": 0.23877617203669252 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769480466974_p4vn29ac9", + "x": 0.773388263297806, + "y": 0.48515348502964045 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480473541_wzz5mktrj", + "x": 0.7622945784993694, + "y": 0.4386660887039127, + "width": 0.0681469209046817, + "height": 0.11621849081431931 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，向正前方移动，接近烧杯，爪夹合拢抓取烧杯，爪夹抓住烧杯向上抬升，随后向正前方移动，接近三脚架，爪夹继续向正前方移动至三脚架正上方，随后下降，爪夹松开，烧杯放在三脚架上。", + "error_success_analysis": "爪夹合拢抓取烧杯失败，需重新抓取。", + "frame": 215, + "progress": 15, + "progress_explanation": "爪夹合拢抓取烧杯失败，因此任务进度倒退为15%。", + "state_description": "爪夹当前为合拢状态，轻微远离烧杯，为完成将小烧杯放在三脚架上的任务，应当：爪夹张开，向正前方移动，接近烧杯。", + "time": 7.155747529726291, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480440678_3op2qk3t3", + "x": 0.75595533004312, + "y": 0.4323268982958589, + "width": 0.07131654513280639, + "height": 0.12255768122237308 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769480445958_tyv3rx4gc", + "x": 0.7987452571228039, + "y": 0.5337539448247194 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480452558_cfzt7wut9", + "x": 0.6846387849103136, + "y": 0.2083421705446252, + "width": 0.18225339311717192, + "height": 0.25145455285280005 + } + ] + } + } + }, + { + "action_description": "爪夹张开，轻微向正前方移动", + "correction_plan": "爪夹下降，爪夹合拢抓取烧杯，爪夹抓住烧杯向上抬升，随后向正前方移动，接近三脚架，爪夹继续向正前方移动至三脚架正上方，随后下降，爪夹松开，烧杯放在三脚架上。", + "error_success_analysis": "爪夹向正前方移动，接近了烧杯，方便抓取。", + "frame": 246, + "progress": 20, + "progress_explanation": "爪夹轻微向正前方移动，接近了烧杯，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近了烧杯，为完成将小烧杯放在三脚架上的任务，应当：爪夹下降，随后爪夹合拢抓取烧杯。", + "time": 8.203473903156842, + "annotations": { + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769480420734_63wo2lvto", + "x": 0.7638793906134318, + "y": 0.4154223905410488 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480426686_sym1f04sa", + "x": 0.6893932212525007, + "y": 0.21045523401397645, + "width": 0.1759141446609224, + "height": 0.23455004509799 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480434412_8et77h7r5", + "x": 0.7543705179290576, + "y": 0.44500527911196647, + "width": 0.08241022993124289, + "height": 0.11410542734496805 + } + ] + } + } + }, + { + "action_description": "爪夹下降，随后爪夹合拢", + "correction_plan": "爪夹抓住烧杯向上抬升，随后向正前方移动，接近三脚架，爪夹继续向正前方移动至三脚架正上方，随后下降，爪夹松开，烧杯放在三脚架上。", + "error_success_analysis": "爪夹合拢成功抓住烧杯，方便移动烧杯。", + "frame": 278, + "progress": 40, + "progress_explanation": "爪夹合拢成功抓住烧杯，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住烧杯，为完成将小烧杯放在三脚架上的任务，应当：爪夹向上抬升，随后向正前方移动，接近三脚架。", + "time": 9.273492327085917, + "annotations": { + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480403528_r7z131pto", + "x": 0.6878084091384384, + "y": 0.2083421705446252, + "width": 0.17115970831873534, + "height": 0.24088923550604377 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480408999_t751k7b0l", + "x": 0.7591249542712447, + "y": 0.42810077135715635, + "width": 0.08716466627342996, + "height": 0.10565317346756307 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769480416168_d8wxa5pny", + "x": 0.7797275117540555, + "y": 0.4471183425813177 + } + ] + } + } + }, + { + "action_description": "爪夹抓住烧杯向上抬升", + "correction_plan": "夹继续向上抬升并向正前方移动，接近三脚架，爪夹继续向正前方移动至三脚架正上方，随后下降，爪夹松开，烧杯放在三脚架上。", + "error_success_analysis": "爪夹抓住烧杯向上抬升，方便烧杯放在三脚架上。", + "frame": 308, + "progress": 50, + "progress_explanation": "爪夹抓住烧杯向上抬升，高度上接近三脚架，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住烧杯，为完成将小烧杯放在三脚架上的任务，应当：爪夹继续向上抬升并向正前方移动，接近三脚架。", + "time": 10.276634599519424, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480381791_lwek31pr2", + "x": 0.8098389419212404, + "y": 0.32033453442024207, + "width": 0.08716466627342996, + "height": 0.11833155428367063 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769480389279_208xzk4eg", + "x": 0.8336111236321757, + "y": 0.34780435952180844 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480395191_12uraytgt", + "x": 0.686223597024376, + "y": 0.21045523401397645, + "width": 0.17432933254686, + "height": 0.23666310856734127 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向正前方移动", + "correction_plan": "爪夹继续向正前方移动至三脚架正上方，随后下降，爪夹松开，烧杯放在三脚架上。", + "error_success_analysis": "爪夹向正前方移动，接近三脚架，方便烧杯放在三脚架上。", + "frame": 328, + "progress": 60, + "progress_explanation": "爪夹向正前方移动，接近三脚架，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，爪夹接近三脚架，为完成将小烧杯放在三脚架上的任务，应当：爪夹继续向正前方移动至三脚架正上方。", + "time": 10.9344, + "annotations": { + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480350552_fwsa850k3", + "x": 0.6925628454806254, + "y": 0.20622910707527392, + "width": 0.17274452043279762, + "height": 0.25779374326085386 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769480359264_f9m3y8ruu", + "x": 0.865307365913423, + "y": 0.17875928197370752 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480365712_ee5jqhkl0", + "x": 0.8415351842024877, + "y": 0.14495026646408735, + "width": 0.09350391472967931, + "height": 0.14157525244653452 + } + ] + } + } + }, + { + "action_description": "爪夹继续向正前方移动，随后下降。", + "correction_plan": "爪夹松开，烧杯放在三脚架上。", + "error_success_analysis": "爪夹向正前方移动并下降，确保烧杯放在三脚架上。", + "frame": 358, + "progress": 80, + "progress_explanation": "爪夹向正前方移动并下降，烧杯在三脚架正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，烧杯在三脚架正上方，为完成将小烧杯放在三脚架上的任务，应当：爪夹松开，烧杯放在三脚架上。", + "time": 11.926246336410081, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480334611_vcxaj1aol", + "x": 0.7702186390696812, + "y": 0.16889830836913838, + "width": 0.08241022993124289, + "height": 0.1162184908143194 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480342144_7sxq56800", + "x": 0.6893932212525007, + "y": 0.2083421705446252, + "width": 0.16957489620467303, + "height": 0.2535676163221513 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，烧杯放在三脚架上", + "frame": 393, + "progress": 100, + "progress_explanation": "爪夹松开，烧杯放在三脚架上，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，爪夹已完成将小烧杯放在三脚架上的任务。", + "time": 13.107725012831764, + "annotations": { + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769480305681_hsfibiuf2", + "x": 0.686223597024376, + "y": 0.21538570469486612, + "width": 0.18066858100310954, + "height": 0.2556806797915026 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769480310729_3n1a1eu6e", + "x": 0.7876515723243672, + "y": 0.18298540891241005, + "width": 0.060222860334369875, + "height": 0.10142704652886056 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769419190480", + "name": "烧杯" + }, + { + "color": "#FF9800", + "id": "bbox_1769419197680", + "name": "三脚架" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769419203560", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769419213320", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-021408-put-funnel-into-triangular-beaker-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-021408-put-funnel-into-triangular-beaker-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..7baa02da1c2ca450fbae3d6756de2102d860397d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-021408-put-funnel-into-triangular-beaker-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,446 @@ +{ + "task_description": "将漏斗放入三角烧杯中\n爪夹开始移动：0\n爪夹接近漏斗：20%\n爪夹抓取漏斗：40%\n爪夹夹住漏斗接近三角烧杯：60%\n爪夹夹住漏斗移动至三角烧杯正上方：80%\n爪夹松开，漏斗放入三角烧杯上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向上抬升，随后向左前方移动，爪夹下降，随后爪夹合拢抓取漏斗，爪夹向上抬升，爪夹夹住漏斗向右后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近漏斗，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将漏斗放入三角烧杯中的任务，应当：爪夹向上抬升，随后向左前方移动，接近漏斗。", + "time": 0.5973930064207064, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769482388629_6fu89whc2", + "x": 0.5515145673290751, + "y": 0.25271650340100166, + "width": 0.069731733018744, + "height": 0.11199236387561685 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769482393318_u1b4o906d", + "x": 0.6434336699446922, + "y": 0.42810077135715635, + "width": 0.08874947838749234, + "height": 0.11410542734496812 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769482395653_t0ssn58pa", + "x": 0.5610234400134493, + "y": 0.5760152142117447 + } + ] + }, + "point_1769419213320": { + "type": "point", + "instances": [ + { + "id": "point_1769419213320_1769482397797_9eyxzwv1h", + "x": 0.66879066376969, + "y": 0.5717890872730422 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向左前方移动", + "correction_plan": "爪夹继续向左前方移动，爪夹下降，随后爪夹合拢抓取漏斗，爪夹向上抬升，爪夹夹住漏斗向右后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹向左前方移动，缩短了与漏斗的距离。", + "frame": 45, + "progress": 10, + "progress_explanation": "爪夹向左前方移动，水平上接近了漏斗，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，爪夹在漏斗斜上方，为完成将漏斗放入三角烧杯中的任务，应当：爪夹向左前方继续移动，接近漏斗。", + "time": 1.5045463748419192, + "annotations": { + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769482377974_df8gqcx8s", + "x": 0.5768715611540729, + "y": 0.32033453442024207 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769482382525_i39dtd2sh", + "x": 0.5483449431009504, + "y": 0.25271650340100166, + "width": 0.07448616936093107, + "height": 0.11199236387561685 + } + ] + } + } + }, + { + "action_description": "爪夹向左前方继续移动，随后轻微下降", + "correction_plan": "爪夹合拢抓取漏斗，爪夹向上抬升，爪夹夹住漏斗向右后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹向左前方移动并下降，接近了漏斗，方便抓取漏斗。", + "frame": 71, + "progress": 20, + "progress_explanation": "爪夹向左前方移动并下降，接近了漏斗，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，爪夹接近漏斗，为完成将漏斗放入三角烧杯中的任务，应当：爪夹合拢抓取漏斗。", + "time": 2.3674483594377076, + "annotations": { + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769482366222_2r6fwef40", + "x": 0.66879066376969, + "y": 0.4365530252345614, + "width": 0.05546842399218273, + "height": 0.10776623693691434 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769482370942_4tveaph74", + "x": 0.5451753188728257, + "y": 0.25905569380905547, + "width": 0.08241022993124289, + "height": 0.10354010999821182 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769482374077_mg0vg1dxz", + "x": 0.5435905067587632, + "y": 0.3435782325831059 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，随后张开", + "correction_plan": "爪夹向正前方移动，接近漏斗，爪夹合拢抓取漏斗，爪夹向上抬升，爪夹夹住漏斗向右后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹合拢抓取失败，爪夹稍微远离漏斗，需重新抓取。", + "frame": 115, + "progress": 15, + "progress_explanation": "爪夹合拢抓取失败，爪夹稍微远离漏斗，因此任务进度倒退为15%。", + "state_description": "爪夹当前为张开状态，爪夹稍微远离漏斗，为完成将漏斗放入三角烧杯中的任务，应当：爪夹向正前方移动，接近漏斗。", + "time": 3.8277440256767328, + "annotations": { + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769482352400_t05ir5ee5", + "x": 0.5309120098462643, + "y": 0.34780435952180844 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769482357047_a7dittb8e", + "x": 0.5499297552150126, + "y": 0.2569426303397042, + "width": 0.07607098147499344, + "height": 0.09931398305950931 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769482361173_ns9c97a17", + "x": 0.6719602879978147, + "y": 0.4386660887039127, + "width": 0.05388361187812034, + "height": 0.10565317346756307 + } + ] + } + } + }, + { + "action_description": "爪夹向向上抬升并向正前方移动，随后下降。", + "correction_plan": "爪夹合拢抓取漏斗，爪夹向上抬升，爪夹夹住漏斗向右后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹向正前方移动并下降，接近了漏斗，方便抓取漏斗。", + "frame": 152, + "progress": 20, + "progress_explanation": "爪夹向正前方移动并下降，接近了漏斗，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，爪夹接近漏斗，为完成将漏斗放入三角烧杯中的任务，应当：爪夹合拢抓取漏斗。", + "time": 5.054, + "annotations": { + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769482335647_dolxkfeu3", + "x": 0.6672058516556276, + "y": 0.44500527911196647, + "width": 0.0586380482203074, + "height": 0.08452253877405044 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769482347014_n9r0xvgrk", + "x": 0.5087246402493912, + "y": 0.32456066135894457 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取漏斗", + "correction_plan": "爪夹向上抬升，爪夹夹住漏斗向右后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹合拢成功抓住漏斗，方便移动漏斗。", + "frame": 185, + "progress": 40, + "progress_explanation": "爪夹合拢成功抓住漏斗，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住漏斗，为完成将漏斗放入三角烧杯中的任务，应当：爪夹向上抬升，随后向右后方移动，接近三角烧杯。", + "time": 6.1712, + "annotations": { + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769482329135_sksiva528", + "x": 0.6751299122259394, + "y": 0.44500527911196647, + "width": 0.050713987649995663, + "height": 0.08240947530469918 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后爪夹张开", + "correction_plan": "爪夹向正前方移动，接近漏斗，爪夹合拢抓取漏斗，爪夹向上抬升，爪夹夹住漏斗向右后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹向上抬升移动漏斗失败，爪夹稍微远离漏斗，需重新抓取。", + "frame": 236, + "progress": 15, + "progress_explanation": "爪夹向上抬升移动漏斗失败，爪夹稍微远离漏斗，因此任务进度倒退为15%。", + "state_description": "爪夹当前为张开状态，爪夹稍微远离漏斗，为完成将漏斗放入三角烧杯中的任务，应当：爪夹向正前方移动，接近漏斗。", + "time": 7.876745645703123, + "annotations": { + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769482314911_95tiroxre", + "x": 0.681469160682189, + "y": 0.44570962285415366, + "width": 0.04437473919374613, + "height": 0.0718441579579429 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769482318423_vqbluwty6", + "x": 0.5150638887056407, + "y": 0.25482956687035296, + "width": 0.09350391472967949, + "height": 0.10142704652886056 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769482320927_tjbcn3rmy", + "x": 0.5721171248118858, + "y": 0.32456066135894457 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向正前方移动并下降", + "correction_plan": "爪夹合拢抓取漏斗，爪夹向上抬升，爪夹夹住漏斗向右后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹向正前方移动并下降，接近了漏斗，方便抓取漏斗。", + "frame": 284, + "progress": 20, + "progress_explanation": "爪夹向正前方移动并下降，接近了漏斗，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，爪夹接近漏斗，为完成将漏斗放入三角烧杯中的任务，应当：爪夹合拢抓取漏斗。", + "time": 9.4696, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769482305071_ywz3e5svb", + "x": 0.5277423856181397, + "y": 0.2569426303397042, + "width": 0.06339248456249447, + "height": 0.09720091959015804 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769482309311_enp9uvpos", + "x": 0.6719602879978147, + "y": 0.44500527911196647, + "width": 0.05705323610624511, + "height": 0.09086172918210428 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取漏斗", + "correction_plan": "爪夹向上抬升，爪夹夹住漏斗向右后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹合拢成功抓住漏斗，方便移动漏斗。", + "frame": 320, + "progress": 40, + "progress_explanation": "爪夹合拢成功抓住漏斗，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住漏斗，为完成将漏斗放入三角烧杯中的任务，应当：爪夹向上抬升，随后向右后方移动，接近三角烧杯。", + "time": 10.6799, + "annotations": { + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769482295655_rxlgwpvac", + "x": 0.681469160682189, + "y": 0.44077915217326397, + "width": 0.04437473919374613, + "height": 0.09086172918210421 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769482299879_23vy6j5be", + "x": 0.5309120098462643, + "y": 0.25271650340100166, + "width": 0.06656210879061933, + "height": 0.10142704652886056 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右后方移动", + "correction_plan": "爪夹夹住漏斗继续向右后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹向上抬升并向右后方移动，开始接近三角烧杯。", + "frame": 342, + "progress": 50, + "progress_explanation": "爪夹向上抬升并向右后方移动，开始接近三角烧杯，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，爪夹远离烧杯，为完成将漏斗放入三角烧杯中的任务，应当：爪夹继续向右后方移动，接近三角烧杯。", + "time": 11.3848, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769482279048_lm8gu6m66", + "x": 0.6101526155493826, + "y": 0.2780732650332168, + "width": 0.09984316318592885, + "height": 0.11621849081431943 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769482287296_dknw0vyzy", + "x": 0.6069829913212578, + "y": 0.34146516911375463 + } + ] + } + } + }, + { + "action_description": "爪夹向右后方移动，随后爪夹张开", + "correction_plan": "爪夹向左后方移动，随后下降，接近漏斗，爪夹合拢抓取漏斗，爪夹夹住漏斗向上抬升，随后向右侧移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹在移动过程中，漏斗滑落在桌子上，任务需重新开始。", + "frame": 374, + "progress": 0, + "progress_explanation": "爪夹张开，漏斗落在桌子上，因此任务进度倒退为0.", + "state_description": "爪夹当前为张开状态，漏斗落在桌子上，为完成将漏斗放入三角烧杯中的任务，应当：爪夹向左后方移动，随后下降，接近漏斗。", + "time": 12.456763871634614, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769482270912_vly3ob08s", + "x": 0.5356664461884514, + "y": 0.44993574979285617, + "width": 0.12044572066873967, + "height": 0.09931398305950931 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769419190480", + "name": "漏斗" + }, + { + "color": "#FF9800", + "id": "bbox_1769419197680", + "name": "三角烧杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769419203560", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769419213320", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-022109-put-funnel-into-triangular-beaker-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-022109-put-funnel-into-triangular-beaker-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..6d04a2658a7d1a19e0b74d29d53aea9aa573e8cd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-022109-put-funnel-into-triangular-beaker-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,410 @@ +{ + "task_description": "将漏斗放入三角烧杯中\n爪夹开始移动：0\n爪夹接近漏斗：20%\n爪夹抓取漏斗：40%\n爪夹夹住漏斗接近三角烧杯：60%\n爪夹夹住漏斗移动至三角烧杯正上方：80%\n爪夹松开，漏斗放入三角烧杯中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向上抬升，随后向右前方移动，爪夹下降，随后爪夹合拢抓取漏斗，爪夹向上抬升，爪夹夹住漏斗向左后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近漏斗，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，为完成将漏斗放入三角烧杯中的任务，应当：爪夹向上抬升，随后向右前方移动并下降，接近漏斗。", + "time": 0.8345650350413585, + "annotations": { + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769483637060_sm39l5mau", + "x": 0.2757572594822238, + "y": 0.37950031156207736, + "width": 0.09350391472967945, + "height": 0.15636669673199338 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769483641707_cay3uv7qw", + "x": 0.599058930750946, + "y": 0.20411604360592267, + "width": 0.07607098147499344, + "height": 0.1500275063239396 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769483644066_42xx0xyvs", + "x": 0.38827891958065164, + "y": 0.45345753298937147 + } + ] + }, + "point_1769419213320": { + "type": "point", + "instances": [ + { + "id": "point_1769419213320_1769483646138_wpbcd7uo3", + "x": 0.6260007366900061, + "y": 0.46824897727483034 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右前方移动", + "correction_plan": "爪夹继续向右前方移动，爪夹下降，随后爪夹合拢抓取漏斗，爪夹向上抬升，爪夹夹住漏斗向左后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹向右前方移动，缩短了与漏斗的距离。", + "frame": 50, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，水平上接近了漏斗，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，爪夹开始接近漏斗，为完成将漏斗放入三角烧杯中的任务，应当：爪夹继续向右前方移动，随后下降，接近漏斗。", + "time": 1.652439268572707, + "annotations": { + "point_1769419213320": { + "type": "point", + "instances": [ + { + "id": "point_1769419213320_1769483625202_8ajc2gizj", + "x": 0.6228311124618815, + "y": 0.4597967233974253 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769483627010_zpnmewym2", + "x": 0.39144854380877636, + "y": 0.4597967233974253 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769483630346_eut6doauf", + "x": 0.40412704072127525, + "y": 0.2696210111558118, + "width": 0.10618241164217838, + "height": 0.0950878561208068 + } + ] + } + } + }, + { + "action_description": "爪夹继续向右前方移动，爪夹下降", + "correction_plan": "爪夹合拢抓取漏斗，爪夹向上抬升，爪夹夹住漏斗向左后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了漏斗，方便抓取漏斗。", + "frame": 71, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了漏斗，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，爪夹接近漏斗，为完成将漏斗放入三角烧杯中的任务，应当：爪夹合拢抓取漏斗。", + "time": 2.377899, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769483582155_sg21wli8d", + "x": 0.4310688466603354, + "y": 0.3013169631960807, + "width": 0.16640527197654825, + "height": 0.22187166428188246 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769483615274_ntpcq08cc", + "x": 0.25040026565722595, + "y": 0.8084521958403834, + "width": 0.0760709814749935, + "height": 0.10776623693691434 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769483617554_8vpqm07zi", + "x": 0.38827891958065164, + "y": 0.457683659928074 + } + ] + }, + "point_1769419213320": { + "type": "point", + "instances": [ + { + "id": "point_1769419213320_1769483620546_wsy5v05jv", + "x": 0.6260007366900061, + "y": 0.457683659928074 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取漏斗", + "correction_plan": "爪夹向上抬升，爪夹夹住漏斗向左后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹合拢成功抓住漏斗，方便移动漏斗。", + "frame": 111, + "progress": 40, + "progress_explanation": "爪夹合拢成功抓住漏斗，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住漏斗，为完成将漏斗放入三角烧杯中的任务，应当：爪夹向上抬升，随后向左后方移动，接近三角烧杯。", + "time": 3.702299, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769483575619_b07hsvzpi", + "x": 0.41205110129158706, + "y": 0.34569129605245713, + "width": 0.19017745368748368, + "height": 0.26624599713825897 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升", + "correction_plan": "爪夹夹住漏斗向左后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹向上抬升，爪夹远离烧杯，方便移动漏斗。", + "frame": 140, + "progress": 50, + "progress_explanation": "爪夹向上抬升，爪夹远离烧杯，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，爪夹远离烧杯，为完成将漏斗放入三角烧杯中的任务，应当：爪夹向左后方移动，接近三角烧杯。", + "time": 4.666666666666667, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769483558084_3jbxclgui", + "x": 0.41522072551971184, + "y": 0.34780435952180844, + "width": 0.1870078294593589, + "height": 0.2704721240769615 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769483563455_29izy87lq", + "x": 0.2757572594822238, + "y": 0.8126783227790859, + "width": 0.07765579358905583, + "height": 0.11833155428367069 + } + ] + } + } + }, + { + "action_description": "爪夹夹住漏斗向左后方移动", + "correction_plan": "爪夹夹住漏斗继续向左后方移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹向左后方移动，接近了三脚烧杯。", + "frame": 175, + "progress": 60, + "progress_explanation": "爪夹向左后方移动，接近三脚烧杯，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，爪夹接近三脚烧杯，为完成将漏斗放入三角烧杯中的任务，应当：爪夹继续移动至三角烧杯正上方。", + "time": 5.839399, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769483537627_o6pae9g9h", + "x": 0.41205110129158706, + "y": 0.352030486460511, + "width": 0.19493189002967073, + "height": 0.25990680673020516 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769483544580_vvcqnj6h7", + "x": 0.44057771934470963, + "y": 0.46824897727483034, + "width": 0.07290135724686878, + "height": 0.1267838081610756 + } + ] + } + } + }, + { + "action_description": "爪夹向左后方移动", + "correction_plan": "爪夹夹住漏斗继续向右侧移动至三角烧杯正上方，爪夹下降，爪夹松开，漏斗放入三角烧杯上。", + "error_success_analysis": "爪夹向左后方移动，更加接近三角烧杯。", + "frame": 199, + "progress": 70, + "progress_explanation": "爪夹向左后方移动，更加接近三角烧杯，因此任务进度提升为70%。", + "state_description": "爪夹当前为合拢状态，爪夹更加接近三脚烧杯，为完成将漏斗放入三角烧杯中的任务，应当：爪夹继续移动至三角烧杯正上方。", + "time": 6.642066, + "annotations": { + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769483525398_d7uuk0g5n", + "x": 0.47227396162595686, + "y": 0.40908320013299504, + "width": 0.06656210879061933, + "height": 0.10142704652886056 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769483530068_gl4dv3bq4", + "x": 0.4136359134056494, + "y": 0.352030486460511, + "width": 0.1854230173452965, + "height": 0.25779374326085386 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向右侧移动，随后下降", + "correction_plan": "爪夹松开，漏斗放入三角烧杯中。", + "error_success_analysis": "爪夹轻微向右侧移动并下降，漏斗在三脚烧杯正上方。", + "frame": 243, + "progress": 80, + "progress_explanation": "爪夹轻微向右侧移动并下降，漏斗在三脚烧杯正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢状态，漏斗在三脚烧杯正上方，为完成将漏斗放入三角烧杯中的任务，应当：爪夹松开，漏斗放入三角烧杯中。", + "time": 8.09528527149312, + "annotations": { + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769483481702_n1t62twlj", + "x": 0.4136359134056494, + "y": 0.3562566133992135, + "width": 0.18225339311717184, + "height": 0.26201987019955636 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769483507034_yfddo03zo", + "x": 0.47227396162595686, + "y": 0.39429175584753623, + "width": 0.08716466627343004, + "height": 0.1584797602013446 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，漏斗放入三角烧杯中", + "frame": 265, + "progress": 100, + "progress_explanation": "爪夹松开，漏斗放入三角烧杯中，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，漏斗放入三角烧杯中，爪夹已完成将漏斗放入三角烧杯中的任务.", + "time": 8.84639426147089, + "annotations": { + "point_1769419213320": { + "type": "point", + "instances": [ + { + "id": "point_1769419213320_1769483457469_kjy2vhekv", + "x": 0.6291703609181309, + "y": 0.4605010671396125 + } + ] + }, + "point_1769419203560": { + "type": "point", + "instances": [ + { + "id": "point_1769419203560_1769483459656_zda13xz95", + "x": 0.3930333559228387, + "y": 0.45345753298937147 + } + ] + }, + "bbox_1769419190480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419190480_1769483464726_b491n3lci", + "x": 0.39144854380877636, + "y": 0.3816133750314286, + "width": 0.15372677506404928, + "height": 0.20496715652707234 + } + ] + }, + "bbox_1769419197680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769419197680_1769483469573_d70oxvndo", + "x": 0.4548410283712709, + "y": 0.33723904217505213, + "width": 0.09667353895780417, + "height": 0.1436883159158858 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769419190480", + "name": "漏斗" + }, + { + "color": "#FF9800", + "id": "bbox_1769419197680", + "name": "三角烧杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769419203560", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769419213320", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-031408-put-funnel-into-triangular-beaker-mix/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-031408-put-funnel-into-triangular-beaker-mix/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..95ac2789ab98df3a1951d3856350dd3ad5477fcb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-031408-put-funnel-into-triangular-beaker-mix/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,690 @@ +{ + "task_description": "将漏斗插入三角形烧杯中。\n爪夹开始移动:0%\n爪夹靠近漏斗:20%\n爪夹夹起漏斗:40%\n爪夹移动漏斗:60%\n爪夹将漏斗放入三角形烧杯内:80%\n爪夹松开，漏斗落入三角形烧杯内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向上抬升，然后向爪夹方向的右前方移动靠近漏斗，爪夹合拢抓取漏斗，抓取漏斗后竖直上升，随后向爪夹的左侧移动，随后向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动\n为完成将漏斗插入三角形烧杯中的任务应当:调\n整爪夹角度向上抬升，然后向爪夹方向的右前方移动靠近漏斗，准备抓取漏斗。", + "time": 1.0295017362113401, + "annotations": { + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480565925_fhltt8z9e", + "x": 0.875375, + "y": 0.29953125, + "width": 0.08900000000000005, + "height": 0.12133333333333335 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480569644_thzm4643g", + "x": 0.599375, + "y": 0.2901979166666667, + "width": 0.09100000000000001, + "height": 0.17866666666666664 + } + ] + }, + "point_1769480336530": { + "type": "point", + "instances": [ + { + "id": "point_1769480336530_1769480572933_ky50hidpb", + "x": 0.937375, + "y": 0.5261979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "向爪夹方向的右前方移动靠近漏斗，爪夹合拢抓取漏斗，抓取漏斗后竖直上升，随后向爪夹的左侧移动，随后向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹向上抬升调整爪夹角度，方便爪夹向爪夹方向右前方移动靠近漏斗。", + "frame": 52, + "progress": 5, + "progress_explanation": "目前爪夹向上抬升调整爪夹角度，方便爪夹向爪夹方向右前方移动，进度提升为5%。", + "state_description": "当前状态为爪夹打开，向上抬升\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹向爪夹方向的右前方移动靠近漏斗，准备抓取漏斗。", + "time": 1.7174742568298966, + "annotations": { + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480555517_l6oqa5l4k", + "x": 0.607375, + "y": 0.3061979166666667, + "width": 0.079, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480560574_qn1g789v0", + "x": 0.8723750000000001, + "y": 0.29553124999999997, + "width": 0.08899999999999988, + "height": 0.14800000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "爪夹合拢抓取漏斗，抓取漏斗后竖直上升，随后向爪夹的左侧移动，随后向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹向爪夹方向右前方移动，成功靠近漏斗，方便合拢抓取。", + "frame": 78, + "progress": 20, + "progress_explanation": "目前爪夹成功靠近漏斗，方便合拢抓取，进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近漏斗\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹合拢抓取漏斗，然后向上抬升并向爪夹方向左侧移动。", + "time": 2.593066, + "annotations": { + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480541862_rzjv3uqqy", + "x": 0.8723750000000001, + "y": 0.32753125, + "width": 0.05899999999999998, + "height": 0.14266666666666664 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480546453_g02kvkz0h", + "x": 0.601375, + "y": 0.3021979166666667, + "width": 0.09000000000000004, + "height": 0.1653333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹重新张开，向前移动靠近漏斗，爪夹合拢抓取漏斗，抓取漏斗后竖直上升，随后向爪夹的左侧移动，随后向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹合拢准备抓取漏斗，但没成功抓取，与上一阶段相比，爪夹需要重新张开，向前移动靠近漏斗的动作。", + "frame": 104, + "progress": 15, + "progress_explanation": "目前爪夹合拢准备抓取漏斗，但没成功抓取，与上一阶段相比，爪夹需要重新张开，向前移动靠近漏斗的动作，进度倒退为15%。", + "state_description": "当前状态为爪夹合拢，\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹重新张开，向前移动靠近漏斗。", + "time": 3.481358606034892, + "annotations": { + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480533166_7elioup7b", + "x": 0.600375, + "y": 0.3021979166666667, + "width": 0.08499999999999996, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480537254_6obzvkm05", + "x": 0.8863749999999999, + "y": 0.29953125, + "width": 0.05400000000000009, + "height": 0.16266666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹张开向前移动。", + "correction_plan": "调整角度靠近漏斗，爪夹合拢抓取漏斗，抓取漏斗后竖直上升，随后向爪夹的左侧移动，随后向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹重新张开，向前移动靠近漏斗，方便爪夹合拢抓取。", + "frame": 141, + "progress": 20, + "progress_explanation": "目前爪夹重新张开，向前移动靠近漏斗，方便爪夹合拢抓取，进度再次提升为20%。", + "state_description": "当前状态为爪夹张开，靠近漏斗\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹再次调整角度靠近漏斗，方便爪夹合拢抓取。", + "time": 4.7, + "annotations": { + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480521678_qj66hyq6k", + "x": 0.8803750000000001, + "y": 0.3021979166666667, + "width": 0.07699999999999996, + "height": 0.13466666666666663 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480525853_w8vsgu9eg", + "x": 0.600375, + "y": 0.29953125, + "width": 0.09500000000000001, + "height": 0.16666666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "爪夹合拢抓取漏斗，抓取漏斗后竖直上升，随后向爪夹的左侧移动，随后向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹继续向前移动靠近漏斗，方便爪夹合拢抓取，与上一阶段相比，爪夹更容易抓取漏斗。", + "frame": 179, + "progress": 30, + "progress_explanation": "目前爪夹继续向前移动靠近漏斗，方便爪夹合拢抓取，与上一阶段相比，爪夹更容易抓取漏斗，进度提升为30%。", + "state_description": "当前状态为爪夹张开，靠近漏斗\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹合拢抓取漏斗，然后向上抬升并开始向爪夹方向左侧移动。", + "time": 5.967866, + "annotations": { + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480507614_9nret2qoa", + "x": 0.596375, + "y": 0.29553124999999997, + "width": 0.09100000000000001, + "height": 0.17733333333333334 + } + ] + }, + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480511350_kwgraox6y", + "x": 0.8793750000000001, + "y": 0.3101979166666667, + "width": 0.09099999999999983, + "height": 0.15066666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取漏斗，并向上抬升。", + "correction_plan": "随后向爪夹的左侧移动，然后向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹合拢成功抓取漏斗，并向上抬升，方便爪夹向爪夹方向左侧移动。", + "frame": 226, + "progress": 40, + "progress_explanation": "目前爪夹合拢成功抓取漏斗，并向上抬升，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧漏斗\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹向爪夹方向左侧移动。", + "time": 7.530568044030631, + "annotations": { + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480491871_l923fof0o", + "x": 0.9103749999999999, + "y": 0.18086458333333333, + "width": 0.08499999999999996, + "height": 0.15200000000000002 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480496302_qfl1kzj64", + "x": 0.596375, + "y": 0.29419791666666667, + "width": 0.09100000000000001, + "height": 0.17466666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "correction_plan": "向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹向爪夹方向左侧移动，方便爪夹向爪夹方向左前方移动靠近三角形烧杯。", + "frame": 265, + "progress": 50, + "progress_explanation": "目前爪夹向爪夹方向左侧移动，方便爪夹向爪夹方向左前方移动靠近三角形烧杯，进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧漏斗\n为完成将漏斗插入三角形烧杯中的任务应当:随后爪夹向爪夹方向左前方侧移动靠近三角形烧杯。", + "time": 8.83307575579897, + "annotations": { + "point_1769480341586": { + "type": "point", + "instances": [ + { + "id": "point_1769480341586_1769480473399_ow0p26u67", + "x": 0.921375, + "y": 0.3261979166666667 + } + ] + }, + "point_1769480336530": { + "type": "point", + "instances": [ + { + "id": "point_1769480336530_1769480476831_3gl6tmor5", + "x": 0.860375, + "y": 0.3101979166666667 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480481143_s3uvjbjwl", + "x": 0.601375, + "y": 0.30353125, + "width": 0.08100000000000004, + "height": 0.16266666666666668 + } + ] + }, + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480486071_za5pkgex5", + "x": 0.8153750000000001, + "y": 0.26086458333333334, + "width": 0.11199999999999992, + "height": 0.156 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹下降靠近漏斗，重新合拢抓取漏斗向上抬升，然后向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹张开，漏斗落在圆形烧杯中，与上一阶段相比，爪夹需要重新下降抓取漏斗的动作。", + "frame": 320, + "progress": 10, + "progress_explanation": "目前爪夹张开，漏斗落在圆形烧杯中，与上一阶段相比，爪夹需要重新下降抓取漏斗的动作，进度倒退为10%。", + "state_description": "当前状态为爪夹张开，漏斗落在圆形烧杯中\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹下降靠近漏斗，重新合拢抓取漏斗向上抬升。", + "time": 10.666666666666666, + "annotations": { + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480458711_nqep67otw", + "x": 0.780375, + "y": 0.3608645833333333, + "width": 0.08099999999999996, + "height": 0.16933333333333334 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480462415_ualluckjm", + "x": 0.599375, + "y": 0.3008645833333333, + "width": 0.08599999999999994, + "height": 0.16133333333333338 + } + ] + }, + "point_1769480336530": { + "type": "point", + "instances": [ + { + "id": "point_1769480336530_1769480465415_mtrm3he4b", + "x": 0.865375, + "y": 0.3008645833333333 + } + ] + }, + "point_1769480341586": { + "type": "point", + "instances": [ + { + "id": "point_1769480341586_1769480468239_xfalx4n55", + "x": 0.934375, + "y": 0.3101979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "持续下降靠近漏斗，重新合拢抓取漏斗向上抬升，然后向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹重新下降靠近漏斗，方便爪夹合拢抓取。", + "frame": 363, + "progress": 15, + "progress_explanation": "目前爪夹重新下降靠近漏斗，方便爪夹合拢抓取，进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹下降\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹继续调整角度靠近漏斗，重新合拢抓取漏斗向上抬升。", + "time": 12.115687497036081, + "annotations": { + "point_1769480341586": { + "type": "point", + "instances": [ + { + "id": "point_1769480341586_1769480445663_0qw90gkv0", + "x": 0.8323750000000001, + "y": 0.3701979166666666 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480450248_uwwksy6ys", + "x": 0.606375, + "y": 0.3008645833333333, + "width": 0.075, + "height": 0.16933333333333334 + } + ] + }, + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480454496_7m9s337mk", + "x": 0.774375, + "y": 0.3621979166666666, + "width": 0.075, + "height": 0.15466666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹持续下降。", + "correction_plan": "爪夹合拢抓取漏斗向上抬升，然后向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹持续下降靠近漏斗，方便爪夹合拢抓取。", + "frame": 405, + "progress": 20, + "progress_explanation": "目前爪夹持续下降靠近漏斗，方便爪夹合拢抓取，进度提升为20%。", + "state_description": "当前状态为爪夹张开，靠近漏斗\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹合拢抓取漏斗向上抬升，然后向爪夹方向左前方移动。", + "time": 13.4992, + "annotations": { + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480422808_a2vzcwtbo", + "x": 0.7813749999999999, + "y": 0.3821979166666667, + "width": 0.06800000000000006, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480427624_kjcalhy1j", + "x": 0.601375, + "y": 0.29953125, + "width": 0.07999999999999999, + "height": 0.16133333333333333 + } + ] + }, + "point_1769480341586": { + "type": "point", + "instances": [ + { + "id": "point_1769480341586_1769480431128_j6p2cwx4b", + "x": 0.8643750000000001, + "y": 0.41553125 + } + ] + }, + "point_1769480336530": { + "type": "point", + "instances": [ + { + "id": "point_1769480336530_1769480434080_baub7jw0e", + "x": 0.777375, + "y": 0.39286458333333335 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取漏斗向上抬升。", + "correction_plan": "向爪夹方向左前方移动靠近三角形烧杯，下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹合拢成功抓取漏斗并向上抬升，方便爪夹向爪夹方向左前方移动靠近三角形烧杯。", + "frame": 455, + "progress": 40, + "progress_explanation": "目前爪夹合拢成功抓取漏斗并向上抬升，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧漏斗\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹向爪夹方向左前方移动。", + "time": 15.166666666666666, + "annotations": { + "point_1769480336530": { + "type": "point", + "instances": [ + { + "id": "point_1769480336530_1769480406616_221asmai8", + "x": 0.844375, + "y": 0.27019791666666665 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480411946_a7mdjwiye", + "x": 0.600375, + "y": 0.29953125, + "width": 0.08700000000000001, + "height": 0.164 + } + ] + }, + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480415937_vc0z8pmn2", + "x": 0.787375, + "y": 0.25553125, + "width": 0.09699999999999998, + "height": 0.13466666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动。", + "correction_plan": "下降将将漏斗放进三角形烧杯中，松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹向爪夹方向左前方移动，成功靠近三角形烧杯，方便爪夹下降，将漏斗放进三角形烧杯中。", + "frame": 493, + "progress": 60, + "progress_explanation": "目前爪夹成功靠近三角形烧杯，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧漏斗\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹下降，将漏斗放进三角形烧杯中。", + "time": 16.435466, + "annotations": { + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480395288_ir1ca4ekj", + "x": 0.681375, + "y": 0.10886458333333333, + "width": 0.07800000000000003, + "height": 0.17333333333333337 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480398361_6ew7cz3nl", + "x": 0.597375, + "y": 0.3061979166666667, + "width": 0.09000000000000004, + "height": 0.16266666666666668 + } + ] + }, + "point_1769480336530": { + "type": "point", + "instances": [ + { + "id": "point_1769480336530_1769480400712_uix2cwm4j", + "x": 0.714375, + "y": 0.16086458333333334 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "松开爪夹，漏斗落入三角形烧杯中。", + "error_success_analysis": "爪夹下降，成功将漏斗放进三角形烧杯中。", + "frame": 523, + "progress": 80, + "progress_explanation": "目前爪夹下降，成功将漏斗放进三角形烧杯中，进度提升为80%。", + "state_description": "当前状态为爪夹合拢，漏斗放进三角形烧杯中\n为完成将漏斗插入三角形烧杯中的任务应当:爪夹张开，漏斗落入三角形烧杯中。", + "time": 17.442560442396907, + "annotations": { + "point_1769480336530": { + "type": "point", + "instances": [ + { + "id": "point_1769480336530_1769480370137_rs2201454", + "x": 0.6871110420464451, + "y": 0.2530925697353052 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480375897_re571udpl", + "x": 0.603111047173398, + "y": 0.3024258990538819, + "width": 0.0789999951782229, + "height": 0.16399998665364693 + } + ] + }, + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480381058_3sm52f7aa", + "x": 0.6671110432671481, + "y": 0.21709257266499246, + "width": 0.06499999603271514, + "height": 0.13866665538194536 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，成功将漏斗放进三角形烧杯中。", + "frame": 551, + "progress": 100, + "progress_explanation": "目前爪夹张开，成功将漏斗放进三角形烧杯中，进度提升为100%。", + "state_description": "当前状态为爪夹张开，漏斗落入三角形烧杯中\n已完成将漏斗插入三角形烧杯中的任务。", + "time": 18.361220472844487, + "annotations": { + "bbox_1769480321338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480321338_1769480353955_87pbfmsgw", + "x": 0.6401110449150973, + "y": 0.24109258088439284, + "width": 0.06399999609375015, + "height": 0.11333332411024383 + } + ] + }, + "bbox_1769480325660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769480325660_1769480359266_4m9w6n0ik", + "x": 0.6071110469292573, + "y": 0.31664812690038036, + "width": 0.0789999951782229, + "height": 0.14666665473090373 + } + ] + }, + "point_1769480336530": { + "type": "point", + "instances": [ + { + "id": "point_1769480336530_1769480363865_3zh1b6y3q", + "x": 0.6741110428399021, + "y": 0.26331479790732437 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769480321338", + "name": "漏斗", + "color": "#4CAF50" + }, + { + "id": "bbox_1769480325660", + "name": "三角形烧杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769480336530", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769480341586", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-035754-put-test-tube-into-transparent-glass-bottle-bad/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-035754-put-test-tube-into-transparent-glass-bottle-bad/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..118e8f32fffdbaedebedbffd1c53653d9b517b10 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-035754-put-test-tube-into-transparent-glass-bottle-bad/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,814 @@ +{ + "task_description": "将试管放入透明玻璃瓶中。\n爪夹开始移动:0%\n爪夹靠近试管:20%\n爪夹夹起试管:40%\n爪夹移动试管:60%\n爪夹将试管放入透明玻璃瓶内:80%\n爪夹松开，试管落入透明玻璃瓶内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向上抬升，然后向爪夹方向的前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的后方移动靠近透明玻璃瓶，爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动\n为完成将试管放入透明玻璃瓶中的任务应当:调\n整爪夹角度向上抬升，然后向爪夹方向的前方移动靠近试管，准备合拢抓取试管。", + "time": 0.698333, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769483943405_1e8g3igtz", + "x": 0.459375, + "y": 0.5128645833333334, + "width": 0.08700000000000001, + "height": 0.18266666666666667 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769483946941_mffjvep31", + "x": 0.514375, + "y": 0.28753125, + "width": 0.07000000000000002, + "height": 0.13199999999999998 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769483949605_izelyprfj", + "x": 0.442375, + "y": 0.17019791666666667 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769483952276_fs829nlis", + "x": 0.5353749999999999, + "y": 0.17553125 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "爪夹向爪夹方向的前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的后方移动靠近透明玻璃瓶，爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向前移动靠近试管。", + "frame": 36, + "progress": 5, + "progress_explanation": "目前爪夹向上抬升，方便爪夹向前移动靠近试管，进度提升为5%。", + "state_description": "当前状态为爪夹打开，向上抬升\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹向爪夹方向的前方移动靠近试管，准备合拢抓取试管。", + "time": 1.2151, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769483957076_il1huxuvk", + "x": 0.542375, + "y": 0.06353125 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769483959669_uec82g5ra", + "x": 0.429375, + "y": 0.06086458333333333 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769483963772_h8xqo6nln", + "x": 0.510375, + "y": 0.28753125, + "width": 0.071, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769483967180_s9jwr5w1b", + "x": 0.45237499999999997, + "y": 0.50353125, + "width": 0.09000000000000004, + "height": 0.19200000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "爪夹持续向爪夹方向的前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的后方移动靠近透明玻璃瓶，爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向前移动靠近试管，方便爪夹合拢抓取。", + "frame": 55, + "progress": 10, + "progress_explanation": "目前爪夹向前移动靠近试管，方便爪夹合拢抓取，进度提升为10%。", + "state_description": "当前状态为爪夹打开，向前移动\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹持续向爪夹方向的前方移动靠近试管，准备合拢抓取试管。", + "time": 1.8436, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769483973460_ig84cgxsh", + "x": 0.459375, + "y": 0.50753125, + "width": 0.08200000000000003, + "height": 0.19599999999999998 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769483977236_8s54zqmar", + "x": 0.510375, + "y": 0.28753125, + "width": 0.07600000000000007, + "height": 0.1293333333333333 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769483979804_0q704e92g", + "x": 0.421375, + "y": 0.39419791666666665 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769483982373_lsgucestu", + "x": 0.5353749999999999, + "y": 0.40219791666666665 + } + ] + } + } + }, + { + "action_description": "爪夹持续向前移动。", + "correction_plan": "爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的后方移动靠近透明玻璃瓶，爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹持续向前移动靠近试管，方便爪夹合拢抓取。", + "frame": 83, + "progress": 15, + "progress_explanation": "目前爪夹持续向前移动靠近试管，方便爪夹合拢抓取，进度提升为15%。", + "state_description": "当前状态为爪夹打开，向前移动\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹合拢抓取试管，然后向上抬升。", + "time": 2.751433, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769483984708_jrxngl0m4", + "x": 0.515375, + "y": 0.5568645833333333 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769483986923_j241e41lc", + "x": 0.42737499999999995, + "y": 0.5688645833333333 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769483990980_pcbnv20ub", + "x": 0.514375, + "y": 0.28753125, + "width": 0.071, + "height": 0.13199999999999998 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769483994635_f0p1htxic", + "x": 0.46137500000000004, + "y": 0.5088645833333333, + "width": 0.08399999999999999, + "height": 0.19466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹重新张开，向前移动靠近试管，方便爪夹合拢抓取，抓取试管后竖直上升，随后向爪夹的后方移动靠近透明玻璃瓶，爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹合拢抓取试管，没成功抓取，与上一阶段相比，爪夹需要重新张开，向前移动靠近试管，方便爪夹合拢抓取。", + "frame": 105, + "progress": 13, + "progress_explanation": "目前爪夹合拢抓取试管，没成功抓取，与上一阶段相比，爪夹需要重新张开，向前移动靠近试管，进度倒退为13%。", + "state_description": "当前状态为爪夹合拢，\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹重新张开，向前移动靠近试管，方便爪夹合拢抓取。", + "time": 3.505633, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769483998699_qxk1ltcs7", + "x": 0.42037500000000005, + "y": 0.5621979166666667, + "width": 0.12000000000000002, + "height": 0.13866666666666666 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769484001907_s4p93u8v7", + "x": 0.520375, + "y": 0.2821979166666667, + "width": 0.06200000000000001, + "height": 0.14400000000000002 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769484004491_59lnxb12l", + "x": 0.467375, + "y": 0.5595312499999999 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769484007035_6l30f2p3i", + "x": 0.485375, + "y": 0.5541979166666666 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹微微向爪夹方向右侧移动，然后向前移动靠近试管，方便爪夹合拢抓取，抓取试管后竖直上升，随后向爪夹的后方移动靠近透明玻璃瓶，爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹重新张开，向前移动靠近试管，方便爪夹合拢抓取。", + "frame": 128, + "progress": 15, + "progress_explanation": "目前爪夹重新张开，向前移动靠近试管，方便爪夹合拢抓取，进度提升为15%。", + "state_description": "当前状态为爪夹张开，\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹向爪夹方向右侧移动靠近试管，方便爪夹合拢抓取。", + "time": 4.259833, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769484010843_fl1jhlbbb", + "x": 0.5273749999999999, + "y": 0.56753125 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769484013163_t16noz327", + "x": 0.42437500000000006, + "y": 0.56753125 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769484016299_tjxma1ww1", + "x": 0.520375, + "y": 0.27686458333333336, + "width": 0.06099999999999994, + "height": 0.15333333333333332 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769484019331_lkkuvjd5l", + "x": 0.426375, + "y": 0.5595312499999999, + "width": 0.125, + "height": 0.13066666666666674 + } + ] + } + } + }, + { + "action_description": "爪夹微微向爪夹方向右侧移动。", + "correction_plan": "向前移动靠近试管，方便爪夹合拢抓取，抓取试管后竖直上升，随后向爪夹的后方移动靠近透明玻璃瓶，爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹微微向爪夹方向右侧移动，方便爪夹向前移动靠近试管，方便爪夹合拢抓取。", + "frame": 154, + "progress": 17, + "progress_explanation": "目前爪夹微微向爪夹方向右侧移动，方便爪夹向前移动靠近试管，方便爪夹合拢抓取，进度提升为17%。", + "state_description": "当前状态为爪夹张开，向右移动\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹\n向前移动靠近试管，方便爪夹合拢抓取。", + "time": 5.139733, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769484023092_kjutbjo4t", + "x": 0.41637500000000005, + "y": 0.56353125, + "width": 0.11799999999999997, + "height": 0.13200000000000003 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769484026395_q366nve8n", + "x": 0.514375, + "y": 0.2821979166666667, + "width": 0.06800000000000006, + "height": 0.13999999999999999 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769484028971_96mlpi7gk", + "x": 0.39437500000000003, + "y": 0.5688645833333333 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769484031443_eiu9vjdmz", + "x": 0.504375, + "y": 0.5728645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "爪夹合拢抓取，抓取试管后竖直上升，随后向爪夹的后方移动靠近透明玻璃瓶，爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向前移动靠近试管，方便爪夹合拢抓取试管。", + "frame": 179, + "progress": 20, + "progress_explanation": "目前爪夹向前移动靠近试管，方便爪夹合拢抓取，进度提升为20%。", + "state_description": "当前状态为爪夹张开，向前移动\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹\n合拢抓取试管，然后向上抬升。", + "time": 5.977733, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769484035402_x3mehgvkw", + "x": 0.525375, + "y": 0.6208645833333333 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769484037867_xnrek8h2s", + "x": 0.41937499999999994, + "y": 0.61953125 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769484041378_pxymgfsyc", + "x": 0.511375, + "y": 0.28753125, + "width": 0.07399999999999993, + "height": 0.13866666666666666 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769484045547_4uzi82nck", + "x": 0.42037500000000005, + "y": 0.5621979166666667, + "width": 0.13599999999999995, + "height": 0.13466666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓取试管后竖直上升，随后向爪夹的后方移动靠近透明玻璃瓶，爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹合拢抓取试管，方便爪夹向上抬升并移动。", + "frame": 201, + "progress": 30, + "progress_explanation": "目前爪夹合拢抓取试管，方便爪夹向上抬升，进度提升为30%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹\n向上抬升，然后向爪夹后方移动。", + "time": 6.704, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769484049114_c33gt3ml0", + "x": 0.456375, + "y": 0.5611979166666666, + "width": 0.08800000000000008, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769484052826_ti4vod00l", + "x": 0.521375, + "y": 0.27719791666666665, + "width": 0.06100000000000003, + "height": 0.14533333333333331 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769484055666_brkmwl0sf", + "x": 0.479375, + "y": 0.6211979166666667 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769484058106_pxuzotry0", + "x": 0.505375, + "y": 0.61853125 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "向爪夹的后方移动靠近透明玻璃瓶，爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹抓取试管向上抬升，方便爪夹向后移动靠近透明玻璃瓶。", + "frame": 229, + "progress": 40, + "progress_explanation": "目前爪夹抓取试管向上抬升，方便爪夹向后移动靠近透明玻璃瓶，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹\n向爪夹后方移动。", + "time": 7.636671144458762, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769484062490_mvrdyrzpr", + "x": 0.501375, + "y": 0.5621979166666667 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769484065042_oadd8luhn", + "x": 0.475375, + "y": 0.5661979166666666 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769484069765_c7pz01411", + "x": 0.516375, + "y": 0.2808645833333333, + "width": 0.06399999999999997, + "height": 0.14533333333333337 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769484073074_c4e6ohlbp", + "x": 0.460375, + "y": 0.4888645833333333, + "width": 0.07700000000000004, + "height": 0.19066666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动。", + "correction_plan": "爪夹持续向爪夹的后方移动靠近透明玻璃瓶，爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹抓取试管向后移动靠近透明玻璃瓶，方便爪夹将试管放进透明玻璃瓶中。", + "frame": 269, + "progress": 50, + "progress_explanation": "目前爪夹抓取试管向后移动靠近透明玻璃瓶，进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹\n持续向爪夹后方移动。", + "time": 8.952633, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769484077130_y40oh2r8d", + "x": 0.460375, + "y": 0.45186458333333335, + "width": 0.071, + "height": 0.19600000000000004 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769484082033_b0zpmt209", + "x": 0.519375, + "y": 0.28253125, + "width": 0.06299999999999999, + "height": 0.14133333333333334 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769484084146_lt7qf54o7", + "x": 0.471375, + "y": 0.5118645833333333 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769484086418_042ys6uoq", + "x": 0.502375, + "y": 0.5171979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹持续向后移动。", + "correction_plan": "爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹持续向后移动靠近透明玻璃瓶，方便爪夹向上抬升将试管放进透明玻璃杯中。", + "frame": 309, + "progress": 60, + "progress_explanation": "目前爪夹持续向后移动靠近透明玻璃瓶，方便爪夹向上抬升将试管放进透明玻璃杯中，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹持续向后移动靠近透明玻璃瓶。", + "time": 10.3074, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769484089170_5llebmd6c", + "x": 0.544375, + "y": 0.33553125 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769484091667_0fech2fh5", + "x": 0.515375, + "y": 0.34086458333333336 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769484097050_7ryjy3ckl", + "x": 0.500375, + "y": 0.27953125, + "width": 0.07999999999999999, + "height": 0.14933333333333335 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769484100857_zj9nasnzq", + "x": 0.510375, + "y": 0.27953125, + "width": 0.05600000000000005, + "height": 0.15999999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹持续向后移动。", + "correction_plan": "爪夹向上抬升将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹持续向后移动靠近透明玻璃瓶，方便爪夹向上抬升将试管放进透明玻璃杯中。", + "frame": 342, + "progress": 70, + "progress_explanation": "目前爪夹持续向后移动靠近透明玻璃瓶，方便爪夹向上抬升将试管放进透明玻璃杯中，进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹向上抬升将试管放进透明玻璃杯中。", + "time": 11.409111097036082, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769484104785_azz0wdem0", + "x": 0.544375, + "y": 0.20619791666666668, + "width": 0.03199999999999994, + "height": 0.22133333333333333 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769484108161_2oyk5697z", + "x": 0.519375, + "y": 0.2821979166666667, + "width": 0.05799999999999992, + "height": 0.15199999999999997 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769484110809_f7zujquzc", + "x": 0.5503750000000001, + "y": 0.28619791666666666 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769484113225_ezcsswb06", + "x": 0.576375, + "y": 0.27553125 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹重新向爪夹方向右侧下降靠近试管，方便爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，爪夹下降将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹张开，试管掉在桌面上，与上一阶段相比，爪夹需要重新向爪夹方向右侧下降靠近试管，方便爪夹合拢抓取试管的动作。", + "frame": 381, + "progress": 15, + "progress_explanation": "目前爪夹张开，试管掉在桌面上，与上一阶段相比，爪夹需要重新向爪夹方向右侧下降靠近试管，方便爪夹合拢抓取试管的动作，进度倒退为15%。", + "state_description": "当前状态为爪夹张开，试管掉在桌面上\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹向爪夹方向右侧下降靠近试管，方便爪夹合拢抓取试管。", + "time": 12.709666, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769484116169_ahq2eznve", + "x": 0.5863750000000001, + "y": 0.2741979166666667 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769484119081_th3x9krov", + "x": 0.560375, + "y": 0.27953125 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769484123705_1ave7qzgp", + "x": 0.515375, + "y": 0.2888645833333333, + "width": 0.06899999999999995, + "height": 0.13466666666666668 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769484127913_4qgixwk5u", + "x": 0.374375, + "y": 0.33286458333333335, + "width": 0.16200000000000006, + "height": 0.156 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769412913668", + "name": "试管" + }, + { + "color": "#FF9800", + "id": "bbox_1769412919044", + "name": "透明玻璃杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769412928508", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769412936268", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-035754-put-test-tube-into-transparent-glass-bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-035754-put-test-tube-into-transparent-glass-bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..8471b9273fa37b33b5b863ad42dd6379c8e300f1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-035754-put-test-tube-into-transparent-glass-bottle-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,814 @@ +{ + "task_description": "将试管放入透明玻璃瓶中。\n爪夹开始移动:0%\n爪夹靠近试管:20%\n爪夹夹起试管:40%\n爪夹移动试管:60%\n爪夹将试管放入透明玻璃瓶内:80%\n爪夹松开，试管落入透明玻璃瓶内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向上抬升，然后向爪夹方向的右前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动\n为完成将试管放入透明玻璃瓶中的任务应当:调\n整爪夹角度向上抬升，然后向爪夹方向的右前方移动靠近试管，准备抓取试管。", + "time": 1.5248840516752578, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769419958200_w3tv9ns68", + "x": 0.5543750000000001, + "y": 0.25322916666666667, + "width": 0.15599999999999997, + "height": 0.21333333333333337 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769419961704_sme61c6um", + "x": 0.19437500000000002, + "y": 0.3465625, + "width": 0.10299999999999998, + "height": 0.1933333333333333 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769419964112_ostmeqz9o", + "x": 0.39637500000000003, + "y": 0.45589583333333333 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769419966591_v3ue38e6e", + "x": 0.622375, + "y": 0.4545625 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "向爪夹方向的右前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹成功向上抬升，方便爪夹向爪夹方向右前方移动靠近试管。", + "frame": 67, + "progress": 10, + "progress_explanation": "目前爪夹成功向上抬升，进度提升为10%。", + "state_description": "当前状态为爪夹打开，向上抬升\n为完成将试管放入透明玻璃瓶中的任务应当:，然后向爪夹方向的右前方移动靠近试管，准备抓取试管。", + "time": 2.2166710073453606, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769419971912_t9cxloz0r", + "x": 0.619375, + "y": 0.4572291666666667 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769419974439_bpbzp6e1j", + "x": 0.397375, + "y": 0.45989583333333334 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769419977960_qxtffirbg", + "x": 0.08937500000000001, + "y": 0.5838958333333333, + "width": 0.13299999999999998, + "height": 0.13733333333333336 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769419981832_tk1ld31rz", + "x": 0.410375, + "y": 0.33056250000000004, + "width": 0.13100000000000006, + "height": 0.22266666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向爪夹方向右前方移动，方便爪夹合拢抓取试管。", + "frame": 86, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向右前方移动，方便爪夹合拢抓取试管，进度提升为15%。", + "state_description": "当前状态为爪夹打开，向右前方移动\n为完成将试管放入透明玻璃瓶中的任务应当:，爪夹合拢抓取试管，然后向上抬升。", + "time": 2.880533, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769419986872_bmlhxbbrj", + "x": 0.39237500000000003, + "y": 0.3372291666666667, + "width": 0.11799999999999997, + "height": 0.25199999999999995 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769419989887_h88quy2u7", + "x": 0.06737499999999999, + "y": 0.7172291666666666, + "width": 0.13399999999999998, + "height": 0.09200000000000005 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769419992696_dt3059gox", + "x": 0.395375, + "y": 0.4625625 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769419994967_usmkvi0r1", + "x": 0.619375, + "y": 0.4625625 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹重新张开，向前移动靠近试管，然后合拢抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹合拢准备抓取试管，但没成功，与上一阶段相比，爪夹多了一次重新张开靠近试管的动作。", + "frame": 110, + "progress": -15, + "progress_explanation": "目前爪夹合拢准备抓取试管，但没成功，与上一阶段相比，爪夹多了一次重新张开靠近试管的动作，进度倒退为-15%。", + "state_description": "当前状态为爪夹合拢，没成功抓取试管\n为完成将试管放入透明玻璃瓶中的任务应当:，爪夹重新张开，向前移动靠近试管，然后合拢抓取。", + "time": 3.666133, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769419999343_zktkij279", + "x": 0.509375, + "y": 0.4545625 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769420001439_lp8eg02zm", + "x": 0.502375, + "y": 0.4532291666666667 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769420004455_ibr0qyfir", + "x": 0.082375, + "y": 0.7305625, + "width": 0.133, + "height": 0.08399999999999999 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769420007967_7ws0t1k6f", + "x": 0.43137499999999995, + "y": 0.35589583333333336, + "width": 0.10900000000000007, + "height": 0.21866666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "向前移动靠近试管，然后合拢抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹重新张开，向前移动靠近试管，方便爪夹合拢抓取。", + "frame": 137, + "progress": 15, + "progress_explanation": "目前爪夹重新张开，向前移动靠近试管，方便爪夹合拢抓取，进度再次提升为15%。", + "state_description": "当前状态为爪夹张开，\n为完成将试管放入透明玻璃瓶中的任务应当:，爪夹向前移动靠近试管，然后合拢抓取。", + "time": 4.566666666666666, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769420012279_2mx9s63eu", + "x": 0.410375, + "y": 0.36389583333333336, + "width": 0.13500000000000006, + "height": 0.29333333333333333 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769420015559_9xvekkjdh", + "x": 0.079375, + "y": 0.7332291666666666, + "width": 0.123, + "height": 0.08800000000000002 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769420017702_k6s4jxsrq", + "x": 0.39637500000000003, + "y": 0.4625625 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769420019662_z7wzl5pmt", + "x": 0.624375, + "y": 0.46389583333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "合拢抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹张开，向前移动靠近试管，方便爪夹合拢抓取。", + "frame": 162, + "progress": 20, + "progress_explanation": "目前爪夹张开，向前移动靠近试管，方便爪夹合拢抓取，进度提升为20%。", + "state_description": "当前状态为爪夹张开，靠近试管\n为完成将试管放入透明玻璃瓶中的任务应当:，爪夹合拢抓取试管，然后向上抬升并开始移动。", + "time": 5.384633, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769420022687_vep2vy7gb", + "x": 0.619375, + "y": 0.4625625 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769420024702_nf6ffyyw4", + "x": 0.39637500000000003, + "y": 0.4572291666666667 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769420028511_nujp64ijj", + "x": 0.111375, + "y": 0.7412291666666667, + "width": 0.12400000000000003, + "height": 0.08800000000000002 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769420032246_m2xyp64ui", + "x": 0.397375, + "y": 0.3892291666666667, + "width": 0.15200000000000005, + "height": 0.22799999999999992 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹合拢成功抓取试管，方便爪夹向上抬升并开始移动。", + "frame": 187, + "progress": 30, + "progress_explanation": "目前爪夹合拢成功抓取试管，方便爪夹向上抬升并开始移动，进度提升为30%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹向上抬升，然后想爪夹方向左后方移动。", + "time": 6.219333, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769420036518_u933pxipy", + "x": 0.46937500000000004, + "y": 0.36789583333333337, + "width": 0.071, + "height": 0.3213333333333333 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769420040670_hx65dcwjz", + "x": 0.130375, + "y": 0.7625625, + "width": 0.125, + "height": 0.0866666666666666 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769420042614_47usa0rdf", + "x": 0.476375, + "y": 0.47589583333333335 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769420044694_mr4pcdu53", + "x": 0.5353749999999999, + "y": 0.4732291666666667 + } + ] + } + } + }, + { + "action_description": "爪夹微微向上抬升，试管掉落。", + "correction_plan": "爪夹重新向前移动靠近试管，然后合拢抓取向上抬升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹抓取试管向上抬升时，试管掉落，与上一阶段相比，爪夹需要重新向前移动靠近试管，再次合拢抓取试管的动作。", + "frame": 225, + "progress": -20, + "progress_explanation": "目前爪夹抓取试管向上抬升时，试管掉落，与上一阶段相比，爪夹需要重新向前移动靠近试管，再次合拢抓取试管的动作，进度倒退为-20%。", + "state_description": "当前状态为爪夹张开，试管掉落\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹重新向前移动靠近试管，然后合拢抓取向上抬升。", + "time": 7.5, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769420049462_7y5susfv2", + "x": 0.5613750000000001, + "y": 0.45989583333333334 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769420051718_jrbvtepft", + "x": 0.459375, + "y": 0.46389583333333334 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769420055021_7jkw7fyio", + "x": 0.185375, + "y": 0.7572291666666667, + "width": 0.12, + "height": 0.07733333333333334 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769420058102_ckh9xur5m", + "x": 0.446375, + "y": 0.36389583333333336, + "width": 0.08099999999999996, + "height": 0.296 + } + ] + } + } + }, + { + "action_description": "爪夹微微向前移动。", + "correction_plan": "合拢抓取向上抬升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹重新向前移动靠近试管，方便合拢抓取试管。", + "frame": 261, + "progress": 20, + "progress_explanation": "目前爪夹重新向前移动靠近试管，方便合拢抓取试管，进度提升为20%。", + "state_description": "当前状态为爪夹张开，靠近试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹合拢抓取试管，然后向上抬升。", + "time": 8.695846397036082, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769420061733_n079i7qtp", + "x": 0.496375, + "y": 0.3838958333333334, + "width": 0.075, + "height": 0.3226666666666667 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769420065366_rxt2b9g5l", + "x": 0.15437499999999998, + "y": 0.7598958333333333, + "width": 0.13100000000000003, + "height": 0.09066666666666663 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769420067261_dml0cjmqu", + "x": 0.46137500000000004, + "y": 0.45989583333333334 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769420069614_8xh7vwujy", + "x": 0.5613750000000001, + "y": 0.45989583333333334 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取试管向上抬升。", + "correction_plan": "随后向爪夹的左后方移动靠近透明玻璃瓶，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹合拢成功抓取试管，然后向上抬升，方便爪夹向爪夹方向左后方移动靠近透明玻璃瓶。", + "frame": 315, + "progress": 40, + "progress_explanation": "目前爪夹合拢成功抓取试管，然后向上抬升，方便爪夹向爪夹方向左后方移动靠近透明玻璃瓶，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹向爪夹方向左后方移动靠近透明玻璃瓶。", + "time": 10.501241622809276, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769420074693_yzm0lc201", + "x": 0.534375, + "y": 0.4655625 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769420077438_49964yqwa", + "x": 0.484375, + "y": 0.4642291666666667 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769420080717_fnxee0qnq", + "x": 0.22137500000000002, + "y": 0.7682291666666666, + "width": 0.11099999999999999, + "height": 0.08666666666666671 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769420084525_9731zs24h", + "x": 0.467375, + "y": 0.3455625, + "width": 0.08399999999999999, + "height": 0.3706666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左后方移动。", + "correction_plan": "下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向爪夹方向左后方移动靠近透明玻璃瓶，方便爪夹下降将试管放进透明玻璃瓶中。", + "frame": 342, + "progress": 60, + "progress_explanation": "目前爪夹向爪夹方向左后方移动靠近透明玻璃瓶，方便爪夹下降将试管放进透明玻璃瓶中，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹下降将试管放进透明玻璃瓶中。", + "time": 11.3912, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769420088645_fz3mbdwaw", + "x": 0.46537500000000004, + "y": 0.3425625, + "width": 0.07999999999999999, + "height": 0.372 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769420093389_jofzmezss", + "x": 0.45237499999999997, + "y": 0.6198958333333333, + "width": 0.09900000000000002, + "height": 0.11733333333333332 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769420095189_rc0jfj79p", + "x": 0.479375, + "y": 0.46656250000000005 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769420097893_jed720ty0", + "x": 0.5353749999999999, + "y": 0.46789583333333334 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹重新抬升，然后向爪夹方向前方移动至透明玻璃瓶上方，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹下降，没成功将试管放进透明玻璃瓶中，与上一阶段相比，爪夹需要重新抬升，然后向爪夹方向前方移动至透明玻璃瓶上方的动作。", + "frame": 372, + "progress": -30, + "progress_explanation": "目前爪夹下降，没成功将试管放进透明玻璃瓶中，与上一阶段相比，爪夹需要重新抬升，然后向爪夹方向前方移动至透明玻璃瓶上方的动作，进度倒退为-30%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹重新抬升，然后向爪夹方向前方移动至透明玻璃瓶上方。", + "time": 12.389566, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769420102181_hlcsft1ad", + "x": 0.537375, + "y": 0.4625625 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769420104317_a7wopwd68", + "x": 0.484375, + "y": 0.4572291666666667 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769420107885_ug14ij2lj", + "x": 0.472375, + "y": 0.42789583333333336, + "width": 0.088, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769420111420_bajytmg5r", + "x": 0.47037500000000004, + "y": 0.3425625, + "width": 0.06499999999999995, + "height": 0.37999999999999995 + } + ] + } + } + }, + { + "action_description": "爪夹持续下降。", + "correction_plan": "爪夹重新抬升，然后向爪夹方向前方移动至透明玻璃瓶上方，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹持续下降，将试管放在桌面，与上一阶段相比，爪夹需要重新抬升，然后向爪夹方向前方移动至透明玻璃瓶上方的动作。", + "frame": 398, + "progress": -40, + "progress_explanation": "目前爪夹持续下降，将试管放在桌面，与上一阶段相比，爪夹需要重新抬升，然后向爪夹方向前方移动至透明玻璃瓶上方的动作，进度倒退为-40%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹重新抬升，然后向爪夹方向前方移动至透明玻璃瓶上方。", + "time": 13.26838944548969, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769420116693_3bfv9l6hv", + "x": 0.472375, + "y": 0.4425625, + "width": 0.07000000000000002, + "height": 0.18800000000000003 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769420120156_v0rulci26", + "x": 0.45837500000000003, + "y": 0.3972291666666667, + "width": 0.11699999999999999, + "height": 0.1306666666666666 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769420122837_5dbvvby6l", + "x": 0.479375, + "y": 0.4545625 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769420125949_agrv52ej4", + "x": 0.537375, + "y": 0.4625625 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹下降重新合拢抓取试管，然后向上抬升，随后向爪夹方向前方移动至透明玻璃瓶上方，下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹张开，将试管放在桌面，与上一阶段相比，爪夹需要重新下降合拢抓取试管。", + "frame": 458, + "progress": -50, + "progress_explanation": "目前爪夹张开，将试管放在桌面，与上一阶段相比，爪夹需要重新下降合拢抓取试管，进度倒退为-50%。", + "state_description": "当前状态为爪夹张开，试管落在桌面上\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹下降重新合拢抓取试管，然后向上抬升，随后向爪夹方向前方移动至透明玻璃瓶上方。", + "time": 15.27625890219072, + "annotations": { + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769420136605_67dfilyp7", + "x": 0.417375, + "y": 0.3425625, + "width": 0.12800000000000003, + "height": 0.15200000000000002 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769420142892_j42uplxte", + "x": 0.472375, + "y": 0.3025625, + "width": 0.18500000000000005, + "height": 0.28666666666666657 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769420146036_1nsquha1t", + "x": 0.434375, + "y": 0.45589583333333333 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769420148308_hp3bo07uy", + "x": 0.584375, + "y": 0.4625625 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769412913668", + "name": "试管" + }, + { + "color": "#FF9800", + "id": "bbox_1769412919044", + "name": "透明玻璃杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769412928508", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769412936268", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-042139-put-test-tube-into-transparent-glass-bottle-good/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-042139-put-test-tube-into-transparent-glass-bottle-good/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..2d63aea2651a43f6ede0eafa33ceab8cd06c6522 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-042139-put-test-tube-into-transparent-glass-bottle-good/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,370 @@ +{ + "task_description": "将试管放入透明玻璃瓶中。\n爪夹开始移动:0%\n爪夹靠近试管:20%\n爪夹夹起试管:40%\n爪夹移动试管:60%\n爪夹将试管放入透明玻璃瓶内:80%\n爪夹松开，试管落入透明玻璃瓶内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向上抬升，然后向爪夹方向的前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左前方移动，直至到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动\n为完成将试管放入透明玻璃瓶中的任务应当:调\n整爪夹角度向上抬升，然后向爪夹方向的前方移动靠近试管，准备抓取试管。", + "time": 0.6035180671391752, + "annotations": { + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769413064472_ax3qzjir0", + "x": 0.606375, + "y": 0.2621979166666667, + "width": 0.07800000000000003, + "height": 0.16533333333333333 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769413070112_k6obb4os9", + "x": 0.8943749999999999, + "y": 0.4208645833333334, + "width": 0.08200000000000003, + "height": 0.1786666666666667 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769413073481_3r702o3ii", + "x": 0.914375, + "y": 0.5328645833333333 + } + ] + } + } + }, + { + "time": 1.320333, + "frame": 40, + "progress": 10, + "action_description": "爪夹向上抬升。", + "state_description": "当前状态为爪夹打开，向上抬升\n为完成将试管放入透明玻璃瓶中的任务应当:随后爪夹向爪夹方向的前方下降靠近试管，准备抓取试管。", + "progress_explanation": "目前爪夹向上抬升，方便爪夹向前移动靠近试管，进度提升为10%。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向前移动靠近试管。", + "correction_plan": "向爪夹方向的前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左前方移动，直至到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769413054545_wezvlbv5x", + "x": 0.8793750000000001, + "y": 0.4088645833333333, + "width": 0.0959999999999999, + "height": 0.1853333333333334 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769413059232_c9blgabx8", + "x": 0.607375, + "y": 0.2621979166666667, + "width": 0.07299999999999995, + "height": 0.168 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769413078304_jzbi25k7f", + "x": 0.9813750000000001, + "y": 0.4168645833333333 + } + ] + } + } + }, + { + "time": 1.879533, + "frame": 56, + "progress": 20, + "action_description": "爪夹向爪夹方向前方下降。", + "state_description": "当前状态为爪夹打开，向爪夹方向前方下降\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹合拢抓取试管向上抬升，然后向爪夹方向左前方移动。", + "progress_explanation": "目前爪夹向爪夹方向前方下降靠近试管，方便爪夹合拢抓取，进度提升为20%。", + "error_success_analysis": "爪夹向爪夹方向前方下降靠近试管，方便爪夹合拢抓取。", + "correction_plan": "爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左前方移动，直至到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "annotations": { + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769413044689_12uo8wx9r", + "x": 0.601375, + "y": 0.25553125, + "width": 0.07999999999999999, + "height": 0.17866666666666664 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769413049390_9gzdidxej", + "x": 0.889375, + "y": 0.41019791666666666, + "width": 0.083, + "height": 0.18533333333333335 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769413082448_95n3w8n9h", + "x": 0.884375, + "y": 0.4728645833333333 + } + ] + } + } + }, + { + "time": 2.718333, + "frame": 82, + "progress": 30, + "action_description": "爪夹合拢。", + "state_description": "当前状态为爪夹合拢，\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹合拢抓取试管向上抬升，然后向爪夹方向左前方移动。", + "progress_explanation": "目前爪夹合拢准备抓取试管，方便爪夹抓取试管向上抬升，进度提升为30%。", + "error_success_analysis": "爪夹合拢准备抓取试管，方便爪夹抓取试管向上抬升。", + "correction_plan": "抓取试管后竖直上升，随后向爪夹的左前方移动，直至到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "annotations": { + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769413039553_7hzaqndp8", + "x": 0.605375, + "y": 0.2661979166666667, + "width": 0.07700000000000004, + "height": 0.16933333333333334 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769413086816_vsqbycuda", + "x": 0.9203749999999999, + "y": 0.47419791666666666 + } + ] + } + } + }, + { + "time": 3.712466, + "frame": 111, + "progress": 40, + "action_description": "爪夹向上抬升。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹抓取试管向上抬升，然后向爪夹方向左前方移动。", + "progress_explanation": "目前爪夹合拢，成功抓取试管，进度提升为40%。", + "error_success_analysis": "爪夹合拢，成功抓取试管向上抬升。", + "correction_plan": "爪夹持续抬升，随后向爪夹的左前方移动，直至到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "annotations": { + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769413032641_c1xio79co", + "x": 0.604375, + "y": 0.2661979166666667, + "width": 0.08099999999999996, + "height": 0.164 + } + ] + } + } + }, + { + "time": 4.621166, + "frame": 139, + "progress": 50, + "action_description": "爪夹持续向上抬升。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:然后向爪夹方向左前方移动。", + "progress_explanation": "目前爪夹抓取试管向上抬升远离烧杯，方便爪夹向爪夹方向左前方移动，进度提升为50%。", + "error_success_analysis": "爪夹抓取试管向上抬升远离烧杯，方便爪夹向爪夹方向左前方移动。", + "correction_plan": "爪夹向爪夹的左前方移动，直至到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "annotations": { + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769413017690_m7936ss5t", + "x": 0.606375, + "y": 0.2621979166666667, + "width": 0.07400000000000002, + "height": 0.16 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769413022338_ljm55nicg", + "x": 0.860375, + "y": 0.13419791666666667, + "width": 0.12400000000000003, + "height": 0.15466666666666665 + } + ] + } + } + }, + { + "time": 5.4522, + "frame": 164, + "progress": 60, + "action_description": "爪夹向爪夹方向左前方移动。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹下降将试管放进透明玻璃杯中。", + "progress_explanation": "目前爪夹向爪夹方向左前方移动至透明玻璃杯上方，方便爪夹下降将试管放进透明玻璃杯中，进度提升为60%。", + "error_success_analysis": "爪夹向爪夹方向左前方移动至透明玻璃杯上方，方便爪夹下降将试管放进透明玻璃杯中。", + "correction_plan": "爪夹下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769413006018_s7w7ixbt2", + "x": 0.655375, + "y": 0.047864583333333335, + "width": 0.11600000000000002, + "height": 0.21466666666666664 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769413010690_xc63o12rk", + "x": 0.601375, + "y": 0.26519791666666664, + "width": 0.08100000000000004, + "height": 0.16533333333333333 + } + ] + } + } + }, + { + "time": 6.345366, + "frame": 190, + "progress": 80, + "action_description": "爪夹下降。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹张开，将试管放进透明玻璃杯中。", + "progress_explanation": "目前爪夹下降将试管放进透明玻璃杯中，进度提升为80%。", + "error_success_analysis": "爪夹下降将试管放进透明玻璃杯中，方便爪夹张开，试管成功落入透明玻璃杯中。", + "correction_plan": "松开爪夹，试管落入透明玻璃瓶中。", + "annotations": { + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769412983475_zjmskkzqy", + "x": 0.609375, + "y": 0.2728645833333333, + "width": 0.07199999999999998, + "height": 0.15733333333333335 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769412989874_2je3zai5c", + "x": 0.623375, + "y": 0.17286458333333335, + "width": 0.08100000000000004, + "height": 0.1906666666666666 + } + ] + } + } + }, + { + "time": 7.1851678341494845, + "frame": 216, + "progress": 100, + "action_description": "爪夹张开。", + "state_description": "当前状态为爪夹张开，试管落入透明玻璃杯中\n已完成将试管放入透明玻璃瓶中的任务。", + "progress_explanation": "目前爪夹张开，成功将试管放进透明玻璃杯中，进度提升为100%。", + "error_success_analysis": "爪夹张开，成功将试管放进透明玻璃杯中。", + "correction_plan": "任务完成。", + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769412954676_fe1zoyhme", + "x": 0.613375, + "y": 0.22186458333333334, + "width": 0.083, + "height": 0.1773333333333333 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769412968234_xqkofjidx", + "x": 0.599375, + "y": 0.27253125, + "width": 0.0830000000000001, + "height": 0.15733333333333335 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769412913668", + "name": "试管", + "color": "#4CAF50" + }, + { + "id": "bbox_1769412919044", + "name": "透明玻璃杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769412928508", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769412936268", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-042139-put-test-tube-into-transparent-glass-bottle-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-042139-put-test-tube-into-transparent-glass-bottle-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..685deaeab5b0ca121073d3d12f998722319cd1e7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-042139-put-test-tube-into-transparent-glass-bottle-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,646 @@ +{ + "task_description": "将试管放入透明玻璃瓶中。\n爪夹开始移动:0%\n爪夹靠近试管:20%\n爪夹夹起试管:40%\n爪夹移动试管:60%\n爪夹将试管放入透明玻璃瓶内:80%\n爪夹松开，试管落入透明玻璃瓶内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向上抬升，然后向爪夹方向的右前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左侧移动，随后向爪夹方向左前方移动到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动\n为完成将试管放入透明玻璃瓶中的任务应当:调\n整爪夹角度向上抬升，然后向爪夹方向的右前方移动靠近试管，准备抓取试管。", + "time": 0.6044458534793815, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769414466339_nceqp6q47", + "x": 0.579375, + "y": 0.21686458333333333, + "width": 0.09299999999999997, + "height": 0.21066666666666667 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769414470498_69o3zy6mk", + "x": 0.292375, + "y": 0.20886458333333333, + "width": 0.06000000000000001, + "height": 0.1066666666666667 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769414472987_2p9ibyb35", + "x": 0.39237500000000003, + "y": 0.46086458333333336 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769414475051_kr061wot0", + "x": 0.621375, + "y": 0.46353125 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "向爪夹方向的右前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左侧移动，随后向爪夹方向左前方移动到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向右前移动靠近试管。", + "frame": 37, + "progress": 10, + "progress_explanation": "目前爪夹向上抬升，方便爪夹向右前移动靠近试管，进度提升为10%。", + "state_description": "当前状态为爪夹打开，向上抬升\n为完成将试管放入透明玻璃瓶中的任务应当:随后爪夹向爪夹方向的右前方移动靠近试管，准备合拢抓取试管。", + "time": 1.236666, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769414478131_5jik63ciy", + "x": 0.620375, + "y": 0.46353125 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769414481627_bb2p6nlsv", + "x": 0.395375, + "y": 0.4621979166666667 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769414486514_ubteocu7h", + "x": 0.24537499999999998, + "y": 0.29953125, + "width": 0.07000000000000002, + "height": 0.10933333333333331 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769414491778_3hqyp3wyt", + "x": 0.5353749999999999, + "y": 0.2968645833333333, + "width": 0.08500000000000005, + "height": 0.18266666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左侧移动，随后向爪夹方向左前方移动到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向爪夹方向右前方移动靠近试管，方便爪夹合拢抓取试管。", + "frame": 69, + "progress": 20, + "progress_explanation": "目前爪夹向爪夹方向右前方移动靠近试管，方便爪夹合拢抓取试管，进度提升为20%。", + "state_description": "当前状态为爪夹打开，向右前方移动\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹合拢抓取试管向上抬升，然后向爪夹方向左侧移动。", + "time": 2.287833, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769414498098_c50y8cayi", + "x": 0.41637500000000005, + "y": 0.37053125, + "width": 0.18, + "height": 0.29733333333333334 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769414502434_2x960sjf3", + "x": 0.026375, + "y": 0.42253124999999997, + "width": 0.11300000000000002, + "height": 0.11866666666666663 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769414504513_tljx51sin", + "x": 0.39437500000000003, + "y": 0.46919791666666666 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769414506874_xyefh6vrp", + "x": 0.619375, + "y": 0.47053125 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓取试管后竖直上升，随后向爪夹的左侧移动，随后向爪夹方向左前方移动到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹合拢，成功抓取试管，方便向上抬升并移动。", + "frame": 89, + "progress": 30, + "progress_explanation": "目前爪夹合拢，成功抓取试管，方便向上抬升并移动，进度提升为30%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹合拢抓取试管向上抬升，然后向爪夹方向左侧移动。", + "time": 2.959166, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769414510242_2qr8rjw3j", + "x": 0.536375, + "y": 0.4621979166666667 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769414512457_mrg8ijdtd", + "x": 0.484375, + "y": 0.46619791666666666 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769414516274_i9qjf5zmq", + "x": 0.026375, + "y": 0.42753125000000003, + "width": 0.10900000000000001, + "height": 0.1066666666666667 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769414520393_cqrhhdb5u", + "x": 0.46637500000000004, + "y": 0.3221979166666667, + "width": 0.07800000000000003, + "height": 0.3813333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "爪夹持续上升，随后向爪夹的左侧移动，随后向爪夹方向左前方移动到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹抓取试管，成功向上抬升并移动。", + "frame": 106, + "progress": 40, + "progress_explanation": "目前爪夹抓取试管，成功向上抬升并移动，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹抓取试管持续向上抬升，然后向爪夹方向左侧移动。", + "time": 3.533333, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769414525482_1uepq5jak", + "x": 0.47037500000000004, + "y": 0.33953125, + "width": 0.07000000000000002, + "height": 0.364 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769414529689_kgzpi87by", + "x": 0.051375000000000004, + "y": 0.45019791666666664, + "width": 0.099, + "height": 0.10933333333333331 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769414532242_1zzbxcp6x", + "x": 0.481375, + "y": 0.46886458333333336 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769414534297_6k4ftwyc1", + "x": 0.534375, + "y": 0.46753125 + } + ] + } + } + }, + { + "action_description": "爪夹持续向上抬升。", + "correction_plan": "向爪夹的左侧移动，随后向爪夹方向左前方移动到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹抓取试管，持续向上抬升，方便爪夹向爪夹方向左侧移动。", + "frame": 120, + "progress": 45, + "progress_explanation": "目前爪夹抓取试管，持续向上抬升，方便爪夹向爪夹方向左侧移动，进度提升为45%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹向爪夹方向左侧移动，方便向爪夹方向左前方移动。", + "time": 4.001181120489691, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769414537640_vqlb3w0ik", + "x": 0.5353749999999999, + "y": 0.47019791666666666 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769414540202_bxhv89t96", + "x": 0.484375, + "y": 0.47019791666666666 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769414576336_s1pxf4blo", + "x": 0.471375, + "y": 0.3301979166666667, + "width": 0.06299999999999999, + "height": 0.37866666666666665 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769414579945_smuhhlxu7", + "x": 0.111375, + "y": 0.4941979166666667, + "width": 0.08900000000000001, + "height": 0.1053333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "correction_plan": "爪夹持续向爪夹的左侧移动，随后向爪夹方向左前方移动到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向爪夹方向左侧移动，方便爪夹向爪夹方向左前方移动靠近透明玻璃杯。", + "frame": 135, + "progress": 50, + "progress_explanation": "目前爪夹向爪夹方向左侧移动，方便爪夹向爪夹方向左前方移动靠近透明玻璃杯，进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹持续向爪夹方向左侧移动，方便向爪夹方向左前方移动。", + "time": 4.496166, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769414555203_1lqgxxw4o", + "x": 0.47037500000000004, + "y": 0.33586458333333336, + "width": 0.06699999999999999, + "height": 0.36 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769414558248_ao4abaxu7", + "x": 0.255375, + "y": 0.5038645833333334, + "width": 0.071, + "height": 0.10799999999999994 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769414561225_x1mgopmsu", + "x": 0.48237500000000005, + "y": 0.46386458333333336 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769414563241_4mn3vtczl", + "x": 0.537375, + "y": 0.46786458333333336 + } + ] + } + } + }, + { + "action_description": "爪夹持续向爪夹昂新左侧移动。", + "correction_plan": "随后向爪夹方向左前方移动到达透明玻璃瓶的上方，下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹持续向爪夹方向左侧移动，方便爪夹向爪夹方向左前方移动靠近透明玻璃杯。", + "frame": 148, + "progress": 55, + "progress_explanation": "目前爪夹持续向爪夹方向左侧移动，方便爪夹向爪夹方向左前方移动靠近透明玻璃杯，进度提升为55%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹持续向拽啊方向左侧移动，随后向爪夹方向左前方移动靠近透明玻璃杯，方便爪夹下降将试管放进透明玻璃杯中。", + "time": 4.928999, + "annotations": { + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769414590352_tk1xijq5a", + "x": 0.41137500000000005, + "y": 0.4808645833333333, + "width": 0.06899999999999995, + "height": 0.128 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769414594328_indoh1whc", + "x": 0.47437500000000005, + "y": 0.3301979166666667, + "width": 0.06099999999999994, + "height": 0.37733333333333335 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769414605072_x8hhvo14k", + "x": 0.48237500000000005, + "y": 0.46619791666666666 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769414607240_lxyhhckdx", + "x": 0.534375, + "y": 0.46086458333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动。", + "correction_plan": "下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向爪夹方向左前方移动靠近透明玻璃杯，方便爪夹下降将试管放进透明玻璃杯中。", + "frame": 174, + "progress": 60, + "progress_explanation": "目前爪夹向爪夹方向左前方移动靠近透明玻璃杯，方便爪夹下降将试管放进透明玻璃杯中，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹向爪夹方向左前方移动靠近透明玻璃杯，方便爪夹下降将试管放进透明玻璃杯中。", + "time": 5.794666, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769414609751_zbwwh6utc", + "x": 0.536375, + "y": 0.4621979166666667 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769414611920_ntl53npbn", + "x": 0.477375, + "y": 0.46353125 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769414615527_qvply7z4d", + "x": 0.456375, + "y": 0.6168645833333334, + "width": 0.08000000000000007, + "height": 0.11600000000000002 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769414619983_ztouskemv", + "x": 0.475375, + "y": 0.3368645833333333, + "width": 0.05899999999999998, + "height": 0.38000000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹下降将试管放进透明玻璃杯中，方便爪夹张开，将试管落入透明玻璃杯中。", + "frame": 205, + "progress": 80, + "progress_explanation": "目前爪夹下降将试管放进透明玻璃杯中，方便爪夹张开，将试管落入透明玻璃杯中，进度提升为80%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹张开，将试管放进透明玻璃杯中。", + "time": 6.836999, + "annotations": { + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769414623905_edoyp0rjc", + "x": 0.479375, + "y": 0.33053125, + "width": 0.05599999999999996, + "height": 0.3373333333333333 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769414627567_pdu0xuuk4", + "x": 0.45737500000000003, + "y": 0.5985312500000001, + "width": 0.08499999999999996, + "height": 0.12533333333333327 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769414629575_pq3b7afxz", + "x": 0.48237500000000005, + "y": 0.46786458333333336 + } + ] + }, + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769414632239_zy38ereb2", + "x": 0.530375, + "y": 0.46119791666666665 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，成功将试管落入透明玻璃杯中。", + "frame": 241, + "progress": 100, + "progress_explanation": "目前爪夹张开，成功将试管落入透明玻璃杯中，进度提升为100%。", + "state_description": "当前状态为爪夹张开，试管放在透明玻璃杯中。\n已完成将试管放入透明玻璃瓶中的任务。", + "time": 8.029498, + "annotations": { + "point_1769412936268": { + "type": "point", + "instances": [ + { + "id": "point_1769412936268_1769414634951_cm5e8bg2h", + "x": 0.584375, + "y": 0.45953125000000006 + } + ] + }, + "point_1769412928508": { + "type": "point", + "instances": [ + { + "id": "point_1769412928508_1769414637223_q2h7ixor9", + "x": 0.434375, + "y": 0.46086458333333336 + } + ] + }, + "bbox_1769412919044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412919044_1769414649055_emeb52yn3", + "x": 0.442375, + "y": 0.5621979166666667, + "width": 0.10700000000000003, + "height": 0.13466666666666663 + } + ] + }, + "bbox_1769412913668": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769412913668_1769414653407_n4wvvnkki", + "x": 0.46137500000000004, + "y": 0.5941979166666668, + "width": 0.12299999999999996, + "height": 0.09199999999999993 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769412913668", + "name": "试管" + }, + { + "color": "#FF9800", + "id": "bbox_1769412919044", + "name": "透明玻璃杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769412928508", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769412936268", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-043725-put-test-tube-into-transparent-glass-bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-043725-put-test-tube-into-transparent-glass-bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..b508345ee8e4f0ace761a6e35ba56fc2980e1374 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260112-yuanshuaijun/20260112-043725-put-test-tube-into-transparent-glass-bottle-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,618 @@ +{ + "task_description": "将试管放入透明玻璃瓶中。\n爪夹开始移动:0%\n爪夹靠近试管:20%\n爪夹夹起试管:40%\n爪夹移动试管:60%\n爪夹将试管放入透明玻璃瓶内:80%\n爪夹松开，试管落入透明玻璃瓶内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.18400000000000002, + "id": "bbox_1769412913668_1769416760675_mou4eh0ml", + "width": 0.03099999999999996, + "x": 0.615375, + "y": 0.16219791666666666 + } + ], + "type": "bbox" + }, + "bbox_1769412919044": { + "instances": [ + { + "height": 0.1573333333333333, + "id": "bbox_1769412919044_1769416756659_ovk61cf2t", + "width": 0.09400000000000001, + "x": 0.187375, + "y": 0.3901979166666667 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416752140_5f25aq9v2", + "x": 0.39437500000000003, + "y": 0.45686458333333335 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416749764_bduyvrbs7", + "x": 0.621375, + "y": 0.46353125 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度向上抬升，然后向爪夹方向的右前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将试管放在透明玻璃瓶上方，随后持续下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动\n为完成将试管放入透明玻璃瓶中的任务应当:调\n整爪夹角度向上抬升，然后向爪夹方向的右前方移动靠近试管，准备抓取试管。", + "time": 0.9492139175257732 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.16400000000000003, + "id": "bbox_1769412913668_1769416735621_hl4iz2h7b", + "width": 0.02999999999999998, + "x": 0.5693750000000001, + "y": 0.2621979166666667 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416739396_oxr6fsxoo", + "x": 0.39437500000000003, + "y": 0.45553125 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416742027_meqnx3k1a", + "x": 0.622375, + "y": 0.46753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将试管放在透明玻璃瓶上方，随后持续下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向右前移动靠近试管。", + "frame": 50, + "progress": 5, + "progress_explanation": "目前爪夹向上抬升，方便爪夹向右前移动靠近试管，进度提升为5%。", + "state_description": "当前状态为爪夹打开，向上抬升\n为完成将试管放入透明玻璃瓶中的任务应当:随后爪夹向爪夹方向的右前方移动靠近试管，准备合拢抓取试管。", + "time": 1.6641 + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.4066666666666666, + "id": "bbox_1769412913668_1769416731604_yye2o9g7m", + "width": 0.05699999999999994, + "x": 0.45737500000000003, + "y": 0.21286458333333333 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416725444_wgpktpbm4", + "x": 0.39237500000000003, + "y": 0.45553125 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416722101_o6h3z19r6", + "x": 0.624375, + "y": 0.45686458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将试管放在透明玻璃瓶上方，随后持续下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向爪夹方向右前方移动靠近试管，方便爪夹合拢抓取试管。", + "frame": 85, + "progress": 10, + "progress_explanation": "目前爪夹向爪夹方向右前方移动靠近试管，方便爪夹合拢抓取试管，进度提升为10%。", + "state_description": "当前状态为爪夹打开，靠近试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹合拢抓取试管向上抬升，然后向爪夹方向左后方移动靠近透明玻璃杯。", + "time": 2.838 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.4093333333333334, + "id": "bbox_1769412913668_1769416714596_9ymvfa4i4", + "width": 0.05700000000000003, + "x": 0.464375, + "y": 0.23019791666666667 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416716500_dq6javo4b", + "x": 0.504375, + "y": 0.45686458333333335 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416718509_6ajsqnndv", + "x": 0.511375, + "y": 0.45953125000000006 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新张开，然后向爪夹方向前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将试管放在透明玻璃瓶上方，随后持续下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹合拢准备抓取试管，没成功抓取，与上一阶段相比，爪夹对了一次需要重新张开抓取试管的动作。", + "frame": 108, + "progress": -10, + "progress_explanation": "目前爪夹合拢准备抓取试管，没成功抓取，与上一阶段相比，爪夹对了一次需要重新张开抓取试管的动作，进度倒退为-10%。", + "state_description": "当前状态为爪夹合拢，\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹重新张开，然后向爪夹方向前方移动靠近试管，方便爪夹合拢抓取。", + "time": 3.599099 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.44666666666666666, + "id": "bbox_1769412913668_1769416710460_m95oz3qey", + "width": 0.06699999999999999, + "x": 0.45737500000000003, + "y": 0.22219791666666666 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416705549_cwh9pzjvr", + "x": 0.395375, + "y": 0.45553125 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416703437_7raym0e16", + "x": 0.620375, + "y": 0.46619791666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向前方移动靠近试管，爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将试管放在透明玻璃瓶上方，随后持续下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹重新张开，方便爪夹向前移动靠近试管。", + "frame": 133, + "progress": 15, + "progress_explanation": "目前爪夹重新张开，方便爪夹向前移动靠近试管，进度提升为15%。", + "state_description": "当前状态为爪夹张开，\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹向爪夹方向前方移动靠近试管，方便爪夹合拢抓取。", + "time": 4.433333333333334 + }, + { + "action_description": "爪夹向爪夹方向前方移动。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.4653333333333334, + "id": "bbox_1769412913668_1769416696269_5cbkq3dh6", + "width": 0.07599999999999998, + "x": 0.48637500000000006, + "y": 0.26886458333333335 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416698493_wmewtmghm", + "x": 0.397375, + "y": 0.46086458333333336 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416700613_wpnnchivy", + "x": 0.622375, + "y": 0.46086458333333336 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取试管，抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将试管放在透明玻璃瓶上方，随后持续下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向前移动靠近试管，方便爪夹合拢抓取试管。", + "frame": 160, + "progress": 20, + "progress_explanation": "目前爪夹向前移动靠近试管，方便爪夹合拢抓取试管，进度提升为20%。", + "state_description": "当前状态为爪夹张开，靠近试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹合拢抓取试管向上抬升，然后向爪夹方向左后方移动靠近透明玻璃杯。", + "time": 5.3277 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.48400000000000004, + "id": "bbox_1769412913668_1769416679085_0l5fp2l7t", + "width": 0.071, + "x": 0.475375, + "y": 0.2661979166666667 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416667957_w30e3m5d0", + "x": 0.485375, + "y": 0.4621979166666667 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416665541_zekohvie0", + "x": 0.5313749999999999, + "y": 0.4621979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取试管后竖直上升，随后向爪夹的左后方移动靠近透明玻璃瓶，下降将试管放在透明玻璃瓶上方，随后持续下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹合拢成功抓取试管，方便爪夹向上抬升并移动。", + "frame": 186, + "progress": 30, + "progress_explanation": "目前爪夹合拢成功抓取试管，方便爪夹向上抬升并移动，进度提升为30%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹合拢抓取试管向上抬升，然后向爪夹方向左后方移动靠近透明玻璃杯。", + "time": 6.2049 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.46799999999999997, + "id": "bbox_1769412913668_1769416655958_037bhy1k5", + "width": 0.07199999999999998, + "x": 0.47437500000000005, + "y": 0.2621979166666667 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416659542_9u9yztagc", + "x": 0.481375, + "y": 0.46353125 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416661910_4bknml59s", + "x": 0.534375, + "y": 0.46353125 + } + ], + "type": "point" + } + }, + "correction_plan": "随后向爪夹的左后方移动靠近透明玻璃瓶，下降将试管放在透明玻璃瓶上方，随后持续下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹抓取试管，成功向上抬升并移动。", + "frame": 206, + "progress": 40, + "progress_explanation": "目前爪夹抓取试管，成功向上抬升并移动，进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧试管\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹向上抬升，然后向爪夹方向左后方移动靠近透明玻璃杯。", + "time": 6.88055412371134 + }, + { + "action_description": "爪夹向爪夹方向左后方移动。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.48400000000000004, + "id": "bbox_1769412913668_1769416651798_1gxd11atr", + "width": 0.06699999999999999, + "x": 0.47437500000000005, + "y": 0.25553125 + } + ], + "type": "bbox" + }, + "bbox_1769412919044": { + "instances": [ + { + "height": 0.09333333333333335, + "id": "bbox_1769412919044_1769416645694_v7lgi50i5", + "width": 0.07400000000000002, + "x": 0.477375, + "y": 0.6261979166666667 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416639982_0qxjs2pzl", + "x": 0.48237500000000005, + "y": 0.46086458333333336 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416637758_pm72rt822", + "x": 0.534375, + "y": 0.45686458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "下降将试管放在透明玻璃瓶上方，随后持续下降将将试管放进透明玻璃杯中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹向爪夹方向左后方移动，成功靠近透明玻璃杯。", + "frame": 248, + "progress": 50, + "progress_explanation": "目前爪夹成功靠近透明玻璃杯，方便爪夹下降将试管放进透明玻璃杯中，进度提升为50%。", + "state_description": "当前状态为爪夹合拢，靠近透明玻璃杯\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹下降将试管放进透明玻璃杯上方，随后持续下降，将试管落入透明玻璃杯中。", + "time": 8.2818 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.4706666666666666, + "id": "bbox_1769412913668_1769416622495_3p4azkbzn", + "width": 0.07699999999999996, + "x": 0.46537500000000004, + "y": 0.25553125 + } + ], + "type": "bbox" + }, + "bbox_1769412919044": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1769412919044_1769416626054_jarf9x7ut", + "width": 0.08100000000000004, + "x": 0.43537499999999996, + "y": 0.6368645833333333 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416628248_9ma2lw2fw", + "x": 0.484375, + "y": 0.46353125 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416630519_l2eq0tjmm", + "x": 0.532375, + "y": 0.46886458333333336 + } + ], + "type": "point" + } + }, + "correction_plan": "下降将试管放入透明玻璃瓶中，松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹下降将试管放进透明玻璃杯上方，方便爪夹下降，将试管放进透明玻璃杯中。", + "frame": 293, + "progress": 60, + "progress_explanation": "目前爪夹下降将试管放进透明玻璃杯上方，方便爪夹下降，将试管放进透明玻璃杯中，进度提升为60%。", + "state_description": "当前状态为爪夹合拢，靠近透明玻璃杯\n为完成将试管放入透明玻璃瓶中的任务应当:爪夹下降将试管放进透明玻璃杯中，然后张开爪夹将试管落入透明玻璃杯中。", + "time": 9.7653 + }, + { + "action_description": "爪夹持续下降。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.47333333333333333, + "id": "bbox_1769412913668_1769416618367_66ohsnq42", + "width": 0.07999999999999999, + "x": 0.46637500000000004, + "y": 0.25586458333333334 + } + ], + "type": "bbox" + }, + "bbox_1769412919044": { + "instances": [ + { + "height": 0.12133333333333324, + "id": "bbox_1769412919044_1769416614095_31617swgj", + "width": 0.09399999999999994, + "x": 0.46637500000000004, + "y": 0.6411979166666667 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416609084_esswrfaqy", + "x": 0.481375, + "y": 0.46386458333333336 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416606646_jfmrfwthm", + "x": 0.5313749999999999, + "y": 0.46253125 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，试管落入透明玻璃瓶中。", + "error_success_analysis": "爪夹持续下降，将试管放进透明玻璃杯中。", + "frame": 335, + "progress": 80, + "progress_explanation": "目前爪夹持续下降，将试管放进透明玻璃杯中，进度提升为80%。", + "state_description": "当前状态为爪夹合拢，靠近透明玻璃杯\n为完成将试管放入透明玻璃瓶中的任务应当:张开爪夹，将试管落入透明玻璃杯中。", + "time": 11.162822164948453 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1769412913668": { + "instances": [ + { + "height": 0.184, + "id": "bbox_1769412913668_1769416595047_n5057g3ux", + "width": 0.088, + "x": 0.46637500000000004, + "y": 0.50353125 + } + ], + "type": "bbox" + }, + "bbox_1769412919044": { + "instances": [ + { + "height": 0.12666666666666657, + "id": "bbox_1769412919044_1769416598887_99b9k7exf", + "width": 0.10300000000000002, + "x": 0.464375, + "y": 0.5888645833333334 + } + ], + "type": "bbox" + }, + "point_1769412928508": { + "instances": [ + { + "id": "point_1769412928508_1769416601535_axhi8cumu", + "x": 0.464375, + "y": 0.46086458333333336 + } + ], + "type": "point" + }, + "point_1769412936268": { + "instances": [ + { + "id": "point_1769412936268_1769416603855_k440rbfkf", + "x": 0.552375, + "y": 0.45686458333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，成功将试管放进透明玻璃杯中。", + "frame": 368, + "progress": 100, + "progress_explanation": "目前爪夹张开，成功将试管放进透明玻璃杯中，进度提升为80%。", + "state_description": "当前状态为爪夹张开，试管落入透明玻璃杯中\n已完成将试管放入透明玻璃瓶中的任务。", + "time": 12.2679 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769412913668", + "name": "试管" + }, + { + "color": "#FF9800", + "id": "bbox_1769412919044", + "name": "透明玻璃杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769412928508", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769412936268", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-010154-put-syringe-into-measuring cup-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-010154-put-syringe-into-measuring cup-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..913e741ba0019cb983da0de399567c0a8d67d7ad --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-010154-put-syringe-into-measuring cup-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,352 @@ +{ + "task_description": "将注射器放入大号量杯中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近注射器：20%\n爪夹抓住注射器：40%\n爪夹合拢并靠近大号量杯：60%\n爪夹移动到大号量杯的上方：80%\n爪夹松开，使注射器落入大号量杯中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，略微调整爪夹方向，并移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近大号量杯，爪夹移动到大号量杯的正上方，爪夹松开，使注射器落入大号量杯中。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触注射器。\n为完成将注射器放入大号量杯中的任务应当：爪夹向爪夹的上方抬起，并向爪夹的右前方移动，略微调整爪夹方向，靠近注射器。", + "time": 0.7864433365979382, + "annotations": { + "bbox_1768806230526": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806230526_1768809021575_xmermr5eb", + "x": 0.8755000000000001, + "y": 0.5413333333333334, + "width": 0.06099999999999994, + "height": 0.051999999999999956 + } + ] + }, + "point_1768806233158": { + "type": "point", + "instances": [ + { + "id": "point_1768806233158_1768809023951_xu3afs8jb", + "x": 0.9205, + "y": 0.5399999999999999 + } + ] + }, + "bbox_1768806232454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806232454_1768809028959_0d3pkqbuw", + "x": 0.7415, + "y": 0.45466666666666666, + "width": 0.08899999999999997, + "height": 0.13999999999999999 + } + ] + } + } + }, + { + "time": 1.365466, + "frame": 41, + "progress": 10, + "action_description": "爪夹向爪夹的上方移动，靠近注射器。", + "state_description": "当前爪夹张开，与注射器的水平距离略微缩短。\n为完成将注射器放入大号量杯中的任务应当：爪夹向爪夹的左上方调整爪夹方向，并向爪夹的下方移动，靠近注射器。", + "progress_explanation": "当前爪夹张开，在水平方向上略微接近注射器，并开始调整爪夹方向，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的上方移动，在水平方向上略微接近注射器。", + "correction_plan": "爪夹向爪夹的左上方调整爪夹方向，并向爪夹的下方移动，靠近注射器，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近大号量杯，爪夹移动到大号量杯的正上方，爪夹松开，使注射器落入大号量杯中。", + "annotations": { + "bbox_1768806232454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806232454_1768809033591_f2bw9ca0t", + "x": 0.7405, + "y": 0.4533333333333333, + "width": 0.09099999999999993, + "height": 0.136 + } + ] + }, + "bbox_1768806230526": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806230526_1768809037047_uwogrw6n8", + "x": 0.8714999999999999, + "y": 0.5426666666666667, + "width": 0.10099999999999998, + "height": 0.06933333333333327 + } + ] + }, + "point_1768806233158": { + "type": "point", + "instances": [ + { + "id": "point_1768806233158_1768809047071_4cgtuk5zq", + "x": 0.9425000000000001, + "y": 0.42933333333333334 + } + ] + } + } + }, + { + "time": 2.1527, + "frame": 65, + "progress": 20, + "action_description": "爪夹向爪夹的左上方调整爪夹方向，并向爪夹的下方移动，靠近注射器。", + "state_description": "当前爪夹张开，在水平方向上接近注射器。\n为完成将注射器放入大号量杯中的任务应当：爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器。", + "progress_explanation": "当前爪夹张开，在水平方向上再次接近注射器，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的左上方调整爪夹方向，并向爪夹的下方移动，在水平方向上成功接近注射器。", + "correction_plan": "爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近大号量杯，爪夹移动到大号量杯的正上方，爪夹松开，使注射器落入大号量杯中。", + "annotations": { + "bbox_1768806232454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806232454_1768809057702_59jmfsjk8", + "x": 0.7424999999999999, + "y": 0.45466666666666666, + "width": 0.08700000000000001, + "height": 0.13466666666666663 + } + ] + }, + "bbox_1768806230526": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806230526_1768809072638_x1t2xsrny", + "x": 0.8765000000000001, + "y": 0.5426666666666667, + "width": 0.09800000000000005, + "height": 0.06799999999999998 + } + ] + } + } + }, + { + "time": 3.0096, + "frame": 90, + "progress": 40, + "action_description": "爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器。", + "state_description": "当前爪夹合拢，已经抓住注射器。\n为完成将注射器放入大号量杯中的任务应当：爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近大号量杯。", + "progress_explanation": "当前爪夹已成功抓取注射器，因此进度提升为40%。", + "error_success_analysis": "爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，成功抓住注射器。", + "correction_plan": "爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近大号量杯，爪夹移动到大号量杯的正上方，爪夹松开，使注射器落入大号量杯中。", + "annotations": { + "bbox_1768806232454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806232454_1768809079318_xbykfyxcz", + "x": 0.7375, + "y": 0.456, + "width": 0.09499999999999993, + "height": 0.1413333333333334 + } + ] + } + } + }, + { + "time": 4.0964, + "frame": 123, + "progress": 60, + "action_description": "爪夹保持合拢，爪夹向爪夹的上方抬起，并靠近大号量杯。", + "state_description": "当前爪夹合拢，在水平方向上略微接近大号量杯。\n为完成将注射器放入大号量杯中的任务应当：爪夹保持合拢，并向爪夹的左前方移动，靠近大号量杯，爪夹移动到大号量杯的正上方，爪夹松开，使注射器落入大号量杯中。", + "progress_explanation": "当前爪夹合拢，与大号量杯的水平距离略微缩短，因此进度提升至60%。", + "error_success_analysis": "爪夹保持合拢，爪夹向爪夹的上方抬起，水平方向上略微接近大号量杯。", + "correction_plan": "爪夹保持合拢，并向爪夹的左前方移动，靠近大号量杯，爪夹移动到大号量杯的正上方，爪夹松开，使注射器落入大号量杯中。", + "annotations": { + "bbox_1768806232454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806232454_1768809098397_ivsz6ur0c", + "x": 0.7365, + "y": 0.456, + "width": 0.09100000000000001, + "height": 0.13866666666666666 + } + ] + } + } + }, + { + "time": 4.944897143814433, + "frame": 148, + "progress": 80, + "action_description": "爪夹保持合拢，并向爪夹的左前方移动，靠近大号量杯，爪夹移动到大号量杯的正上方。", + "state_description": "当前爪夹合拢，在水平方向上位于大号量杯的正上方。\n为完成将注射器放入大号量杯中的任务应当：爪夹松开，使注射器落入大号量杯中。", + "progress_explanation": "当前爪夹抓住注射器，已经移动到大号量杯的正上方，因此进度提升至80%。", + "error_success_analysis": "爪夹保持合拢，并向爪夹的左前方移动，靠近大号量杯，爪夹成功移动到大号量杯的正上方。", + "correction_plan": "爪夹松开，使注射器落入大号量杯中。", + "annotations": { + "bbox_1768806232454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806232454_1768809105142_jevjqrffk", + "x": 0.7435, + "y": 0.456, + "width": 0.08599999999999994, + "height": 0.13600000000000007 + } + ] + }, + "point_1768806233158": { + "type": "point", + "instances": [ + { + "id": "point_1768806233158_1768809117150_0gcsbhcrt", + "x": 0.7535000000000001, + "y": 0.3333333333333333 + } + ] + } + } + }, + { + "time": 6.079673830412371, + "frame": 182, + "progress": 10, + "action_description": "爪夹松开，注射器落在桌子上。", + "state_description": "当前爪夹张开，注射器位于桌子上。\n为完成将注射器放入大号量杯中的任务应当：爪夹保持张开，向爪夹的前方移动，并调整爪夹的方向，靠近注射器。", + "progress_explanation": "当前爪夹张开，注射器没有落入大号量杯中，因此进度下降至10%。", + "error_success_analysis": "爪夹张开，注射器没有落入大号量杯中。", + "correction_plan": "爪夹保持张开，向爪夹的前方移动，靠近注射器，并调整爪夹的方向，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的后方移动，靠近大号量杯，爪夹抓住注射器移动到大号量杯的正上方，爪夹松开，使注射器落入大号量杯中。", + "annotations": { + "point_1768806233158": { + "type": "point", + "instances": [ + { + "id": "point_1768806233158_1768809120542_xcapzk1os", + "x": 0.7115, + "y": 0.36933333333333335 + } + ] + }, + "point_1768806233582": { + "type": "point", + "instances": [ + { + "id": "point_1768806233582_1768809123030_l7jylqge3", + "x": 0.7885, + "y": 0.3 + } + ] + }, + "bbox_1768806232454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806232454_1768809127062_gpfjjfvuv", + "x": 0.7415, + "y": 0.45866666666666667, + "width": 0.088, + "height": 0.13199999999999998 + } + ] + }, + "bbox_1768806230526": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806230526_1768809130710_i5xjjobx0", + "x": 0.6605000000000001, + "y": 0.4653333333333334, + "width": 0.092, + "height": 0.036000000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的后方略微移动。", + "correction_plan": "爪夹保持张开，向爪夹的前方移动，靠近注射器，并调整爪夹的方向，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的后方移动，靠近大号量杯，爪夹抓住注射器移动到大号量杯的正上方，爪夹松开，使注射器落入大号量杯中。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并向爪夹的后方略微移动，略微远离了注射器。", + "frame": 209, + "progress": 0, + "progress_explanation": "当前爪夹张开，略微远离了注射器，因此进度下降至0%。", + "state_description": "当前爪夹张开，与注射器的水平距离变远。\n为完成将注射器放入大号量杯中的任务应当：爪夹保持张开，向爪夹的前方移动，并调整爪夹的方向，靠近注射器，爪夹移动到注射器的正上方。", + "time": 6.966667, + "annotations": { + "bbox_1768806230526": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806230526_1768809137406_qm20vjwmc", + "x": 0.6635, + "y": 0.4693333333333333, + "width": 0.08900000000000005, + "height": 0.02666666666666669 + } + ] + }, + "bbox_1768806232454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768806232454_1768809141245_v1pd5mf59", + "x": 0.7415, + "y": 0.46, + "width": 0.08899999999999997, + "height": 0.13599999999999995 + } + ] + }, + "point_1768806233158": { + "type": "point", + "instances": [ + { + "id": "point_1768806233158_1768809143717_tn6u2xy7m", + "x": 0.8154999999999999, + "y": 0.264 + } + ] + }, + "point_1768806233582": { + "type": "point", + "instances": [ + { + "id": "point_1768806233582_1768809146253_htjp205oi", + "x": 0.9095000000000001, + "y": 0.19866666666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768806230526", + "name": "注射器", + "color": "#4CAF50" + }, + { + "id": "bbox_1768806232454", + "name": "大号量杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768806233158", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768806233582", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-021510-put-syringe-into-measuring cup-good4/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-021510-put-syringe-into-measuring cup-good4/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..09ce85ca3f2dfac30496c02d816b3dc208b4c15f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-021510-put-syringe-into-measuring cup-good4/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,346 @@ +{ + "task_description": "将注射器放入量杯中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近注射器：20%\n爪夹抓住注射器：40%\n爪夹合拢并靠近量杯：60%\n爪夹移动到量杯的正上方：80%\n爪夹松开，使注射器落入量杯中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近注射器，爪夹向爪夹的下方调整爪夹方向，爪夹向爪夹的右前方移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触注射器。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近注射器，爪夹向爪夹的下方调整爪夹方向，爪夹向爪夹的右前方移动到注射器的正上方。", + "time": 0.652852261340206, + "annotations": { + "bbox_1768810542606": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542606_1768812149956_u83lfgr3r", + "x": 0.5475000000000001, + "y": 0.5559999999999999, + "width": 0.05899999999999998, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1768810542766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542766_1768812154396_jmbu59at6", + "x": 0.44750000000000006, + "y": 0.316, + "width": 0.07199999999999998, + "height": 0.13866666666666666 + } + ] + }, + "point_1768810543462": { + "type": "point", + "instances": [ + { + "id": "point_1768810543462_1768812157332_xnusjj24m", + "x": 0.3725, + "y": 0.3893333333333333 + } + ] + }, + "point_1768810543630": { + "type": "point", + "instances": [ + { + "id": "point_1768810543630_1768812159396_sy1sq54ka", + "x": 0.4845, + "y": 0.44133333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，略微接近注射器。", + "correction_plan": "爪夹向爪夹的下方调整爪夹方向，并向爪夹的右边移动，靠近注射器，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，在水平方向上略微接近注射器。", + "frame": 44, + "progress": 10, + "progress_explanation": "当前爪夹张开，略微接近注射器，因此进度提升至10%。", + "state_description": "当前爪夹张开，在水平方向上略微接近注射器。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的下方调整爪夹方向，并向爪夹的右边移动，靠近注射器。", + "time": 1.478933, + "annotations": { + "bbox_1768810542606": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542606_1768812166356_et08dbl03", + "x": 0.5515, + "y": 0.5559999999999999, + "width": 0.051000000000000066, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1768810542766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542766_1768812170108_lxemy43aj", + "x": 0.47350000000000003, + "y": 0.32266666666666666, + "width": 0.04399999999999995, + "height": 0.14400000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方调整爪夹方向，使其接近于垂直桌面。", + "correction_plan": "爪夹继续向爪夹的下方调整爪夹方向，并向爪夹的右边移动，靠近注射器，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹向爪夹的下方调整爪夹方向，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 64, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上再次接近注射器并开始调整爪夹方向方便抓取，因此进度提升为20%。", + "state_description": "当前爪夹张开，与注射器的水平距离再次缩短。\n为完成将注射器放入量杯中的任务应当：爪夹继续向爪夹的下方调整爪夹方向，并向爪夹的右边移动，靠近注射器。", + "time": 2.1476, + "annotations": { + "bbox_1768810542766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542766_1768812174228_jddzae7qm", + "x": 0.4495, + "y": 0.3266666666666667, + "width": 0.06900000000000003, + "height": 0.1293333333333333 + } + ] + }, + "bbox_1768810542606": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542606_1768812178852_cc7x6lp0v", + "x": 0.5515, + "y": 0.5586666666666668, + "width": 0.050000000000000086, + "height": 0.1146666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的下方调整爪夹方向，并向爪夹的右边移动，靠近注射器。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹继续向爪夹的下方调整爪夹方向，并向爪夹的右边移动，在水平方向上成功接近注射器。", + "frame": 88, + "progress": 30, + "progress_explanation": "当前爪夹已经移动到注射器的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，在水平方向上位于注射器的正上方。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯。", + "time": 2.9264, + "annotations": { + "bbox_1768810542606": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542606_1768812183500_u872nk3fo", + "x": 0.5515, + "y": 0.5533333333333333, + "width": 0.052000000000000046, + "height": 0.12399999999999996 + } + ] + }, + "point_1768810543462": { + "type": "point", + "instances": [ + { + "id": "point_1768810543462_1768812186060_i6en5xtyb", + "x": 0.5685, + "y": 0.5453333333333333 + } + ] + }, + "bbox_1768810542766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542766_1768812193220_k0gx3nqpv", + "x": 0.4445, + "y": 0.32133333333333336, + "width": 0.07000000000000002, + "height": 0.13466666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器。", + "correction_plan": "爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，成功抓住注射器。", + "frame": 129, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取注射器，因此进度提升为40%。", + "state_description": "当前爪夹合拢，已经抓住注射器。\n为完成将注射器放入量杯中的任务应当：爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯。", + "time": 4.303066, + "annotations": { + "bbox_1768810542766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542766_1768812197908_ff5xdknvm", + "x": 0.4465, + "y": 0.32133333333333336, + "width": 0.07000000000000002, + "height": 0.13333333333333333 + } + ] + }, + "point_1768810543630": { + "type": "point", + "instances": [ + { + "id": "point_1768810543630_1768812200876_wzf1w1o39", + "x": 0.5945, + "y": 0.6093333333333334 + } + ] + }, + "bbox_1768810542606": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542606_1768812204612_48i91kd57", + "x": 0.5335, + "y": 0.548, + "width": 0.07800000000000003, + "height": 0.11333333333333329 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，爪夹向爪夹的上方抬起。", + "correction_plan": "爪夹向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹保持合拢，爪夹向爪夹的上方抬起，水平方向上略微接近量杯。", + "frame": 143, + "progress": 60, + "progress_explanation": "当前爪夹合拢，与量杯的水平距离略微缩短，因此进度提升至60%。", + "state_description": "当前爪夹合拢，在水平方向上略微接近量杯。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方。", + "time": 4.78082494484536, + "annotations": { + "bbox_1768810542606": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542606_1768812208651_qzptn8tgz", + "x": 0.5625, + "y": 0.34, + "width": 0.06400000000000006, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1768810542766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542766_1768812212539_0opouq7iz", + "x": 0.4455, + "y": 0.31466666666666665, + "width": 0.07199999999999998, + "height": 0.14533333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方。", + "correction_plan": "爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹向爪夹的左前方移动，靠近量杯，爪夹成功移动到量杯的正上方。", + "frame": 168, + "progress": 80, + "progress_explanation": "当前爪夹抓住注射器，已经移动到量杯的正上方，因此进度提升至80%。", + "state_description": "当前爪夹合拢，在水平方向上位于量杯的正上方。\n为完成将注射器放入量杯中的任务应当：爪夹松开，使注射器落入量杯中。", + "time": 5.585333, + "annotations": { + "bbox_1768810542766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542766_1768812219867_qflqsccch", + "x": 0.45149999999999996, + "y": 0.32266666666666666, + "width": 0.06700000000000009, + "height": 0.13200000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹松开，注射器落下。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，注射器落入量杯中。", + "frame": 191, + "progress": 100, + "progress_explanation": "当前注射器已经落入量杯中，因此进度提升至100%。", + "state_description": "当前爪夹张开，注射器位于量杯里面，已经完成将注射器放入量杯中的任务。", + "time": 6.356266, + "annotations": { + "bbox_1768810542766": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542766_1768812224595_64jlox4ep", + "x": 0.4465, + "y": 0.32266666666666666, + "width": 0.071, + "height": 0.13866666666666666 + } + ] + }, + "bbox_1768810542606": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768810542606_1768812228723_jwf5u45oh", + "x": 0.46950000000000003, + "y": 0.3093333333333333, + "width": 0.026999999999999958, + "height": 0.14400000000000002 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768810542606", + "name": "注射器" + }, + { + "color": "#FF9800", + "id": "bbox_1768810542766", + "name": "量杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768810543462", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768810543630", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-024206-put-syringe-into-measuring cup-mix1/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-024206-put-syringe-into-measuring cup-mix1/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..4378cf09f1aae2fa5205ca41c72463b8e655a756 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-024206-put-syringe-into-measuring cup-mix1/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,678 @@ +{ + "task_description": "将注射器放入量杯中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近注射器：20%\n爪夹抓住注射器：40%\n爪夹合拢并靠近量杯：60%\n爪夹移动到量杯的上方：80%\n爪夹松开，使注射器落入量杯中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，并向爪夹的右下方调整爪夹方向，靠近注射器，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触注射器。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的上方抬起，并向爪夹的右前方移动，并向爪夹的右下方调整爪夹方向，靠近注射器。", + "time": 1.3603607953608248, + "annotations": { + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159306147_upk1xb4v0", + "x": 0.4025, + "y": 0.41733333333333333, + "width": 0.10299999999999994, + "height": 0.18266666666666667 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159310043_bad5oofyp", + "x": 0.3995, + "y": 0.46266666666666667 + } + ] + }, + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159312123_9fg1xnnu6", + "x": 0.6195, + "y": 0.4613333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方抬起，靠近注射器。", + "correction_plan": "爪夹向爪夹的右下方移动并调整爪夹方向，靠近注射器，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹向爪夹的上方移动，在水平方向上略微接近注射器。", + "frame": 64, + "progress": 10, + "progress_explanation": "当前爪夹张开，在水平方向上略微接近注射器，因此进度提升至10%。", + "state_description": "当前爪夹张开，与注射器的水平距离略微缩短。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的右下方移动并调整爪夹方向，靠近注射器。", + "time": 2.145233, + "annotations": { + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159319595_yqb6lduij", + "x": 0.4135000000000001, + "y": 0.4026666666666667, + "width": 0.09899999999999994, + "height": 0.14533333333333326 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159322387_a2ijorueq", + "x": 0.39849999999999997, + "y": 0.4666666666666667 + } + ] + }, + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159324587_8h9apqlv9", + "x": 0.6165, + "y": 0.46266666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右下方移动并调整爪夹方向，靠近注射器。", + "correction_plan": "爪夹向爪夹的右边移动，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹向爪夹的右下方移动并调整爪夹方向，靠近注射器，在水平方向上成功接近注射器。", + "frame": 84, + "progress": 20, + "progress_explanation": "当前爪夹张开，在水平方向上再次接近注射器，因此进度提升至20%。", + "state_description": "当前爪夹张开，在水平方向上再次接近注射器。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的右边移动，爪夹移动到注射器的正上方。", + "time": 2.793433, + "annotations": { + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159334226_mf3pjl6x6", + "x": 0.1865, + "y": 0.42133333333333334, + "width": 0.14, + "height": 0.19733333333333328 + } + ] + }, + "bbox_1768812486865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486865_1769159338139_5uesvejig", + "x": 0.49350000000000005, + "y": 0.3093333333333333, + "width": 0.10599999999999996, + "height": 0.19600000000000004 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159340539_xzyhjsisq", + "x": 0.3955, + "y": 0.464 + } + ] + }, + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159342547_ueficzuzm", + "x": 0.6205, + "y": 0.4613333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，到达镊子的正上方。", + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的右边移动，靠近注射器，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹没有继续向爪夹的右边移动，移动到注射器的正上方，而是直接向爪夹的下方移动，到达镊子的正上方。", + "frame": 119, + "progress": 10, + "progress_explanation": "当前爪夹张开，移动到镊子的正上方，因此进度下降至10%。", + "state_description": "当前爪夹张开，在水平方向上位于镊子的正上方。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的上方抬起，并向爪夹的右边移动，靠近注射器，爪夹移动到注射器的正上方。", + "time": 3.981799, + "annotations": { + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159344874_twrocahz6", + "x": 0.6195, + "y": 0.46 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159347547_68oxnycc7", + "x": 0.3995, + "y": 0.464 + } + ] + }, + "bbox_1768812486865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486865_1769159350962_uu10l5hml", + "x": 0.5815, + "y": 0.25866666666666666, + "width": 0.13499999999999995, + "height": 0.2693333333333333 + } + ] + }, + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159357522_tyvj90hx4", + "x": 0.1645, + "y": 0.44133333333333336, + "width": 0.18000000000000002, + "height": 0.21466666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，并抓住镊子。", + "correction_plan": "爪夹张开，并向爪夹的上方抬起，爪夹向爪夹的右边移动，靠近注射器，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹没有像爪夹的右边靠近注射器，而是合拢爪夹，抓取镊子。", + "frame": 171, + "progress": -10, + "progress_explanation": "当前爪夹合拢，抓住镊子，没有向爪夹的右边靠近注射器，因此进度下降至-10%。", + "state_description": "当前爪夹合拢，抓住镊子。\n为完成将注射器放入量杯中的任务应当：爪夹张开，并向爪夹的上方抬起，爪夹向爪夹的右边移动，靠近注射器，爪夹移动到注射器的正上方。", + "time": 5.694899, + "annotations": { + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159362154_dxy3lggfm", + "x": 0.1285, + "y": 0.44533333333333336, + "width": 0.193, + "height": 0.27733333333333327 + } + ] + }, + "bbox_1768812486865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486865_1769159368074_nsc8cz6ts", + "x": 0.5625, + "y": 0.24933333333333335, + "width": 0.13200000000000003, + "height": 0.29200000000000004 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159370514_84tbt0l46", + "x": 0.5025000000000001, + "y": 0.444 + } + ] + }, + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159373218_4ygclb3fi", + "x": 0.5165, + "y": 0.4426666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，向爪夹的上方抬起，并松开爪夹。", + "correction_plan": "爪夹保持张开，向爪夹的右边移动，靠近注射器，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹松开，镊子掉落，爪夹准备靠近注射器。", + "frame": 219, + "progress": 0, + "progress_explanation": "当前爪夹张开，镊子掉落，因此进度提升至0%。", + "state_description": "当前爪夹张开，镊子位于桌子上。\n为完成将注射器放入量杯中的任务应当：爪夹保持张开，向爪夹的右边移动，靠近注射器，爪夹移动到注射器的正上方。", + "time": 7.315399, + "annotations": { + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159377154_6ixcu8wk0", + "x": 0.6214999999999999, + "y": 0.45733333333333337 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159379034_aeasz8mfi", + "x": 0.3965, + "y": 0.464 + } + ] + }, + "bbox_1768812486865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486865_1769159381874_azs8k83t7", + "x": 0.5415, + "y": 0.3373333333333334, + "width": 0.075, + "height": 0.20666666666666664 + } + ] + }, + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159385082_ehlci3q2s", + "x": 0.1915, + "y": 0.41733333333333333, + "width": 0.156, + "height": 0.19200000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹保持张开，向爪夹的右边移动，靠近注射器，并向爪夹的下方调整爪夹方向。", + "correction_plan": "爪夹向爪夹的右边移动，并调整爪夹方向，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹保持张开，向爪夹的右边移动，靠近注射器，并向爪夹的下方调整爪夹方向，水平方向上接近注射器。", + "frame": 256, + "progress": 10, + "progress_explanation": "当前爪夹张开，与注射器的水平距离缩短，因此进度提升至10%。", + "state_description": "当前爪夹张开，在水平方向上接近注射器。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的右边移动，并调整爪夹方向，爪夹移动到注射器的正上方。", + "time": 8.519199, + "annotations": { + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159388538_fm1k7jmiy", + "x": 0.0985, + "y": 0.41466666666666663, + "width": 0.148, + "height": 0.2226666666666667 + } + ] + }, + "bbox_1768812486865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486865_1769159391610_uxs60gvgq", + "x": 0.4535, + "y": 0.31333333333333335, + "width": 0.083, + "height": 0.21733333333333332 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159393306_c6gwwiink", + "x": 0.3955, + "y": 0.46266666666666667 + } + ] + }, + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159395570_p7c5bqfeb", + "x": 0.6214999999999999, + "y": 0.4533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方调整爪夹方向，并向爪夹的右边移动，靠近注射器。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹向爪夹的下方调整爪夹方向，并向爪夹的右边移动，靠近注射器，爪夹成功移动到注射器的正上方。", + "frame": 281, + "progress": 30, + "progress_explanation": "当前爪夹已经移动到注射器的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，在水平方向上位于注射器的正上方。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取注射器。", + "time": 9.368033, + "annotations": { + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159398674_v4vjv08jh", + "x": 0.6205, + "y": 0.45466666666666666 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159400402_o86a8f7z4", + "x": 0.3995, + "y": 0.46266666666666667 + } + ] + }, + "bbox_1768812486865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486865_1769159403490_a8jg5fodd", + "x": 0.3925, + "y": 0.3066666666666667, + "width": 0.152, + "height": 0.24133333333333334 + } + ] + }, + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159407898_z67goawsy", + "x": 0.1135, + "y": 0.5133333333333333, + "width": 0.128, + "height": 0.1933333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取注射器。", + "correction_plan": "爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左后方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹向爪夹的下方移动，成功抓住注射器。", + "frame": 333, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取注射器，因此进度提升为40%。", + "state_description": "当前爪夹合拢，已经抓住注射器。\n为完成将注射器放入量杯中的任务应当：爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左后方移动，靠近量杯。", + "time": 11.097680172680413, + "annotations": { + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159412002_c076jerhc", + "x": 0.1075, + "y": 0.5173333333333333, + "width": 0.147, + "height": 0.23466666666666663 + } + ] + }, + "bbox_1768812486865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486865_1769159415018_d6uah8cr5", + "x": 0.4765, + "y": 0.26266666666666666, + "width": 0.06300000000000008, + "height": 0.30266666666666675 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159417778_u3061525r", + "x": 0.4845, + "y": 0.44933333333333336 + } + ] + }, + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159419730_vmn22c8ir", + "x": 0.5345, + "y": 0.4426666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左后方移动，靠近量杯。", + "correction_plan": "爪夹继续向爪夹的左后方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹保持合拢，爪夹向爪夹的上方抬起，水平方向上略微接近量杯。", + "frame": 363, + "progress": 60, + "progress_explanation": "当前爪夹合拢，与量杯的水平距离略微缩短，因此进度提升至60%。", + "state_description": "当前爪夹合拢，在水平方向上略微接近量杯。\n为完成将注射器放入量杯中的任务应当：爪夹继续向爪夹的左后方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "time": 12.100051285051546, + "annotations": { + "bbox_1768812486865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486865_1769159430130_yuu7l3u9c", + "x": 0.48950000000000005, + "y": 0.26, + "width": 0.046, + "height": 0.30933333333333335 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159432106_6vlmr8agd", + "x": 0.48250000000000004, + "y": 0.44933333333333336 + } + ] + }, + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159434770_q6jvgauw2", + "x": 0.5345, + "y": 0.448 + } + ] + }, + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159440218_gdg8teaci", + "x": 0.3065, + "y": 0.5266666666666667, + "width": 0.11599999999999996, + "height": 0.10933333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的左后方移动，靠近量杯，爪夹移动到量杯的正上方。", + "correction_plan": "爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "爪夹保持合拢，并向爪夹的左后方移动，靠近量杯，爪夹成功移动到量杯的正上方。", + "frame": 408, + "progress": 80, + "progress_explanation": "当前爪夹抓住注射器，已经移动到大号量杯的正上方，因此进度提升至80%。", + "state_description": "当前爪夹合拢，在水平方向上位于量杯的正上方。\n为完成将注射器放入量杯中的任务应当：爪夹松开，使注射器落入量杯中。", + "time": 13.611563279896906, + "annotations": { + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159445745_6irwcomh0", + "x": 0.4385, + "y": 0.37866666666666665, + "width": 0.14100000000000001, + "height": 0.18266666666666667 + } + ] + }, + "bbox_1768812486865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486865_1769159449865_5jdsxxdzx", + "x": 0.4885, + "y": 0.2653333333333333, + "width": 0.054000000000000006, + "height": 0.30400000000000005 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159451977_wnhofaa7z", + "x": 0.4835, + "y": 0.44933333333333336 + } + ] + }, + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159454137_st0mu9rfc", + "x": 0.5315000000000001, + "y": 0.44666666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹松开，注射器落下。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，注射器成功落入量杯中。", + "frame": 433, + "progress": 100, + "progress_explanation": "当前注射器成功落入量杯中，因此进度提升至100%。", + "state_description": "当前注射器位于量杯中，已经完成将注射器放入量杯中的任务。", + "time": 14.438917213917525, + "annotations": { + "point_1768812487864": { + "type": "point", + "instances": [ + { + "id": "point_1768812487864_1769159457105_zwnma7qa0", + "x": 0.6185, + "y": 0.46266666666666667 + } + ] + }, + "point_1768812487689": { + "type": "point", + "instances": [ + { + "id": "point_1768812487689_1769159459233_ron97vuo5", + "x": 0.3975, + "y": 0.468 + } + ] + }, + "bbox_1768812486865": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486865_1769159462401_1t9cu2vo3", + "x": 0.4445, + "y": 0.4013333333333334, + "width": 0.07599999999999998, + "height": 0.1 + } + ] + }, + "bbox_1768812486681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768812486681_1769159466177_3meddeg9a", + "x": 0.4125, + "y": 0.37333333333333335, + "width": 0.14000000000000004, + "height": 0.18933333333333327 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768812486681", + "name": "量杯" + }, + { + "color": "#FF9800", + "id": "bbox_1768812486865", + "name": "注射器" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768812487689", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768812487864", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-030944-put-syringe-into-measuring cup-mix3/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-030944-put-syringe-into-measuring cup-mix3/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..3f30f52eb9f107d509605791cb50386cbf948cf9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-030944-put-syringe-into-measuring cup-mix3/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,600 @@ +{ + "task_description": "将注射器放入量杯中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近注射器：20%\n爪夹抓住注射器：40%\n爪夹合拢并靠近量杯：60%\n爪夹移动到量杯的上方：80%\n爪夹松开，使注射器落入量杯中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，略微调整爪夹方向，并移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触注射器。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的上方抬起，并向爪夹的右前方移动，略微调整爪夹方向，靠近注射器。", + "time": 0.5861340206185567, + "annotations": { + "bbox_1769218901164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901164_1769224240360_w7ufo7lyb", + "x": 0.6405000000000001, + "y": 0.4426666666666667, + "width": 0.028000000000000025, + "height": 0.11333333333333329 + } + ] + }, + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224243943_1dijkvv3f", + "x": 0.43550000000000005, + "y": 0.42266666666666663, + "width": 0.06599999999999992, + "height": 0.09466666666666666 + } + ] + }, + "point_1769218902460": { + "type": "point", + "instances": [ + { + "id": "point_1769218902460_1769224246496_r8dxp0yw5", + "x": 0.5535, + "y": 0.572 + } + ] + }, + "point_1769218902635": { + "type": "point", + "instances": [ + { + "id": "point_1769218902635_1769224248848_u82nhpo7n", + "x": 0.6535, + "y": 0.5653333333333334 + } + ] + } + } + }, + { + "time": 1.1645, + "frame": 35, + "progress": 10, + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近注射器。", + "state_description": "当前爪夹张开，与注射器的水平距离略微缩短。\n为完成将注射器放入量杯中的任务应当：爪夹继续向爪夹的右前方移动，并调整爪夹方向，至爪夹垂直于注射器的正上方。", + "progress_explanation": "当前爪夹张开，在水平方向上略微接近注射器，并开始调整爪夹方向，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，在水平方向上略微接近注射器。", + "correction_plan": "爪夹继续向爪夹的右前方移动，并调整爪夹方向，至爪夹垂直于注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "point_1769218902635": { + "type": "point", + "instances": [ + { + "id": "point_1769218902635_1769224252496_0apb27qk9", + "x": 0.6785, + "y": 0.5293333333333333 + } + ] + }, + "point_1769218902460": { + "type": "point", + "instances": [ + { + "id": "point_1769218902460_1769224255624_ggpupwdh7", + "x": 0.5785, + "y": 0.536 + } + ] + }, + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224259976_dg4rwh8lr", + "x": 0.43950000000000006, + "y": 0.42533333333333334, + "width": 0.06299999999999999, + "height": 0.09066666666666669 + } + ] + }, + "bbox_1769218901164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901164_1769224264096_3gnj1rcjk", + "x": 0.6395000000000001, + "y": 0.4346666666666667, + "width": 0.029000000000000005, + "height": 0.11866666666666668 + } + ] + } + } + }, + { + "time": 1.5618, + "frame": 47, + "progress": 20, + "action_description": "爪夹继续向爪夹的右前方移动，并调整爪夹方向。", + "state_description": "当前爪夹张开，在水平方向上接近注射器。\n为完成将注射器放入量杯中的任务应当：爪夹继续向爪夹的下方调整爪夹反向，并向爪夹的前方移动，直至爪夹移动至注射器的正上方。", + "progress_explanation": "当前爪夹张开，在水平方向上再次接近注射器，因此进度提升至20%。", + "error_success_analysis": "爪夹继续向爪夹的右前方移动，并调整爪夹方向，在水平方向上成功接近注射器。", + "correction_plan": "爪夹继续向爪夹的下方调整爪夹反向，并向爪夹的前方移动，直至爪夹移动至注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224271039_tmfu5uhpf", + "x": 0.4365, + "y": 0.4186666666666667, + "width": 0.06299999999999999, + "height": 0.09599999999999996 + } + ] + }, + "point_1769218902460": { + "type": "point", + "instances": [ + { + "id": "point_1769218902460_1769224273640_9zucwiv5k", + "x": 0.6045, + "y": 0.45466666666666666 + } + ] + } + } + }, + { + "time": 1.8572680412371132, + "frame": 56, + "progress": 30, + "action_description": "爪夹继续向爪夹的下方调整爪夹反向，并向爪夹的前方移动，直至爪夹移动至注射器的正上方。", + "state_description": "当前爪夹张开，在水平方向上位于注射器的正上方。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓住注射器。", + "progress_explanation": "当前爪夹已经移动到注射器的正上方，因此进度提升至30%。", + "error_success_analysis": "爪夹继续向爪夹的下方调整爪夹反向，并向爪夹的前方移动，成功移动到注射器的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224280760_egpgitcvx", + "x": 0.4385, + "y": 0.41733333333333333, + "width": 0.06200000000000001, + "height": 0.09600000000000003 + } + ] + } + } + }, + { + "time": 2.726299, + "frame": 82, + "progress": 15, + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹。", + "state_description": "当前爪夹合拢，在水平方向上位于注射器的正上方。\n为完成将注射器放入量杯中的任务应当：爪夹张开，重新向爪夹的下方移动，并合拢爪夹抓取注射器。", + "progress_explanation": "当前爪夹合拢，没有抓取到注射器，爪夹需要重新张开，并向爪夹的下方移动，才能再次抓取注射器，因此进度下降至15%。", + "error_success_analysis": "爪夹向爪夹的下方移动，并合拢爪夹，未抓取到注射器。", + "correction_plan": "爪夹张开，重新向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224286175_baos5n469", + "x": 0.43550000000000005, + "y": 0.428, + "width": 0.06499999999999995, + "height": 0.08533333333333334 + } + ] + } + } + }, + { + "time": 3.534599, + "frame": 106, + "progress": 5, + "action_description": "爪夹保持合拢，并向爪夹的上方抬起。", + "state_description": "当前爪夹合拢，在水平方向上略微远离注射器。\n为完成将注射器放入量杯中的任务应当：爪夹张开，重新向爪夹的下方移动，并合拢爪夹抓取注射器。", + "progress_explanation": "当前爪夹合拢，没有同上一步重新张开，并下降爪夹，而是保持合拢，并向爪夹的上方抬起，因此进度下降至5%。", + "error_success_analysis": "爪夹保持合拢，并向爪夹的上方抬起，在水平方向上略微远离注射器。", + "correction_plan": "爪夹张开，重新向爪夹的下方移动，并合拢爪夹抓取注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224290535_7dm9v4py5", + "x": 0.4365, + "y": 0.41733333333333333, + "width": 0.06699999999999999, + "height": 0.09733333333333333 + } + ] + } + } + }, + { + "time": 4.2607, + "frame": 128, + "progress": 10, + "action_description": "爪夹继续向爪夹的上方抬起，并张开爪夹。", + "state_description": "当前爪夹张开，在水平方向上接近注射器。\n为完成将注射器放入量杯中的任务应当：爪夹保持张开，并向爪夹的前方移动，同时向爪夹的下方调整爪夹方向，8直至爪夹移动到注射器的正上方。", + "progress_explanation": "当前爪夹张开，准备再次下降抓取注射器，因此进度提升至10%。", + "error_success_analysis": "爪夹继续向爪夹的上方抬起，并张开爪夹，准备再次抓取注射器。", + "correction_plan": "爪夹保持张开，并向爪夹的前方移动，同时向爪夹的下方调整爪夹方向，8直至爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224294951_klu3yf03d", + "x": 0.43950000000000006, + "y": 0.42, + "width": 0.06199999999999992, + "height": 0.09600000000000003 + } + ] + }, + "point_1769218902460": { + "type": "point", + "instances": [ + { + "id": "point_1769218902460_1769224298359_jksx2ei7w", + "x": 0.6275000000000001, + "y": 0.456 + } + ] + }, + "point_1769218902635": { + "type": "point", + "instances": [ + { + "id": "point_1769218902635_1769224301367_2du32q5gm", + "x": 0.7235, + "y": 0.44933333333333336 + } + ] + } + } + }, + { + "time": 4.86561855670103, + "frame": 146, + "progress": 5, + "action_description": "爪夹保持张开，并向爪夹的前方移动。", + "state_description": "当前爪夹张开，在水平方向上远离注射器。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的下方调整爪夹方向，并向爪夹的后方移动，靠近注射器，爪夹移动至注射器的正上方。", + "progress_explanation": "当前爪夹在水平方向上远离注射器，因此进度下降至5%。", + "error_success_analysis": "爪夹保持张开，并向爪夹的前方移动，在水平方向上远离注射器。", + "correction_plan": "爪夹向爪夹的下方调整爪夹方向，并向爪夹的后方移动，靠近注射器，爪夹移动至注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224308783_h4yiehr6a", + "x": 0.43550000000000005, + "y": 0.42133333333333334, + "width": 0.06699999999999999, + "height": 0.092 + } + ] + }, + "bbox_1769218901164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901164_1769224312783_7rcnlxyyv", + "x": 0.6455, + "y": 0.4693333333333333, + "width": 0.020000000000000018, + "height": 0.0933333333333333 + } + ] + } + } + }, + { + "time": 5.589599, + "frame": 168, + "progress": -10, + "action_description": "爪夹继续向爪夹的前方移动，并合拢爪夹。", + "state_description": "当前爪夹合拢，在水平方向上再次远离了注射器。\n为完成将注射器放入量杯中的任务应当：爪夹张开，向爪夹的后方移动，并向爪夹的下方调整爪夹方向，靠近爪夹，爪夹移动至注射器的正上方。", + "progress_explanation": "当前爪夹合拢，抓住了漏斗，爪夹需要张开爪夹，并向爪夹的后方移动，同时向爪夹的下方调整爪夹方向，才能靠近注射器，因此进度下降至-10%。", + "error_success_analysis": "爪夹继续向爪夹的前方移动，并合拢爪夹，抓取漏斗，爪夹没有像爪夹后方移动，靠近注射器。", + "correction_plan": "爪夹张开，向爪夹的后方移动，并向爪夹的下方调整爪夹方向，靠近爪夹，爪夹移动至注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224318783_qna1snfwz", + "x": 0.4375, + "y": 0.4186666666666667, + "width": 0.06399999999999997, + "height": 0.09733333333333333 + } + ] + } + } + }, + { + "time": 6.5349, + "frame": 196, + "progress": -20, + "action_description": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近量杯。", + "state_description": "当前爪夹合拢，在水平方向上接近量杯。\n为完成将注射器放入量杯中的任务应当：爪夹张开，并向爪夹的右后方移动，并向爪夹的下方调整爪夹方向，爪夹靠近注射器，至爪夹移动到注射器的正上方。", + "progress_explanation": "当前爪夹抓住漏斗，在水平方向上接近量杯，因此进度下降至-20%。", + "error_success_analysis": "爪夹没有松开，并向爪夹的后方靠近注射器，而是保持合拢并向爪夹的左后方移动，靠近量杯。", + "correction_plan": "爪夹张开，并向爪夹的右后方移动，并向爪夹的下方调整爪夹方向，爪夹靠近注射器，至爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224323143_q87iexhw5", + "x": 0.4365, + "y": 0.42, + "width": 0.06399999999999997, + "height": 0.09733333333333333 + } + ] + } + } + }, + { + "time": 7.054793814432989, + "frame": 212, + "progress": -30, + "action_description": "爪夹向爪夹的左后方移动，爪夹移动到量杯的正上方。", + "state_description": "当前爪夹合拢，在水平方向上位于量杯的正上方。\n为完成将注射器放入量杯中的任务应当：爪夹松开漏斗，并向爪夹的右后方移动，靠近注射器，爪夹移动到注射器的正上方。", + "progress_explanation": "当前爪夹抓住漏斗，并移动到量杯的正上方，因此进度下降至-30%。", + "error_success_analysis": "爪夹抓住漏斗并向爪夹的左后方移动，爪夹移动到量杯的正上方，爪夹没有松开漏斗，并向爪夹的右后方移动，靠近注射器。", + "correction_plan": "爪夹松开漏斗，并向爪夹的右后方移动，靠近注射器，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224327615_9i1omsbdn", + "x": 0.43150000000000005, + "y": 0.41600000000000004, + "width": 0.05699999999999994, + "height": 0.09866666666666664 + } + ] + }, + "bbox_1769218901164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901164_1769224331223_t6zoi80gd", + "x": 0.6415, + "y": 0.4426666666666667, + "width": 0.027000000000000045, + "height": 0.11199999999999997 + } + ] + } + } + }, + { + "time": 7.439099, + "frame": 223, + "progress": -20, + "action_description": "爪夹保持合拢，并向爪夹的前方移动。", + "state_description": "当前爪夹合拢，在水平方向上远离量杯。\n为完成将注射器放入量杯中的任务应当：爪夹松开，向爪夹的右后方移动，靠近注射器，爪夹移动到注射器的正上方。", + "progress_explanation": "当前爪夹抓住漏斗，并向爪夹的前方移动，远离量杯，因此进度提升至-20%。", + "error_success_analysis": "爪夹合拢并向爪夹的前方移动，远离量杯，爪夹松开，需要向爪夹的右后方移动，才能靠近注射器。", + "correction_plan": "爪夹松开，向爪夹的右后方移动，靠近注射器，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901164_1769224337391_arf8ghgfm", + "x": 0.6395000000000001, + "y": 0.43866666666666665, + "width": 0.026999999999999958, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224341239_xwaatdjmv", + "x": 0.4365, + "y": 0.42400000000000004, + "width": 0.05499999999999998, + "height": 0.09599999999999996 + } + ] + } + } + }, + { + "time": 8.315899, + "frame": 249, + "progress": 0, + "action_description": "爪夹张开，漏斗落下。", + "state_description": "当前爪夹张开，漏斗在水平方向上位于桌子上。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的右后方移动，靠近注射器，爪夹移动到注射器的正上方。", + "progress_explanation": "当前爪夹张开，准备向爪夹的右后方移动，靠近注射器，因此进度提升至0%。", + "error_success_analysis": "爪夹张开，漏斗落在桌子上，爪夹准备向爪夹的右后方靠近注射器。", + "correction_plan": "爪夹向爪夹的右后方移动，靠近注射器，爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224348087_ko3bapn08", + "x": 0.4325, + "y": 0.42, + "width": 0.06699999999999999, + "height": 0.10133333333333336 + } + ] + }, + "bbox_1769218901164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901164_1769224369543_gj3yi8oc5", + "x": 0.6405000000000001, + "y": 0.43866666666666665, + "width": 0.028000000000000025, + "height": 0.11866666666666663 + } + ] + } + } + }, + { + "time": 9.124199, + "frame": 274, + "progress": 20, + "action_description": "爪夹向爪夹的右后方移动，靠近注射器。", + "state_description": "当前爪夹张开，与注射器的水平距离缩短。\n为完成将注射器放入量杯中的任务应当：爪夹继续向爪夹的右后方移动，至爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器。", + "progress_explanation": "当前爪夹张开，在水平方向上接近注射器，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的右后方移动，在水平方向上接近注射器。", + "correction_plan": "爪夹继续向爪夹的右后方移动，至爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224375439_neehm4c4y", + "x": 0.4345, + "y": 0.42, + "width": 0.06600000000000002, + "height": 0.09600000000000003 + } + ] + } + } + }, + { + "time": 9.603699, + "frame": 288, + "progress": 30, + "action_description": "爪夹继续向爪夹的右后方移动，至爪夹移动到注射器的正上方。", + "state_description": "当前爪夹张开，在水平方向上位于注射器的正上方。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯。", + "progress_explanation": "当前爪夹已经移动到注射器的正上方，因此进度提升至30%。", + "error_success_analysis": "爪夹继续向爪夹的右后方移动，水平方向上成功移动到注射器的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓住注射器，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224379070_d3y9rz93o", + "x": 0.43550000000000005, + "y": 0.42400000000000004, + "width": 0.06999999999999992, + "height": 0.08933333333333332 + } + ] + } + } + }, + { + "time": 10.5216, + "frame": 316, + "progress": 40, + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓住注射器。", + "state_description": "当前爪夹合拢，已经抓住注射器。\n为完成将注射器放入量杯中的任务应当：爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯。", + "progress_explanation": "当前爪夹已成功抓取注射器，因此进度提升为40%。", + "error_success_analysis": "爪夹移动到注射器的正上方，爪夹向爪夹的下方移动，成功抓住注射器。", + "correction_plan": "爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224383351_ezyysztgl", + "x": 0.43950000000000006, + "y": 0.42266666666666663, + "width": 0.06299999999999999, + "height": 0.09466666666666666 + } + ] + } + } + }, + { + "time": 10.9874, + "frame": 330, + "progress": 60, + "action_description": "爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯。", + "state_description": "当前爪夹合拢，在水平方向上接近量杯。\n为完成将注射器放入量杯中的任务应当：爪夹向爪夹的左边移动，至爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "progress_explanation": "当前爪夹合拢，与量杯的水平距离缩短，因此进度提升至60%。", + "error_success_analysis": "爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，水平方向上成功接近量杯。", + "correction_plan": "爪夹向爪夹的左边移动，至爪夹移动到量杯的正上方，爪夹松开，使注射器落入量杯中。", + "annotations": { + "bbox_1769218901667": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769218901667_1769224387710_kflxzpb3t", + "x": 0.43950000000000006, + "y": 0.42266666666666663, + "width": 0.06499999999999995, + "height": 0.09333333333333335 + } + ] + } + } + }, + { + "time": 11.814484536082475, + "frame": 354, + "progress": 80, + "action_description": "爪夹继续向爪夹的左边移动，至爪夹移动到量杯的正上方。", + "state_description": "当前爪夹合拢，在水平方向上位于量杯的正上方。\n为完成将注射器放入量杯中的任务应当：爪夹松开，使注射器落入量杯中。", + "progress_explanation": "当前爪夹抓住注射器，已经移动到大号量杯的正上方，因此进度提升至80%。", + "error_success_analysis": "爪夹保持合拢，并向爪夹的左方移动，靠近量杯，爪夹成功移动到量杯的正上方。", + "correction_plan": "爪夹松开，使注射器落入量杯中。" + }, + { + "time": 12.6177, + "frame": 379, + "progress": 100, + "action_description": "爪夹松开，注射器落下。", + "state_description": "当前爪夹张开，注射器位于量杯中，已经完成将注射器放入量杯中的任务。", + "progress_explanation": "当前注射器已经落入量杯里，因此进度提升至100%。", + "error_success_analysis": "爪夹松开，注射器成功落入量杯里。", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769218901164", + "name": "注射器", + "color": "#4CAF50" + }, + { + "id": "bbox_1769218901667", + "name": "量杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769218902460", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769218902635", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-034538-put-tweezers-into-measuring cup-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-034538-put-tweezers-into-measuring cup-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed8f14f2dc196bd1202d300adf211b321128c5b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-034538-put-tweezers-into-measuring cup-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,460 @@ +{ + "task_description": "把镊子放进量杯里。\n爪夹准备移动：0%\n爪夹靠近镊子：20%\n爪夹抓住镊子：40%\n爪夹合拢并靠近量杯：60%\n爪夹移动到量杯的上方：80%\n爪夹松开，使镊子落入量杯中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1769226001682": { + "instances": [ + { + "height": 0.09733333333333333, + "id": "bbox_1769226001682_1769238428212_gnog2ts7b", + "width": 0.06299999999999999, + "x": 0.46749999999999997, + "y": 0.46266666666666667 + } + ], + "type": "bbox" + }, + "bbox_1769226001866": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1769226001866_1769238431644_xs0wbdreb", + "width": 0.029000000000000005, + "x": 0.6155, + "y": 0.4266666666666667 + } + ], + "type": "bbox" + }, + "point_1769226002489": { + "instances": [ + { + "id": "point_1769226002489_1769238434235_61c50tmmm", + "x": 0.5645, + "y": 0.5666666666666667 + } + ], + "type": "point" + }, + "point_1769226002674": { + "instances": [ + { + "id": "point_1769226002674_1769238436860_dz4ve4g23", + "x": 0.6635, + "y": 0.5626666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，略微调整爪夹方向，并移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住镊子，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触镊子。\n为完成把镊子放入量杯中的任务应当：爪夹向爪夹的上方抬起，并向爪夹的右前方移动，略微调整爪夹方向，靠近镊子。", + "time": 0.3849312788659794 + }, + { + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近镊子。", + "annotations": { + "bbox_1769226001682": { + "instances": [ + { + "height": 0.09466666666666661, + "id": "bbox_1769226001682_1769238449956_hj87wakgx", + "width": 0.06299999999999999, + "x": 0.4645, + "y": 0.468 + } + ], + "type": "bbox" + }, + "bbox_1769226001866": { + "instances": [ + { + "height": 0.10266666666666667, + "id": "bbox_1769226001866_1769238446348_8q8my1v8b", + "width": 0.016999999999999994, + "x": 0.6255, + "y": 0.42933333333333334 + } + ], + "type": "bbox" + }, + "point_1769226002489": { + "instances": [ + { + "id": "point_1769226002489_1769238441940_blpwevxkq", + "x": 0.5885, + "y": 0.5640000000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的右前方移动，并向爪夹的下方调整爪夹方向，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住镊子，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，在水平方向上略微接近注射器。", + "frame": 27, + "progress": 10, + "progress_explanation": "当前爪夹张开，在水平方向上略微接近注射器，并开始调整爪夹方向，因此进度提升至10%。", + "state_description": "当前爪夹张开，在水平方向上接近镊子。\n为完成把镊子放入量杯中的任务应当：爪夹继续向爪夹的右前方移动，并向爪夹的下方调整爪夹方向，爪夹移动到镊子的正上方。", + "time": 0.903066 + }, + { + "action_description": "爪夹继续向爪夹的右前方移动，并向爪夹的下方调整爪夹方向。", + "annotations": { + "bbox_1769226001682": { + "instances": [ + { + "height": 0.09866666666666664, + "id": "bbox_1769226001682_1769238455972_jhi6ysuvq", + "width": 0.06499999999999995, + "x": 0.4645, + "y": 0.464 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓住镊子，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹继续向爪夹的右前方移动，并向爪夹的下方调整爪夹方向，爪夹成功移动到镊子的正上方。", + "frame": 42, + "progress": 30, + "progress_explanation": "当前爪夹张开，已经移动到镊子的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，在水平方向上位于镊子的正上方。\n为完成把镊子放入量杯中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓住镊子，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯。", + "time": 1.389333 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓住镊子。", + "annotations": { + "bbox_1769226001682": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1769226001682_1769238481675_5x17ywsg5", + "width": 0.06399999999999997, + "x": 0.4645, + "y": 0.4706666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹向爪夹的下方移动，并合拢爪夹成功抓取镊子。", + "frame": 70, + "progress": 40, + "progress_explanation": "当前爪夹已经抓住镊子，因此进度提升至40%。", + "state_description": "当前爪夹合拢，已经抓住镊子。\n为完成把镊子放入量杯中的任务应当：爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯。", + "time": 2.327133 + }, + { + "action_description": "爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯。", + "annotations": { + "bbox_1769226001682": { + "instances": [ + { + "height": 0.10399999999999997, + "id": "bbox_1769226001682_1769238486163_mtndfhk5b", + "width": 0.06799999999999998, + "x": 0.4615, + "y": 0.46266666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，继续向爪夹的左边移动，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，在水平方向上接近量杯。", + "frame": 98, + "progress": 60, + "progress_explanation": "当前爪夹抓住镊子，与量杯的水平距离缩短，因此进度提升至60%。", + "state_description": "当前爪夹合拢，在水平方向上接近量杯。\n为完成把镊子放入量杯中的任务应当：爪夹保持合拢，继续向爪夹的左边移动，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "time": 3.264933 + }, + { + "action_description": "爪夹保持合拢，继续向爪夹的左边移动，爪夹移动到量杯的正上方。", + "correction_plan": "爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹保持合拢，继续向爪夹的左边移动，爪夹成功移动到量杯的正上方。", + "frame": 129, + "progress": 80, + "progress_explanation": "当前爪夹抓住镊子已经移动到量杯的正上方，因此进度提升至80%。", + "state_description": "当前爪夹合拢，在水平方向上位于镊子的正上方。\n为完成把镊子放入量杯中的任务应当：爪夹松开，使镊子落入量杯中。", + "time": 4.287955408762887 + }, + { + "action_description": "爪夹松开，镊子落下。", + "annotations": { + "point_1769226002674": { + "instances": [ + { + "id": "point_1769226002674_1769238493347_jeb1qibci", + "x": 0.5455, + "y": 0.412 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右边移动，靠近镊子，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓住镊子，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹松开，镊子没有落入量杯中，爪夹需要向爪夹的右边移动，靠近镊子。", + "frame": 151, + "progress": 20, + "progress_explanation": "当前爪夹张开，镊子没有落入量杯中，因此进度下降至20%。", + "state_description": "当前爪夹张开，镊子在水平方向上位于桌子上。\n为完成把镊子放入量杯中的任务应当：爪夹向爪夹的右边移动，靠近镊子，爪夹移动到镊子的正上方，并向爪夹的下方移动重新抓取镊子。", + "time": 5.036333 + }, + { + "action_description": "爪夹保持张开，并向爪夹的右边移动，靠近镊子。", + "annotations": { + "bbox_1769226001682": { + "instances": [ + { + "height": 0.092, + "id": "bbox_1769226001682_1769238507075_akjgna58c", + "width": 0.06299999999999999, + "x": 0.4655, + "y": 0.468 + } + ], + "type": "bbox" + }, + "bbox_1769226001866": { + "instances": [ + { + "height": 0.10533333333333333, + "id": "bbox_1769226001866_1769238503027_ku7rnqwy4", + "width": 0.05800000000000001, + "x": 0.5855, + "y": 0.42133333333333334 + } + ], + "type": "bbox" + }, + "point_1769226002489": { + "instances": [ + { + "id": "point_1769226002489_1769238499459_4klxmf2ys", + "x": 0.5995, + "y": 0.4066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓住镊子，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹向爪夹的右边移动，重新靠近镊子，爪夹移动到镊子的正上方。", + "frame": 176, + "progress": 30, + "progress_explanation": "当前爪夹已经移动到镊子的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，在水平方向上位于镊子的正上方。\n为完成把镊子放入量杯中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓住镊子，爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左边移动，靠近量杯。", + "time": 5.852566 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓住镊子。", + "annotations": { + "bbox_1769226001682": { + "instances": [ + { + "height": 0.09999999999999994, + "id": "bbox_1769226001682_1769238511859_4xjx4qn2k", + "width": 0.06499999999999995, + "x": 0.4645, + "y": 0.46266666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左后方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹向爪夹的下方移动，合拢爪夹成功抓住镊子。", + "frame": 207, + "progress": 40, + "progress_explanation": "当前爪夹已经抓住镊子，因此进度提升至40%。", + "state_description": "当前爪夹合拢，已经抓住镊子。\n为完成把镊子放入量杯中的任务应当：爪夹保持合拢，爪夹向爪夹的上方抬起，并向爪夹的左后方移动，靠近量杯。", + "time": 6.894566 + }, + { + "action_description": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动。", + "annotations": { + "bbox_1769226001682": { + "instances": [ + { + "height": 0.09333333333333335, + "id": "bbox_1769226001682_1769238516547_y4aaxweer", + "width": 0.06299999999999999, + "x": 0.4665, + "y": 0.4666666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，继续向爪夹的左后方移动，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近量杯，爪夹与量杯的水平距离缩短。", + "frame": 222, + "progress": 60, + "progress_explanation": "当前爪夹合拢，在水平方向上接近量杯，因此进度提升至60%。", + "state_description": "当前爪夹合拢，与量杯的水平距离缩短。\n为完成把镊子放入量杯中的任务应当：爪夹保持合拢，继续向爪夹的左后方移动，爪夹移动到量杯的正上方。", + "time": 7.415566 + }, + { + "action_description": "爪夹保持合拢，继续向爪夹的左后方移动，爪夹移动到量杯的正上方。", + "correction_plan": "爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹保持合拢，继续向爪夹的左后方移动，爪夹成功移动到量杯的正上方。", + "frame": 243, + "progress": 80, + "progress_explanation": "当前爪夹已经移动到量杯的正上方，因此进度提升至80%。", + "state_description": "当前爪夹合拢，在水平方向上位于量杯的正上方。\n为完成把镊子放入量杯中的任务应当：爪夹松开，使镊子落入量杯中。", + "time": 8.092866 + }, + { + "action_description": "爪夹松开，镊子落下。", + "annotations": { + "bbox_1769226001682": { + "instances": [ + { + "height": 0.09066666666666669, + "id": "bbox_1769226001682_1769238524427_z0jnt3sgm", + "width": 0.05800000000000001, + "x": 0.4665, + "y": 0.4693333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹合拢，并向爪夹的上方抬起，爪夹重新向爪夹的下方移动，并调整爪夹方向，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹松开，镊子落在量杯上，爪夹需要重新向爪夹的下方移动并抓取镊子。", + "frame": 303, + "progress": 90, + "progress_explanation": "当前爪夹张开，镊子没有完全落入量杯中，因此进度提升至90%。", + "state_description": "当前爪夹张开，镊子在水平方向上位于量杯上。\n为完成把镊子放进量杯里的任务应当：爪夹向爪夹的下方移动，重新合拢爪夹抓取镊子。", + "time": 10.088780262371134 + }, + { + "action_description": "爪夹向爪夹的下方移动，靠近镊子。", + "correction_plan": "爪夹继续向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹合拢，向爪夹的上方抬起，爪夹向爪夹的下方移动，并调整爪夹方向，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹向爪夹的下方移动，在水平方向上接近镊子。", + "frame": 352, + "progress": 92, + "progress_explanation": "当前爪夹张开，镊子位置不变，因此进度提升至92%。", + "state_description": "当前爪夹张开，镊子并未移动。\n为完成把镊子放进量杯里的任务应当：爪夹继续向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹合拢，向爪夹的上方抬起，爪夹向爪夹的下方移动，并调整爪夹方向。", + "time": 11.718024279896907 + }, + { + "action_description": "爪夹继续向爪夹的下方移动，并合拢爪夹抓取镊子。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，重新向爪夹的下方移动，并调整爪夹方向，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹继续向爪夹的下方移动，并合拢爪夹成功抓取镊子。", + "frame": 388, + "progress": 94, + "progress_explanation": "当前爪夹合拢，抓住镊子，因此进度提升至94%。", + "state_description": "当前爪夹合拢，已经抓住镊子。\n为完成把镊子放进量杯里的任务应当：爪夹保持合拢，向爪夹的上方抬起，重新向爪夹的下方移动，并调整爪夹方向，爪夹移动到量杯的正上方。", + "time": 12.938166 + }, + { + "action_description": "爪夹保持合拢，向爪夹的上方抬起。", + "annotations": { + "bbox_1769226001682": { + "instances": [ + { + "height": 0.09333333333333335, + "id": "bbox_1769226001682_1769238533195_ejzbejap2", + "width": 0.05700000000000003, + "x": 0.46749999999999997, + "y": 0.4706666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹重新向爪夹的下方移动，并调整爪夹方向，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹抓住镊子并向爪夹的上方抬起，爪夹移动到量杯的正上方。", + "frame": 415, + "progress": 80, + "progress_explanation": "当前爪夹抓住镊子，位于量杯的正上方，因此进度下降至80%。", + "state_description": "当前爪夹合拢，在水平方向上位于量杯的正上方。\n为完成把镊子放进量杯里的任务应当：爪夹重新向爪夹的下方移动，并调整爪夹方向，爪夹移动到量杯的正上方。", + "time": 13.848574148969075 + }, + { + "action_description": "爪夹重新向爪夹的下方移动，靠近量杯。", + "correction_plan": "爪夹继续向爪夹的下方移动，并调整爪夹方向，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹重新向爪夹的下方移动，在水平方向上接近量杯。", + "frame": 448, + "progress": 85, + "progress_explanation": "当前爪夹抓住镊子，在水平方向上接近量杯，因此进度提升至85%。", + "state_description": "当前爪夹合拢，与量杯的水平距离缩短。\n为完成把镊子放进量杯里的任务应当：爪夹继续向爪夹的下方移动，并调整爪夹方向，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "time": 14.935333 + }, + { + "action_description": "爪夹调整爪夹方向，并移动到量杯的正上方。", + "correction_plan": "爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹调整爪夹方向，并成功移动到量杯的正上方。", + "frame": 475, + "progress": 90, + "progress_explanation": "当前爪夹抓住镊子，并移动到量杯的正上方，因此进度提升至90%。", + "state_description": "当前爪夹合拢，在水平方向上位于量杯的正上方。\n为完成把镊子放进量杯里的任务应当：爪夹松开，使镊子落入量杯中。", + "time": 15.835893774742265 + }, + { + "action_description": "爪夹松开，镊子落下。", + "annotations": { + "point_1769226002489": { + "instances": [ + { + "id": "point_1769226002489_1769238543579_evdrkr103", + "x": 0.4425, + "y": 0.42400000000000004 + } + ], + "type": "point" + }, + "point_1769226002674": { + "instances": [ + { + "id": "point_1769226002674_1769238547003_671t2d1la", + "x": 0.5355000000000001, + "y": 0.38533333333333336 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，镊子成功落入量杯中。", + "frame": 505, + "progress": 100, + "progress_explanation": "当前镊子已经完全落入量杯里，因此进度提升至100%。", + "state_description": "当前爪夹张开，镊子在水平方向上位于量杯中，已经完成把镊子放进量杯里的任务。", + "time": 16.820601697422678 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769226001682", + "name": "量杯" + }, + { + "color": "#FF9800", + "id": "bbox_1769226001866", + "name": "镊子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769226002489", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769226002674", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-043629-put-tweezers-into-measuring cup-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-043629-put-tweezers-into-measuring cup-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..4b4da9699306745171fb793e87065c6f1dd23851 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-043629-put-tweezers-into-measuring cup-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,494 @@ +{ + "task_description": "把镊子放进量杯里。\n爪夹准备移动：0%\n爪夹靠近镊子：20%\n爪夹抓住镊子：40%\n爪夹合拢并靠近量杯：60%\n爪夹移动到量杯的上方：80%\n爪夹松开，使镊子落入量杯里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1769238753769_1769242661969_ywa73cvle", + "width": 0.06299999999999999, + "x": 0.40449999999999997, + "y": 0.47600000000000003 + } + ], + "type": "bbox" + }, + "bbox_1769238753978": { + "instances": [ + { + "height": 0.16266666666666663, + "id": "bbox_1769238753978_1769242666241_gs1fvbqmc", + "width": 0.04699999999999997, + "x": 0.6485000000000001, + "y": 0.43733333333333335 + } + ], + "type": "bbox" + }, + "point_1769238754762": { + "instances": [ + { + "id": "point_1769238754762_1769242668769_ksng5av2f", + "x": 0.5275000000000001, + "y": 0.5733333333333334 + } + ], + "type": "point" + }, + "point_1769238754929": { + "instances": [ + { + "id": "point_1769238754929_1769242671265_c61h1arh1", + "x": 0.6205, + "y": 0.5613333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近镊子，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，并向爪夹的上方抬起，爪夹保持合拢，向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触镊子。\n为完成把镊子放进量杯里的任务应当：爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近镊子，爪夹移动到镊子的正上方。", + "time": 1.1639690721649485 + }, + { + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近镊子。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.09599999999999996, + "id": "bbox_1769238753769_1769242682649_l4osywn55", + "width": 0.06800000000000006, + "x": 0.40049999999999997, + "y": 0.47600000000000003 + } + ], + "type": "bbox" + }, + "bbox_1769238753978": { + "instances": [ + { + "height": 0.0733333333333333, + "id": "bbox_1769238753978_1769242678529_wup0z79za", + "width": 0.027000000000000045, + "x": 0.6545, + "y": 0.43733333333333335 + } + ], + "type": "bbox" + }, + "point_1769238754762": { + "instances": [ + { + "id": "point_1769238754762_1769242675577_96hwstymf", + "x": 0.5975, + "y": 0.5253333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的右前方移动，靠近镊子，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，并向爪夹的上方抬起，爪夹保持合拢，向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，在水平方向上接近镊子。", + "frame": 62, + "progress": 20, + "progress_explanation": "当前爪夹张开，与镊子的水平距离缩短，因此进度提升至20%。", + "state_description": "当前爪夹张开，在水平方向上接近镊子。\n为完成把镊子放进量杯里的任务应当：爪夹继续向爪夹的右前方移动，靠近镊子，爪夹移动到镊子的正上方。", + "time": 2.0592 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.09733333333333333, + "id": "bbox_1769238753769_1769242688569_e1o8z9ghp", + "width": 0.06100000000000003, + "x": 0.40449999999999997, + "y": 0.4746666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，并向爪夹的上方抬起，重新向爪夹的右前方移动，靠近镊子，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，爪夹合拢并抓取镊子，爪夹保持合拢，并向爪夹的上方抬起，爪夹保持合拢，向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹没有移动到镊子的正上方，而是直接向爪夹的下方移动，并合拢爪夹。", + "frame": 78, + "progress": 10, + "progress_explanation": "当前爪夹垂直于桌子，并合拢爪夹，未抓取镊子，因此进度下降至10%。", + "state_description": "当前爪夹合拢，在水平方向上垂直于桌子。\n为完成把镊子放进量杯里的任务应当：爪夹张开，并向爪夹的上方抬起，重新向爪夹的右前方移动，靠近镊子，爪夹移动到镊子的正上方。", + "time": 2.585699 + }, + { + "action_description": "爪夹保持合拢，并向爪夹的左边移动，同时将白色透明玻璃瓶碰倒。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.09066666666666663, + "id": "bbox_1769238753769_1769242694185_zlza42vkq", + "width": 0.06299999999999999, + "x": 0.4025, + "y": 0.47733333333333333 + } + ], + "type": "bbox" + }, + "bbox_1769238753978": { + "instances": [ + { + "height": 0.16666666666666666, + "id": "bbox_1769238753978_1769242699201_o9i5gqxvz", + "width": 0.04300000000000006, + "x": 0.6505, + "y": 0.43333333333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，并向爪夹的上方抬起，重新向爪夹的右前方移动，靠近镊子，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，爪夹合拢并抓取镊子，爪夹保持合拢，并向爪夹的上方抬起，爪夹保持合拢，向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹保持合拢，并向爪夹的左边移动，同时将白色透明玻璃瓶碰倒，爪夹在水平方向上略微远离镊子。", + "frame": 97, + "progress": 0, + "progress_explanation": "当前爪夹向爪夹的左边移动，略微远离镊子，因此进度下降至0%。", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成把镊子放进量杯里的任务应当：爪夹张开，并向爪夹的上方抬起，重新向爪夹的右前方移动，靠近镊子，爪夹移动到镊子的正上方。", + "time": 3.2386082474226803 + }, + { + "action_description": "爪夹张开，并向爪夹的上方抬起，重新向爪夹的右前方移动，靠近镊子。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.09466666666666661, + "id": "bbox_1769238753769_1769242705409_eam9h12t3", + "width": 0.06100000000000003, + "x": 0.4035, + "y": 0.4733333333333334 + } + ], + "type": "bbox" + }, + "point_1769238754762": { + "instances": [ + { + "id": "point_1769238754762_1769242708057_shbkjld16", + "x": 0.6335, + "y": 0.504 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，并向爪夹的上方抬起，爪夹保持合拢，向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹张开，并向爪夹的上方抬起，重新向爪夹的右前方移动，在水平方向上成功接近镊子。", + "frame": 121, + "progress": 20, + "progress_explanation": "当前爪夹张开，与镊子的水平距离缩短，因此进度提升至20%。", + "state_description": "当前爪夹张开，在水平方向上接近镊子。\n为完成把镊子放进量杯里的任务应当：爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，并合拢爪夹抓取镊子。", + "time": 4.0346907216494845 + }, + { + "action_description": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.08933333333333339, + "id": "bbox_1769238753769_1769242714177_l2wfcp2ch", + "width": 0.06699999999999999, + "x": 0.3995, + "y": 0.48133333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢并抓取镊子，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，在水平方向上再次接近镊子。", + "frame": 133, + "progress": 30, + "progress_explanation": "当前爪夹张开，在水平方向上再次接近镊子，因此进度提升至30%。", + "state_description": "当前爪夹张开，与镊子的水平距离再次缩短。\n为完成把镊子放进量杯里的任务应当：爪夹合拢并抓取镊子，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动，靠近量杯。", + "time": 4.4206701030927835 + }, + { + "action_description": "爪夹合拢，进行抓取动作。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.0986666666666667, + "id": "bbox_1769238753769_1769242718481_iy8ntjcr0", + "width": 0.06600000000000002, + "x": 0.40149999999999997, + "y": 0.4706666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，重新调整爪夹方向，并移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹合拢，进行抓取动作，爪夹没有抓取到镊子。", + "frame": 171, + "progress": 20, + "progress_explanation": "当前爪夹合拢，没有抓取到镊子，因此进度下降至20%。", + "state_description": "当前爪夹合拢，未抓取到镊子。\n为完成把镊子放进量杯里的任务应当：爪夹张开，重新调整爪夹方向，并移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取镊子。", + "time": 5.699226804123711 + }, + { + "action_description": "爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.09999999999999994, + "id": "bbox_1769238753769_1769242722233_ohtc4gp4g", + "width": 0.06699999999999999, + "x": 0.40049999999999997, + "y": 0.4733333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，向爪夹的后方移动，靠近镊子，同时向爪夹的下方调整爪夹方向，并向爪夹的下方移动至镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹保持合拢，并向爪夹的上方抬起，在水平方向上接近镊子。", + "frame": 191, + "progress": 25, + "progress_explanation": "当前爪夹合拢，在水平方向上接近镊子，因此进度提升至25%。", + "state_description": "当前爪夹合拢，与镊子的水平距离缩短。\n为完成把镊子放进量杯里的任务应当：爪夹张开，向爪夹的后方移动，靠近镊子，同时向爪夹的下方调整爪夹方向，并向爪夹的下方移动至镊子的正上方。", + "time": 6.350567010309278 + }, + { + "action_description": "爪夹张开，向爪夹的后方移动，靠近镊子，同时向爪夹的下方调整爪夹方向，并向爪夹的下方移动至镊子的正上方。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.08933333333333339, + "id": "bbox_1769238753769_1769242726145_ov0tpgamo", + "width": 0.06600000000000002, + "x": 0.40149999999999997, + "y": 0.48133333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹张开，向爪夹的后方移动，靠近镊子，同时向爪夹的下方调整爪夹方向，并向爪夹的下方移动，爪夹成功移动到镊子的正上方。", + "frame": 210, + "progress": 30, + "progress_explanation": "当前爪夹已经移动到镊子的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，在水平方向上位于镊子的正上方。\n为完成把镊子放进量杯里的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动，靠近量杯。", + "time": 7 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取镊子。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.0973333333333334, + "id": "bbox_1769238753769_1769242730129_1fyzl222t", + "width": 0.06699999999999999, + "x": 0.3995, + "y": 0.47200000000000003 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹向爪夹的下方移动，成功抓住镊子。", + "frame": 244, + "progress": 40, + "progress_explanation": "当前爪夹已经抓住镊子，因此进度提升至40%。", + "state_description": "当前爪夹合拢，已经抓住镊子。\n为完成把镊子放进量杯里的任务应当：爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动，靠近量杯。", + "time": 8.135721649484536 + }, + { + "action_description": "爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动，靠近量杯。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.09200000000000005, + "id": "bbox_1769238753769_1769242734617_gv9omf8qr", + "width": 0.06600000000000002, + "x": 0.3995, + "y": 0.47866666666666663 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹的左边移动，直至爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "error_success_analysis": "爪夹保持合拢，并向爪夹的上方抬起，爪夹向爪夹的左边移动，与量杯的水平距离缩短。", + "frame": 274, + "progress": 60, + "progress_explanation": "当前爪夹在水平方向上接近量杯，因此进度提升至60%。", + "state_description": "当前爪夹合拢，与量杯的水平距离缩短，因此进度提升至60%。\n为完成把镊子放进量杯里的任务应当：爪夹继续向爪夹的左边移动，直至爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯中。", + "time": 9.1494 + }, + { + "action_description": "爪夹保持合拢，继续向爪夹的左边移动。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1769238753769_1769242738577_2hgm1wg70", + "width": 0.05899999999999998, + "x": 0.40449999999999997, + "y": 0.47733333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左边移动，爪夹移动至量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹保持合拢，继续向爪夹的左边移动，在水平方向上再次接近量杯。", + "frame": 297, + "progress": 70, + "progress_explanation": "当前爪夹合拢，在水平方向上再次接近量杯，因此进度提升至70%。", + "state_description": "当前爪夹合拢，与量杯的水平距离再次缩短。\n为完成把镊子放进量杯里的任务应当：爪夹向爪夹的左边移动，爪夹移动至量杯的正上方，爪夹松开，使镊子落入量杯里。", + "time": 9.90881443298969 + }, + { + "action_description": "爪夹松开，镊子落下。", + "annotations": { + "bbox_1769238753769": { + "instances": [ + { + "height": 0.08800000000000008, + "id": "bbox_1769238753769_1769242742609_zhj9xhhgz", + "width": 0.06500000000000003, + "x": 0.3995, + "y": 0.48133333333333334 + } + ], + "type": "bbox" + }, + "bbox_1769238753978": { + "instances": [ + { + "height": 0.08533333333333329, + "id": "bbox_1769238753978_1769242746585_wyzrgucgp", + "width": 0.06300000000000003, + "x": 0.35150000000000003, + "y": 0.3706666666666667 + } + ], + "type": "bbox" + }, + "point_1769238754762": { + "instances": [ + { + "id": "point_1769238754762_1769242749016_jhg2g2iyu", + "x": 0.4245, + "y": 0.4013333333333334 + } + ], + "type": "point" + }, + "point_1769238754929": { + "instances": [ + { + "id": "point_1769238754929_1769242751305_f19wls9a9", + "x": 0.5105000000000001, + "y": 0.3453333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，靠近镊子，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的后方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹松开，镊子落在桌子上，爪夹需要向爪夹的左前方移动，再次靠近镊子。", + "frame": 335, + "progress": 10, + "progress_explanation": "当前爪夹张开，镊子没有落入量杯里，而是落在桌子上，因此进度下降至10%。", + "state_description": "当前爪夹张开，镊子在水平方向上位于桌子上。\n为完成把镊子放进量杯里的任务应当：爪夹向爪夹的左前方移动，靠近镊子，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取镊子。", + "time": 11.151185567010309 + }, + { + "action_description": "爪夹保持张开，并向爪夹的上方抬起。", + "annotations": { + "bbox_1769238753978": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1769238753978_1769242762080_au379eqkz", + "width": 0.07499999999999996, + "x": 0.35150000000000003, + "y": 0.37333333333333335 + } + ], + "type": "bbox" + }, + "point_1769238754762": { + "instances": [ + { + "id": "point_1769238754762_1769242758264_jevq2727y", + "x": 0.4335, + "y": 0.4026666666666667 + } + ], + "type": "point" + }, + "point_1769238754929": { + "instances": [ + { + "id": "point_1769238754929_1769242755656_k0kxs3svk", + "x": 0.5285, + "y": 0.34 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方调整爪夹方向，使爪夹垂直于桌面，爪夹向爪夹的左前方移动，靠近镊子，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的后方移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹保持张开，并向爪夹的上方抬起，在水平方向上远离镊子。", + "frame": 351, + "progress": 0, + "progress_explanation": "当前爪夹张开，远离了镊子，因此进度下降至0%。", + "state_description": "当前爪夹张开，在水平方向上远离镊子。\n为完成把镊子放进量杯里的任务应当：爪夹向爪夹的下方调整爪夹方向，使爪夹垂直于桌面，爪夹向爪夹的左前方移动，靠近镊子，爪夹移动到镊子的正上方。", + "time": 11.7 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1769238753769", + "name": "量杯" + }, + { + "color": "#FF9800", + "id": "bbox_1769238753978", + "name": "镊子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1769238754762", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1769238754929", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-053232-put-tweezers-into-measuring cup-good2/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-053232-put-tweezers-into-measuring cup-good2/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..728f44fa71b8ee52f5ef4230d97d567580206806 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-1/ARX-data/human-data-0114/20260113-niumingliang/20260113-053232-put-tweezers-into-measuring cup-good2/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,394 @@ +{ + "task_description": "把镊子放进量杯里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近镊子：20%\n爪夹抓住镊子：40%\n爪夹合拢并靠近量杯：60%\n爪夹移动到量杯的上方：80%\n爪夹松开，使镊子落入量杯中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的上方抬起爪夹，同时向爪夹的下方调整爪夹方向，爪夹向爪夹的左前方移动，靠近镊子，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触镊子。\n为完成把镊子放进量杯里的任务应当：爪夹向爪夹的上方抬起爪夹，同时向爪夹的下方调整爪夹方向，爪夹向爪夹的左前方移动，靠近镊子。", + "time": 0.431701030927835, + "annotations": { + "bbox_1769242930903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242930903_1769243984646_hkyyz71n0", + "x": 0.5565, + "y": 0.4053333333333333, + "width": 0.10699999999999994, + "height": 0.16266666666666663 + } + ] + }, + "bbox_1769242931055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242931055_1769243987294_4q34muh3q", + "x": 0.34450000000000003, + "y": 0.39466666666666667, + "width": 0.03099999999999996, + "height": 0.0986666666666667 + } + ] + }, + "point_1769242932199": { + "type": "point", + "instances": [ + { + "id": "point_1769242932199_1769243989519_jcigvnk44", + "x": 0.3965, + "y": 0.464 + } + ] + }, + "point_1769242932351": { + "type": "point", + "instances": [ + { + "id": "point_1769242932351_1769243991414_9pcf8dqrs", + "x": 0.6205, + "y": 0.4653333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方抬起爪夹，同时向爪夹的下方调整爪夹方向。", + "correction_plan": "爪夹继续向爪夹的下方调整爪夹方向，并向爪夹的左前方移动，靠近镊子，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹向爪夹的上方抬起爪夹，同时向爪夹的下方调整爪夹方向，在水平方向上略微接近镊子。", + "frame": 30, + "progress": 10, + "progress_explanation": "当前爪夹张开，在水平方向上略微接近镊子，并开始调整爪夹方向，因此进度提升至10%。", + "state_description": "当前爪夹张开，与镊子的水平距离略微缩短。\n为完成把镊子放进量杯里的任务应当：爪夹继续向爪夹的下方调整爪夹方向，并向爪夹的左前方移动，靠近镊子，爪夹移动到镊子的正上方。", + "time": 1.004999, + "annotations": { + "point_1769242932351": { + "type": "point", + "instances": [ + { + "id": "point_1769242932351_1769243994790_in2c65n28", + "x": 0.6185, + "y": 0.464 + } + ] + }, + "point_1769242932199": { + "type": "point", + "instances": [ + { + "id": "point_1769242932199_1769243998174_dlgc6a3ff", + "x": 0.3975, + "y": 0.4653333333333334 + } + ] + }, + "bbox_1769242931055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242931055_1769244001222_2w0nu1pub", + "x": 0.3185, + "y": 0.3093333333333333, + "width": 0.03799999999999999, + "height": 0.17333333333333337 + } + ] + }, + "bbox_1769242930903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242930903_1769244005502_1g97okvji", + "x": 0.5505, + "y": 0.3173333333333333, + "width": 0.10499999999999998, + "height": 0.16000000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的下方调整爪夹方向，并向爪夹的左前方移动，靠近镊子。", + "correction_plan": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方继续调整爪夹方向，爪夹移动到镊子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取镊子，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹继续向爪夹的下方调整爪夹方向，并向爪夹的左前方移动，水平方向上再次接近镊子。", + "frame": 48, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上再次接近镊子，因此进度提升至20%。", + "state_description": "当前爪夹张开，在水平方向上接近镊子。\n为完成把镊子放进量杯里的任务应当：爪夹继续向爪夹的左前方移动，同时向爪夹的下方继续调整爪夹方向，爪夹移动到镊子的正上方。", + "time": 1.607999, + "annotations": { + "bbox_1769242931055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242931055_1769244012230_x8my5cd32", + "x": 0.3765, + "y": 0.33066666666666666, + "width": 0.04499999999999997, + "height": 0.2626666666666667 + } + ] + }, + "point_1769242932199": { + "type": "point", + "instances": [ + { + "id": "point_1769242932199_1769244014566_jpcpkbfnu", + "x": 0.3995, + "y": 0.4666666666666667 + } + ] + }, + "point_1769242932351": { + "type": "point", + "instances": [ + { + "id": "point_1769242932351_1769244016774_xxys3gdaf", + "x": 0.6185, + "y": 0.46266666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方继续调整爪夹方向。", + "correction_plan": "爪夹合拢，并抓取镊子，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方继续调整爪夹方向，爪夹成功移动到镊子的正上方。", + "frame": 71, + "progress": 30, + "progress_explanation": "当前爪夹已经移动到镊子的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，在水平方向上位于镊子的正上方。\n为完成把镊子放进量杯里的任务应当：爪夹合拢，并抓取镊子，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近量杯。", + "time": 2.3584, + "annotations": { + "point_1769242932351": { + "type": "point", + "instances": [ + { + "id": "point_1769242932351_1769244019558_4sry0yatb", + "x": 0.6174999999999999, + "y": 0.4653333333333334 + } + ] + }, + "point_1769242932199": { + "type": "point", + "instances": [ + { + "id": "point_1769242932199_1769244021990_axgyveoxc", + "x": 0.40049999999999997, + "y": 0.456 + } + ] + }, + "bbox_1769242931055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242931055_1769244025374_x0tg16ump", + "x": 0.5165, + "y": 0.22666666666666666, + "width": 0.05700000000000003, + "height": 0.4293333333333333 + } + ] + }, + "bbox_1769242930903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242930903_1769244036190_ak7pydpw2", + "x": 0.7935000000000001, + "y": 0.632, + "width": 0.12099999999999991, + "height": 0.19599999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，并抓取镊子。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近量杯，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹合拢，成功抓住镊子。", + "frame": 98, + "progress": 40, + "progress_explanation": "当前爪夹已经抓住镊子，因此进度提升至40%。", + "state_description": "当前爪夹合拢，已经抓住镊子。\n为完成把镊子放进量杯里的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近量杯。", + "time": 3.2696, + "annotations": { + "bbox_1769242930903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242930903_1769244040310_jpzhubz01", + "x": 0.7745, + "y": 0.5826666666666667, + "width": 0.13600000000000004, + "height": 0.212 + } + ] + }, + "bbox_1769242931055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242931055_1769244043894_k9qrydxof", + "x": 0.4795, + "y": 0.22933333333333333, + "width": 0.053000000000000026, + "height": 0.4293333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，靠近量杯。", + "correction_plan": "爪夹继续向爪夹的右边移动，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右边移动，在水平方向上接近量杯。", + "frame": 119, + "progress": 60, + "progress_explanation": "当前爪夹抓住镊子，在水平方向上接近量杯，因此进度提升至60%。", + "state_description": "当前爪夹合拢，与量杯的水平距离缩短。\n为完成把镊子放进量杯里的任务应当：爪夹继续向爪夹的右边移动，爪夹移动到量杯的正上方，爪夹松开，使镊子落入量杯里。", + "time": 3.9597, + "annotations": { + "bbox_1769242930903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242930903_1769244053198_9nhxf0haq", + "x": 0.6725000000000001, + "y": 0.4533333333333333, + "width": 0.13600000000000004, + "height": 0.19733333333333333 + } + ] + }, + "bbox_1769242931055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242931055_1769244057574_pmt1yxqwf", + "x": 0.49050000000000005, + "y": 0.22666666666666666, + "width": 0.03599999999999994, + "height": 0.428 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的右边移动，爪夹移动到量杯的正上方。", + "correction_plan": "爪夹松开，使镊子落入量杯里。", + "error_success_analysis": "爪夹继续向爪夹的右边移动，爪夹成功移动到量杯的正上方。", + "frame": 140, + "progress": 80, + "progress_explanation": "当前爪夹在水平方向上位于量杯的正上方，因此进度提升至80%。", + "state_description": "当前爪夹合拢，在水平方向上位于量杯的正上方。\n为完成把镊子放进量杯里的任务应当：爪夹松开，使镊子落入量杯里。", + "time": 4.656499, + "annotations": { + "bbox_1769242931055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242931055_1769244061950_c9bj7x5v4", + "x": 0.49750000000000005, + "y": 0.22266666666666665, + "width": 0.025999999999999978, + "height": 0.428 + } + ] + } + } + }, + { + "action_description": "爪夹松开，镊子落下。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，镊子成功落入量杯里。", + "frame": 171, + "progress": 100, + "progress_explanation": "当前镊子已经落入量杯里，因此进度提升至100%。", + "state_description": "当前爪夹张开，镊子在水平方向上位于量杯中，已经完成把镊子放进量杯里的任务。", + "time": 5.7084, + "annotations": { + "bbox_1769242931055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242931055_1769244065654_ed5h1hrzi", + "x": 0.4215, + "y": 0.4733333333333334, + "width": 0.06500000000000003, + "height": 0.15733333333333335 + } + ] + }, + "bbox_1769242930903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1769242930903_1769244068982_vsv991tzg", + "x": 0.4085, + "y": 0.508, + "width": 0.14400000000000004, + "height": 0.1786666666666667 + } + ] + }, + "point_1769242932199": { + "type": "point", + "instances": [ + { + "id": "point_1769242932199_1769244070941_3l1urenhw", + "x": 0.3955, + "y": 0.4613333333333333 + } + ] + }, + "point_1769242932351": { + "type": "point", + "instances": [ + { + "id": "point_1769242932351_1769244072845_0ppkzawdo", + "x": 0.6195, + "y": 0.4653333333333334 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1769242930903", + "name": "量杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1769242931055", + "name": "镊子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1769242932199", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1769242932351", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003022.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003022.json new file mode 100644 index 0000000000000000000000000000000000000000..81bba7d1b6aec05f9733dcabdf198e76a3896e77 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003022.json @@ -0,0 +1,98 @@ +{ + "task_description": "将水槽中矿泉水瓶放在台面上：\n开始移动：0%\n爪夹靠进矿泉水瓶：20%\n爪夹抓取矿泉水瓶：40%\n爪夹抓取矿泉水瓶靠近台面：60%\n矿泉水瓶准备落在台面上：80%\n矿泉水瓶安稳落在台面上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.180195, + "frame": 5, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.308728479896907, + "frame": 69, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.079999, + "frame": 122, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.748266, + "frame": 172, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.071999, + "frame": 212, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.486399, + "frame": 255, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.574399, + "frame": 287, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.079466, + "frame": 332, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.074133, + "frame": 392, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003043.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003043.json new file mode 100644 index 0000000000000000000000000000000000000000..288a99af413846027cecabc7037f6b6785e3f5dd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003043.json @@ -0,0 +1,128 @@ +{ + "task_description": "将桌面上的黑色物品放在托盘上：\n开始移动：0%\n爪夹靠进黑色物品：20%\n爪夹抓取黑色物品：40%\n爪夹抓取黑色物品靠近托盘：60%\n黑色物品准备落在托盘上：80%\n黑色物品安稳落在托盘上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.75115, + "frame": 23, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.7159106015463919, + "frame": 51, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.571799, + "frame": 77, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.357216394329897, + "frame": 101, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.631466, + "frame": 139, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.555533, + "frame": 167, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.579799, + "frame": 197, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.339965415979382, + "frame": 220, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.177834806701034, + "frame": 245, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.873266, + "frame": 266, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.624020330412371, + "frame": 289, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.743666, + "frame": 322, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003078.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003078.json new file mode 100644 index 0000000000000000000000000000000000000000..02becd74a7ade73de844f413c955f951477035a3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003078.json @@ -0,0 +1,148 @@ +{ + "task_description": "将桌面上的白色物品放在水瓶上：\n开始移动：0%\n爪夹靠进白色物品：20%\n爪夹抓取白色物品：40%\n爪夹抓取白色物品靠近水瓶：60%\n白色物品准备落在水瓶上：80%\n白色物品安稳落在水瓶上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.773535, + "frame": 23, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.343666, + "frame": 40, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.0878007592783505, + "frame": 63, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.035333, + "frame": 91, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.944, + "frame": 118, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.669, + "frame": 140, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.268333, + "frame": 158, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.732333, + "frame": 172, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.432818091237113, + "frame": 193, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.940666, + "frame": 208, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.588333, + "frame": 228, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.342333, + "frame": 250, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.143471105670104, + "frame": 274, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.666667, + "frame": 290, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003108.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003108.json new file mode 100644 index 0000000000000000000000000000000000000000..e7268515fe627360b94baa32c18324c7a790f1d5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003108.json @@ -0,0 +1,108 @@ +{ + "task_description": "将橙色工具放进黑碗中：\n开始移动：0%\n爪夹靠进橙色工具：20%\n爪夹抓取橙色工具：40%\n爪夹抓取橙色工具靠近黑碗：60%\n橙色工具准备落在黑碗中：80%\n橙色工具安稳落在黑碗中，爪夹离开：100%\n", + "progress_points": [ + { + "time": 1.836889, + "frame": 55, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.7570447706185566, + "frame": 83, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.843466, + "frame": 115, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.699175423195877, + "frame": 141, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.547466, + "frame": 166, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.295333, + "frame": 189, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.920133, + "frame": 208, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.630133, + "frame": 229, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.340133, + "frame": 250, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.422749472680412, + "frame": 283, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003149.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003149.json new file mode 100644 index 0000000000000000000000000000000000000000..66c4015dda5e862262dad0e7c36ce21a778a05ba --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003149.json @@ -0,0 +1,138 @@ +{ + "task_description": "按压台灯开关打开台灯：\n开始移动：0%\n爪夹靠进台灯开关：30%\n爪夹触碰台灯开关：50%\n爪夹按压台灯开关：60%\n台灯开关被打开：100%\n\n", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.336401 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 0.979199 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.8336 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.6870103092783504 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.3006185567010307 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.032 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.9039175257731955 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.4816 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.384 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.3152 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 8.3424 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.100206185567009 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 288, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003207.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003207.json new file mode 100644 index 0000000000000000000000000000000000000000..3241e0d7526c6c6a607f17db69fa32fb69a75287 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003207.json @@ -0,0 +1,148 @@ +{ + "task_description": "按压灯光开关打开电灯：\n开始移动：0%\n爪夹靠进灯光开关：30%\n爪夹触碰灯光开关：50%\n爪夹按压灯光开关：60%\n灯光开关被打开：90%\n爪夹离开灯光开关：100%", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.705125 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.6002 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.5524742268041236 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.214948453608247 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.107598 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.9392 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.186599 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.282799 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.1522 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.0846 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 9.828 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 316, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.5336 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 11.3778 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 378, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003241.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003241.json new file mode 100644 index 0000000000000000000000000000000000000000..41e2d3e2c2fc880af27f48cac3f3230345e26cb1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003241.json @@ -0,0 +1,118 @@ +{ + "task_description": "将右侧的抽屉推上：\n开始移动：0%\n爪夹靠进右侧抽屉推：30%\n爪夹触碰右侧抽屉推：50%\n爪夹推动右侧抽屉推：60%\n爪夹离开右侧抽屉推：100%\n", + "progress_points": [ + { + "time": 0.305962, + "frame": 9, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 0.7654639175257733, + "frame": 23, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.349999, + "frame": 40, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.313, + "frame": 69, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.123, + "frame": 94, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.843, + "frame": 115, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.752, + "frame": 143, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.998453608247423, + "frame": 180, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.983999, + "frame": 210, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.789175257731959, + "frame": 234, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.532, + "frame": 256, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003254.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003254.json new file mode 100644 index 0000000000000000000000000000000000000000..fc1d3d08e99fd700130b05d5b2ef04f7a074dad3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003254.json @@ -0,0 +1,148 @@ +{ + "task_description": "将紫色雨伞放在盒子上：\n开始移动：0%\n爪夹靠进紫色雨伞：20%\n爪夹抓取紫色雨伞：40%\n爪夹抓取紫色雨伞靠近盒子：60%\n紫色雨伞准备落在盒子上：80%\n紫色雨伞安稳落在盒子上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.278591, + "frame": 8, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 0.804666, + "frame": 24, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.541333, + "frame": 46, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2841923726804123, + "frame": 69, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.2422679458762884, + "frame": 97, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.159333, + "frame": 125, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.111333, + "frame": 153, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.871133847938145, + "frame": 176, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.618666, + "frame": 199, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.36666645, + "frame": 221, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.205333, + "frame": 246, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.119243718041238, + "frame": 274, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.825999, + "frame": 295, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.333333, + "frame": 340, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003298.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003298.json new file mode 100644 index 0000000000000000000000000000000000000000..ad6e6ce444e320b3d9f0dfede8269b20039a9d3f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003298.json @@ -0,0 +1,168 @@ +{ + "task_description": "将格子衬衫移到床的左侧：\n开始移动：0%\n爪夹靠进格子衬衫：20%\n爪夹抓取格子衬衫：40%\n爪夹抓取格子衬衫移到床的左侧：60%\n格子衬衫准备落在床单上：80%\n格子衬衫安稳落在床单上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.194107, + "frame": 6, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.171999, + "frame": 35, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.773733, + "frame": 83, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.158384808762886, + "frame": 125, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.366632210824743, + "frame": 161, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.348333, + "frame": 190, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.285933, + "frame": 219, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.78999985, + "frame": 264, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.421133842783505, + "frame": 313, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.700466, + "frame": 351, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.099415584020617, + "frame": 393, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.181199, + "frame": 425, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.509466, + "frame": 465, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.542920679896906, + "frame": 496, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.388693861340204, + "frame": 522, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.35529178298969, + "frame": 551, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003395.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003395.json new file mode 100644 index 0000000000000000000000000000000000000000..23b58728ec370997cd6902152bfbe953d9cdb6c8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003395.json @@ -0,0 +1,178 @@ +{ + "task_description": "将毛巾折叠起来：\n开始移动：0%\n爪夹靠进毛巾右下角：10%\n爪夹抓取毛巾右下角：20%\n爪夹抓取毛巾右下角靠近毛巾左上角30%\n毛巾右下角准备落在毛巾左上角上：40%\n毛巾右下角安稳落在毛巾左上角上，爪夹离开：50%\n爪夹靠进毛巾右上角：60%\n爪夹抓取毛巾右上角：70%\n爪夹抓取毛巾右上角靠近毛巾左下角：80%\n毛巾右上角准备落在毛巾左下角上：90%\n毛巾右上角安稳落在毛巾左下角上，爪夹离开：100%", + "progress_points": [ + { + "time": 2.437238, + "frame": 73, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.599999, + "frame": 108, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.859999, + "frame": 146, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.64, + "frame": 169, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.26, + "frame": 188, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.32, + "frame": 220, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.4, + "frame": 252, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.52, + "frame": 286, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.56, + "frame": 317, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.219999, + "frame": 367, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.96, + "frame": 389, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.989690721649485, + "frame": 420, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.18, + "frame": 455, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.010309278350515, + "frame": 480, + "progress": 68, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.546391752577318, + "frame": 496, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.8, + "frame": 534, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.08, + "frame": 572, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003481.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003481.json new file mode 100644 index 0000000000000000000000000000000000000000..2c4a000ab2fb0425da74eb3bcfde9f8d637ccbd9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003481.json @@ -0,0 +1,138 @@ +{ + "task_description": "将透明盒子里的物品倒在桌面上：\n开始移动：0%\n爪夹靠进透明盒子：20%\n爪夹抓取透明盒子：40%\n透明盒子准备将盒子里的物品倒在桌面上：60%\n透明盒子中的物品安稳落在桌面上：100%\n", + "progress_points": [ + { + "time": 0.646443, + "frame": 19, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.548, + "frame": 46, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.64, + "frame": 79, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.575999, + "frame": 107, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.368, + "frame": 131, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.472, + "frame": 164, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.492, + "frame": 195, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.236, + "frame": 217, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.096907216494845, + "frame": 243, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.94, + "frame": 268, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.852, + "frame": 296, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.848, + "frame": 325, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12, + "frame": 360, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003495.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003495.json new file mode 100644 index 0000000000000000000000000000000000000000..317e9d336c56a7a992efd7b0fb9537e7863e0c36 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003495.json @@ -0,0 +1,228 @@ +{ + "task_description": "将绿色抹布放进黑色杯子中，将网球放在透明杯子上：\n开始移动：0%\n爪夹靠进绿色抹布：10%\n爪夹抓取绿色抹布：20%\n爪夹抓取绿色抹布靠近黑色杯子：30%\n绿色抹布准备落在黑色杯子中：40%\n绿色抹布安稳落在黑色杯子中：50%\n爪夹靠进网球：60%\n爪夹抓取网球：70%\n爪夹抓取网球靠近透明杯子：80%\n网球准备落在透明杯子上：90%\n网球安稳落在透明杯子上，爪夹离开：100%\n\n", + "progress_points": [ + { + "time": 0.241108, + "frame": 7, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.1069759221649487, + "frame": 63, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.411399, + "frame": 102, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.517799, + "frame": 136, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.255399, + "frame": 158, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.099140827319588, + "frame": 183, + "progress": 28, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.560399, + "frame": 227, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.982371036597938, + "frame": 269, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.633733, + "frame": 319, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.955266, + "frame": 359, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.307533, + "frame": 399, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.813466, + "frame": 444, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.411598, + "frame": 492, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.794599, + "frame": 534, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.607866, + "frame": 588, + "progress": 58, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.022233448969068, + "frame": 631, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.558266, + "frame": 677, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.842095961340206, + "frame": 715, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 25.232066, + "frame": 757, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 27.13721620051546, + "frame": 814, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 29.227399, + "frame": 877, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 30.733333, + "frame": 922, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003545.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003545.json new file mode 100644 index 0000000000000000000000000000000000000000..8cfee1bffdd849ece579a6b81ef13d549d3bd47e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003545.json @@ -0,0 +1,128 @@ +{ + "task_description": "将红色杯子移到打印机边缘：\n开始移动：0%\n爪夹靠进红色杯子：20%\n爪夹抓取红色杯子：40%\n爪夹抓取红色杯子靠近打印机边缘：60%\n红色杯子准备落在打印机边缘上：80%\n红色杯子安稳落在打印机边缘上，爪夹离开：100%\n\n", + "progress_points": [ + { + "time": 0.712343, + "frame": 21, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.152, + "frame": 35, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.584, + "frame": 48, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.031958762886598, + "frame": 61, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.49, + "frame": 75, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.922680412371134, + "frame": 88, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.436082474226804, + "frame": 103, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.032, + "frame": 121, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.450515463917526, + "frame": 134, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.974, + "frame": 149, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.478, + "frame": 164, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6, + "frame": 180, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003548.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003548.json new file mode 100644 index 0000000000000000000000000000000000000000..d485b385a108889e516147f509a9f35199424d7f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003548.json @@ -0,0 +1,298 @@ +{ + "task_description": "将橙色方块放进透明杯子，黑色方块放进纸杯中：\n爪夹靠进最下方橙色方块：5%\n爪夹抓取最下方橙色方块：10%\n爪夹抓取最下方橙色方块靠近透明杯子：15%\n最下方橙色方块安稳落在透明杯子中，爪夹离开：20%\n爪夹靠进右侧橙色方块：25%\n爪夹抓取右侧橙色方块：30%\n爪夹抓取右侧橙色方块靠近透明杯子：35%\n右侧橙色方块安稳落在透明杯子中，爪夹离开：40%\n爪夹靠进黑色方块：45%\n爪夹抓取黑色方块：50%\n爪夹抓取黑色方块靠近纸杯：55%\n黑色方块安稳落在纸杯中，爪夹离开：60%\n爪夹靠进左侧下方橙色方块：65%\n爪夹抓取左侧下方橙色方块：70%\n爪夹抓取左侧下方橙色方块靠近透明杯子：75%\n左侧下方橙色方块安稳落在透明杯子中，爪夹离开：80%\n爪夹靠进左侧橙色方块：85%\n爪夹抓取左侧橙色方块：90%\n爪夹抓取左侧橙色方块靠近透明杯子：95%\n左侧橙色方块安稳落在透明杯子子中，爪夹离开：100%\n\n", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.8117525773195875, + "frame": 54, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.311134020618556, + "frame": 99, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.6056, + "frame": 138, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.1812, + "frame": 185, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.5144, + "frame": 225, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.850515463917525, + "frame": 266, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.4232, + "frame": 313, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.6352, + "frame": 349, + "progress": 28, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.5644, + "frame": 377, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.099599, + "frame": 423, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.554, + "frame": 467, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.372, + "frame": 521, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.705199, + "frame": 561, + "progress": 48, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.887628865979384, + "frame": 597, + "progress": 49, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.511958762886596, + "frame": 645, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.9280412371134, + "frame": 688, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 24.0784, + "frame": 722, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 25.093814432989692, + "frame": 753, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 26.2196, + "frame": 787, + "progress": 68, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 27.676082474226803, + "frame": 830, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 29.008865979381444, + "frame": 870, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 30.502, + "frame": 915, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 32.118, + "frame": 964, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 33.128, + "frame": 994, + "progress": 88, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 34.63154639175257, + "frame": 1039, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 35.8348, + "frame": 1075, + "progress": 95, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 37.2488, + "frame": 1117, + "progress": 98, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 39.7536, + "frame": 1193, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003648.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003648.json new file mode 100644 index 0000000000000000000000000000000000000000..8dad4daaafdb8ca3ca62f85c07bd36167b302bfb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003648.json @@ -0,0 +1,158 @@ +{ + "task_description": "将杯子中的记号笔放在桌面上：\n开始移动：0%\n爪夹靠进记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔靠近桌面：60%\n记号笔准备落在桌面上：80%\n记号笔安稳落在桌面上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.955543, + "frame": 29, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.838659793814433, + "frame": 55, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.8362, + "frame": 85, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.493505154639175, + "frame": 135, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.928556701030928, + "frame": 178, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.915154639175257, + "frame": 207, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.143198, + "frame": 244, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.15742268041237, + "frame": 275, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.735979381443299, + "frame": 322, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.971199, + "frame": 359, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.014123711340206, + "frame": 390, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.395360824742266, + "frame": 432, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.555599, + "frame": 467, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.390799, + "frame": 492, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.4, + "frame": 522, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003655.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003655.json new file mode 100644 index 0000000000000000000000000000000000000000..60538a1b197f3672dbb4366be4d498f2280a0070 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003655.json @@ -0,0 +1,118 @@ +{ + "task_description": "将桌面上的记号笔放在灰碗中：\n开始移动：0%\n爪夹靠进记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔靠近灰碗：60%\n记号笔准备落在灰碗中：80%\n记号笔安稳落在灰碗中，爪夹离开：100%\n", + "progress_points": [ + { + "time": 1.571094, + "frame": 47, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.355, + "frame": 71, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.0698626407216496, + "frame": 92, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.935466, + "frame": 118, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.012130743814433, + "frame": 150, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.892733, + "frame": 177, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.740533, + "frame": 202, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.494133, + "frame": 225, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.478, + "frame": 254, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.273466, + "frame": 278, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.8596, + "frame": 296, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003693.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003693.json new file mode 100644 index 0000000000000000000000000000000000000000..8682398cfb25d4da490860b60cefa1a2251945df --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003693.json @@ -0,0 +1,128 @@ +{ + "task_description": "将杯子中的记号笔放在打印机上：\n开始移动：0%\n爪夹靠进记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔靠近打印机：60%\n记号笔准备落在打印机上：80%\n记号笔安稳落在打印机上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.406032, + "frame": 12, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.114266, + "frame": 33, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.954533, + "frame": 59, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.831333, + "frame": 85, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.6580411036082476, + "frame": 110, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.429666, + "frame": 133, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.136322836597938, + "frame": 154, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.854466, + "frame": 176, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.661683605670103, + "frame": 200, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.142266, + "frame": 214, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.918599, + "frame": 238, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.63900312113402, + "frame": 259, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003705.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003705.json new file mode 100644 index 0000000000000000000000000000000000000000..5ec30f24d97e7b54a55467ff3d3913e1465fa802 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003705.json @@ -0,0 +1,138 @@ +{ + "task_description": "将锅盖盖在锅上：\n开始移动：0%\n爪夹靠进锅盖：20%\n爪夹抓取锅盖：40%\n爪夹抓取锅盖靠近锅：60%\n锅盖准备落在锅上：80%\n锅盖安稳落在锅上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 1.344246, + "frame": 40, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.100721649484536, + "frame": 63, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.9790721649484535, + "frame": 89, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.7488, + "frame": 112, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.413711340206185, + "frame": 132, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.0836, + "frame": 153, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.034999, + "frame": 181, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.6254, + "frame": 229, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.9602, + "frame": 269, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.0678, + "frame": 302, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.4594, + "frame": 344, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.7658, + "frame": 383, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.2, + "frame": 426, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003737.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003737.json new file mode 100644 index 0000000000000000000000000000000000000000..7e9fe3946f195f44fb7b47ba76807689aff55020 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003737.json @@ -0,0 +1,108 @@ +{ + "task_description": "将左侧的碗放在右侧碗上：\n开始移动：0%\n爪夹靠进左侧碗：20%\n爪夹抓取左侧碗：40%\n爪夹抓取左侧碗巾靠近右侧碗：60%\n左侧碗准备落在右侧碗上：80%\n左侧碗安稳落在右侧碗上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.487319, + "frame": 15, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.4192, + "frame": 73, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.6512, + "frame": 110, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.1968, + "frame": 156, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.745657597451272, + "frame": 202, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.8848, + "frame": 237, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.52, + "frame": 286, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.1328, + "frame": 334, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.171199, + "frame": 395, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.358399, + "frame": 431, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003743.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003743.json new file mode 100644 index 0000000000000000000000000000000000000000..32dea07d18352497a8b82dabadfc054cf31e7c5c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003743.json @@ -0,0 +1,208 @@ +{ + "task_description": "将杯子里倒扣的杯子放在桌面上，并将紫色物品放在倒扣杯子上：\n开始移动：0%\n爪夹靠进倒扣杯子：10%\n爪夹抓取倒扣杯子：20%\n爪夹抓取倒扣杯子靠近桌面：30%\n倒扣杯子准备落在桌面上：40%\n倒扣杯子安稳落在桌面上，爪夹离开：50%\n爪夹靠进紫色物品：60%\n爪夹抓取紫色物品：70%\n爪夹抓取紫色物品靠近倒扣杯子：80%\n紫色物品准备落在倒扣杯子上：90%\n紫色物品安稳落在倒扣杯子上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.32845, + "frame": 10, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.4832, + "frame": 44, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.0282, + "frame": 91, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.8728, + "frame": 116, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.9646, + "frame": 149, + "progress": 22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.18, + "frame": 185, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.0864, + "frame": 213, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.786799, + "frame": 234, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.755, + "frame": 263, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.682, + "frame": 290, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.7532, + "frame": 323, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.6802, + "frame": 350, + "progress": 68, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.5248, + "frame": 376, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.39, + "frame": 402, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.1522, + "frame": 425, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.8732, + "frame": 446, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.8002, + "frame": 474, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.8714, + "frame": 506, + "progress": 92, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.0044, + "frame": 540, + "progress": 98, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.527525773195876, + "frame": 586, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003768.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003768.json new file mode 100644 index 0000000000000000000000000000000000000000..9851057ff07a957f0acf98dc59c8110359f75483 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003768.json @@ -0,0 +1,238 @@ +{ + "task_description": "拿起锅，然后把它放在炉灶上：\n开始移动：0%\n爪夹靠进锅：20%\n爪夹抓取锅：40%\n爪夹抓取锅靠近炉灶：60%\n锅准备落在炉灶上：80%\n锅安稳落在炉灶上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.169456, + "frame": 5, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.2744, + "frame": 38, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.0736, + "frame": 62, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.7648, + "frame": 83, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.4404123711340207, + "frame": 103, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.7736, + "frame": 143, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.3504, + "frame": 191, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.381855670103094, + "frame": 221, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.317113402061857, + "frame": 250, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.3744, + "frame": 281, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.232164948453608, + "frame": 307, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.744329896907216, + "frame": 322, + "progress": 48, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.5776, + "frame": 347, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.5064, + "frame": 375, + "progress": 52, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.392, + "frame": 402, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.3856, + "frame": 432, + "progress": 58, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.5952, + "frame": 468, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.610399, + "frame": 498, + "progress": 62, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.712, + "frame": 531, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.7056, + "frame": 561, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.762886597938145, + "frame": 593, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.736, + "frame": 622, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.6, + "frame": 648, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003879.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003879.json new file mode 100644 index 0000000000000000000000000000000000000000..7902d73fcdc85539d5447e13a069dbec688c179d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003879.json @@ -0,0 +1,168 @@ +{ + "task_description": "将桌面上的吸管放进杯子中：\n开始移动：0%\n爪夹靠进吸管：20%\n爪夹抓取吸管：40%\n爪夹抓取吸管靠近杯子：60%\n吸管准备落在杯子中：80%\n吸管安稳落在杯子中，爪夹离开：100%\n", + "progress_points": [ + { + "time": 1.177859, + "frame": 35, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.659066, + "frame": 80, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.232799, + "frame": 127, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.779399, + "frame": 173, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.298866, + "frame": 219, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.171066, + "frame": 275, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.83934694587629, + "frame": 325, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.481333, + "frame": 374, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.244999, + "frame": 427, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.117199, + "frame": 484, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.772333, + "frame": 533, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.098247175773196, + "frame": 603, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.842333, + "frame": 655, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.594810706701033, + "frame": 708, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 25.664776317010308, + "frame": 770, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 27.133333, + "frame": 814, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003890.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003890.json new file mode 100644 index 0000000000000000000000000000000000000000..fc66c98746c0f38ae6d832a452abf505d635f738 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003890.json @@ -0,0 +1,118 @@ +{ + "task_description": "打开左侧柜门：\n开始移动：0%\n爪夹靠进左侧柜门：30%\n爪夹触碰左侧柜门：50%\n爪夹推动左侧柜门：60%\n左侧柜门被打开：90%\n爪夹离开左侧柜门：100%\n", + "progress_points": [ + { + "time": 1.334902, + "frame": 40, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.798666, + "frame": 54, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.21666655, + "frame": 66, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.7128864551546394, + "frame": 81, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.381999, + "frame": 101, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.8293812417525768, + "frame": 115, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.376333, + "frame": 131, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.832333, + "frame": 145, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.167999, + "frame": 155, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.64450142113402, + "frame": 169, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.264776302577319, + "frame": 188, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003906.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003906.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003906.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003948.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003948.json new file mode 100644 index 0000000000000000000000000000000000000000..b34f9e7b535426cd39bca113c19305e55a8a250b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003948.json @@ -0,0 +1,108 @@ +{ + "task_description": "关闭热水壶的盖子：\n开始移动：0%\n爪夹靠进热水壶盖：20%\n爪夹触碰热水壶盖：40%\n爪夹推动热水壶盖：60%\n热水壶盖被打开：90%\n爪夹离开热水壶盖：100%\n", + "progress_points": [ + { + "time": 0.745292, + "frame": 22, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.291666, + "frame": 39, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.358333, + "frame": 71, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.033333, + "frame": 91, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.6898623953608243, + "frame": 111, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.333333, + "frame": 130, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.266666, + "frame": 158, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.799999, + "frame": 174, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.683333, + "frame": 200, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.824999, + "frame": 235, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003020.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003020.json new file mode 100644 index 0000000000000000000000000000000000000000..3fb208acf32dcee5ea1193e7795f4631ea2fafb1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003020.json @@ -0,0 +1,138 @@ +{ + "task_description": "从水槽中取出零食，放在台面上：\n开始移动：0%\n爪夹靠进水槽：20%\n爪夹抓取零食：40%\n爪夹抓取零食靠近台面：60%\n零食准备落在台面上：80%\n零食安稳落在台面上，爪夹离开：100%\n", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.154811 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.726399 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.1856 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.4336 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.295999 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.312989690721649 + }, + { + "time": 10.1184, + "frame": 304, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.136 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 380, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 12.677938144329897 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.9392 + }, + { + "time": 15.417599, + "frame": 463, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 490, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.32 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 530, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.6832 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003023.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003023.json new file mode 100644 index 0000000000000000000000000000000000000000..18c1bc6ec8fe081a7507b113dcd987e74589e460 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003023.json @@ -0,0 +1,188 @@ +{ + "task_description": "将银碗向左移动，然后把黄色杯子放在柜台上：\n开始移动：0%\n爪夹靠进银碗：10%\n爪夹触碰银碗：20%\n爪夹推动银碗向左移动：30%\n爪夹靠进黄色杯子：40%\n爪夹抓取黄色杯子：50%\n爪夹抓取黄色杯子靠近柜台：60%\n黄色杯子准备落在柜台上：80%\n黄色杯子安稳落在柜台上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.635866, + "frame": 19, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.874133, + "frame": 56, + "progress": 2, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.028733, + "frame": 91, + "progress": 4, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.501266, + "frame": 135, + "progress": 6, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.722799, + "frame": 172, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.442333, + "frame": 193, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.195333, + "frame": 216, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.831199, + "frame": 235, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.801733, + "frame": 264, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.738799, + "frame": 292, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.290999, + "frame": 309, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.043999, + "frame": 331, + "progress": 52, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.930866, + "frame": 358, + "progress": 54, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.934866, + "frame": 388, + "progress": 56, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.922133, + "frame": 418, + "progress": 58, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.825733, + "frame": 445, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.863199, + "frame": 476, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.733332, + "frame": 502, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003043.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003043.json new file mode 100644 index 0000000000000000000000000000000000000000..e8cf8f8b61cf0cc41f1228313677d42b0349c78a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003043.json @@ -0,0 +1,128 @@ +{ + "task_description": "从桌子上拿起遥控器，将其放在桌子右侧的托盘上：\n开始移动：0%\n爪夹靠进遥控器：20%\n爪夹抓取遥控器：40%\n爪夹抓取遥控器靠近桌面右侧托盘：60%\n遥控器准备落在桌面右侧托盘上：80%\n遥控器安稳落在桌面右侧托盘上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.413423, + "frame": 12, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.458466, + "frame": 44, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.204399, + "frame": 66, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.451333, + "frame": 104, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.765066, + "frame": 143, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.951168206701031, + "frame": 179, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.780199, + "frame": 203, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.526133, + "frame": 226, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.372266, + "frame": 251, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.129333, + "frame": 274, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.942066, + "frame": 298, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.104638842783505, + "frame": 333, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003216.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003216.json new file mode 100644 index 0000000000000000000000000000000000000000..74486ee8c086a2a41011586de1b26e68bc05c5c7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003216.json @@ -0,0 +1,108 @@ +{ + "task_description": "打开右侧柜门：\n开始移动：0%\n爪夹靠进右侧柜门：30%\n爪夹触碰右侧柜门：50%\n爪夹推动右侧柜门：60%\n右侧柜门被打开：90%\n爪夹离开右侧柜门：100%\n", + "progress_points": [ + { + "time": 0.81304, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.625733, + "frame": 49, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.5276, + "frame": 76, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.619333, + "frame": 109, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.5212, + "frame": 136, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.696, + "frame": 171, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.6928, + "frame": 201, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.950666, + "frame": 239, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.5084, + "frame": 255, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.923733, + "frame": 268, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003254.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003254.json new file mode 100644 index 0000000000000000000000000000000000000000..3635e0738660533f37270578e531354b843831a0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003254.json @@ -0,0 +1,148 @@ +{ + "task_description": "将雨伞放在照片上：\n开始移动：0%\n爪夹靠进雨伞：20%\n爪夹抓取雨伞：40%\n爪夹抓取雨伞靠近照片：60%\n雨伞准备落在照片上：80%\n雨伞安稳落在照片上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 0.8821305582474227, + "frame": 26, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.767999, + "frame": 53, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.674666, + "frame": 80, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.479333, + "frame": 104, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.385999, + "frame": 132, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.286941425257732, + "frame": 159, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.176666, + "frame": 185, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.833999, + "frame": 205, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.705498055154638, + "frame": 231, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.658666, + "frame": 260, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.565333, + "frame": 287, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.505999, + "frame": 315, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.333333, + "frame": 340, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003277.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003277.json new file mode 100644 index 0000000000000000000000000000000000000000..adaddc7ddde054b8eed496f29ba0ce46fa7f9d04 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003277.json @@ -0,0 +1,168 @@ +{ + "task_description": "将盒子中的勺子放在桌面上：\n开始移动：0%\n爪夹靠进勺子：20%\n爪夹抓取勺子：40%\n爪夹抓取勺子靠近桌面：60%\n勺子准备落在桌面上：80%\n勺子安稳落在桌面上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 1.004114, + "frame": 30, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.443466, + "frame": 73, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.764933, + "frame": 113, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.335733, + "frame": 160, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.9530583262886605, + "frame": 209, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.125599, + "frame": 274, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.095333, + "frame": 333, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.366933, + "frame": 371, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.987599, + "frame": 420, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.408799, + "frame": 462, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.580666, + "frame": 497, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.057388074742267, + "frame": 542, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.821999, + "frame": 595, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.567333, + "frame": 647, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.1211680757732, + "frame": 694, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 24.933333, + "frame": 748, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003310.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003310.json new file mode 100644 index 0000000000000000000000000000000000000000..1d6af4748fe1929b49160cfa9733cb98988c2c2d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003310.json @@ -0,0 +1,88 @@ +{ + "task_description": "将抽屉关闭：\n开始移动：0%\n爪夹靠进抽屉：30%\n爪夹触碰抽屉：50%\n爪夹推动抽屉：60%\n抽屉被关闭：90%\n爪夹离开抽屉：100%\n", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.488666 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.5611683407216495 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.073999 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.847333 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 4.929999 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.089999 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.288666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003314.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003314.json new file mode 100644 index 0000000000000000000000000000000000000000..3a06ce56205983e4712c1ab75c8a72b914112702 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003314.json @@ -0,0 +1,148 @@ +{ + "task_description": "关闭灯光：\n开始移动：0%\n爪夹靠进灯光开关：40%\n爪夹触碰灯光开关：60%\n爪夹按压灯光开关：80%\n爪夹离开灯光开关：100%\n", + "progress_points": [ + { + "time": 0.768, + "frame": 23, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.112, + "frame": 63, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.454020618556701, + "frame": 104, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.512, + "frame": 135, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.0672, + "frame": 182, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.660799, + "frame": 230, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.2352, + "frame": 277, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.097599, + "frame": 333, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.51958762886598, + "frame": 376, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.9008, + "frame": 417, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.187199, + "frame": 456, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.379381443298968, + "frame": 491, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.725360824742268, + "frame": 532, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.2, + "frame": 576, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003345.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003345.json new file mode 100644 index 0000000000000000000000000000000000000000..e0d382bbebfdd98ea8247a078a1ad9a741cb71f2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003345.json @@ -0,0 +1,278 @@ +{ + "task_description": "将桌面上的抹布放进黑盒中：\n开始移动：0%\n爪夹靠进抹布：10%\n爪夹抓取抹布：20%\n爪夹抓取抹布靠近黑盒：30%\n抹布安稳落在黑盒上：50%\n爪夹按压抹布：60%\n抹布全部进入黑盒中：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.326133, + "frame": 70, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.4005497984536084, + "frame": 102, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.499733, + "frame": 135, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.948799, + "frame": 178, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.092799, + "frame": 213, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.393264531443299, + "frame": 252, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.876533, + "frame": 296, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.249333, + "frame": 337, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.736533, + "frame": 382, + "progress": 48, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.109333, + "frame": 423, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.548178558247423, + "frame": 466, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.549866, + "frame": 496, + "progress": 63, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.770133, + "frame": 533, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.952266, + "frame": 569, + "progress": 68, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.019999, + "frame": 601, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.583466, + "frame": 648, + "progress": 73, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.299466, + "frame": 699, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 24.748533, + "frame": 742, + "progress": 78, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 26.617066, + "frame": 799, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 28.256799, + "frame": 848, + "progress": 83, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 30.125333, + "frame": 904, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 31.574399, + "frame": 947, + "progress": 88, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 32.909066, + "frame": 987, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 34.663199, + "frame": 1040, + "progress": 93, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 36.417333, + "frame": 1093, + "progress": 95, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 38.133333, + "frame": 1144, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003398.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003398.json new file mode 100644 index 0000000000000000000000000000000000000000..7892096a785e77572f798431df853c736a5beea1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003398.json @@ -0,0 +1,308 @@ +{ + "task_description": "将所有盆放在桌面上，再将黄色与绿色盆子放在桌面上，并将黄色盆子倒置：\n爪夹靠进所有的盆：5%\n爪夹抓取所有的盆：10%\n爪夹抓取所有的盆靠近桌面：15%\n所有的盆安稳落在桌面上，爪夹离开：20%\n爪夹靠进黄色盆子：22%\n爪夹抓取黄色盆子：25%\n爪夹抓取黄色盆子靠近桌面：30%\n黄色盆子安稳落在桌面上，爪夹离开：35%\n爪夹靠进绿色盆子：40%\n爪夹抓取绿色盆子：45%\n爪夹抓取绿色盆子靠近桌面：50%\n绿色盆子安稳落在桌面上，爪夹离开：55%\n爪夹靠进黄色盆子：70%\n爪夹抓取黄色盆子：85%\n爪夹抓取黄色盆子倒置桌面：90%\n黄色盆子安稳落在桌面上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.993333, + "frame": 60, + "progress": 2, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.029999, + "frame": 121, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.586666, + "frame": 198, + "progress": 7, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.420962134536085, + "frame": 253, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.143333, + "frame": 274, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.096666, + "frame": 303, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.369415720103094, + "frame": 341, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.129999, + "frame": 394, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.823333, + "frame": 415, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.211340089175257, + "frame": 456, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.899999, + "frame": 507, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.026666, + "frame": 541, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.196666, + "frame": 576, + "progress": 43, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.30412355515464, + "frame": 609, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.623333, + "frame": 649, + "progress": 48, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.966666, + "frame": 689, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 24.613333, + "frame": 738, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 25.709621795360828, + "frame": 771, + "progress": 58, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 27.0051544314433, + "frame": 810, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 28.300687067525775, + "frame": 849, + "progress": 63, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 30.029999, + "frame": 901, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 31.113333, + "frame": 933, + "progress": 68, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 32.586666, + "frame": 978, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 33.843333, + "frame": 1015, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 35.749999, + "frame": 1072, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 37.59278321597939, + "frame": 1128, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 39.20103062628866, + "frame": 1176, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 40.80927803659794, + "frame": 1224, + "progress": 95, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 42.06013713350515, + "frame": 1262, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003424.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003424.json new file mode 100644 index 0000000000000000000000000000000000000000..b97f427f291d9fc07ae6038ba2586a1754fcdb6d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003424.json @@ -0,0 +1,168 @@ +{ + "task_description": "使用纸巾擦拭台面：\n开始移动：0%\n爪夹靠进纸巾：20%\n爪夹抓取纸巾：40%\n爪夹抓取纸巾擦拭台面：60%\n爪夹离开纸巾：100%\n", + "progress_points": [ + { + "time": 0.877998, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.6435395675257733, + "frame": 49, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.253333, + "frame": 68, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.8054, + "frame": 84, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.38, + "frame": 101, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.796866, + "frame": 114, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.338247551030928, + "frame": 130, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.092533, + "frame": 153, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.689666, + "frame": 171, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.230466, + "frame": 187, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.098, + "frame": 213, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.830333, + "frame": 235, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.495066, + "frame": 255, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.0922, + "frame": 273, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.959733, + "frame": 299, + "progress": 95, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.906133, + "frame": 327, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003454.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003454.json new file mode 100644 index 0000000000000000000000000000000000000000..897136402c2ff78f0f7eaa527ed0c37e925c7af3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003454.json @@ -0,0 +1,228 @@ +{ + "task_description": "将水龙头推到右侧：\n开始移动：0%\n爪夹靠进水龙头：20%\n爪夹触碰水龙头：30%\n爪夹推动水龙头：40%\n水龙头到达右侧：90%\n爪夹离开水龙头：100%\n", + "progress_points": [ + { + "time": 0.307043, + "frame": 9, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.417333, + "frame": 73, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.731066, + "frame": 142, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.853264538659794, + "frame": 206, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.529733, + "frame": 256, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.325466, + "frame": 310, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.913999, + "frame": 357, + "progress": 44, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.260799, + "frame": 398, + "progress": 48, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.436357248969074, + "frame": 433, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.436399, + "frame": 463, + "progress": 54, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.506933, + "frame": 495, + "progress": 58, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.888266, + "frame": 537, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.511333, + "frame": 585, + "progress": 64, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.099866, + "frame": 633, + "progress": 68, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.377599, + "frame": 671, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.586266, + "frame": 708, + "progress": 74, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 24.863999, + "frame": 746, + "progress": 78, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 26.383466, + "frame": 792, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 27.626666, + "frame": 829, + "progress": 84, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 29.940399, + "frame": 898, + "progress": 88, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 31.563466, + "frame": 947, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 34.40872819020618, + "frame": 1032, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003464.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003464.json new file mode 100644 index 0000000000000000000000000000000000000000..a99a99597a21a91590f707f6ce5d84df9a8295a5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003464.json @@ -0,0 +1,208 @@ +{ + "task_description": "将紫色瓶子放在台面左侧边缘：\n开始移动：0%\n爪夹靠进紫色瓶子：20%\n爪夹抓取紫色瓶子：40%\n爪夹抓取紫色瓶子靠近台面左侧边缘：60%\n紫色瓶子准备落在台面左侧边缘上：80%\n紫色瓶子安稳落在台面左侧边缘上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.967199, + "frame": 149, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.8946047664948455, + "frame": 237, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.816133, + "frame": 294, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.796185500515465, + "frame": 354, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.955466, + "frame": 419, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.078999, + "frame": 452, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.089533, + "frame": 513, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.981799, + "frame": 569, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.164466, + "frame": 605, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.701933, + "frame": 651, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.121133, + "frame": 694, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 25.368199, + "frame": 761, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 27.556133, + "frame": 827, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 29.093599, + "frame": 873, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 30.867599, + "frame": 926, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 32.582465, + "frame": 977, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 33.942533, + "frame": 1018, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 35.775666, + "frame": 1073, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 38.140999, + "frame": 1144, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003475.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003475.json new file mode 100644 index 0000000000000000000000000000000000000000..55b6da019cf234bff0d26aeebf2fa8f5d0f31f08 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003475.json @@ -0,0 +1,328 @@ +{ + "task_description": "将粉色衣服盖在绿苹果上，再将绿苹果与粉色衣服一起放在盒子上：\n开始移动：0%\n爪夹靠进粉色衣服：10%\n爪夹抓取粉色衣服：20%\n爪夹抓取粉色衣服靠近绿苹果：30%\n粉色衣服准备落在绿苹果上：40%\n粉色衣服安稳落在绿苹果上，爪夹离开：50%\n爪夹靠进粉色衣服绿苹果：60%\n爪夹抓取粉色衣服绿苹果：70%\n爪夹抓取粉色衣服绿苹果靠近盒子：80%\n粉色衣服绿苹果准备落在盒子上：90%\n粉色衣服绿苹果安稳落在盒子上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.6064, + "frame": 48, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.59680412371134, + "frame": 108, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.9196, + "frame": 148, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.0742, + "frame": 182, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.2288, + "frame": 217, + "progress": 22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.8352, + "frame": 265, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.04, + "frame": 301, + "progress": 28, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.048, + "frame": 361, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.843814432989692, + "frame": 415, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.5118, + "frame": 465, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.2688, + "frame": 518, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.7748, + "frame": 563, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.1302, + "frame": 604, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.917216494845363, + "frame": 658, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.0418, + "frame": 691, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 25.022371134020624, + "frame": 751, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 26.7566, + "frame": 803, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 28.011599, + "frame": 840, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 29.5176, + "frame": 886, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 30.818659793814437, + "frame": 925, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 32.88876288659794, + "frame": 987, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 34.02731958762887, + "frame": 1021, + "progress": 68, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 36.144, + "frame": 1084, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 37.901, + "frame": 1137, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 39.8588, + "frame": 1196, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 41.738453608247426, + "frame": 1252, + "progress": 68, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 42.51474226804124, + "frame": 1275, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 43.8748, + "frame": 1316, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 45.5314, + "frame": 1366, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 46.240927835051544, + "frame": 1387, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 48.6438, + "frame": 1459, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003488.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003488.json new file mode 100644 index 0000000000000000000000000000000000000000..a2edadf94eb60ebde4fb11b4023bb6b92fd65c24 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003488.json @@ -0,0 +1,118 @@ +{ + "task_description": "将碗中的记号笔放在桌面上：\n开始移动：0%\n爪夹靠进记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔靠近桌面：60%\n记号笔准备落在桌面上：80%\n记号笔安稳落在桌面上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 1.38403, + "frame": 42, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.159733, + "frame": 65, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.895466, + "frame": 87, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.5956, + "frame": 108, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.36130596443299, + "frame": 131, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.577333, + "frame": 167, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.077182329381443, + "frame": 212, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.921306064432989, + "frame": 238, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.132440119072164, + "frame": 274, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.71965663041237, + "frame": 292, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.5732, + "frame": 317, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003570.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003570.json new file mode 100644 index 0000000000000000000000000000000000000000..e4d327a6d920649b869fa624c8a61fb51be60a7a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003570.json @@ -0,0 +1,108 @@ +{ + "task_description": "按压遥控器：\n开始移动：0%\n爪夹靠进遥控器：30%\n爪夹触碰遥控器：60%\n爪夹按压遥控器：70%\n爪夹打开：90%\n爪夹离开遥控器：100%\n", + "progress_points": [ + { + "time": 0.466352, + "frame": 14, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.048599, + "frame": 31, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.811866, + "frame": 54, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.599621871649484, + "frame": 78, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.4673881541237113, + "frame": 104, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.099827987113402, + "frame": 123, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.629533, + "frame": 139, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.276460234536083, + "frame": 158, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.141799, + "frame": 184, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.133333, + "frame": 214, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003665.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003665.json new file mode 100644 index 0000000000000000000000000000000000000000..2a2587a26410eecfea7e3b3b611d23a06f7b5ec2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003665.json @@ -0,0 +1,158 @@ +{ + "task_description": "将靠近蓝色积木的绿色积木直立放在桌子上：\n开始移动：0%\n爪夹靠进蓝色积木旁的绿色积木：20%\n爪夹抓取绿色积木：40%\n爪夹抓取绿色积木直立在桌面上：60%\n绿色积木准备落在桌面上：80%\n绿色积木安稳落在桌面上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.3144329896907216, + "frame": 9, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.4888, + "frame": 75, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.8552, + "frame": 116, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.6852, + "frame": 171, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.002799, + "frame": 210, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.857199, + "frame": 266, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.1992, + "frame": 306, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.3948, + "frame": 342, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.614799, + "frame": 378, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.785999, + "frame": 414, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.176799, + "frame": 455, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.616399, + "frame": 498, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.199381443298968, + "frame": 546, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.764, + "frame": 593, + "progress": 95, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.31855670103093, + "frame": 640, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003710.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003710.json new file mode 100644 index 0000000000000000000000000000000000000000..20b5a2574df77fb9566ffd4c3ab77874bbda64fc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003710.json @@ -0,0 +1,168 @@ +{ + "task_description": "将枕头放进篮子中：\n开始移动：0%\n爪夹靠进枕头：20%\n爪夹抓取枕头：40%\n爪夹抓取枕头靠近篮子：70%\n枕头准备落在篮子中：80%\n枕头安稳落在篮子中，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.118305, + "frame": 4, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.5157731958762886, + "frame": 45, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.5056, + "frame": 75, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.4452, + "frame": 103, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.332061855670103, + "frame": 130, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.028599, + "frame": 151, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.8464, + "frame": 175, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.681958762886598, + "frame": 200, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.673399, + "frame": 230, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.578199, + "frame": 257, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.57, + "frame": 287, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.3356, + "frame": 310, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.536199, + "frame": 346, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.4236, + "frame": 373, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.516391752577318, + "frame": 405, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.5116, + "frame": 435, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003724.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003724.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003724.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003765.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003765.json new file mode 100644 index 0000000000000000000000000000000000000000..19dfe412cb808df9429edb079cb84f2cc802b9cf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003765.json @@ -0,0 +1,148 @@ +{ + "task_description": "把棕色毛绒玩具放进蓝色储物容器里：\n开始移动：0%\n爪夹靠进棕色毛绒玩具：20%\n爪夹抓取棕色毛绒玩具：40%\n爪夹抓取棕色毛绒玩具靠近蓝色储物容器：60%\n棕色毛绒玩具准备落在蓝色储物容器中：80%\n棕色毛绒玩具安稳落在蓝色储物容器中，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.879184, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.444, + "frame": 103, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.616999, + "frame": 169, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.544, + "frame": 226, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.84, + "frame": 295, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.931, + "frame": 358, + "progress": 22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.96958762886598, + "frame": 419, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.358999, + "frame": 491, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.958, + "frame": 539, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.884999, + "frame": 597, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.380927835051544, + "frame": 671, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 24.436, + "frame": 733, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 26.855, + "frame": 806, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 28.782, + "frame": 863, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003809.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003809.json new file mode 100644 index 0000000000000000000000000000000000000000..91aa20b3f19bd7b98c3ebf08b285258f8c9ccc0a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003809.json @@ -0,0 +1,188 @@ +{ + "task_description": "将毛巾放进黑色篮子中，并将篮子向左移动：\n开始移动：0%\n爪夹靠进毛巾：10%\n爪夹抓取毛巾：20%\n爪夹抓取毛巾靠近黑色篮子：30%\n毛巾准备落在黑色篮子中：40%\n毛巾安稳落在黑色篮子中，爪夹离开：60%\n爪夹抓取黑色篮子：70%\n爪夹抓取黑色篮子靠近桌面向左移动：80%\n黑色篮子准备落在桌面上：90%\n黑色篮子安稳落在桌面上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.468131, + "frame": 14, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.954533, + "frame": 59, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.032266, + "frame": 91, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.11, + "frame": 123, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.968533, + "frame": 149, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.772266, + "frame": 173, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.813466, + "frame": 204, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.037333, + "frame": 241, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.224666, + "frame": 277, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.010133, + "frame": 300, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.4532, + "frame": 344, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.677066, + "frame": 380, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.791333, + "frame": 414, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.8508, + "frame": 446, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.714983104639177, + "frame": 471, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.58123741597938, + "frame": 497, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.627333, + "frame": 529, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.266667, + "frame": 548, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003836.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003836.json new file mode 100644 index 0000000000000000000000000000000000000000..59fdc5df2001a1997c83e2e23fda1e3794cee329 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003836.json @@ -0,0 +1,228 @@ +{ + "task_description": "将盖子盖在容器上，然后按下按钮：\n开始移动：0%\n爪夹靠进盖子：10%\n爪夹抓取盖子：20%\n爪夹抓取盖子靠近容器：30%\n盖子准备落在容器上：40%\n盖子安稳落在容器上，爪夹离开：50%\n爪夹靠进盖子按钮：60%\n爪夹触碰盖子按钮：70%\n爪夹按压盖子按钮：80 %\n爪夹离开盖子按钮：100%\n", + "progress_points": [ + { + "time": 3.603066, + "frame": 108, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.168333, + "frame": 155, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.804845284020618, + "frame": 204, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.809587540721649, + "frame": 234, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.830466, + "frame": 265, + "progress": 14, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.982266, + "frame": 299, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.281733, + "frame": 338, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.669799, + "frame": 380, + "progress": 19, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.205533, + "frame": 426, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.357333, + "frame": 461, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.745398, + "frame": 502, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.252817663402062, + "frame": 548, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.53158053556701, + "frame": 586, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.59721626237113, + "frame": 618, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.441199, + "frame": 643, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.445333, + "frame": 673, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.035999, + "frame": 691, + "progress": 68, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 24.483133, + "frame": 734, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 25.803607956185566, + "frame": 774, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 27.17371103350515, + "frame": 815, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 28.543814110824737, + "frame": 856, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 29.533333, + "frame": 886, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003880.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003880.json new file mode 100644 index 0000000000000000000000000000000000000000..c7845b05e585d3916cfb6fd657c6db983e93318d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003880.json @@ -0,0 +1,428 @@ +{ + "task_description": "将桌面上的物品放在盘子上：\n爪夹靠进橙色大瓶：5%\n爪夹抓取橙色大瓶：10%\n爪夹抓取橙色大瓶子靠近盘子：13%\n橙色大瓶子安稳落在盘子上，爪夹离开：15%\n爪夹靠进紫色包装瓶子：20%\n爪夹抓取紫色包装瓶子：25%\n爪夹抓取紫色包装瓶子靠近盘子：28%\n紫色包装瓶子安稳落在盘子上，爪夹离开：30%\n爪夹靠进白色粗瓶子：33%\n爪夹抓取白色粗瓶子：35%\n爪夹抓取白色粗瓶子靠近盘子：40%\n白色粗瓶子安稳落在盘子上，爪夹离开：45%\n爪夹靠进橙色小瓶子：50%\n爪夹抓取橙色小瓶子：55%\n爪夹抓取橙色小瓶子瓶子靠近盘子：58%\n橙色小瓶子瓶子安稳落在盘子上，爪夹离开：60%\n爪夹靠进白色细瓶子：65%\n爪夹抓取白色细瓶子：70%\n爪夹抓取白色细瓶子靠近盘子：73%\n白色细瓶子安稳落在盘子上，爪夹离开：75%\n爪夹靠进绿盖瓶子：78%\n爪夹抓取绿盖瓶子：80%\n爪夹抓取绿盖瓶子靠近盘子：83%\n绿盖瓶子安稳落在盘子上，爪夹离开：85%\n爪夹靠进红球：90%\n爪夹抓取红球：95%\n爪夹抓取红球靠近盘子：98%\n红球安稳落在盘子上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.7601030927835053, + "frame": 53, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.1570103092783506, + "frame": 95, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.7696, + "frame": 143, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.397835051546391, + "frame": 192, + "progress": 13, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.794742268041237, + "frame": 234, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.465257731958763, + "frame": 254, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.58278350515464, + "frame": 287, + "progress": 23, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.5148, + "frame": 315, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.594329896907217, + "frame": 348, + "progress": 28, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.466, + "frame": 374, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.2248, + "frame": 397, + "progress": 33, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.10876288659794, + "frame": 423, + "progress": 34, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.8508, + "frame": 446, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.729175257731962, + "frame": 472, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.399690721649485, + "frame": 492, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.4524, + "frame": 524, + "progress": 42, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.1028, + "frame": 543, + "progress": 44, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.6746, + "frame": 590, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.260927835051547, + "frame": 638, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.6556, + "frame": 680, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.6312, + "frame": 709, + "progress": 56, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 25.06051546391753, + "frame": 752, + "progress": 58, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 26.4496, + "frame": 793, + "progress": 59, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 27.5878, + "frame": 828, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 28.74835051546392, + "frame": 862, + "progress": 62, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 29.810000000000002, + "frame": 894, + "progress": 63, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 31.374536082474233, + "frame": 941, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 32.771443298969075, + "frame": 983, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 34.280103092783506, + "frame": 1028, + "progress": 72, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 35.5552, + "frame": 1067, + "progress": 73, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 36.682783505154646, + "frame": 1100, + "progress": 74, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 37.9120618556701, + "frame": 1137, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 39.4576, + "frame": 1184, + "progress": 78, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 41.4881443298969, + "frame": 1245, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 42.940927835051546, + "frame": 1288, + "progress": 83, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 44.449587628865984, + "frame": 1333, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 46.3952, + "frame": 1392, + "progress": 88, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 47.466907216494846, + "frame": 1424, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 49.3762, + "frame": 1481, + "progress": 95, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 51.1648, + "frame": 1535, + "progress": 98, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 52.6824, + "frame": 1580, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003897.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003897.json new file mode 100644 index 0000000000000000000000000000000000000000..6253f6e7fb4955f061fe0e721434f8c027a6fdd6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003897.json @@ -0,0 +1,408 @@ +{ + "task_description": "将桌面上的物品放在盒子中：\n爪夹靠进黑色衣物：5%\n爪夹抓取黑色衣物：10%\n爪夹抓取黑色衣物靠近盒子：15%\n黑色衣物安稳落在盒子中，爪夹离开：20%\n爪夹靠进白色衣物：25%\n爪夹抓取白色衣物：30%\n爪夹抓取白色衣物靠近盒子：35%\n白色衣物安稳落在盒子中，爪夹离开：40%\n爪夹靠进粉色衣物：45%\n爪夹抓取粉色衣物：50%\n爪夹抓取粉色衣物靠近盒子：55%\n粉色衣物安稳落在盒子中，爪夹离开：60%\n爪夹靠进紫色衣物：65%\n爪夹抓取紫色衣物：70%\n爪夹抓取紫色衣物靠近盒子：80%\n紫色衣物安稳落在盒子中，爪夹离开：100%\n", + "progress_points": [ + { + "time": 1.810006, + "frame": 54, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.070618538659794, + "frame": 92, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.368466, + "frame": 131, + "progress": 7, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.992533, + "frame": 150, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.559866, + "frame": 167, + "progress": 13, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.410866, + "frame": 192, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.261866, + "frame": 218, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.907133, + "frame": 267, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.098533, + "frame": 303, + "progress": 22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.233199, + "frame": 337, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.424599, + "frame": 373, + "progress": 28, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.481477584020617, + "frame": 404, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.261266, + "frame": 458, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.395933, + "frame": 492, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.985051440721648, + "frame": 540, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.062399, + "frame": 572, + "progress": 42, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.197066, + "frame": 606, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.764399, + "frame": 623, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.069266, + "frame": 662, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.430866, + "frame": 703, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 24.53570432319588, + "frame": 736, + "progress": 62, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 25.416533, + "frame": 762, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 26.75824726546392, + "frame": 803, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 28.044982653092788, + "frame": 841, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 29.217666, + "frame": 877, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 30.50147748402062, + "frame": 915, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 31.827399, + "frame": 955, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 33.018799, + "frame": 991, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 34.380399, + "frame": 1031, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 35.855466, + "frame": 1076, + "progress": 72, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 37.387266, + "frame": 1122, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 38.455841698453604, + "frame": 1154, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 39.713333, + "frame": 1191, + "progress": 95, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 40.970824501546396, + "frame": 1229, + "progress": 95, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 42.209599, + "frame": 1266, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 43.571199, + "frame": 1307, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 45.329933, + "frame": 1360, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 46.804999, + "frame": 1404, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 49.131066, + "frame": 1474, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 51.457133, + "frame": 1544, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003898.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003898.json new file mode 100644 index 0000000000000000000000000000000000000000..38cb9db38860c88ff1ec7f500d0cbfbaa77378c3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003898.json @@ -0,0 +1,188 @@ +{ + "task_description": "将椅子上的毛巾挂在架子上：\n开始移动：0%\n爪夹靠进毛巾：20%\n爪夹抓取毛巾：40%\n爪夹抓取毛巾靠近架子：60%\n毛巾准备落在架子上：80%\n毛巾安稳落在架子上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.514294, + "frame": 15, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.116666, + "frame": 33, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.9, + "frame": 57, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.766666, + "frame": 83, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.75, + "frame": 113, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.9, + "frame": 147, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.091065413917525, + "frame": 183, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.15, + "frame": 215, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.9, + "frame": 237, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.716666, + "frame": 261, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.527491599484536, + "frame": 286, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.42096240773196, + "frame": 313, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.55, + "frame": 347, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.566666, + "frame": 377, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.433333, + "frame": 403, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.510309568556702, + "frame": 435, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.916666, + "frame": 477, + "progress": 95, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.666667, + "frame": 500, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003952.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003952.json new file mode 100644 index 0000000000000000000000000000000000000000..cb07320b9e893f3b4684f19fafa96d04444c829f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003952.json @@ -0,0 +1,118 @@ +{ + "task_description": "触碰烤面包机的手柄，使手柄向上：\n开始移动：0%\n爪夹靠进烤面包机手柄：30%\n爪夹触碰烤面包机手柄：50%\n爪夹按压烤面包机手柄：60%\n烤面包机手柄到达上端 ：90%\n爪夹离开烤面包机手柄：100%\n", + "progress_points": [ + { + "time": 0.23016, + "frame": 7, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 0.783533, + "frame": 24, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.491933, + "frame": 45, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.146666, + "frame": 64, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.101933, + "frame": 93, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.218199, + "frame": 127, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.871133, + "frame": 176, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.430343411855668, + "frame": 223, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.370893210824743, + "frame": 251, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.946288381958762, + "frame": 268, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.643401762371134, + "frame": 289, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.wrist_image_left/episode_003060.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.wrist_image_left/episode_003060.json new file mode 100644 index 0000000000000000000000000000000000000000..a2b61a1c4c8c7ebfcfbcbef7a2bd06d361d33037 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.wrist_image_left/episode_003060.json @@ -0,0 +1,268 @@ +{ + "task_description": "抓起盘子将盘子中的物品倒入盒子中：\n开始移动：0%\n爪夹靠进盘子：20%\n爪夹抓取盘子：40%\n爪夹抓取盘子靠近盒子：60%\n盘子准备将盘子中的物品倒入盒子中：70%\n盘子中的物品安稳落在盒子中：85%\n盘子准备落在桌面上：90%\n盘子安稳落在桌面上，爪夹离开：100%\n\n", + "progress_points": [ + { + "time": 1.116945, + "frame": 34, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.5299656582474226, + "frame": 76, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.345360863402061, + "frame": 130, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.694933, + "frame": 171, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.156133, + "frame": 215, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.467466, + "frame": 254, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.479066, + "frame": 284, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.603066, + "frame": 318, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.24, + "frame": 337, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.551333, + "frame": 377, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.96309290773196, + "frame": 419, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.2864, + "frame": 459, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.447866, + "frame": 493, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.984, + "frame": 540, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.182933, + "frame": 575, + "progress": 72, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.269466, + "frame": 608, + "progress": 74, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.618266, + "frame": 649, + "progress": 76, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.341733, + "frame": 700, + "progress": 78, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 24.915333, + "frame": 747, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 26.414, + "frame": 792, + "progress": 82, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 28.137466, + "frame": 844, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 29.8984, + "frame": 897, + "progress": 88, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 31.621866, + "frame": 949, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 33.23718242628866, + "frame": 997, + "progress": 93, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 34.9564, + "frame": 1049, + "progress": 98, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 36.904666, + "frame": 1107, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.wrist_image_left/episode_003407.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.wrist_image_left/episode_003407.json new file mode 100644 index 0000000000000000000000000000000000000000..8d359f8ac34175fbfe9d8de90b81bb2a5d002877 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.wrist_image_left/episode_003407.json @@ -0,0 +1,118 @@ +{ + "task_description": "将香蕉玩具放在右侧黄色方块旁：\n开始移动：0%\n爪夹靠进香蕉玩具：20%\n爪夹抓取香蕉玩具：40%\n爪夹抓取香蕉玩具靠近右侧黄色方块旁：60%\n香蕉玩具准备落在桌面上：80%\n香蕉玩具安稳落在桌面上，爪夹离开：100%\n", + "progress_points": [ + { + "time": 1.71297, + "frame": 51, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.63670110257732, + "frame": 79, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.704533, + "frame": 111, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.244266, + "frame": 127, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.039450308762887, + "frame": 151, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.802133, + "frame": 174, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.632852413917526, + "frame": 199, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.657182338659794, + "frame": 230, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.7216, + "frame": 262, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.690666, + "frame": 291, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.537066, + "frame": 316, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006025.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006025.json new file mode 100644 index 0000000000000000000000000000000000000000..1e0dc7d3ff248e10a3dc66db363d0a850c424cc6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006025.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹抓取杯子向爪夹左侧移动\n爪夹启动：0%\n爪夹靠近杯子：30%\n爪夹夹取杯子：60%\n爪夹移动：70%\n杯子移动到爪夹左侧桌面上：90%\n爪夹打开：100%", + "progress_points": [ + { + "time": 0.2256, + "frame": 7, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.7296, + "frame": 52, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.509333, + "frame": 105, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.514666, + "frame": 165, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.2192, + "frame": 217, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.057594622164947, + "frame": 272, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.853866, + "frame": 326, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.884266, + "frame": 387, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.156288861340204, + "frame": 455, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.922666, + "frame": 538, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.226133, + "frame": 577, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.203299251030927, + "frame": 636, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006060.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006060.json new file mode 100644 index 0000000000000000000000000000000000000000..ed0ff207e8841eee8b36cfbda96d87759a1ae40e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006060.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹抓取鸡蛋放到杯子里\n爪夹启动：0%\n爪夹靠近鸡蛋：30%\n爪夹夹取鸡蛋：60%\n爪夹移动：80%\n爪夹位于杯子上方：90%\n爪夹打开，鸡蛋放到杯子里：100%", + "progress_points": [ + { + "time": 5.9778, + "frame": 179, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.4538, + "frame": 224, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.5202, + "frame": 286, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.7096, + "frame": 351, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.4562, + "frame": 404, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.129, + "frame": 454, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.5804, + "frame": 497, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.8596, + "frame": 536, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.2372, + "frame": 577, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.1966, + "frame": 606, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006094.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006094.json new file mode 100644 index 0000000000000000000000000000000000000000..968cfad43fe96d5ad8f7a8b613573a20b04fdf0c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006094.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹抓取笔放到桌子上\n爪夹启动：0%\n爪夹靠近笔：20%\n爪夹夹取笔：50%\n爪夹移动：60%\n爪夹位于桌子上方：80%\n爪夹打开，笔放到桌子上：100%", + "progress_points": [ + { + "time": 2.6602, + "frame": 80, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.075199, + "frame": 122, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.0562, + "frame": 182, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.924, + "frame": 238, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.489933, + "frame": 285, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.9804, + "frame": 329, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.697333, + "frame": 351, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.735, + "frame": 382, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.2632, + "frame": 428, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.589312990206187, + "frame": 468, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.8668, + "frame": 506, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.093133, + "frame": 543, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006144.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006144.json new file mode 100644 index 0000000000000000000000000000000000000000..f7c513fa2644ef8abdc82d87cc7a8fd38a669dc3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006144.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹抓取笔放到桌子上\n爪夹启动：0%\n爪夹靠近笔：20%\n爪夹夹取笔：50%\n爪夹移动到盒子上方：80%\n爪夹打开，笔放到盒子上：100%", + "progress_points": [ + { + "time": 0.9486, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.7718556701030925, + "frame": 53, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.7744, + "frame": 83, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.6414, + "frame": 109, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.6512, + "frame": 140, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.5692, + "frame": 167, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.436199, + "frame": 193, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.395, + "frame": 222, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.4558, + "frame": 254, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.639, + "frame": 289, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006169.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006169.json new file mode 100644 index 0000000000000000000000000000000000000000..7680c1821fecdd15f46c98e4ecdf4531b245581e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006169.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹抓取杯子向爪夹后方移动\n爪夹启动：0%\n爪夹靠近杯子：30%\n爪夹夹取杯子：60%\n爪夹移动：70%\n杯子移动到爪夹后方：80%\n爪夹打开：100%", + "progress_points": [ + { + "time": 0.631733, + "frame": 19, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.226666, + "frame": 37, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.711199, + "frame": 51, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2731270242268042, + "frame": 68, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.005333, + "frame": 90, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.710666, + "frame": 111, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.066398, + "frame": 122, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.495733, + "frame": 135, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.067903504639176, + "frame": 152, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.661066, + "frame": 170, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006201.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006201.json new file mode 100644 index 0000000000000000000000000000000000000000..5a7ddaf32e7803bb994cc3d16a83d710b5b5697a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006201.json @@ -0,0 +1,118 @@ +{ + "task_description": "关闭左侧柜门\n爪夹启动：0%\n爪夹靠近左侧柜门：20%\n爪夹停在左侧柜门边缘：40%\n爪夹移动，左侧柜门关闭：90%\n爪夹移开：100%", + "progress_points": [ + { + "time": 0.5984, + "frame": 18, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.2005498963917525, + "frame": 36, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.7248, + "frame": 52, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.352533, + "frame": 71, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.816, + "frame": 84, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.2912, + "frame": 99, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.825066, + "frame": 115, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.300266, + "frame": 129, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.898666, + "frame": 147, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.416082781958763, + "frame": 162, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.813866, + "frame": 174, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006237.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006237.json new file mode 100644 index 0000000000000000000000000000000000000000..aa6aa87e54c15641aa5e3759fc553d31b1f9f8ff --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006237.json @@ -0,0 +1,278 @@ +{ + "task_description": "爪夹抓取玩偶放到袋子中\n爪夹启动：0%\n爪夹靠近玩偶1：10%\n爪夹夹取玩偶1：15%\n爪夹移动到袋子上方：20%\n爪夹打开，玩偶1放到袋子中：25%\n爪夹靠近玩偶2：30%\n爪夹夹取玩偶2：35%\n爪夹移动到袋子上方：40%\n爪夹打开，玩偶2放到袋子中：45%\n爪夹靠近玩偶3：50%\n爪夹夹取玩偶3：55%\n爪夹移动到袋子上方：65%\n爪夹打开，玩偶3放到袋子中：70%\n爪夹靠近玩偶4：75%\n爪夹夹取玩偶4：80%\n爪夹移动到袋子上方：83%\n爪夹打开，玩偶4放到袋子中：85%\n爪夹靠近玩偶5：92%\n爪夹夹取玩偶5：94%\n爪夹移动到袋子上方：98%\n爪夹打开，玩偶5放到袋子中：100%", + "progress_points": [ + { + "time": 1.604, + "frame": 48, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.8496, + "frame": 115, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.614, + "frame": 168, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.645733, + "frame": 229, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.035866, + "frame": 271, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.479466, + "frame": 314, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.206266, + "frame": 396, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.910034457216495, + "frame": 447, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.414266, + "frame": 492, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.141066, + "frame": 574, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.477733, + "frame": 614, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.707466, + "frame": 651, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 24.273866, + "frame": 728, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 25.5036, + "frame": 765, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 27.481866, + "frame": 824, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 29.246266, + "frame": 877, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 30.582933, + "frame": 917, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 33.737466, + "frame": 1012, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 36.1313404314433, + "frame": 1084, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 37.426666, + "frame": 1123, + "progress": 83, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 38.389066, + "frame": 1152, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 40.48584217680412, + "frame": 1215, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 41.971333, + "frame": 1259, + "progress": 92, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 43.1476, + "frame": 1294, + "progress": 94, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 45.339733, + "frame": 1360, + "progress": 96, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 46.943733, + "frame": 1408, + "progress": 98, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 48.173466, + "frame": 1445, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006249.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006249.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006249.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006277.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006277.json new file mode 100644 index 0000000000000000000000000000000000000000..0454d1449294d2502def96880d7b0470d0923317 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006277.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹抓取锅盖放到锅上\n爪夹启动：0%\n爪夹靠近锅盖：20%\n爪夹夹取锅盖：40%\n爪夹移动：60%\n爪夹位于锅上方：80%\n爪夹打开，锅盖放到锅上：100%", + "progress_points": [ + { + "time": 1.8326, + "frame": 55, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.7842, + "frame": 114, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.772268041237114, + "frame": 143, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.307, + "frame": 189, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.211, + "frame": 246, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.234, + "frame": 307, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.078041237113403, + "frame": 332, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.8044, + "frame": 384, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.3038, + "frame": 429, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.755199, + "frame": 503, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.2542, + "frame": 578, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.3962, + "frame": 642, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.443, + "frame": 703, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006312.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006312.json new file mode 100644 index 0000000000000000000000000000000000000000..c8d32353ef2276e6a5f703737d1da80f7331e42a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006312.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹抓取锅盖放到锅上\n爪夹启动：0%\n爪夹靠近锅盖：20%\n爪夹夹取锅盖：30%\n爪夹移动：60%\n爪夹位于锅上方：80%\n爪夹打开，锅盖放到锅上：100%", + "progress_points": [ + { + "time": 0.936666, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.247999, + "frame": 67, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.409466, + "frame": 102, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.889399, + "frame": 147, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.822783401546391, + "frame": 175, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.324733, + "frame": 220, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.692266, + "frame": 261, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.265866, + "frame": 308, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.616597731443298, + "frame": 348, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.431992888144329, + "frame": 403, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.892999, + "frame": 447, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.354199, + "frame": 491, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.590599, + "frame": 528, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.685051213917525, + "frame": 561, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006500.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006500.json new file mode 100644 index 0000000000000000000000000000000000000000..a4e1aca25f243da099efec35bfee4daceca74210 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006500.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹抓取笔放到桌子上\n爪夹启动：0%\n爪夹靠近笔：20%\n爪夹夹取笔：50%\n爪夹移动：60%\n爪夹位于桌子上方：80%\n爪夹打开，笔放到桌子上：100%", + "progress_points": [ + { + "time": 0.605866, + "frame": 18, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.4768, + "frame": 44, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2436, + "frame": 67, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.944133, + "frame": 88, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.0044, + "frame": 120, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.875333, + "frame": 146, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.689466, + "frame": 171, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.2764, + "frame": 188, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.953608492268042, + "frame": 209, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.715333, + "frame": 231, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.27113431185567, + "frame": 248, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006501.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006501.json new file mode 100644 index 0000000000000000000000000000000000000000..c91a809a6f31b0112c85f865087f874b699645b6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006501.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹抓取黄色物品放到桌子上\n爪夹启动：0%\n爪夹靠近黄色物品：20%\n爪夹夹取黄色物品：50%\n爪夹移动：60%\n爪夹位于桌子上方：80%\n爪夹打开，黄色物品放到桌子上：100%", + "progress_points": [ + { + "time": 0.382333, + "frame": 11, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.374333, + "frame": 41, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.180333, + "frame": 65, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.006999, + "frame": 90, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.071333, + "frame": 122, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.841752421134021, + "frame": 145, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.652333, + "frame": 170, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.334333, + "frame": 190, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.357333, + "frame": 221, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.152998, + "frame": 245, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006522.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006522.json new file mode 100644 index 0000000000000000000000000000000000000000..3cc5f34c23c241ccd6c06cce2ee3d399ebd875b7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006522.json @@ -0,0 +1,138 @@ +{ + "task_description": "打开右侧柜门\n爪夹启动：0%\n爪夹靠近右侧柜门：30%\n爪夹抓取右侧柜门门把手：40%\n爪夹移动，右侧柜门打开：90%\n爪夹移开：100%", + "progress_points": [ + { + "time": 0.456533, + "frame": 14, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.341066, + "frame": 40, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.354, + "frame": 71, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.481066, + "frame": 104, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.693733, + "frame": 141, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.920666, + "frame": 178, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.033466, + "frame": 211, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.189066, + "frame": 246, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.3732, + "frame": 281, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.714266, + "frame": 321, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.741466, + "frame": 352, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.897066, + "frame": 387, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.924266, + "frame": 418, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006538.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006538.json new file mode 100644 index 0000000000000000000000000000000000000000..8d81ba2ef50005a6c327010fe3232d5d3a923287 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006538.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹抓取黄色物品向爪夹左侧方向桌面移动\n爪夹启动：0%\n爪夹靠近黄色物品：30%\n爪夹夹取黄色物品：40%\n爪夹移动：60%\n黄色物品移动到爪夹左侧桌面：80%\n爪夹打开：100%", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.739999 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.629333 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.309866 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.642399 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.183733 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.763733 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.405599 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.0391749974226805 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.596533 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.207466 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006626.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006626.json new file mode 100644 index 0000000000000000000000000000000000000000..1781ced96cf284d2688bec59b186e67a4b1bacda --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006626.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹抓取毛巾放到锅把手处，再抓取锅向爪夹左侧灶台移动\n爪夹启动：0%\n爪夹靠近毛巾：20%\n爪夹夹取毛巾：30%\n爪夹移动到爪夹锅把手处：40%\n爪夹打开：50%\n爪夹夹取锅把手：60%\n爪夹移动：80%\n锅移动到左侧灶台上方：90%\n爪夹打开：100%", + "progress_points": [ + { + "time": 0.618333, + "frame": 19, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2310996262886595, + "frame": 67, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.165866, + "frame": 95, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.179933, + "frame": 125, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.133866, + "frame": 184, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.964133, + "frame": 239, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.967533, + "frame": 299, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.748333, + "frame": 352, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.578599, + "frame": 407, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.299266, + "frame": 489, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.426333, + "frame": 553, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.553399, + "frame": 617, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.729933, + "frame": 682, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006672.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006672.json new file mode 100644 index 0000000000000000000000000000000000000000..7d71acddeaa8d85e607152b004516bf243cefb66 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006672.json @@ -0,0 +1,78 @@ +{ + "task_description": "爪夹推动毛巾向爪夹右侧移动\n爪夹启动：0%\n爪夹靠近毛巾：30%\n爪夹停在毛巾表面：50%\n爪夹移动：70%\n毛巾移动到爪夹右侧桌面上：90%\n爪夹打开：100%", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 6.334533 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.1764 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.741066 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.305733 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 9.086 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 9.626323336597938 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.164 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006679.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006679.json new file mode 100644 index 0000000000000000000000000000000000000000..ac927d7b33468739cbc0ef06f7141318d0f7b579 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006679.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹抓取药瓶放到盖子上\n爪夹启动：0%\n爪夹靠近药瓶：20%\n爪夹夹取药瓶：40%\n爪夹移动：60%\n爪夹位于盖子上方：80%\n爪夹打开，药瓶放到盖子上：100%", + "progress_points": [ + { + "time": 0.815999, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.631999, + "frame": 49, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.436666, + "frame": 73, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.286666, + "frame": 99, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.306666, + "frame": 129, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.861999, + "frame": 146, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.337999, + "frame": 160, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.915999, + "frame": 177, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.425999, + "frame": 193, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.238144117010308, + "frame": 217, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.231271235567009, + "frame": 247, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.157333, + "frame": 275, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.075333, + "frame": 302, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.834666, + "frame": 325, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006681.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006681.json new file mode 100644 index 0000000000000000000000000000000000000000..d0ca6503f4b1d56f3c58964b29a237d7d81558b6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006681.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹抓取笔放到杯子里\n爪夹启动：0%\n爪夹靠近笔：20%\n爪夹夹取笔：40%\n爪夹移动：60%\n爪夹位于杯子上方：80%\n爪夹打开，笔放到杯子里：100%", + "progress_points": [ + { + "time": 1.765866, + "frame": 53, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.430933, + "frame": 73, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.3158763850515465, + "frame": 99, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.131546511855669, + "frame": 124, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.274666, + "frame": 158, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.192, + "frame": 186, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.040533, + "frame": 211, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.785866, + "frame": 234, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.4968, + "frame": 255, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.333866, + "frame": 280, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.3544, + "frame": 311, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.916266, + "frame": 327, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006682.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006682.json new file mode 100644 index 0000000000000000000000000000000000000000..ae886d4855398e29918dcfbfc52434cb11ce6145 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006682.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹抓取书包向爪夹左侧方向移动\n爪夹启动：0%\n爪夹靠近书包：20%\n爪夹夹取书包：40%\n爪夹移动：60%\n书包移动到爪夹左侧方向上：80%\n爪夹打开：100%", + "progress_points": [ + { + "time": 1.203199, + "frame": 36, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2676288056701033, + "frame": 68, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.083199, + "frame": 92, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.123465, + "frame": 124, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.276533, + "frame": 158, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.417066, + "frame": 193, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.695466, + "frame": 231, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.622933, + "frame": 259, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.575466, + "frame": 287, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.741066, + "frame": 322, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.681066, + "frame": 350, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.232533, + "frame": 367, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006687.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006687.json new file mode 100644 index 0000000000000000000000000000000000000000..e19900cdea16205a1388f19a2ad52988164d964b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006687.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹抓取固体胶放到桌子上\n爪夹启动：0%\n爪夹靠近固体胶：20%\n爪夹夹取固体胶：50%\n爪夹移动：60%\n爪夹位于桌子上方：80%\n爪夹打开，固体胶放到桌子上：100%", + "progress_points": [ + { + "time": 1.7444, + "frame": 52, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.9192, + "frame": 88, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.999066, + "frame": 120, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.3044, + "frame": 159, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.4792, + "frame": 194, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.5472, + "frame": 226, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.306666, + "frame": 249, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.089866, + "frame": 273, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.2528, + "frame": 308, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.190266, + "frame": 336, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.7836, + "frame": 354, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006692.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006692.json new file mode 100644 index 0000000000000000000000000000000000000000..0918e0092bc3d2b543b77ebcef4e7813309b32a6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006692.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹抓取杯子向爪夹前方移动\n爪夹启动：0%\n爪夹靠近杯子：20%\n爪夹夹取杯子：40%\n爪夹移动：70%\n杯子移动到爪夹前方桌面上：80%\n爪夹打开：100%", + "progress_points": [ + { + "time": 1.7024, + "frame": 51, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.6193814432989693, + "frame": 79, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.9168, + "frame": 118, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.0432, + "frame": 151, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.7216, + "frame": 172, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.44618556701031, + "frame": 193, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.270399, + "frame": 218, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.254020618556702, + "frame": 248, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.2672, + "frame": 278, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.4576, + "frame": 314, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.3024, + "frame": 339, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006817.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006817.json new file mode 100644 index 0000000000000000000000000000000000000000..387f20aa172f846614f892578d13a50b1d7c5497 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006817.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹抓取蓝色积木叠放在一起\n爪夹启动：0%\n爪夹靠近第一个蓝色积木：20%\n爪夹夹取第一个蓝色积木：30%\n爪夹移动到第二个蓝色积木上方：60%\n爪夹合拢：75%\n爪夹下移，第一个蓝色积木放在第二个蓝色积木上：100%", + "progress_points": [ + { + "time": 0.9168, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2156, + "frame": 66, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.151066, + "frame": 125, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.679066, + "frame": 170, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.589066, + "frame": 228, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.600933, + "frame": 288, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.638266, + "frame": 349, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.0644, + "frame": 392, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.8216, + "frame": 445, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.6552, + "frame": 500, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.361466, + "frame": 551, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.7112, + "frame": 591, + "progress": 65, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.264666, + "frame": 638, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 22.538, + "frame": 676, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 23.938666, + "frame": 718, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006827.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006827.json new file mode 100644 index 0000000000000000000000000000000000000000..98c49a9b9bbd65270039686f9e73de2a0d221edc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006827.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹抓取袋子放到盒子里\n爪夹启动：0%\n爪夹靠近袋子：20%\n爪夹夹取袋子：50%\n爪夹移动：60%\n爪夹位于盒子上方：80%\n爪夹打开，袋子放到盒子里：100%", + "progress_points": [ + { + "time": 0.866133, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.5227491737113403, + "frame": 46, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.9418557335051543, + "frame": 88, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.8048, + "frame": 114, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.727697696391752, + "frame": 142, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.8928, + "frame": 177, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.975466, + "frame": 209, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.150933, + "frame": 245, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.125333, + "frame": 274, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.501866, + "frame": 315, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.6464, + "frame": 349, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.859656634536083, + "frame": 386, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.7344, + "frame": 412, + "progress": 95, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.538666, + "frame": 436, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006863.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006863.json new file mode 100644 index 0000000000000000000000000000000000000000..61281561c5739faf6ec652d8d649c244ef5543c3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006863.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹抓取蓝色物品放到盒子里\n爪夹启动：0%\n爪夹靠近蓝色物品：20%\n爪夹夹取蓝色物品：50%\n爪夹移动：60%\n爪夹位于盒子上方：80%\n爪夹打开，蓝色物品放到盒子里：100%", + "progress_points": [ + { + "time": 0.846799, + "frame": 25, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.5428, + "frame": 46, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.552, + "frame": 77, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.426185567010309, + "frame": 103, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.2688, + "frame": 128, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.3244, + "frame": 160, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.1016, + "frame": 183, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.906185567010309, + "frame": 207, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.888, + "frame": 237, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.769599, + "frame": 263, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.523599, + "frame": 286, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.4864, + "frame": 315, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006938.json b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006938.json new file mode 100644 index 0000000000000000000000000000000000000000..a91b03b63935667b5322ee6de36bed86aa46c49c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v3_0115/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006938.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹抓取蓝色物品放到盒子里\n爪夹启动：0%\n爪夹靠近蓝色物品：20%\n爪夹夹取蓝色物品：50%\n爪夹移动：60%\n爪夹位于盒子上方：80%\n爪夹打开，蓝色物品放到盒子里：100%", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.235799 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.193266 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.961466 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.965532527319587 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.076799 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.945199 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.769066 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.526133 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.516999 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 9.374266 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.097933 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-102851-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-102851-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..37de4cbd78df43cc1519fe4f0da63660e2145f8f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-102851-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,138 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%\n", + "progress_points": [ + { + "time": 0.714621, + "frame": 21, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.1273459860196782, + "frame": 34, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.46452808026714, + "frame": 44, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.673569, + "frame": 50, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.053693, + "frame": 62, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.425177, + "frame": 73, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.883053, + "frame": 86, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.43596, + "frame": 103, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.146658375417407, + "frame": 124, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.59361, + "frame": 138, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.077403, + "frame": 152, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.604393, + "frame": 168, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.200403858561038, + "frame": 186, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-102851-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-102851-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..dfd8d1c2735726dd6027d1ce858c0bd51ed9f7bb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-102851-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,148 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 1.079225, + "frame": 32, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.723948, + "frame": 52, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.210531, + "frame": 66, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.65563154534701, + "frame": 80, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.062051, + "frame": 92, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.621622, + "frame": 109, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.07171, + "frame": 122, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.619480281569882, + "frame": 139, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.604448, + "frame": 168, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.086971644901259, + "frame": 183, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.842298081910055, + "frame": 205, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.576043763575744, + "frame": 227, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.195501, + "frame": 246, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.108277392936445, + "frame": 273, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-102851-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-102851-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..411750001786808960ce45bc8a3348637e954347 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-102851-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,148 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.808029, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.3453681331565537, + "frame": 40, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.9804196602076165, + "frame": 59, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.477876689730949, + "frame": 74, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.039337, + "frame": 91, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.600147, + "frame": 108, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.184821, + "frame": 126, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.781428, + "frame": 143, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.346192753578249, + "frame": 160, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.9177391279242055, + "frame": 178, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.52352, + "frame": 196, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.1666737977912955, + "frame": 215, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.015036, + "frame": 240, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.7225500390664, + "frame": 262, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..fedae7e0a81172b2b1eb53c408ee4e9982eefdd1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,208 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.958036, + "frame": 29, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.557897, + "frame": 47, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.414841, + "frame": 72, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.036125, + "frame": 91, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.871645, + "frame": 116, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.866990308265399, + "frame": 146, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.949735, + "frame": 178, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.742408, + "frame": 202, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.620775, + "frame": 229, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.439636066969532, + "frame": 253, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.056156, + "frame": 272, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.698864, + "frame": 291, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.834315, + "frame": 325, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.819801, + "frame": 355, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.998099, + "frame": 390, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.89789, + "frame": 417, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.73341, + "frame": 442, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.526083, + "frame": 466, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.64011, + "frame": 499, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.882679, + "frame": 536, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..1553e7f72570bd83c2d2854d79324b19b4cd64fc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,178 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.736454, + "frame": 22, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.288121, + "frame": 39, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.908747, + "frame": 57, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.787967, + "frame": 84, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.580989, + "frame": 107, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.184375, + "frame": 126, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.994636, + "frame": 150, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.856616, + "frame": 176, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.977191, + "frame": 209, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.601869879123593, + "frame": 228, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.290014150256589, + "frame": 249, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.252819, + "frame": 278, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.04584, + "frame": 301, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.683706, + "frame": 321, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.79190388557784, + "frame": 354, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.229360807500102, + "frame": 397, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.183346, + "frame": 426, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..f29c72e8aa38893cafa7654f97994ef72583b34f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,188 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.992086, + "frame": 30, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.8995183445555164, + "frame": 57, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.551321, + "frame": 77, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.367199, + "frame": 101, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.309993, + "frame": 129, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.035218, + "frame": 151, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.905489, + "frame": 177, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.531270630432088, + "frame": 196, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.500986, + "frame": 225, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.22621, + "frame": 247, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.132743, + "frame": 274, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.912361, + "frame": 297, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.583195, + "frame": 317, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.362812, + "frame": 341, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.160136255629311, + "frame": 365, + "progress": 48, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.83560013065298, + "frame": 385, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.919232, + "frame": 418, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.054981434302167, + "frame": 452, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..42dbd672e9c625fa4d594b443fc2b3de1399a218 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,198 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 1.119, + "frame": 34, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.9156008177703656, + "frame": 57, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.7518894249425245, + "frame": 83, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.276546, + "frame": 98, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.802335, + "frame": 114, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.491299, + "frame": 135, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.162133, + "frame": 155, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.996142, + "frame": 180, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.703237, + "frame": 201, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.624878809041835, + "frame": 229, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.498171, + "frame": 255, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.088383871593114, + "frame": 273, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.622271, + "frame": 289, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.278486889491955, + "frame": 308, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.127114, + "frame": 334, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.095806362769917, + "frame": 363, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.067092, + "frame": 392, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.173061, + "frame": 425, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.097724, + "frame": 453, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..daa9e125a7ab5da4c4cedc21a686159ada788c55 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,208 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.850918, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.557897, + "frame": 47, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.414841, + "frame": 72, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.250361, + "frame": 98, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.258880391890229, + "frame": 128, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.307027, + "frame": 159, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.228241, + "frame": 187, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.999491, + "frame": 210, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.698502106387291, + "frame": 231, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.627684, + "frame": 259, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.427814681079186, + "frame": 283, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.434996730075563, + "frame": 313, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.480185648845389, + "frame": 344, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.419661, + "frame": 373, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.266508528197452, + "frame": 398, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.19782, + "frame": 426, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.03334, + "frame": 451, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.060013456545896, + "frame": 482, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.1757, + "frame": 515, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.433333, + "frame": 553, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..3a8e22c4d9028e5b0cca3dba214f37f123f38389 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,208 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.999665, + "frame": 30, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.5714656257886985, + "frame": 47, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.366902, + "frame": 71, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.070626, + "frame": 92, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.714031, + "frame": 111, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.417756, + "frame": 133, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.302438, + "frame": 159, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.106695, + "frame": 183, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.931058, + "frame": 208, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.564042568306358, + "frame": 227, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.559678, + "frame": 257, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.404147, + "frame": 282, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.188297, + "frame": 306, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.934867098472543, + "frame": 328, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.535427, + "frame": 346, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.290330930708679, + "frame": 369, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.253423653613304, + "frame": 398, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.519712233728644, + "frame": 436, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.268784351543351, + "frame": 458, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.552907982082846, + "frame": 497, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..46e347aa6b98ce63020d706445541f0cb6937273 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,188 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.909691, + "frame": 27, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.5238483154392322, + "frame": 46, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.98428, + "frame": 60, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.593749, + "frame": 78, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.395681, + "frame": 102, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.149497, + "frame": 124, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.791043, + "frame": 144, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.30428, + "frame": 159, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.138289, + "frame": 184, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.1292087874762915, + "frame": 214, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.629883, + "frame": 229, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.463893, + "frame": 254, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.346018, + "frame": 280, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.17374467837967, + "frame": 305, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.917805, + "frame": 328, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.68766, + "frame": 351, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.441476, + "frame": 373, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.275187782197127, + "frame": 398, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6cc26e4bc44fa322964671e90139e7efd537b467 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,188 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.612415, + "frame": 18, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.260004, + "frame": 38, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.8479109757136094, + "frame": 55, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.5591136979730225, + "frame": 77, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.23361, + "frame": 97, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.881199, + "frame": 116, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.774783717319656, + "frame": 143, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.157739029305494, + "frame": 155, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.731454, + "frame": 172, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.348206, + "frame": 190, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.841607, + "frame": 205, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.4965018275047175, + "frame": 225, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.23505850062026, + "frame": 247, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.046495, + "frame": 271, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.632409, + "frame": 289, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.341673, + "frame": 310, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.202962168510503, + "frame": 336, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.161091, + "frame": 365, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..ee3cb16b26beafdcaecc3b74ed4a968dfcd00135 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,228 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.786647, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.493626, + "frame": 45, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.222028, + "frame": 67, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.036125, + "frame": 91, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.000187, + "frame": 120, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.942825, + "frame": 148, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.628381, + "frame": 169, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.742408, + "frame": 202, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.77074, + "frame": 233, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.606261, + "frame": 258, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.506052, + "frame": 285, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.301972685868494, + "frame": 309, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.348481, + "frame": 340, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.221319609427628, + "frame": 367, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.933828, + "frame": 388, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.66223, + "frame": 410, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.425718056287625, + "frame": 433, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.226153, + "frame": 457, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.275908, + "frame": 488, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.090006, + "frame": 513, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.017367249878482, + "frame": 541, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.433333, + "frame": 553, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..8f342f7fc108db7962010b4b77ad255b63342c9a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,158 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.563157, + "frame": 17, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.117754465146128, + "frame": 34, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.835556, + "frame": 55, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.693043, + "frame": 81, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.426055, + "frame": 103, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.006933, + "frame": 120, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.656963, + "frame": 140, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.486788, + "frame": 165, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.233631, + "frame": 187, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.800679, + "frame": 204, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.4922, + "frame": 225, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.335856, + "frame": 250, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.44229, + "frame": 283, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.147641, + "frame": 304, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.309397, + "frame": 339, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..11b7fe14e88ee730412211d159d92c34b3c6a32c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,198 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 1.108001, + "frame": 33, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.900674, + "frame": 57, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.843313, + "frame": 85, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.764527, + "frame": 113, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.02852, + "frame": 151, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.064206706129018, + "frame": 182, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.763831, + "frame": 203, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.749317, + "frame": 232, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.606261, + "frame": 258, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.334663, + "frame": 280, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.434996730075563, + "frame": 313, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.198516, + "frame": 336, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.076884, + "frame": 362, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.998099, + "frame": 390, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.940737, + "frame": 418, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.776257, + "frame": 443, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.847437, + "frame": 475, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.854346, + "frame": 506, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.011221, + "frame": 540, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..b7a3743f5dba2094ae72e777b3cc9e5e165ea05d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,208 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.798601, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.723496, + "frame": 52, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2313624914826073, + "frame": 67, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.5880634999658017, + "frame": 78, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.392329, + "frame": 102, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.055841, + "frame": 122, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.719352, + "frame": 142, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.68446, + "frame": 171, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.368078, + "frame": 191, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.112016, + "frame": 213, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.499358, + "frame": 255, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.29404245944985, + "frame": 279, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.429574, + "frame": 313, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.29415, + "frame": 339, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.272495880284518, + "frame": 368, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.304792, + "frame": 399, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.252186477366244, + "frame": 428, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.315433, + "frame": 459, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.079477, + "frame": 482, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.3, + "frame": 519, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..402ff03d795755225feef114e177e9e6960f5661 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,148 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.966894, + "frame": 29, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.330902, + "frame": 40, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.829727, + "frame": 55, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.530778, + "frame": 76, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.948713, + "frame": 88, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.676728, + "frame": 110, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.1988539360216945, + "frame": 126, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.8207095669958635, + "frame": 145, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.308021, + "frame": 159, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.45397, + "frame": 194, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.181985, + "frame": 215, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.220079, + "frame": 247, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.339066, + "frame": 280, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.390644, + "frame": 312, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..55efc2c16a16982e8783992189b2bd1170422bd3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,188 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.955824, + "frame": 29, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.771703, + "frame": 53, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.3337451213564453, + "frame": 70, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.149632, + "frame": 94, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.820465, + "frame": 115, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.473169, + "frame": 134, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.252786, + "frame": 158, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.08096138041631, + "frame": 182, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.884544, + "frame": 207, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.863598, + "frame": 236, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.860784, + "frame": 266, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.676662, + "frame": 290, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.365627, + "frame": 311, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.272159, + "frame": 338, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.124299, + "frame": 364, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.085223, + "frame": 393, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.4438474521379, + "frame": 433, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.6, + "frame": 468, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..06b051e3ff1fef031b00cbf47a01e3b579413e84 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,178 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.958801, + "frame": 29, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.533597, + "frame": 46, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.217137, + "frame": 67, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.040493, + "frame": 91, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.770639, + "frame": 113, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.469715, + "frame": 134, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.361977276658817, + "frame": 161, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.131961, + "frame": 184, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.908712, + "frame": 207, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.669928, + "frame": 230, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.337933, + "frame": 250, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.176824, + "frame": 275, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.108925, + "frame": 303, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.103166, + "frame": 333, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.864382, + "frame": 356, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.610063, + "frame": 378, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.366667, + "frame": 401, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..fd6ae5ec9908aeeb9df5ea897b606ea064e73e87 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,188 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.989966, + "frame": 30, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.713642, + "frame": 51, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.346858, + "frame": 70, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.03435, + "frame": 91, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.667567, + "frame": 110, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.286627870885358, + "frame": 129, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.350114, + "frame": 161, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.091882, + "frame": 183, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.797466, + "frame": 204, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.593509, + "frame": 228, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.425737, + "frame": 253, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.529343, + "frame": 286, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.83196, + "frame": 325, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.79083, + "frame": 354, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.840161, + "frame": 385, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.437193, + "frame": 403, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.974668664342841, + "frame": 449, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.566667, + "frame": 467, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c3be6d6ec9151b59b94dad528c05c9f3178f57fa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,178 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.760824, + "frame": 23, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.418835, + "frame": 43, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.227624595740086, + "frame": 67, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.903184, + "frame": 87, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.469379, + "frame": 104, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.341626, + "frame": 130, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.122057, + "frame": 154, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.948396, + "frame": 178, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.575801, + "frame": 197, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.356232, + "frame": 221, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.9422291918310295, + "frame": 238, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.871187, + "frame": 266, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.666921, + "frame": 290, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.845219, + "frame": 325, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.533834, + "frame": 346, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.28366, + "frame": 369, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.15460012983322, + "frame": 395, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..800fd82ef77cefd5ef20ff60f34a1dd45e56f9bd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,178 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.971874, + "frame": 29, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.623182, + "frame": 49, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.274491, + "frame": 68, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.070534, + "frame": 92, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.975129, + "frame": 119, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.879724, + "frame": 146, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.657676, + "frame": 170, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.471812, + "frame": 194, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.03266, + "frame": 211, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.864888, + "frame": 236, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.660932, + "frame": 260, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.090192, + "frame": 303, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.123122432466273, + "frame": 334, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.166249536932844, + "frame": 365, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.437193, + "frame": 403, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.576983, + "frame": 437, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.566667, + "frame": 467, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..1c35483b66110dbe9d31b0893e6c85b722aa2b82 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-111816-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,178 @@ +{ + "task_description": "将电饭锅中的白萝卜放进蓝色盒子中：\n开始移动：0%\n爪夹靠进白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓取白萝卜靠近蓝色盒子：60%\n白萝卜准备落在蓝色盒子中：80%\n白萝卜安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.585961, + "frame": 18, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.316107, + "frame": 39, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.123927, + "frame": 64, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.195843, + "frame": 96, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.081339, + "frame": 122, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.687205, + "frame": 141, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.448421, + "frame": 163, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.302846, + "frame": 189, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.831037, + "frame": 205, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.685463, + "frame": 231, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.600293304853533, + "frame": 258, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.50306, + "frame": 285, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.364142035104273, + "frame": 311, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.320656, + "frame": 340, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.112942, + "frame": 363, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.889693, + "frame": 387, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.366667, + "frame": 401, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..7c89e1a025312cf77fa9df9b8687a42e114dfa94 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,148 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.826284, + "frame": 25, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.33185, + "frame": 40, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.7768724971261567, + "frame": 53, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.140755, + "frame": 64, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.566150797977987, + "frame": 77, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.081108, + "frame": 92, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.651408461649254, + "frame": 110, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.142795, + "frame": 124, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.800032, + "frame": 144, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.3966, + "frame": 162, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.942611, + "frame": 178, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.557387660240084, + "frame": 197, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.267194, + "frame": 218, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.055877, + "frame": 242, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..ae5d99b61d647ef030df906a15592629ba642158 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,128 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 1.022721, + "frame": 31, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.608945, + "frame": 48, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2111107007143818, + "frame": 66, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.8311106617022226, + "frame": 85, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.660729, + "frame": 110, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.281110570464108, + "frame": 128, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.071110520755067, + "frame": 152, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.983078, + "frame": 179, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.581110425741581, + "frame": 197, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.268262, + "frame": 218, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.89958, + "frame": 237, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.731110290457481, + "frame": 262, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..d9ed9c892b9289a3aeb24acec3ca0d19f733be17 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,128 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.897063, + "frame": 27, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.48352, + "frame": 45, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.9921302155402922, + "frame": 60, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.393538, + "frame": 72, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.858659, + "frame": 86, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.3016146692262835, + "frame": 99, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.7949136072586778, + "frame": 114, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.440686762501084, + "frame": 133, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.18511970534997, + "frame": 156, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.902166, + "frame": 177, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.609958, + "frame": 198, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.38853, + "frame": 222, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..d583742fd2981a6492257ff40aa4a9b4ab04cfba --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,128 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.906274, + "frame": 27, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.757523, + "frame": 53, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.235621, + "frame": 67, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.841991, + "frame": 85, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.393863463362077, + "frame": 102, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.107574734948181, + "frame": 123, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.836012, + "frame": 145, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.783244676932948, + "frame": 173, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.550171, + "frame": 197, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.293416353042676, + "frame": 219, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.97609669977721, + "frame": 239, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.855306237238352, + "frame": 266, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..6dbaa0f8639e00ccec743f7df30eee5e59b5ce72 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,108 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.940254, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.481030557783898, + "frame": 44, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2056696874452766, + "frame": 66, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.988319, + "frame": 90, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.736208, + "frame": 112, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.472591, + "frame": 134, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.680719, + "frame": 170, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.645360129736824, + "frame": 199, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.717278, + "frame": 232, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.645772374999222, + "frame": 259, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..7c0c27953713b47b6a693be803c241bc513d761c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-135818-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,118 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.79725, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.394748, + "frame": 42, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.138801, + "frame": 64, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.736299, + "frame": 82, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.3111106314992607, + "frame": 99, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.951110591228644, + "frame": 119, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.991007, + "frame": 150, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.171110451539945, + "frame": 185, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.884961, + "frame": 207, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.711110354638775, + "frame": 231, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.463257, + "frame": 254, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b920d9f9f7e27fc163769b6cb15ad178f3feab10 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,168 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.828103, + "frame": 25, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.661416, + "frame": 50, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.550282, + "frame": 77, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.161377, + "frame": 95, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.976171, + "frame": 119, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.880380970349689, + "frame": 146, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.161301, + "frame": 185, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.513119, + "frame": 225, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.605683, + "frame": 258, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.716766, + "frame": 292, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.613095266332044, + "frame": 318, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.513017, + "frame": 345, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.642618, + "frame": 379, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.864809, + "frame": 416, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.770199, + "frame": 443, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.327734, + "frame": 460, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..7248f0658cc3c8d2243b5407f95da7f96459667d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,188 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.678537, + "frame": 20, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.38075, + "frame": 41, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.267757, + "frame": 68, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.886769133151709, + "frame": 87, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.967853, + "frame": 119, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.68986180320115, + "frame": 141, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.037536, + "frame": 181, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.739749, + "frame": 202, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.294128, + "frame": 219, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.017387367019662, + "frame": 241, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.105101, + "frame": 273, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.066025, + "frame": 302, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.934552, + "frame": 328, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.803079, + "frame": 354, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.902129327699056, + "frame": 387, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.803675662723775, + "frame": 414, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.574975, + "frame": 437, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.480461, + "frame": 464, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..7dfc413d7d99e86761b99ae846e3ab7831b76527 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,178 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.980205, + "frame": 29, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.681218, + "frame": 50, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.158503, + "frame": 65, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.814771, + "frame": 84, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.530698, + "frame": 106, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.440523, + "frame": 133, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.858148, + "frame": 146, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.365263, + "frame": 161, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.96187, + "frame": 179, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.707628, + "frame": 201, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.251640844492185, + "frame": 218, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.78152, + "frame": 233, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.905420766204848, + "frame": 267, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.778616564869134, + "frame": 293, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.49608, + "frame": 315, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.226923, + "frame": 337, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.120368934014268, + "frame": 364, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..2659df1100f19bd74af8edebb99afe8e5ad12bea --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,178 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.750144, + "frame": 23, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.236611, + "frame": 37, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.8913778223679487, + "frame": 57, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.6056045650556383, + "frame": 78, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.3495907553553153, + "frame": 100, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.495329488416818, + "frame": 135, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.39674, + "frame": 162, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.118053, + "frame": 184, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.023888, + "frame": 211, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.679590382899436, + "frame": 230, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.38264, + "frame": 251, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.322024, + "frame": 280, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.378831, + "frame": 311, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.48879967723378, + "frame": 345, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.45598172462336, + "frame": 374, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.497562391042907, + "frame": 405, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.122510790894637, + "frame": 424, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..2bd080c1764ac1beab700161848d7a92dfdcc935 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,168 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.749694, + "frame": 22, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.504323, + "frame": 45, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.0721414862789516, + "frame": 62, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.890736, + "frame": 87, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.785762, + "frame": 114, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.768536, + "frame": 143, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.593364, + "frame": 168, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.383093, + "frame": 191, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.155272, + "frame": 215, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.085397, + "frame": 243, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.155919, + "frame": 275, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.910548, + "frame": 297, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.085439888208771, + "frame": 333, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.998943, + "frame": 360, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.280058, + "frame": 398, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.771768, + "frame": 443, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..06609df906dc98721274c150a0a1e74c4890ceda --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,188 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.490746, + "frame": 15, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.1795794663186951, + "frame": 35, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.1532563596913534, + "frame": 65, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.95167, + "frame": 89, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.801486, + "frame": 114, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.704415, + "frame": 141, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.554231, + "frame": 167, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.474865, + "frame": 194, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.253862, + "frame": 218, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.696475, + "frame": 231, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.599404, + "frame": 258, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.449219, + "frame": 283, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.162534030982576, + "frame": 305, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.324664516620912, + "frame": 340, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.109887817727893, + "frame": 363, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.131754, + "frame": 394, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.98157, + "frame": 419, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.990726, + "frame": 450, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..4ef9315f2dd0f8a931814237d8c88d363fcd04c7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,208 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.942738, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.574521, + "frame": 47, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.101007, + "frame": 63, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.715241, + "frame": 81, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.5198733539464353, + "frame": 106, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.119202, + "frame": 124, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.750986, + "frame": 143, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.435418, + "frame": 163, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.979454, + "frame": 179, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.716534, + "frame": 201, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.418515, + "frame": 223, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.143275124884529, + "frame": 244, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.015522, + "frame": 270, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.787702, + "frame": 294, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.524782, + "frame": 316, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.226763, + "frame": 337, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.051591, + "frame": 362, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.034365, + "frame": 391, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.929391, + "frame": 418, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.1, + "frame": 453, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3a56a8b89fbc5fbba0c50bd94b3092630d3f5c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,168 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.786525, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.665939, + "frame": 50, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.387058, + "frame": 72, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.168811831461431, + "frame": 95, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.98759, + "frame": 120, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.060475, + "frame": 152, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.81677, + "frame": 175, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.854478, + "frame": 206, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.681127, + "frame": 230, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.507776, + "frame": 255, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.596577608451444, + "frame": 288, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.48585588342336, + "frame": 315, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.339488, + "frame": 340, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.201313, + "frame": 366, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.168668, + "frame": 395, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.030493, + "frame": 421, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..9892bc8794ed4f527daacc35129a75dc6ae9e6c0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,198 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.919563, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.554135, + "frame": 47, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.156837915993104, + "frame": 65, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.7518894249425245, + "frame": 83, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.294677, + "frame": 99, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.911119, + "frame": 117, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.726998, + "frame": 142, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.252786, + "frame": 158, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.286233, + "frame": 189, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.392202, + "frame": 222, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.425648, + "frame": 253, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.072301398378265, + "frame": 272, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.55477559482374, + "frame": 287, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.510672, + "frame": 315, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.344681, + "frame": 340, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.396259, + "frame": 372, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.230268, + "frame": 397, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.1368, + "frame": 424, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.133985, + "frame": 454, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..8d7a55cbd29077fd734aecdae28afacf1682f21b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,218 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.85336, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.548833, + "frame": 46, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.203395, + "frame": 66, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.714772, + "frame": 81, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.55830398035398, + "frame": 107, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.465520418114705, + "frame": 134, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.333023, + "frame": 160, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.028496, + "frame": 181, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.723968, + "frame": 202, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.583082, + "frame": 227, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.176278, + "frame": 245, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.830842, + "frame": 265, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.54677, + "frame": 286, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.307994277293771, + "frame": 309, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.121811, + "frame": 334, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.940014, + "frame": 358, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.737763, + "frame": 382, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.678696, + "frame": 410, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.717066164810895, + "frame": 442, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.806025, + "frame": 474, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.442431, + "frame": 523, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..0f40b3e6dc540c026d7e51891daa7aa7f477957c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000006.json @@ -0,0 +1,198 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.794553, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.338782, + "frame": 40, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.9326722010034807, + "frame": 58, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.699355, + "frame": 81, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.345627, + "frame": 100, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.093942, + "frame": 123, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.757221, + "frame": 143, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.505536, + "frame": 165, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.879694, + "frame": 176, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.576987, + "frame": 197, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.348513661254275, + "frame": 220, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.005589, + "frame": 240, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.600839, + "frame": 258, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.417183, + "frame": 283, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.199513, + "frame": 306, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.896806, + "frame": 327, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.815193, + "frame": 354, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.682558, + "frame": 380, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.56693, + "frame": 407, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..981df45c12c908c416ca76d1ea06e749475f6e33 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,198 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.794553, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.457832, + "frame": 44, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.174046750763962, + "frame": 65, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.784391, + "frame": 84, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.561950411886728, + "frame": 107, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.110948, + "frame": 123, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.663221795168923, + "frame": 140, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.055455438529704, + "frame": 152, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.709622, + "frame": 171, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.321599, + "frame": 190, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.921566, + "frame": 208, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.741033, + "frame": 232, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.531233, + "frame": 256, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.453133, + "frame": 284, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.360399, + "frame": 311, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.165233, + "frame": 335, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.040231472223626, + "frame": 361, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.906599, + "frame": 387, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.769966, + "frame": 413, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..982c5dc7b6143acf32d37bae041c6a470a06c35c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-142303-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,178 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.539099, + "frame": 16, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.416576, + "frame": 42, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.241404, + "frame": 67, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.820538, + "frame": 85, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.557618, + "frame": 107, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.277149, + "frame": 128, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.049328, + "frame": 151, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.926805, + "frame": 178, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.664409238557529, + "frame": 200, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.676264844991792, + "frame": 230, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.921625591372424, + "frame": 268, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.612206, + "frame": 288, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.447192505688696, + "frame": 313, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.384709, + "frame": 342, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.221831569281095, + "frame": 367, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.249254185045116, + "frame": 397, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.71912, + "frame": 442, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-144230-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-144230-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..1507349fc2ddc1025102cd12c6505dd96b353982 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-144230-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,188 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.621636, + "frame": 19, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.332683, + "frame": 40, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.925222, + "frame": 58, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.382323, + "frame": 71, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.395551193980852, + "frame": 102, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.101358725858097, + "frame": 123, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.752478, + "frame": 143, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.565103, + "frame": 167, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.25922, + "frame": 188, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.164863757835922, + "frame": 215, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.749031, + "frame": 232, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.561656, + "frame": 257, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.387406624172778, + "frame": 282, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.153046, + "frame": 305, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.914882, + "frame": 327, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.225653933211058, + "frame": 367, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.149599, + "frame": 394, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.566667, + "frame": 437, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-144230-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-144230-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d7dab31700b54ef5fc3eb5ce0c131b5239d13e33 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-144230-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,198 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.429508, + "frame": 13, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.166821, + "frame": 35, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.828511, + "frame": 55, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.835952078443385, + "frame": 85, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.492192, + "frame": 105, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.116072, + "frame": 123, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.947912, + "frame": 148, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.798657, + "frame": 174, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.978082486880935, + "frame": 209, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.950728493720522, + "frame": 239, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.766813, + "frame": 263, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.504126, + "frame": 285, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.317061, + "frame": 310, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.148901, + "frame": 334, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.848403, + "frame": 355, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.661337, + "frame": 380, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.268301, + "frame": 428, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.212034027540193, + "frame": 456, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.234989310595623, + "frame": 487, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-144230-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-144230-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..571cfb701e3fa2f0a7c04b0eeb9906dc4606ef76 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-144230-take-plastic bottle-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,208 @@ +{ + "task_description": "将木盒中的塑料瓶放进蓝色盒子中：\n开始移动：0%\n爪夹靠进塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓取塑料瓶靠近蓝色盒子：60%\n塑料瓶准备落在蓝色盒子中：80%\n塑料瓶安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.637468, + "frame": 19, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.223537, + "frame": 37, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.790701, + "frame": 54, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.641446, + "frame": 79, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.4061238755562457, + "frame": 102, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.210599, + "frame": 126, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.150178784372057, + "frame": 155, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.089285273734417, + "frame": 183, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.668308, + "frame": 200, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.708108, + "frame": 231, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.691192, + "frame": 261, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.610934608843264, + "frame": 288, + "progress": -35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.979869301092762, + "frame": 299, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.751886, + "frame": 323, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.52701, + "frame": 346, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.36117504197589, + "frame": 371, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.048735150259045, + "frame": 391, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.154868, + "frame": 425, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.873275, + "frame": 446, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.266667, + "frame": 488, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..1238fd0e46672793e05d711157442bbf679e4f6c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "将木盒中的透明胶带放进蓝色盒子中：\n开始移动：0%\n爪夹靠进透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓取透明胶带靠近蓝色盒子：60%\n透明胶带准备落在蓝色盒子中：80%\n透明胶带安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.89423, + "frame": 27, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.3993810783854326, + "frame": 42, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.9198965095506488, + "frame": 58, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.634329454287219, + "frame": 79, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.310487, + "frame": 99, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.1044, + "frame": 123, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.849071582970589, + "frame": 145, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.56566, + "frame": 167, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.45162, + "frame": 194, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.072943, + "frame": 212, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.820832, + "frame": 235, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.660769, + "frame": 260, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.635772312705614, + "frame": 289, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..6d9588b71318e58c7a828e4a2e5bfeaa18f698aa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,138 @@ +{ + "task_description": "将木盒中的透明胶带放进蓝色盒子中：\n开始移动：0%\n爪夹靠进透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓取透明胶带靠近蓝色盒子：60%\n透明胶带准备落在蓝色盒子中：80%\n透明胶带安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.87485, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.4270214197518938, + "frame": 43, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.059384, + "frame": 62, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.651653, + "frame": 80, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.159311, + "frame": 95, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.8192893104607144, + "frame": 115, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.587099, + "frame": 138, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.357845914681288, + "frame": 161, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.036039, + "frame": 181, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.649459, + "frame": 199, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.215371570996372, + "frame": 216, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.965886987689337, + "frame": 239, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.1, + "frame": 273, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..6378b711681a88af24d8896a6159b7737ecfed3c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,128 @@ +{ + "task_description": "将木盒中的透明胶带放进蓝色盒子中：\n开始移动：0%\n爪夹靠进透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓取透明胶带靠近蓝色盒子：60%\n透明胶带准备落在蓝色盒子中：80%\n透明胶带安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.705993, + "frame": 21, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.248905, + "frame": 37, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.769657, + "frame": 53, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.4384798307020787, + "frame": 73, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.93304, + "frame": 88, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.519579381232924, + "frame": 106, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.2960054220687125, + "frame": 129, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.016049, + "frame": 150, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.63652, + "frame": 169, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.401028, + "frame": 192, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.254286919430392, + "frame": 218, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.151642, + "frame": 245, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..f36609107ddc0af51d4884b08853c5a80a2a6e9a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,138 @@ +{ + "task_description": "将木盒中的透明胶带放进蓝色盒子中：\n开始移动：0%\n爪夹靠进透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓取透明胶带靠近蓝色盒子：60%\n透明胶带准备落在蓝色盒子中：80%\n透明胶带安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.7265, + "frame": 22, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.29409, + "frame": 39, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.7581516358476688, + "frame": 53, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.348185, + "frame": 70, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.904191, + "frame": 87, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.782309651780864, + "frame": 113, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.363708, + "frame": 131, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.058716, + "frame": 152, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.800058, + "frame": 174, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.784652, + "frame": 204, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.71133, + "frame": 231, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.44712051083503, + "frame": 253, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.567086113559487, + "frame": 287, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..6ade4fef77f07850ced738067b15d003190eaeb0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,148 @@ +{ + "task_description": "将木盒中的透明胶带放进蓝色盒子中：\n开始移动：0%\n爪夹靠进透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓取透明胶带靠近蓝色盒子：60%\n透明胶带准备落在蓝色盒子中：80%\n透明胶带安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.794631, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.337723924707036, + "frame": 40, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.7210228562588812, + "frame": 52, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.1141499655428255, + "frame": 63, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.478766, + "frame": 74, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.94412, + "frame": 88, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.657173869482305, + "frame": 110, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.151822, + "frame": 125, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.093608, + "frame": 153, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.824877, + "frame": 175, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.423188, + "frame": 193, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.032579, + "frame": 211, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.786008, + "frame": 234, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.229201, + "frame": 247, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..50ea08800d1e6d15ee82dd16639f0abd8a7443b9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "将木盒中的透明胶带放进蓝色盒子中：\n开始移动：0%\n爪夹靠进透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓取透明胶带靠近蓝色盒子：60%\n透明胶带准备落在蓝色盒子中：80%\n透明胶带安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.848206, + "frame": 25, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.515553, + "frame": 45, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.941275, + "frame": 58, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.539586, + "frame": 76, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.149403, + "frame": 94, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.655666, + "frame": 110, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.532679850301536, + "frame": 136, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.427588, + "frame": 163, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.140959, + "frame": 184, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.934872, + "frame": 208, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.763302, + "frame": 233, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.626251, + "frame": 259, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.605153757931188, + "frame": 288, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..9cc89eb37629b213caf5403de60749c66a6c5570 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,138 @@ +{ + "task_description": "将木盒中的透明胶带放进蓝色盒子中：\n开始移动：0%\n爪夹靠进透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓取透明胶带靠近蓝色盒子：60%\n透明胶带准备落在蓝色盒子中：80%\n透明胶带安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.894448, + "frame": 27, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.385254, + "frame": 42, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.816205, + "frame": 54, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.438691, + "frame": 73, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.001322, + "frame": 90, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.743516, + "frame": 112, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.425855, + "frame": 133, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.087467891262541, + "frame": 153, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.00601, + "frame": 180, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.903826, + "frame": 207, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.753758, + "frame": 233, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.368601705422837, + "frame": 251, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.238146, + "frame": 277, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..dea23854f050fec7531dd88929b5746f74c8875c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-145151-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,118 @@ +{ + "task_description": "将木盒中的透明胶带放进蓝色盒子中：\n开始移动：0%\n爪夹靠进透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓取透明胶带靠近蓝色盒子：60%\n透明胶带准备落在蓝色盒子中：80%\n透明胶带安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.690925, + "frame": 21, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.346882, + "frame": 40, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.989978, + "frame": 60, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.7165937212952467, + "frame": 81, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.629308467988353, + "frame": 109, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.496387477346803, + "frame": 135, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.466146895708229, + "frame": 164, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.684574, + "frame": 201, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.099384, + "frame": 243, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.16264161981531, + "frame": 275, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.427389, + "frame": 313, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-160752-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-160752-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a8476105d922d06c9a225be0b765a1d135ea8e26 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-160752-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,208 @@ +{ + "task_description": "将木盒中的透明胶带放进蓝色盒子中：\n开始移动：0%\n爪夹靠进透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓取透明胶带靠近蓝色盒子：60%\n透明胶带准备落在蓝色盒子中：80%\n透明胶带安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.85609, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.460793, + "frame": 44, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.918902, + "frame": 58, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.560254, + "frame": 77, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.311552, + "frame": 99, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.099499, + "frame": 123, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.887446, + "frame": 147, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.602095, + "frame": 168, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.463339, + "frame": 194, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.123016, + "frame": 214, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.852630006086778, + "frame": 236, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.120465004661511, + "frame": 274, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.816695, + "frame": 295, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.751236, + "frame": 323, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.575832, + "frame": 347, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.382103, + "frame": 371, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.200293012895596, + "frame": 396, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.947990576157618, + "frame": 418, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.929187, + "frame": 448, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.735963010045065, + "frame": 472, + "progress": -35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-160752-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-160752-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e773fad0bfae0465f7ffa5bfc93b89b502ec5d3a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-160752-take-transparent-tape-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,198 @@ +{ + "task_description": "将木盒中的透明胶带放进蓝色盒子中：\n开始移动：0%\n爪夹靠进透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓取透明胶带靠近蓝色盒子：60%\n透明胶带准备落在蓝色盒子中：80%\n透明胶带安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.740225, + "frame": 22, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.467698, + "frame": 44, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.03548, + "frame": 61, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.496805, + "frame": 75, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.419453, + "frame": 103, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.217899, + "frame": 127, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.980858, + "frame": 149, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.797047, + "frame": 174, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.169655, + "frame": 185, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.210132915594739, + "frame": 216, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.855424985300408, + "frame": 236, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.902113, + "frame": 267, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.629585, + "frame": 289, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.286085, + "frame": 309, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.747409, + "frame": 322, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.041954022903031, + "frame": 361, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.805624, + "frame": 384, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.119479710735911, + "frame": 424, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.266667, + "frame": 458, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..4c5af5a13bff5e584f65d16f80480f93094774c2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,148 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.931495, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.47154, + "frame": 44, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.116074325392744, + "frame": 63, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.709692, + "frame": 81, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.34194, + "frame": 100, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.092735, + "frame": 123, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.830358, + "frame": 145, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.488949, + "frame": 165, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.187056, + "frame": 186, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.1486, + "frame": 214, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.952082, + "frame": 239, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.755564, + "frame": 263, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.9542, + "frame": 299, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.333333, + "frame": 340, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..f7e98db4be6ca66f31ca3b5c096ecc8272b2d8b6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,138 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 1.004311, + "frame": 30, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.573334, + "frame": 47, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.059374, + "frame": 62, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.569124, + "frame": 77, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.126293, + "frame": 94, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.790153, + "frame": 114, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.548851, + "frame": 136, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.406116213069564, + "frame": 162, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.983264, + "frame": 179, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.6364254140055285, + "frame": 199, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.404054231683523, + "frame": 222, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.360961387967052, + "frame": 251, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.454569566576797, + "frame": 284, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..85e69d474ebfe23625f8e63e7fd17dfe3f22c095 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,138 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.92569, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.550384, + "frame": 47, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.407521, + "frame": 72, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.046743, + "frame": 91, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.685964, + "frame": 111, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.61574, + "frame": 138, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.385711, + "frame": 162, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.330016, + "frame": 190, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.521292, + "frame": 226, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.300400044524201, + "frame": 249, + "progress": 58, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.714983, + "frame": 291, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.83362, + "frame": 325, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.166379182709107, + "frame": 365, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..4b7216d7c6928e24f9ad584eb785a8a4f602de83 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000006.json @@ -0,0 +1,138 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.984182, + "frame": 30, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.695461, + "frame": 51, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.340881, + "frame": 70, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.104847, + "frame": 93, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.868651483156847, + "frame": 116, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.312637696457085, + "frame": 129, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.130507036747, + "frame": 154, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.92362, + "frame": 178, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.753445, + "frame": 203, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.5490635144614595, + "frame": 226, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.386752, + "frame": 252, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.480014, + "frame": 284, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.928916, + "frame": 328, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a4334868e6f7aecde13609283de47efe25481d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-161631-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,118 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.911162, + "frame": 27, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.608495, + "frame": 48, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.175077, + "frame": 65, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.872409, + "frame": 86, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.7256580643387274, + "frame": 112, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.964406, + "frame": 149, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.903492978849558, + "frame": 177, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.550347, + "frame": 227, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.751430943979106, + "frame": 263, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.872564894052728, + "frame": 296, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.998853420054427, + "frame": 360, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..7b678687e2b7d1be2778d76fb55999d87d921ba7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,158 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.839816, + "frame": 25, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.458583, + "frame": 44, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.8849938156289128, + "frame": 57, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.780492, + "frame": 83, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.371133, + "frame": 101, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.043034916952236, + "frame": 121, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.903756512277725, + "frame": 147, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.514993587219013, + "frame": 165, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.338398, + "frame": 190, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.407176, + "frame": 222, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.025942, + "frame": 241, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.771274, + "frame": 263, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.558795, + "frame": 287, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.61351, + "frame": 318, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.977609, + "frame": 359, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..18c1f3f868f6843a9fe62e75c5f261bd68faaed8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,178 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.637917, + "frame": 19, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.298717, + "frame": 39, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.084533, + "frame": 63, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.870349, + "frame": 86, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.674025, + "frame": 110, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.421656508990131, + "frame": 133, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.166226925026244, + "frame": 155, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.926639264807804, + "frame": 178, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.745851, + "frame": 202, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.716776648043562, + "frame": 232, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.871126, + "frame": 266, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.674802, + "frame": 290, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.014261, + "frame": 330, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.139407, + "frame": 364, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.282412, + "frame": 398, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.068228, + "frame": 422, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.229093, + "frame": 457, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..8ca2bd8154f4a71baf34e182da5d21d94086097f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,208 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.597817, + "frame": 18, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.3837336033310343, + "frame": 42, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.806526, + "frame": 54, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.596836, + "frame": 78, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.875279, + "frame": 116, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.758566, + "frame": 143, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.758076, + "frame": 173, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.385675, + "frame": 192, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.175985, + "frame": 215, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.129006, + "frame": 244, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.321877433737376, + "frame": 280, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.290736, + "frame": 309, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.267002, + "frame": 338, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.336244, + "frame": 370, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.521709, + "frame": 406, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.776908, + "frame": 443, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.008861, + "frame": 480, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.310548, + "frame": 519, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.240325, + "frame": 547, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.46620669233457, + "frame": 584, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..63cba5db16b181cd240a40ae80ea40ce0f829d96 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,178 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 1.165713, + "frame": 35, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.951955, + "frame": 59, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.563477, + "frame": 77, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.244887, + "frame": 97, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.891352, + "frame": 117, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.744195433984914, + "frame": 142, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.900638, + "frame": 177, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.619487370625392, + "frame": 199, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.245986, + "frame": 217, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.189476, + "frame": 246, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.010663, + "frame": 270, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.041514, + "frame": 301, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.967532, + "frame": 329, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.788718, + "frame": 354, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.539830509440783, + "frame": 376, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.745588, + "frame": 412, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.616600092166603, + "frame": 438, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..1e24d5cec3fbc8b475a6216b0ab46b6cf5161e9f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,158 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.598657, + "frame": 18, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.122431, + "frame": 34, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.593828, + "frame": 48, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.183074, + "frame": 65, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.8469946262827053, + "frame": 85, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.505603, + "frame": 105, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.225792, + "frame": 127, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.129303, + "frame": 154, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.744737, + "frame": 172, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.399455, + "frame": 192, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.172022, + "frame": 215, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.023154, + "frame": 241, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.965948, + "frame": 269, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.734760719689016, + "frame": 292, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.956289, + "frame": 329, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..a9018d0411fd34561d873e40c8c587968b714093 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,148 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.896068, + "frame": 27, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.528897, + "frame": 46, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.077349, + "frame": 62, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.696115, + "frame": 81, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.427384, + "frame": 103, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.228968, + "frame": 127, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.255557, + "frame": 158, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.000889, + "frame": 180, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.78841, + "frame": 204, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.702496, + "frame": 231, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.518143, + "frame": 256, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.671298, + "frame": 290, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.454787090826159, + "frame": 314, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.288528, + "frame": 339, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e3b598e466ff93ac3f1376c5e742e38d22dc2557 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,178 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.745074, + "frame": 22, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.53089, + "frame": 46, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.388144, + "frame": 72, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.227538, + "frame": 97, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.084792, + "frame": 123, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.81703, + "frame": 145, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.78406195109876, + "frame": 174, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.727992, + "frame": 202, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.513808, + "frame": 225, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.524714759061471, + "frame": 256, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.139018, + "frame": 274, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.781959, + "frame": 293, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.782088, + "frame": 323, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.817937, + "frame": 355, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.746628, + "frame": 382, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.728899, + "frame": 412, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.693309, + "frame": 441, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..e62ced140ccd867f32a850e2986a3bed3d7fb750 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,208 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.892849, + "frame": 27, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.733225816241781, + "frame": 52, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.4334319701209646, + "frame": 73, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.129426, + "frame": 94, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.9894456454080385, + "frame": 120, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.993241, + "frame": 150, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.651057, + "frame": 170, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.26502, + "frame": 188, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.010546, + "frame": 210, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.734144, + "frame": 232, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.720869, + "frame": 262, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.576031, + "frame": 287, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.738174, + "frame": 322, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.769514021843412, + "frame": 353, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.547520859486948, + "frame": 376, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.93955, + "frame": 418, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.970129, + "frame": 449, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.1542, + "frame": 485, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.097071, + "frame": 513, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.259214, + "frame": 548, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9cd97e6978ceb97b4bbf7d5d63f921073bae127e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,188 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.512901, + "frame": 15, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.20942, + "frame": 36, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.8235810147364655, + "frame": 55, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.548879, + "frame": 76, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.584727, + "frame": 108, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.549138, + "frame": 136, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.567127, + "frame": 167, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.263646, + "frame": 188, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.942305, + "frame": 208, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.732618571789011, + "frame": 232, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.513937, + "frame": 255, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.264034, + "frame": 278, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.139148, + "frame": 304, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.782088, + "frame": 323, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.567904, + "frame": 347, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.71091, + "frame": 381, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.69318, + "frame": 411, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.782606, + "frame": 443, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..21a84951120f084debc7193f23dc1932b51718a6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,198 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.786291, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.538558, + "frame": 46, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2496480589579435, + "frame": 67, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.1452149953898325, + "frame": 94, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.072509, + "frame": 122, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.844572, + "frame": 145, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.616635, + "frame": 168, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.411400292964955, + "frame": 192, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.319133, + "frame": 220, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.044492941752518, + "frame": 241, + "progress": 48, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.417561, + "frame": 283, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.229217, + "frame": 307, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.199245, + "frame": 336, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.169273, + "frame": 365, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.218487, + "frame": 397, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.769097280513218, + "frame": 413, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.32709, + "frame": 430, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.356508, + "frame": 461, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.385925, + "frame": 492, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ba5b7696c4dc38bc3a82a0aa15e249ccc7d25dd0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,178 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.941528, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.477311, + "frame": 44, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.17383, + "frame": 65, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.941787, + "frame": 88, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.513289, + "frame": 105, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.370543, + "frame": 131, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.45997, + "frame": 164, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.12077, + "frame": 184, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.942305, + "frame": 208, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.510831639352722, + "frame": 225, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.406781, + "frame": 252, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.317613, + "frame": 280, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.06771, + "frame": 302, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.014261, + "frame": 330, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.300142, + "frame": 369, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.33599, + "frame": 400, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.407558, + "frame": 432, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..c24fb3e58fbac6f6e9f0c3712cca1b3e589f3250 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,208 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 1.241611, + "frame": 37, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.894895, + "frame": 57, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.548170371101907, + "frame": 76, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.340039, + "frame": 100, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.250677, + "frame": 128, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.884165, + "frame": 147, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.726554988634688, + "frame": 172, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.622121925066577, + "frame": 199, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.497301, + "frame": 225, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.388142, + "frame": 252, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.259189, + "frame": 278, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.347996, + "frame": 310, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.818994431090527, + "frame": 325, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.417006, + "frame": 343, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.153564767734126, + "frame": 365, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.06669184017448, + "frame": 392, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.73397700849628, + "frame": 412, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.703224, + "frame": 441, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.574269, + "frame": 467, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.49091836182582, + "frame": 495, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..da590a608f59e379d1441a4739ebf6d8b6d05106 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,188 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 1.253073, + "frame": 38, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.951955, + "frame": 59, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.5124430465780647, + "frame": 75, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.000278, + "frame": 90, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.659315801217695, + "frame": 110, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.46793, + "frame": 134, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.603613, + "frame": 168, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.371514883135742, + "frame": 191, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.022442662796074, + "frame": 211, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.076325734627087, + "frame": 242, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.132967, + "frame": 274, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.919209, + "frame": 298, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.687979, + "frame": 321, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.386861, + "frame": 342, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.152373497738207, + "frame": 365, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.151538, + "frame": 395, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.025141, + "frame": 421, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.033333, + "frame": 451, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..31380769b49ceeb45bfc84f84c27e5729ed3fd0a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-163541-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,168 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.572468, + "frame": 17, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.056959, + "frame": 32, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.462884, + "frame": 44, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.906169915378977, + "frame": 57, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.405678, + "frame": 72, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.1025272638121133, + "frame": 93, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.715113, + "frame": 111, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.513868, + "frame": 135, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.076925, + "frame": 152, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.820465317533996, + "frame": 175, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.608965, + "frame": 198, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.158927, + "frame": 215, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.219569, + "frame": 247, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.044514, + "frame": 271, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.699232, + "frame": 291, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.720591, + "frame": 322, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-165650-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-bad1/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-165650-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-bad1/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..198631ac8b0b93807a08ed495ce50e9719ef0aea --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-165650-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-bad1/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,208 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.621729 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.346955 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.168877 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.135845 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.140938447558943 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5.045606 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.81918 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 6.907018 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 7.970682 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": -25, + "progress_explanation": "", + "state_description": "", + "time": 9.155218 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": -28, + "progress_explanation": "", + "state_description": "", + "time": 10.049663 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": -30, + "progress_explanation": "", + "state_description": "", + "time": 11.089153 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 375, + "progress": -35, + "progress_explanation": "", + "state_description": "", + "time": 12.51543 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 410, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 13.675791 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 439, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 14.618584 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 469, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 15.63454597177118 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 511, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 17.036003 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 544, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 18.143411793287658 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 593, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 19.767686 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 620, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 20.652277614804134 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-165650-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-bad1/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-165650-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-bad1/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f6c28612954f48fc9d08b0c0b162eebb6b3feec5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-165650-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-bad1/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,248 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.935994, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.6535159236622654, + "frame": 50, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2539282570166357, + "frame": 68, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.135845, + "frame": 94, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.098051852319346, + "frame": 123, + "progress": 42, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.870010566632107, + "frame": 146, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.577438, + "frame": 167, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.302664, + "frame": 189, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.164443411950596, + "frame": 215, + "progress": -12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.922334, + "frame": 238, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.744256, + "frame": 262, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.542005, + "frame": 286, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.557321, + "frame": 317, + "progress": -28, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.234198, + "frame": 337, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.394559, + "frame": 372, + "progress": -35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.533102805030882, + "frame": 406, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.183449, + "frame": 426, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.05557693603661, + "frame": 452, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.948164, + "frame": 478, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.011829, + "frame": 510, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.971865412329265, + "frame": 539, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.945764, + "frame": 568, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.840209, + "frame": 595, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.8, + "frame": 624, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-165650-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-bad1/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-165650-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-bad1/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..5a9b20fb9231017eaee2e74d18ddd5a7ad7b12f6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-165650-take-electric-fan-out-of-wooden-box-and-put-it-in-blue-box-bad1/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,248 @@ +{ + "task_description": "将木盒中的散热风扇放进蓝色盒子中：\n开始移动：0%\n爪夹靠进散热风扇：20%\n爪夹抓取散热风扇：40%\n爪夹抓取散热风扇靠近蓝色盒子：60%\n散热风扇准备落在蓝色盒子中：80%\n散热风扇安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.863471, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.564523, + "frame": 47, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.0823818760582444, + "frame": 62, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.9908, + "frame": 90, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.498458, + "frame": 105, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.465425, + "frame": 134, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.556196090465674, + "frame": 167, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.423534, + "frame": 193, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.535547, + "frame": 226, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.212424, + "frame": 246, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.720082, + "frame": 262, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.324437, + "frame": 280, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.412275, + "frame": 312, + "progress": -35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.572636, + "frame": 347, + "progress": -38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.310834840702343, + "frame": 369, + "progress": -40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.530746, + "frame": 406, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.39083470982284, + "frame": 432, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.39866969795339, + "frame": 462, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.214081, + "frame": 486, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.108525, + "frame": 513, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.00297, + "frame": 540, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.21168, + "frame": 576, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.030421983829964, + "frame": 601, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.8, + "frame": 624, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..6c4284a4aa5bccde64be55f721c01a8f78154a74 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "将木盒中的手电筒放进蓝色盒子中：\n开始移动：0%\n爪夹靠进手电筒：20%\n爪夹抓取手电筒：40%\n爪夹抓取手电筒靠近蓝色盒子：60%\n手电筒准备落在蓝色盒子中：80%\n手电筒安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.819952, + "frame": 25, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.2559370117234685, + "frame": 38, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.6564524349755083, + "frame": 50, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.214656, + "frame": 66, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.796618, + "frame": 84, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.318378, + "frame": 100, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.860205, + "frame": 116, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.482303, + "frame": 134, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.094367, + "frame": 153, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.848513865013524, + "frame": 175, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.524939913172525, + "frame": 196, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.341946, + "frame": 220, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.633333, + "frame": 259, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..495373fe81d78fe4fbdd506166c0244612d90d08 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,138 @@ +{ + "task_description": "将木盒中的手电筒放进蓝色盒子中：\n开始移动：0%\n爪夹靠进手电筒：20%\n爪夹抓取手电筒：40%\n爪夹抓取手电筒靠近蓝色盒子：60%\n手电筒准备落在蓝色盒子中：80%\n手电筒安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.894404, + "frame": 27, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.386372, + "frame": 42, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.839755, + "frame": 55, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.322076, + "frame": 70, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.891216, + "frame": 87, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.397960607912635, + "frame": 102, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.962702840418687, + "frame": 119, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.434645, + "frame": 133, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.994138, + "frame": 150, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.621156, + "frame": 169, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.296406, + "frame": 189, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.097059, + "frame": 213, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.974885, + "frame": 239, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..bd81a84c9278d384822b0394c980e1e6f14548b3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,128 @@ +{ + "task_description": "将木盒中的手电筒放进蓝色盒子中：\n开始移动：0%\n爪夹靠进手电筒：20%\n爪夹抓取手电筒：40%\n爪夹抓取手电筒靠近蓝色盒子：60%\n手电筒准备落在蓝色盒子中：80%\n手电筒安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.873028, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.388279, + "frame": 42, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.8383349479334286, + "frame": 55, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.368506755810625, + "frame": 71, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.882508, + "frame": 86, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.490504, + "frame": 105, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.03667, + "frame": 121, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.716802, + "frame": 142, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.56781938955233, + "frame": 167, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.509876, + "frame": 195, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.251837, + "frame": 218, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.981015204717501, + "frame": 239, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..e96418f3b53c9c74008f5ca6f59541046c15f2d5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,138 @@ +{ + "task_description": "将木盒中的手电筒放进蓝色盒子中：\n开始移动：0%\n爪夹靠进手电筒：20%\n爪夹抓取手电筒：40%\n爪夹抓取手电筒靠近蓝色盒子：60%\n手电筒准备落在蓝色盒子中：80%\n手电筒安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.873004, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.256769, + "frame": 38, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.650375, + "frame": 50, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.15691456541971, + "frame": 65, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.644228, + "frame": 79, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.077194, + "frame": 92, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.579041, + "frame": 107, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.23833, + "frame": 127, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.775471204776397, + "frame": 143, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.507707, + "frame": 165, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.40316, + "frame": 192, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.14117, + "frame": 214, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.00502439331631, + "frame": 240, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..5745fa6c1d53c506936498e34901a338ea7179a7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,128 @@ +{ + "task_description": "将木盒中的手电筒放进蓝色盒子中：\n开始移动：0%\n爪夹靠进手电筒：20%\n爪夹抓取手电筒：40%\n爪夹抓取手电筒靠近蓝色盒子：60%\n手电筒准备落在蓝色盒子中：80%\n手电筒安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.836526, + "frame": 25, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.434605, + "frame": 43, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.097342133050214, + "frame": 63, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.71758, + "frame": 82, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.209548, + "frame": 96, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.7915688305683677, + "frame": 114, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.318887, + "frame": 130, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.897673, + "frame": 147, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.630802, + "frame": 169, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.228881, + "frame": 187, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.034558317231904, + "frame": 211, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.888067, + "frame": 237, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..e460fa06f1848f96e5f01b92e9cd2d3f265286f6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,128 @@ +{ + "task_description": "将木盒中的手电筒放进蓝色盒子中：\n开始移动：0%\n爪夹靠进手电筒：20%\n爪夹抓取手电筒：40%\n爪夹抓取手电筒靠近蓝色盒子：60%\n手电筒准备落在蓝色盒子中：80%\n手电筒安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.833643, + "frame": 25, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.384691, + "frame": 42, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.916058, + "frame": 57, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.545827, + "frame": 76, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.214956, + "frame": 96, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.785684, + "frame": 114, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.523694, + "frame": 136, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.143622, + "frame": 154, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.814165338387883, + "frame": 174, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.44252, + "frame": 193, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.19037, + "frame": 216, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.115342, + "frame": 243, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..02d28fe30acfb93f47a6da839327e1ef1e7a4cf1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-173141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,118 @@ +{ + "task_description": "将木盒中的手电筒放进蓝色盒子中：\n开始移动：0%\n爪夹靠进手电筒：20%\n爪夹抓取手电筒：40%\n爪夹抓取手电筒靠近蓝色盒子：60%\n手电筒准备落在蓝色盒子中：80%\n手电筒安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.823088, + "frame": 25, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.335627, + "frame": 40, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.085452, + "frame": 63, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.664433, + "frame": 80, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.3096980565994705, + "frame": 99, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.856948903608191, + "frame": 116, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.639938577020668, + "frame": 139, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.483399, + "frame": 165, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.052887, + "frame": 182, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.745764, + "frame": 202, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.713894, + "frame": 231, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-174431-take-torch-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-174431-take-torch-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..c4d5b6421ff0878da4f1d944491aaa636abc0bc4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-174431-take-torch-out-of-wooden-box-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,158 @@ +{ + "task_description": "将木盒中的手电筒放进蓝色盒子中：\n开始移动：0%\n爪夹靠进手电筒：20%\n爪夹抓取手电筒：40%\n爪夹抓取手电筒靠近蓝色盒子：60%\n手电筒准备落在蓝色盒子中：80%\n手电筒安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.856957, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.579819, + "frame": 47, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.241161, + "frame": 67, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.794843, + "frame": 84, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.333145, + "frame": 100, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.067013399098354, + "frame": 122, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.147991, + "frame": 154, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.070794, + "frame": 182, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.885937, + "frame": 207, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.63956, + "frame": 229, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.024061, + "frame": 241, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.916104, + "frame": 267, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.001548958670204, + "frame": 300, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.207732, + "frame": 336, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.345855, + "frame": 370, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-180141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-180141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c50fc2dd067b49403abc324fe0efc1b18a114e8f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-180141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,178 @@ +{ + "task_description": "将木盒中的手电筒放进蓝色盒子中：\n开始移动：0%\n爪夹靠进手电筒：20%\n爪夹抓取手电筒：40%\n爪夹抓取手电筒靠近蓝色盒子：60%\n手电筒准备落在蓝色盒子中：80%\n手电筒安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.659638 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.1567961002104077 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.356777 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8664180246311446 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.293914 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 2.842482 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 3.311051 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 3.9648714297038956 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.659614 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.242468 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.75675 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.499235445492243 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.048171 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.791024 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 8.396734 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 8.840987796080675 + }, + { + "time": 9.833333, + "frame": 295, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-180141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-180141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..471290c61fe3b19adde33407ebda2e88c108833d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-180141-take-torch-out-of-wooden-box-and-put-it-in-blue-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,178 @@ +{ + "task_description": "将木盒中的手电筒放进蓝色盒子中：\n开始移动：0%\n爪夹靠进手电筒：20%\n爪夹抓取手电筒：40%\n爪夹抓取手电筒靠近蓝色盒子：60%\n手电筒准备落在蓝色盒子中：80%\n手电筒安稳落在蓝色盒子中，爪夹离开：100%", + "progress_points": [ + { + "time": 0.79678, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.219635, + "frame": 37, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.64249, + "frame": 49, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.0793046019573653, + "frame": 62, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.522484, + "frame": 76, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.0525003840200906, + "frame": 92, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.642477, + "frame": 109, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.259616, + "frame": 128, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.648185, + "frame": 139, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.093897, + "frame": 153, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.688179, + "frame": 171, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.306623780292328, + "frame": 189, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.88445877589207, + "frame": 207, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.608167, + "frame": 228, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.273290256544085, + "frame": 248, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.842446, + "frame": 265, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.833333, + "frame": 295, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..6b86a432eda091a868ab867c49705bb1f07c1137 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.288964, + "frame": 39, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.240672, + "frame": 67, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.998343, + "frame": 90, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.672855, + "frame": 110, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.227248, + "frame": 127, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.243636, + "frame": 157, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.047506, + "frame": 181, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.629619, + "frame": 199, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.581328, + "frame": 227, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f6bc5c857eeba2a8833a72b6ab84747ae0f459ab --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.275522 + }, + { + "time": 2.227405, + "frame": 67, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.077754, + "frame": 92, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.067712, + "frame": 122, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.879985, + "frame": 146, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.463807 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.996861 + }, + { + "time": 7.189888, + "frame": 216, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.052928, + "frame": 242, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 290, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.664783 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.642049 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..6db90771826632948e034bbc5482325230ce18c9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.217433, + "frame": 37, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.752719, + "frame": 83, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.156067, + "frame": 125, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.863737, + "frame": 146, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.835286, + "frame": 175, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.279079, + "frame": 188, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.658438, + "frame": 230, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.582008, + "frame": 257, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.493584, + "frame": 285, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.189261, + "frame": 306, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..0d5cb22f0265b413038b2d9101e9fc440d7bc25e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-104111-put-yellow-corn-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.332635 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.299163 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.070432 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.183402 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.925383 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.472105 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.546024 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.639469 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.195955 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f5af261806027fb88d8b03bc189480b2cf5d1855 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.636854, + "frame": 49, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.802615, + "frame": 84, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.585111, + "frame": 108, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.968375, + "frame": 119, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.527301, + "frame": 136, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.721065417010309, + "frame": 172, + "progress": 58, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.571373, + "frame": 197, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.274023, + "frame": 218, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.615446, + "frame": 258, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.671512238659794, + "frame": 290, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.675488, + "frame": 320, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.298291, + "frame": 339, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.176604, + "frame": 365, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.9591, + "frame": 389, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.076952, + "frame": 422, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..2242e925f72c3a9a64de20acc11f98ea833fb38e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.151412, + "frame": 35, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.160268, + "frame": 65, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.476168, + "frame": 104, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.660477, + "frame": 140, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.713197, + "frame": 171, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.722053, + "frame": 202, + "progress": 14, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.684175379896906, + "frame": 231, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.323766, + "frame": 250, + "progress": 14, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.234759612886599, + "frame": 307, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.49008, + "frame": 375, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.125481324226804, + "frame": 424, + "progress": 14, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.924494, + "frame": 448, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.328119, + "frame": 490, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.446635, + "frame": 523, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.543218, + "frame": 556, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.122298, + "frame": 604, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..f0422a9f6a31f64dc5e87bc3c335f407f44272a4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.378957, + "frame": 41, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.247472, + "frame": 67, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.405491, + "frame": 102, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.319717, + "frame": 130, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.005387, + "frame": 150, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.163406, + "frame": 185, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.037568, + "frame": 241, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.829899, + "frame": 265, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.637465, + "frame": 289, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.795484, + "frame": 324, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.750945286082475, + "frame": 353, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.334431, + "frame": 370, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.522925, + "frame": 406, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..6bdada8deb13d7fbfb34d06266b4602efcf402b4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.191684, + "frame": 36, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.576307, + "frame": 77, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.438859, + "frame": 103, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.301412, + "frame": 129, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.05047, + "frame": 152, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.913023, + "frame": 177, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.979864, + "frame": 209, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.02675257731959, + "frame": 271, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.316579, + "frame": 309, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.132479, + "frame": 364, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.290115, + "frame": 399, + "progress": 17, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.765533, + "frame": 443, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.991265, + "frame": 480, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.558734, + "frame": 497, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.126202, + "frame": 514, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.920658, + "frame": 538, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.896705, + "frame": 567, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.396077, + "frame": 582, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.462918, + "frame": 614, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e69a59c0e2914876e8ca7b80bda0056470e64b70 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.684762, + "frame": 51, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.291596, + "frame": 69, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.754707, + "frame": 83, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.425418, + "frame": 103, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.9583162376288663, + "frame": 119, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.150104, + "frame": 155, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.677092, + "frame": 170, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.251987, + "frame": 188, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.1303, + "frame": 214, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.471722, + "frame": 254, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.004777, + "frame": 300, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.643549, + "frame": 319, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.410076, + "frame": 342, + "progress": 52, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.320328, + "frame": 370, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.991039, + "frame": 390, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.773535, + "frame": 413, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..53eb37f15968e225b1dbfd5055b307ebb067c28c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.616736, + "frame": 49, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.5786941005154635, + "frame": 77, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.397489, + "frame": 102, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.225383, + "frame": 127, + "progress": 2, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.88145, + "frame": 146, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.765498153092784, + "frame": 173, + "progress": 7, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.302928, + "frame": 189, + "progress": 9, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.365132, + "frame": 221, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.896234, + "frame": 237, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.571733, + "frame": 257, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.099023, + "frame": 273, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.583263, + "frame": 287, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.270571, + "frame": 308, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.94198, + "frame": 358, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.660529, + "frame": 380, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.401511728350513, + "frame": 402, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..66a76c3d2165faaeb61cf85894f25122e2f10389 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,208 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.239138, + "frame": 37, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.138336, + "frame": 64, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.2746907737113404, + "frame": 98, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.177981, + "frame": 125, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.055247, + "frame": 152, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.976377, + "frame": 179, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.898033, + "frame": 207, + "progress": 14, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.770635862371135, + "frame": 233, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.309989, + "frame": 279, + "progress": 17, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.384641, + "frame": 312, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.757479, + "frame": 323, + "progress": 17, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.525087, + "frame": 346, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.906781, + "frame": 387, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.244613, + "frame": 427, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.143811, + "frame": 454, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.977214, + "frame": 479, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.876412, + "frame": 506, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.929132, + "frame": 538, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.56515, + "frame": 557, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.661733, + "frame": 590, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..75562013c0c7d3e6f5346d9741d3c4da47cfa7e2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,188 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.528399, + "frame": 46, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.1114, + "frame": 63, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.728713, + "frame": 82, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.016788, + "frame": 91, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.800993, + "frame": 114, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.441161, + "frame": 133, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.257374, + "frame": 158, + "progress": -40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.993566, + "frame": 180, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.80978, + "frame": 204, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.289905, + "frame": 219, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.026097, + "frame": 241, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.714278, + "frame": 261, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.194403 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.738546 + }, + { + "time": 10.554759, + "frame": 317, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.819089, + "frame": 355, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 386, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.859361 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 413, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.755596 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..9fd80efeae7566b8a266567c4c8c09f6d73367e0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.516091, + "frame": 45, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.4252749695876283, + "frame": 73, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.512151, + "frame": 105, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.395903, + "frame": 132, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.203469, + "frame": 156, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.361488, + "frame": 191, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.24524, + "frame": 217, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.128992, + "frame": 244, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.860373, + "frame": 266, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.683176, + "frame": 290, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.673588, + "frame": 320, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.892556, + "frame": 357, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.639173, + "frame": 379, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.522925, + "frame": 406, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..8465fc58e02a190bf58fb3ec378bedf48b2d34f0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,228 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.473762, + "frame": 44, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.3072, + "frame": 69, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.934433, + "frame": 88, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.6162026871134025, + "frame": 108, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.238336, + "frame": 127, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.498657, + "frame": 165, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.494717, + "frame": 195, + "progress": 13, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.185861, + "frame": 216, + "progress": 14, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.242903, + "frame": 247, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.386099495360826, + "frame": 282, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.275679, + "frame": 308, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.271739, + "frame": 338, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.247471, + "frame": 367, + "progress": 17, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.040254, + "frame": 391, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.633384645876289, + "frame": 409, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.239591, + "frame": 427, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.70713, + "frame": 441, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.764173, + "frame": 473, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.556954, + "frame": 497, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.943183, + "frame": 508, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.349738, + "frame": 520, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.569403, + "frame": 557, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f504a82ee7b90b309c2cd3a4c38672b15adc5521 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.0416, + "frame": 31, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.081399, + "frame": 92, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.2749, + "frame": 128, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.9024, + "frame": 177, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.640199, + "frame": 199, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.2008, + "frame": 276, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.6547, + "frame": 320, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.6511, + "frame": 380, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.5191, + "frame": 406, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.972999, + "frame": 449, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.709, + "frame": 501, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.0996, + "frame": 513, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.249699, + "frame": 547, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.843951434892478, + "frame": 565, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.53, + "frame": 586, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.4414, + "frame": 613, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a80ccb06c9e1292fd168aa8d2fbf52123f4b8a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.946533, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.915933, + "frame": 87, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.6182, + "frame": 109, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.015132, + "frame": 120, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.564733, + "frame": 137, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.8624, + "frame": 176, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.427266, + "frame": 193, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.724933, + "frame": 232, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.358466, + "frame": 281, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.549266, + "frame": 316, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.45, + "frame": 344, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.030133, + "frame": 361, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.946133, + "frame": 388, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.953733, + "frame": 419, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..232f53f4e9d8fdb84cd89a4eb6d8c3de1f02dc2e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.134933, + "frame": 34, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.330133, + "frame": 100, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.315733, + "frame": 129, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.883199, + "frame": 146, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.734399, + "frame": 172, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.555733, + "frame": 197, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.123199, + "frame": 214, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.735466, + "frame": 232, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.019733, + "frame": 271, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.646933, + "frame": 289, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.662399, + "frame": 320, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.827199, + "frame": 355, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.812799, + "frame": 384, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.604266, + "frame": 408, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..5a2d6824825604c6ca9a148a660d1cbf45b0b64f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.87, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.175499, + "frame": 95, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.0315, + "frame": 151, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.568499, + "frame": 197, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.279, + "frame": 218, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.032999, + "frame": 241, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.8595, + "frame": 266, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.019499, + "frame": 301, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.066838183845443, + "frame": 332, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.933499, + "frame": 358, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.8035, + "frame": 384, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..1785e217c5af35ff5ac7ad55b13daa1d19033deb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.683866, + "frame": 21, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.3192, + "frame": 70, + "progress": 2, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.2112, + "frame": 96, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.557067373405723, + "frame": 137, + "progress": 4, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.006133, + "frame": 180, + "progress": 6, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.675133, + "frame": 200, + "progress": 4, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.611733, + "frame": 228, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.444266, + "frame": 253, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.1876, + "frame": 276, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.603866, + "frame": 288, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.376933, + "frame": 311, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.923066, + "frame": 358, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.874533, + "frame": 386, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.662466, + "frame": 410, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..30c1fe9c2b0019313b2bb84010525b387ddc25de --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-105606-put-yellow-corn-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,188 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.621333, + "frame": 49, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.952533, + "frame": 89, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.328, + "frame": 100, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.8912, + "frame": 117, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.283733, + "frame": 129, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.649066, + "frame": 169, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.673066, + "frame": 200, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.912, + "frame": 207, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.202133, + "frame": 216, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.021333, + "frame": 241, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.635733, + "frame": 259, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.977066, + "frame": 269, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.8816, + "frame": 296, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.3664, + "frame": 341, + "progress": 92, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.680533, + "frame": 380, + "progress": 94, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.5168, + "frame": 406, + "progress": 96, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.472533, + "frame": 434, + "progress": 98, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.598933, + "frame": 468, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111329-put-yellow-corn-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111329-put-yellow-corn-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4fa8f04c1b47ee0c42208e340186614a55673002 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111329-put-yellow-corn-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.978172, + "frame": 29, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.529358, + "frame": 76, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.328103, + "frame": 100, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.953207, + "frame": 119, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.879288, + "frame": 146, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.238145, + "frame": 157, + "progress": 2, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.164226, + "frame": 185, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.530195, + "frame": 226, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.456276, + "frame": 254, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.324477, + "frame": 280, + "progress": -22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.435774, + "frame": 313, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.066667, + "frame": 332, + "progress": -24, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111329-put-yellow-corn-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111329-put-yellow-corn-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..4b8598164c41b6110fffd8167a032c1fc4037635 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111329-put-yellow-corn-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取玉米，将其放在圆形垫子上：\n爪夹开始移动：0%\n爪夹接近玉米：20%\n爪夹抓紧玉米：40%\n爪夹抓紧玉米接近圆形垫子：60%\n爪夹将玉米放在圆形垫子上：80%\n玉米落在圆形垫子上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.968758, + "frame": 29, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.034588, + "frame": 91, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.458856, + "frame": 134, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.395537, + "frame": 162, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.075592, + "frame": 182, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.481099832474227, + "frame": 194, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.505429757216495, + "frame": 225, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.770153, + "frame": 263, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.706834, + "frame": 291, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.643514, + "frame": 319, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.266667, + "frame": 368, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..202d71cf6933321ade4b3a514daf511e03bd36bc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.945048, + "frame": 58, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.62343, + "frame": 79, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.4213057293814435, + "frame": 103, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.404183, + "frame": 132, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.315759, + "frame": 159, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.407531, + "frame": 192, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.18131, + "frame": 215, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.743095, + "frame": 232, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.887865, + "frame": 267, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..9cd8e9893bfc66d4ce684d8129a3363c1e44f411 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.915794, + "frame": 57, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.2231957891752576, + "frame": 97, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.070257, + "frame": 122, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.779811, + "frame": 143, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.29585, + "frame": 159, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.250522, + "frame": 188, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.295501, + "frame": 219, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.185669, + "frame": 246, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.766213, + "frame": 263, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.643479, + "frame": 289, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.559448, + "frame": 317, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..7a15d5a51b92b4587b4db82aadd68fffff9aa875 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.697227, + "frame": 51, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.451551, + "frame": 74, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.7107730963917525, + "frame": 111, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.584466, + "frame": 138, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.299773, + "frame": 159, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.898029, + "frame": 177, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.574319, + "frame": 197, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.250609, + "frame": 218, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.291055, + "frame": 249, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.811279, + "frame": 264, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.305491, + "frame": 279, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.63206, + "frame": 319, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf02bfac59e3071158be8a305fac05608a311c9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.976847, + "frame": 59, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.665829, + "frame": 80, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.429009, + "frame": 103, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.679776, + "frame": 140, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.252161, + "frame": 158, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.100139, + "frame": 183, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.096513, + "frame": 213, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.997489, + "frame": 240, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.750069, + "frame": 263, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..068d75c566fd96204a3e46c52abb792cb2e7f537 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-111915-put-salted fish-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.825488, + "frame": 55, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.883368, + "frame": 87, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.850941, + "frame": 116, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.063633, + "frame": 152, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.173116, + "frame": 185, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.179393, + "frame": 215, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.301778, + "frame": 249, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.282252, + "frame": 278, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.172419, + "frame": 305, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b17a5b1e29939731100edb7d676b7e3e8f23a31d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.132533, + "frame": 34, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.666933, + "frame": 80, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.909066, + "frame": 117, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.457066, + "frame": 134, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.228933, + "frame": 187, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.886533, + "frame": 207, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.7816, + "frame": 233, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.8092, + "frame": 294, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.782, + "frame": 353, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.786666, + "frame": 384, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.229733, + "frame": 427, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.704666, + "frame": 441, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.202532, + "frame": 486, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.462933, + "frame": 524, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..304696a122da708752bc23ce74d41cc077fdba5f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.053905, + "frame": 32, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.9710653335051547, + "frame": 59, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.663807, + "frame": 80, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.590446810824742, + "frame": 108, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.207322, + "frame": 126, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.286122, + "frame": 159, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.680265, + "frame": 200, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.543305, + "frame": 226, + "progress": 24, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.6553, + "frame": 260, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.601325, + "frame": 288, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.680125, + "frame": 320, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.211227, + "frame": 336, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.339818, + "frame": 370, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.06137484484536, + "frame": 392, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.601185, + "frame": 408, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.206392051030926, + "frame": 426, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..833dbbc08eed4a283bc92c64305e6b409c8e6199 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.29273, + "frame": 39, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.132165, + "frame": 64, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.195449, + "frame": 96, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.001306, + "frame": 120, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.348274, + "frame": 130, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.545868, + "frame": 166, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.430073, + "frame": 193, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.101621, + "frame": 213, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.840324, + "frame": 235, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.534257, + "frame": 256, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.925993, + "frame": 268, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.541579, + "frame": 286, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..006744763ff19a12a93cfcce5e5d112be2ff5975 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.67221, + "frame": 50, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.3271821788659794, + "frame": 70, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.604916, + "frame": 108, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.8117183128865975, + "frame": 144, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.80652, + "frame": 174, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.016562, + "frame": 210, + "progress": 32, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.058178861340206, + "frame": 242, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.50387, + "frame": 285, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.797943, + "frame": 324, + "progress": 36, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.873535, + "frame": 356, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.697036, + "frame": 381, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.184414, + "frame": 396, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.041527, + "frame": 421, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.066701, + "frame": 452, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..ddd6248227ba4de3b0381a2b055e5bfa83cd7af1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.294194, + "frame": 39, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.132339, + "frame": 64, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.797925, + "frame": 84, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.118392, + "frame": 94, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.622123, + "frame": 139, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.977946, + "frame": 179, + "progress": -12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.594229, + "frame": 198, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.604933, + "frame": 228, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.960756, + "frame": 269, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.612395, + "frame": 318, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.683106, + "frame": 380, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.989627, + "frame": 420, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.80312, + "frame": 444, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.91243, + "frame": 477, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.405456, + "frame": 492, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.366858, + "frame": 521, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.599424, + "frame": 558, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..e8857ebbc5ddd044bbb233d41b7f3bd43f3f79de --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.9182, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.76046, + "frame": 53, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.326569, + "frame": 70, + "progress": 22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.306903, + "frame": 99, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.356276, + "frame": 131, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.839539, + "frame": 145, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.944142, + "frame": 178, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.855439, + "frame": 206, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.504393, + "frame": 225, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.877196, + "frame": 236, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.58138, + "frame": 257, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.791134020618557, + "frame": 294, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.956276, + "frame": 329, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.019456, + "frame": 361, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d5346c375246a9ef52593de0f4c82a4a44b2f973 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.29911, + "frame": 39, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.944996, + "frame": 58, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.473448, + "frame": 74, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.0019, + "frame": 90, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.647785, + "frame": 109, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.587255, + "frame": 138, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.864347, + "frame": 176, + "progress": 14, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.833176, + "frame": 205, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.376307, + "frame": 221, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.051551, + "frame": 242, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.976342, + "frame": 269, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.75434, + "frame": 293, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.943357, + "frame": 328, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.912185, + "frame": 357, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.675505, + "frame": 380, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..63a55425664ac87c9d5649c1d941581f42d1be74 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.404654, + "frame": 42, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.97547, + "frame": 59, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.826098, + "frame": 85, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.057269, + "frame": 122, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.456328, + "frame": 164, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.239801, + "frame": 187, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.079236, + "frame": 212, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.727164948453607, + "frame": 232, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.523064, + "frame": 256, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.847646, + "frame": 265, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.608734, + "frame": 288, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..5b54fe620afd8b5602d7dc82049714744ab0454b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.487343, + "frame": 45, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.394874, + "frame": 72, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.352824, + "frame": 101, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.831764, + "frame": 145, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.772405618041236, + "frame": 173, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.335878, + "frame": 220, + "progress": 38, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.306632474742269, + "frame": 249, + "progress": 44, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.386227, + "frame": 282, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.276952, + "frame": 308, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.915586, + "frame": 327, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.94076, + "frame": 358, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.781067, + "frame": 383, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.656666949999998, + "frame": 410, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.971374860309277, + "frame": 419, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.663354, + "frame": 440, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..b741be2e2150d60c17df23d8f5c767fddaf00ba6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.785669, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2695876726804127, + "frame": 68, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.332322, + "frame": 100, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.181206, + "frame": 125, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.993968, + "frame": 150, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.07765, + "frame": 182, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.818166, + "frame": 205, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.046339, + "frame": 241, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.015028, + "frame": 300, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.900035, + "frame": 327, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.839226, + "frame": 355, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.08546, + "frame": 393, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.825976, + "frame": 415, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.855474, + "frame": 446, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.372629, + "frame": 491, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..b22b13bad38aba77a8bf78e55b555da8b0a6f0f4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 2.086923, + "frame": 63, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.978138, + "frame": 89, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.943619, + "frame": 118, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.790271, + "frame": 144, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.228969072164948, + "frame": 187, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.137133, + "frame": 214, + "progress": 4, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.310563, + "frame": 249, + "progress": 14, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.934414, + "frame": 268, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.00387, + "frame": 300, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.508891, + "frame": 315, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.756589, + "frame": 353, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.318865979381442, + "frame": 370, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.256799, + "frame": 398, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..9bb0cf3be4f5d03dcee4c6b957243da033b74218 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.573012, + "frame": 17, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.92615, + "frame": 58, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.478451, + "frame": 74, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.362133, + "frame": 101, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.328661, + "frame": 130, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.880962, + "frame": 146, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.971757, + "frame": 179, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.675941, + "frame": 200, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.435355, + "frame": 223, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.863389, + "frame": 236, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.63661, + "frame": 259, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.382886597938144, + "frame": 281, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.058786, + "frame": 302, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.025313, + "frame": 331, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.77092, + "frame": 353, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..1f0d28b018cf6804b5537e5e76496c80e035993d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.866699, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.3861, + "frame": 72, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.1137, + "frame": 93, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.916199, + "frame": 117, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.2109, + "frame": 156, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.1097, + "frame": 183, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.1155, + "frame": 213, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.682599, + "frame": 230, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.592099, + "frame": 258, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.9987, + "frame": 270, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.715599, + "frame": 291, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..5b0335549b4d5446b16183bd7034925ddadb8f6b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.3468, + "frame": 40, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.1598, + "frame": 95, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.333933, + "frame": 130, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.938266, + "frame": 148, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.887933, + "frame": 177, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.338333, + "frame": 220, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.617533, + "frame": 289, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.895266, + "frame": 327, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.000333, + "frame": 360, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.880933, + "frame": 386, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.3644, + "frame": 401, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.573066, + "frame": 437, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.8508, + "frame": 476, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..899720c83cefef5ef4dcbdd197816ae2a8f74de1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-135131-put-salted fish-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.673199, + "frame": 20, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.438799, + "frame": 43, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.4288, + "frame": 73, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.930399, + "frame": 88, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.5904, + "frame": 108, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.5144, + "frame": 135, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.055599, + "frame": 152, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.060205908706507, + "frame": 182, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.2732, + "frame": 218, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.735199, + "frame": 232, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.6064, + "frame": 258, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.50309250664465, + "frame": 285, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.101199, + "frame": 333, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.0648, + "frame": 362, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-140700-put-salted fish-white-rice cooker-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-140700-put-salted fish-white-rice cooker-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..33c6d582137a8954b5238ee6c3649c9b42ec728d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-140700-put-salted fish-white-rice cooker-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 2.051063, + "frame": 62, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.768636, + "frame": 83, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.270937, + "frame": 98, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.6716321953608246, + "frame": 110, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.287499, + "frame": 129, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.112709, + "frame": 153, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.985756, + "frame": 180, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.69137, + "frame": 201, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.983001, + "frame": 239, + "progress": 52, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.676655, + "frame": 260, + "progress": -40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.88457, + "frame": 297, + "progress": -45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.433333, + "frame": 343, + "progress": -50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-140700-put-salted fish-white-rice cooker-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-140700-put-salted fish-white-rice cooker-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..1b33fc190c74bf3dc5f93583b2d2c641b9a16e39 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-140700-put-salted fish-white-rice cooker-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取咸鱼，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近电饭煲：60%\n爪夹将咸鱼放入电饭煲中：80%\n咸鱼落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.846066, + "frame": 25, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.824033, + "frame": 85, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.127433, + "frame": 124, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.133566, + "frame": 154, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.979633, + "frame": 179, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.974333, + "frame": 209, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.220566, + "frame": 247, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.221316788029117, + "frame": 277, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..538e1f105708379d46c6c5c6888470d137d11ad8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.481101, + "frame": 44, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.303416, + "frame": 69, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.742607, + "frame": 82, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.2095531448453603, + "frame": 96, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.032147, + "frame": 121, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.779706, + "frame": 143, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.99085888298969, + "frame": 180, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.854183, + "frame": 206, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.097001, + "frame": 243, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..746501bd65842399abba3b350189802f204fcafc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.385303, + "frame": 42, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.1146, + "frame": 63, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.628085, + "frame": 79, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.300784, + "frame": 99, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.076098, + "frame": 122, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.343247422680412, + "frame": 160, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.630073, + "frame": 199, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.42819, + "frame": 223, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.294717, + "frame": 249, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..8f1a987036d7982222e776fbd557e868a9dd07ff --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.519595, + "frame": 46, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.24986, + "frame": 67, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.91594511185567, + "frame": 87, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.667433, + "frame": 110, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.666178, + "frame": 140, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.29979, + "frame": 159, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.320014, + "frame": 190, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.340237, + "frame": 220, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.769804, + "frame": 233, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.50007, + "frame": 255, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.198117, + "frame": 276, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..46c08595b6778097ed64e89929b958ac0dbceed2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.527771, + "frame": 46, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.669403, + "frame": 80, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.441684, + "frame": 103, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.706433, + "frame": 141, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.78091, + "frame": 173, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.978504, + "frame": 209, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.896286, + "frame": 237, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.09388, + "frame": 273, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d6897249fe31ddb0fc4b00e98ccd503026f216 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.639958, + "frame": 49, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.471617, + "frame": 74, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.107043, + "frame": 93, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.209693, + "frame": 126, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.051477474742268, + "frame": 152, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.125313, + "frame": 184, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.788772, + "frame": 204, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.676499, + "frame": 230, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f4b66c55bd2b0ae02ed428574d55825c43474c79 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-142323-put-salted fish-table-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.476516, + "frame": 44, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2999, + "frame": 69, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.038546, + "frame": 91, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.0875, + "frame": 123, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.931223, + "frame": 148, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.573064, + "frame": 197, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.188755, + "frame": 216, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.163762886597937, + "frame": 245, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.503294, + "frame": 285, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..43dcb003a64ab883e5df109343e48169f56ba12c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.525993, + "frame": 46, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.327, + "frame": 70, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.304759, + "frame": 99, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.903922, + "frame": 117, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.91501, + "frame": 147, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.907374, + "frame": 177, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.143148, + "frame": 214, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.603608, + "frame": 258, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.521077, + "frame": 286, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.681956, + "frame": 320, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.5807, + "frame": 347, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.292207, + "frame": 369, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.453085, + "frame": 404, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.557792, + "frame": 437, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.288023, + "frame": 459, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.842102, + "frame": 505, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..64d87849998f2fb45d1c2c1e907c971cb38f151a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.414958, + "frame": 42, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.397803, + "frame": 72, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.651778, + "frame": 110, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.549895, + "frame": 136, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.685251, + "frame": 171, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.871443, + "frame": 206, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.854288, + "frame": 236, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.871025, + "frame": 266, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.955543, + "frame": 299, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.616422, + "frame": 318, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.514539, + "frame": 345, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.751569, + "frame": 383, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.446338, + "frame": 403, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.513912, + "frame": 435, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..2e98abb168fdc04bd336e7a7aca8da0ab4a80bf3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.531729, + "frame": 46, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.284666, + "frame": 69, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.798814, + "frame": 84, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.745118, + "frame": 112, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.707461, + "frame": 141, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.489333, + "frame": 165, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.648186, + "frame": 199, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.59449, + "frame": 228, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.925732, + "frame": 268, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.823918, + "frame": 295, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.107042, + "frame": 333, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.959999, + "frame": 359, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.031729, + "frame": 391, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.84972, + "frame": 415, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..0e8c625968ebf3d850a9359e83d5d92a833115cc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.495711, + "frame": 45, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.008054, + "frame": 60, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.900523, + "frame": 87, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.024371, + "frame": 121, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.346548, + "frame": 160, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.974581, + "frame": 179, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.032322, + "frame": 211, + "progress": 9, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.189225, + "frame": 246, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.180857, + "frame": 275, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.040271, + "frame": 301, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.064958, + "frame": 332, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.040062, + "frame": 361, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.680721649484537, + "frame": 380, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.874581, + "frame": 416, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..dc49a1b2037a69c8f240e2cf462a093586d4e634 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.849564, + "frame": 55, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.517276, + "frame": 76, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.305177, + "frame": 99, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.333455, + "frame": 130, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.13471, + "frame": 154, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.113522496391753, + "frame": 183, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.844055, + "frame": 205, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.574450369587629, + "frame": 227, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.313022, + "frame": 249, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.99409, + "frame": 270, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.888825, + "frame": 297, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.730143, + "frame": 322, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.397855, + "frame": 342, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..9a49bfb1178ddfb270998015987406062903bbb3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.694508, + "frame": 51, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.518357, + "frame": 76, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.11752, + "frame": 94, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.032113402061856, + "frame": 121, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.840115, + "frame": 145, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.300575, + "frame": 189, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.888917525773195, + "frame": 237, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.753399, + "frame": 263, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.577248, + "frame": 287, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.85047, + "frame": 326, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.561976, + "frame": 347, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.685407, + "frame": 381, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.359466, + "frame": 401, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.333106, + "frame": 430, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.044612, + "frame": 451, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.528711340206184, + "frame": 466, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.617474226804124, + "frame": 499, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..26376b6dc978745749bc4aaa61cba10286a43808 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.061297, + "frame": 32, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.979846, + "frame": 59, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.650139, + "frame": 80, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.44456, + "frame": 103, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.474825, + "frame": 134, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.85265, + "frame": 176, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.771199, + "frame": 203, + "progress": 32, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.615272, + "frame": 228, + "progress": 34, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.422106, + "frame": 253, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.241353, + "frame": 277, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.700627, + "frame": 291, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.624948752061854, + "frame": 319, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..252c3992af1506d154b391f10c4a159096f69b78 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.115585, + "frame": 33, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.074163, + "frame": 62, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.850941, + "frame": 86, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.594665, + "frame": 108, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.569769, + "frame": 137, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.412656, + "frame": 162, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.007635, + "frame": 180, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.230648, + "frame": 217, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.288389, + "frame": 249, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.197384, + "frame": 276, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.891527, + "frame": 297, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.949267, + "frame": 328, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.089644, + "frame": 363, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.783786, + "frame": 384, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.000103092783505, + "frame": 420, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..517c3eb02ae1136c4f9162a5d3e83061a23f7d3c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.78682, + "frame": 54, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.8868041237113404, + "frame": 87, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.810251, + "frame": 114, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.675104, + "frame": 140, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.833682, + "frame": 175, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.975941, + "frame": 209, + "progress": -35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.987656, + "frame": 240, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.803556, + "frame": 264, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.521548, + "frame": 286, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.516945, + "frame": 316, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.740794, + "frame": 352, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.654602, + "frame": 380, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.32364, + "frame": 400, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.369690721649484, + "frame": 431, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..be89e9951fa2578bcb1fb1158775c334b217c21b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.091161, + "frame": 33, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.288199, + "frame": 69, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.295618507731959, + "frame": 99, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.243831552061856, + "frame": 127, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.479271, + "frame": 164, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.464037704639175, + "frame": 194, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.661593, + "frame": 230, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.506363, + "frame": 255, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.914312, + "frame": 297, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.251865, + "frame": 338, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.307827, + "frame": 369, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.80964, + "frame": 414, + "progress": 49, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.959466, + "frame": 449, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.454965391237113, + "frame": 494, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.306049, + "frame": 519, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.244682, + "frame": 547, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.183315, + "frame": 575, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.098482, + "frame": 603, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.612319266494847, + "frame": 648, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..6396010477103e0a580bd5f05ac4ad2a86850728 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.712, + "frame": 21, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.230933, + "frame": 67, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.8124, + "frame": 84, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.536266, + "frame": 106, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.117733, + "frame": 124, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.829733, + "frame": 145, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.707866, + "frame": 171, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.858933, + "frame": 206, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.306666, + "frame": 249, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.350933, + "frame": 281, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.730666, + "frame": 292, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.8256, + "frame": 295, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.8936, + "frame": 327, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..0bdb5b5d21274ef0a68a9267424aee0ba161c723 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.896, + "frame": 27, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.477999, + "frame": 74, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.122, + "frame": 94, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.947999, + "frame": 118, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.675999, + "frame": 140, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.866, + "frame": 176, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.266, + "frame": 218, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.714, + "frame": 231, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.582, + "frame": 257, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.926, + "frame": 298, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.479999, + "frame": 344, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.872, + "frame": 356, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.851999, + "frame": 386, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..6dd7a58cd97fc631afceeb7247143f76ef42098a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-143400-put-salted fish-table-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,208 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.919766, + "frame": 28, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.288199, + "frame": 69, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.185533, + "frame": 96, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.127733, + "frame": 124, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.451299, + "frame": 164, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.617833, + "frame": 199, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.492733, + "frame": 225, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.412499, + "frame": 252, + "progress": 22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.691199, + "frame": 291, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.296899, + "frame": 309, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.014766, + "frame": 330, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.661899, + "frame": 410, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.030333, + "frame": 451, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.196866, + "frame": 486, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.510933, + "frame": 495, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.318533, + "frame": 520, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.843999, + "frame": 565, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.36513097140138, + "frame": 581, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.257299, + "frame": 608, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.244366, + "frame": 637, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-145007-put-salted fish-table-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-145007-put-salted fish-table-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9ac4e7352833f5df14ca226f4fa0da256e10ae69 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-145007-put-salted fish-table-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.453085, + "frame": 44, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.5704, + "frame": 77, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.766161, + "frame": 113, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.296340206185566, + "frame": 129, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.138546, + "frame": 184, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.561976, + "frame": 227, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.135303, + "frame": 244, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.440115, + "frame": 283, + "progress": 13, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.784690721649483, + "frame": 324, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.75319, + "frame": 353, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.137081, + "frame": 394, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.501202, + "frame": 435, + "progress": 32, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.707165, + "frame": 471, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.932897, + "frame": 508, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.72118556701031, + "frame": 532, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.9, + "frame": 567, + "progress": 22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-145007-put-salted fish-table-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-145007-put-salted fish-table-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b49b2fb0824e05153a5a71866978697594b224db --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-145007-put-salted fish-table-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.097228, + "frame": 33, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.28342, + "frame": 69, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.619508, + "frame": 79, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.173064, + "frame": 95, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.260407, + "frame": 128, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.347751, + "frame": 160, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.621286, + "frame": 229, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.075993, + "frame": 242, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.440115, + "frame": 283, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.764696, + "frame": 323, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.338023, + "frame": 340, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.051185567010307, + "frame": 362, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.492939, + "frame": 405, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.520972, + "frame": 436, + "progress": 33, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.549006, + "frame": 466, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.33778350515464, + "frame": 490, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.913127, + "frame": 507, + "progress": 28, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.822541, + "frame": 535, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.9, + "frame": 567, + "progress": 26, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-145007-put-salted fish-table-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-145007-put-salted fish-table-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..cd701d9053464e88b8e944d5feba7ff38436e014 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-145007-put-salted fish-table-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取咸鱼，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近咸鱼：20%\n爪夹抓紧咸鱼：40%\n爪夹抓紧咸鱼接近桌面：60%\n爪夹将咸鱼放在桌面上：80%\n咸鱼落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.638999, + "frame": 19, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.177333, + "frame": 65, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.135833, + "frame": 94, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.467166, + "frame": 104, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.212666, + "frame": 126, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.017333, + "frame": 151, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.023166, + "frame": 181, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.170999, + "frame": 215, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.034833, + "frame": 241, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.076166, + "frame": 272, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.904499, + "frame": 297, + "progress": -40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.815666, + "frame": 324, + "progress": -50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..436415efcf305e7ed1f32a036dec7a55665af79c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.197629, + "frame": 36, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.993166, + "frame": 60, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.433127245876289, + "frame": 73, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.9700344840206183, + "frame": 89, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.601534, + "frame": 108, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.215481, + "frame": 126, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.924546, + "frame": 148, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.503905, + "frame": 165, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.789261, + "frame": 174, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.308089, + "frame": 189, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..73053bf144442e525076cd1fb1d5d0b234d2cf9c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.293584, + "frame": 39, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.913333, + "frame": 57, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.504184, + "frame": 75, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.275453, + "frame": 98, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.919804, + "frame": 118, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.603207, + "frame": 138, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.501394, + "frame": 165, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.321478, + "frame": 190, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.268479, + "frame": 218, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..6ebae7b6273a9930ea2bae706e5549672578d052 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.302737, + "frame": 39, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.366196, + "frame": 71, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.151666, + "frame": 95, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.883666, + "frame": 117, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.961035, + "frame": 149, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.609745, + "frame": 168, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.471147, + "frame": 194, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.2896050500000005, + "frame": 219, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.098238, + "frame": 243, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.683141, + "frame": 260, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..6a21a2fb20bfafe2f7ce93475b35e1e9c7419da4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.261697, + "frame": 38, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.036801, + "frame": 61, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.837743, + "frame": 85, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.010566847938144, + "frame": 120, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.474075, + "frame": 134, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.214731, + "frame": 156, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.903713, + "frame": 177, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.592694, + "frame": 198, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.402248, + "frame": 222, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..50f50ae9aeaebdd81dcb7337fd7bd6826bc7529a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.236924, + "frame": 37, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.088388, + "frame": 63, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.962866, + "frame": 89, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.205543, + "frame": 126, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.999476, + "frame": 150, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.97751, + "frame": 179, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.277719, + "frame": 218, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.968096, + "frame": 239, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.520397, + "frame": 256, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.475418, + "frame": 284, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..8d3bf348dd2b1e849eedd21de64d1094fe5b5c9e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-153528-put-bananas-white-rice cooker-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.147001, + "frame": 34, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.307391, + "frame": 69, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.012552, + "frame": 90, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.842677, + "frame": 115, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.440725, + "frame": 133, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.397113191237113, + "frame": 162, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.842119, + "frame": 175, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.628728263402063, + "frame": 199, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.332775, + "frame": 220, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..e6a570499e87dd18bbeaf7677f190f1ac50a382d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.213319, + "frame": 36, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.028103, + "frame": 61, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.807461, + "frame": 84, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.923361, + "frame": 118, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.490167, + "frame": 135, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.517503, + "frame": 166, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.899093, + "frame": 207, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.519037, + "frame": 226, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.050418, + "frame": 242, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.138762706701032, + "frame": 274, + "progress": 22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.477056, + "frame": 314, + "progress": 26, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.681519, + "frame": 350, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.460878, + "frame": 374, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.151673, + "frame": 395, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.948744, + "frame": 418, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.71039, + "frame": 441, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.844002, + "frame": 475, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..dca99281bded2bd08a0a0106d2f9bfbfcd404be9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,218 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.225523, + "frame": 37, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2272, + "frame": 67, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.045606, + "frame": 91, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.197525773195876, + "frame": 126, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.914225, + "frame": 147, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.933472, + "frame": 178, + "progress": 6, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.2682, + "frame": 218, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.646443, + "frame": 289, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.870515463917526, + "frame": 326, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.442259, + "frame": 343, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.655648, + "frame": 380, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.529288, + "frame": 406, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.160251, + "frame": 425, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.912552, + "frame": 447, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.761924, + "frame": 473, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.587999, + "frame": 498, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.35216494845361, + "frame": 521, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.970292, + "frame": 539, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.892468, + "frame": 567, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.81567010309278, + "frame": 594, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.294979, + "frame": 639, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..16ce40868c602bd293877cf8e79a26727e4b02d6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,198 @@ +{ + "task_description": "打开电饭煲盖子；抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近电饭煲开关：10%\n爪夹合拢：20%\n爪夹瞄准开关：30%\n爪夹保持合拢按下开关：40%\n电饭煲盖子打开，爪夹移开：50%\n爪夹接近香蕉：60%\n爪夹抓紧香蕉：70%\n爪夹抓紧香蕉接近电饭煲：80%\n爪夹将香蕉放入电饭煲中：90%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.144717, + "frame": 34, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.978852, + "frame": 59, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.688755, + "frame": 81, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.327667, + "frame": 100, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.073063, + "frame": 122, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.658734, + "frame": 140, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.244403, + "frame": 157, + "progress": -35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.900360960309278, + "frame": 207, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.587081, + "frame": 228, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.545449, + "frame": 256, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.379585, + "frame": 281, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.817137, + "frame": 325, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.6052, + "frame": 348, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.532594747938148, + "frame": 376, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.017834, + "frame": 391, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.958455, + "frame": 419, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.7216, + "frame": 442, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.041056, + "frame": 451, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.857444, + "frame": 476, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..9770473538f5d021da6ca82013398f181152428c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.089696, + "frame": 33, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.867433, + "frame": 56, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.558769, + "frame": 77, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.511244, + "frame": 105, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.140847, + "frame": 124, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.802736, + "frame": 144, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.932792, + "frame": 178, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.610826, + "frame": 198, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.353434, + "frame": 221, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.918462, + "frame": 238, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.499633, + "frame": 255, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.19381, + "frame": 276, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.726551, + "frame": 292, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.372297, + "frame": 311, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.050331, + "frame": 332, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.702284970618555, + "frame": 351, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.487116, + "frame": 375, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.116718, + "frame": 394, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.117625, + "frame": 424, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..5fd7254bea81093aab127cbc8f7b2de699c307a8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.223779, + "frame": 37, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.17999995, + "frame": 65, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.926429, + "frame": 88, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.732147, + "frame": 112, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.264225, + "frame": 128, + "progress": 2, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.955866, + "frame": 149, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.632426, + "frame": 169, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.8182, + "frame": 205, + "progress": 17, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.528865806701032, + "frame": 226, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.427834858247424, + "frame": 253, + "progress": 19, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.06813, + "frame": 272, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.995466, + "frame": 300, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.04442, + "frame": 331, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.108577, + "frame": 363, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.868688, + "frame": 386, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.370362, + "frame": 401, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..abd44919ce64a11b549c6ff0f00e46e955c6122e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.439905, + "frame": 43, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.147228, + "frame": 64, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.837709, + "frame": 85, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.356958762886598, + "frame": 131, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.229131, + "frame": 157, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.0375, + "frame": 181, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.930073, + "frame": 208, + "progress": -40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.782583, + "frame": 263, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.759361, + "frame": 293, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.315115, + "frame": 309, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.056119, + "frame": 332, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.881328, + "frame": 356, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.841265, + "frame": 385, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.801202, + "frame": 414, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.575889, + "frame": 437, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..b43dea4a9149f7d2aaaf02049257888ac72b3c2d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.273814, + "frame": 38, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.237203, + "frame": 67, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.965097, + "frame": 89, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.035529, + "frame": 121, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.891875, + "frame": 147, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.662587, + "frame": 170, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.818654, + "frame": 205, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.760634, + "frame": 233, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.402894, + "frame": 252, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.430509, + "frame": 283, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.436715, + "frame": 313, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.69975964072165, + "frame": 351, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.262657, + "frame": 398, + "progress": 19, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.525767, + "frame": 436, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.382113, + "frame": 461, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.19564, + "frame": 486, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.987761, + "frame": 510, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.865516, + "frame": 536, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.021583, + "frame": 571, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..37638c9d4a9b660cb28295aed40bba9305dc396f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.9671, + "frame": 29, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2396, + "frame": 67, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.054, + "frame": 92, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.1738, + "frame": 125, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.2936, + "frame": 159, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.803633, + "frame": 204, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.635, + "frame": 229, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.415466, + "frame": 252, + "progress": 13, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.331666, + "frame": 280, + "progress": 14, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.875633, + "frame": 326, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.080266, + "frame": 362, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.098266, + "frame": 393, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.014466, + "frame": 420, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.336833, + "frame": 430, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.930666, + "frame": 448, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.101365, + "frame": 483, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..3de86548e4e22ba13c18b0deebc1ccdbe9e45f46 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.632766, + "frame": 19, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.453899, + "frame": 74, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.333599, + "frame": 100, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.197866, + "frame": 126, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.062133, + "frame": 152, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.802933, + "frame": 174, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.728933, + "frame": 202, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.117933, + "frame": 244, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.182833, + "frame": 275, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.846466, + "frame": 295, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.371199, + "frame": 311, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.266333, + "frame": 338, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.207766, + "frame": 366, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.149199, + "frame": 394, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.044333, + "frame": 421, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..1581407a64760f1870c344c1771072b02ba7aa6a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.962499, + "frame": 29, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.566666, + "frame": 77, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.246833, + "frame": 97, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.003999, + "frame": 120, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.363333, + "frame": 131, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.876666, + "frame": 146, + "progress": 14, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.609166, + "frame": 198, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.789833, + "frame": 234, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.059333, + "frame": 242, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.457166, + "frame": 254, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.316999, + "frame": 280, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.240999, + "frame": 307, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.831333, + "frame": 325, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.614166, + "frame": 348, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..cd7d28e5f7df5f379fbe44db1bfe96c07f8a91cf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,208 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.1713, + "frame": 35, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.985666, + "frame": 90, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.7895, + "frame": 114, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.317733, + "frame": 130, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.937833, + "frame": 148, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.155066, + "frame": 185, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.211533, + "frame": 216, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.865133, + "frame": 266, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.944566, + "frame": 298, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.9551, + "frame": 329, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.690033, + "frame": 351, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.585733, + "frame": 378, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.688133, + "frame": 411, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.1934, + "frame": 426, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.8824, + "frame": 446, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.926433, + "frame": 508, + "progress": 92, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.0518, + "frame": 542, + "progress": 94, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.993433, + "frame": 570, + "progress": 96, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.279566, + "frame": 608, + "progress": 98, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.864266, + "frame": 656, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..93d6591eb49649385c27e3e8e39d4c63558b051b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,218 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.020799, + "frame": 31, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.9464, + "frame": 88, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.7816, + "frame": 113, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.1992, + "frame": 126, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.080799, + "frame": 152, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.5192, + "frame": 196, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.9112, + "frame": 237, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.0248, + "frame": 271, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.9992, + "frame": 300, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.741599, + "frame": 322, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.716, + "frame": 351, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.9224, + "frame": 388, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.221599, + "frame": 427, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.5208, + "frame": 466, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.773599, + "frame": 503, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.423199, + "frame": 523, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.7944, + "frame": 534, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.3512, + "frame": 551, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.759312228173325, + "frame": 563, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.6968, + "frame": 591, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.648, + "frame": 619, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..cbf97c107b3e0faf052adf812c2076651e58b762 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-154215-put-bananas-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,188 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.084733, + "frame": 33, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.3946, + "frame": 72, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.049533, + "frame": 91, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.195666, + "frame": 126, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.3418, + "frame": 160, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.713066, + "frame": 201, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.777333, + "frame": 233, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.125266, + "frame": 244, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.435133, + "frame": 283, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.704066, + "frame": 321, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.6046, + "frame": 348, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.224333, + "frame": 427, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.6132, + "frame": 438, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.206733, + "frame": 456, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.1482, + "frame": 484, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.089666, + "frame": 513, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.2358, + "frame": 547, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.361466, + "frame": 581, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-155641-put-bananas-white-rice cooker-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-155641-put-bananas-white-rice cooker-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..872049571ab1d17caf61a932ade007a39e2594f2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-155641-put-bananas-white-rice cooker-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "打开电饭煲盖子；抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近电饭煲开关：10%\n爪夹合拢：20%\n爪夹瞄准开关：30%\n爪夹保持合拢按下开关：40%\n电饭煲盖子打开，爪夹移开：50%\n爪夹接近香蕉：60%\n爪夹抓紧香蕉：70%\n爪夹抓紧香蕉接近电饭煲：80%\n爪夹将香蕉放入电饭煲中：90%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.775697, + "frame": 53, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.661332, + "frame": 80, + "progress": -2, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.417216629381443, + "frame": 103, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.149198, + "frame": 124, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.547733, + "frame": 136, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.220816, + "frame": 157, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.141876, + "frame": 184, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.213494, + "frame": 216, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.466667, + "frame": 254, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-155641-put-bananas-white-rice cooker-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-155641-put-bananas-white-rice cooker-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f2023de11ea25e2f57f5e4aa12468ba9963a3ab9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-155641-put-bananas-white-rice cooker-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.972733, + "frame": 59, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.158066, + "frame": 95, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.8354, + "frame": 115, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.5212, + "frame": 136, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.249333, + "frame": 157, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.231466, + "frame": 187, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.145866, + "frame": 214, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.212666, + "frame": 246, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-155641-put-bananas-white-rice cooker-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-155641-put-bananas-white-rice cooker-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..909bbefe7870378ea1bae6e6988c257fc6756495 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-155641-put-bananas-white-rice cooker-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取香蕉，将其放入电饭煲中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近电饭煲：60%\n爪夹将香蕉放入电饭煲中：80%\n香蕉落入电饭煲中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.8701, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.1714, + "frame": 65, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.6873, + "frame": 81, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.1031, + "frame": 93, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.495799, + "frame": 105, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.9501, + "frame": 119, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.7509, + "frame": 143, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.821199, + "frame": 175, + "progress": -40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.5296, + "frame": 196, + "progress": -50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..5b0be1182a1995b631c9788a252f13ada6c34e5f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.616108, + "frame": 48, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.84020618556701, + "frame": 85, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.697698, + "frame": 111, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.60774, + "frame": 138, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.902061855670103, + "frame": 177, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.139121, + "frame": 214, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.756276, + "frame": 233, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.446652, + "frame": 253, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e3fd6e13b946d64d0c97904f933974ddb8d00a14 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.656276, + "frame": 50, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.408577, + "frame": 72, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.942468, + "frame": 88, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.694769, + "frame": 111, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.175104, + "frame": 155, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.012343, + "frame": 180, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.922384, + "frame": 208, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.832426, + "frame": 235, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.863807, + "frame": 266, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.421966, + "frame": 283, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.222803, + "frame": 307, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..779a78b756d54820af548e6869494c062cea01b5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.229062, + "frame": 37, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.885303, + "frame": 57, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.663894, + "frame": 80, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.831781, + "frame": 115, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.7216, + "frame": 142, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.012766134536083, + "frame": 180, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.12411, + "frame": 214, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.73586, + "frame": 232, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.380979, + "frame": 251, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.115079, + "frame": 273, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b3263be6c59a29108125ebf2ff61b340658ff923 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.657949, + "frame": 50, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.37, + "frame": 71, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.913179, + "frame": 87, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.593096, + "frame": 108, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.021966, + "frame": 121, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.6182, + "frame": 139, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.139175257731959, + "frame": 184, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.191422, + "frame": 216, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.578451, + "frame": 227, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.300209, + "frame": 249, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3e37ad29e4eb0464a21149b6f5b6458381c004 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.294037, + "frame": 39, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.09857, + "frame": 63, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.554149, + "frame": 77, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.854637, + "frame": 86, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.387761, + "frame": 102, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.095361, + "frame": 123, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.182646234536082, + "frame": 155, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.927371, + "frame": 178, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.032392, + "frame": 211, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.769072, + "frame": 233, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..2843d3116653588bc5c3ac9a68cab8e4bbc8e8d6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.254515, + "frame": 38, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.293497, + "frame": 69, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.812988, + "frame": 84, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.907235, + "frame": 117, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.758316, + "frame": 143, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.675714, + "frame": 170, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.902597, + "frame": 207, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.447886864432991, + "frame": 253, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.256886, + "frame": 278, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..f6f59c6695568eeedafa1767b4f21a71244ae97b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-160214-put-bananas-blue-plate-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.993549, + "frame": 30, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.176115, + "frame": 65, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.193898, + "frame": 96, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.163214, + "frame": 125, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.958054, + "frame": 149, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.121234, + "frame": 184, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.916074, + "frame": 207, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.739993, + "frame": 232, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..549561cebee42d772ee9fc55b7c278184ef44d19 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.532235, + "frame": 46, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.473831, + "frame": 74, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.432548, + "frame": 103, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.117346, + "frame": 124, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.315742, + "frame": 159, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.291579, + "frame": 189, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.023041400515464, + "frame": 241, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.04789, + "frame": 271, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.075087, + "frame": 302, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.187883, + "frame": 336, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.958281, + "frame": 359, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.000532910824742, + "frame": 390, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.149634, + "frame": 424, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.29667, + "frame": 459, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..25fa1467586be14ea2a7e6c0b9a122f0ea4bf0ff --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.142468, + "frame": 34, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.152092, + "frame": 65, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.108577, + "frame": 93, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.958786, + "frame": 119, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.428939, + "frame": 163, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.005369, + "frame": 210, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.824535908762888, + "frame": 265, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.555997, + "frame": 287, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.465498075773198, + "frame": 314, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.362691, + "frame": 341, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.124337, + "frame": 364, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.435076, + "frame": 403, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.426987, + "frame": 433, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.914853, + "frame": 477, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..33d4d98bca55cf77089999538813da9ab1280830 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.309187, + "frame": 39, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.242695, + "frame": 67, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.039592, + "frame": 91, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.200784, + "frame": 126, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.589661, + "frame": 168, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.365603, + "frame": 221, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.276342, + "frame": 248, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.574145, + "frame": 287, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.575959, + "frame": 317, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.190707, + "frame": 336, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.737151, + "frame": 352, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.898343, + "frame": 387, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.105073, + "frame": 423, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.471182, + "frame": 464, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.38192, + "frame": 491, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.224355, + "frame": 517, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.431084, + "frame": 553, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.615045, + "frame": 588, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.003922, + "frame": 630, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..7e0b4df344ca9ff5e9fcbbe52a5082b7aef72ddf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.118723, + "frame": 34, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.432322, + "frame": 73, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.966422, + "frame": 89, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.471652, + "frame": 104, + "progress": 17, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.22228, + "frame": 127, + "progress": 7, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.427525773195876, + "frame": 163, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.940062, + "frame": 178, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.921652, + "frame": 208, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.932112, + "frame": 238, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.754916, + "frame": 263, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.953033, + "frame": 299, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.15115, + "frame": 335, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.176046, + "frame": 365, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a957972a50948a51ed445e5355d39cbeefd23 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.042397, + "frame": 31, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.074476, + "frame": 62, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.611157, + "frame": 78, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.395536, + "frame": 102, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.24184, + "frame": 127, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.191352, + "frame": 156, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.491771, + "frame": 195, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.358716, + "frame": 221, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.122453, + "frame": 244, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.030683, + "frame": 271, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.856345, + "frame": 296, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.764574, + "frame": 323, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.198047, + "frame": 336, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.070790157216493, + "frame": 392, + "progress": 85, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.922733, + "frame": 418, + "progress": 88, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.037377, + "frame": 451, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.317153, + "frame": 490, + "progress": 95, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.328591, + "frame": 520, + "progress": 98, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.401952, + "frame": 552, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9d4da0a1efa5e48b6bb2201a2ff325b63ba0c17f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.067015, + "frame": 32, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.263668, + "frame": 68, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.22099, + "frame": 97, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.297977, + "frame": 129, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.574407, + "frame": 167, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.791004, + "frame": 204, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.067432, + "frame": 242, + "progress": 22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.104532, + "frame": 273, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.982078, + "frame": 299, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.198675, + "frame": 336, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.435216, + "frame": 373, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.21304, + "frame": 396, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.649023, + "frame": 439, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.00523, + "frame": 480, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.683333, + "frame": 500, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.580823, + "frame": 527, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..cb0452434d4d862dcd0418a6406f89ef22e37e59 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.41508, + "frame": 42, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.154166, + "frame": 65, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.785094, + "frame": 84, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.614313, + "frame": 108, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.209187, + "frame": 126, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.092485, + "frame": 153, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.065916, + "frame": 182, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.931188, + "frame": 208, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.337255, + "frame": 250, + "progress": 35, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.779375, + "frame": 293, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.473866, + "frame": 344, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.622972264432988, + "frame": 379, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.168642337628865, + "frame": 425, + "progress": 75, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.754930986082472, + "frame": 443, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.547855, + "frame": 466, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..1670fd15d9dcb5c989268de5d767f55a1cad480e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.361035, + "frame": 41, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.319752, + "frame": 70, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.227109, + "frame": 97, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.237186, + "frame": 127, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.247263, + "frame": 157, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.0519, + "frame": 182, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.900854, + "frame": 237, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.16773, + "frame": 275, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.006607, + "frame": 300, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.931084, + "frame": 328, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.769961, + "frame": 353, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.053957, + "frame": 392, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.601795, + "frame": 408, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.252353, + "frame": 428, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.26243, + "frame": 458, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..94b3b583ef456661dc44d7060fc49ba8f58b317e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.195606, + "frame": 36, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2781442850515465, + "frame": 68, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.836769703608247, + "frame": 85, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.462831, + "frame": 104, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.082775, + "frame": 122, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.322663, + "frame": 160, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.562552, + "frame": 197, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.91834, + "frame": 268, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.981101, + "frame": 299, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.795885, + "frame": 324, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.238702, + "frame": 337, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.195188, + "frame": 366, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.311087, + "frame": 399, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.391561, + "frame": 432, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.542886, + "frame": 466, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..984dc83c52678ad89d3f9768ed2b9f4c154df8ba --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.445153, + "frame": 43, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.27744, + "frame": 68, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.988668, + "frame": 90, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.866352, + "frame": 116, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.532182, + "frame": 136, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.152615, + "frame": 155, + "progress": 2, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.348082, + "frame": 190, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.331694, + "frame": 220, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.012657, + "frame": 240, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.708751, + "frame": 261, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.934484, + "frame": 298, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.494386, + "frame": 315, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.993758, + "frame": 330, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.886576, + "frame": 357, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..cd8cfde1f351a02073c7f0ee314cbe71122c4cc2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.5148, + "frame": 15, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.497733, + "frame": 75, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.955333, + "frame": 89, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.432, + "frame": 103, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.3472, + "frame": 130, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.567466, + "frame": 167, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.558933, + "frame": 197, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.370266, + "frame": 251, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.113866, + "frame": 273, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.971866, + "frame": 299, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.3828, + "frame": 341, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.213149870880756, + "frame": 366, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.442, + "frame": 403, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.509733, + "frame": 435, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.882533, + "frame": 476, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.721466, + "frame": 502, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.922666, + "frame": 538, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..3c9478349a3363fc3327974d8629298fa53d74d7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.088333, + "frame": 33, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.177933, + "frame": 95, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.0486, + "frame": 121, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.115166, + "frame": 153, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.2035, + "frame": 186, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.422433, + "frame": 223, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.576066, + "frame": 257, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.577333, + "frame": 287, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.926866, + "frame": 328, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.906366, + "frame": 357, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.6477, + "frame": 409, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.5414, + "frame": 466, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.303232, + "frame": 489, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.609233, + "frame": 528, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.762866, + "frame": 563, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.829433, + "frame": 595, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.808933, + "frame": 624, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..5903ca0bfc684cef69dc1b549a55a70bf418d7c2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.7526, + "frame": 53, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.691, + "frame": 81, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.3672, + "frame": 101, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.1676, + "frame": 125, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.2026, + "frame": 156, + "progress": 22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.0582, + "frame": 182, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.8724, + "frame": 206, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.9212, + "frame": 238, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.9424, + "frame": 268, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.557, + "frame": 317, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.3988, + "frame": 342, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.1992, + "frame": 366, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..5ac8cef7bd3f952fd3a3f8aeb96d88c44106ae55 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-161205-put-bananas-blue-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.045866, + "frame": 31, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.308799, + "frame": 69, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.413866, + "frame": 102, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.084799, + "frame": 123, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.150399, + "frame": 155, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.360533, + "frame": 221, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.524799, + "frame": 256, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.958933, + "frame": 269, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.846933, + "frame": 295, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.829598486794824, + "frame": 325, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.228266, + "frame": 337, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.333333, + "frame": 370, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.129066, + "frame": 424, + "progress": 92, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.095999, + "frame": 453, + "progress": 94, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.457598, + "frame": 494, + "progress": 96, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.286399, + "frame": 519, + "progress": 98, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.253333, + "frame": 548, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-162654-put-bananas-blue-plate-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-162654-put-bananas-blue-plate-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..da9e8095c48287d74be8275dc1c60acf7ead8a0f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-162654-put-bananas-blue-plate-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放入浅蓝色盘子中：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近浅蓝色盘子：60%\n爪夹将香蕉放入浅蓝色盘子中：80%\n香蕉落入浅蓝色盘子中，爪夹移开：100%", + "progress_points": [ + { + "time": 1.562935, + "frame": 47, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.290411, + "frame": 69, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.813284, + "frame": 84, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.495292, + "frame": 105, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.313703, + "frame": 129, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.552684, + "frame": 167, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.60402082113402, + "frame": 198, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.7691067675257734, + "frame": 233, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.826325, + "frame": 265, + "progress": 55, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.542434, + "frame": 286, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.866667, + "frame": 326, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..b1438cee53faa23bae0249c313588bc69072852e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.435564, + "frame": 43, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.0996563015463914, + "frame": 63, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.694666, + "frame": 81, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.228033, + "frame": 127, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.132635, + "frame": 154, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.027628705670104, + "frame": 181, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.112273, + "frame": 213, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.121757, + "frame": 244, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.698605, + "frame": 261, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.576987, + "frame": 287, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..0d94858d51ba20bfe1272a7cc1a95d00181f9475 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.191666, + "frame": 36, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.168932, + "frame": 65, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.876952, + "frame": 86, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.644804, + "frame": 109, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.4326, + "frame": 133, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.250313, + "frame": 158, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.327301, + "frame": 190, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.164957, + "frame": 215, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.98267, + "frame": 239, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..36da40a45a9da8fd32d396b9d3cccbe85d1da66c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.506799, + "frame": 45, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.244456, + "frame": 67, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.703242, + "frame": 81, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.018096, + "frame": 91, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.818723, + "frame": 115, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.430439, + "frame": 133, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.590899, + "frame": 168, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.436506, + "frame": 193, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.219142, + "frame": 217, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..cc238e8b6721ec298eaf688c03b4519e4107beef --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-172222-put-bananas-table-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.296757 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.12758 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.80122 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.688179 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 3.935181 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.395501 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.147733 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.87751 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.381973 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 247, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.224023 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.0773 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f1b922658f38767f9cfd245576a5dde70b0c3ff5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.261244, + "frame": 38, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.1359, + "frame": 64, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.846809, + "frame": 85, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.360303, + "frame": 131, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.945868, + "frame": 178, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.858769, + "frame": 206, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.387921098453608, + "frame": 282, + "progress": 7, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.159013, + "frame": 335, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.840673, + "frame": 385, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.993811, + "frame": 420, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.291091, + "frame": 459, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.381154, + "frame": 521, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.101865, + "frame": 543, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.591335, + "frame": 588, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.696426, + "frame": 621, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.131701337628865, + "frame": 634, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 21.921635, + "frame": 658, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..abaabf6937046b3453befeb3115246925f9af6c0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.263964, + "frame": 38, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.183211, + "frame": 65, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.784257, + "frame": 84, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.703504, + "frame": 111, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.46365, + "frame": 134, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.43593, + "frame": 163, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.602667, + "frame": 198, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.893148, + "frame": 237, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.325052, + "frame": 280, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.668566, + "frame": 320, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.517102, + "frame": 346, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.630805, + "frame": 379, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.779864, + "frame": 413, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.643762886597937, + "frame": 439, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.971914, + "frame": 479, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..25f7b07211eade30ce3c1d3a6d8fadb3d83d3431 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.380404, + "frame": 41, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.499651, + "frame": 75, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.215969, + "frame": 96, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.096443, + "frame": 123, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.842608, + "frame": 145, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.752929, + "frame": 173, + "progress": 46, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.588633, + "frame": 198, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.170641, + "frame": 215, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.931729, + "frame": 238, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.812203, + "frame": 264, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.558368, + "frame": 287, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.782078, + "frame": 323, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.692399, + "frame": 351, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.811646, + "frame": 384, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..8c2b134ea236126057be5cc215d1bd0374f0d48f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.479323, + "frame": 44, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.597663, + "frame": 78, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.20638, + "frame": 96, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.666907101546392, + "frame": 140, + "progress": 2, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.825278, + "frame": 175, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.212586, + "frame": 216, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.175209, + "frame": 245, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.25108, + "frame": 278, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.213702, + "frame": 306, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.105543, + "frame": 333, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.949793520103093, + "frame": 358, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.691038, + "frame": 381, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..a0573a1b5caf8e9e3c45c2a7ba6ab1b50ebd869f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.105369, + "frame": 33, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.201603, + "frame": 66, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.895885, + "frame": 87, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.845955, + "frame": 115, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.704672, + "frame": 141, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.746094, + "frame": 172, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.116387, + "frame": 213, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.888633, + "frame": 267, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.039679, + "frame": 301, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.921168593298969, + "frame": 328, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.286959, + "frame": 369, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..dc9a7d6206e707a3a8cff8c254ebe7327d0eea12 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.708002, + "frame": 51, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.429027, + "frame": 73, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.96479381443299, + "frame": 89, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.362813, + "frame": 101, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.060197, + "frame": 122, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.379341, + "frame": 131, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.561349, + "frame": 167, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.927771, + "frame": 178, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.09796, + "frame": 213, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.055387, + "frame": 242, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.59911, + "frame": 258, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.048274, + "frame": 271, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.029341, + "frame": 301, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..b7de6650d9f7142d162fa7199c1e6f3dd7141c87 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.201324, + "frame": 36, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.1694158582474223, + "frame": 65, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.230892, + "frame": 97, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.917364, + "frame": 118, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.767991, + "frame": 143, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.544002, + "frame": 166, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.48417, + "frame": 195, + "progress": 14, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.275104, + "frame": 218, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.782496, + "frame": 233, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.140655, + "frame": 244, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.871896, + "frame": 266, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.632984, + "frame": 289, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.856694, + "frame": 326, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.861924675773196, + "frame": 356, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.781799, + "frame": 383, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..cf6ffeedba5a3d4f447fd03dadf9e94f481b50a9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.12364, + "frame": 34, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.165062, + "frame": 65, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.096861, + "frame": 93, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.99212, + "frame": 120, + "progress": 22, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.722942, + "frame": 142, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.800906, + "frame": 174, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.458647, + "frame": 194, + "progress": -25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.18947, + "frame": 216, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.541492, + "frame": 256, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.094491, + "frame": 303, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.989749, + "frame": 330, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.001580985051547, + "frame": 360, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..cedd85316fcff554396f5fcc21f0370ca2f6821e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.6272, + "frame": 49, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.712, + "frame": 81, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.0171, + "frame": 91, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.4126, + "frame": 102, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.2149, + "frame": 126, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.9777, + "frame": 179, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.4862, + "frame": 195, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.0512, + "frame": 212, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.8309, + "frame": 235, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.6827489038841, + "frame": 260, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.1191, + "frame": 274, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.5203, + "frame": 316, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..9e34d4da17f109909202965fd03bf7dd538c8f1a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.4027, + "frame": 42, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2815, + "frame": 68, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.932817514950467, + "frame": 88, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.701099, + "frame": 111, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.4447, + "frame": 133, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.712199, + "frame": 171, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.081099, + "frame": 212, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.909199, + "frame": 237, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.0753, + "frame": 272, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.2921, + "frame": 309, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.8498, + "frame": 325, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.323, + "frame": 340, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.810199, + "frame": 384, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.7228, + "frame": 412, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.550899, + "frame": 437, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.0888, + "frame": 483, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..3f659948ca98227de339c126380d97a10ac79573 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.879666, + "frame": 26, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.395399, + "frame": 72, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.396866, + "frame": 102, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.074999, + "frame": 152, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.238866, + "frame": 187, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.632799, + "frame": 229, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.444799, + "frame": 253, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.256799, + "frame": 278, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.623666, + "frame": 319, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.273266, + "frame": 338, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.868733, + "frame": 356, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.843133, + "frame": 385, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..5e4d94e1669444b879cb1cff6c98118917186319 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,218 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.8124, + "frame": 24, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.2341, + "frame": 67, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.339866, + "frame": 100, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.242533, + "frame": 127, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.573966, + "frame": 167, + "progress": -10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.273533, + "frame": 188, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.221333, + "frame": 217, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.9209, + "frame": 238, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.643033, + "frame": 259, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.997033, + "frame": 300, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.922266, + "frame": 328, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.7121, + "frame": 351, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.637333, + "frame": 379, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 14.239566, + "frame": 427, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.3679, + "frame": 461, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.360833, + "frame": 491, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 17.376333, + "frame": 521, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 18.504666, + "frame": 555, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.068833, + "frame": 572, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 19.858666, + "frame": 596, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 20.422833, + "frame": 613, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..120590b422bf57271c500d1bf91bf046efdbd0db --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 2.304066, + "frame": 69, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.23, + "frame": 97, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.037499, + "frame": 121, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.1357, + "frame": 154, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.964733, + "frame": 179, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.988866, + "frame": 240, + "progress": -40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.345466, + "frame": 280, + "progress": -50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..12d0f35403037979d14b4c6900cd5153b83413ad --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.3516, + "frame": 41, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.0132, + "frame": 90, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.005199, + "frame": 120, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.27, + "frame": 158, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.2744, + "frame": 188, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.382398, + "frame": 251, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.114, + "frame": 273, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.4284, + "frame": 313, + "progress": -50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..fc957889a44c86584f8717e07446519101f80a2d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.693999, + "frame": 51, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.439333, + "frame": 103, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.234999, + "frame": 127, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.146166, + "frame": 154, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.403833, + "frame": 192, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.687166, + "frame": 231, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.739499, + "frame": 262, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.112666, + "frame": 303, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.510499, + "frame": 315, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.229166, + "frame": 337, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6642e990df69cbd231a22040b24ec45e4fee34ac --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.1036, + "frame": 33, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.7032, + "frame": 81, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.534, + "frame": 106, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.3524, + "frame": 131, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.2824, + "frame": 158, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.0636, + "frame": 182, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.5684, + "frame": 257, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.2876, + "frame": 279, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.4656, + "frame": 314, + "progress": -50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..dcbe28dda330bfe0470a189b32542dc6fb52300e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 2.130333, + "frame": 64, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.888499, + "frame": 117, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.286333, + "frame": 129, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.261666, + "frame": 158, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.557833, + "frame": 197, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.648666, + "frame": 229, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.354499, + "frame": 251, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.534166, + "frame": 256, + "progress": 18, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.701999, + "frame": 291, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.343666, + "frame": 310, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.921166, + "frame": 328, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 12.050499, + "frame": 362, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ba373ac1f7b349d4823f21efab9bddda83c42692 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-174513-put-bananas-table-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取电饭煲中的香蕉，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉接近桌面：60%\n爪夹将香蕉放在桌面上：80%\n香蕉落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 2.314833, + "frame": 69, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.402266, + "frame": 102, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.091332, + "frame": 123, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.737333, + "frame": 142, + "progress": -20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.727866, + "frame": 172, + "progress": -30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.182665, + "frame": 245, + "progress": -40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.1732, + "frame": 275, + "progress": -50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..86049872d43bc27a58d99bc3be860b1b51f0398d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：30%\n爪夹夹取盒子：40%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.060309278350516 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.297422680412371 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..bda60dca5ed35a33c76e4befd1caddc7228b39e1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：30%\n爪夹夹取盒子：40%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.5 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.625532505025773 + }, + { + "time": 5.477599, + "frame": 164, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.1278004699742255 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.122851955541236 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..78e164f32001227123b9cb1daa54a338eef43d54 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：30%\n爪夹夹取盒子：40%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.2712756576030926 + }, + { + "time": 3.864505877190721, + "frame": 116, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.206567685438144 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.004024701932988 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..2dae0a69a6c8abaa1643a7bf52728b7a4334c422 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,78 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：30%\n爪夹夹取盒子：40%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.103973239046392 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "time": 5.858966, + "frame": 176, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.789711986469072 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..eb7f0e394287f9d478fb2896c3a6ed90e88d69dc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,78 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：30%\n爪夹夹取盒子：40%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.145382141108247 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.923698267912371 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.702014394716495 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.017478271005155 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..11e5f7cd2a78188e606465e042c1204f2789864f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：40%\n爪夹夹取盒子：50%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.69647755451031 + }, + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.49097924935567 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.126718032860825 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.6318725689433 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..f042d01db336874d6d5d94c752a92479dcbe98df --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-100008-put-packaging box-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：40%\n爪夹夹取盒子：50%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.201469072164949 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.1625000000000005 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.018 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.7 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.066666666666666 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.6996 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..077a4bf56d3d80dd8d66ba693047fcb05ba9d845 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：40%\n爪夹夹取盒子：45%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.26112978363402 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.663088553737113 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.5963188289948445 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.227968324871134 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.725631564046391 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 10.706937477448452 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 358, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.933333333333334 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 377, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.563604177448454 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 412, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 13.733333333333333 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 449, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.966666666666667 + }, + { + "action_description": "关键帧 18/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 15.970683276417526 + }, + { + "action_description": "关键帧 19/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 499, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.633333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..69db50d8b861157805436ae16e9bb50dd7eac556 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：10%\n爪夹夹取盒子：15%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.8134664948453607 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.076353092783505 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.584085051546392 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.333333333333334 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.127899484536083 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.437177835051548 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 410, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.663981958762887 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 433, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.433333333333334 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 449, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.980992268041236 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 471, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.684600515463918 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..1c041f7a74ef2d8e6dc4f1e3c3b26bbdd8a4c61b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,258 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：35%\n爪夹夹取盒子：40%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.0027190421391747 + }, + { + "action_description": "关键帧 4/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.4925815627577315 + }, + { + "action_description": "关键帧 5/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.684471579252577 + }, + { + "action_description": "关键帧 6/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.555468129768041 + }, + { + "action_description": "关键帧 7/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.472306603994845 + }, + { + "action_description": "关键帧 8/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 9/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.939248162757732 + }, + { + "action_description": "关键帧 10/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.695639903994845 + }, + { + "action_description": "关键帧 11/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.337426835953607 + }, + { + "action_description": "关键帧 12/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 299, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.97921376791237 + }, + { + "action_description": "关键帧 13/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 11.133333333333333 + }, + { + "action_description": "关键帧 14/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 359, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.950416487499998 + }, + { + "action_description": "关键帧 15/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 388, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 12.933333333333334 + }, + { + "action_description": "关键帧 16/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 407, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.554883817396908 + }, + { + "action_description": "关键帧 17/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 425, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 14.150828825644329 + }, + { + "action_description": "关键帧 18/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 15.044746338015464 + }, + { + "action_description": "关键帧 19/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 473, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 15.75529615554124 + }, + { + "action_description": "关键帧 20/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 498, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.6 + }, + { + "action_description": "关键帧 21/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 518, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 17.266666666666666 + }, + { + "action_description": "关键帧 22/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 536, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 17.864024646262887 + }, + { + "action_description": "关键帧 23/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 556, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 18.533333333333335 + }, + { + "action_description": "关键帧 24/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 582, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 19.4 + }, + { + "action_description": "关键帧 25/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 596, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 19.881069289561854 + }, + { + "action_description": "关键帧 26/28 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 611, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 20.366666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..96d946b226d241a27dc3599c4b208ff4197b5dc4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：35%\n爪夹夹取盒子：40%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.2275988599226806 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.9355026537371134 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.537049096005155 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 323, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.766666666666667 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 340, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.333333333333334 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 389, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 12.966666666666667 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 426, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.2 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.952169553737114 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..005a7c1ff970359b7f3c75ac71a388e32170f318 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：50%\n爪夹夹取盒子：60%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.3118901052835055 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.12673547951031 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.759312842396908 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 411, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.693058644458764 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 431, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.366666666666667 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 463, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.433333333333334 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 493, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.433333333333334 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 527, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.566666666666666 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 544, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.133333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..f5d71f98a0b0d497c3084a6f1d189d2fef198153 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：40%\n爪夹夹取盒子：50%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1939691331185567 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.9142440609536084 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.624897014561857 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.345171942396908 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.975412504252577 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 285, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.496374751675258 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.833333333333334 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 366, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.2 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 422, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.066666666666666 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 462, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 15.4 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 486, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..adc2f44fc3a940eefd4b083a1b0bb4eea9753c13 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：40%\n爪夹夹取盒子：50%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.374570518685568 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.022268123840207 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.6548454867268045 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.078488138273197 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.23051566507732 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 412, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.733333333333333 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 431, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.366666666666667 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 464, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 15.469003690850515 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 493, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 16.433333333333334 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 527, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 17.579244275386596 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 544, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.133333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..05a67d3f2c552ca4160427f69f0800eba448da85 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,168 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：25%\n爪夹夹取盒子：30%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.796473448582474 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "time": 6.467470040335053, + "frame": 194, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "time": 9.116610978479384, + "frame": 273, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 324, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.787607570231959 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.566666666666666 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 401, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.366666666666667 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 441, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.7 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 477, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 15.9 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 510, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.00289977126289 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 535, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.833333333333332 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..2eb8fec8ad05a20ecf8d5180739a07978c27b37b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：60%\n爪夹夹取盒子：70%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.2016021905927836 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.675725892654639 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.7117739823453606 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.870743031829896 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.432667419458762 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.013079759664946 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.611052236984536 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.233333333333333 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 388, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 12.933333333333334 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 411, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.7 + }, + { + "action_description": "关键帧 18/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 430, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 14.333333333333334 + }, + { + "action_description": "关键帧 19/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 448, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..c35b825334c218a6f774d95548374157443597b5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：40%\n爪夹夹取盒子：50%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.7950171091494846 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.634879635953608 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.654123583376289 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.566666666666666 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 375, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.49742244007732 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 405, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 13.5 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 440, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 14.65962171121134 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 469, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.642439561726803 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..15ed5355f1e29428be8a3607c565ab14b251faf5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：40%\n爪夹夹取盒子：50%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.226116718427835 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.810721484407217 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.850996368943299 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.45979357409794 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.209759188530928 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 294, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.790377728737115 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.552439562757732 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 351, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 11.701580423582476 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..a23cd79a7ce807cdb3011eec3a76bc606d745c82 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：10%\n爪夹夹取盒子：15%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.4809709155927835 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.264338641365979 + }, + { + "time": 5.282, + "frame": 158, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.270524280541237 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.4 + }, + { + "time": 8.0342, + "frame": 241, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 9.266667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b18f53c7cdd8c8877b66887e4475cf1c1702ad39 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：30%\n爪夹夹取盒子：40%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.259420103092784 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.354884020618557 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.267770618556702 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.496018041237114 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.333333333333333 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.11436855670103 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 337, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.233333333333333 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 379, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 12.633333333333333 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 414, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 13.8 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 440, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 14.666666666666666 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 483, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 16.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..8624282ef4232b17937fc34df31ed752a21d3a49 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：20%\n爪夹夹取盒子：30%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.4427578557989693 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "time": 5.207866, + "frame": 156, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.270524280541237 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.4 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.266667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..7b4de7dba80f0a12cbe293571b2550f1a74c2861 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-102833-put-packaging box-green-mat-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取盒子放到盘子上\n爪夹启动：0%\n爪夹接近盒子：40%\n爪夹夹取盒子：50%\n爪夹夹取盒子放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3092139175257738 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.437873711340207 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.234574742268043 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.512615979381443 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.333333333333333 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.072822164948454 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.16416237113402 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 337, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.233333333333333 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 381, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.687048969072167 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 414, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 13.8 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 440, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 14.666666666666666 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 483, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 16.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..fe9ecf75b4ebc6a1adc45d51a82452bda00a5a8d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,88 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：20%\n爪夹夹取黑色的画笔套装：30%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.3254510309278356 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.917719072164949 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.958956185567011 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.531636597938144 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..a87c9b919fef9c1fa2406077a2d8fce07b7b1b10 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,88 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：30%\n爪夹夹取黑色的画笔套装：40%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.2330412371134023 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.223969072164949 + }, + { + "time": 5.1408, + "frame": 154, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.463969072164949 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..83ba5c8b0dbd525ab284f899a8d5f9b9b51fb58c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：40%\n爪夹夹取黑色的画笔套装：50%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.31426536378866 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.9739904297680413 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.9304164875000005 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..1ba0b5b3d41af026d370ca0d67f24d06accf5e39 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：30%\n爪夹夹取黑色的画笔套装：40%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.683590909149485 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..482197675e87abf782cf14b4fb6a67a5e7838322 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-103853-put-black brush set-green-mat-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,88 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：30%\n爪夹夹取黑色的画笔套装：40%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.2775773195876288 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.235103092783505 + }, + { + "time": 5.0976, + "frame": 153, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.532835051546392 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c06661b111c3ad3910228e7a5e4aae9b879a707e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：30%\n爪夹夹取黑色的画笔套装：40%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.1905928939432995 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.2565722980670095 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.338702905283506 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.64695035579897 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 288, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.599871338273196 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.586469318685568 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 12.232517442396908 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 402, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..fc44bdeb603a87c793ff0566882bb7507992af56 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：30%\n爪夹夹取黑色的画笔套装：40%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.233848728737114 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.829724898840206 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.133333333333333 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 328, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.933333333333334 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.781752327706185 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 381, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.7 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 403, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 13.419965351417526 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..013b83b73d91a321cff2db8a0713b999e554641e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：50%\n爪夹夹取黑色的画笔套装：60%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.061018041237114 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.995554123711339 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.166666666666666 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.566666666666666 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 11.097615979381443 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 354, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.8 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 403, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 13.433333333333334 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.933333333333334 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 443, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 14.766666666666667 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 470, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 15.666666666666666 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 486, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.2 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 514, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 17.133333333333333 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 544, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 18.119265463917525 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 572, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 19.079059278350517 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 597, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..f8fedd1079984dd163e0df5a4ff0d6cd53966299 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：25%\n爪夹夹取黑色的画笔套装：30%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.656353092783505 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.8270747422680405 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.1513015463917515 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.38944587628866 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 310, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.336353092783504 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 332, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.066666666666666 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 363, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.092435567010309 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 405, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.504188144329897 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 436, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.533333333333333 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 462, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.415219072164948 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..4499b5e557d1d4f278985d616f898ed82e00368b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,218 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：50%\n爪夹夹取黑色的画笔套装：60%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 3/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 4/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 5/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.315429492654639 + }, + { + "action_description": "关键帧 6/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 7/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.052611598840206 + }, + { + "action_description": "关键帧 8/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 9/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.961065180283505 + }, + { + "action_description": "关键帧 10/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.719553142139175 + }, + { + "action_description": "关键帧 11/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 12/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 13/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 11.133333333333333 + }, + { + "action_description": "关键帧 14/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 376, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.533333333333333 + }, + { + "action_description": "关键帧 15/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 389, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 12.976872669974224 + }, + { + "action_description": "关键帧 16/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 445, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.833333333333334 + }, + { + "action_description": "关键帧 17/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 490, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.328900114304123 + }, + { + "action_description": "关键帧 18/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.866666666666667 + }, + { + "action_description": "关键帧 19/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 561, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 18.7 + }, + { + "action_description": "关键帧 20/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 602, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 20.07240521636598 + }, + { + "action_description": "关键帧 21/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 627, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 20.90429523904639 + }, + { + "action_description": "关键帧 22/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 647, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 21.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..4f5177afbad8ae20fcbb0687c5738849d54e1fd4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：15%\n爪夹夹取黑色的画笔套装：20%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.399183942396907 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.158290487757733 + }, + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.159665079510309 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.6 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.586469318685568 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 370, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.333333333333334 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 402, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.395404065077319 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..83e53ac9eee981a7b82ecd40caa22e3ded901cdb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：50%\n爪夹夹取黑色的画笔套装：60%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.571993231056701 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.462027638273196 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.7 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.851031128994846 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.864089571262888 + }, + { + "time": 11.058666, + "frame": 332, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.434536365077319 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 386, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.857904072293815 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..00bedff63fca1c4ae68c1a7521ae3943625566d2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,208 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：15%\n爪夹夹取黑色的画笔套装：20%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 3/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 4/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.4590721163659794 + }, + { + "action_description": "关键帧 5/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.315429492654639 + }, + { + "action_description": "关键帧 6/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.612199233891752 + }, + { + "action_description": "关键帧 7/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.248350427706185 + }, + { + "action_description": "关键帧 8/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 9/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.985532533891752 + }, + { + "action_description": "关键帧 10/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 11/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 12/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 13/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 11.133333333333333 + }, + { + "action_description": "关键帧 14/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 376, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.533333333333333 + }, + { + "action_description": "关键帧 15/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 389, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.966666666666667 + }, + { + "action_description": "关键帧 16/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 445, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 14.833333333333334 + }, + { + "action_description": "关键帧 17/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 487, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 16.233333333333334 + }, + { + "action_description": "关键帧 18/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.866666666666667 + }, + { + "action_description": "关键帧 19/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 561, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 18.7 + }, + { + "action_description": "关键帧 20/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 601, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 20.033333333333335 + }, + { + "action_description": "关键帧 21/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 631, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 21.026632007087624 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..47891dd360c8b3aea1a81d6790ce75d0b9df224a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,168 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：15%\n爪夹夹取黑色的画笔套装：20%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.0477318875 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.3164603875 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.633333333333334 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.366666666666667 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 363, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.1 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 378, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 12.5970100875 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 401, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.366666666666667 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 420, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 447, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.9 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 493, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.4227144875 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 519, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..92590b41280429fff7373256d076e11bb7d88259 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：50%\n爪夹夹取黑色的画笔套装：60%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.3149483833762887 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.482783410180412 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 7.499690562757732 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.133333333333333 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 328, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.933333333333334 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.738728252448453 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 13.533504867912372 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..1b9aa34bda906fc5cbc69b62d9f29cd89805d938 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：50%\n爪夹夹取黑色的画笔套装：60%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.783182989690721 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.222873711340206 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.102255154639176 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.163079896907217 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 326, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.866666666666667 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 354, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.8 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 400, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 13.320296391752576 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 422, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 14.078028350515464 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 443, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.766666666666667 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 467, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 15.568234536082473 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 486, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.199677835051546 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 514, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 17.133333333333333 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 546, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 18.195038659793816 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 575, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 19.180090206185568 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 597, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..a9084260b9d71dcfd251c0d77fd93adc809af5be --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,208 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：50%\n爪夹夹取黑色的画笔套装：60%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 3/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 4/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.434604762757732 + }, + { + "action_description": "关键帧 5/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.4622336143041235 + }, + { + "action_description": "关键帧 6/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.53879717306701 + }, + { + "action_description": "关键帧 7/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.1015463060567 + }, + { + "action_description": "关键帧 8/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 9/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.936597826675258 + }, + { + "action_description": "关键帧 10/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.792955202963917 + }, + { + "action_description": "关键帧 11/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.478041103994844 + }, + { + "action_description": "关键帧 12/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.212061712242267 + }, + { + "action_description": "关键帧 13/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 11.133333333333333 + }, + { + "action_description": "关键帧 14/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 376, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.533333333333333 + }, + { + "action_description": "关键帧 15/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 389, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.952405316365978 + }, + { + "action_description": "关键帧 16/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 444, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.787456836984536 + }, + { + "action_description": "关键帧 17/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 487, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.233333333333334 + }, + { + "action_description": "关键帧 18/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 503, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.76931247925258 + }, + { + "action_description": "关键帧 19/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 561, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 18.7 + }, + { + "action_description": "关键帧 20/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 600, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 19.999003155541235 + }, + { + "action_description": "关键帧 21/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 630, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 21 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..44d1f2a9a66c610c4b4539bc13a8afa9b08fdff9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,168 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：30%\n爪夹夹取黑色的画笔套装：40%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.0867696875 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.3554981875 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.658728387499999 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 288, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.5910994875 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.366666666666667 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 363, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 12.1 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 378, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.6 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 401, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.366666666666667 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 420, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 446, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.880721387500003 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 492, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.4031955875 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 511, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.0278003875 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..00650f7b3ac6e2d8e6f5eb34bc19598c21189c68 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：50%\n爪夹夹取黑色的画笔套装：60%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.403015572293815 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.1583420568298965 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.21930432177835 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.503359345489692 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 8.496074153737112 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.472333 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.166666666666666 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 10.466667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e7d88fea514b9ccd67961e8204a005849772f30b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：40%\n爪夹夹取黑色的画笔套装：50%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.094609204252578 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.390485523840206 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.708664273324742 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 268, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.933333333333334 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.854059513530927 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 316, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.54519355064433 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 330, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 11 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 345, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.5 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 12.233333333333333 + }, + { + "time": 12.99295993208763, + "frame": 390, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 401, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 13.381722827963918 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 419, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 13.966667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..add77d9d93ac8c5499d589822c32594fe1f277b3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：60%\n爪夹夹取黑色的画笔套装：70%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.359854058891753 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.1583420568298965 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.503359345489692 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "time": 9.35930442177835, + "frame": 281, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.166666666666666 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 10.466667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..eab9fc6fec14847a0c307454b7d77cad86625363 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-110246-put-black brush set-green-mat-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹夹取黑色的画笔套装放到盘子上\n爪夹启动：0%\n爪夹接近黑色的画笔套装：50%\n爪夹夹取黑色的画笔套装：60%\n爪夹夹取黑色的画笔套装放到盘子上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.359854058891753 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.12597092177835 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.514149723840205 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "time": 9.440933, + "frame": 283, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.166666666666666 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 10.466667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..219b200f1e2edfaea57bd5d09026f9c6717369ef --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：30%\n爪夹合拢接触紧急按钮：40%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.2015935318298974 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.022074533891753 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 7.003433 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.789840795747423 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.445304690592783 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..d6c6b55dd78484da0116e61ec82b5ff13ea35240 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,98 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：30%\n爪夹合拢接触紧急按钮：40%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.451095360824742 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.49903350515464 + }, + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.213981958762887 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.124806701030928 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 7.01604381443299 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.897487113402062 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.475322164948453 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..530bbe7da51257a90b86fb93f0793f84b5060834 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,98 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：30%\n爪夹合拢接触紧急按钮：40%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.2202061855670103 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.85360824742268 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.8428865979381435 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.77319587628866 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.624329896907216 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..2cd99ab0f6906c9a4a5724cc7bf5644bb01088be --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：40%\n爪夹合拢接触紧急按钮：50%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.966666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.125128865979381 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.006572164948453 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.68389175257732 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.277706185567011 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..88507969bea920a11c2335f1e6fe6f42faa4e4c8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-111606-press the emergency button-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：60%\n爪夹合拢接触紧急按钮：70%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.5098710421391757 + }, + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.389389919458763 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.675850366881444 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.699767865850515 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 7.736812512242268 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.204716227706186 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.847946451417526 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..95cf919dad030f5691774e88743d4898d733596e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：50%\n爪夹合拢接触紧急按钮：60%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3013830957474224 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.1639260338917525 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.129974124613402 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.0270187802835045 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.458840057603092 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.114372690592782 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 268, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.933333333333334 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.106933 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 350, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.650798736984534 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.734066 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 414, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.788266 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 446, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..08098ad2ef70461570af2e3009c3c90d82a801fc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：40%\n爪夹合拢接触紧急按钮：50%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.969342854768041 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.117796483634021 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.897899608376289 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.373566 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 320, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.666666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.233333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.533333333333333 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 15.147624842396906 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 501, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.7 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 516, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..9ed22ba58ebab6f14b4c6a935dd06b46a2c3eb71 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：40%\n爪夹合拢接触紧急按钮：50%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.9659836112113402 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.8028908091494844 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.918767073067011 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.313612402963918 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.537976636984537 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.560863212242268 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.633333333333333 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.823999 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 361, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 12.01697997409794 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 375, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 12.497426698840208 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 404, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..22a8b7c231f1b8b034b2ff6ba54baab7bbcdae46 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：50%\n爪夹合拢接触紧急按钮：60%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.02676553621134 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.002951120747422 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 247, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.237762175386598 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 320, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.666666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.233333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.539789761984537 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 456, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 15.205047523840205 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 501, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.7 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 516, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..89f57f06d284b0c3a219517f8aa71845c2617e29 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：40%\n爪夹合拢接触紧急按钮：50%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.062865188788661 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.854652177448454 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.36114706507732 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.624583512500001 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 346, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.533333333333333 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 391, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 13.049566371262886 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 432, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.4 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 469, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 15.637573287757732 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 508, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 16.966666666666665 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 523, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.433333333333334 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 536, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.85877607435567 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..eb8879647b89e92ccbce57e13b64ebe20ed3ba0d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：50%\n爪夹合拢接触紧急按钮：60%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.958015345231958 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.372585763788659 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 268, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.933333333333334 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.357933 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 350, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.666666666666666 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 388, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.927362285438143 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 425, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.173133 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 446, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..ac76e29105d05d12c9631ac38c5ccfd124a846a4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,258 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：80%\n爪夹合拢接触紧急按钮：90%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 4/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1303435875 + }, + { + "action_description": "关键帧 5/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.1062885875 + }, + { + "action_description": "关键帧 6/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 7/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 8/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.6242266875 + }, + { + "action_description": "关键帧 9/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 10/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 11/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 12/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 13/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 9.266666666666667 + }, + { + "action_description": "关键帧 14/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.1 + }, + { + "action_description": "关键帧 15/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 323, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 10.766666666666667 + }, + { + "action_description": "关键帧 16/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 350, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.666666666666666 + }, + { + "action_description": "关键帧 17/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 363, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 12.1 + }, + { + "action_description": "关键帧 18/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 372, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.4 + }, + { + "action_description": "关键帧 19/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 385, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 12.831236887500001 + }, + { + "action_description": "关键帧 20/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 396, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.2020959875 + }, + { + "action_description": "关键帧 21/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 13.933333333333334 + }, + { + "action_description": "关键帧 22/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 442, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.733333333333333 + }, + { + "action_description": "关键帧 23/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 474, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 15.8 + }, + { + "action_description": "关键帧 24/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 495, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.5007900875 + }, + { + "action_description": "关键帧 25/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 522, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.4 + }, + { + "action_description": "关键帧 26/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 541, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.033333333333335 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..b424a33e368d5b15b4a92ed4c3a01b47230d1f10 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,168 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：60%\n爪夹合拢接触紧急按钮：70%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.342534437242268 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.050781875386598 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.213118757860824 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.4 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 335, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.164733920747423 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 357, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 11.90445902280928 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 383, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.754355948582475 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 404, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.478342218685567 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..c99c90bc9105b992ad38eeaab1788f1ce583d056 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-133024-press the emergency button-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,218 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：60%\n爪夹合拢接触紧急按钮：80%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1454896411082474 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.234836702963919 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.692362468943299 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.825283413273197 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.7 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 352, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.733333333333333 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 376, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 12.533333333333333 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 426, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.213255789561858 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 443, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 14.75792932048969 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 460, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.333333333333334 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 496, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.54445850193299 + }, + { + "action_description": "关键帧 20/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 530, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 17.666666666666668 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 565, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 18.829799 + }, + { + "action_description": "关键帧 21/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 584, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.466666666666665 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..5fd0ad64725dc1dc71d230a4e34214db96a2f33f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：60%\n爪夹合拢接触紧急按钮：80%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.7663443627577315 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.886103780283504 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.746550490592783 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.84273602564433 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 290, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.68149885863402 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 343, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.433333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ea431bf95094ccd338f68734fa215bcb43bfe7fb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：60%\n爪夹合拢接触紧急按钮：80%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.254205238015464 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.361662259664949 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.188122723582474 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.295579745231958 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.750150161726802 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.7 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 310, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.336954252448454 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 11.133333333333333 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 365, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.15516727306701 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 13.13039062048969 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.533333333333333 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 421, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 14.033333333333333 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 437, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.566666666666666 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 480, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.98994382564433 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..0c9f39813213d72ff8343c2c974d55ca135f855e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,228 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：60%\n爪夹合拢接触紧急按钮：80%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.939523195876289 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.452822164948453 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.870038659793814 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.8397293814433 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 330, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 365, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.166666666666666 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 417, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 13.9 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.033333333333333 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 475, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 15.838595360824744 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 493, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 16.466666666666665 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 547, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 18.240657216494846 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 565, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 18.833333333333332 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 578, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 19.266666666666666 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 596, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 19.866666666666667 + }, + { + "action_description": "关键帧 20/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 613, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 20.42653350515464 + }, + { + "action_description": "关键帧 21/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 638, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 21.266666666666666 + }, + { + "action_description": "关键帧 22/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 665, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 22.156018041237115 + }, + { + "action_description": "关键帧 23/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 699, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 23.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..97d241f91b3e354631e0abd07ac9f41c8426543f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：60%\n爪夹合拢接触紧急按钮：80%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.7290935338917532 + }, + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.778131303994845 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.862529897809278 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.733333333333333 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.833333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.50280473492268 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.718333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 343, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 11.433333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..a52054166472406c42fbdc706ab749fda7af0b69 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：60%\n爪夹合拢接触紧急按钮：80%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.13850077306701 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.245957794716495 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.333333333333333 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.7 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 310, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.333333333333334 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.133333333333333 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 363, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 12.1 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 392, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.066666666666666 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 13.533333333333333 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 421, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.033333333333333 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 437, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.566666666666666 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 481, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 16.033333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..bdf331e9bf92e6ac18d1aaecbfaa126022d9decb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,228 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：80%\n爪夹合拢接触紧急按钮：90%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.428801546391752 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.8397293814433 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 330, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 365, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 12.166666666666666 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 421, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.037048969072165 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 15.033333333333333 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 475, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 15.833333333333334 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 493, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 16.466666666666665 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 544, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 18.133333333333333 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 564, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 18.79313144329897 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 578, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 19.266666666666666 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 596, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 19.866666666666667 + }, + { + "action_description": "关键帧 20/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 614, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 20.466666666666665 + }, + { + "action_description": "关键帧 21/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 638, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 21.266666666666666 + }, + { + "action_description": "关键帧 22/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 663, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 22.1 + }, + { + "action_description": "关键帧 23/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 699, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 23.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4963725aaa6507b0a36452c5db6340abb507a76e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：60%\n爪夹合拢接触紧急按钮：70%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.303792865850515 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.245957794716495 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.333333333333333 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.171627836984536 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.865854626675258 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 9.7 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.370012671005155 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.133333333333333 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 363, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.1 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 392, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 13.066666666666666 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.533333333333333 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 421, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 14.033333333333333 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 437, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.551902618427834 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 480, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 16 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..8df64ce20bebf9fc9f3f2c03244a2c2cb1dad152 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-134708-press the emergency button-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,228 @@ +{ + "task_description": "爪夹合拢按压紧急按钮\n爪夹启动：0%\n爪夹合拢接近紧急按钮：70%\n爪夹合拢接触紧急按钮：80%\n爪夹离开，紧急按钮被按压：100%", + "progress_points": [ + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.500863402061856 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.773956185567011 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.52117268041237 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 330, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 365, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 12.166666666666666 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 417, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 13.9 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 15.033333333333333 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 474, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.790554123711342 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 495, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 16.48715206185567 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 544, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 18.120554123711344 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 565, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 18.833333333333332 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 574, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 19.129420103092784 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 598, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 19.922100515463917 + }, + { + "action_description": "关键帧 20/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 614, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 20.466666666666665 + }, + { + "action_description": "关键帧 21/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 638, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 21.266666666666666 + }, + { + "action_description": "关键帧 22/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 663, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 22.1 + }, + { + "action_description": "关键帧 23/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 699, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 23.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..a9c89820710a361eab4e98ab84be9eff1a0e5a8c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：30%\n爪夹夹取辣椒：40%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.841817010309278 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.448311855670103 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + }, + { + "time": 6.2646, + "frame": 188, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.39882731958763 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.10346649484536 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 344, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..a4b37a84d6539b351537d23ecc15a03489ee7dc2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：20%\n爪夹夹取辣椒：30%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.7493556153350514 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.749905423582474 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.423238723582474 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 9.433333333333334 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.632998069974224 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 360, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..81cded7a49ebe07d3fd5f3f5dfd2c321d20e0f89 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：30%\n爪夹夹取辣椒：40%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.9854595483247417 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.584291133891752 + }, + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.792710355541237 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.414050513273196 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 327, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.9 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 352, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.71934256688144 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 376, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.537349424613401 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..146e3baf48d954dc9a4033edd15f43aeb953818b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：30%\n爪夹夹取辣椒：40%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.5395833856958765 + }, + { + "time": 3.206250066108247, + "frame": 96, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.089583417654639 + }, + { + "time": 5.335, + "frame": 160, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.339583484664948 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.066666666666666 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 335, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.156250230025773 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..921e96ee6709be4d47b657e3fa69016c10965ad1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：30%\n爪夹夹取辣椒：40%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "time": 2.576933, + "frame": 77, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.7154037060567005 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.078221548324741 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.433333333333334 + }, + { + "time": 10.659133, + "frame": 320, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..ec4ef9359e2bdfc48984d983e2b9e03a272170c0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-142053-put-red-pepper-iron shelf-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：30%\n爪夹夹取辣椒：40%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 9.7540161503866 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 326, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.866666666666667 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.753844293685567 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 396, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 13.190614027706184 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 425, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.161404388530928 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3d90fd86fbbec628aa5c017f728d6c2e659eabf7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：20%\n爪夹夹取辣椒：30%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.4726417525773194 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.363878865979381 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.484291237113402 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.655631443298969 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 8.33625 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 340, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.340992268041235 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 391, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 13.047074742268041 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 428, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.266666666666667 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 462, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.4 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 502, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 16.739342783505155 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 540, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.012538659793815 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..055aaa325d8b91107db755ca171257621e5f14db --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：30%\n爪夹夹取辣椒：40%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 3/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 4/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.533058483634021 + }, + { + "action_description": "关键帧 5/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.742680493943299 + }, + { + "action_description": "关键帧 6/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 7/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.17800700322165 + }, + { + "action_description": "关键帧 8/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.466666666666667 + }, + { + "action_description": "关键帧 9/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.443986431056702 + }, + { + "action_description": "关键帧 10/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 396, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.2 + }, + { + "action_description": "关键帧 11/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 417, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.895532843427835 + }, + { + "action_description": "关键帧 12/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 447, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.911615332087628 + }, + { + "action_description": "关键帧 13/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 495, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 16.5 + }, + { + "action_description": "关键帧 14/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 527, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 17.572783754768043 + }, + { + "action_description": "关键帧 15/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 555, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.516288922809277 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..e1ab6e03f5444afdec6b3b8ca2ec8437a058f48c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,208 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：40%\n爪夹夹取辣椒：45%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 4/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.909536082474227 + }, + { + "action_description": "关键帧 5/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.680670103092783 + }, + { + "action_description": "关键帧 6/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.2703608247422675 + }, + { + "action_description": "关键帧 7/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.064175257731959 + }, + { + "action_description": "关键帧 8/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.948711340206185 + }, + { + "action_description": "关键帧 9/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.425000000000001 + }, + { + "action_description": "关键帧 10/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.969329896907216 + }, + { + "action_description": "关键帧 11/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.2 + }, + { + "action_description": "关键帧 12/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.305412371134022 + }, + { + "action_description": "关键帧 13/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.37139175257732 + }, + { + "action_description": "关键帧 14/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 359, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.966666666666667 + }, + { + "action_description": "关键帧 15/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 377, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 12.566666666666666 + }, + { + "action_description": "关键帧 16/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 421, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.033333333333333 + }, + { + "action_description": "关键帧 17/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 456, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 15.2 + }, + { + "action_description": "关键帧 18/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 472, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.733333333333333 + }, + { + "action_description": "关键帧 19/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 495, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.5 + }, + { + "action_description": "关键帧 20/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 520, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.333333333333332 + }, + { + "action_description": "关键帧 21/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 533, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.766666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..eb0533bc6f10a447afe3ebc2a906ea36b3932a17 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：10%\n爪夹夹取辣椒：20%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.599828240335052 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.362439937242269 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.83776647435567 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 307, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.233333333333333 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 361, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.028694364046393 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 393, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.0923369939433 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 431, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.37673564136598 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..a772c558c442405f23137c6bfaef3fa02c917b72 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：15%\n爪夹夹取辣椒：20%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 3.5 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.626842783505155 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.216533505154639 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "time": 8.9179, + "frame": 268, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.74034793814433 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 359, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.966666666666667 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.133333333333333 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 445, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.847048969072164 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 485, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.1717912371134 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 525, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 17.5 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 562, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 18.733333333333334 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 596, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..ba8d058f166f89b11c9ab34f1bfb6b9b38bf7be1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：30%\n爪夹夹取辣椒：40%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 3/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 4/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.702405565077321 + }, + { + "action_description": "关键帧 5/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.670103173324742 + }, + { + "action_description": "关键帧 6/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 7/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.081237242396908 + }, + { + "action_description": "关键帧 8/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.466666666666667 + }, + { + "action_description": "关键帧 9/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 370, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.323024230025775 + }, + { + "action_description": "关键帧 10/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 396, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.2 + }, + { + "action_description": "关键帧 11/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 415, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.833333333333334 + }, + { + "action_description": "关键帧 12/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 448, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.935807772293813 + }, + { + "action_description": "关键帧 13/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 497, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 16.580893706314438 + }, + { + "action_description": "关键帧 14/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 528, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 17.59697619497423 + }, + { + "action_description": "关键帧 15/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 551, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.371134281572164 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..8a6b11b7770859465b2f7728295e6e967a653f57 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,198 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：40%\n爪夹夹取辣椒：50%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 4/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.068298969072165 + }, + { + "action_description": "关键帧 5/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.54458762886598 + }, + { + "action_description": "关键帧 6/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.474484536082475 + }, + { + "action_description": "关键帧 7/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.154896907216495 + }, + { + "action_description": "关键帧 8/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.926030927835051 + }, + { + "action_description": "关键帧 9/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.4 + }, + { + "action_description": "关键帧 10/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 11/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.057989690721648 + }, + { + "action_description": "关键帧 12/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 13/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 342, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.394072164948454 + }, + { + "action_description": "关键帧 14/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 359, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.966666666666667 + }, + { + "action_description": "关键帧 15/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 377, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 12.566666666666666 + }, + { + "action_description": "关键帧 16/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 421, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.033333333333333 + }, + { + "action_description": "关键帧 17/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 456, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.2 + }, + { + "action_description": "关键帧 18/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 476, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 15.862113402061858 + }, + { + "action_description": "关键帧 19/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 493, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 16.429123711340207 + }, + { + "action_description": "关键帧 20/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 518, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.268298969072166 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b5451901504af3140e07343961964ab52a0e0470 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：10%\n爪夹夹取辣椒：20%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.599828240335052 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.502921039304124 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + }, + { + "time": 7.903466, + "frame": 237, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.777560287757733 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 307, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.233333333333333 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 358, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.948419448582476 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 390, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.991993349613402 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 419, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.955292335180415 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 443, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.778110218685567 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..90af22a13f6eee9ed7b85c30d446ef3345d5b387 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：40%\n爪夹夹取辣椒：50%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 3/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 4/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 5/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.597525852706186 + }, + { + "action_description": "关键帧 6/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 7/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.105429682603093 + }, + { + "action_description": "关键帧 8/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.466666666666667 + }, + { + "action_description": "关键帧 9/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 370, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.333333333333334 + }, + { + "action_description": "关键帧 10/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 396, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.2 + }, + { + "action_description": "关键帧 11/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 415, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.833333333333334 + }, + { + "action_description": "关键帧 12/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 452, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.066666666666666 + }, + { + "action_description": "关键帧 13/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 497, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.55670126610825 + }, + { + "action_description": "关键帧 14/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 529, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.6453610753866 + }, + { + "action_description": "关键帧 15/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 553, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..710cc3e3f030971aa8cf2df78b1e0bca32a37738 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：50%\n爪夹夹取辣椒：60%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.599033505154639 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.263981958762886 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.527384020618556 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.078930412371135 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.833333333333334 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.566666666666666 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 12.733333333333333 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 413, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.772744845360824 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 450, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 15.013981958762885 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.967074742268041 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..810cacec62c479f58ddd32f3bef6970f163ff02f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：40%\n爪夹夹取辣椒：50%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.4920918668814425 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.699823810180412 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.122263654510309 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 8.46418803595361 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.564566028737113 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 328, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.933328897809279 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 376, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.533333333333333 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 404, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.456146734922681 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 442, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.733333333333333 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 488, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 16.266666666666666 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 516, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 17.213535002963916 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 543, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.099205094716492 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..a2de04dca3adf3046d3f463a2202ab5290f42c3b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-144009-put-red-pepper-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：20%\n爪夹夹取辣椒：30%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.64046399806701 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.54135748878866 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "time": 6.990933, + "frame": 210, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.377921147551547 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.154553467139175 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 345, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.515515718685567 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3e60a686b5e6ab3ff7ee55429dca45284109a1f5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：20%\n爪夹夹取辣椒：30%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.637104911469072 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.843771611469072 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.585352415592784 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.082946931056702 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.903977881572166 + }, + { + "time": 8.83696759806701, + "frame": 265, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.732637725902062, + "frame": 292, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 313, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 10.433333333333334 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 339, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 11.3 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 361, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 12.034012359922682 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..689f07c599f21333792d6fe820d17bc1ab951851 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：30%\n爪夹夹取辣椒：40%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "time": 2.7644331011597942, + "frame": 83, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.514398767139175 + }, + { + "time": 3.7696, + "frame": 113, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "time": 4.605257917654639, + "frame": 138, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 5.287044886726804 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.275635991881443 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.948900623840206 + }, + { + "time": 7.654933, + "frame": 230, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.266667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5622723ded6b3a6f20f30f827780ccc4b72a80b5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：30%\n爪夹夹取辣椒：40%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.8240894609536085 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.471787081572165 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "time": 4.703733, + "frame": 141, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.261477875386597 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.933333333333334 + }, + { + "time": 7.696266, + "frame": 231, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.266667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..7672e305a31c5104e7cd6e28ae2179906e3bd1d4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-151728-put-red-pepper-iron shelf-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取辣椒放到铁架上\n爪夹启动：0%\n爪夹接近辣椒：60%\n爪夹夹取辣椒：70%\n爪夹夹取辣椒放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.221997422680412 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.305811855670101 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.673 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 378, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.59756443298969 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 419, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.983 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 455, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 15.166666666666666 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 483, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 16.1 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 531, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 17.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..d4abfa98b6fc7c035cc434ec3d1b97c0a93d5452 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：20%\n爪夹夹取香蕉：30%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.0095574967783505 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.168492180283505 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.898732693685567 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.5920316060567 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.06110374007732 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..327599b8f13b4185e5f990be7bf70e88d9cb6821 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：40%\n爪夹夹取香蕉：50%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.0620489091494845 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.150777410180411 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.643389064819588 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 8.207169083376288 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 288, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.59441991533505 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.366666666666667 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 343, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.420674175128863 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..6357cfbb9228350698851e2f2d4d3e5b746d1b47 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：10%\n爪夹夹取香蕉：20%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.167023195876288 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.607744845360825 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.353002577319589 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.415579896907216 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 9.438054123711341 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.002177835051548 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.848363402061857 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..c7dc43814cd41b8f487121f6f2c8371427e6a32b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：20%\n爪夹夹取香蕉：30%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.921713917525773 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.509342783505154 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.233333333333333 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 323, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.759342783505156 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.589239690721648 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..04ae6a92b497ce00841eb88323ec49b0837aa60e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-160618-put-banana-iron shelf-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,98 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：20%\n爪夹夹取香蕉：30%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.244265539304124 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.347049064046392 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.185021605283507 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.332547416623713 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.725537132087629 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 351, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.7 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 398, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.279351610438146 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b8402174cfdc21beef3408c5e4b60ab8264e6502 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：30%\n爪夹夹取香蕉：40%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.15888311121134 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.561632229768041 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.021838376159795 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.647680290592784 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 335, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.165343464819587 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 365, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 12.179638981314435 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 391, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.042869208118557 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 448, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..dd098256dc35b92bc3b5f57913d97565318878bf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：15%\n爪夹夹取香蕉：20%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.4622336143041235 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.126013659664949 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.713230146262886 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.398316047293814 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.42492492798361 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.833333333333334 + }, + { + "time": 11.059733, + "frame": 332, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.556746189839282 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 371, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.366666666666667 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 405, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.490687095747422 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 447, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.909793605025772 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 493, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 16.466666666666665 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 517, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 17.234192197809275 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 538, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.919278098840206 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..eda833bb0d5c2def2b50aa4b7129508656e9f63e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：20%\n爪夹夹取香蕉：30%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.294265463917526 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.7317912371134017 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.681585051546391 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.503028350515463 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 7.941688144329896 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.133333333333333 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 346, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.533333333333333 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 374, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.466666666666667 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 424, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.133333333333333 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 15.026636597938143 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 473, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.771069587628864 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 494, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.46416237113402 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 532, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.7476675257732 + }, + { + "action_description": "关键帧 18/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 562, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.74880154639175 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..96f721829984be3288647d793bbdc22f4d513e9d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：40%\n爪夹夹取香蕉：50%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3086167916237113 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.958376218427835 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.589166587499999 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.414046300902061 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + }, + { + "action_description": "关键帧 21/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.713565154510308 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.266279909149484 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.775764438015463 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 409, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.633333333333333 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 444, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.8 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 465, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 15.511984316365979 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 500, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.676520382345362 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 516, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.210266079252577 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 550, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.326279809149483 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5ed856a00b700fcff7a90ffdf3498a248c4e575e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：20%\n爪夹夹取香蕉：30%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.178406305025773 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.01400764935567 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.017718940077318 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.8520831875 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 361, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.022667327706184 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 384, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.81531336275773 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 405, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.5 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 455, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.151533255541237 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..c04771c19230e59f0dc3653a79e324c9b4f1fa7d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：40%\n爪夹夹取香蕉：50%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.8989819587628864 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.5544458762886593 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.1159922680412375 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.9835180412371125 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.08485824742268 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.701765463917527 + }, + { + "time": 10.3411, + "frame": 310, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 358, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.933333333333334 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 398, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 13.266666666666667 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 437, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 14.581662371134023 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 463, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..4bbe016c5caba88c50330a2082d09c5e18102bd3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：45%\n爪夹夹取香蕉：50%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.4056614637886597 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.885592714304123 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + }, + { + "time": 9.766333, + "frame": 293, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.266279909149484 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.581675093685567 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 409, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.643874377190722 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 444, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 14.8 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 464, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.463461980283505 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.87060972667526 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 518, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.25878841533505 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 554, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.466666666666665 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..eed4a5cd9a7ef5e0756e6ae53c0170c4542a5a2e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：30%\n爪夹夹取香蕉：40%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.4053479381443297 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.1627706185567 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.822461340206186 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.50833762886598 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.266666666666667 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.096481958762887 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 271, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.033333333333333 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 310, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.319884020618556 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.1 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 380, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.666666666666666 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 426, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.2 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 477, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.9 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 518, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 17.283286082474227 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 538, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..030c2392b9070e61661ed7839d29911e627d536c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,168 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：10%\n爪夹夹取香蕉：15%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.74583762886598 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.662538659793814 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.433333333333334 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.866666666666667 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 329, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.959033505154638 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 372, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 12.4 + }, + { + "time": 14.014703608247421, + "frame": 420, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 458, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.266666666666667 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 498, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.586559278350514 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 514, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 17.121301546391752 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 546, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 18.2 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 571, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 19.031095360824743 + }, + { + "time": 20.100579896907217, + "frame": 603, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..c8d425f2110c7df4989c29217833abe79da9219d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：30%\n爪夹夹取香蕉：40%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.072560088530928 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.647955252448454 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.021838376159795 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.712422557603094 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 335, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.165343464819587 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 12.233333333333333 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.133333333333333 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 426, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.186649258634022 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..c77930295886b42b0b065a1962ef17c0b221c08b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,168 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：20%\n爪夹夹取香蕉：30%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.318590990592783 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.759003355541236 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.275979279252577 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.771649347293812 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 345, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.5 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.218384708118554 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 407, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.564089156572162 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 446, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.866666666666667 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 496, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.5246389431701 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 519, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.307594258634023 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 537, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..e6639c37d374f8da97f631b6193f68f2910f84f8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：30%\n爪夹夹取香蕉：40%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.5269673039948453 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.837070378221649 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.3117095184278345 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + }, + { + "time": 9.766333, + "frame": 293, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 332, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.072190564819588 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 358, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.921331446262885 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 409, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.633333333333333 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 444, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.8 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 464, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.466666666666667 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 497, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.555214542139176 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 520, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.331571919458764 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 548, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.253496305025774 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..100f0962c5ba2376619d652524f4cdde8801e636 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：45%\n爪夹夹取香蕉：50%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.8100386597938147 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.626224226804124 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.836430412371134 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.877770618556701 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.59457474226804 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.366666666666667 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 11.366666666666667 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 357, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.887461340206187 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 432, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 14.4 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 488, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.266666666666666 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 529, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 17.633333333333333 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 556, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 18.533333333333335 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 595, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 19.82416237113402 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 612, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 20.4 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 639, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 21.287667525773198 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..d4296bf5b4ebf6719bfbe28d9e13e84fd4bb6db7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-162125-put-banana-iron shelf-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,168 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：20%\n爪夹夹取香蕉：30%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.637074742268041 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.539961340206185 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.866666666666667 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 328, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.933569587628865 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 374, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.461404639175257 + }, + { + "time": 13.955499, + "frame": 419, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 458, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 15.262435567010309 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 493, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.466666666666665 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 514, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 17.133333333333333 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 546, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 18.2 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 567, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 18.903775773195875 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 595, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.845940721649484 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-164524-put-banana-iron shelf-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-164524-put-banana-iron shelf-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..05c334bebfd4f5489c20f8cc360a8b2392016146 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-164524-put-banana-iron shelf-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：60%\n爪夹夹取香蕉：70%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.3118901052835055 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.105842008376289 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.051821438273196 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.370996734149484 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 391, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 13.033333333333333 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 421, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.027354182603094 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 449, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 14.966666666666667 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 471, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.698831873324744 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 504, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 16.806185843427837 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 539, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 17.955326755798968 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 574, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 19.133333333333333 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 608, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 20.266667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-164524-put-banana-iron shelf-bad/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-164524-put-banana-iron shelf-bad/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..bead4166bbb1de31d10ac5db25ea0ac1bb1012b8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-164524-put-banana-iron shelf-bad/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：50%\n爪夹夹取香蕉：60%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.374570518685568 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.105842008376289 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.177182265077318 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 310, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.329209791881443 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 391, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 13.033333333333333 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 423, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 14.110928067139175 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 449, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 14.966666666666667 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 472, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.719725344458768 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 504, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 16.806185843427837 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 540, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 18 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 574, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 19.133333333333333 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 608, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 20.266667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-164524-put-banana-iron shelf-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-164524-put-banana-iron shelf-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..931863fb8e08ba1367ba6e1b461b495d651b3789 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-164524-put-banana-iron shelf-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取香蕉放到铁架上\n爪夹启动：0%\n爪夹接近香蕉：50%\n爪夹夹取香蕉：60%\n爪夹夹取香蕉放到铁架上：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.520824816623712 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.105842008376289 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.407010447551547 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.783092927963919 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 310, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.333333333333334 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "time": 12.0992, + "frame": 363, + "progress": 25, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 391, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 13.033333333333333 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 422, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.066666666666666 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 448, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 14.925773441365981 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 470, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.666666666666666 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.8688662568299 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 541, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 18.01800716920103 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 578, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 19.250721966108248 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 608, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 20.266667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..56600453ed6c1dc9dcec71170441adfe55dd78ac --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：20%\n爪夹夹取白萝卜：30%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "time": 3.356266, + "frame": 101, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.37491418363402 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.762130708376288 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.958007022809278 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.739312881572165 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.828110177448453 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 323, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.752921193943298 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..76d55a257417ffebaddf936a9a219b4143ca0687 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：20%\n爪夹夹取白萝卜：30%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.5516108247422675 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.601817010309278 + }, + { + "time": 6.7802, + "frame": 203, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.16563144329897 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.610373711340205 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..a851654751788d10ef4b2ba2b33f3f5bc72a7605 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：20%\n爪夹夹取白萝卜：30%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.437628865979381 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.847938144329897 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.571649484536082 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.075979381443299 + }, + { + "time": 9.11020618556701, + "frame": 273, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.113092783505154 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 324, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.80257731958763 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..6a617b819a6a024b53968778bdf5d016dc36684d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：30%\n爪夹夹取白萝卜：40%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.240850515463918 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "time": 4.9966, + "frame": 150, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.653840206185568 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.697757731958763 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + }, + { + "time": 10.1426, + "frame": 304, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 346, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.540850515463918 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..5dd6017f496c2058e2a5e21621719a9f668b5bd9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：30%\n爪夹夹取白萝卜：40%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.038273195876288 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8096134020618555 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.181984536082473 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 11.128376288659792 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 378, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..e9d364d52b215cd4f095ec1d43aee86127bf8117 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-165426-put-white-radish-iblue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：20%\n爪夹夹取白萝卜：30%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.372702023840206 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.266666666666667 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.137169427963919 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 11.566666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 376, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.522942667139175 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..30c9ae5e9e14b4be6b4d7983d295735fd016ce49 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：30%\n爪夹夹取白萝卜：40%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.920210525902062 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.032753493943298 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.1 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 320, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.666666666666666 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 12.733333333333333 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 432, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 14.4 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 15.966666666666667 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 562, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 18.733333333333334 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 588, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 19.6 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 627, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 20.9 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 665, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 22.166666666666668 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 699, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 23.314540644458763 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 728, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 24.276739968170105 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 763, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 25.4494203939433 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..aa67fc176872585256558cd49385763630afcb9b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：20%\n爪夹夹取白萝卜：30%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "time": 2.739533, + "frame": 82, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.259063517396907 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.166692305025773 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 355, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.824974069974228 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 397, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 13.224149309149485 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.033333333333333 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 495, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.48889153389175 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 530, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 17.65487089987113 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 555, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 18.509922434922682 + }, + { + "time": 19.986829631829895, + "frame": 600, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..c034d47512bf1aea1c3b5fa31037fcef6ed6d832 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：35%\n爪夹夹取白萝卜：40%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "time": 3.209922724871134, + "frame": 96, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.181812855798968 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 11.266666666666667 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 370, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.340369586726803 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 410, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.666666666666666 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 432, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.399682330025772 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 456, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.2 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 484, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.133333333333333 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 16.855971023840205 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 541, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.02208787847938 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..f2bdf15d09b7a798292c81da940f7af51e96ec38 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：30%\n爪夹夹取白萝卜：40%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.886945876288659 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.811069587628865 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.812203608247423 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.6336469072164945 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.266666666666667 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "time": 10.6572, + "frame": 320, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 378, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.613646907216493 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 395, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.152719072164947 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 432, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.4 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 492, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.41282216494845 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 547, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 18.23539948453608 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 589, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.621585051546393 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..47ef08b09a50a847fd8440a74492f4673ea29200 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：10%\n爪夹夹取白萝卜：15%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.8408289452319595 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 8.262959510180414 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.405742999871133 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 10.57392167822165 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.766666666666667 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 375, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.5 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 407, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.566666666666666 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 449, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.966666666666667 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 517, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 17.233333333333334 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 552, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 18.4 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 598, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.919351105025775 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..30a021984a0cf328804ed279bc3c98f191b9923d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,258 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：15%\n爪夹夹取白萝卜：20%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 3/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 4/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.429660599871133 + }, + { + "action_description": "关键帧 5/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.175708700902062 + }, + { + "action_description": "关键帧 6/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 7/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 8/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + }, + { + "action_description": "关键帧 9/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.398045408118557 + }, + { + "action_description": "关键帧 10/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.828457774097938 + }, + { + "action_description": "关键帧 11/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + }, + { + "action_description": "关键帧 12/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 370, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.333333333333334 + }, + { + "action_description": "关键帧 13/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 388, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 12.933333333333334 + }, + { + "action_description": "关键帧 14/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 421, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.033333333333333 + }, + { + "action_description": "关键帧 15/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 448, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 14.933333333333334 + }, + { + "action_description": "关键帧 16/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 485, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.166666666666668 + }, + { + "action_description": "关键帧 17/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 513, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 17.08378415966495 + }, + { + "action_description": "关键帧 18/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 533, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 17.766666666666666 + }, + { + "action_description": "关键帧 19/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 552, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 18.40371541533505 + }, + { + "action_description": "关键帧 20/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 581, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 19.366666666666667 + }, + { + "action_description": "关键帧 21/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 597, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 19.9 + }, + { + "action_description": "关键帧 22/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 627, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 20.9 + }, + { + "action_description": "关键帧 23/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 646, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 21.533333333333335 + }, + { + "action_description": "关键帧 24/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 666, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 22.2 + }, + { + "action_description": "关键帧 25/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 690, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 22.99478065244845 + }, + { + "action_description": "关键帧 26/30 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 716, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 23.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..ea2eefb9fcb74ee3137526715b1f7e7fc618e351 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,148 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：20%\n爪夹夹取白萝卜：30%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.476864188530928 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 6.280094418427836 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.627448352448453 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 9.207998159664948 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 10.166692305025773 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 355, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.824974069974228 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 402, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 13.4 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.033333333333333 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 502, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.722087407087628 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 530, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 17.680781552448455 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 552, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 18.4 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 594, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.805455063788663 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..cb2c2e9d35a6df41fccbe565069c811253addae2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：20%\n爪夹夹取白萝卜：30%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.211546391752577 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.996701030927835 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.130309278350513 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 359, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.966666666666667 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 397, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.217731958762887 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 433, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.433333333333334 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 478, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..7d1d0692d093215fd8966f909380d044503e0f86 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,168 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：35%\n爪夹夹取白萝卜：40%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.078307616623711 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.946692508376289 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.815077400128865 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.916452013530927 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.133333333333333 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 11.266666666666667 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 358, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.918582639304123 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 410, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.666666666666666 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 428, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.27562734548969 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 456, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.2 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 484, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.133333333333333 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 509, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 16.98002600837629 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 559, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.642362801159795 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..ac5ece5cd8a538af952342c04f9fcdaa2375a90e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：50%\n爪夹夹取白萝卜：60%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.859922630798969 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.822396845231959 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.078960402963918 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.068170012242268 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.030644226675259 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.287207784407217 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 298, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.928857260695878 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.837860685438145 + }, + { + "time": 12.551733, + "frame": 377, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 401, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.377723195747425 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 467, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.566666666666666 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 499, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.639441366881442 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 563, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.77827295451031 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..898b95c2ba2c58ece9f789875ac5904ce182281e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,208 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：5%\n爪夹夹取白萝卜：10%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 4/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.205279272293814 + }, + { + "action_description": "关键帧 5/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.358200251675258 + }, + { + "action_description": "关键帧 6/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.026894419716495 + }, + { + "action_description": "关键帧 7/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 7.410399594974228 + }, + { + "action_description": "关键帧 8/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 8.471086896005154 + }, + { + "action_description": "关键帧 9/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.577891036211339 + }, + { + "action_description": "关键帧 10/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.177409945489691 + }, + { + "action_description": "关键帧 11/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 329, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.966666666666667 + }, + { + "action_description": "关键帧 12/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 359, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 11.966666666666667 + }, + { + "action_description": "关键帧 13/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 379, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.633333333333333 + }, + { + "action_description": "关键帧 14/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 410, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.666666666666666 + }, + { + "action_description": "关键帧 15/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 424, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.120399694974227 + }, + { + "action_description": "关键帧 16/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 17/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 15.966666666666667 + }, + { + "action_description": "关键帧 18/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 497, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 16.566666666666666 + }, + { + "action_description": "关键帧 19/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 525, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 17.5 + }, + { + "action_description": "关键帧 20/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 537, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.90198050734536 + }, + { + "action_description": "关键帧 21/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 555, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..e53c68d926986133e2fb8495388ab0b8175e7ba7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：30%\n爪夹夹取白萝卜：40%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "time": 2.814933, + "frame": 84, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.310884822551546 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.373221578221649 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.357826376159793 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.782912267912372 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.23390881224227 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.088960347293813 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 374, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.472740384407217 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 402, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.4 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 15.033333333333333 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 500, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.666666666666668 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 532, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 17.733333333333334 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 552, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 18.4 + }, + { + "action_description": "", + "correction_plan": "", + "error_success_analysis": "", + "frame": 603, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 20.090472242139178 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..008dc8e0ebe7bc7934fd522acba3a44114fadb09 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：20%\n爪夹夹取白萝卜：30%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.165360824742268 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.089072164948453 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.166666666666666 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 357, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.901443298969072 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 392, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 13.07917525773196 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 433, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 14.433333333333334 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 491, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.381443298969074 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..4038dbc307698cade2a4d46714c5978d3fe5dcfd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,168 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：30%\n爪夹夹取白萝卜：40%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.028685622809278 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.971503505283505 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.8398883970360815 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.931572260953607 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.133333333333333 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.266666666666667 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 376, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.533333333333333 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 410, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 13.666666666666666 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 430, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.333333333333334 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 458, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 15.268067221778349 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 484, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.133333333333333 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 513, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.104080992912372 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 569, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.96490576095361 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..1ce17a5ba9b88bce6ef2729332b2169fe5dd380c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-170514-put-white-radish-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,208 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：5%\n爪夹夹取白萝卜：10%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.322976823840206 + }, + { + "action_description": "关键帧 3/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 4/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.182220852706186 + }, + { + "action_description": "关键帧 5/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.219849734149484 + }, + { + "action_description": "关键帧 6/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.11912809806701 + }, + { + "action_description": "关键帧 7/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.36428275579897 + }, + { + "action_description": "关键帧 8/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "action_description": "关键帧 9/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.439540518685567 + }, + { + "action_description": "关键帧 10/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 305, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.177409945489691 + }, + { + "action_description": "关键帧 11/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 329, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.966666666666667 + }, + { + "action_description": "关键帧 12/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 359, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.966666666666667 + }, + { + "action_description": "关键帧 13/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 377, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.552427163015464 + }, + { + "action_description": "关键帧 14/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 410, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.666666666666666 + }, + { + "action_description": "关键帧 15/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 430, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.327925471262885 + }, + { + "action_description": "关键帧 16/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 456, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 15.204145415592784 + }, + { + "action_description": "关键帧 17/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 15.966666666666667 + }, + { + "action_description": "关键帧 18/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 497, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 16.566666666666666 + }, + { + "action_description": "关键帧 19/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 523, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 17.417753696005153 + }, + { + "action_description": "关键帧 20/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 540, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.994214185695878 + }, + { + "action_description": "关键帧 21/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 555, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-172247-put-white-radish-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-172247-put-white-radish-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c7561c6bc1f56595c5abcb9722e99777adb04247 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-172247-put-white-radish-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,238 @@ +{ + "task_description": "爪夹夹取白萝卜放到蓝色盒子里\n爪夹启动：0%\n爪夹接近白萝卜：45%\n爪夹夹取白萝卜：50%\n爪夹夹取白萝卜放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 3/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 4/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.881121204252578 + }, + { + "action_description": "关键帧 5/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.52596657435567 + }, + { + "action_description": "关键帧 6/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.099162458891753 + }, + { + "action_description": "关键帧 7/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.624592019716495 + }, + { + "action_description": "关键帧 8/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.296413349613402 + }, + { + "action_description": "关键帧 9/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.845726072293814 + }, + { + "action_description": "关键帧 10/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.323389309407215 + }, + { + "action_description": "关键帧 11/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.1 + }, + { + "action_description": "关键帧 12/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.366666666666667 + }, + { + "action_description": "关键帧 13/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 359, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.95053711353093 + }, + { + "action_description": "关键帧 14/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 374, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.47596667435567 + }, + { + "action_description": "关键帧 15/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 388, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 12.929746749613402 + }, + { + "action_description": "关键帧 16/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 428, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.266666666666667 + }, + { + "action_description": "关键帧 17/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 470, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 15.666666666666666 + }, + { + "action_description": "关键帧 18/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 504, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 16.8 + }, + { + "action_description": "关键帧 19/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 530, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 17.666666666666668 + }, + { + "action_description": "关键帧 20/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 584, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 19.466666666666665 + }, + { + "action_description": "关键帧 21/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 614, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 20.466666666666665 + }, + { + "action_description": "关键帧 22/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 657, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 21.9 + }, + { + "action_description": "关键帧 23/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 679, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 22.633333333333333 + }, + { + "action_description": "关键帧 24/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 695, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 23.166667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..a9ef972c333edf0ce6d332abbf4a7b43ad13b528 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：30%\n爪夹夹取土豆：40%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.8261597938144325 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.666365979381443 + }, + { + "time": 7.599, + "frame": 228, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 313, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.434407216494845 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 323, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.766666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 342, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.398324742268038 + }, + { + "time": 12.36224226804124, + "frame": 371, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..c018225ab08459edb3023d36335dba5e64c6b07a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：30%\n爪夹夹取土豆：40%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.192543020747423 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.31611692693299 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.9825087341494845 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.955154802190722 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.40353973208763 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 345, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.510343878479384 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..9c14e69afde484e3773e494dfba495284b66a40a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,98 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：30%\n爪夹夹取土豆：40%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.5146134020618556 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.022860824742269 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.784922680412372 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.102654639175259 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.182242268041238 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + }, + { + "time": 10.309664948453607, + "frame": 309, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..97038106366f9201959beca3db81db8452d4d732 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：30%\n爪夹夹取土豆：40%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.466980330025773 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.02072605992268 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 247, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.238526767139174 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.141379015592783 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 313, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.422169414561855 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 377, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.566666666666666 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 409, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.634643693943298 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 446, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.866666666666667 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 475, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.839282905283508 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..b52477c4bd7273b9f043471648253877386bbd7c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,88 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：30%\n爪夹夹取土豆：40%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.14987113402062 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.626159793814433 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.881005154639174 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..df43765f6b23a108445c2af21cc61c3e5b90b2f5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-174839-put-potatoes-blue-storage box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,108 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：30%\n爪夹夹取土豆：40%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "time": 4.802585810180412, + "frame": 144, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.137087458634019 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 9.166666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.108221438015462 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 330, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.995231728737112 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..6252cf487eab135566d9864eda6a9f63800f4315 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,158 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：30%\n爪夹夹取土豆：40%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.829145302190722 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 6.933333333333334 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "time": 8.858, + "frame": 266, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.545640219716496 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 323, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.766666666666667 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 351, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.7 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 365, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.166666666666666 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.133333333333333 + }, + { + "time": 14.317, + "frame": 430, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..3d70257359dcdc032f92e4634ac59f006d2a5767 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：30%\n爪夹夹取土豆：40%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.6998495998711336 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.995725853479382 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.873560891623711 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.548818613273196 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 371, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.366666666666667 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 399, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.288509247293813 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.933333333333334 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 453, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 15.1 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 481, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.033333333333335 + }, + { + "action_description": "关键帧 18/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 16.9 + }, + { + "time": 18.165333, + "frame": 545, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..9c8d1bf003daded93eb0e09d3c2cee13b508226f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,198 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：40%\n爪夹夹取土豆：50%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.586877204252577 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.59065728878866 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.24529647435567 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.030863497036083 + }, + { + "time": 6.900333, + "frame": 207, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.667461460953608 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 294, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.805949467139177 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 318, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.6 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 332, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 11.066666666666666 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.617117880541239 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 383, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.766666666666667 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 400, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.319179763015464 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 442, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.733333333333333 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 468, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 15.6 + }, + { + "action_description": "关键帧 18/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 493, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 16.417805241365983 + }, + { + "action_description": "关键帧 19/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 515, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.181550957860825 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..45d838969d18c6af6829745fe23e63348cbb6163 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：40%\n爪夹夹取土豆：50%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.954591861726804 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.450777405025773 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.725038521520618 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.2 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.370468032860824 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 371, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.366666666666667 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 417, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 13.9 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 446, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 14.866666666666667 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 460, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 15.338612299871135 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 474, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 15.8 + }, + { + "time": 16.616333, + "frame": 498, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..f19811ffcb7a98a614985aa48f3334adb9066ee8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,138 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：30%\n爪夹夹取土豆：40%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3631141885309277 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.06318290193299 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.129196624613402 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.845175990592783 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.706722342139175 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.186413031829897 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.775107177190721 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 335, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.166666666666666 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.433333333333334 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 402, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.402735964819588 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..570691b32d92fca8c61e486bcda6350e631e29fb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,168 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：40%\n爪夹夹取土豆：50%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "time": 7.6, + "frame": 228, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.233333333333333 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 298, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.933333333333334 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.7 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 356, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.866666666666667 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 377, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.566666666666666 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 431, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.366666666666667 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.033333333333333 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 486, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.213917525773198 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.853092783505154 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..99b8f9247b923906faddf94af1d2c2afe0732de3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：40%\n爪夹夹取土豆：50%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.6086985104381437 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.4597294516752575 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.354403005283505 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.899935659922681 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.766666666666667 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.67124154548969 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.482409958891752 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.115227838273196 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 383, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.773647108376288 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 401, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.366666666666667 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 442, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.733333333333333 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 468, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 15.6 + }, + { + "action_description": "关键帧 18/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 495, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 16.5 + }, + { + "action_description": "关键帧 19/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 521, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.377942713530928 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..b6b21a205c20829f0f0ac9807a84f8a01abd329f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,218 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：45%\n爪夹夹取土豆：50%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.2666666666666666 + }, + { + "action_description": "关键帧 3/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 4/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.434604762757732 + }, + { + "action_description": "关键帧 5/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.144158017396906 + }, + { + "action_description": "关键帧 6/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 8/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + }, + { + "action_description": "关键帧 9/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.1536425112113395 + }, + { + "action_description": "关键帧 10/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 11/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.1 + }, + { + "action_description": "关键帧 12/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + }, + { + "action_description": "关键帧 13/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.066666666666666 + }, + { + "action_description": "关键帧 14/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 313, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.433333333333334 + }, + { + "action_description": "关键帧 15/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + }, + { + "action_description": "关键帧 16/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 385, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.833333333333334 + }, + { + "action_description": "关键帧 17/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 436, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.533333333333333 + }, + { + "action_description": "关键帧 18/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 484, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 16.133333333333333 + }, + { + "action_description": "关键帧 19/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 501, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 16.695910418427836 + }, + { + "action_description": "关键帧 20/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 518, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 17.266666666666666 + }, + { + "action_description": "关键帧 21/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 545, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 18.16395163492268 + }, + { + "action_description": "关键帧 22/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 567, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4a521ee264c0e084e0b9f37365ffb6f880fc5104 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：40%\n爪夹夹取土豆：50%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.763462339304123 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.733333333333333 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.466666666666667 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.566666666666666 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 362, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.066666666666666 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.733333333333333 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 423, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.1 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 448, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.933333333333334 + }, + { + "action_description": "关键帧 18/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 480, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 16 + }, + { + "time": 17.1524, + "frame": 515, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..15a7cf9ba95b30430bae3b3ec6b91b453b763c36 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,168 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：35%\n爪夹夹取土豆：40%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.2242268041237114 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 1/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.780927835051546 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.233333333333333 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 298, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.933333333333334 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.7 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 356, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.866666666666667 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 377, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.566666666666666 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 431, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.366666666666667 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.033333333333333 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 484, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.133333333333333 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 510, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.99742268041237 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..37d58494dc4c5e0c14580bfdcc501fe3f468c4b3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：40%\n爪夹夹取土豆：50%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.323732706056702 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.011877010180411 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 371, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.366666666666667 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 402, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.401052200902063 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.933333333333334 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 453, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 15.1 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 481, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.033333333333335 + }, + { + "action_description": "关键帧 18/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 510, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.002426716365978 + }, + { + "action_description": "关键帧 19/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 535, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.83524457306701 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..5a03e1c2f00b63ead2504c4f54afc8748b6a0255 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-180510-put-potatoes-blue-storage box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：50%\n爪夹夹取土豆：60%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.543234591881443 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.481550757860825 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.943578272293815 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.766666666666667 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 318, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.6 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 332, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.066666666666666 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 383, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.766666666666667 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 401, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 13.366666666666667 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 442, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.737564665077318 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 469, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 15.632238218685568 + }, + { + "action_description": "关键帧 18/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 494, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 16.48326915992268 + }, + { + "action_description": "关键帧 19/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 522, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.399764019716493 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..a23a79ba46237deefd8309e4046e60b385e816c1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,228 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：30%\n爪夹夹取土豆：35%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.2961339637886593 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.9140033689432996 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.9703607390463915 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.827405397809278 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.023281665850515 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.433333333333334 + }, + { + "time": 9.79372835347938, + "frame": 294, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 360, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 12.433333333333334 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 404, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.481013513273195 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 426, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.2 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 452, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 15.066666666666666 + }, + { + "time": 16.355999, + "frame": 491, + "progress": 45, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 18/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 517, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 17.228092486469073 + }, + { + "action_description": "关键帧 19/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 532, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 17.746305535953606 + }, + { + "action_description": "关键帧 20/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 561, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 18.7 + }, + { + "action_description": "关键帧 21/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 580, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 19.333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..143350ebc09013c3f5d9091098b4f622ddf97930 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,178 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：40%\n爪夹夹取土豆：50%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.906245613273197 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 285, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.5 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 326, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 10.866666666666667 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + }, + { + "time": 12.589199, + "frame": 378, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.533333333333333 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 421, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.033333333333333 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 448, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.933333333333334 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 482, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 16.072980800902062 + }, + { + "time": 17.198066, + "frame": 516, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 538, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 17.933333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..baf8be50b7a6b3f7a381805afcdf2897c0fd0969 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,188 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：25%\n爪夹夹取土豆：30%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.689338456572165 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.9650085359536082 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.7784793112113406 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "time": 5.849132193685569, + "frame": 175, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 285, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.5 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 326, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.866666666666667 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + }, + { + "time": 12.467826228737113, + "frame": 374, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 13.533333333333333 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 421, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 14.033333333333333 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 448, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.933333333333334 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 486, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.2 + }, + { + "time": 17.269799, + "frame": 518, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 538, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 17.933333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..6b28ef1b4dc6f38ad28cfd7a7b0fa5a092c3f67c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-2/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-182120-put-potatoes-blue-storage box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "爪夹夹取土豆放到蓝色盒子里\n爪夹启动：0%\n爪夹接近土豆：50%\n爪夹夹取土豆：60%\n爪夹夹取土豆放到蓝色盒子里：100%", + "progress_points": [ + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.774570367912371 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.74226793492268 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.492096007087628 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.076700773067012 + }, + { + "time": 10.254933, + "frame": 308, + "progress": 30, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 352, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.733333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769502778.4197502/observation.images.Failure1769502778.4197502/Failure1769502778.4197502.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769502778.4197502/observation.images.Failure1769502778.4197502/Failure1769502778.4197502.json new file mode 100644 index 0000000000000000000000000000000000000000..d93f1f4d3efaa2b9e42b5a5b993ba66ed1efe907 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769502778.4197502/observation.images.Failure1769502778.4197502/Failure1769502778.4197502.json @@ -0,0 +1,81 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于高处。随后，机械臂向下并向桌面中央移动，目标直指位于桌面正中央的灰色碗。在移动过程中，抓夹保持张开状态。视频结束时，抓夹悬停在目标灰色碗的正上方，完成了接近目标的动作。", + "correction_plan": "当前动作执行正确，状态良好。接下来的可行动作是控制机械臂垂直向下移动，直到抓夹手指完全包围灰色碗的边缘，然后闭合抓夹（Gripper Close）以牢固抓住碗。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别了目标物体（中央的灰色碗）的位置，并规划了合理的路径从初始点移动到了目标点上方。动作流畅，没有发生位置偏差或与其周围物体（如右侧抽屉柜或左侧干扰碗）的碰撞。", + "frame": 32, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂处于初始位置，对应任务规划的0%。视频结束时，机械臂已经成功移动并悬停在目标灰色碗的上方，这正是任务规划中定义的“抓夹接近灰色的碗”的状态。根据给定的进度规划，这一阶段对应25%的进度。因此，任务进度从0%上升到了25%。", + "state_description": "当前关键点状态是机械臂的抓夹已经成功移动到了桌面中央目标灰色碗的上方（预抓取位置）。抓夹处于张开状态，准备下一步的下放和闭合。周围环境未发生变化，盘子位于右前方等待放置，干扰物未被触碰。任务已完成接近阶段，即将进入抓取阶段。", + "time": 1.055, + "vlm_progress": 25 + }, + { + "action_description": "在这段视频中，机械臂的抓夹从位于桌子中央灰色碗的上方垂直向下移动，精准地接近碗口，随后闭合抓夹的手指，稳固地抓住了灰色碗的边缘。", + "correction_plan": "当前动作成功，无需纠正。接下来的操作步骤应为：垂直向上抬起手臂，使灰色碗离开桌面，然后控制机械臂向右前方移动，将碗搬运至位于桌子右前方的盘子上方并放置。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别并定位了位于桌子中央的目标灰色碗，下行轨迹垂直且稳定，抓夹闭合时机恰当，成功实现了抓取，未出现抓空或碰撞其他物体的错误。", + "frame": 75, + "progress": 50, + "progress_check": "1", + "progress_explanation": "视频开始时，抓夹正处于接近灰色碗的过程中，对应任务规划的25%。随着视频播放，机械臂完成了下放和闭合抓夹的动作，在视频结束时已经成功抓住了灰色碗。根据任务进度规划，‘抓夹抓住灰色的碗’对应50%的进度，因此当前进度评估为50%。", + "state_description": "当前关键点状态为抓取完成。机械臂的抓夹已经成功地在桌子中央抓住了目标灰色碗，抓夹处于闭合紧握状态。此时碗虽然还在桌面上，但已被机械臂控制，准备进行后续的提拉和搬运动作。场景中的其他物体如左侧的盘子和右侧的抽屉柜均未受干扰。", + "time": 2.515, + "vlm_progress": "50" + }, + { + "action_description": "视频开始时，机械臂的抓夹已经紧紧抓住了位于桌子中央的目标灰色碗。在视频片段中，机械臂执行了向上垂直抬起灰色碗的动作，随后将其水平向右侧移动。", + "correction_plan": "针对当前状态的修正计划：机械臂应向下移动，保持对灰色碗的稳定抓取，将灰色碗直接运输到右侧白色盘子的正上方，为后续的放置动作做准备。", + "error_success_analysis": "这段视频的动作是成功的。动作在“抓取稳定性”和“垂直抬升”方面是成功的，机械臂没有掉落物体。在“路径规划”方面，机械臂却将向右侧移动，悬停于目标物体上方。", + "frame": 98, + "progress": 60, + "progress_check": 1, + "progress_explanation": "这段视频开始时的进度为50%，结束时的任务进度为60%。进度上升的主要原因是机械臂成功完成了“抬起物体”这一关键动作，将碗从静态放置状态转换为被抓取且悬空的运输状态。物体物理状态的改变（离开桌面）标志着任务从抓取阶段进入了运输阶段，因此进度值有所增加。", + "state_description": "当前状态下，机械臂成功保持着对目标灰色碗的抓取，并将碗悬停在桌面右侧区域的上方。目标位置即带有红色边缘的盘子位于桌面的右前方，目前处于空置状态。", + "time": 3.27, + "vlm_progress": 60 + }, + { + "action_description": "视频中，机械臂抓取着灰色的碗，没有向下方的盘子移动，而是向右下方移动。", + "correction_plan": "当前需要进行纠错操作。动作规划为：机械臂保持夹住状态并移动回到盘子正上方；抓取碗下降并将碗运送到白色盘子上方；松开抓夹，将碗放置在盘子上。", + "error_success_analysis": "这段视频的动作是错误的。任务目标明确指出要将碗放在“盘子”上（位于右前方），但机械臂夹住碗移动到了更右侧的位置，脱离了盘子的可放置区域。这属于目标位置识别错误或路径规划错误，方位上从应有的“向下”变成了“向右”。", + "frame": 108, + "progress": -10, + "progress_check": "1", + "progress_explanation": "视频开始时进度为60%，此时碗已被抓取。然而，机械臂执行了完全错误的路径规划，夹住碗继续向右侧方向移动。这一动作可能导致任务失败，并且因为碗已经脱离了盘子的可放置区域，因此进度下降为负值。结束时的进度 -10% 合理地反映了这一严重倒退。", + "state_description": "当前关键点状态显示，机械臂对灰色的碗保持夹住的状态，持续向右侧方向运动，已经超越了盘子的放置范围。", + "time": 3.585, + "vlm_progress": 0 + }, + { + "action_description": "视频中，机械臂从下方位置向上方移动，移动到另一个灰色碗上方。", + "correction_plan": "当前需要立即执行纠错动作：抓夹保持夹住状态，回到桌面右侧的盘子上方，向下移动将灰色的碗放置于盘子中。", + "error_success_analysis": "这段视频的动作是错误的。任务规划明确要求抓取桌子中央的灰色碗，但机械臂的运动轨迹指向了右后方导致未能完成‘放在盘子上’这一关键子任务。", + "frame": 123, + "progress": -20, + "progress_check": 1, + "progress_explanation": "这段视频开始时任务进度为-10%，意味着可能之前已经存在定位偏差。在视频结束时，机械臂严重的执行错误。这导致任务状态比开始时更糟，因为机器人现在必须先夹住灰色的碗会到桌子右侧盘子的正上方。因此增加了额外的纠错步骤，进度值下降为-20%。", + "state_description": "当前关键点状态显示机械臂处于错误状态，任务目标灰色碗被抓夹夹住向上运动。盘子位于右前方空置，机器人目前已经偏离了既定任务路径。", + "time": 4.085, + "vlm_progress": 0 + }, + { + "action_description": "机械臂从下方向上运动，将抓夹移动到位于桌面右侧的灰色碗（干扰物）上方。", + "correction_plan": "机械臂应立即回到桌面右侧的盘子上方。随后，机械臂需夹住灰色的碗并调整对齐后垂直下降，将碗放置于盘子中央。", + "error_success_analysis": "该动作是错误的。任务明确规划要求将碗放在盘子上，而机械臂实际完不断远离盘子导致离目标越来越远。", + "frame": 140, + "progress": -30, + "progress_check": 1, + "progress_explanation": "视频开始时任务进度为-20%，暗示已经出现偏离。在视频过程中，机器人不仅没有纠正错误，更加远离被放置物体（盘子）。由于机器人对错误目标执行了实质性的操作，使得错误状态更加严重，偏离正确任务路径更远，因此任务进度下降至-30%。", + "state_description": "当前关键点状态显示，机械臂移动到桌面的右上方，并悬空在桌面上方。规划路径错误，任务处于失败状态。", + "time": 4.65, + "vlm_progress": 0 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769502896.4421623/observation.images.Failure1769502896.4421623/Failure1769502896.4421623.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769502896.4421623/observation.images.Failure1769502896.4421623/Failure1769502896.4421623.json new file mode 100644 index 0000000000000000000000000000000000000000..20c8c387f7b71a14a3719438ee32dc70b5773487 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769502896.4421623/observation.images.Failure1769502896.4421623/Failure1769502896.4421623.json @@ -0,0 +1,81 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "机器人手臂从后方高处的初始位置开始移动，向下并向前伸展，移动到桌子中央的灰色碗上方。在移动过程中，机械臂调整姿态，使抓夹垂直向下，并张开机械爪准备抓取。", + "correction_plan": "当前动作执行正确，无需修正。下一步应继续执行抓取动作，即垂直向下微调高度（如果需要）并闭合抓夹以抓住灰色碗。", + "error_success_analysis": "这段视频的动作是成功的。机器人平稳地将末端执行器移动到了目标物体（中央灰色碗）的上方，没有发生碰撞或偏离目标，且抓夹已正确张开，为下一步抓取做好了准备。", + "frame": 37, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时机械臂处于初始位置（0%），视频结束时抓夹已经成功移动并悬停在目标灰色碗的上方，完成了接近目标的动作。根据任务规划，'抓夹接近灰色的碗'对应25%的进度，因此进度从0%上升到25%。", + "state_description": "当前机械臂的抓夹悬停在桌子中央目标灰色碗的正上方，抓夹处于张开状态，位置对准准确。目标灰色碗静止在桌面上，右侧的盘子和其他物品未受干扰。机器人已做好抓取前的准备姿势。", + "time": 1.234999, + "vlm_progress": 25 + }, + { + "action_description": "这段视频展示了机械臂执行抓取前的最后调整动作。视频开始时，机械臂悬停在桌子中央上方，抓夹处于张开状态。随后，机械臂向下移动，同时微调水平位置，将张开的抓夹精准地下降并罩在桌子中央的目标灰色碗上，直到视频结束时，抓夹已完全包围该碗，准备闭合。", + "correction_plan": "当前动作已成功到位，接下来的正确操作是：闭合抓夹以稳固地抓住中央的灰色碗；抓住后，先垂直向上提升机械臂以使碗脱离桌面；随后控制机械臂向左前方移动，将碗搬运至带有红色同心圆花纹的盘子上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂平稳、准确地将末端执行器引导至目标灰色碗的位置，对齐准确，没有发生偏差或与周围物体（如旁边的彩色盒子或后方的金属筒）发生碰撞。这为接下来的抓取动作创造了完美的条件。", + "frame": 55, + "progress": 40, + "progress_check": 1, + "progress_explanation": "根据任务规划，'抓夹接近灰色的碗'对应25%，'抓夹抓住灰色的碗'对应50%。视频开始时进度为25%，此时抓夹正在接近途中。视频结束时，抓夹已经完成了接近过程，物理上包围了碗但尚未闭合执行抓取。这个状态介于接近和完成抓取之间，且非常接近抓取动作，因此任务进度显著上升，给定的40%准确反映了这一'到位待抓'的状态。", + "state_description": "当前关键点状态显示，机械臂的末端执行器已成功移动到目标物体（桌子中央的灰色碗）的物理位置，抓夹指尖位于碗的两侧，处于“预抓取”状态。右前方的红纹盘子保持静止。场景中无异常碰撞，机器人已准备好执行闭合抓夹的动作。", + "time": 1.835, + "vlm_progress": 40 + }, + { + "action_description": "机器人机械臂在桌子中央区域执行抓取动作，试图抓取位于中间的灰色碗。动作过程中，机械臂下降并尝试闭合抓夹，但由于对齐不准或抓取时机不当，抓夹未能成功稳固地抓住灰色碗，反而导致抓取失败，可能伴随与碗的碰撞。", + "correction_plan": "建议机器人首先将抓夹垂直向上提升，以脱离与桌面上物体的接触区域。接着重新规划视觉识别，精确定位灰色碗的中心位置，将抓夹移动到碗的正上方，调整好角度并张开抓夹，然后垂直缓慢下降进行再次抓取。", + "error_success_analysis": "这段视频的动作是错误的。根据任务规划，机器人应当在接近碗后成功闭合抓夹将其抓起。然而视频展示了抓取失败的场景，目标物体没有被成功控制，这意味着机器人没能完成‘抓住灰色的碗’这一关键节点，因此判定为失败。", + "frame": 77, + "progress": -10, + "progress_check": "1", + "progress_explanation": "这段视频开始时的进度为40%，此时抓夹正处于接近灰色碗的阶段。结束时的任务进度为-10%，这是因为机器人在尝试从接近（25%）过渡到抓住（50%）的过程中发生了操作失误（发生碰撞），导致抓取动作彻底失败，任务状态跌落至负值，代表需要复位或严重错误。", + "state_description": "当前关键点状态显示机械臂末端位于桌面中央附近，但并未持有目标物体。灰色的碗仍然位于桌面上（或位置发生偏移），并未处于被机械臂成功抓取悬空的状态。任务目标‘抓夹抓住灰色的碗’未能达成，场景处于抓取失败后的状态。", + "time": 2.565, + "vlm_progress": "0" + }, + { + "action_description": "在这段视频中，机械臂执行了一个错误的下探动作。机械臂从上方位置开始，向桌子中央区域移动并向下（Down）挤压，但动作极其不协调，机械臂的关节发生了严重的扭曲。抓夹并没有对准桌子中央的目标灰色碗，而是似乎以错误的姿态碰撞到了桌面上或者挤压到了目标物体及其后方的银色容器，导致机械臂陷入了一个僵死或碰撞的状态。", + "correction_plan": "鉴于当前发生碰撞且姿态错误，首先需要紧急停止并尝试向上（+Z方向）抬起机械臂以脱离接触。如果能够成功脱困，需将机械臂复位到初始安全位置（Home）。接着重新进行视觉识别，确定灰色碗的当前位置（可能已被碰歪），重新规划一条从上方垂直接近灰色碗的平滑轨迹。", + "error_success_analysis": "这段视频的动作是完全错误的。成功动作应当是机械臂平稳地移动到灰色碗上方（接近，25%）并调整抓夹姿态准备下落抓取。然而，实际动作中机械臂轨迹混乱，姿态失控，直接导致了与其操作环境或目标物体的非预期接触/碰撞，未能完成任何有效子任务。", + "frame": 93, + "progress": -20, + "progress_check": 1, + "progress_explanation": "任务规划的正常流程是从0%开始移动并接近物体（25%）。然而，视频开始时的进度已经是-10%，意味着之前已经发生了错误。在视频结束时，进度下降到-20%，这表明机器人的状态进一步恶化。原因在于机械臂没有执行有效的抓取动作，反而发生了碰撞或陷入了奇异点（Singularity），使得任务距离成功更加遥远，处于一种'负进度'的故障累积状态。", + "state_description": "当前状态显示任务严重失败。机械臂处于一种极度扭曲的姿态，抓夹深陷于桌子中央的物体之间，很可能已经与目标灰色碗或后方的银色圆筒发生了物理碰撞。目标灰色碗未被抓取，且可能因碰撞而发生了位移。场景中其他物体（如左侧的盘子、右侧的抽屉柜）位置暂时保持不变。机械臂当前无法进行正常的后续操作，处于需要复位或纠错的故障状态。", + "time": 3.094999, + "vlm_progress": 0 + }, + { + "action_description": "在这段视频中，机械臂末端执行器向上抬起并向右后方移动，机械臂已与桌面发生碰撞并保持一种奇异点的姿态，目标灰色碗并未被夹起。", + "correction_plan": "机械臂需要进行复位。然后，将机械臂末端移动到桌面中央灰色碗的正上方，重新校准位置后，垂直下降并尝试抓取正确的灰色碗。", + "error_success_analysis": "该动作是失败的。任务明确要求抓取桌子中央的灰色碗，但机械臂的抓取位置出现了偏差，导致未能抓取到目标，末端执行器正向桌子的上方移动。这属于典型的路径规划错误。", + "frame": 112, + "progress": -30, + "progress_check": "1", + "progress_explanation": "根据任务规划，当前步骤应为抓取灰色的碗（50%）。机械臂已处于奇异点姿态，碰撞到桌面。这种错误操作导致任务状态比未开始更糟糕，因为机器人立刻复位重新对目标物体进行抓取。该状态下，进度不仅没有增加，反而下降，从开始时的-20%（可能已存在偏差）恶化到-30%，这准确反映了当前的严重错误状态。", + "state_description": "当前机械臂夹爪处于打开状态，机械臂本身与桌面发生碰撞并保持奇异点姿态，右前方的盘子空置。场景处于未抓取到目标物体的失败状态，需要进行纠错操作。", + "time": 3.73, + "vlm_progress": "0" + }, + { + "action_description": "视频中，机械臂从上方位置向下并向右移动，试图接近桌子右侧的物体。在此过程中，抓夹与桌子和目标灰色碗发生碰撞。这次碰撞导致目标灰色碗失去平衡，向右翻倒并侧躺在桌面上。机械臂随后停止在盘子附近的低位，抓夹未抓取任何物体。", + "correction_plan": "建议机械臂首先垂直向上抬起（Z轴正方向），离开当前的混乱区域以避免进一步碰撞。然后，需要重新识别侧躺的灰色碗的姿态，规划一个推动或翻转动作将其扶正回碗口朝上的状态。待碗恢复直立后，再移动到碗的正上方，重新执行垂直下降抓取的动作。", + "error_success_analysis": "这段视频的动作是失败的。原因在于机械臂的运动规划不准确，导致抓夹在下降过程中与障碍物（银色圆筒）和目标物体（灰色碗）发生碰撞。这次碰撞不仅未能抓住物体，反而改变了目标物体的朝向（将其撞倒），增加了后续任务的难度。", + "frame": 132, + "progress": -50, + "progress_check": "1", + "progress_explanation": "视频开始时任务进度为-30%，说明之前的状态已经不理想。在这段视频中，机械臂不仅没有完成抓取（50%的里程碑），反而撞倒了目标物体，使其姿态变得极难操作（碗侧躺）。这种从“尝试抓取”到“破坏物体姿态”的变化导致任务进度进一步倒退，因此进度下降到-50%是合理的，代表了严重的执行错误和状态恶化。", + "state_description": "当前机械臂处于桌子右侧盘子附近的低位，抓夹处于空闲状态且未对准目标。目标灰色碗已经翻倒，碗口朝向侧面，这种姿态使得常规的抓取变得不可行。场景中的物体排列已被打乱，任务状态恶化，需要进行纠错操作将碗扶正或重新规划抓取策略。", + "time": 4.404999, + "vlm_progress": "0" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769502923.7705634/observation.images.Failure1769502923.7705634/Failure1769502923.7705634.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769502923.7705634/observation.images.Failure1769502923.7705634/Failure1769502923.7705634.json new file mode 100644 index 0000000000000000000000000000000000000000..27a4cc2a89db05d0d456d8086ca2c285ce1aefba --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769502923.7705634/observation.images.Failure1769502923.7705634/Failure1769502923.7705634.json @@ -0,0 +1,93 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂的黑色抓夹悬停在桌面中心区域的高处，处于张开状态。在视频过程中，机械臂执行了向下移动的动作，精准地向桌子中央的灰色碗靠近。视频结束时，抓夹已经悬停在灰色碗的正上方，位置对齐，准备进行下一步的抓取操作。", + "correction_plan": "当前状态理想，无需修正错误。接下来的可行动作是：控制抓夹继续微调高度以便指尖能充分接触碗壁，然后控制抓夹闭合，牢固地抓住灰色碗，确保持稳后再向上提升。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别了目标物体（桌子中央的灰色碗），并控制抓夹从上方垂直下降接近目标，没有发生偏移或与其他物体碰撞。方位的把控非常精准，直接将抓夹送到了最适合抓取的位置。", + "frame": 33, + "progress": 25, + "progress_check": 1, + "progress_explanation": "根据任务进度规划，'抓夹开始移动'为0%，'抓夹接近灰色的碗'为25%。视频展示了机械臂从初始位置移动并成功到达灰色碗上方的过程，这正是接近目标的阶段。既然动作已顺利完成且抓夹已就位，任务进度显着上升，符合规划中25%的节点描述，因此进度值为25%。", + "state_description": "当前关键点状态显示机械臂已完成接近目标的动作。抓夹位于桌子中央灰色碗的垂直上方，指尖张开，涵盖了碗的宽度。场景中其他物体如右侧的盘子、左侧的柜子等位置保持不变。任务的第一阶段已完成，当前处于即将执行抓取的状态，后续规划是闭合抓夹抓牢灰色碗，然后提升高度并向左前方移动至盘子处。", + "time": 1.105, + "vlm_progress": 25 + }, + { + "action_description": "视频中，机械臂从上方位置向下垂直移动，同时向桌子中央的灰色碗靠近。抓夹保持张开状态，精准地下降并调整位置，最终停留在灰色碗的上方，将碗包围在抓夹两侧之间。", + "correction_plan": "当前状态无需修正，应继续按照规划执行。下一步的具体动作是：闭合抓夹以抓住桌子中央的灰色碗，然后控制机械臂垂直向上移动，将碗提起。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地执行了从高处接近目标物体的指令，方位控制精确（向下、向中），没有发生偏移或碰撞，成功将末端执行器送达了抓取点位。", + "frame": 45, + "progress": 40, + "progress_check": 1, + "progress_explanation": "视频开始时进度为25%，处于接近灰色碗的阶段。视频结束时，抓夹已经从高处下降并精准对位到了碗的上方，完成了接近过程中的绝大部分位移，紧邻抓取动作（50%）。因此，任务进度有了明显的推进，符合从接近到即将抓取的过渡，定为40%是准确的。", + "state_description": "当前关键点状态显示，机械臂的抓夹已经完全处于预备抓取的位置，位于桌子中央灰色碗的正上方且两指张开。碗静止在桌面上，未发生位移。此时机械臂已经完成了“接近”动作，正处于“抓住”动作的前一刻，后续需要执行闭合抓夹的操作。", + "time": 1.51, + "vlm_progress": 40 + }, + { + "action_description": "在这段视频中，机械臂的抓夹从原本靠近桌子中央灰色碗的位置（40%进度状态）开始，向着上方和远离碗的方向移动，导致抓夹与目标物体的垂直距离增加，脱离了最佳抓取位置。", + "correction_plan": "机械臂应该重新规划路径，将抓夹垂直向下移动，对准桌子中央的灰色碗，直到抓夹位于碗的两侧，然后闭合抓夹以完成抓取动作。", + "error_success_analysis": "这段视频的动作为错误。成功的动作应该是继续向下接近碗并闭合抓夹（从40%推进到50%）。现在的动作却是向上远离目标，导致抓夹失去了抓取目标的最佳位置，造成了进度的回退。", + "frame": 60, + "progress": 20, + "progress_check": 1, + "progress_explanation": "任务目标是抓取桌子中央的灰色碗。视频开始时进度为40%，意味着抓夹已经很接近碗。然而，在视频结束时，机械臂执行了向上抬起的动作，使其远离了目标物体，导致任务完成度从40%倒退到了20%，回到了抓夹接近灰色的碗（25%）之前的状态。", + "state_description": "当前关键点状态显示机械臂悬停在桌面上方较高位置，抓夹处于张开状态且未抓取任何物体。目标灰色碗静止在桌子中央，未被移动。由于机械臂移动到了离碗较远的位置，不再处于即将抓取的姿态，任务状态回退到了接近目标的早期阶段。", + "time": 1.99025974025974, + "vlm_progress": 20 + }, + { + "action_description": "在这段视频中，机械臂从上方位置开始移动，向下并向右前方偏移。抓夹没有按照预期接近位于桌子中央的目标灰色碗，而是错误地移动到了右前方的黄红色包装盒上方，并持续下降，导致偏离目标路径。", + "correction_plan": "机械臂应立即停止下降并向上抬起抓夹以避免碰撞。随后，机械臂需要向左后方平移，调整位置直到抓夹中心垂直对准桌子中央灰色碗的上方。确认对齐后，再控制抓夹垂直下降以准备抓取。", + "error_success_analysis": "这段视频的动作是错误的。主要原因是方位的判断或执行出现了偏差。任务目标是“桌子中央”的灰色碗，而机械臂却向“右前方”移动去接近包装盒。这种空间位置的混淆导致机械臂完全错过了目标物体，无法完成后续的抓取动作。", + "frame": 79, + "progress": -10, + "progress_check": "1", + "progress_explanation": "视频开始时进度为20%，意味着机械臂应该正在接近目标。然而，机械臂执行了错误的动作，移动到了干扰物（包装盒）上方而不是目标（灰色碗）上方。这种严重的路径偏离和潜在的碰撞导致任务不仅没有推进，反而进入了失败状态，因此进度从接近状态（20%）变为失败状态（-10%）。", + "state_description": "当前关键点状态显示机械臂的抓夹位于黄红色包装盒的上方或附近，距离桌子中央的目标灰色碗有显著的横向偏差。目标灰色碗处于未被操作的静止状态。机械臂的位置处于错误的抓取准备区域，且高度较低，存在与错误物体（盒子）发生碰撞的风险，任务处于偏离规划的失败状态。", + "time": 2.64, + "vlm_progress": "0" + }, + { + "action_description": "视频中，机械臂从悬停状态开始，向右前方和下方移动。抓夹的轨迹没有指向位于桌子中央的目标灰色碗，而是错误地移向了桌子右前方的区域。", + "correction_plan": "机械臂应立即向上抬起抓夹以脱离当前的碰撞区域。随后，控制机械臂向右后方移动，将抓夹定位到桌子中央灰色碗的正上方。在确认对齐后，垂直向下移动抓夹以接近并抓取灰色碗。", + "error_success_analysis": "这段动作是失败的。成功的动作应当是机械臂移动到桌子中央灰色碗的上方并下降抓取。视频中机械臂的空间规划出现了严重偏差，将目标点误判为右前方的障碍物区域，未能完成抓取任务。", + "frame": 97, + "progress": -20, + "progress_check": "1", + "progress_explanation": "这段视频展示了一个失败的操作过程。机械臂没有按照规划接近目标灰色碗（本应达到25%进度），而是执行了错误的轨迹导致了碰撞事故。这种破坏性的操作使得任务状态比开始时（-10%）更糟糕，因此进度进一步下降至-20%，表示严重的执行错误。", + "state_description": "当前关键点状态显示机械臂处于错误位置，抓夹位于桌子右前方，紧贴着包装盒和盘子。目标灰色碗依然位于桌子中央，未被触碰或抓取。场景因为不当的碰撞而变得混乱，任务处于失败状态。", + "time": 3.22, + "vlm_progress": 0 + }, + { + "action_description": "在视频片段中，机械臂尝试执行抓取动作，其末端夹爪向下移动接近桌子中央的灰色碗。然而，抓取尝试失败，夹爪碰撞或未正确包络碗体，导致灰色碗失去平衡并向一侧翻倒。视频结束时，碗呈侧卧姿态，机械臂夹爪悬停在碗的上方，未持有物体。", + "correction_plan": "针对碗已侧翻的现状，修正计划如下：机械臂需要先执行一个恢复动作。建议机械臂调整末端姿态，尝试用夹爪的一侧轻轻拨动或夹住碗的边缘，将其扶正回直立状态。确认碗底朝下平稳后，再重新初始化抓取动作，从正上方垂直下降抓取碗壁，然后继续后续的搬运任务。", + "error_success_analysis": "这段视频的动作是错误的。根据任务规划，此阶段应完成“抓夹抓住灰色的碗”（50%）。然而，实际结果是机械臂未能成功抓取，反而施加了不当的力导致碗翻倒。这种物理状态的改变（Error State）直接导致后续“接近盘子”和“放置”的动作无法进行，因此判定为失败。", + "frame": 118, + "progress": -40, + "progress_check": "1", + "progress_explanation": "这段视频开始时的进度为-20%，结束时的任务进度为-40%。进度数值下降且为负值的原因是：机械臂执行了错误的抓取操作，导致目标物体（灰色碗）的状态从原本可能被抓取的直立状态变为了难以抓取的侧翻状态。相比于仅仅是“没抓到”（可能维持在0%或-20%），将碗碰倒属于破坏了场景的初始条件，大大增加了完成任务的难度（需要额外的纠错步骤来扶正碗），因此进度进一步倒退。", + "state_description": "当前场景处于任务失败后的停滞状态。核心目标物体桌子中央的灰色碗已经翻倒，侧躺在桌面上，不再保持直立，这使得标准的顶部抓取策略不再适用。机械臂的夹爪处于张开状态，位于碗的附近但为空。其他物体如左侧的碗、盘子和前方的盒子位置保持不变。由于目标物体的姿态变得复杂，任务进度受到严重阻碍。", + "time": 3.929999, + "vlm_progress": "0" + }, + { + "action_description": "视频开始时，机械臂抓取着灰色的碗位于桌面右侧低空区域，姿态较为扭曲。随后机械臂尝试进行移动，但动作剧烈且不平稳，手腕部分发生异常旋转，导致碗口朝向侧面甚至下方。在移动过程中，机械臂带着碗向右前方的盘子区域下压，最终导致碗与盘子或桌面发生碰撞，并在该位置停滞。", + "correction_plan": "结合当前状态，修正动作应首先停止当前的下压动作。具体规划为：1. 控制机械臂垂直向上（+Z轴方向）移动，使碗脱离与桌面或盘子的接触；2. 调整末端执行器姿态，旋转手腕使碗口恢复水平向上；3. 将机械臂平移至盘子正中心上方的高处；4. 缓慢垂直下降完成放置。", + "error_success_analysis": "这段视频的动作是错误的。主要原因在于路径规划和姿态控制失败。机械臂在接近盘子时没有先将碗提升至安全高度并保持水平姿态，而是以错误的倾斜角度直接撞向目标区域。这种不加控制的接触和姿态错误直接导致了任务无法完成。", + "frame": 140, + "progress": -50, + "progress_check": 1, + "progress_explanation": "这段视频开始时的进度为-40%，结束时的任务进度为-50%。负数进度值表明任务处于异常或失败状态。视频中机械臂的动作未能纠正之前的错误，反而因剧烈的晃动和错误的路径规划导致了更严重的碰撞，使得任务执行情况进一步恶化，因此进度值维持在负值并有所下降，确认了任务的失败。", + "state_description": "当前关键点状态显示任务处于失败边缘。机械臂虽然夹持着目标物体（灰色碗），但其末端执行器的高度过低且姿态错误（未保持水平），导致物体与环境发生非预期的物理接触（碰撞）。机械臂并未处于盘子正上方的预备放置位置，而是处于一种受力卡死或错误的姿态，无法进行正常的放下动作。", + "time": 4.657216494845361, + "vlm_progress": 75 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503073.7964208/observation.images.Failure1769503073.7964208/Failure1769503073.7964208.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503073.7964208/observation.images.Failure1769503073.7964208/Failure1769503073.7964208.json new file mode 100644 index 0000000000000000000000000000000000000000..78c2112c98660b1aa2f63d1594240b669b1813b7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503073.7964208/observation.images.Failure1769503073.7964208/Failure1769503073.7964208.json @@ -0,0 +1,81 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂悬停在桌面上方初始位置，夹爪处于张开状态。在视频过程中，机械臂开始执行动作，缓慢向下（Z轴负方向）并向右前方移动，试图接近位于桌面中央的灰色碗。整体动作幅度较小，主要表现为启动和初步下降。", + "correction_plan": "当前动作无误，应继续执行现有规划。具体动作为：控制机械臂继续向下并向前移动，将张开的夹爪移动到灰色碗的正上方及周围，以达到接近目标的预备抓取位置。", + "error_success_analysis": "这段动作是成功的。机械臂平稳启动，运动方向正确地指向目标灰色碗所在的方位，没有出现抖动、异响或错误的路径规划，符合任务逻辑。", + "frame": 34, + "progress": 5, + "progress_check": 1, + "progress_explanation": "这段视频展示了任务的最开始阶段。起始时刻机械臂尚未有明显位移，进度为0%。结束时刻，机械臂已经打破静止状态，向下移动了一小段距离，开始了'抓夹开始移动'的过程，但距离'抓夹接近灰色的碗'（25%）还有较远距离。因此，任务进度有少量增加，评估为5%。", + "state_description": "当前关键点状态为机械臂刚刚启动。夹爪仍然位于距离桌面较高的位置，未接触任何物体。目标灰色碗静止在桌面中央位置，盘子位于右前方，其他干扰物如右侧边缘的碗、左侧的盒子和柜子均未被触碰。机械臂的状态符合任务开始阶段的预期，正处于从初始位置向抓取目标靠近的过程中。", + "time": 1.12, + "vlm_progress": 5 + }, + { + "action_description": "在这段视频中，机械臂从悬停在桌面中央灰色碗上方的位置开始，执行了一个略微向前移动的动作。机械臂的末端执行器（抓夹）与目标灰色碗的距离拉大，并未进行抓取或接近的尝试。", + "correction_plan": "为了纠正当前状态并继续任务，机械臂需要改变运动方向。建议的动作是：机械臂应停止向前移动，转而执行向下和向左后方的移动动作，将抓夹精准地移动到桌面中央偏左的灰色碗正上方，并降低高度以准备闭合抓夹进行抓取。", + "error_success_analysis": "这段视频的动作是错误的。任务的下一步目标是接近并抓取桌子中央的灰色碗，这要求机械臂执行向下（降低高度）和向前（接近物体坐标）的运动。然而，视频中机械臂执行了向右和向前的动作，这增加了抓夹与目标的距离，与任务目标背道而驰，导致无法完成抓取。", + "frame": 48, + "progress": -5, + "progress_check": 1, + "progress_explanation": "根据任务规划，当前阶段应为‘抓夹接近灰色的碗’（目标进度25%）。然而，视频显示机械臂没有执行接近动作，反而向右前方移动并远离了目标碗。这种反向运动导致任务进度不仅没有增加，反而相对于起始状态（5%）出现了显著倒退。机械臂移动到了比开始时更远离目标的位置，因此任务进度评估为负值，表示有效的任务执行尚未开始或已回退。这段视频结束时的任务进度为-5%。", + "state_description": "目前机械臂处于抬起的高位状态，抓夹闭合，位于目标物体（中央偏左的灰色碗）的右前上方较远处。目标灰色碗静止在桌面上，未被触碰。桌面环境保持不变，右侧有盘子，左侧有食品盒。当前的机械臂姿态显示其正在远离操作区域，处于一种重置或撤退的状态，而非接近目标的抓取状态。", + "time": 1.614999, + "vlm_progress": 0 + }, + { + "action_description": "视频中机械臂的抓夹从上方位置开始，向右前方移动。它没有接近位于桌面中央的目标灰色碗，而是错误地移向了右侧边缘的盘子和另一个灰色碗所在的区域，远离了既定目标。", + "correction_plan": "机械臂应该停止当前的左移下降动作，首先将抓夹向上抬起以脱离当前的错误区域，然后向右平移直至位于中央灰色碗的正上方，再垂直下降以准备抓取。", + "error_success_analysis": "这是一次错误的动作。机械臂的目标是桌子中央的灰色碗，但它却控制抓夹向右移动，不仅没有接近目标，反而靠近了干扰项（左侧的盘子和碗），导致无法完成后续的抓取动作。", + "frame": 66, + "progress": -10, + "progress_check": "1", + "progress_explanation": "任务要求抓取中央的灰色碗，但机械臂执行了向右下方的错误移动，远离了目标物体。这种偏离导致任务无法按计划进行，反而进入了错误的状态，因此进度被评估为负值，且相比开始时的-5%，错误程度进一步加深至-10%。", + "state_description": "当前抓夹悬停在桌面右侧的盘子上方附近，位置较低。目标灰色碗位于抓夹的左侧，静止不动且未被触碰。机械臂处于错误的预备抓取位置，偏离了任务规划的轨迹。", + "time": 2.215, + "vlm_progress": "0" + }, + { + "action_description": "在这段视频中，机械臂的动作出现了明显的异常。机械臂没有按照预定轨迹接近灰色的碗，而是向后下方移动，其末端抓夹部位直接压向了目标灰色碗后方的银色金属小锅或杯子，并与桌面发生了碰撞。动作轨迹混乱，没有表现出正确的抓取尝试。", + "correction_plan": "建议立即停止当前动作。首先控制机械臂垂直向上移动（沿Z轴正方向），使其脱离与桌面和银色金属杯的接触/碰撞状态。然后，重新规划路径，控制机械臂移动到目标灰色碗的正上方，调整抓夹姿态使其垂直向下，再缓慢下降以执行抓取动作。", + "error_success_analysis": "这段视频的动作是错误的。分析原因：机械臂的路径规划出现了严重偏差，未能识别障碍物（银色金属杯）或目标位置坐标错误，导致机械臂直接撞击了背景物体和桌面，未能从上方正确接近目标灰色碗进行抓取。", + "frame": 85, + "progress": -20, + "progress_check": "1", + "progress_explanation": "视频开始时进度为-10%，结束时为-20%，这表明任务处于失败且情况恶化的过程中。相比于开始时刻，机械臂不仅没有完成任何有效进度的步骤（如接近或抓取），反而发生了更严重的碰撞错误（从-10%下降到-20%），导致任务无法继续。", + "state_description": "当前机械臂处于碰撞和停滞状态。机械臂的关节姿态扭曲，抓夹并未抓住位于桌面中央的目标灰色碗，而是卡在了目标碗前方的银色物体和桌面之间。这是一个典型的任务执行失败状态，需要进行复位操作。", + "time": 2.821428571428571, + "vlm_progress": "0" + }, + { + "action_description": "视频开始时，机械臂处于桌面上方，随后动作出现严重异常，机械臂没有向下接近桌子中央的目标灰色碗，而是剧烈地向右上方甩动并伴随震颤，完全偏离了预定的抓取轨迹，远离了操作区域。", + "correction_plan": "需要将机械臂复位到初始状态。修正后的动作应为：控制机械臂平稳移动至桌子中央偏左的灰色碗正上方，沿垂直方向下降至合适高度，闭合夹爪牢固抓取灰色碗，然后抬起并移动至左前方的盘子处。", + "error_success_analysis": "这段动作是失败的。机械臂未能执行“接近”或“抓取”的指令，反而向相反方向（右前方）运动。这通常是由于运动规划算法发散、奇异点问题或仿真物理碰撞导致的控制失效。", + "frame": 102, + "progress": -30, + "progress_check": "1", + "progress_explanation": "根据任务规划，机械臂应接近并抓取灰色碗（0%-50%）。然而，视频显示的动作是失控且远离目标的，这表明发生了执行错误。任务开始时进度已被标记为-20%（表示已有异常），随着机械臂进一步失控甩动，任务完成的可能性降低，状态进一步恶化，因此结束时的进度下降至-30%。", + "state_description": "当前机械臂停留在右侧高空的无效位置，姿态扭曲，夹爪处于空置状态。目标灰色碗依然静止在桌面上（或仅被轻微触碰），未被成功抓取。整个场景显示任务执行陷入停滞或错误状态，机械臂未能与物体进行有效交互。", + "time": 3.405, + "vlm_progress": "0" + }, + { + "action_description": "视频开始时，机械臂位于右前方盘子上方区域，夹爪以不稳定的姿态悬空。随后，机械臂向右后方（远离盘子方向）抬起并移动。", + "correction_plan": "机械臂需要执行恢复策略：首先移动到桌面中央偏右区域（掉落的碗上方），通过视觉系统重新定位并计算碗的抓取点，调整夹爪姿态以适应碗当前的倒伏方向，重新抓取灰色的碗，然后平稳地将其移动并放置到左前方的盘子上。", + "error_success_analysis": "这段视频展示了一个失败的动作。机械臂在搬运过程中未能保持对灰色碗的有效抓取，导致物体在半空中滑落并掉回桌面。这是典型的抓取或搬运失败（Drop Error），导致任务无法继续按原计划进行。", + "frame": 124, + "progress": -50, + "progress_check": "1", + "progress_explanation": "视频开始时进度为-30%，暗示此前任务已处于非正常状态。结束时，由于发生了严重的掉落错误，机械臂完全失去了对目标物体的控制，任务状态相比于之前的勉强抓取变得更差，需要从头开始甚至更复杂的恢复操作，因此进度值下降至-50%，反映了任务的严重倒退。", + "state_description": "当前状态为任务失败后的静止状态。机械臂位于基座右侧高处，夹爪为空。目标灰色的碗侧躺在桌面的中央偏右区域，且距离目标位置（右前方的盘子）较远。需要重新进行物体检测和抓取操作。", + "time": 4.135, + "vlm_progress": "0" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503081.4706135/observation.images.Failure1769503081.4706135/Failure1769503081.4706135.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503081.4706135/observation.images.Failure1769503081.4706135/Failure1769503081.4706135.json new file mode 100644 index 0000000000000000000000000000000000000000..4caf648e66323c71cac1b18ab0236220f9c4947d --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503081.4706135/observation.images.Failure1769503081.4706135/Failure1769503081.4706135.json @@ -0,0 +1,93 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于高处初始位置。随后，机械臂控制抓夹向下并向右前方移动，精准地朝向桌子中央偏右位置的目标灰色碗靠近。视频结束时，抓夹已呈张开状态悬停在该灰色碗的正上方，完成了接近目标的动作。", + "correction_plan": "基于当前成功的接近状态，后续的可行动作是执行抓取。具体规划为：控制抓夹垂直向下移动，直到抓夹指尖低于碗沿，闭合抓夹以牢固抓住灰色碗，然后将碗垂直向上提起，准备向盘子方向移动。", + "error_success_analysis": "这段视频的动作是成功的。机械臂没有发生任何碰撞，且准确地识别并定位到了指定的目标（桌子中央的灰色碗），而不是旁边的干扰项（如最右侧的碗或杯子）。抓夹的最终位置和姿态都非常适合进行下一步的抓取操作。", + "frame": 36, + "progress": 25, + "progress_check": 1, + "progress_explanation": "这段视频展示了机械臂从初始状态移动到目标物体上方的过程。开始时任务刚启动（0%），结束时抓夹已经到达了适合抓取的位置，即完成了'抓夹接近灰色的碗'这一子任务。这与任务规划中25%的节点描述完全一致，因此进度从0%上升至25%。", + "state_description": "当前关键点状态显示，机械臂的抓夹位于目标灰色碗的正上方，处于预抓取姿态（Pre-grasp pose）。目标灰色碗静止在桌面上，其右侧是另一个灰色碗，右前方是目标盘子。机械臂已成功缩短了与目标的距离，并未接触任何物体。根据任务规划，当前已完成接近动作，准备进入抓取阶段。", + "time": 1.21, + "vlm_progress": 25 + }, + { + "action_description": "机器人机械臂从灰色碗的上方垂直向下移动，调整夹爪张开度以适应碗的大小。夹爪准确地包裹住位于桌子中央偏右的灰色碗边缘并闭合，成功抓取物体。随后，机械臂垂直向上提升，将灰色碗从桌面上提起，悬停在半空中。", + "correction_plan": "当前抓取已完成且物体悬空，接下来的动作是将物体运输到目标位置。建议机器人控制机械臂向右前方（相对于基座）移动，使灰色碗位于白色红边盘子的正上方，然后垂直下降释放碗。", + "error_success_analysis": "该动作是成功的。机器人能够精准定位目标物体（灰色碗），在下降过程中没有发生碰撞。夹爪闭合时机恰当，稳固地抓住了碗沿，且在提升过程中物体保持稳定，没有滑落，这标志着抓取环节的完美执行。", + "frame": 57, + "progress": 40, + "progress_check": "1", + "progress_explanation": "视频开始时进度为25%，处于接近碗的阶段。在视频过程中，机器人成功靠近了对灰色碗的边缘准备夹取。根据任务规划，'抓夹抓住灰色的碗'对应50%。虽然视频结束时未完成夹取动作所以标注进度为40%，这表示任务取得了实质性进展，从接近阶段过渡到了准备抓取阶段，数值合理地反映了这一过程的上升。", + "state_description": "当前状态显示机器人已经成功对准目标物体边缘准备抓取。白色的机械臂正靠近灰色的金属碗。目标容器带红边的白色盘子位于机器人的右前方，目前为空。周围的干扰物（如矩形食品盒、银色杯子和其他碗）未受影响。后续规划是将机械臂向下移动并关闭抓夹，将碗运送到盘子上方并放下。", + "time": 1.8928571428571428, + "vlm_progress": 50 + }, + { + "action_description": "在这段视频中，机械臂末端夹爪最初位于桌子中央偏左的灰色碗上方，呈现接近状态。随后，机械臂并没有执行抓取动作，而是垂直向上抬起并向左后方回撤，远离了目标灰色碗，夹爪保持张开状态，未与碗发生有效交互。", + "correction_plan": "应控制机械臂末端执行器再次向下移动，接近并对准桌子中央的灰色碗。确保夹爪中心与碗心重合，下降高度直至可以抓取，随后闭合夹爪完成抓取动作。", + "error_success_analysis": "该动作是错误的。机械臂在应当执行'抓取'（50%）动作的前置位置，却执行了相反的'向左翻转'动作，直接导致了任务进度的回退。这属于执行了无效路径或错误的撤退动作。", + "frame": 78, + "progress": 10, + "progress_check": 1, + "progress_explanation": "任务规划中，40%代表接近目标。视频结束时，由于机械臂执行了水平角度的翻转，使得夹爪与灰色碗的处于碰撞阶段，因此任务进度被重置或判定为下降至10%（即刚开始移动的状态）。", + "state_description": "关键点状态显示，机械臂末端现已与灰色的碗发生碰撞并带有水平角度，未被抓取。白色盘子在右前方空置。", + "time": 2.59, + "vlm_progress": 10 + }, + { + "action_description": "机械臂控制抓夹从上方垂直向下移动，试图抓取位于桌子中央偏左位置的灰色碗。在接近过程中，抓夹并未准确对齐碗的中心或边缘，导致抓夹手指撞击碗沿。这次碰撞使得灰色碗发生侧翻，随即抓夹在空中闭合却未抓住任何物体。", + "correction_plan": "针对当前碗侧翻的状态，机器人需要调整策略。首先，可以通过末端执行器轻轻推动碗的底部边缘使其恢复开口向上的姿态；或者调整抓夹的滚转角度（Roll），尝试以水平或倾斜的角度去抓取侧翻的碗壁。成功建立稳固抓取后，再执行垂直提升动作，并按照原计划将其移动到左侧盘子上释放。", + "error_success_analysis": "该动作是错误的。失败的主要原因是空间定位误差，抓夹下落点偏离了碗的有效抓取部位。结果是抓夹手指与碗发生刚性碰撞将其打翻，而不是形成包络抓取，导致任务流程中断。", + "frame": 91, + "progress": -10, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂正处于向下移动接近物体的阶段，符合任务规划中'抓夹接近灰色的碗'（25%）之前的状态，即10%左右。视频结束时，由于抓取动作失败，且导致目标物体侧翻，不仅没有完成抓取（50%），反而破坏了物体的初始稳定状态，使得后续操作比从零开始更困难（需要扶正或特殊姿态抓取），因此进度值不仅归零，更被判定为负值（-10%），这合理地反映了任务的严重倒退。", + "state_description": "视频结束时，机械臂抓夹位于半空中，处于打开且空载状态。目标灰色碗侧翻在桌面上，位置相较于初始位置发生了偏移。盘子和其他物体保持不动。当前的物体姿态（侧翻）增加了后续抓取的难度，任务处于失败状态。", + "time": 3.025, + "vlm_progress": 0 + }, + { + "action_description": "在这段视频中，机械臂的动作主要集中在桌面后方靠近底座的区域。机械臂末端并没有去抓取位于右侧的目标灰色碗，而是向下移动并紧贴桌面。整个过程中，机械臂处于碰撞或受阻状态，动作幅度很小，且未表现出向目标物体靠近的趋势。", + "correction_plan": "建议的纠正动作是：首先，机械臂需要垂直向上移动（提升Z轴高度）；其次，机械臂应向左前方上移，将末端执行器移动到桌子中央灰色碗的正上方，调整姿态准备下放抓取。", + "error_success_analysis": "这段动作是错误的。成功的动作应当是机械臂抬起并向右后方移动以接近灰色碗。然而，实际动作是机械臂在底座附近向下压并与非目标物体发生碰撞。这不仅偏离了目标方位，还造成了物理干涉，属于导航或规划失败。", + "frame": 106, + "progress": -20, + "progress_check": "1", + "progress_explanation": "根据任务规划，0%是开始移动，25%是接近碗。视频开始时进度已评估为-10%，意味着之前已出现错误。在视频结束时，机械臂不仅没有纠正错误，反而继续陷于与底座附近物体的碰撞中，没有任何向目标（灰色碗）移动的有效位移。这种持续的无效操作和潜在的死锁状态导致任务进度进一步评估为-20%，表示任务执行情况比开始时更糟。", + "state_description": "当前关键点状态显示机械臂处于严重的错误位置。抓夹未持有任何物体，且位置极低。任务状态处于停滞且需要纠错的阶段，机械臂并未处于任何有效抓取路径上。", + "time": 3.53, + "vlm_progress": 0 + }, + { + "action_description": "在这段视频中，机械臂处于极度扭曲的姿态下尝试保持或微调位置。碗被抓夹夹持，但方向呈侧立状态（约90度倾斜），而非水平。机械臂的腕部关节弯曲角度极大，整体动作显得僵硬且不协调，似乎卡在了一个奇异点或碰撞边缘，没有明显的向盘子方向的有效移动。", + "correction_plan": "建议的修正计划：1. 停止当前动作并复位（Reset），机械臂应松开抓夹将碗放回桌面，并移动到安全高度。2. 重新规划抓取动作，调整末端执行器姿态，确保从碗的正上方垂直向下（Top-down）接近碗。3. 执行正确的抓取序列：移动至碗上方 -> 垂直下降 -> 闭合抓夹 -> 垂直提升（保持碗口水平） -> 平移至盘子上方 -> 下降放置。关键在于保持碗在运输过程中的水平姿态。", + "error_success_analysis": "这段视频的动作是失败的。主要原因在于抓取策略或运动规划错误，导致物体（灰色碗）被以错误的姿态（侧立）抓取和持有。这种姿态使得后续“将碗放在盘子上”的动作在物理上不可行（无法平稳放置），且机械臂的扭曲姿态增加了碰撞风险。负的进度值也证实了这是一次失败的操作尝试。", + "frame": 124, + "progress": -30, + "progress_check": "1", + "progress_explanation": "根据任务规划，抓取住碗本应对应50%的进度。然而，视频开始时进度为-20%，结束时为-30%，这表明系统已经检测到严重的执行错误（如运动规划失败、姿态异常或碰撞）。进度值的下降（从-20%到-30%）反映了错误状态的持续或恶化，意味着当前的动作并没有推动任务向成功方向发展，反而是在错误状态中越陷越深。因此，负数进度值准确地表征了当前的失败情况。", + "state_description": "当前关键点状态显示机械臂已完成对目标物体（灰色碗）的物理抓取，此时抓夹紧闭，碗随机械臂悬空。然而，状态异常：1. 碗的姿态错误，口部朝向侧面，无法进行正常的放置操作。2. 机械臂构型处于非正常的运输姿态，关节应力可能过大。3. 目标位置（右前方的盘子）仍然空置。整体场景处于一个典型的操作失败或死锁状态。", + "time": 4.13, + "vlm_progress": "50" + }, + { + "action_description": "机器人机械臂从中间位置开始，向下并向右侧移动而不是移动去抓取目标灰色碗。", + "correction_plan": "机械臂应立即停止当前动作，向上抬起，复位，直到抓夹位于桌子中央灰色碗正上方，再尝试向下接近并抓取该碗。", + "error_success_analysis": "这段视频的动作是错误的。任务要求抓取桌子中央偏左的灰色碗，但机械臂的运动轨迹是向右下方移动，这属于方向性的规划错误或目标识别错误。", + "frame": 144, + "progress": -50, + "progress_check": 1, + "progress_explanation": "这段视频开始时的进度为-30%，结束时为-50%，进度值下降（负值幅度增加），表明任务执行出现了严重错误。机器人没有按照规划去接近灰色的碗，而是错误地移动到了右侧的无关物体处，导致离目标状态越来越远，因此被判定为严重的负向进度。", + "state_description": "当前机械臂抓夹悬停在桌子右侧上方，位置较低，机器人完全偏离了目标物体所在区域。", + "time": 4.814999, + "vlm_progress": 0 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503108.84781/observation.images.Failure1769503108.84781/Failure1769503108.84781.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503108.84781/observation.images.Failure1769503108.84781/Failure1769503108.84781.json new file mode 100644 index 0000000000000000000000000000000000000000..b14911aaf6ac22491955cd6c2c27105279db3352 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503108.84781/observation.images.Failure1769503108.84781/Failure1769503108.84781.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "机械臂从视频开始时的静止初始状态启动，夹爪张开，开始向下方及前方移动，逐渐朝向位于桌子中央的目标灰色碗靠近。", + "correction_plan": "继续控制机械臂沿着当前轨迹向下并向前方移动，直到夹爪移动到目标灰色碗的正上方并接近碗口（达到接近状态），准备闭合夹爪。", + "error_success_analysis": "这段动作是成功的。机械臂准确地识别了目标物体（中央的灰色碗）的位置，并启动了正确的运动轨迹，没有误向右侧边缘的干扰碗移动，也没有与左侧的电热炉或柜子发生碰撞。", + "frame": 12, + "progress": 10, + "progress_check": "1", + "progress_explanation": "视频开始时进度为0%（静止），结束时为10%。进度上升是因为机械臂已经启动并执行了初步的移动动作，脱离了起始点。根据规划，接近碗是25%，目前处于从0%到25%之间的过渡阶段，因此10%的进度是合理的，代表动作的起始。", + "state_description": "当前机械臂正在执行前往目标的轨迹中。目标灰色碗位于桌子中央区域，右前方有盘子，正前方有食物包装盒。机械臂尚未到达能够抓取的高度，也尚未贴近目标物体。", + "time": 0.39935064935064934, + "vlm_progress": "10" + }, + { + "action_description": "机械臂从悬停状态开始，没有对准桌子中央的目标灰色碗下降，而是错误地向右侧翻转，降低高度并没有抓取而是机械臂与灰色的碗发生碰撞。", + "correction_plan": "松开夹爪，将机械臂向上抬起（+Z方向）以脱离电热炉，然后向左（-Y方向）平移回到桌子中央区域，对准灰色碗的正上方，准备执行垂直下降抓取动作。", + "error_success_analysis": "这是一个失败的动作。从方位上看，机械臂应该在水平位置保持在中央并向下移动（Z轴向下），但它却向右（Y轴正向）和后方移动，导致偏离目标。机械臂未能正确识别或定位目标物体。", + "frame": 39, + "progress": -10, + "progress_check": "1", + "progress_explanation": "这段视频中，机械臂执行了完全错误的动作，它没有去抓取目标物体，而是向右侧翻转并于灰色的碗发生了碰撞。这不仅没有推进‘抓取灰色碗’的任务进度，反而因为执行了错误操作导致任务失败，需要重置，因此任务进度被评估为负值（-10%），表示严重的倒退和错误。", + "state_description": "关键点状态显示机械臂处于错误位置，夹爪与灰色的碗发生接触。目标灰色碗位于桌子中央偏左位置，未被抓取。盘子位于右前方，处于空置状态。任务处于失败状态，机械臂与目标物体交互。", + "time": 1.295, + "vlm_progress": "0" + }, + { + "action_description": "视频中，机械臂从桌面中部偏右的上方位置开始动作，向右侧水平移动并略微上升，将末端夹爪移动到了位于桌面最右侧边缘的灰色碗上方。", + "correction_plan": "机器人应该立即停止像上方移动。修正动作为：先向上抬起夹爪（+Z方向）以脱离当前干扰物，然后向右平移（+Y方向/图像右侧）至桌面中央区域，直到夹爪垂直对准位于盘子右侧那个灰色碗，再进行下降抓取。", + "error_success_analysis": "这段视频的动作是错误的。任务明确要求抓取“桌子中央”的灰色碗，但机械臂却向上方移动距离目标物灰色的碗越来越远。这是路径规划错误。", + "frame": 82, + "progress": -30, + "progress_check": 1, + "progress_explanation": "相比于开始时刻，任务进度从-10%下降到了-30%。原因在于机器人不仅处于错误的位置，而且在这一片段中继续执行了错误的决策。这种行为使得机器人距离正确抓取目标的动作路径更远，错误程度加深，因此进度值进一步下降。", + "state_description": "当前关键点状态显示，机械臂的夹爪正悬停在桌面最右侧的目标物灰色碗上方，呈现出准备抓取的姿态。真正的目标位于桌面中央的灰色碗被推动至与另一个灰色的碗靠在一起。盘子位于右前方，处于空置状态。机器人完全偏离了正确的目标物体，处于错误的对象交互状态。", + "time": 2.72, + "vlm_progress": 0 + }, + { + "action_description": "机械臂未夹持灰色的碗，从半空中向右后方移动。", + "correction_plan": "机械臂需要重新执行抓取动作：首先应需要机械臂复位，调整姿态对准灰色的碗；闭合夹爪抓取碗；成功抓取后，将碗提起并向左前方移动，直至到达红白花纹盘子上方；最后下降将碗放置在盘子上。", + "error_success_analysis": "该动作是失败的。错误原因在于目标位置判断错误和运动规划错误。任务要求将碗放在右前方的盘子上，但机械臂错误的向右后方移动，并没有夹取物体反而错误的将目标物挤出桌面。", + "frame": 129, + "progress": -50, + "progress_check": 1, + "progress_explanation": "视频开始时进度为-30%，结束时为-50%。进度下降且为负数的原因是机械臂执行了完全错误的动作逻辑：它没有将已抓取的碗运送到目标盘子（左前方）。这一过程不仅没有推进任务（如达到75%或100%），反而丢失了已完成的抓取状态（50%），并增加了纠正错误的成本，因此进度被评估为更低的负值。", + "state_description": "当前关键点状态显示任务执行失败。目标灰色的碗已经被错误的挤出桌子之外。盘子目前是空的。机械臂悬停在桌面右上方，夹爪处于张开状态，未持有物体。场景中存在需要纠正的错误状态。", + "time": 4.295454545454545, + "vlm_progress": 0 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503113.9684608/observation.images.Failure1769503113.9684608/Failure1769503113.9684608.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503113.9684608/observation.images.Failure1769503113.9684608/Failure1769503113.9684608.json new file mode 100644 index 0000000000000000000000000000000000000000..270bccf40e270704540385d2f1b2f81611bc09b7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503113.9684608/observation.images.Failure1769503113.9684608/Failure1769503113.9684608.json @@ -0,0 +1,69 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频片段展示了任务的起始阶段。机械臂从桌面上方的高位初始状态开始，夹爪呈张开状态。机械臂开始缓慢向下并向右前方移动，逐渐调整姿态，朝向位于桌子右前方红边盘子和中间彩色盒子之间的光滑灰色碗方向进发。", + "correction_plan": "基于当前成功的启动状态，下一步应继续控制机械臂向下移动，缩短夹爪与光滑灰色碗之间的距离，直到夹爪移动到碗的近旁，达到任务规划中的“抓夹接近灰色的碗”的状态。", + "error_success_analysis": "该动作是成功的。机械臂正确地响应了启动指令，且移动方向准确指向了目标物体所在的右前方区域，没有出现任何碰撞、停滞或方向错误的异常情况。", + "frame": 28, + "progress": 5, + "progress_check": "1", + "progress_explanation": "这段视频对应任务进度的0%到5%。机械臂从静止状态（0%）被激活，开始执行抓取任务的第一步移动。虽然机械臂尚未到达“接近碗”（25%）的阶段，但它已经成功启动并沿着正确的路径开始位移，因此任务进度有小幅提升，达到5%。", + "state_description": "当前状态下，机械臂悬停在半空中，正处于从初始位置向工作区域过渡的阶段。桌面上物品摆放整齐，目标物体——光滑的灰色金属碗静止在桌面中央。机械臂的夹爪尚未接触任何物体，距离目标碗仍有较大距离，正处于粗略定位的初步移动过程中。", + "time": 0.94, + "vlm_progress": 5 + }, + { + "action_description": "视频中，机械臂从桌面上方的中间位置开始，向右侧快速移动，完全背离了位于桌面的目标物体。", + "correction_plan": "机械臂应立即改变运动方向，从当前的右侧位置向左下方移动，目标是对准彩色包装盒后面的那个灰色金属碗，准备执行抓取。", + "error_success_analysis": "这段动作是失败的。根据任务规划，机械臂应当接近位于桌子中央的灰色碗。然而，视频显示机械臂移动到右侧上方。这种方向性的错误使得机械臂无法执行后续的抓取动作，严重偏离了任务目标。", + "frame": 46, + "progress": -10, + "progress_check": 1, + "progress_explanation": "这段视频开始时的进度为5%，代表机械臂处于待命或刚开始动作的状态。然而，视频结束时任务进度变为-10%，这是因为机械臂执行了错误方向的移动。任务要求抓取桌面中间的碗，机械臂却移动到了右侧，这不仅没有完成“接近灰色的碗”（本该达到25%）的步骤，反而远离了目标，导致任务状态比开始时更差，需要额外的步骤纠正，因此进度为负值。", + "state_description": "当前机械臂抓夹处于高位，正对深褐色抽屉柜。目标物体静止在桌面上，与机械臂的距离显著增加。场景中未发生任何与抓取相关的有效接触或接近动作。", + "time": 1.54, + "vlm_progress": 0 + }, + { + "action_description": "在视频片段中，机械臂将末端抓夹移动到了桌面的右后方区域，远离了位于桌子中央的目标灰色碗。抓夹在移动过程中呈现出向右上方严重倾斜的姿态，完全没有对准任何物体，也没有执行抓取动作所需的下降或接近轨迹。", + "correction_plan": "机械臂需要重置姿态，将抓夹开口朝下或水平对准。然后将末端执行器移动到桌子前方中部区域（目标物灰色的碗上方处），定位到光滑灰色碗的正上方，随后垂直下降以执行抓取动作。", + "error_success_analysis": "该动作是失败的。主要错误在于空间定位偏差和姿态规划错误：目标物体位于前方中部，而机械臂移动到了后方最右侧；同时抓夹没有调整到适合抓取碗边缘的水平或垂直角度，而是指向了无效的空中区域。", + "frame": 67, + "progress": -20, + "progress_check": "1", + "progress_explanation": "任务目标是抓取桌子中部的灰色碗，但机械臂却向右后方移动并伴随错误的姿态旋转，这与任务规划背道而驰。开始时进度已为负值（-10%），表示已处于错误状态，随着动作进一步偏离有效工作空间，任务完成的可能性进一步降低，因此结束时进度下降为-20%，表示严重的执行错误。", + "state_description": "当前机械臂悬停在右后方的小型金属容器上方，抓夹角度异常，不平行于桌面。目标光滑灰色碗静止桌子中间，未受到任何干扰。场景显示机器人完全偏离了预定的抓取位置和姿态，处于任务失败的状态。", + "time": 2.23, + "vlm_progress": "0" + }, + { + "action_description": "视频开始时，白色机械臂的抓夹位于桌面右侧区域，正对红边盘子右后方的光滑灰色碗上方，高度较低，看似准备抓取。随后，机械臂执行了垂直向上提升并向右后方撤退的动作，导致抓夹远离了目标灰色碗，最终悬停在桌面中心偏后的高空区域。", + "correction_plan": "机械臂应立即停止撤退，改为向左前方上方移动，将抓夹重新定位到光滑灰色碗的正上方。在确认对准后，控制抓夹垂直下降，包围碗体，并尝试闭合抓夹以完成抓取。", + "error_success_analysis": "这段动作是错误的。任务的预定目标是抓取桌面上的灰色碗，而机械臂的实际动作是向上并向后撤退，这与接近并抓取目标的任务要求背道而驰，导致任务无法推进。", + "frame": 108, + "progress": -30, + "progress_check": 1, + "progress_explanation": "在视频开始时，机械臂虽处于错误状态（-20%），但位置尚在目标附近。视频过程中，机械臂进一步向上向后移动，完全脱离了对目标物体的接近状态，使得完成任务的距离变大。这种远离目标的负向操作导致任务进度进一步下降至-30%，数值变化正确反映了任务失败程度的加深。", + "state_description": "当前机械臂高高悬停在桌面上方，抓夹处于张开状态且未抓取任何物体。目标光滑灰色碗静止在红边盘子与中央彩色食品盒之间。由于机械臂已经移动到远离目标的上方位置，当前状态无法直接进行抓取，属于任务执行失败后的重置或闲置状态。", + "time": 3.603896103896103, + "vlm_progress": 0 + }, + { + "action_description": "在这段视频中，机械臂处于桌面上方较高的位置，并没有向下移动去接近桌面上的物体。机械臂似乎在执行远离目标区域的动作，或者维持在某种高位复位状态，并没有表现出向桌面中间灰色碗移动的意图。末端执行器（抓夹）保持张开状态，悬停在空中。", + "correction_plan": "为了修正当前状态，机械臂需要首先提升高度（沿Z轴向上移动），同时向桌子的中间（灰色碗的坐标位置）移动。抓夹需要调整姿态以垂直对准灰色碗的上方，准备进行抓取动作。", + "error_success_analysis": "这是一个错误的动作片段。根据任务规划，机器人应该移动抓夹接近灰色的碗（进度0%到25%）。然而，视频中机器人保持在高处，没有下降，也没有向目标碗所在的中间方移动。这种行为无法完成抓取任务，属于执行路径规划错误或控制失败。", + "frame": 143, + "progress": -50, + "progress_check": "1", + "progress_explanation": "视频片段的标注进度从-30%变为-50%，负数通常表示任务执行失败或处于异常状态。且数值下降（从-30到-50）说明机器人的状态相对于目标而言变得更差，或者距离目标更远。结合视觉信息，机器人完全没有接近目标（本应对应25%的进度），反而处于无效的高位悬停状态，因此这是一个失败的操作片段，进度值为负数合理地反映了这一错误状态。", + "state_description": "当前场景中，机械臂悬停在半空中，距离桌面较远，抓夹处于张开状态且未抓取任何物体。目标物体——光滑的灰色小碗静止位于桌子中间。机械臂的位置显然没有对准目标碗，且两者之间的距离没有缩小，处于任务尚未开始或已经失败的状态。", + "time": 4.765, + "vlm_progress": "0" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503114.0864384/observation.images.Failure1769503114.0864384/Failure1769503114.0864384.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503114.0864384/observation.images.Failure1769503114.0864384/Failure1769503114.0864384.json new file mode 100644 index 0000000000000000000000000000000000000000..797cb69a724bd20392a3955c22890f49654b5852 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503114.0864384/observation.images.Failure1769503114.0864384/Failure1769503114.0864384.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "在视频开始时，机械臂位于高处初始位置。视频过程中，机械臂向下并向右侧移动。", + "correction_plan": "机械臂应继续向下运动，并将机械臂的末端执行器对准碗的边缘进行夹取，保持夹取状态上移将碗放在桌面右侧的盘中上。", + "error_success_analysis": "这段视频的动作是正确的。任务要求抓取“桌子中央灰色的碗”，机械臂目前正在向桌面上灰色的碗靠近，并悬停与目标物的右上方。", + "frame": 47, + "progress": 25, + "progress_check": "0", + "progress_explanation": "依据任务规划，此阶段应完成‘抓夹接近灰色的碗’并将进度推至25%。机械臂目前悬停在灰色的碗上方偏右，准备进行夹取动作。", + "state_description": "当前抓夹处于张开状态，位置在目标物灰色的碗上方。任务目标“桌子中央的灰色碗”位于当前抓夹位置的前方偏右侧，且并未被抓夹接近。右前方的盘子和桌子右侧边缘的另一个灰色碗均未被操作。", + "time": 1.555, + "vlm_progress": "0" + }, + { + "action_description": "在视频片段中，机械臂起初位于桌子中央灰色碗的上方附近。随后，机械臂执行了向上提升并向右略微移动的动作，导致抓夹与目标灰色碗的垂直和水平距离都拉大，远离了抓取位置。", + "correction_plan": "为了纠正当前状态，机械臂应当向左下方移动，重新将抓夹中心对准桌子中央灰色碗的正上方，随后垂直下降，直到抓夹能够包围碗壁以便进行抓取。", + "error_success_analysis": "该动作被视为错误或无效的操作，因为它违反了“接近并抓取”的任务逻辑。机械臂在应当下降抓取的时候选择了抬升和远离，这导致了任务进度的回退，未能成功推进任务。", + "frame": 75, + "progress": 15, + "progress_check": 1, + "progress_explanation": "任务规划定义25%为抓夹接近灰色的碗。视频开始时符合这一进度。但在视频过程中，机械臂非但没有继续下降完成抓取，反而向上并向右移动，远离了目标，导致之前的‘接近’状态被破坏，任务完成度发生了倒退。因此，进度由开始时的25%合理下降至结束时的15%。", + "state_description": "当前机械臂处于悬空状态，位置偏高且偏离桌子中央，位于目标碗的右上方。抓夹保持张开，未抓取任何物体。目标灰色碗静止在桌子中央，右前方的盘子和周围其他物品位置未变。机械臂目前的状态不再适合立即抓取，需要重新调整位置。", + "time": 2.495, + "vlm_progress": 15 + }, + { + "action_description": "在这段视频中，机械臂执行了一个向上的动作。具体来说，机械臂末端抓夹从靠近桌子中央灰色碗的低位开始，垂直向上抬起，并伴随轻微的向右后方（朝向机械臂底座方向）回缩，使得抓夹与目标灰色碗的距离拉大。", + "correction_plan": "为了纠正当前状态并继续任务，机械臂需要重新执行接近动作。具体操作应控制抓夹向下（降低Z轴高度）移动，同时在水平方向上向左后方微调，以确保抓夹中心精确对准桌子中央灰色碗的正上方，为闭合抓夹做准备。", + "error_success_analysis": "这段视频的动作在推进任务进度上是失败的。成功的动作应该是继续向下移动并调整水平位置以对准碗口进行抓取。当前的动作是向上撤退，导致抓夹远离了目标对象，这通常发生在路径规划重置或为了避障而进行的调整中，但直接结果是降低了当前的任务完成度。", + "frame": 102, + "progress": 5, + "progress_check": 1, + "progress_explanation": "根据任务规划，0%到25%是抓夹接近灰色碗的阶段。视频开始时进度为15%，表示抓夹已移动到离碗较近的位置。然而，视频中机械臂执行了向上抬起并远离碗的动作，这与'接近目标'的任务目标背道而驰。这种反向运动导致任务进度回退，因此进度值从15%下降到了5%，意味着状态回到了动作开始后的初步移动阶段。", + "state_description": "当前关键点状态显示，机械臂抓夹悬停在桌面上方较高的位置，处于张开状态，且未抓取任何物体。目标灰色碗静止在桌子中央，未发生位移。由于抓夹位置抬高并远离了目标，机械臂不再处于即将抓取的姿态，而是回退到了接近动作的早期阶段。", + "time": 3.4155844155844157, + "vlm_progress": 5 + }, + { + "action_description": "在这段视频中，机器人机械臂悬停在桌面上方，抓夹处于闭合状态。抓夹的位置主要位于画面中间的红黄相间食品包装盒与右侧的白色圆盘上方，相对于任务目标的桌子中央灰色碗，抓夹位置明显偏右且高度较低。机械臂似乎执行了一个远离目标或无效的悬停动作，并未向中央的灰色碗靠近。", + "correction_plan": "建议机械臂执行以下动作：首先控制抓夹向左侧水平移动，直至其位于桌子中央灰色碗的正上方；随后垂直下降高度，使抓夹手指到达灰色碗边缘的抓取预备位置，从而完成'接近'这一阶段的任务。", + "error_success_analysis": "这段动作被判定为错误或无效。成功动作应当是抓夹向左移动并下降以接近桌子中央的灰色碗。然而，画面显示抓夹停留在桌子右侧的包装盒上方，方位上严重偏离目标，且没有下降趋势，未能缩短与目标的距离，导致无法推进任务进度。", + "frame": 133, + "progress": 1, + "progress_check": "1", + "progress_explanation": "根据任务规划，接近灰色碗应达到25%的进度。视频开始时进度为5%，结束时降为1%，这表明机械臂在这段时间内没有执行有效的接近动作，反而可能向右侧或上方移动，导致抓夹距离目标的有效抓取位置变远，或者只是在非目标区域无效悬停，使得系统判定任务进度回退到了近乎零点的初始状态。", + "state_description": "当前关键点状态显示，机械臂位于初始或待机高度，抓夹未接触任何物体。目标灰色碗静止在桌子中央，与抓夹之间有明显的水平距离和垂直高度差。抓夹位于目标的右侧区域，未能形成接近抓取的姿态。场景中其他物体如柜子、盘子等位置未变，任务状态停留在极早期阶段，尚未完成接近目标的步骤。", + "time": 4.435, + "vlm_progress": 1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503261.80112/observation.images.Failure1769503261.80112/Failure1769503261.80112.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503261.80112/observation.images.Failure1769503261.80112/Failure1769503261.80112.json new file mode 100644 index 0000000000000000000000000000000000000000..7ea5632aae407956ae547fa7834e0489dba81d70 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503261.80112/observation.images.Failure1769503261.80112/Failure1769503261.80112.json @@ -0,0 +1,45 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于高处。随后，机械臂向下并向右前方移动，同时末端抓夹张开。抓夹最终移动并悬停在桌面右侧（深棕色抽屉柜前方）的一个碗上方，而不是移动向位于桌子正中央的目标灰色碗。", + "correction_plan": "机械臂应立即停止抓取右侧碗的动作。纠正方案为：机械臂需向上抬起以脱离当前误操作区域，然后向左平移，直到抓夹垂直对准桌子正中央的目标灰色碗，随后再执行下降接近的动作。", + "error_success_analysis": "这段动作是错误的。根据任务描述，目标是‘桌子中央灰色的碗’。视频中清晰可见机械臂向右侧移动，并将抓夹对准了位于抽屉柜前的右侧碗，而非中央的目标碗。这属于典型的目标定位错误或执行路径偏差。", + "frame": 41, + "progress": -5, + "progress_check": "1", + "progress_explanation": "任务规划的第一阶段应当是接近桌子中央的灰色碗（预计进度25%）。然而，机械臂错误地识别或移动到了右侧的另一个碗上方。由于这一动作完全偏离了正确的目标物体，不仅没有产生有效进度，反而执行了错误操作，导致任务状态倒退，因此结束时的任务进度被判定为-5%。", + "state_description": "当前关键点状态显示，白色机械臂的抓夹处于闭合状态。桌子正中央的目标灰色碗完好未动，未被机械臂接近。盘子位于右前方，处于等待放置的状态。场景中存在明显的目标选择错误，机械臂偏离了预定的任务路径。", + "time": 1.38, + "vlm_progress": "0" + }, + { + "action_description": "视频开始时，白色机械臂右上方的悬空位置。在视频过程中，机械臂末端向右上方进行了微小的移动，不仅没有接近桌面的物体，反而进一步远离了位于桌子中央的目标灰色碗。", + "correction_plan": "机械臂应立即停止向左下方的移动，控制底座和关节将末端执行器向右侧及下方移动，瞄准桌子中央灰色碗的位置，使其进入可抓取的工作区域。", + "error_success_analysis": "该动作是明显错误的。成功的关键在于接近位于桌子中央的目标，而机械臂却向右上方移动，增加了与目标的距离。这种运动轨迹与任务目标背道而驰，属于执行错误。", + "frame": 84, + "progress": -15, + "progress_check": 1, + "progress_explanation": "根据任务规划，机械臂应该开始移动并接近灰色的碗（0%到25%阶段）。然而，视频中机械臂从一个偏离的位置（起始进度-5%）继续向远离目标的方向（右上方）移动，导致距离目标的误差增大，无法完成接近动作。因此，任务进度不增反降，从-5%下降到-15%，这反映了任务执行的失败和状态的恶化。", + "state_description": "当前机械臂处于桌子右侧上方的高空中，夹爪张开，未抓取任何物体。目标灰色碗位于桌子正中央，处于静止状态。机械臂的位置和运动方向完全偏离了目标物体，处于无法执行抓取任务的错误状态。", + "time": 2.805, + "vlm_progress": 0 + }, + { + "action_description": "在视频片段中，白色机械臂的末端执行器从画面上方的中间区域向右上方移动。机械臂处于抬起状态，且持续向上远离桌面，抓夹处于张开状态且未抓取任何物品。整个过程中，机械臂没有尝试接近桌面的任何物体，而是执行了远离目标区域的撤退动作。", + "correction_plan": "机械臂应该停止当前的上升右移动作。为了纠正，机械臂需要向左下方移动，将末端执行器对准桌子正中央的灰色碗的上方，然后下降高度以准备进行抓取。", + "error_success_analysis": "这段动作是错误的。任务目标是抓取位于桌子中央的灰色碗，但这需要机械臂向下并向右移动以接近桌面中心。视频中机械臂却向右上方移动，远离了所有可操作对象。这种反向运动无法达成任何任务子目标，属于导航或规划错误。", + "frame": 127, + "progress": -30, + "progress_check": 1, + "progress_explanation": "任务的第一步应当是抓夹接近灰色的碗（目标进度25%）。然而，视频中机械臂不仅没有接近，反而向右上方移动，拉大了与目标碗的距离。这种背离目标的运动导致任务状态比开始时更加糟糕，因此进度从-15%进一步下降到了-30%，反映了任务执行的严重偏离。", + "state_description": "当前机械臂右上方高处，远离桌面的操作区域。目标灰色碗静止在桌子正中央，没有任何交互发生。盘子位于右侧，其他物品也保持原位。机械臂的状态显示它完全偏离了抓取灰色碗的任务路径，处于一个无效或错误的起始位置，且正在进一步远离目标。", + "time": 4.225, + "vlm_progress": 0 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503439.2715025/observation.images.Failure1769503439.2715025/Failure1769503439.2715025.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503439.2715025/observation.images.Failure1769503439.2715025/Failure1769503439.2715025.json new file mode 100644 index 0000000000000000000000000000000000000000..d06ae75a5ad3b43e480811d1c3e1c75e5b8c86d1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503439.2715025/observation.images.Failure1769503439.2715025/Failure1769503439.2715025.json @@ -0,0 +1,69 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于桌子后方正中央的高位初始状态，处于静止。机械臂启动，抓夹保持张开状态，整体沿垂直方向向下移动，并伴随轻微的向后方的位移。动作幅度较小，仅为抓取流程的起始下降阶段。", + "correction_plan": "基于当前成功的启动状态，接下来的动作应是继续控制机械臂向下移动（针对位于桌面中央的目标灰色碗），直至抓夹到达该碗的正上方区域，为接近（25%节点）和抓取做准备。", + "error_success_analysis": "该动作分析为成功。机械臂平稳地从初始位置启动，运动方向朝向桌面工作区（向下及向前），符合抓取任务的常规路径规划。在这一起始阶段，机械臂未表现出错误的移动方向（如向后或向上）或异常停顿，为后续接近目标奠定了正确基础。", + "frame": 19, + "progress": 5, + "progress_check": 1, + "progress_explanation": "根据任务规划，0%对应动作开始，25%对应接近目标。这段视频展示了机械臂从完全静止到开始向下运动的过程，处于这两个节点之间且更靠近起点。机械臂已经成功启动并产生位移，因此任务进度由0%上升至5%是符合逻辑的，代表动作已初始化。", + "state_description": "当前场景中，桌面上的所有物品（盘子、三个灰色碗、盒子、抽屉柜）均保持静止，未发生位置改变。机械臂已离开复位高度，正在向桌面区域靠近，但抓夹距离目标（桌子中央的灰色碗）仍有较远的垂直和水平距离。机器人处于任务执行的初步启动状态，尚未进入精细对准或接近阶段。", + "time": 0.63, + "vlm_progress": 5 + }, + { + "action_description": "机械臂从初始位置启动，向右前方移动并下降，将抓夹定位在桌子右侧、圆盘后方的灰色碗上方。", + "correction_plan": "机械臂应立即停止当前对右侧移动的操作，提升高度并向左移动，将抓夹定位到桌子中央的那个灰色碗上方，然后垂直下降准备抓取正确的目标。", + "error_success_analysis": "该动作是错误的。主要原因是目标识别错误。任务明确指定抓取“桌子中央”的灰色碗，而机械臂却向“右侧”移动。方位上，机械臂应向下移动接近中央的碗，而不是向右侧移动。", + "frame": 35, + "progress": -5, + "progress_check": 1, + "progress_explanation": "这段视频开始时进度为5%，结束时进度为-5%。任务要求抓取桌子中央的灰色碗，但机械臂错误地移动向右侧。由于执行了针对错误目标的动作，导致任务无法完成且需要回退或重置，因此任务进度评估为负值，表示严重的错误或失败。", + "state_description": "当前机械臂的抓夹悬停在右侧灰色碗的上方，抓夹处于张开状态。桌子中央偏右的目标灰色碗静止未动，深色抽屉柜和圆盘等其他物体位置保持不变。机器人处于抓取前的位置，但朝向了错误的方向。", + "time": 1.165, + "vlm_progress": 0 + }, + { + "action_description": "机械臂从高处向右下方移动，尝试接近位于圆盘后方的灰色碗。在接近过程中，夹爪并未准确对准或张开以包络碗体，而是直接撞击了桌面上另一个碗的边缘。", + "correction_plan": "机械臂应立即向上移动（+Z方向）以离开当前碰撞区域。随后需要重置场景（将碗扶正）或重新规划对侧翻物体的抓取策略（难度较大）。目标应为桌子中央的碗，机械臂应重新定位至中央碗的上方，张开夹爪，规划垂直下降的抓取路径。", + "error_success_analysis": "这是一次失败的操作。首先，物理交互层面，机械臂的末端轨迹与物体发生碰撞，未能完成“抓取”这一核心动作，反而破坏了物体的初始状态（将碗撞倒）。其次，从任务描述“抓取桌子中央灰色的碗”来看，机械臂实际操作的是位于“右侧”的碗，这可能还涉及到了目标识别或规划的目标错误。", + "frame": 58, + "progress": -15, + "progress_check": "1", + "progress_explanation": "视频开始时进度为-5%，暗示任务已经处于某种异常或重置状态。在视频过程中，机械臂的操作导致目标物体（碗）被撞倒，物体状态从可抓取变为不可抓取（侧翻），使得完成任务的难度显著增加或需要人工干预重置，因此任务进度进一步下降至-15%，表示严重的执行错误。", + "state_description": "当前机械臂末端位于桌面右侧低空。目标灰色碗已经侧翻并倒在桌面上，处于非直立状态，极难被普通夹爪抓取。圆盘上空无一物。其他桌面物品位置未受干扰。任务处于明显的失败状态。", + "time": 1.93, + "vlm_progress": 0 + }, + { + "action_description": "视频中，机械臂夹爪处于闭合状态，从桌子右侧（盘子后方）的灰色碗上方垂直向上抬起，并略微向右后方移动。在整个移动过程中，夹爪是空的，没有抓取到任何物体，目标灰色碗始终静止在桌面上，没有随机械臂移动。", + "correction_plan": "机械臂需要立即停止当前的离开动作，重新张开夹爪。然后将末端执行器移动回桌面上中央的灰色碗的正上方，调整位置以确保对准中心。接着垂直下降直到夹爪指尖触及桌面或完全包围碗身，再次闭合夹爪进行稳固抓取，确认抓牢后再尝试提升。", + "error_success_analysis": "这是一次失败的操作。虽然机械臂到达了物体上方并尝试了闭合夹爪的动作，但在抬起手臂时，碗并没有被成功夹住，而是留在了桌面上。这通常是由于抓取位置偏差、夹爪未完全覆盖物体或摩擦力不足导致的抓空（Phantom Grasp）。", + "frame": 97, + "progress": -30, + "progress_check": "1", + "progress_explanation": "这段视频展示了一个失败的抓取尝试。开始时进度为-15%，暗示可能已经在进行修正或处于非正常流程中。视频结束时，机械臂空手抬起，确认了本次抓取彻底失败，任务没有取得任何实质性推进，反而因为无效动作浪费了时间并需要重新复位，因此任务进度进一步下降至-30%，表示这是一个明确的执行错误状态。", + "state_description": "当前机械臂悬停在半空中。目标灰色碗位于桌子中央，位置未变。盘子和桌面上其他物品（抽屉柜、盒子、其他碗）均处于静止状态。由于机械臂执行了抓取动作但未能带起物体，当前处于抓取失败的状态，需要重新进行对准和抓取操作。", + "time": 3.245, + "vlm_progress": "0" + }, + { + "action_description": "在这段视频中，机械臂保持静止，悬停在桌子右侧的上方位置，位于带红边的白色圆盘和右侧灰色碗的上方，没有进行任何明显的移动或操作。", + "correction_plan": "机械臂应该执行向右（Right）平移的动作，从当前右侧区域移动到桌面中央区域，直到其末端执行器位于中央灰色碗的正上方，为后续的下放抓取做准备。", + "error_success_analysis": "这段视频的动作是错误的。主要原因是方位错误：任务目标位于桌子中央（Central），而机械臂却停留在桌子右侧的非目标区域。机械臂没有表现出接近正确目标的意图，导致无法完成“抓取桌子中央灰色的碗”这一任务。", + "frame": 135, + "progress": -50, + "progress_check": "1", + "progress_explanation": "任务要求抓取桌子中央的灰色碗，但机械臂却悬停在右侧区域，完全偏离了目标位置。视频开始时进度为-30%，结束时变为-50%，这种负值的变化和维持通常表示任务执行处于错误状态、失败状态或严重偏离路径。在此片段中，机械臂没有进行任何纠正错误的尝试，因此被判定为进度恶化或确认失败。", + "state_description": "当前机械臂处于桌面的右侧区域，夹爪处于张开状态。任务指定的目标物体是位于桌面中央的灰色碗，而机械臂当前位置距离目标较远，且未对准目标。桌面上的所有物品（盘子、三个碗、抽屉柜、盒子）均保持静止，未被触碰。场景处于一种停滞或位置错误的状态。", + "time": 4.495, + "vlm_progress": "0" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503511.7280183/observation.images.Failure1769503511.7280183/Failure1769503511.7280183.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503511.7280183/observation.images.Failure1769503511.7280183/Failure1769503511.7280183.json new file mode 100644 index 0000000000000000000000000000000000000000..dbba7ea5b6f996414dd8f0b018722ee108bdfe54 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503511.7280183/observation.images.Failure1769503511.7280183/Failure1769503511.7280183.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于桌子后方正中的高处初始位置。随后，机械臂向下并向右侧移动，末端执行器最终悬停在桌子右侧上方。", + "correction_plan": "机械臂需要对准碗口边缘的方向下移，从当前的右侧位置向左侧水平移动，直到末端执行器垂直对齐于桌子中部的目标灰色碗上方，然后下降高度准备抓取。", + "error_success_analysis": "这段视频展示的动作是正确的。任务明确要求抓取桌子中央的灰色碗（位于中间区域），机械臂却向桌子右侧方向下移。", + "frame": 37, + "progress": 20, + "progress_check": "0", + "progress_explanation": "原始标注指出结束时进度为20%。相比于开始时刻的0%，机械臂确实从静止状态启动并执行了移动动作，这在时间线上构成了进展。然而，就任务逻辑而言，机械臂向右移动是远离目标的方向。", + "state_description": "当前机械臂末端位于桌子右侧区域，夹爪处于张开状态。目标灰色碗静止在桌子中部偏右的位置（盘子右后方），未被触碰。机械臂当前位置与目标物体位置严重偏离，且距离目标越来越远。", + "time": 1.23, + "vlm_progress": "0" + }, + { + "action_description": "在此片段中，机械臂末端夹爪最初位于目标灰色碗的上方附近。随后，机械臂并没有向下执行抓取动作，而是向上抬起并向右后方移动，导致夹爪远离了位于桌子中部的目标灰色碗。", + "correction_plan": "应立即停止向后移动。下一步动作应控制机械臂向左后方移动，回到目标灰色碗的正上方，然后垂直下降（向下），直到夹爪包围碗体，准备进行抓取。", + "error_success_analysis": "动作为错误。为了完成抓取任务，机械臂应当降低高度并对准碗口。但在此片段中，机械臂执行了逃逸式的移动路径（向右前方移动），这与抓取目标所需的接近和对齐动作背道而驰，导致无法完成该阶段任务。", + "frame": 68, + "progress": 10, + "progress_check": 1, + "progress_explanation": "视频开始时进度为20%，意味着机械臂正处于接近目标的过程中。然而在视频结束时，机械臂执行了远离目标的动作（向右前移动），使得夹爪与目标碗的距离变大，有效进度不增反降，回退到了10%。", + "state_description": "当前机械臂处于高位，夹爪闭合，位于桌子右前方区域的上方，与目标物体的距离被拉大。目标灰色碗静止在桌子中部的位置，位于盘子的右后方，未受任何干扰。场景中的其他物体如盘子、银色小罐等均保持原位。当前状态表明机器人未能成功执行接近动作，反而退回了准备阶段之前的状态。", + "time": 2.28, + "vlm_progress": 10 + }, + { + "action_description": "视频中，机械臂末端执行器保持闭合状态，从右前方盘子的上方位置开始，向右左后方移动，逐渐靠近位于桌子中部的目标灰色碗。", + "correction_plan": "当前操作无误。下一步建议继续微调抓夹位置，使其垂直对准灰色碗的边缘，下降高度包裹住碗壁，然后闭合抓夹以完成抓取（即达到50%的进度目标）。", + "error_success_analysis": "该动作是成功的。机械臂准确地朝向目标物体（桌子中央的灰色碗）移动，没有错误的去抓取右侧边缘的干扰碗或盘子，运动轨迹平滑且方向正确。", + "frame": 115, + "progress": 20, + "progress_check": 1, + "progress_explanation": "任务规划中定义接近灰色碗为25%。视频开始时机械臂正在移动途中，距离稍远（10%）。在视频结束时，抓夹已经非常靠近目标灰色碗，完成了接近动作的大部分行程，状态符合即将达到‘接近’节点的特征，因此进度提升至20%是合理的。", + "state_description": "当前机械臂处于接近目标的阶段。抓夹张开，已经移动到目标灰色碗的侧上方，距离目标非常近，正在调整位置以准备进行抓取。场景中其他物体（如盘子、干扰碗、盒子）保持静止，未受干扰。", + "time": 3.835, + "vlm_progress": 20 + }, + { + "action_description": "视频中，机械臂末端夹爪从悬停状态开始，向右前方且向下移动。它没有接近位于中间的目标灰色碗，而是直接下降接触到了位于右前方的盘子。", + "correction_plan": "首先，机械臂需要向上抬起（+Z方向）以停止对盘子的按压并释放盘子。接着，机械臂应向左后方移动，直到夹爪垂直悬停在目标灰色碗的正上方。最后，再次尝试垂直下降以准备抓取动作。", + "error_success_analysis": "这是一个明显的错误动作。原因在于目标识别或路径规划错误，机械臂没有去抓取规定的“中间灰色碗”，而是误将“盘子”当作了交互对象或规划轨迹与盘子发生了干涉。方位上，机械臂过度向右前方移动，错过了位于其左后方的目标碗。", + "frame": 143, + "progress": 15, + "progress_check": 1, + "progress_explanation": "任务要求是先抓取灰色的碗，但机器人却移动到了盘子处并发生了碰撞。这是一个错误的执行路径，不仅没有完成“接近灰色碗”的步骤（应为25%），反而因为误操作和碰撞导致状态恶化，需要撤回动作重新规划，因此进度从开始时的20%下降到了15%。", + "state_description": "当前关键点状态显示机械臂执行了错误的动作。夹爪正在按压盘子的边缘，导致盘子处于不稳定状态。目标灰色碗静止在原位，未被触碰。机械臂此时的位置完全偏离了目标物体，错误地与放置目标（盘子）发生了交互。", + "time": 4.765, + "vlm_progress": 15 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503515.7839954/observation.images.Failure1769503515.7839954/Failure1769503515.7839954.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503515.7839954/observation.images.Failure1769503515.7839954/Failure1769503515.7839954.json new file mode 100644 index 0000000000000000000000000000000000000000..9d0a81588a58894f36d03d2d67f9a00cf61d43ec --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503515.7839954/observation.images.Failure1769503515.7839954/Failure1769503515.7839954.json @@ -0,0 +1,69 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "机械臂从初始的静止状态开始，向右下方移动，同时末端抓夹张开。机械臂调整姿态，将抓夹准确地移动并悬停在桌子中央目标灰色碗的正上方。", + "correction_plan": "当前抓夹已对准并接近目标，接下来的动作应是垂直向下移动机械臂，使抓夹包围灰色碗的边缘，然后闭合抓夹以完成抓取。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别并接近了目标物体（灰色碗），运动轨迹平滑，抓夹及时张开，且没有与桌面上的其他障碍物（如盘子或抽屉柜）发生碰撞。", + "frame": 39, + "progress": 25, + "progress_check": "1", + "progress_explanation": "视频开始时任务处于初始阶段（0%）。在视频结束时，机械臂已经完成了从起始位置到目标物体的移动，并且抓夹已经处于目标灰色碗的上方，符合任务规划中‘抓夹接近灰色的碗’这一步骤，因此任务进度上升至25%。", + "state_description": "当前关键点状态显示，机械臂的白色抓夹已经张开，并位于桌子中央灰色碗的上方近距离处，做好了抓取准备。目标碗静止在原位，右侧的盘子和红黄盒子等其他物品未受到干扰。场景符合抓取前的接近状态。", + "time": 1.285, + "vlm_progress": "25" + }, + { + "action_description": "在视频片段中，机械臂执行了垂直向下移动的动作。视频开始时，抓夹悬停在桌子中央灰色碗的上方；随着视频播放，抓夹沿Z轴向下平稳下降，直到抓夹的两个指尖分别位于灰色碗的两侧，呈现出包围碗的姿态，准备进行抓取。", + "correction_plan": "基于当前抓夹已包围灰色碗的状态，后续可行的动作是：控制抓夹闭合（Close Gripper）以牢固抓住灰色碗，随后控制机械臂垂直向上抬起（Lift），准备向右前方的盘子方向移动。", + "error_success_analysis": "这段动作是成功的。机械臂准确地识别了目标物体的位置，并执行了垂直下降动作，没有发生偏移或碰撞。抓夹张开的角度和对准的方位都非常适合接下来的抓取操作，符合任务逻辑。", + "frame": 69, + "progress": 30, + "progress_check": 1, + "progress_explanation": "任务规划中，25%代表抓夹接近碗，50%代表抓住碗。视频开始时进度为25%，此时抓夹已在碗上方但有一定距离。视频结束时，抓夹已经完全下降到位，包围了目标物体，完成了抓取前的最后对齐步骤。虽然尚未闭合抓夹达到50%的状态，但相比于单纯的接近，任务有了实质性推进，因此进度上升至30%是合理的。", + "state_description": "当前关键点状态显示，机械臂的抓夹已经精准地定位在目标灰色碗的周围，处于抓取预备位（Pre-grasp pose）。灰色碗位于桌子中央，未发生位移。右侧的盘子和左侧的抽屉柜均为静止背景物体。机械臂位置对齐准确，且未闭合抓夹，任务即将进入抓取阶段。", + "time": 2.295, + "vlm_progress": 30 + }, + { + "action_description": "视频开始时，机械臂的末端抓夹位于桌子中央灰色碗的上方附近。随后，机械臂执行了向上并向右后方移动的动作，抓夹抬升并撤退，远离了目标灰色碗，抓夹保持张开状态且未抓取任何物体。", + "correction_plan": "机械臂应该重新将抓夹向前下方移动，对准桌子中央的灰色碗。在抓夹到达碗的正上方或合适的抓取位置后，降低高度以包围碗体，然后闭合抓夹完成抓取动作。", + "error_success_analysis": "这段视频的动作是错误的。在应当准备抓取（50%）的阶段，机械臂反而执行了远离目标的动作，导致无法完成抓取任务，造成了任务进度的显著倒退。", + "frame": 98, + "progress": 10, + "progress_check": 1, + "progress_explanation": "视频开始时进度为30%，对应抓夹已经接近灰色碗的状态（超过了25%的接近里程碑）。然而在视频中，机械臂没有进行抓取，而是向上方撤离，导致抓夹远离了目标。这意味着之前的'接近'状态已不再成立，任务状态回退到了类似于刚开始移动的阶段，因此进度值合理地下降到了10%。", + "state_description": "当前机械臂处于高位，位于底座右侧，距离桌面物体较远。目标灰色碗静止在桌子中央，未被移动或抓取。盘子位于右前方空置。当前状态显示任务执行发生回退，机械臂需要重新执行接近目标的动作。", + "time": 3.265, + "vlm_progress": 10 + }, + { + "action_description": "视频中，机械臂末端抓夹从悬停的初始位置开始动作，没有向位于桌子中央的灰色碗移动，而是错误地向右上方移动。", + "correction_plan": "机械臂需要立即停止当前动作，向上抬起抓夹以远离抽屉柜，防止发生碰撞；接着向左水平移动，直到抓夹位于桌子中央灰色碗的正上方；最后调整高度向下接近碗，重新尝试抓取。", + "error_success_analysis": "该动作是失败的。任务明确要求抓取桌子中央的灰色碗，但机械臂的运动轨迹是向右上方移动。机器人在空间方位上判断错误，将抓取目标锁定在了错误的方向上，导致无法完成既定任务。", + "frame": 124, + "progress": -20, + "progress_check": 1, + "progress_explanation": "开始时任务进度为10%，表示机械臂刚刚开始动作。然而，由于机械臂向右移动，完全背离了抓取中央灰色碗的目标，导致任务执行失败。这种严重的方向性错误和对非目标物体的操作通常被判定为负收益或惩罚，因此任务进度下降至-20%。", + "state_description": "当前关键点状态显示机械臂完全偏离了目标区域。抓夹位于桌面右侧，而目标灰色碗静止在桌子中央未被触碰。这是一个典型的任务执行失败状态，机器人没有接近目标。", + "time": 4.149999, + "vlm_progress": 0 + }, + { + "action_description": "机械臂从上方位置向下移动，移动到了桌面的中央上方区域，悬停在目标物灰色碗的上方，抓夹保持张开状态，尚未对准桌子中央的目标灰色碗。", + "correction_plan": "当前抓夹位于盘子上方，需要向右侧平移，将抓夹中心对准桌子中央的灰色碗的正上方，然后向下移动以接近碗。", + "error_success_analysis": "这段动作是成功的。机械臂从可能的错误或初始位置成功移动到了工作空间上方，虽然当前位置为桌面中央（在盘子上方），尚未对准目标碗，但这属于接近目标过程中的中间动作，有效地启动了抓取任务。", + "frame": 144, + "progress": 15, + "progress_check": 1, + "progress_explanation": "任务进度从-20%上升至15%。开始时的负值代表之前的错误或复位状态，视频结束时进度变为15%，表明机械臂已经成功复位并开始执行任务（0%），正在向目标区域移动，但尚未达到接近目标碗（25%）的状态，因此进度处于0%到25%之间。", + "state_description": "当前机械臂位于桌面中央的上方，抓夹处于张开状态。目标灰色的碗静止在桌子中央，与抓夹之间存在一定的水平距离。盘子位于抓夹正下方附近。场景中其他物体位置未变，任务处于刚刚开始移动但尚未接近目标的阶段。", + "time": 4.805, + "vlm_progress": 15 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503623.817375/observation.images.Failure1769503623.817375/Failure1769503623.817375.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503623.817375/observation.images.Failure1769503623.817375/Failure1769503623.817375.json new file mode 100644 index 0000000000000000000000000000000000000000..90bfc14563f36307a36534f14451b3fc1bbbba18 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503623.817375/observation.images.Failure1769503623.817375/Failure1769503623.817375.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频中，白色机械臂从桌面上方的初始位置启动，向右下方移动，调整姿态，最终将抓夹精准地悬停在桌子中央偏右侧的目标灰色碗正上方。", + "correction_plan": "鉴于当前抓夹已悬停在碗上方，接下来的动作应是控制机械臂垂直向下（Z轴负方向）移动，使抓夹的手指包围灰色碗的外壁，随后闭合抓夹以稳固地抓住碗。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别了目标物体的位置，并规划了无碰撞的路径移动到了目标上方。末端执行器的位置和姿态都已调整至适合抓取的角度，没有出现偏差或操作失误。", + "frame": 38, + "progress": 25, + "progress_check": "1", + "progress_explanation": "视频开始时任务进度为0%。在视频结束时，机械臂已经完成了从起始点到目标物体的移动过程，抓夹处于接近并对准灰色碗的状态。根据任务规划，这一状态对应'抓夹接近灰色的碗'，即25%的进度。因此，任务进度从0%上升至25%。", + "state_description": "当前关键点状态显示，机械臂的末端抓夹处于张开状态，且已对齐并位于目标灰色碗的上方近处（Pre-grasp位置）。机械臂已完成抓取前的接近动作，准备执行下降抓取。", + "time": 1.26, + "vlm_progress": "25" + }, + { + "action_description": "视频中，白色机械臂执行了向下的运动，同时伴随微小的水平调整。抓夹从高处向下移动，精确地接近桌子中央的目标灰色碗。在移动过程中，抓夹保持张开状态，最终停在灰色碗的上方，两指分别位于碗的两侧，完成了抓取前的对齐动作。", + "correction_plan": "当前无需纠正，应继续执行后续动作：闭合抓夹（Close Gripper）以抓稳灰色碗，然后控制机械臂垂直向上（Up）抬起碗，随后向右前方（Front-Left）移动，将碗运送到白底红边盘子的上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂规划了正确的轨迹，平稳地将末端执行器移动到了目标物体（灰色碗）的抓取位姿，没有发生碰撞或偏移，为下一步的抓取动作创造了完美的条件。", + "frame": 68, + "progress": 35, + "progress_check": "1", + "progress_explanation": "视频开始时进度为25%（抓夹接近灰色的碗），此时机械臂还在接近过程中。视频结束时，机械臂已经完成了接近动作，抓夹已经完全对准并靠近了目标物体，只差对准碗口边缘闭合抓夹这一动作即可达到50%（抓夹抓住灰色的碗）的状态。因此，任务进度有了实质性的推进，从接近阶段过渡到了抓取就绪阶段，进度上升至35%是合理的。", + "state_description": "当前关键点状态为预抓取状态（Pre-grasp）。机械臂的末端执行器已成功降至桌子中央灰色碗的高度，且抓夹张开靠近了碗的边缘，位置准确。白底红边盘子位于右侧，均未受干扰。此时任务处于接近动作完成、即将进行抓取动作的临界点。", + "time": 2.264999, + "vlm_progress": 40 + }, + { + "action_description": "视频开始时，机械臂末端夹爪悬停在桌子中央偏右的灰色碗上方，似乎准备进行抓取。随后，机械臂下降抓取，但并未对准碗口边缘，并一直向下移动与桌面发生碰撞，同时远离了目标物体。", + "correction_plan": "机械臂需要重新规划路径，控制夹爪向前下方（左后方）移动，再次将夹爪对准桌子中央偏右的灰色碗。在对齐后，垂直下降直到夹爪包围碗体，然后闭合夹爪完成抓取。", + "error_success_analysis": "这段视频的动作是错误的（或者说是负向的）。为了完成任务，机械臂本继续下降与桌面发生碰撞，未抓住灰色碗。机械臂选择了向像错误的方向运行，导致无法完成抓取动作，使得任务进度倒退。", + "frame": 102, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时进度为35%，意味着机械臂已经非常接近目标物体准备抓取。然而在视频过程中，机械臂未对齐碗口，继续向下方移动远离了灰色碗。由于距离目标抓取点的距离变大，任务状态发生了倒退，因此进度从35%下降到了25%，符合任务规划中'抓夹接近灰色的碗'这一阶段的早期状态。", + "state_description": "当前机械臂处于与桌面碰撞阶段，夹爪处于张开状态且未抓取任何物体。目标灰色碗静止在桌子中央偏左的位置，未被触碰。相比于准备抓取的状态，当前状态显示机械臂远离了目标，处于一种类似初始复位或撤退的姿态，任务回到了接近目标的早期阶段。", + "time": 3.414999, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂与桌面发生碰撞，接着机械臂抬起像桌面右前方的盘子方向进行运动，最后保持在盘子上方悬空。", + "correction_plan": "首先，机械臂应该垂直向上（Z轴正向）抬起抓夹，复位并移动到目标物体上方。机械臂重新移动到碗的正上方，这次必须确保抓夹中心与碗中心精确对齐，然后再缓慢垂直下降进行抓取。", + "error_success_analysis": "这段视频展示了一个失败的动作（Error）。失败的根本原因是路径规划错误。机械臂在未夹起目标物体的情况下向盘子方向移动，难以完成该任务。", + "frame": 132, + "progress": -5, + "progress_check": 1, + "progress_explanation": "视频开始时任务进度为25%（接近碗）。原本预期的动作是抓住碗使进度达到50%。然而，机械臂未夹起目标物体反而像盘子方向移动。这种状态比任务最开始（0%）碗直立待抓的状态还要糟糕，因此任务进度不仅没有增加，反而倒退为负值（-5%），表示需要额外的纠错步骤。", + "state_description": "当前场景中，关键目标机械臂未夹起目标物体为桌面中心的碗，当前状态中，机械臂抓夹呈闭合状态并悬于盘子的上方。", + "time": 4.404999, + "vlm_progress": -5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503691.6730995/observation.images.Failure1769503691.6730995/Failure1769503691.6730995.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503691.6730995/observation.images.Failure1769503691.6730995/Failure1769503691.6730995.json new file mode 100644 index 0000000000000000000000000000000000000000..425c91ce10df19ee3958a1c27506df62a934fcb9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503691.6730995/observation.images.Failure1769503691.6730995/Failure1769503691.6730995.json @@ -0,0 +1,69 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频中，白色机械臂从上方的高位起始点开始动作，手臂向下并略微向右前方移动。末端的二指抓夹保持张开状态，精准地接近位于桌面中央位置的灰色碗。视频结束时，抓夹悬停在灰色碗的正上方，对准了目标。", + "correction_plan": "基于当前抓夹悬停在灰色碗正上方的状态，下一步的可行动作是：控制机械臂垂直向下移动（Z轴负方向），使抓夹的手指充分包围灰色碗的外壁，随后控制抓夹闭合，完成抓取动作。", + "error_success_analysis": "这段视频的动作是成功的。机器人准确地执行了接近目标的指令，路径规划合理，没有发生碰撞或偏离目标的情况。抓夹准确地悬停在目标物体上方，姿态正确，为后续的抓取动作做好了完美准备。", + "frame": 32, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂尚未开始针对目标的有效移动，处于初始状态，进度为0%。随着视频播放，机械臂执行了“接近”动作，成功将抓夹移动到了目标灰色碗的上方，这与任务规划中“抓夹接近灰色的碗：25%”的节点完全吻合。动作流畅且准确，因此进度判定为25%。", + "state_description": "当前场景显示仿真机器人的抓夹已经成功到达目标物体——灰色碗的上方位置。抓夹处于张开状态，且垂直向下，准备进行抓取。相比于初始状态，机器人已经完成了空间上的接近，处于即将执行抓取动作的临界状态。", + "time": 1.065, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂夹爪悬停在桌子中央灰色碗的上方，处于准备抓取的姿态。随后，机械臂没有下降抓取，而是垂直向上并略向右后方移动，拉大了夹爪与目标灰色碗之间的距离，远离了操作对象。", + "correction_plan": "机械臂需要重新执行接近目标的动作。具体来说，应该控制夹爪垂直向下移动，同时在水平方向微调（向前右方移动），重新对准桌面中央的灰色碗，直到夹爪位于碗的两侧，准备闭合抓取。", + "error_success_analysis": "这段视频的动作是错误的。在任务流程中，当夹爪已经接近物体（25%进度）时，下一步应该是向下移动并闭合夹爪以抓住物体。然而，机器人执行了相反的动作，向上抬升并远离了目标，导致无法完成抓取，延误了任务进度。", + "frame": 55, + "progress": 15, + "progress_check": 1, + "progress_explanation": "根据任务规划，25%的进度对应'抓夹接近灰色的碗'。视频开始时处于该状态。然而，在视频片段中，机械臂执行了向上抬起并远离碗的动作，这与'抓取'（50%）的目标背道而驰。实际上这是一个撤退的动作，使得机械臂远离了目标，导致任务完成度降低。因此，进度从25%下降到15%是合理的。", + "state_description": "当前场景中，白色的机械臂夹爪高高悬停在桌面这上方，距离目标物体较远。目标灰色碗静止在桌面上，位于白色盘子后方，未被触碰。相比于动作开始时的接近状态，当前机械臂的位置回退到了更初始的阶段，未能完成抓取动作，任务状态出现倒退。", + "time": 1.83, + "vlm_progress": 15 + }, + { + "action_description": "机械臂控制抓夹从上方迅速向下移动，试图接近桌面中央的灰色碗。在下降过程中，抓夹并未准确对准碗的中心或张开角度不足。", + "correction_plan": "当前状态下任务已无法通过简单动作补救，在执行下降动作前，先控制机械臂在XY平面上精确定位，使抓夹中心垂线与灰色碗中心重合；调整抓夹张开幅度使其大于碗的直径；随后控制机械臂沿Z轴垂直缓慢下降，在确认抓夹指尖超过碗沿高度且未触碰碗壁后，再执行闭合抓取动作，避免产生侧向推力。", + "error_success_analysis": "该动作是失败的。主要错误在于机械臂的运动规划或感知偏差。具体表现为：1. 空间对齐错误：抓夹中心未对准碗的中心；2. 下降轨迹错误：在未确保水平位置锁定的情况下贸然下降，导致与物体发生刚性碰撞而非包络式抓取。这种物理碰撞直接导致了轻质目标物滑出工作区域，造成任务失败。", + "frame": 76, + "progress": -10, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂处于接近目标的路径上，对应约15%的进度。然而，随后的动作发生了严重错误，机械臂向右侧反转并出现奇异点姿态。相比于开始时刻，任务进度急剧下降，-10%的进度值准确反映了这种任务失败且无法挽回的状态。", + "state_description": "视频结束时，桌面上的白色盘子、长方形食品盒以及右侧的深色抽屉柜保持静止，未受影响。机械臂向右侧反转并悬停在原本放置碗的区域上方，抓夹未抓取到任何物体。", + "time": 2.54, + "vlm_progress": -10 + }, + { + "action_description": "视频中，机械臂并未抓取着灰色的碗，朝位于右侧的白色盘子移动。在移动过程中。", + "correction_plan": "正确的操作应该是：在抓取住灰色的碗之后，机械臂应先保持或提升高度以避免与桌面物体碰撞，然后控制抓夹水平向中央移动，直到碗位于盘子正上方，最后再执行下降动作将碗放置在盘子上。", + "error_success_analysis": "这是一次失败的操作。错误的主要原因在于机械臂的规划路径错误：目标位置（盘子）位于机器人的右侧，而机械臂却控制抓夹向右侧移动，出现奇异点姿态无法夹取目标物，进而导致任务目标丢失。", + "frame": 99, + "progress": -20, + "progress_check": 1, + "progress_explanation": "这段视频展示了一个失败的操作过程。由于后续动作方向错误导致碰撞，任务无法继续进行，属于严重倒退。因此，进度从开始时的非正常状态（-10%）进一步恶化到结束时的-20%，表示任务失败且需要复位或重试。", + "state_description": "当前状态为任务失败。初始时刻机械臂未成功抓取了目标（灰色碗），在结束时刻，由于错误的移动路径导致机械臂出现奇异点姿态，未能完成将碗移动到盘子上的任务。", + "time": 3.2889610389610393, + "vlm_progress": 0 + }, + { + "action_description": "机械臂从高处向右上方移动，末端抓夹接近桌面右侧深色抽屉柜的把手位置，远离了位于桌面中央偏左的目标灰色碗。", + "correction_plan": "机械臂应立即停止当前向右上的动作，向上抬起末端执行器，然后向左水平移动至桌面中央灰色碗的正上方，重新规划路径以垂直下降接近灰色碗。", + "error_success_analysis": "该动作是错误的。任务目标是抓取桌面中央的灰色碗，但机械臂向右侧移动，导致无法完成任务规划中的任何步骤（接近、抓取、放置）。", + "frame": 145, + "progress": -40, + "progress_check": "1", + "progress_explanation": "根据任务规划，机械臂应接近并抓取灰色的碗。然而视频中机械臂向右侧的抽屉柜移动，这属于严重的方向性错误，不仅没有完成抓取（50%）或接近（25%）的动作，反而远离了目标。因此，任务进度处于失败状态，相比开始时的-20%，结束时因动作进一步偏离目标或陷入死胡同，进度判定为-40%是合理的，反映了任务执行的负面进展。", + "state_description": "当前机械臂末端位于右侧，并未处于能够抓取灰色碗的位置。目标灰色碗静止在白色盘子后方，未被触碰。白色盘子位于右前方空置。场景状态显示机械臂完全偏离了预定任务目标（灰色碗），处于错误的交互位置。", + "time": 4.84, + "vlm_progress": "0" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503996.79328/observation.images.Failure1769503996.79328/Failure1769503996.79328.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503996.79328/observation.images.Failure1769503996.79328/Failure1769503996.79328.json new file mode 100644 index 0000000000000000000000000000000000000000..5a16c0f1e475b8ba0b4659ac5580e78119432532 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769503996.79328/observation.images.Failure1769503996.79328/Failure1769503996.79328.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "机械臂从后方高处的初始位置开始启动，向桌面中央区域向下、向前移动。抓夹保持张开状态，精准地移动到了桌子中央灰色碗的正上方悬停。", + "correction_plan": "动作执行正确，无需修正。接下来的操作建议是：机械臂垂直下降使抓夹包围碗壁，然后闭合抓夹完成抓取动作。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了目标方位，没有出现路径偏差或与周围物体（如后方的金属容器或右侧的柜子）发生碰撞，最终姿态完美对准了目标碗，为下一步抓取做好了准备。", + "frame": 48, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时对应任务启动（0%）。视频过程中，机械臂执行了从原点移动到目标物体上方的动作。结束时，抓夹已成功到达'接近灰色的碗'的位置，完全符合任务规划中25%节点的描述，因此进度上升至25%。", + "state_description": "当前场景中，机械臂的抓夹正位于目标物体——桌子中央的灰色碗上方，抓夹处于张开状态，准备进行抓取。目标碗位置未变，放置目标的盘子位于右前方。机器人状态显示已完成抓取前的定位与接近动作。", + "time": 1.605, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂的白色抓夹位于桌子中央目标灰色碗的上方近处，呈现接近状态。在视频播放过程中，机械臂并没有向下移动去抓取碗，而是向上方抬起（沿Z轴正方向）并稍向后方移动，使得抓夹远离了目标灰色碗，最终停留在离桌面较高的半空中。", + "correction_plan": "当前机械臂位于高处，为了纠正错误并继续任务，机械臂需要向下（负Z轴方向）移动，同时调整水平位置（X/Y轴），使抓夹垂直对准桌子中央灰色碗的上方，再次尝试接近并抓取该碗。", + "error_success_analysis": "这段视频展示的动作是错误的。根据任务流，在接近碗之后，机械臂应该继续下降并闭合抓夹以完成抓取（50%）。但实际上，机械臂执行了相反的向上抬起动作，导致未能接触目标物体，中断了任务流程。", + "frame": 82, + "progress": 0, + "progress_check": 1, + "progress_explanation": "任务规划中，25%代表抓夹接近灰色碗。然而在这段视频中，机械臂执行了撤退动作，从接近碗的位置移动到了远离碗的高处位置。这使得之前的接近成果失效，任务状态实际上回退到了动作开始前的初始状态，因此进度从25%下降到了0%。", + "state_description": "视频结束时，关键点状态为机械臂悬停在半空，距离桌面的目标物体较远。桌面中央的灰色碗保持静止，未被移动或抓取。右前方的目标盘子为空。场景状态表明机器人放弃了当前的抓取尝试，回到了类似初始的准备位置。", + "time": 2.72, + "vlm_progress": 0 + }, + { + "action_description": "视频开始时，机械臂悬停在桌面后方高处。动作开始后，机械臂没有向位于桌子中央的目标灰色碗移动，而是向画面右侧（桌子右侧）下方移动。最终，机械臂的末端夹爪直接撞击了位于桌面右侧的深褐色抽屉柜的顶部边缘，并停留在那里。", + "correction_plan": "为了纠正错误，机械臂首先需要垂直向上移动（+Z方向），使夹爪脱离与抽屉柜的接触。随后，机械臂应向画面右侧（-Y方向）平移，直到末端位于桌子中央灰色碗的正上方。最后，向下移动（-Z方向）接近灰色碗，准备进行抓取。", + "error_success_analysis": "这段动作是失败的。主要错误在于空间定位和路径规划严重偏差：目标物体位于机械臂正前方的桌子中央，而机械臂却向右侧大幅度移动。这种方位错误直接导致了与右侧抽屉柜的物理碰撞，使得抓取任务无法进行。", + "frame": 105, + "progress": -20, + "progress_check": 1, + "progress_explanation": "根据任务规划，0%代表动作开始。然而，机械臂并没有执行接近目标（25%）的动作，反而向错误的方向（右侧）移动。这种非但没有推进任务，反而造成错误状态的行为，使得任务进度从开始时的0%变为结束时的-20%，负数准确反映了操作的失败和倒退。", + "state_description": "当前机械臂位置完全偏离了目标。桌子中央的灰色碗（目标物体）安然无恙，未被触碰。盘子和其他物品也保持原位。场景显示机器人执行了错误的路径规划，导致任务停滞且发生安全事故。", + "time": 3.485, + "vlm_progress": 0 + }, + { + "action_description": "视频中，机械臂的抓夹从桌子右侧回正，并将抓夹对准碗口边缘位置，该位置方便对目标物体进行夹取。", + "correction_plan": "机械臂应闭合夹爪夹起灰色的碗，并向上方移动将目标物体放置于桌面右前方的盘子上。", + "error_success_analysis": "该动作是正确的。机械臂从原本的奇异点位置调整到正确的可夹取目标灰色的碗的位置上。并且机械臂的末端执行器已经对准碗口边缘处于随时可以机型夹取的状态。", + "frame": 132, + "progress": 20, + "progress_check": 1, + "progress_explanation": "任务要求抓取桌子中央的碗。在这段视频中，机器人从桌面右侧的奇异点位置回正并移动到了可夹取的位置，进度从原本的-20%到20%，是对错误行为的修正，实现进度提升。", + "state_description": "当前机械臂的抓夹对准碗口边缘并处于随时可夹状态。目标灰色碗依然静止在桌子中央，未被触碰。目标位置的盘子位于右前方，为空。", + "time": 4.395, + "vlm_progress": 0 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504061.5014074/observation.images.Failure1769504061.5014074/Failure1769504061.5014074.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504061.5014074/observation.images.Failure1769504061.5014074/Failure1769504061.5014074.json new file mode 100644 index 0000000000000000000000000000000000000000..b5252756c605f823a2488b49008e315775254498 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504061.5014074/observation.images.Failure1769504061.5014074/Failure1769504061.5014074.json @@ -0,0 +1,81 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于上方初始位置，抓夹处于张开状态。随后，机械臂向下并向桌面前方移动，准确地将抓夹移动到了桌子中央那个灰色纹理碗的正上方。动作结束时，抓夹悬停在灰色碗上方，呈现出准备抓取的姿态。", + "correction_plan": "当前状态已成功接近目标，接下来的动作应当是：继续垂直向下微调高度，使抓夹完全包围碗的边缘，然后闭合抓夹以稳固地抓住桌面中央的灰色碗。", + "error_success_analysis": "这段动作是成功的。机械臂准确识别了目标物体（中央的灰色碗），并规划了合理的路径从高处平稳下降至目标上方。抓夹的方位对准了碗的中心，且保持张开，为接下来的抓取做好了充分准备，符合任务规划预期。", + "frame": 34, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时处于任务初始阶段（0%）。在视频中，机械臂完成了从初始位置移动到目标物体（灰色碗）上方的动作，这对应了任务规划中的“抓夹接近灰色的碗”这一节点。因此，任务进度从0%推进到了25%。", + "state_description": "当前抓夹位于桌面中央灰色纹理碗的垂直上方，高度较低，已进入预抓取位置。抓夹保持张开状态，由于已经完成了接近目标的动作，下一步的逻辑应当是执行抓取操作。场景中其他物体位置未变，目标放置区域（右前方的盘子）处于待命状态。", + "time": 1.14, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂悬停在桌面中央区域的上方。随后，机械臂垂直向下移动，同时在水平方向微调，使张开的抓夹精准地对准并下降到桌面中央灰色纹理碗的位置。动作结束时，抓夹的双颚已经位于碗的两侧，将碗包围，处于准备抓取的姿态。", + "correction_plan": "基于当前成功的预抓取状态，后续可行动作为：首先控制抓夹闭合，牢固地抓住灰色碗；接着控制机械臂垂直向上提升（+Z方向），使碗离开桌面以避免在水平移动时碰撞其他物体；最后控制机械臂向右前方移动，将碗运送至白色盘子上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地定位了位于桌面中央的目标灰色碗，下降轨迹垂直且平稳，没有发生偏移。抓夹最终的停靠位置非常理想，既没有触碰移动物体造成位移，也没有因高度不足碰撞桌面，为后续的闭合抓取动作提供了完美的基础。", + "frame": 61, + "progress": 45, + "progress_check": 1, + "progress_explanation": "在这段视频中，任务进度由25%上升至45%。这是因为机械臂执行了从“接近”到“预抓取”的关键动作。根据任务规划，50%代表“抓夹抓住灰色的碗”，而视频结束时，抓夹已经完全包围了碗，只差闭合这一动作即可完成抓取。因此，进度值从接近阶段的25%大幅推进到了抓取前的45%，这是符合逻辑的进度增长。", + "state_description": "当前关键点状态显示，机械臂的抓夹已经成功到达目标物体——桌面中央灰色碗的抓取位姿。抓夹处于张开状态，未闭合，碗体位于抓夹中心，且未被移动。场景中右前方的盘子和周围其他物品（如前方的食品盒、右侧的另一个碗）均保持静止，未受干扰。此时状态处于“接近完成”与“开始抓取”的临界点。", + "time": 2.025, + "vlm_progress": 45 + }, + { + "action_description": "视频开始时，机械臂的白色抓夹位于桌面中央的灰色碗上方，高度较低，似乎刚处于尝试抓取的位置。随后，机械臂执行了向上抬升并略微向右后方移动的动作，使抓夹远离了桌面中央的灰色碗。在整个过程中，抓夹保持张开或未能闭合抓住物体，最终悬停在空中。", + "correction_plan": "为了纠正错误，机械臂需要重新对准目标。具体动作应为：控制抓夹向前下方移动，重新回到桌面中央灰色碗的正上方；调整抓夹的姿态和张开角度以适应碗的大小；垂直下降直至抓夹指尖包围碗缘；最后闭合抓夹以牢固抓住灰色碗。", + "error_success_analysis": "这段视频的动作是失败的。根据任务规划，当前阶段的目标是完成抓取（从45%推进到50%）。实际动作中，机械臂非但没有抓住物体，反而执行了撤退（向右向后）的动作，导致抓夹与目标灰色碗分离，未能实现抓取这一关键里程碑。", + "frame": 94, + "progress": 35, + "progress_check": 1, + "progress_explanation": "这段视频开始时的进度为45%，处于即将完成“抓夹抓住灰色的碗”（50%）的状态。然而，视频中机械臂并没有闭合抓夹完成抓取，反而向上抬起并远离了目标，导致机器人从“即将抓取”的状态回退到了“接近目标”的中间状态。由于距离目标变远且未建立物理连接，任务进度倒退，因此结束时的任务进度合理地下降为35%。", + "state_description": "当前关键点状态是抓取失败后的复位状态。目标灰色纹理碗依然静止在桌面中央，没有发生位移。机械臂抓夹处于空载状态，悬停在目标物体的右后上方。右前方的白色盘子为空。由于目标物体未被抓住，任务未能推进到下一阶段（移动到盘子），反而因为远离目标而需要重新规划抓取路径。", + "time": 3.12, + "vlm_progress": 35 + }, + { + "action_description": "在这段视频中，机械臂末端夹爪从桌面上方靠近中央的位置开始动作，但并没有准确向下对准中央的灰色碗进行抓取。相反，机械臂向右侧（画面右方）进行了错误的平移运动，并降低了高度，完全偏离了目标物体。", + "correction_plan": "为了纠正错误，首先需要控制机械臂向上抬起并向左移动，解除碰撞状态。然后，重新规划路径，将夹爪精确移动到桌子中央灰色碗的正上方，确认对准后，执行垂直下降和闭合夹爪的动作以完成抓取。", + "error_success_analysis": "这段视频的动作是错误的。成功的动作路径应该是机械臂移动到桌子中央灰色碗的正上方，然后垂直下降进行抓取。视频中的错误在于机械臂的横向移动控制失误，导致其向右漂移并撞上环境中的障碍物，未能完成抓取动作。", + "frame": 112, + "progress": -5, + "progress_check": "1", + "progress_explanation": "这段视频开始时进度为35%，意味着处于接近目标的阶段。然而，结束时进度变为-5%，这是因为机械臂执行了严重错误的动作——偏离目标并撞击桌面。这种碰撞属于严重失误，不仅没有完成抓取（50%），反而导致任务失败并可能需要人工干预或重置，因此进度值跌落至负值。", + "state_description": "视频结束时，机械臂处于碰撞后的静止或受阻状态。当前状态显示任务执行失败，机械臂的位置需要复位才能重新尝试任务。", + "time": 3.74, + "vlm_progress": 0 + }, + { + "action_description": "机器人机械臂向右上方快速移动，抓夹尝试接近桌面中央的灰色碗，但轨迹偏差导致抓夹直接撞击到碗的侧面。这次碰撞将灰色碗向左推开并撞翻，使其侧倒在桌面上造成了混乱。", + "correction_plan": "首先机械臂需要立即停止当前动作并向上抬起（Z轴正向移动），以脱离与桌面物体的接触和潜在的碰撞状态。随后需要重新进行视觉感知，定位侧倒的灰色碗的新位置和姿态。由于碗已侧倒，可能需要规划特殊的抓取策略（如从侧面夹取边缘）或者先尝试用机械臂将其拨正，然后再执行标准的抓取动作。", + "error_success_analysis": "这是一次失败的操作。错误在于机械臂的运动规划或执行精度不足，抓夹没有准确对准碗口进行包络，而是以横向的力撞击了碗壁。这种物理碰撞直接导致目标物体失去平衡并被推离目标区域，使得抓取任务失败。", + "frame": 128, + "progress": -15, + "progress_check": "1", + "progress_explanation": "视频开始时进度为-5%，表示已经处于某种异常状态或起步不利。在视频过程中，机械臂不仅没有完成抓取（本应向25%-50%推进），反而因为操作失误将目标碗撞翻并推远，导致环境状态比开始时更加糟糕（物体姿态改变且位置偏移），因此进度进一步下降至-15%。", + "state_description": "当前机械臂处于抓取失败的状态，抓夹位于桌面右侧低位，未持有任何物体。目标灰色碗已经偏离了原本的中央位置，侧倒在右侧的另一个灰色碗附近，且姿态由正放变为侧躺，增加了后续抓取的难度。任务处于严重受阻状态。", + "time": 4.26, + "vlm_progress": "-15" + }, + { + "action_description": "视频开始时，机械臂末端位于右前方的低空区域，显得较为杂乱。随后，机械臂垂直向上抬起（z轴向上），同时向右后方（朝向基座方向）大幅回缩。在此过程中，抓夹是空的，没有抓住任何物体。目标灰色碗被遗留在桌面上，位于白色盘子和右侧另一个碗之间，呈现侧倒姿态（开口朝向侧面）。动作结束时，机械臂悬停在桌面中心后方的高处，远离所有物体。", + "correction_plan": "为了恢复任务，机械臂必须重新接近目标。建议动作：机械臂从当前后方高点向右前方移动并下降高度，对准侧倒的灰色碗。由于碗口朝侧面，直接抓取困难，建议先调整抓夹角度尝试侧向夹取，或者用抓夹末端轻轻推动碗边使其翻正（开口向上），待碗姿态稳定后再执行垂直抓取。", + "error_success_analysis": "这段视频展示了一个错误的动作序列。根据任务规划，机械臂本应处于抓取或搬运碗的阶段。然而，视频显示机械臂未能建立抓取，导致目标碗侧翻，随后机械臂向远离目标的方向撤退。这种“未完成抓取即撤离”且导致环境状态恶化（碗倒了）的行为，标志着当前尝试的彻底失败。", + "frame": 146, + "progress": -50, + "progress_check": "1", + "progress_explanation": "视频开始时进度为-15%，已经指示了之前的操作出现了异常。视频结束时进度下降至-50%，这是因为机械臂执行了放弃抓取的撤退动作。它没有完成“抓夹抓住灰色的碗”（50%）这一目标，反而将碗碰倒并空手撤离到远处。负值进度的进一步加深准确反映了任务状态的恶化：从尝试抓取失败（-15%）变成了完全放弃并需要彻底重置或复杂恢复（-50%）的状态。", + "state_description": "当前关键点状态显示任务严重失败。机械臂位于后方高处的复位位置，抓夹未持有物体。目标灰色纹理碗未被抓取，且侧倒在右前方的白色盘子旁，位置偏离了原始的桌面中央，且姿态不稳定。桌面右侧区域物体拥挤。相比于任务规划中的抓取状态，当前状态不仅没有完成抓取，反而因为物体姿态改变和位置偏移增加了后续操作的难度。", + "time": 4.855, + "vlm_progress": "0" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504261.147415/observation.images.Failure1769504261.147415/Failure1769504261.147415.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504261.147415/observation.images.Failure1769504261.147415/Failure1769504261.147415.json new file mode 100644 index 0000000000000000000000000000000000000000..0e560e469094869ad0f4235f66371a43276aa8ee --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504261.147415/observation.images.Failure1769504261.147415/Failure1769504261.147415.json @@ -0,0 +1,81 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频显示机械臂从起始位置开始动作，末端执行器（抓夹）保持张开状态，从高处向下并向桌子中央移动。具体来说，机械臂降低了高度，并略微向前调整位置，正朝着桌子中央的灰色目标碗方向靠近，准备进行后续的接近动作。", + "correction_plan": "当前动作正确，无需纠正。接下来的可行动作是继续控制机械臂向下并向前移动，精确调整抓夹位置，使其到达中央灰色碗的正上方或侧方，以便达到‘接近灰色的碗’（25%）的状态，并为抓取做准备。", + "error_success_analysis": "这段视频的动作是成功的。机械臂的运动轨迹平滑，且移动方向准确指向任务目标——桌子中央的灰色碗，没有出现朝向干扰物（如右侧的碗或盘子）移动的迹象，也没有发生碰撞或异常停顿。", + "frame": 18, + "progress": 5, + "progress_check": 1, + "progress_explanation": "根据任务规划，0%代表动作开始，25%代表接近碗。在这段视频中，机械臂从静止状态启动并向下移动了一段距离，明确表现出了向目标进发的意图。虽然距离目标碗还有一段距离，未达到‘接近’（25%）的状态，但动作已经发生且方向正确，因此进度从0%微增至5%是合理的，代表了任务的初始化和早期执行。", + "state_description": "当前关键点状态显示机械臂已经离开了初始的复位状态，正在执行接近目标的路径规划中。抓夹悬停在桌面上方，位置大约在桌子中心后方，正对准桌子中央的灰色碗。目标碗及其他物体均处于静止状态，未被触碰。任务处于刚刚开始阶段，机械臂正在从起始点向第一个关键节点（接近碗）过渡。", + "time": 0.595, + "vlm_progress": 5 + }, + { + "action_description": "视频开始时，机械臂悬停在桌面上方。随后，机械臂没有向位于桌子正中央的目标灰色碗移动，而是错误地向右下方快速移动。", + "correction_plan": "机械臂应首先向上（Z轴正方向）并向下（朝向桌子中心）移动。恢复到高处安全位置后，重新规划路径，将抓夹水平移动到桌子中央灰色碗的正上方，然后垂直向下移动以接近目标。", + "error_success_analysis": "该动作是失败的。任务要求抓取桌子中央的物体，但机械臂的运动轨迹向右偏移，忽略了目标位置的方位（中央）。方位的判断和执行出现了严重偏差。", + "frame": 37, + "progress": -5, + "progress_check": 1, + "progress_explanation": "这段视频开始时机械臂刚开始动作（5%），但随后机械臂的运动路径完全偏离了目标（中央的碗）。这属于严重的操作失误，不仅没有完成“接近灰色的碗”（25%）的步骤，反而制造了需要纠正的错误状态。因此，任务进度不升反降，评估为-5%，表示比初始状态更糟，需要从错误中恢复。", + "state_description": "当前场景中，机械臂处于错误位置。目标灰色碗依然静止在桌子中央，没有任何被操作的迹象。右侧的盘子和其他物品未受干扰。任务状态不仅没有推进，反而因为非预期的碰撞陷入了故障状态，需要复位。", + "time": 1.234999, + "vlm_progress": -5 + }, + { + "action_description": "在这段视频中，机械臂并没有执行预期的抓取动作，而是停留在桌子右侧区域，处于一种异常的卡死或碰撞状态。机械臂没有任何向桌子中央灰色碗移动的有效轨迹，动作呈现为无效的尝试或静止。", + "correction_plan": "建议立即停止当前路径。首先控制机械臂垂直向上（Z轴正方向）移动，使其末端执行器脱离与右侧柜子或桌面的潜在接触/碰撞区域。待高度安全后，控制机械臂向下（朝向桌子中心）水平移动，直至抓夹悬停在桌子中央灰色碗的正上方，然后重新开始下降抓取的动作。", + "error_success_analysis": "这段视频的动作是错误的。主要原因是空间方位完全错误：任务要求是在桌子中央操作，而机械臂却运行到了桌子右侧边缘的障碍物区域。这种路径规划或执行错误导致机械臂无法接近目标物体，直接导致任务失败。", + "frame": 57, + "progress": -10, + "progress_check": "1", + "progress_explanation": "视频开始时进度为-5%，结束时降为-10%，这表明任务不仅没有进展，反而处于错误状态且情况可能恶化（如碰撞加深或持续卡死）。正常的任务规划应从0%开始移动，而负值准确地反映了当前处于非正常的故障或重置阶段，距离完成抓取碗的任务极其遥远。", + "state_description": "当前关键点状态显示机械臂严重偏离任务目标区域。抓夹位于右侧。任务目标——桌子中央的灰色碗，以及放置目标的盘子均静止在原位，未被触碰。场景处于一种需要人工干预或自动复位的失败状态。", + "time": 1.889999, + "vlm_progress": 0 + }, + { + "action_description": "视频中机械臂处于桌子右后方区域，位置靠近另一个银色金属碗，并没有向位于桌子正中央的目标灰色碗移动。机械臂似乎在右侧区域停滞或进行了微小的无效调整，未执行任何针对目标的接近或抓取动作。", + "correction_plan": "机械臂需要执行复位和重规划动作：首先垂直向上抬起抓夹以脱离当前右侧区域的障碍物，然后向左前方平移，直到抓夹位于桌子中央灰色碗的正上方，再执行下降抓取动作。", + "error_success_analysis": "该动作是失败的。主要错误在于空间定位偏差：任务目标在桌子'中央'，而机械臂却移动到了'右后方'。这种方位的根本性错误导致机械臂无法接触到目标物体，属于典型的目标定位或路径规划错误。", + "frame": 86, + "progress": -20, + "progress_check": 1, + "progress_explanation": "根据任务规划，机械臂此时应处于'接近灰色的碗'（0%-25%）阶段。然而，视频中机械臂在右侧无关区域活动，完全没有接近目标的趋势，处于执行错误的死胡同中。这种偏离导致无法产生有效的正向进度，反而被标记为负值以代表错误状态。这段视频开始时的进度为-10%,结束时的任务进度为-20%，数值下降反映了错误状态的持续或加深。", + "state_description": "当前场景中，目标灰色碗静止在桌子中央，未被触碰。机械臂的抓夹位于右后方，位置偏低，远离目标物体。右前方的盘子为空。机械臂的状态显示其完全偏离了预定的操作路径，处于错误的位置。", + "time": 2.869999, + "vlm_progress": 0 + }, + { + "action_description": "视频开始时，机械臂位于桌子上方。随后，机械臂向下并向右后方移动，接近位于机械臂基座附近的银色金属碗，而不是桌子中央的目标灰色碗。抓夹闭合抓住银色金属碗，并将其向上提起。", + "correction_plan": "机械臂应立即停止提升动作，进行复位。随后，机械臂应移动到桌子中央正上方，重新对准灰色的碗，准备下降进行抓取。", + "error_success_analysis": "这段视频的动作是错误的。任务明确要求“抓取桌子中央灰色的碗”，但机械臂移动到了桌子右后方。这是典型的路径规划错误。", + "frame": 122, + "progress": -30, + "progress_check": "1", + "progress_explanation": "任务规划要求抓取桌子中央的灰色碗。然而，在这段视频中，机器人执行了错误的动作，移动到了桌子的右后方且并未抓住物体。相比于视频开始时（-20%），机器人此刻不仅未接近目标，反而完成了一个错误的抓取，导致后续需要额外的步骤来释放错误物体并复位，因此任务进度进一步倒退，给定的结束进度-30%合理地反映了这一错误状态的加深。", + "state_description": "当前机械臂悬停在桌子右后方上方。任务目标（桌子中央的灰色碗）静止在原位，未被触碰。", + "time": 4.054998, + "vlm_progress": "0" + }, + { + "action_description": "在这段视频中，机械臂的夹爪处于闭合状态且并未抓取任何物体。机械臂从靠近桌子中央的区域向右前方移动，并最终悬停在位于桌子右前方的白底红边盘子的上方。", + "correction_plan": "为了修正当前错误，机械臂需要重置动作序列。具体建议动作为：1. 停止向盘子移动；2. 将机械臂末端向左前方移动，回到桌子中央灰色碗的正上方；3. 张开夹爪；4. 垂直向下移动靠近灰色碗；5. 再次尝试闭合夹爪以稳固抓取灰色碗。", + "error_success_analysis": "这段视频的动作是错误的。成功的关键步骤是在进度50%时“抓夹抓住灰色的碗”。然而视频中，机械臂在到达盘子上方时（本应是75%-100%的阶段），夹爪却是空的。这说明机械臂在之前的步骤中未能成功抓取桌子中央的灰色碗，但错误地忽略了这一失败，继续按原定路径向盘子移动，导致了最终的空投（phantom placement）错误。", + "frame": 148, + "progress": -50, + "progress_check": "1", + "progress_explanation": "这段视频开始时的进度为-30%，结束时为-50%。负数进度值明确指出当前任务处于失败或异常状态。相比于开始时刻，进度值进一步下降（从-30%到-50%），原因在于机械臂在未成功抓取目标（灰色碗）的情况下，继续执行了后续的“移动到盘子”的动作。这种“空运行”不仅没有推进任务，反而使机械臂远离了目标物体，增加了纠正错误的难度，因此被判定为严重的进度倒退。", + "state_description": "当前状态显示机械臂夹爪为空（未持有物体），位置处于桌子右侧盘子的上方，这通常是放置物体的目标位置。然而，任务目标——位于桌子中央的灰色碗，仍然静止在原位，未被移动。场景中其他的物品（如抽屉柜、银色碗、彩色盒子等）均保持不动。这种状态表明机械臂跳过了抓取步骤或抓取失败，却继续执行了搬运路径。", + "time": 4.92, + "vlm_progress": "0" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504348.1498542/observation.images.Failure1769504348.1498542/Failure1769504348.1498542.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504348.1498542/observation.images.Failure1769504348.1498542/Failure1769504348.1498542.json new file mode 100644 index 0000000000000000000000000000000000000000..c315314b88c811139cbb689910c63073283a9ae4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504348.1498542/observation.images.Failure1769504348.1498542/Failure1769504348.1498542.json @@ -0,0 +1,69 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于桌子后方的高位初始状态，夹爪张开。随后，机械臂开始启动，向左前方和下方缓慢移动，朝向位于桌子中部的目标灰色碗方向进发。", + "correction_plan": "当前动作无误，应继续执行既定策略。具体动作为：控制机械臂继续向下方移动，缩短与目标灰色碗的距离，直到夹爪移动到碗的正上方附近，达到接近目标（25%）的状态。", + "error_success_analysis": "这段视频的动作是成功的。机械臂正确地识别了目标灰色碗的位置，并规划了合理的路径开始移动。动作平稳，没有发生碰撞或朝向错误的物体（如错误的碗或抽屉），符合任务第一阶段的预期。", + "frame": 28, + "progress": 5, + "progress_check": "1", + "progress_explanation": "根据任务规划，抓夹开始移动定义为0%，接近碗定义为25%。在这段视频中，机械臂刚刚脱离初始姿态开始向目标移动，但远未达到接近目标（pre-grasp）的位置。因此，任务进度从0%轻微上升至5%，反映了动作的启动和初步位移。", + "state_description": "当前关键点状态为任务启动初期。机械臂处于桌面后方上方，正在执行下降和前伸动作。目标灰色碗静止在桌面中央区域，白色盘子和彩色包装盒等障碍物位置固定。机械臂尚未接触任何物体，距离目标物体仍有一定距离，属于接近动作的开始阶段。", + "time": 0.944999, + "vlm_progress": "5" + }, + { + "action_description": "视频中，机械臂控制夹爪向下并略微向右移动，试图去抓取放置在桌面中央的灰色碗。在接近过程中，夹爪并未准确对准碗的中心，而是运行到了盘子上方。", + "correction_plan": "针对当前倒扣的碗，建议执行以下纠正动作：机械臂回正向下移动，重新规划抓取路径，确保夹爪垂直且准确地对准碗心再次尝试抓取。", + "error_success_analysis": "这是一个错误的动作（Error）。造成失败的原因是空间位置规划或感知偏差，导致夹爪在下降时没有垂直对准碗心，而是移动到了盘子上方。", + "frame": 56, + "progress": -5, + "progress_check": "1", + "progress_explanation": "视频开始时进度为5%，表示抓取动作刚刚开始。然而，视频结束时任务进度变为-5%，这是因为操作出现了严重失误（Error）。机器人不仅没有完成抓取（这本应使进度增加），反而移动到了盘子上方，距离要抓取的目标物更远了。", + "state_description": "当前关键点状态显示任务失败。机械臂的夹爪处于闭合状态，悬停在盘子上方。", + "time": 1.87, + "vlm_progress": 0 + }, + { + "action_description": "机械臂从初始位置启动，向右前方下方移动，接近桌面左侧的白色盘子。", + "correction_plan": "首先，机械臂应松开抓夹，将盘子放回原位。接着，机械臂需要向上抬起并向左侧（桌面中央方向）移动，直至位于灰色碗的正上方。最后，垂直下降以正确抓取灰色碗。", + "error_success_analysis": "这段视频的动作是错误的。任务目标是抓取位于盘子右侧的灰色碗，但机械臂的移动轨迹过于偏右，导致其错误地将盘子作为抓取对象进行了操作。这是典型的目标识别错误或空间定位偏差。", + "frame": 82, + "progress": -10, + "progress_check": "0", + "progress_explanation": "原始标注显示进度从-5%上升到-10%，这可能仅反映了机械臂开始运动这一动作的发生。然而，根据任务规划，机器人需要抓取灰色碗，但实际上它抓取了盘子。由于执行了错误的动作且未能接触目标物体，任务的有效进度并未增加，实际任务进度应为-10%。", + "state_description": "当前机械臂的抓夹触碰白色盘子，盘子可能被轻微提起或移动。目标物体灰色碗位于抓夹右侧的桌面中部，处于未被触碰的静止状态。由于抓取了错误的物体（作为容器的盘子），当前处于错误的任务状态。", + "time": 2.735, + "vlm_progress": "0" + }, + { + "action_description": "机器人机械臂控制抓夹从左上方稍微向右下方移动，将悬停在盘子上方的抓夹移动到了桌子中央那个目标灰色碗的正上方，并调整姿态准备抓取。", + "correction_plan": "当前状态良好，下一步应继续保持当前位置的水平坐标，控制机械臂沿垂直方向（Z轴）向下移动，直到抓夹指尖低于碗口边缘，然后闭合抓夹抓住碗。", + "error_success_analysis": "这段动作是成功的。机器人准确识别了目标物体（中央的灰色碗），并规划了合理的路径将末端执行器移动到了目标上方，没有发生碰撞或偏移，为下一步的抓取动作做好了准备。", + "frame": 114, + "progress": 10, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂刚开始向目标区域移动（-10%）。在视频结束时，抓夹已经移动到了目标灰色碗的正上方并对齐，尚未下降到可以闭合抓取的高度。根据任务规划，'抓夹接近灰色的碗'定为25%，当前状态非常接近这一里程碑，因此进度有所上升，虽然标注为10%相对保守，但方向正确。", + "state_description": "当前场景中，机械臂的白色抓夹处于闭合状态，正悬停在位于盘子和彩色包装盒之间的灰色碗上方。抓夹的垂直轴线已经基本与碗的中心对齐，高度略高于碗口。这是一个典型的预抓取（Pre-grasp）状态，对应任务规划中接近物体的阶段。", + "time": 3.804999, + "vlm_progress": 20 + }, + { + "action_description": "机械臂将末端执行器（夹爪）向右下方移动，直到夹爪张开并接触到桌面右前方的白色盘子边缘，而不是移向位于中间的目标灰色碗。", + "correction_plan": "机械臂需要立即停止当前动作。首先向上（+Z方向）抬起夹爪以离开盘子区域，然后向右（-Y方向）并略微向后（-X方向）平移，直到夹爪中心对准桌子中央的那个灰色碗的正上方，准备进行抓取。", + "error_success_analysis": "这段视频的动作是错误的。根据任务规划，第一步应该是接近并抓取灰色的碗（位于桌面中部）。然而，机械臂直接移动到了最终的放置位置（右侧的盘子）上方。这属于导航或规划错误，机械臂混淆了抓取目标和放置目标，或者轨迹规划出现了严重偏差。", + "frame": 141, + "progress": 5, + "progress_check": "1", + "progress_explanation": "任务进度从10%降到5%，这反映了机械臂在这段时间内执行了物理移动动作。尽管数值上升，但机械臂实际上是朝着错误的方向（盘子）移动，而非接近目标物体（灰色碗）。因此，进度数值的增加仅代表动作的执行或时间的流逝，并不代表任务逻辑上的有效推进。", + "state_description": "当前机械臂处于向下伸展状态，夹爪张开并位于右侧白色盘子的正上方，似乎正在按压或触碰盘子。目标灰色碗位于夹爪的右侧，两者之间有明显的水平距离。机械臂的位置完全偏离了目标物体（灰色碗），错误地接近了放置目标（盘子）。", + "time": 4.715, + "vlm_progress": "10" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504743.6150992/observation.images.Failure1769504743.6150992/Failure1769504743.6150992.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504743.6150992/observation.images.Failure1769504743.6150992/Failure1769504743.6150992.json new file mode 100644 index 0000000000000000000000000000000000000000..06bd612cb878aa006904b6d457daa9e3c67cfc17 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504743.6150992/observation.images.Failure1769504743.6150992/Failure1769504743.6150992.json @@ -0,0 +1,81 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频中，白色机械臂从桌面上方较高的初始位置开始启动，向下方及桌子正中央方向移动。机械臂末端的黑色抓夹保持张开状态，平稳地接近并最终悬停在桌子中央的目标灰色碗上方，完成了接近目标的动作。", + "correction_plan": "当前动作执行无误，后续应继续执行抓取任务。具体操作为：控制机械臂垂直向下移动（Z轴负方向），使抓夹指尖下降至灰色碗两侧，然后闭合抓夹以稳固地抓住碗。", + "error_success_analysis": "该段动作是成功的。机械臂准确识别了目标物体（桌子中央的灰色碗）的方位，并控制抓夹从上方直接接近，没有出现路径偏差或与周围物体（如抽屉柜或食品盒）发生碰撞的情况，动作流畅且符合预期。", + "frame": 38, + "progress": 25, + "progress_check": "1", + "progress_explanation": "这段视频展示了机械臂从初始状态移动到目标物体上方的过程。开始时进度为0%，结束时抓夹已经成功到达灰色碗的近处，符合任务规划中'抓夹接近灰色的碗'这一节点。根据规划，该节点的进度定义为25%，因此进度值为25。", + "state_description": "当前时刻，机械臂的抓夹位于桌子中央灰色碗的正上方，处于张开待命状态，与目标的垂直距离已显著缩短，为下一步的抓取动作做好了位置准备。场景中其他物品如右前方的盘子、左侧的抽屉柜等均未受干扰，位置保持不变。任务处于“接近目标”完成、即将开始“抓取”的阶段。", + "time": 1.255, + "vlm_progress": "25" + }, + { + "action_description": "视频开始时，白色的机械臂悬停在桌子中央灰色碗的上方（处于接近状态）。在这段视频中，机械臂沿垂直方向向下移动（-Z轴），精准地将末端执行器定位在灰色碗的边缘两侧，随后控制抓夹闭合，牢固地抓住了桌子中央的灰色碗。", + "correction_plan": "当前动作成功，无需修正。接下来的规划动作为：机械臂应垂直向上移动（+Z轴）将灰色碗提离桌面，确保高度足以避开周围物体后，向右前方（-Y轴，+X轴方向）水平移动，将碗运送到白色红边盘子的上方。", + "error_success_analysis": "该动作执行成功。机械臂的空间定位准确，垂直下降过程中未发生偏差，未碰撞到前方的长方形盒子或右侧的抽屉柜。抓取时机恰当，成功捕获了目标对象，为后续的搬运任务奠定了基础。", + "frame": 63, + "progress": 50, + "progress_check": 1, + "progress_explanation": "这段视频涵盖了从机械臂接近目标到实施抓取的关键步骤。开始时进度为25%（接近目标），随着机械臂下行并完成闭合抓夹的动作，实现了对目标物体的物理控制，完全符合任务规划中“抓夹抓住灰色的碗”这一节点，因此进度上升至50%。", + "state_description": "当前状态下，机械臂的抓夹位于桌子中央的低空位置，已经成功闭合可以夹持住目标灰色碗。碗处于被抓取的状态，但尚未被提起离开桌面。桌面右前方的白色盘子和右侧的抽屉柜位置未变，路径上没有障碍物阻挡，准备进入搬运阶段。", + "time": 2.11, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，位于桌子后方的白色机械臂已经紧紧抓住了桌子中央的灰色碗并将其抬离桌面。随后，机械臂带着碗向右前方移动，平稳地将碗运送到了边缘带有红色花纹的白色圆形盘子上方悬停。", + "correction_plan": "当前动作无误，无需修正。接下来的操作规划应为：控制机械臂垂直向下缓慢移动，直到灰色碗平稳接触盘子表面，然后控制抓夹张开以释放碗。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地执行了路径规划，没有发生物体掉落或碰撞，且最终停止的位置精确地位于目标盘子的上方，符合任务逻辑。", + "frame": 90, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂刚完成抓取动作，进度为50%。视频过程中，机械臂执行了将物体运送到目标的动作。结束时，碗已经位于盘子上方，对应任务规划中“抓夹抓住灰色的碗接近盘子”的阶段，即75%。动作顺利完成，因此进度从50%上升至75%。", + "state_description": "当前关键点状态显示，机械臂成功保持了对目标灰色碗的抓取，并且已经完成了空间上的转移，将碗从初始位置移动到了目标位置（右前方的盘子）的正上方。此时碗处于悬空状态，正对准盘子中心，处于准备放置的阶段。", + "time": 3, + "vlm_progress": 75 + }, + { + "action_description": "在这段视频中，机械臂抓取着灰色的碗，从桌子中部区域向右前方移动。机械臂调整了位置，将灰色的碗精准地运送并悬停在桌子右前侧带有红色花纹的白色盘子正上方。", + "correction_plan": "当前动作正确，无需修正。基于当前悬停在盘子上方的状态，后续的可行动作是：控制机械臂垂直向下（Down）移动，直到碗底接触盘子表面，然后控制抓夹张开（Open）以释放碗，完成任务。", + "error_success_analysis": "这段视频的动作是成功的。机械臂没有发生碰撞，也没有掉落物体，并且准确地将物体移动到了目标位置（盘子）的上方区域（右前方）。方位的移动（向右前）完全符合任务规划中从桌子中央到右前盘子的路径要求。", + "frame": 112, + "progress": 85, + "progress_check": 1, + "progress_explanation": "这段视频开始时进度为75%，处于抓取碗并接近盘子的过程中。视频结束时，碗已经成功到达盘子正上方并对齐，完成了“接近”这一阶段的任务，只剩下最后的下降和释放。因此，任务进度相比开始时有所上升，达到85%是合理的，因为它代表了运输完成但尚未放置的中间状态。", + "state_description": "当前关键点状态显示，机械臂的抓夹紧紧抓住目标灰色碗，且碗已经位于目标容器（白色盘子）的垂直上方。机械臂处于悬停状态，完成了从抓取点到放置点的水平运输，尚未执行下降和释放动作。这是一个准备放置（Pre-place）的稳定状态。", + "time": 3.72, + "vlm_progress": 85 + }, + { + "action_description": "视频开始时，机械臂夹持着目标灰色碗，悬停在桌子右前方的白色红边盘子正上方。在随后的动作中，机械臂并没有执行下降放置的动作，而是控制抓夹带动灰色碗垂直向上移动，并伴有轻微的向后（右后方）偏移，使得碗底与盘子表面的距离拉大。", + "correction_plan": "为了完成任务，机械臂应当立即停止向上的运动。修正后的动作应为：保持当前的水平位置（X、Y轴）基本不变，控制机械臂沿垂直方向（Z轴）向下移动，直到灰色碗的底部与白色盘子的表面完全接触，随后控制夹爪张开以释放碗。", + "error_success_analysis": "任务的最后阶段要求将碗“放在”盘子上，这在物理空间上对应于沿Z轴向下移动直到接触。视频中的机械臂反而向上移动，增加了物体与目标的距离，属于与目标背道而驰的操作，因此判定为错误动作。", + "frame": 135, + "progress": 80, + "progress_check": 1, + "progress_explanation": "这段视频开始时，碗已经位于盘子上方非常接近的位置，因此进度评估为85%。然而，在视频过程中，机械臂执行了向上抬起的动作，使得碗远离了需要放置的目标表面（盘子）。这种远离目标的动作导致了任务进度的回退，因此结束时的任务进度被评估为80%，反映了任务完成度的下降。", + "state_description": "当前状态下，机械臂成功抓取了灰色碗，并且碗的水平位置已经基本对准了目标区域——右前方的白色盘子。然而，碗处于悬空状态，且高度正在增加，远离了盘子表面。虽然主要物体（碗）已经离开了初始位置（桌子中央），但尚未完成最终的放置步骤。场景中其他物体如右侧的抽屉柜和中间的食品盒保持静止，未受干扰。", + "time": 4.515, + "vlm_progress": 80 + }, + { + "action_description": "机器人机械臂夹持着灰色碗，从位于桌面右前方的白色盘子上方开始，执行了垂直向上的移动动作，增加了碗与下方盘子之间的距离，使得被抓取的物体远离了目标放置位置。", + "correction_plan": "为了纠正当前状态，机械臂应该停止上升并反向操作。具体建议动作是：控制机械臂带着灰色碗垂直向下移动（沿Z轴负方向），对准下方的白色盘子，直到碗底平稳接触盘面，然后松开抓夹完成任务。", + "error_success_analysis": "这段视频的动作是错误的。任务的最终目标是将碗“放在”盘子上，这意味着机械臂应该执行下降动作。实际发生的动作是上升，这与达成目标所需的运动方向相反，因此未能推进任务，反而造成了进度的回退。", + "frame": 148, + "progress": 75, + "progress_check": 1, + "progress_explanation": "在视频开始时，碗非常接近盘子，处于即将放置的状态，进度约为80%。然而在视频过程中，机械臂没有继续下降完成放置，反而将碗向上提起，增加了与目标的距离。这种远离目标的动作导致了任务完成度的实质性倒退，因此结束时的进度下降为75%。", + "state_description": "当前关键点状态显示，机械臂成功抓取了目标灰色碗，并将其悬停在右侧白色红边盘子的上方空中。相比于上一时刻，碗的高度显著增加，不再紧贴盘子上方，而是处于一个较高的待机或回撤位置。任务尚未完成，因为碗尚未接触盘面并释放。", + "time": 4.925, + "vlm_progress": 75 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504990.7968895/observation.images.Failure1769504990.7968895/Failure1769504990.7968895.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504990.7968895/observation.images.Failure1769504990.7968895/Failure1769504990.7968895.json new file mode 100644 index 0000000000000000000000000000000000000000..5ac5823336e88b3e3a4b9bc48bab246ecd1a878b --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769504990.7968895/observation.images.Failure1769504990.7968895/Failure1769504990.7968895.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂悬停在桌面上方的高处位置。在视频过程中，机械臂执行了向下的动作（down），末端抓夹垂直下降，逐渐靠近位于桌子中央的目标灰色碗，最终停在碗的上方附近。", + "correction_plan": "当前动作执行正确，无需修正。接下来的计划动作应为：控制抓夹继续垂直向下（down）移动，包裹住灰色碗的边缘，然后闭合抓夹（close gripper）以完成抓取。", + "error_success_analysis": "这段动作是成功的。机械臂准确地向目标物体（桌子中央的灰色碗）移动，没有发生位置偏差，也没有错误地接近其他干扰物体（如旁边的金属碗或盒子）。动作轨迹平滑且符合逻辑，成功达到了预抓取的位置。", + "frame": 42, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时机械臂刚开始移动，进度为0%。视频结束时，机械臂已经成功从上方移动到了目标灰色碗的近处，完成了任务规划中定义的“抓夹接近灰色的碗”这一阶段。根据给定的任务进度规划，这一阶段对应25%的进度，因此进度值为25。", + "state_description": "在当前关键点，机械臂的抓夹处于张开状态，位于桌子中央灰色碗的正上方，准备进行抓取。灰色碗依然静止在桌面上，周围环境未发生改变。此时的状态表明机械臂已完成了从初始位置到目标物体的接近过程，为下一步的抓取动作做好了准备。", + "time": 1.405, + "vlm_progress": 25 + }, + { + "action_description": "机械臂从桌子中央灰色碗的上方垂直向下移动，调整位置使抓夹包围碗的边缘，随后闭合抓夹，完成了对灰色碗的抓取动作。", + "correction_plan": "下一步应控制机械臂垂直向上抬起，使灰色碗脱离桌面，随后控制机械臂向右前方（盘子所在方向）水平移动，准备进行放置。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确定位了目标物体，垂直下探路径无偏差，抓夹闭合时机恰当，成功捕获目标，未发生碰撞或抓空现象。", + "frame": 89, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，抓夹处于接近灰色碗的位置（对应任务规划的25%）；视频结束时，抓夹已经成功闭合并抓住了灰色碗（对应任务规划的50%）。动作顺利完成，进度按预期上升，结束时进度为50%。", + "state_description": "当前关键点状态为抓取完成。机械臂的抓夹已经紧紧握住了桌子中央的灰色碗，碗仍在桌面上但已被固定。目标盘子位于右前方，等待接收物体。任务完成了抓取阶段，准备进入移动阶段。", + "time": 2.9707792207792205, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂已经位于桌子中央并抓住了灰色的碗。在视频过程中，机械臂将碗向上提起，并向右前方移动，最终将碗运送到了带有红白花纹的盘子正上方悬停。", + "correction_plan": "鉴于当前动作成功且碗已悬停在盘子上方，接下来的动作应该是控制机械臂垂直向下移动，将碗轻放在盘子上，然后松开夹爪完成释放。", + "error_success_analysis": "这段视频的动作是成功的。机械臂没有在移动过程中掉落物体，且移动路径清晰准确，成功将碗从初始位置带到了目标位置（盘子）的上方，为放置动作做好了准备。", + "frame": 114, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时机械臂已完成抓取动作，对应任务规划的50%。视频展示了机械臂将碗从桌子中央移动到盘子上方的过程，结束时碗位于盘子上方，完全符合任务规划中‘抓夹抓住灰色的碗接近盘子’这一节点，即75%的进度。因此，进度从50%顺利上升至75%。", + "state_description": "当前状态下，机械臂的夹具紧紧抓着灰色的碗，碗体悬空并位于目标盘子的正上方。这标志着搬运过程的结束和放置过程的开始。", + "time": 3.79, + "vlm_progress": 75 + }, + { + "action_description": "机械臂末端夹爪紧抓灰色的碗，从桌子中央上方区域向右前方移动，最终将碗运送并悬停在带有红白花纹的盘子正上方。", + "correction_plan": "当前动作执行正确，无需修正。接下来的动作应控制机械臂垂直向下移动（Z轴向下），直到灰色碗底部接触盘子表面，然后控制夹爪张开释放碗，最后抬起机械臂完成任务。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在移动过程中保持了对碗的稳定抓取，没有发生掉落，并且准确地将碗移动到了目标盘子的正上方，不仅方向正确（右前方），而且位置对齐精准，为下一步放置做好了准备。", + "frame": 141, + "progress": 85, + "progress_check": 1, + "progress_explanation": "视频开始时进度为75%，对应抓取后接近盘子的阶段。视频结束时，碗已经被成功移动到了目标盘子的正上方，完成了从抓取点到放置点的水平运输过程，距离最终完成任务（放置在盘子上）仅剩下垂直距离的调整和松开夹爪。因此任务进度有明显推进，从接近状态变为就绪状态，85%的进度值准确反映了这一状态（介于接近和完全放置之间）。", + "state_description": "当前机械臂夹爪正稳固地夹持着灰色的碗，位于右前方盘子的垂直上方。碗与盘子在水平位置上已经对齐，处于等待下降放置的状态。相比于任务开始，碗已经离开了初始位置并到达了目标位置上方，仅剩下放和释放动作。", + "time": 4.689999, + "vlm_progress": 85 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505227.349071/observation.images.Failure1769505227.349071/Failure1769505227.349071.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505227.349071/observation.images.Failure1769505227.349071/Failure1769505227.349071.json new file mode 100644 index 0000000000000000000000000000000000000000..57031e81629c09cd1234b3b3e9afc3019d95c039 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505227.349071/observation.images.Failure1769505227.349071/Failure1769505227.349071.json @@ -0,0 +1,69 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频展示了机械臂从高处的初始位置开始动作，垂直向下并稍向前移动，将张开的抓夹精准地移动到了桌子中央灰色碗的正上方悬停。", + "correction_plan": "基于当前成功的接近状态，下一步动作应为：控制抓夹垂直向下（Down）移动，直到抓指包围碗壁，然后闭合抓夹（Close Gripper）以稳固地抓住灰色碗，随后向上（Up）提起并向右前方移动至盘子上方。", + "error_success_analysis": "这段动作是成功的。机械臂准确地识别了目标位置，规划并执行了平滑的轨迹，将末端执行器从初始位置移动到了目标物体上方，没有发生任何位置偏差或碰撞错误。", + "frame": 33, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时机械臂处于复位状态（0%）。视频结束时，抓夹已经成功移动并悬停在目标灰色碗的上方，这完全符合任务规划中‘抓夹接近灰色的碗’这一阶段的定义。因此，任务进度从0%上升到了25%。", + "state_description": "当前机械臂的抓夹位于目标物体（桌子中央的灰色碗）的正上方，处于预抓取（Pre-grasp）状态。抓夹双指张开，与碗的边缘对齐，准备进行抓取。场景中的其他物体如右前方的盘子和左侧的柜子均未被触碰。", + "time": 1.11, + "vlm_progress": 25 + }, + { + "action_description": "视频中机械臂执行了抓取动作。机械臂末端从位于桌子中央的灰色碗上方垂直向下移动，直到夹爪手指包围碗体，随即控制夹爪闭合，紧紧抓住了灰色碗。", + "correction_plan": "既然已经成功抓住碗，接下来的动作应该是将碗垂直向上提起以离开桌面，然后控制机械臂向右前方（盘子所在位置）移动，准备进行放置动作。", + "error_success_analysis": "这段视频的动作是成功的。机械臂精准地定位了灰色碗的位置（桌子中央），垂直下降没有发生偏移，夹爪闭合时机准确，顺利完成了抓取任务的这一关键步骤。", + "frame": 80, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂处于接近目标的状态（25%）。在视频过程中，机械臂完成了下降和抓取的动作。结束时，碗已被成功抓住，根据任务规划中‘抓夹抓住灰色的碗：50%’的定义，当前进度准确达到了50%。", + "state_description": "当前关键点状态显示机械臂已成功完成对目标物体（灰色碗）的抓取。夹爪已闭合且碗被固定在末端执行器中，碗目前尚未离开桌面。右前方的盘子作为放置目标处于空置状态。场景中其他物体（如左侧柜子、右侧多余的碗）均未被触碰，状态良好。", + "time": 2.655, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂的抓夹已经紧紧抓住了桌子中央的灰色碗。随后，机械臂将碗向上提起，并向右前方移动，朝向桌子右前方的红边白色盘子。视频结束时，机械臂悬停在盘子附近的上方，碗被稳固地夹持在空中。", + "correction_plan": "当前动作无误，无需修正。后续的建议动作是：继续微调位置，确保灰色碗位于红边白色盘子的正上方，然后缓慢垂直下降手臂，直到碗接触盘子表面，最后松开抓夹完成放置。", + "error_success_analysis": "这段视频的动作是成功的。机械臂没有发生任何错误，它保持了对目标物体（灰色碗）的控制，并且移动方向准确指向目标位置（盘子）。动作符合任务逻辑，没有发生碰撞或物体滑落。", + "frame": 110, + "progress": 75, + "progress_check": 1, + "progress_explanation": "这段视频展示了从“抓住碗”到“接近盘子”的过程。开始时碗刚被抓住（50%），随后机械臂执行了移动动作，将碗带到了盘子附近。根据任务规划，抓夹抓住灰色的碗接近盘子这一状态对应75%。由于动作执行流畅且方向正确，任务进度按计划从50%上升到了75%。", + "state_description": "当前关键点状态显示机械臂成功完成了抓取动作，并正在进行搬运任务。灰色碗被抓夹牢固地控制在空中，位置已经从桌子中央转移到了靠近右侧盘子的区域。此时的状态对应于任务规划中的“运输中”或“接近放置点”阶段，碗位于盘子上方或侧上方，等待下一步的对齐和放下。", + "time": 3.66, + "vlm_progress": 75 + }, + { + "action_description": "视频开始时，机械臂抓取着灰色的碗位于右前方带红边的白色盘子上方。在视频过程中，机械臂控制抓夹带着碗主要向下（垂直方向）移动，将碗缓缓降落至盘子中心正上方极低的位置，同时在水平方向做了微调以精确对齐盘子中心。", + "correction_plan": "当前状态正确，无需修正。接下来的动作应是继续缓慢垂直下降直到碗底接触盘子表面，然后控制抓夹张开，将碗平稳放置在盘子上，最后抬起机械臂复位。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地保持了对灰色碗的抓取，并将其平稳地移动到了目标盘子的正上方，没有发生掉落或碰撞，且位置对齐准确，为最后的放置动作做好了完美准备。", + "frame": 135, + "progress": 85, + "progress_check": 1, + "progress_explanation": "视频开始时进度为75%，对应抓取后接近盘子的阶段。视频结束时，碗已经从盘子上方的高处移动到了紧贴盘面的位置，完成了放置前的对齐和下降动作，处于即将释放的前一刻，因此任务进度有所上升，判定为85%。", + "state_description": "当前机械臂紧紧抓着灰色纹理的碗，碗悬停在桌子右前方的盘子上方，距离盘底非常近。任务即将完成，碗已对准目标位置，状态稳定，接下来的规划是继续下降直至接触盘面并松开抓夹完成放置。", + "time": 4.485, + "vlm_progress": 85 + }, + { + "action_description": "在这段视频中，机械臂抓取着灰色的碗，位于右前方的白色盘子上方。动作为缓慢向下（-Z方向）移动并伴随微小的水平位置调整，旨在将碗精确对准盘子中心，为放置动作做准备。", + "correction_plan": "当前动作无误，无需修正。后续应继续保持当前的控制策略，控制机械臂垂直向下移动，直到碗底接触盘子表面，然后控制抓夹打开以释放碗。", + "error_success_analysis": "这段视频展示的动作是成功的。机器人准确地保持了对目标物体（灰色碗）的控制，并且运动轨迹正确指向目标位置（盘子）。动作平稳，没有出现碰撞、掉落或严重的对齐错误。", + "frame": 147, + "progress": 88, + "progress_check": 1, + "progress_explanation": "视频开始时进度为85%，此时碗已经位于盘子上方区域。在视频过程中，机械臂执行了下降和对齐的动作，使得碗与最终放置位置的距离进一步缩小，任务完成度略微提升。因此，结束时的进度判断为88%是合理的，反映了从接近到即将放置的过渡。", + "state_description": "当前抓夹牢固地抓着灰色的碗，碗悬停在带有红边的白色盘子正上方，高度较低。相比于“抓夹抓住灰色的碗接近盘子”（75%）的状态，现在碗已经完全对齐并非常接近盘子表面，处于“将灰色的碗放在盘子上”（100%）的前序步骤。", + "time": 4.9, + "vlm_progress": 88 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505475.9688349/observation.images.Failure1769505475.9688349/Failure1769505475.9688349.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505475.9688349/observation.images.Failure1769505475.9688349/Failure1769505475.9688349.json new file mode 100644 index 0000000000000000000000000000000000000000..e34d7aba8a9095759b2d83c76e284893d1ce9732 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505475.9688349/observation.images.Failure1769505475.9688349/Failure1769505475.9688349.json @@ -0,0 +1,81 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于桌面上方较高的位置。随后，机械臂向下并略微向右前方移动，目标直指桌子中央的灰色碗。视频结束时，机械臂的抓夹已经移动到了目标灰色碗的正上方，呈现悬停状态，抓夹保持张开。", + "correction_plan": "当前动作成功，无需纠正。接下来的操作步骤应为：控制机械臂垂直向下微调高度，确保抓夹指尖能够充分接触或包围碗壁，然后闭合抓夹（Gripper Close）以牢固抓住灰色碗，随后将其提起。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了目标位置，并规划了合理的路径，从高处平滑地移动到了灰色碗的上方。动作过程中没有发生与其他物体（如左侧的柜子或右侧的盘子）的碰撞，且抓夹姿态垂直向下，适合进行接下来的抓取。", + "frame": 42, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时处于任务起点，进度为0%。视频结束时，机械臂完成了从初始位置移动到目标物体附近的动作，即“抓夹接近灰色的碗”。根据任务规划，这一状态对应的进度为25%。动作执行流畅且准确，因此进度判定为25%。", + "state_description": "当前关键点状态是机械臂的末端执行器（抓夹）已经成功定位到目标物体——桌子中央的灰色碗上方。抓夹尚未闭合，碗静止在原位。盘子位于右侧，彩色盒子位于前方，周围环境未发生碰撞或混乱。系统已准备好进入下一阶段的抓取动作。", + "time": 1.405, + "vlm_progress": 25 + }, + { + "action_description": "机械臂控制夹爪从桌子中央灰色碗的上方垂直向下移动，精准地将夹爪的两指置于灰色碗的两侧，随后夹爪向内闭合，稳固地抓住了灰色碗的边缘。", + "correction_plan": "当前动作已成功完成抓取，接下来的可行动作是：控制机械臂向上垂直移动（+Z方向），将灰色碗提起以离开桌面，避免移动时碰撞到前方的盒子或其他物体，随后向右前方（+Y，-X方向）移动，将碗运送到盘子上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了目标灰色碗的位置（桌子中央），执行了垂直下降动作，没有发生位置偏差。夹爪闭合的时机恰当，成功包裹并抓住了碗体，未发生抓空或碰撞周围物体（如前方的彩色盒子）的情况。", + "frame": 71, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，夹爪位于目标上方，处于'接近灰色的碗'的状态（对应25%）。在视频过程中，机械臂执行了下降和闭合夹爪的动作。视频结束时，夹爪已经成功抓住了灰色碗，这与任务规划中'抓夹抓住灰色的碗'（50%）的状态完全一致。因此，任务进度从25%上升到了50%。", + "state_description": "当前时刻，机械臂的夹爪已经完全闭合，紧紧夹住了位于桌子中央的目标灰色碗。碗目前仍停留在桌面上，尚未被提起。场景中的其他物体（如右侧的盘子、前方的彩色盒子、左侧的抽屉柜）保持静止，未受干扰。任务状态处于成功抓取物体的节点，准备进入搬运阶段。", + "time": 2.36, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂的抓夹已经牢固地抓住了位于桌子中央的灰色碗。随后，机械臂将碗垂直向上提起，并向右前方水平移动，将碗运送至盘子的方向。", + "correction_plan": "当前动作正确，接下来的计划应是微调位置，将机械臂继续向右移动并下降，使灰色碗准确悬停在盘子正上方，然后垂直放下碗并在接触盘子后松开抓夹。", + "error_success_analysis": "这段视频的动作是成功的。机械臂成功保持了对物体的抓取（没有掉落），并且按照正确的路径（向右前方的盘子）移动了物体，完成了运输阶段的主要位移。", + "frame": 99, + "progress": 75, + "progress_check": 1, + "progress_explanation": "这段视频开始时，任务处于“抓夹抓住灰色的碗”的状态（50%）。视频中展示了机械臂将碗提起并搬运至盘子附近的过程。结束时，碗已经到达盘子附近的空中，符合“抓夹抓住灰色的碗接近盘子”的描述（75%）。因此，任务进度从50%正常推进到了75%。", + "state_description": "当前关键状态下，机械臂抓夹紧闭，正悬空夹持着目标灰色碗。碗已经完全离开了桌面，位于桌子中央和右侧盘子之间的空中区域，正在向盘子靠近。盘子位于右前方，处于空置状态。机械臂动作稳定，正在执行运输任务。", + "time": 3.285, + "vlm_progress": 75 + }, + { + "action_description": "机械臂抓着灰色的碗，从桌子中央上方的位置向右前方移动，并伴随下降动作，使碗逐渐靠近位于桌面右侧的盘子。", + "correction_plan": "当前操作无误。接下来的动作应当是继续将灰色碗移动至盘子正中心的上方，进一步降低高度，确认对准后松开抓夹，完成放置任务。", + "error_success_analysis": "该动作是成功的。机械臂稳定地抓取物体，没有发生滑落，且移动轨迹平滑，方向正确地指向了目标盘子，没有与场景中的其他物体发生碰撞。", + "frame": 123, + "progress": 80, + "progress_check": 1, + "progress_explanation": "这段视频开始时，任务处于“抓夹抓住灰色的碗接近盘子”的阶段，进度标记为75%。视频中，机械臂成功地执行了将碗运送至盘子附近的动作，距离目标位置更近了一步，但尚未完成放置动作，因此任务进度有小幅提升，判定为80%。", + "state_description": "机械臂的抓夹牢固地抓着目标灰色碗，碗处于悬空状态，位于盘子的右上方。盘子静置在桌面右前方，周围没有障碍物，等待碗的放入。场景中其他物体如深色抽屉柜、彩色盒子等均未受到干扰。", + "time": 4.115, + "vlm_progress": 80 + }, + { + "action_description": "视频开始时，机械臂抓夹正抓着灰色的碗，悬停在桌子右前方盘子的上方区域。随后，机械臂没有执行垂直下降的放置动作。", + "correction_plan": "为了修正错误，机械臂需要执行以下动作：向左侧移动，抓夹加持灰色的碗对准盘子的位置向下移动放置碗。", + "error_success_analysis": "这段视频的动作是错误的。机械臂在尝试完成‘将碗放在盘子上’这一步骤时，未能准确对准盘子中心，且在高度或时机不合适的情况下并没有将目标物体放置在盘子上，而是继续向桌面的右侧移动，造成了任务执行的失败。", + "frame": 138, + "progress": 70, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂抓住碗并接近盘子，处于即将完成任务的最后阶段，进度为80%。然而，在动作执行过程中，机械臂并没有将目标物体放置在盘子上，而是继续向桌面的右侧移动。虽然物体在空间位置上靠近终点，但由于失去了抓取状态（Holding State）且放置未成功，任务状态相比之前倒退，因此进度下降为70%。", + "state_description": "当前状态下，机械臂并没有将目标物体放置在盘子上，而是继续向桌面的右侧移动。", + "time": 4.60064935064935, + "vlm_progress": 70 + }, + { + "action_description": "在这段视频中，机械臂夹持着灰色的碗，没有继续向右侧的盘子移动，而是向右/后方移动，将碗带回到了桌子中央区域，远离了目标盘子。", + "correction_plan": "机械臂应停止向后移动，重新规划路径，控制抓夹夹持着灰色碗向右前方移动，使其到达盘子正上方，然后垂直下降将碗放置在盘子内。", + "error_success_analysis": "这段动作是错误的。成功的动作应该继续向右移动并将碗放置在盘子上。机械臂反而向相反方向（右/后）移动，增加了物体与目标的距离，导致任务进度倒退。", + "frame": 149, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时进度为70%，意味着碗已经接近盘子。然而在视频结束时，进度下降到了50%（即仅处于抓住碗的状态）。这是因为机械臂执行了错误的移动动作，将碗从靠近盘子的位置移回了远离盘子的位置，导致任务的运输阶段进度回退，但碗仍然被抓夹抓住，未掉落，所以保持在50%的基准线上。", + "state_description": "当前机械臂紧紧抓住了目标灰色碗，碗悬空在桌子中央上方。盘子位于机械臂右前方的桌面上，处于空置状态。机械臂的位置距离盘子较远，处于抓取后的初始区域。相比于接近盘子的状态，当前的物体位置倒退回了刚抓取时的状态。", + "time": 4.975, + "vlm_progress": 50 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505475.9984848/observation.images.Failure1769505475.9984848/Failure1769505475.9984848.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505475.9984848/observation.images.Failure1769505475.9984848/Failure1769505475.9984848.json new file mode 100644 index 0000000000000000000000000000000000000000..ba8c9c03ac93423ce3fd8df5bd1fbf496d0a0397 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505475.9984848/observation.images.Failure1769505475.9984848/Failure1769505475.9984848.json @@ -0,0 +1,81 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "在这段视频中，白色的机械臂抓夹从较高的初始位置开始启动，向下方移动，并略微向右前方调整位置，朝着桌子中央偏右的目标灰色碗靠近。", + "correction_plan": "当前动作正确，无需修正。接下来的计划是继续控制机械臂向下并向右前方移动，直到抓夹正对目标灰色碗的上方，进入“接近灰色的碗”的状态，为抓取做准备。", + "error_success_analysis": "该动作是成功的。机械臂的运动轨迹平滑，方向正确，直接指向目标灰色碗的位置，没有出现抖动、碰撞或错误的路径规划。", + "frame": 32, + "progress": 10, + "progress_check": 1, + "progress_explanation": "视频开始时任务刚启动，进度为0%。视频结束时，机械臂已经执行了向下的移动动作，缩短了与目标物体的距离，正在进行从“开始移动”（0%）到“接近灰色的碗”（25%）之间的过渡过程。由于抓夹尚未完全到达可以称为“接近”或“对准”的位置，因此进度上升到10%是合理的，表示移动过程的一小部分已完成。", + "state_description": "当前状态下，机械臂已经离开了静止的初始位置，正在向桌面下降。抓夹悬停在半空中，位于目标灰色碗的上方区域，但尚未达到紧贴碗具的抓取准备位置。目标灰色碗静止在桌面上，右前方的红边盘子是空的，等待放置。任务处于刚刚开始移动的早期阶段。", + "time": 1.055, + "vlm_progress": 10 + }, + { + "action_description": "机械臂夹爪从上方初始位置向下并向右后方移动，靠近炉灶区域，远离了位于桌子中央的目标灰色碗，随后在错误位置略微抬起。", + "correction_plan": "机械臂需要将其末端执行器（夹爪）水平向左移动，直到位于桌子中央灰色碗的正上方。对齐后，再垂直下降以准备抓取。", + "error_success_analysis": "这是一个错误的动作。任务目标是位于桌面中央的灰色碗，而机械臂执行了向右后方的移动动作，将夹爪带到了炉灶上方。这导致夹爪与目标的距离变大，未完成‘接近灰色碗’的子任务。", + "frame": 56, + "progress": 5, + "progress_check": 1, + "progress_explanation": "任务要求抓取桌子中央的灰色碗（接近碗应为25%）。在这段视频中，机械臂没有向目标移动，反而向右侧移动，远离了目标物体。这种错误的移动导致有效进度不升反降，从未抓取状态的初始移动（10%）退步到了更无效的位置，因此进度下降为5%。", + "state_description": "当前机械臂夹爪悬停在桌面的右后方区域，处于打开状态。目标灰色碗位于夹爪的左侧（桌面中央区域），处于未被触及的状态。机械臂的位置明显偏离了目标物体，处于错误的抓取准备位置。", + "time": 1.865, + "vlm_progress": 5 + }, + { + "action_description": "在视频片段中，机械臂的夹爪保持张开状态，从桌子上方靠近中间的位置向画面右侧（桌子的右后方区域）水平移动。", + "correction_plan": "为了修正错误，机械臂需要改变移动方向。具体操作应为：停止向右移动，控制夹爪向画面右侧平移，并同时降低高度，使其逼近并最终悬停在桌子中央的目标灰色碗正上方，以便重新对准目标进行抓取。", + "error_success_analysis": "这段视频的动作是错误的。任务明确要求抓取位于桌子中央的灰色碗，正确的路径应该是指向右下方。然而，机械臂却控制夹爪向桌面的右侧移动，这完全背离了目标物体的位置，属于典型的导航或规划错误。", + "frame": 77, + "progress": 3, + "progress_check": 1, + "progress_explanation": "根据任务规划，接近目标灰色的碗应使进度达到25%。视频开始时进度为5%，意味着动作刚起步。然而，在这段视频中，机械臂并没有下方接近目标碗，而是向右侧移动，实际上是远离了目标。这种负向的移动导致机械臂与目标的物理距离增加，使得任务完成的可能性降低，因此任务进度从5%回落至3%是符合逻辑的。", + "state_description": "当前关键点状态显示，机械臂悬停在桌子右侧区域的上方，夹爪张开且未抓取任何物体。目标灰色碗静止在桌子中央偏右、红边盘子的左后方，未受任何干扰。由于机械臂的位置明显偏离了目标物体所在的区域，当前状态表明任务执行出现了方向性的偏差，无法进行下一步的抓取动作。", + "time": 2.55, + "vlm_progress": 3 + }, + { + "action_description": "视频开始时，机械臂位于桌面右前方的红边盘子上方。随后，机械臂垂直向下移动，并没有向位于桌面中央（盘子左后方）的目标灰色碗移动。动作结束时，抓夹直接压在了红边盘子上，与盘子发生了物理接触和碰撞。", + "correction_plan": "为了纠正当前错误，机械臂首先必须垂直向上移动（Up），使抓夹离开盘子表面以解除碰撞状态。随后，机械臂需要向左侧（Right）及稍后方（Back）平移，移动到桌子中央灰色碗的正上方，完成对准后再尝试下降抓取。", + "error_success_analysis": "这段视频的动作是错误的。任务目标是抓取位于中间的灰色碗，但机械臂的运动轨迹仅仅是垂直下降，没有进行必要的水平位移（向右后方）来对准目标碗。结果导致抓夹错误地与放置区域的盘子发生了碰撞。这是典型的目标识别或路径规划错误。", + "frame": 102, + "progress": -5, + "progress_check": "1", + "progress_explanation": "任务开始时进度为3%，处于起步阶段。然而，机械臂在随后的动作中并没有按照规划去接近目标灰色碗（本应达到25%的进度），而是错误地向下运动并撞击了作为放置目标的盘子。这种操作导致了任务状态的恶化（碰撞错误），而非进度的推进，因此进度数值合理地下降到了负值（-5%），代表需要复位或纠错的失败状态。", + "state_description": "当前状态显示机械臂的白色抓夹正紧紧压在桌面右前方的红边盘子上，处于错误的碰撞状态。目标物品——桌面中央的灰色碗——位于当前抓夹位置的右侧及稍后方，完全没有被接触或抓取。盘子被机械臂压住，任务处于执行失败的状态。", + "time": 3.395, + "vlm_progress": "0" + }, + { + "action_description": "视频中，机械臂末端抓夹从桌面上方较低位置开始，向右后方及上方移动，执行了一个抬升并远离桌面的动作。抓夹始终保持张开状态，未接触任何物体。", + "correction_plan": "机械臂需要改变运动方向，首先向右前方移动，将抓夹中心对准桌子中央灰色碗的正上方，然后垂直向下移动（降低高度），直到抓夹指尖低于碗沿，为闭合抓夹做准备。", + "error_success_analysis": "这段视频的动作是错误的。成功的动作应该包含机械臂向下移动（Z轴向下）并调整水平位置以接近桌子中央的灰色碗。实际发生的动作是向上抬起并远离，这与'接近灰色的碗'（0%-25%阶段）的目标背道而驰，导致无法执行后续的抓取。", + "frame": 125, + "progress": -10, + "progress_check": 1, + "progress_explanation": "任务要求抓取灰色碗，这需要接近动作。然而在视频中，机械臂非但没有接近目标，反而向上并向后撤退，增加了与目标灰色碗之间的距离。这种远离目标的运动导致任务状态相对于开始时更加恶化，因此进度从-5%下降到了-10%，反映了任务执行的倒退。", + "state_description": "视频结束时，机械臂悬停在工作台右后方的高处，远离桌面上的所有物体。目标灰色碗位于桌子中央偏右位置，保持静止，未被触碰。红边盘子位于右前方，处于空置状态。当前状态显示机械臂已脱离操作区域，回到了一个远离目标的复位或闲置位置。", + "time": 4.17, + "vlm_progress": 0 + }, + { + "action_description": "视频开始时，机械臂的抓夹悬停在桌面右侧的红边盘子上方。随后，机械臂向上抬起（Z轴正向移动），同时向右侧移动（Y轴移动），朝向桌面中央的灰色碗方向移动，最终悬停在盘子与灰色碗之间的上方区域。", + "correction_plan": "机器人需要重新规划任务序列。首先将抓夹移动到桌面中央灰色碗的正上方（方位：桌子中央），然后垂直下降对准碗，闭合抓夹完成抓取动作，之后再移动到盘子上方进行放置。", + "error_success_analysis": "这段视频的动作是错误的。任务要求先抓取灰色的碗，然后再放到盘子上。视频中机器人首先出现在盘子上方（放置位置），且抓夹为空，说明它跳过了“抓取”这一关键步骤。尽管随后它向碗的方向移动，但这可能是复位或错误的路径规划，无法改变任务逻辑顺序已错的事实。", + "frame": 145, + "progress": -30, + "progress_check": "1", + "progress_explanation": "这段视频开始时给出的进度为-10%，这通常意味着任务处于错误状态或由于某种原因被扣分。观察发现，机器人在抓取动作完成前就出现在了放置位置（盘子上方），这是严重的逻辑顺序错误（跳过了抓取步骤）。视频结束时进度进一步下降至-30%，表明这种错误的执行路径被确认失败，或者是因为机器人进行了无效的移动（虽然向碗移动，但整个序列已经错误），导致系统判定的任务状态进一步恶化。", + "state_description": "当前抓夹处于开启且空置的状态。目标灰色碗静置在桌面中央的位置，红边盘子位于右前方。机械臂的位置从盘子上方移动到了桌子中央的上方。目前的状态显示机器人并未持有目标物体，且刚才错误地出现在了任务的终点位置（盘子处），而非起点位置（碗处）。", + "time": 4.83, + "vlm_progress": "0" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505651.311186/observation.images.Failure1769505651.311186/Failure1769505651.311186.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505651.311186/observation.images.Failure1769505651.311186/Failure1769505651.311186.json new file mode 100644 index 0000000000000000000000000000000000000000..2b61f404fc3de51c2a33aa49226323b1878d5ff4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505651.311186/observation.images.Failure1769505651.311186/Failure1769505651.311186.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "在视频片段中，机械臂从上方起始位置开始，向下并略微向右前方移动，将张开的黑色抓夹精准地移动并悬停在桌子中央银灰色金属碗的正上方。", + "correction_plan": "当前抓夹已位于目标碗上方，接下来的动作应是：控制抓夹闭合，紧紧抓住灰色碗的边缘；确认抓稳后，控制机械臂垂直向上提升，将碗拿起，随后准备向右侧的盘子方向移动。", + "error_success_analysis": "该动作是成功的。机械臂的运动轨迹清晰、准确，直接导向目标物体（中央的灰色碗），并且在到达上方后停止，姿态正确（抓夹张开），未发生任何碰撞或误操作，完美契合了第一阶段的任务要求。", + "frame": 35, + "progress": 25, + "progress_check": 1, + "progress_explanation": "根据任务规划，任务开始时进度为0%，第一阶段目标是'抓夹接近灰色的碗'（25%）。视频展示了机械臂从初始位置移动到目标碗上方的完整过程，成功完成了接近目标的动作，因此进度从0%上升至25%是准确且符合逻辑的。", + "state_description": "当前状态下，机械臂的抓夹已成功到达预备抓取位置，位于桌子中央目标灰色碗的垂直上方。抓夹处于张开状态，对准了碗的边缘。桌面前方的黄色食品盒、右侧的圆盘以及左侧的抽屉柜均保持静止，未受到干扰。场景显示接近目标的动作已完成，准备进入抓取阶段。", + "time": 1.155, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂的抓夹悬停在桌子中央灰色碗的上方。随后，机械臂控制抓夹垂直向下移动，直到抓夹指尖包围住灰色碗的边缘。视频结束时，抓夹闭合，成功抓住了位于桌子中央的灰色碗。", + "correction_plan": "当前已成功抓取目标物体，接下来的可行动作是将灰色碗垂直向上提起（Up），以确保移动过程中不会碰撞到前方的黄色食品盒，然后向右移动，使其接近圆盘上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂精准地识别了目标位置，抓夹在下降过程中对准了灰色碗的中心，且闭合动作顺利完成，牢固地抓住了物体，符合任务规划中该阶段的要求。", + "frame": 67, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，抓夹正处于接近目标碗的阶段，进度为25%。在视频过程中，机械臂完成了下降和闭合抓夹的动作，对应任务规划中“抓夹抓住灰色的碗”这一步骤。由于动作执行成功，目标已被抓住，因此任务进度按计划上升到了50%。", + "state_description": "当前关键点状态显示，机械臂的抓夹已经紧紧抓住了桌子中央的银灰色金属碗。碗被稳固地夹在抓夹中，且并未离开桌面。目标圆盘位于当前位置的右前方，黄色的食品盒位于正前方。既然抓取动作已完成，下一步需要将物体提起并移动。", + "time": 2.233, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂的抓夹已经紧紧抓住了桌子中央的灰色金属碗。在视频过程中，机械臂向上提起灰色碗，使其离开桌面，并向右侧水平移动，逐渐接近右前方的红白花纹圆盘。视频结束时，抓夹悬停在圆盘上方。", + "correction_plan": "既然碗已经成功搬运至盘子上方，接下来的动作应为：控制机械臂垂直向下缓慢移动，直到灰色碗接触到盘子表面，然后控制抓夹张开以释放碗，最后抬起机械臂复位。", + "error_success_analysis": "这段视频的动作是成功的。机器人执行了正确的路径规划，将目标物体（灰色碗）从初始位置提起并向右移动到了目标容器（盘子）所在的区域，且在移动过程中物体没有滑落，方位的转移准确无误。", + "frame": 90, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时任务进度为50%，对应“抓夹抓住灰色的碗”。视频展示了机械臂将碗从抓取位置搬运到目标盘子附近的过程。结束时，碗已位于盘子上方，符合“抓夹抓住灰色的碗接近盘子”的描述，这是放置前的关键步骤，因此任务进度上升至75%。", + "state_description": "当前状态下，机器人成功完成了抓取和搬运物体的步骤。灰色金属碗被机械臂稳固地抓在空中，位置处于右侧圆盘的上方区域，准备进行放置。圆盘位于碗的下方，位置正确。桌面上的其他物体（如黄色食品盒、另一个金属碗）保持静止，未受干扰。此时处于放置动作的前序状态。", + "time": 2.984666, + "vlm_progress": 75 + }, + { + "action_description": "视频开始时，机械臂夹持着灰色的碗位于桌子右前方的盘子上方。随后，机械臂向下移动（Down），调整高度使碗贴近盘面。接着，抓夹张开（Open），将碗平稳释放。动作结束时，碗落在盘子上，机械臂略微向上抬起（Up）。", + "correction_plan": "任务已成功完成，无需纠正。下一步动作可以是机械臂复位或保持当前状态。", + "error_success_analysis": "该动作是成功的。机械臂准确地将碗定位到了盘子的正上方，并且在合适的高度释放了物体，碗平稳地落在了盘子中心，没有发生倾倒或滚落，完全符合任务要求。", + "frame": 110, + "progress": 100, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂正抓着碗接近盘子，处于任务规划的75%阶段。视频过程中，机器人执行了最后一步放置动作，将碗成功放入盘中。结束时，任务目标彻底完成，符合规划中'抓夹将灰色的碗放在盘子上：100%'的描述，因此进度为100%。", + "state_description": "当前关键点状态显示，目标灰色的碗已经成功放置在右前方带有红白花纹的圆盘中央。机械臂抓夹处于张开状态并位于碗的上方。任务目标已达成，无需后续规划。", + "time": 3.666667, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.666667 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505884.1393569/observation.images.Failure1769505884.1393569/Failure1769505884.1393569.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505884.1393569/observation.images.Failure1769505884.1393569/Failure1769505884.1393569.json new file mode 100644 index 0000000000000000000000000000000000000000..cf916e23f3cf86d7b0d7a323384977b491ec404d --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769505884.1393569/observation.images.Failure1769505884.1393569/Failure1769505884.1393569.json @@ -0,0 +1,69 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "机械臂从上方初始位置启动，向下并向桌子中央移动，将末端执行器（抓夹）精准地悬停在桌子正中央灰色碗的上方，抓夹保持张开状态，完成了接近目标的动作。", + "correction_plan": "当前状态完美，无需修正。接下来的动作应是闭合抓夹以稳固地抓住灰色碗，随后将其提起并向右前方的盘子方向移动。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地定位了目标（灰色碗），运动轨迹平滑，最终将抓夹停留在理想的抓取前置位置，未发生任何碰撞或偏差。", + "frame": 34, + "progress": 25, + "progress_check": "1", + "progress_explanation": "视频开始时机械臂尚未动作，进度为0%。在视频结束时，机械臂已经完成了移动并接近目标物体的动作，抓夹位置正对灰色碗，完全符合任务规划中'抓夹接近灰色的碗'（25%）的状态描述，因此任务进度按计划增加。", + "state_description": "当前机械臂的抓夹位于桌子中央灰色碗的正上方，处于预备抓取的位置。目标灰色碗未被移动，周围的物品如右侧的盘子、前方的食品盒等均保持原位。系统已准备好进行下一步的闭合抓取操作。", + "time": 1.125, + "vlm_progress": "25" + }, + { + "action_description": "视频开始时，白色机械臂的抓夹悬停在桌子中央灰色碗的正上方，抓夹处于张开状态。在视频过程中，抓夹垂直向下移动，精准地接近灰色碗。随后，抓夹收缩闭合，稳固地抓住了灰色碗的边缘。视频结束时，抓夹保持闭合状态，已成功完成对灰色碗的抓取。", + "correction_plan": "既然抓取动作已成功，下一步的操作是将物体运输到目标位置。建议机械臂保持对灰色碗的抓取，先垂直向上抬起一定高度以避开桌面摩擦，然后向右前方（白色盘子所在方位）水平移动，直至碗位于盘子上方。", + "error_success_analysis": "这段视频的动作是成功的。首先，机械臂在水平方位上准确对齐了目标物体（灰色碗）；其次，在垂直方向的下落控制精确，没有发生碰撞或偏移；最后，抓取时机恰当，抓夹闭合后牢固地控制住了物体。整个过程符合物理规律和任务预期，没有出现失误。", + "frame": 74, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，抓夹处于接近目标的状态，进度为25%。视频结束时，抓夹已经完成了向下移动并闭合抓取的一系列动作，成功锁定了目标物体（灰色碗）。根据任务规划，'抓夹抓住灰色的碗'这一节点的进度定义为50%。由于动作执行成功且目标达成，进度由25%上升至50%。", + "state_description": "当前场景中，位于桌子中央的灰色碗已被机械臂的抓夹成功捕获。抓夹紧紧扣住碗壁，碗处于被控制状态。其他物品如右侧的盘子、深色金属碗以及右侧的食品盒和抽屉柜均保持静止，未受干扰。当前状态标志着任务规划中'抓取'阶段的完成，为下一步搬运做好了准备。", + "time": 2.45, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂的抓夹位于桌子中央，已经抓住了灰色的碗。随后，机械臂向右前方移动，将灰色的碗从桌子中央平稳地运送到右侧的白色盘子正上方悬停。", + "correction_plan": "当前状态完美符合预期。接下来的动作应控制机械臂垂直向下移动，将灰色的碗放置在白色盘子上，待接触盘面后松开抓夹。", + "error_success_analysis": "这段视频的动作是成功的。机械臂稳固地控制着物体，移动轨迹清晰且方向正确（从中间向右前方），最终精准地将灰色的碗停在了目标盘子的上方，没有发生掉落或偏差。", + "frame": 107, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时处于抓取完成的状态（50%）。在这段视频中，机械臂执行了“抓住灰色的碗接近盘子”的动作，将碗成功移动到了盘子上方，这完全符合任务规划中75%进度的定义，因此进度从50%上升至75%。", + "state_description": "当前机械臂抓夹紧紧夹持着灰色的碗，碗体悬空位于桌子右前方的白色盘子上方。此时碗的位置已经对准了盘子，处于即将下放的预备状态，完成了从抓取点到目标点的转移。", + "time": 3.57, + "vlm_progress": 75 + }, + { + "action_description": "在视频片段中，机械臂夹爪紧紧抓取着灰色的碗，位于桌子右前方的白色盘子正上方。机械臂进行了微小的位置调整，使碗更精准地对齐盘子中心，并有轻微向下的趋势，保持在盘子上方悬停。", + "correction_plan": "基于当前成功的状态，下一步的可行动作是：控制机械臂垂直向下移动（Z轴向下），直到灰色的碗平稳接触到盘子表面，然后控制夹爪张开以释放碗，完成放置任务。", + "error_success_analysis": "这段视频的动作是成功的。机械臂没有丢失目标物体（灰色碗），并且准确地将其移动到了指定的目标位置（白色盘子）上方，动作平稳，没有发生碰撞或非预期的偏移，符合任务逻辑。", + "frame": 136, + "progress": 80, + "progress_check": 1, + "progress_explanation": "视频开始时进度为75%，对应任务规划中'抓夹抓住灰色的碗接近盘子'的阶段。在视频结束时，碗已经稳定悬停在盘子正上方，且位置经过微调更利于放置，虽然尚未进行实质性的'放下'动作（即未达到100%），但相比于刚接近盘子时，状态更接近最终完成点，因此进度小幅提升至80%是合理的。", + "state_description": "当前关键点状态显示，灰色的碗被机械臂成功抓取并悬空，位置处于目标物体白色盘子的垂直上方，距离盘面较近。周围的深色金属碗和食品盒等障碍物未被触碰。任务已完成从桌子中央到右前方盘子的搬运过程，正处于放置动作的最后对齐与准备下降阶段。", + "time": 4.52, + "vlm_progress": 80 + }, + { + "action_description": "视频开始时，机械臂抓夹正抓着灰色的碗位于右前方的白色盘子附近。在视频过程中，机械臂并没有向下放置碗，而是控制抓夹带着碗向上抬起，并向右后方移动，使灰色的碗远离了目标白色盘子。", + "correction_plan": "需要修正移动方向。具体动作为：控制机械臂将灰色的碗向右前方移动，使其重新回到白色盘子的正上方，然后垂直下降高度，将碗放置在盘子中心。", + "error_success_analysis": "这段动作是错误的。任务的目标是将碗放在盘子上（位于右前方），而机械臂的实际动作是将碗向右后方提起并撤回。这种移动方向与目标位置背道而驰，导致了任务进度的倒退。", + "frame": 148, + "progress": 70, + "progress_check": "1", + "progress_explanation": "这段视频开始时，碗已经非常接近盘子，处于即将放置的状态，对应进度80%。然而视频中机械臂执行了错误的动作，将碗向上并向后方（远离盘子的方向）移动，导致碗与目标位置的距离变大。因为偏离了目标，任务的完成度降低，属于负向操作，因此进度从80%下降到了70%。", + "state_description": "当前机械臂抓夹牢固地抓住了灰色的碗，处于悬空状态。碗的位置已经从盘子上方移开，回到了桌子中间偏后的空域。虽然处于抓住碗的状态（完成了50%的节点），但由于位置远离了盘子（75%的节点），任务状态出现了回退，目前需要重新规划路径将碗送回盘子上方。", + "time": 4.935, + "vlm_progress": 70 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506043.914622/observation.images.Failure1769506043.914622/Failure1769506043.914622.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506043.914622/observation.images.Failure1769506043.914622/Failure1769506043.914622.json new file mode 100644 index 0000000000000000000000000000000000000000..2e3210f8ca540dc2ec96b756a8507ff9fb715f96 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506043.914622/observation.images.Failure1769506043.914622/Failure1769506043.914622.json @@ -0,0 +1,69 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于上方悬停状态。随后，机械臂没有向位于桌子中央的目标灰色碗移动，而是向右下方移动。", + "correction_plan": "机械臂应向左平移，直到悬停在桌子中央灰色碗的正上方。对准后，再垂直向下移动以接近灰色碗，准备进行抓取。", + "error_success_analysis": "这段动作是失败的。主要原因在于空间位置规划错误：目标灰色碗位于机器人正前方的桌子中央，而机械臂却向右侧移动。", + "frame": 29, + "progress": -5, + "progress_check": "1", + "progress_explanation": "任务目标是抓取桌子中央的灰色碗，但机械臂在起始阶段就错误地向右移动。没有完成接近目标的动作（应为25%），导致任务状态恶化。相对于初始状态，这是一个严重的执行错误，因此进度值下降为负值，符合标注的-5%。", + "state_description": "当前机械臂的抓夹位于桌子右侧区域，目标物体——桌子中央的灰色碗——保持原位，完全未被触碰。右侧的白色圆盘和深灰色碗也未受影响。机械臂处于错误的碰撞状态，偏离了位于中央的任务目标。", + "time": 0.98, + "vlm_progress": "0" + }, + { + "action_description": "在视频片段中，机械臂从悬空状态向右下方移动。它没有移向位于桌子中央的目标灰色碗。", + "correction_plan": "机械臂应立即向上（Up）移动以脱离与抽屉柜的接触。随后，需要向左（Left）移动，将抓夹对准桌子中央灰色碗的上方。最后，垂直向下（Down）移动以尝试抓取目标。", + "error_success_analysis": "该动作是错误的。主要原因是轨迹规划错误，机械臂没有去往中央的目标位置，而是错误地向右移动，处于奇异点姿态。", + "frame": 56, + "progress": -10, + "progress_check": 1, + "progress_explanation": "任务的正常流程是从0%开始抓取中央的碗。由于机械臂向右移动这是一个严重的执行错误。相比于视频开始时的-5%（暗示之前已有偏差或错误），碰撞导致状态进一步恶化，无法继续正常任务，因此进度值下降为-10%，表示任务失败。", + "state_description": "当前机械臂奇异点姿态。目标灰色碗位于桌子中央，完全未被触碰。任务处于停滞且失败的状态，机械臂位置严重偏离目标区域。", + "time": 1.855, + "vlm_progress": 0 + }, + { + "action_description": "视频中，机械臂从桌子右上方的位置开始动作，它没有向桌子中央的目标（灰色小碗）移动，而是垂直向下并略向右移动，最终其抓夹部位接触并碰撞到了桌子右侧放置的那个较大的深灰色碗。", + "correction_plan": "机械臂首先需要停止当前动作并向上抬起（Up），使抓夹脱离右侧的大碗。然后，机械臂应向右平移（Right），将末端执行器移动到桌子中央区域的正上方。在确认对准中央的灰色小碗后，再尝试向下（Down）接近并抓取正确的目标。", + "error_success_analysis": "该动作是失败的。任务明确指定抓取“桌子中央灰色的碗”，而机械臂的视觉感知或规划模块似乎被右侧“较大的深灰色碗”误导，导致执行了错误的运动轨迹，将干扰物当成了目标进行操作。", + "frame": 83, + "progress": -20, + "progress_check": "1", + "progress_explanation": "根据任务规划，0%应当是开始移动接近目标，25%是接近目标小碗。然而，这段视频开始时被标注为-10%，意味着已经偏离预定轨迹；视频结束时进度降为-20%，这是因为机械臂执行了完全错误的动作，它不仅没有接近中央的正确目标，反而去抓取或碰撞了右侧的干扰物体（大碗）。这种与错误物体的交互代表了任务执行的进一步失败，因此进度值负向增加，表示状态恶化。", + "state_description": "当前时刻，机械臂的抓夹停留在桌子右侧区域，正挤压着右侧的大深灰色碗，处于错误的抓取位置。真正的任务目标——桌子中央的灰色小碗——完全未被触碰，静止在彩盒后方。目标放置区域（白盘子）位于机械臂右侧。系统处于抓取错误对象的失败状态。", + "time": 2.769999, + "vlm_progress": "0" + }, + { + "action_description": "视频中，机械臂的抓夹呈闭合状态，正在桌面的右侧区域活动，位于白色花纹圆盘和深灰色大碗的上方。机械臂的运动轨迹并没有指向位于桌子中央的目标——灰色小碗，而是滞留在右侧区域，远离了正确的抓取目标。", + "correction_plan": "需要立即纠正机械臂的位置。具体的修正动作为：机械臂应向右平移，从桌子右侧区域移动到桌子中央区域。同时，抓夹应当张开。调整高度和前后位置，使抓夹中心垂直对准桌子中央那个灰色小碗的上方，准备执行下降抓取动作（即回到任务规划的0%-25%阶段）。", + "error_success_analysis": "这段动作是错误的。主要错误在于空间位置的判断：任务要求抓取桌子中央的物体，而机械臂却在桌子右侧活动，可能错误地将右侧的深灰色大碗或盘子识别为目标，或者路径规划出现了严重偏差。此外，抓夹在未接近正确目标时保持闭合，也无法执行抓取任务。", + "frame": 116, + "progress": -30, + "progress_check": "0", + "progress_explanation": "这段视频开始时的进度为-20%，结束时为-30%。负数进度表明任务处于失败或错误状态。视频中，机械臂没有向中央的目标物体移动以纠正偏差，反而继续在错误的右侧区域活动或保持在该位置，导致错误状态持续甚至加重（从-20%恶化到-30%），完全偏离了抓取桌子中央灰色碗的预定规划。", + "state_description": "当前时刻，机械臂悬停在桌子右侧，抓夹闭合且未抓取任何物体。机械臂的位置靠近右侧的盘子和错误的深灰色大碗，与目标位置（中央）存在明显的横向偏差。整个场景显示机器人处于一个完全错误的抓取准备位置。", + "time": 3.865, + "vlm_progress": "0" + }, + { + "action_description": "机器人手臂从上方开始，向右下方移动。抓夹并未移动到桌子中央的目标灰色小碗处，而是错误地移动到了桌子右侧的大深灰色碗上方，并最终悬停在该大碗的上方/内部位置，抓夹保持闭合状态。", + "correction_plan": "首先需要将机械臂垂直向上抬起（Up），使其离开当前的错误物体（大深灰色碗）。然后向右移动（Right），将抓夹对准桌子中央的灰色小碗正上方。接着张开抓夹，并向下（Down）接近正确的目标小碗。", + "error_success_analysis": "这段视频的动作是错误的。任务要求抓取中央的灰色小碗，但机器人将右侧的大深灰色碗误认为是目标并向其移动。这属于目标识别错误或位置规划错误，导致机械臂偏离了正确的工作区域（中央）到了错误的区域（右侧）。", + "frame": 148, + "progress": -50, + "progress_check": "1", + "progress_explanation": "任务目标是抓取中央的灰色碗，但机器人向右移动并接近了错误的物体（右侧的大深灰色碗）。由于这是一个严重的执行错误，不仅没有推进任务，反而需要额外的时间撤回并重新对齐，因此进度从开始的-30%进一步下降。根据给定的参考，结束时的任务进度被评估为-50%，这反映了当前处于需要纠正的错误状态。", + "state_description": "当前抓夹位于桌子右侧的大深灰色碗处，完全偏离了位于桌子中央的目标灰色小碗。这是一个明显的错误状态，机器人不仅没有接近目标，反而去操作了错误的干扰物体（右侧的大碗）。", + "time": 4.938311688311688, + "vlm_progress": "0" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506349.9984796/observation.images.Failure1769506349.9984796/Failure1769506349.9984796.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506349.9984796/observation.images.Failure1769506349.9984796/Failure1769506349.9984796.json new file mode 100644 index 0000000000000000000000000000000000000000..77e0cee7dd2e99ec22242865faaecb7e577ca903 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506349.9984796/observation.images.Failure1769506349.9984796/Failure1769506349.9984796.json @@ -0,0 +1,69 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂悬停在桌面高处。随后，机械臂向下并向右前方移动，目标直指放置在桌面中央的灰色碗。视频结束时，机械臂的抓夹已经移动到了灰色碗的正上方，呈现张开状态，准备进行抓取。", + "correction_plan": "既然接近动作已成功完成，接下来的动作应该是操作抓夹闭合以抓住灰色碗，然后将机械臂向上提起，并向右侧带有红色边缘的盘子方向移动。", + "error_success_analysis": "这段视频的动作是成功的。机械臂的运动轨迹平滑且准确，直接导向目标物体，没有出现偏差或与其他物体发生碰撞。抓夹最终准确地定位在碗的上方，为下一步的抓取动作创造了完美条件。", + "frame": 32, + "progress": 25, + "progress_check": 1, + "progress_explanation": "任务开始时进度为0%。在这段视频中，机械臂从初始位置成功移动到了目标物体（灰色碗）的上方，完成了接近动作。根据任务规划，'抓夹接近灰色的碗'对应25%的进度，因此进度从0%上升到了25%。", + "state_description": "当前关键点状态为机械臂抓夹悬停在桌面中央灰色碗的上方，抓夹处于张开状态。目标物体灰色碗静止在桌面上，周围环境（如右侧的盘子、前方的食品盒）均未受到干扰。此状态标志着“接近目标”这一子任务的完成，机器人已做好抓取准备。", + "time": 1.07, + "vlm_progress": 25 + }, + { + "action_description": "在这段视频中，机械臂执行了垂直向下的动作。抓夹从桌面中央上方的位置开始下降，逐渐接近并最终包围了桌面中央的灰色金属碗。动作过程中，机械臂保持了水平位置的稳定，主要进行了Z轴方向的调整，以对准目标物体。", + "correction_plan": "鉴于当前动作成功且抓夹已处于最佳抓取位置，接下来的操作应当是：控制抓夹闭合以紧紧抓住灰色碗；然后控制机械臂垂直向上提升一定高度，使碗离开桌面；最后控制机械臂向右平移，将碗移动到右侧带红色边缘的白色盘子上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别了目标物体（灰色碗）的位置，并执行了平稳的下降动作。抓夹与碗的相对位置对齐准确，没有发生偏移或与其前方的障碍物（食品盒）发生碰撞，为接下来的抓取动作奠定了良好的基础。", + "frame": 62, + "progress": 45, + "progress_check": "1", + "progress_explanation": "视频开始时进度为25%，处于抓夹接近灰色碗的阶段。视频结束时，抓夹已经完全下降到位，包围了目标物体，只差闭合抓夹这一步即可完成抓取。根据任务规划，抓取完成是50%，因此当前处于即将抓取的临界点，任务进度显著上升，评估为45%。", + "state_description": "当前时刻，机械臂的抓夹已经位于桌面中央灰色碗的周围，处于预备抓取的状态。抓夹的高度已经降低到可以接触到碗的边缘，双指张开在碗的两侧。目标物体（灰色碗）位于抓夹中心，右侧是红边白色盘子（目标放置位置），前方是食品包装盒。场景状态显示抓取动作即将触发，已经完成了抓取前的对齐和接近步骤。", + "time": 2.06, + "vlm_progress": "45" + }, + { + "action_description": "视频中，机械臂控制抓夹向下移动去尝试抓取桌子中央的灰色碗。在尝试闭合抓夹的过程中，抓夹并没有准确地抓住碗的边缘，而是撞到了碗，导致灰色的碗失去平衡并侧翻在桌面上。随后抓夹在没有抓住物体的情况下向上抬起。", + "correction_plan": "首先需要重新打开抓夹。由于碗已经侧翻，机械臂需要调整末端执行器的姿态（旋转角度），使其能够从侧面对准碗的开口或侧壁，或者尝试先用抓夹末端将碗拨正。调整好位置和角度后，再次缓慢下降接近碗，确认对准后再闭合抓夹进行抓取。", + "error_success_analysis": "这段视频的动作是错误的。主要原因是抓夹下落的位置或闭合的时机不准确，导致未能形成有效抓取（Force Closure），反而施加了侧向力将碗碰倒。物体姿态的改变增加了后续任务的难度，属于典型的抓取失败。", + "frame": 95, + "progress": 30, + "progress_check": 1, + "progress_explanation": "视频开始时进度为45%，意味着即将完成抓取动作（抓取动作定义的50%节点前）。然而在视频结束时，由于抓取失败且导致碗侧翻，机器人必须重新规划路径调整抓夹角度来适应碗的新姿态，或者重新尝试接近，任务状态实际上倒退回了接近物体但尚未准备好抓取的阶段，因此进度下降为30%是合理的，体现了操作失误带来的回退。", + "state_description": "当前机械臂位于桌子中央上方，抓夹处于空闲状态且已抬起。目标物体灰色的碗侧翻躺在桌子中央，位置略有移动且姿态发生了改变（从直立变为侧卧）。前方的红黄食品盒、右侧的盘子和左侧的抽屉柜均未受影响。任务处于抓取失败并导致物体姿态异常的状态。", + "time": 3.16, + "vlm_progress": 30 + }, + { + "action_description": "视频开始时，机械臂夹爪悬停在桌子中央灰色碗的上方。随后，机械臂垂直向下（Z轴负方向）移动，使夹爪接近灰色碗。夹爪尝试闭合以抓取碗，但未能成功固定物体。紧接着，机械臂在夹爪闭合且空载的状态下垂直向上（Z轴正方向）抬起，远离了桌面，灰色碗仍然停留在原位。", + "correction_plan": "为了修正错误，机械臂需要重新张开夹爪。然后，再次将夹爪对准桌子中央的灰色碗，垂直向下移动，确保夹爪指尖深入到碗的两侧下方或充分接触碗壁。确认位置对齐后，闭合夹爪以牢固抓住碗，然后再执行向上提起的动作，最后向右移动至盘子上方。", + "error_success_analysis": "这段视频的动作是错误的（失败的）。主要原因是抓取动作未能成功建立物理连接。虽然机械臂准确地向下移动到了物体位置，但在闭合夹爪时，可能由于对齐偏差或抓取深度不足，导致夹爪滑脱，没能将灰色碗提起。随后的向上移动动作证实了抓取的失败（空抓）。", + "frame": 122, + "progress": 10, + "progress_check": "1", + "progress_explanation": "视频开始时进度为30%，对应于抓夹接近灰色碗的阶段。在视频过程中，机器人执行了抓取动作但失败了（未能抓起物体），随后机械臂抬起回到了远离物体的位置。由于未能完成“抓住灰色的碗”（本应达到50%），且机械臂位置退回到了类似任务初始的“开始移动”状态，因此任务进度不升反降，回落到了10%。", + "state_description": "当前机械臂处于抬起状态，位于桌面中央上方的高处。夹爪呈闭合状态，但中间没有抓取到任何物体。目标物体——灰色的碗——依然静止在桌面中央，未被移动。右侧的盘子作为目标放置位置是空的。整个场景表明一次抓取尝试失败，系统状态已回退到动作开始前的复位状态。", + "time": 4.074999, + "vlm_progress": "10" + }, + { + "action_description": "视频中，机械臂末端执行器从靠近桌面中央上方的位置开始，垂直向上抬起并向右后方移动，显著远离了位于桌面中央的目标灰色碗，同时夹爪全程保持张开状态。", + "correction_plan": "机械臂需要反转当前的运动矢量。具体来说，应控制机械臂末端向下移动，并向右前方（朝向桌面中央）调整水平位置，使夹爪垂直对准灰色碗的上方，进而下降至抓取高度。", + "error_success_analysis": "这段动作是失败的。任务目标是抓取桌面中央的灰色碗，这要求机械臂执行向下和向前的接近动作。视频中的机械臂反而向上和向后移动，使得抓手远离了目标对象。这种方向上的错误导致任务无法推进，反而使之前的进度清零。", + "frame": 145, + "progress": 1, + "progress_check": 1, + "progress_explanation": "视频开始时进度为10%，暗示机械臂可能刚开始移动或处于某种接近路径上。然而，视频展示的动作是机械臂向上并向外移动，远离了目标物体。这种“撤退”行为增加了末端执行器与目标的距离，实际上抵消了之前的任何接近尝试，导致任务完成度倒退。因此，进度下降到1%是合理的，表示回到了任务的最开始阶段。", + "state_description": "当前机械臂处于远离桌面的高位悬停状态，夹爪张开。目标灰色碗静止在桌面中央，未被触碰或移动。目标放置位置（带红色边缘的盘子）位于右侧。由于机械臂执行了撤退动作，当前的物理状态显示机械臂未处于抓取准备位置，而是处于一种重置或远离目标的闲置状态。", + "time": 4.82, + "vlm_progress": 1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506450.2398756/observation.images.Failure1769506450.2398756/Failure1769506450.2398756.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506450.2398756/observation.images.Failure1769506450.2398756/Failure1769506450.2398756.json new file mode 100644 index 0000000000000000000000000000000000000000..1f5b4e75c00e85ee26230f106ae1cb83fc5cbca7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506450.2398756/observation.images.Failure1769506450.2398756/Failure1769506450.2398756.json @@ -0,0 +1,69 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于上方初始位置，抓夹张开。随后，机械臂开始向下及向右前方移动，目标直指桌子中央偏右的银灰色金属碗。视频结束时，抓夹已移动到桌面上方空间，位于目标碗的斜上方，正在执行接近动作。", + "correction_plan": "当前动作无误，无需纠正。接下来的动作应继续控制抓夹垂直下降并靠近银灰色金属碗，直到抓夹位于碗的两侧或上方适合抓取的位置（即达到接近目标的25%进度节点）。", + "error_success_analysis": "这段动作是成功的。机械臂准确地朝着任务指定的目标物体（桌子中央偏右的灰色碗）移动，轨迹清晰且方向正确，没有出现偏差或针对错误的物体（如旁边的深灰色纹理碗），符合任务预期的启动阶段。", + "frame": 28, + "progress": 10, + "progress_check": 1, + "progress_explanation": "任务规划中定义抓夹接近碗为25%。视频开始时机械臂静止（0%），结束时机械臂已经移动了部分距离，正处于前往目标的路途中，但尚未完全贴近目标进行抓取准备。因此，进度相对于开始时有所上升，结束时的任务进度评估为10%是合理的。", + "state_description": "当前机械臂处于从初始位置向目标物体移动的过渡状态。抓夹保持张开，尚未接触任何物体。目标银灰色金属碗静止在桌面上，周围环境未发生变化。此时机械臂已启动但尚未达到适合抓取的近距离位置。", + "time": 0.925, + "vlm_progress": 10 + }, + { + "action_description": "视频开始时，机械臂悬停在桌面中央上方。随后，机械臂没有向位于右侧的目标灰色碗移动，而是向右后方抬升并移动，旋转抓夹，最终悬停在右侧深棕色抽屉柜和后方白色电磁炉的上方区域，完全远离了目标物体。", + "correction_plan": "机械臂需要向右前方移动，从当前的右后方位置回到桌子中央区域。具体来说，应将抓夹移动到银灰色金属碗的正上方，并调整高度下降，以便重新对准并准备抓取目标。", + "error_success_analysis": "这段动作是失败的。任务目标（灰色碗）位于机械臂的右下方，而机械臂却向右后方移动。这种在方位上的背道而驰导致机械臂无法完成“接近目标”的子任务，属于执行错误。", + "frame": 60, + "progress": -5, + "progress_check": 1, + "progress_explanation": "任务的下一步规划应是接近桌子中央偏右的灰色碗（目标为25%进度）。然而，机械臂执行了相反的动作，向右后方移动，使得末端执行器与目标的距离比开始时更远。这种严重的路径偏离不仅没有推进任务，反而需要额外的步骤来恢复到初始状态或有效位置，因此任务进度从开始时的10%倒退至-5%。", + "state_description": "当前机械臂末端处于桌面右后方的高空中，抓夹处于张开状态且未抓取任何物体。目标银灰色金属碗位于画面中央偏右的位置，距离机械臂很远。目标白色盘子位于右下方。当前状态显示机械臂严重偏离了任务目标区域，处于错误的位置。", + "time": 2, + "vlm_progress": -5 + }, + { + "action_description": "视频开始时，机械臂位于画面右下方的盘子上方。随后，机械臂向右并向后方（相对于桌子前缘向桌子内部）移动，从盘子上方移动到了桌子中央偏右的灰色金属碗（目标物体）上方。视频结束时，机械臂悬停在灰色金属碗的正上方。", + "correction_plan": "鉴于机械臂已经悬停在灰色碗的正上方，接下来的可行动作是：保持水平位置不变，控制机械臂垂直向下移动（降低高度），直到夹爪指尖包围住碗身，然后闭合夹爪以抓住物体。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别了目标物体的位置，并从远离目标的盘子上方平滑地移动到了灰色碗的上方。动作路径清晰，没有发生碰撞或错误的偏移，成功地为接下来的抓取动作做好了位置准备。", + "frame": 98, + "progress": 10, + "progress_check": "1", + "progress_explanation": "视频开始时的进度为-5%，这通常表示机械臂处于一个非任务初始的或需要复位的位置（例如在盘子上方）。在视频中，机械臂执行了“接近目标”的动作，成功从无效位置移动到了目标物体上方。根据任务规划，“抓夹接近灰色的碗”对应25%的进度。虽然标注的结束进度为10%，这数值相对保守，但逻辑上正确地反映了任务从无效状态（-5%）进入了正确的执行轨道，并处于“开始移动”到“接近完成”的上升阶段。", + "state_description": "当前机械臂的夹爪正位于桌子中央偏右的银灰色金属碗上方，夹爪张开，处于准备抓取的状态。目标物体（灰色碗）静止在桌面上，未被移动。机械臂的位置已经调整完毕，对准了目标，完成了抓取前的接近动作。右下方的盘子和周围的其他物体（如深灰色碗、盒子）均未受干扰。", + "time": 3.265, + "vlm_progress": "25" + }, + { + "action_description": "在这段视频中，机械臂的抓夹位于桌面的右下方，悬停在带有红色边缘的白色盘子正上方。在整个片段中，抓夹基本保持在盘子上方区域，可能伴有微小的垂直或水平调整，但没有表现出向右侧桌面中央灰色碗移动的动作轨迹。", + "correction_plan": "机械臂需要修正当前位置。动作规划应为：将抓夹向上抬起以避开盘子，然后向右侧及右前方移动（Move Right and Forward），将抓夹定位到桌面中央偏右的银灰色金属碗上方，以完成‘接近灰色碗’的动作。", + "error_success_analysis": "这段动作被判定为执行错误。根据任务规划，机器人首先应该去抓取桌面中央的灰色碗。然而，视频显示机器人目前位于右下方的盘子处（这是任务后期的放置位置）。这表明机器人可能出现了目标识别错误或路径规划错误，误将终点当成了起点，或者在前往起点的过程中路径偏差过大。", + "frame": 122, + "progress": 12, + "progress_check": 1, + "progress_explanation": "视频结束时的进度为12%，相比开始时的10%有微小增加。这数值代表任务处于刚开始移动的阶段（0%开始，25%接近碗）。然而，实际的物理状态显示机械臂并没有在该阶段有效地接近目标（灰色碗），而是停留在盘子上方。虽然时间进度在流逝，导致数值微增，但实际的空间任务进度停滞不前，甚至因为位置错误而需要额外的修正动作。", + "state_description": "当前抓夹处于空闲状态（未抓取物体），位置处于任务的终点区域——右下角的盘子上方。任务的目标物体（桌面中央偏右的银灰色金属碗）位于抓夹的右侧，与抓夹有显著的距离。机械臂的位置与任务当前阶段（接近目标物体）不符，而是错误地停留在了放置点。", + "time": 4.064999, + "vlm_progress": 12 + }, + { + "action_description": "机器人手臂带着张开的抓夹，从上方位置向下并向右移动。抓夹没有对准目标灰色碗，而是直接落在了放置目标的白色红边盘子上，导致抓夹的一侧与盘子发生碰撞并轻微推动了盘子。", + "correction_plan": "首先将机械臂向上抬起（Up），使抓夹离开盘子区域；然后将机械臂向右移动（Right），直到抓夹正对桌子中央偏右的那个小银灰色金属碗的上方；最后向下移动（Down）准备抓取该碗。", + "error_success_analysis": "这段动作是错误的。主要错误在于空间定位偏差和任务逻辑混乱：机器人应当先去抓取位于桌子中央偏右的灰色碗，但它却直接移向了任务终点（盘子），导致抓夹抓空并撞到了盘子。此时抓夹内没有物体，无法进行后续放置动作。", + "frame": 146, + "progress": 10, + "progress_check": 1, + "progress_explanation": "任务要求先抓取灰色的碗，然后放到盘子上。视频中机器人没有去接近或抓取灰色的碗，而是空手直接移动到了盘子位置并发生了碰撞。这是一个错误的操作方向，偏离了抓取目标的轨迹，导致任务无法推进甚至需要复位，因此进度从12%下降到了10%。", + "state_description": "当前抓夹处于张开状态，位于桌子右下方的盘子上方并与盘子接触。目标灰色碗位于抓夹右侧的桌面上，完全未被触碰。由于抓夹未持有任何物体且位置错误（处于终点位置而非物体位置），当前处于抓取前的错误状态。", + "time": 4.875, + "vlm_progress": 10 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506906.0700543/observation.images.Failure1769506906.0700543/Failure1769506906.0700543.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506906.0700543/observation.images.Failure1769506906.0700543/Failure1769506906.0700543.json new file mode 100644 index 0000000000000000000000000000000000000000..7ce3932be7972c0b431bd90c1463e6f16e33b3f9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506906.0700543/observation.images.Failure1769506906.0700543/Failure1769506906.0700543.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于上方初始位置。随后，机械臂向下移动并向桌子中央伸展，末端抓夹保持张开姿态。视频结束时，抓夹已平稳下降并悬停在桌子中央的灰色金属碗正上方，完成了接近目标的动作。", + "correction_plan": "既然抓夹已经位于灰色碗的正上方且处于张开状态，接下来的动作应该是闭合抓夹以稳固地抓住碗，随后控制机械臂向上抬起，将碗离开桌面，准备向右侧的盘子移动。", + "error_success_analysis": "该动作是成功的。机械臂准确识别了目标物体的位置，并规划了合理的路径从高处移动到物体上方。动作过程中没有多余的晃动或偏差，最终停留在理想的抓取准备位置，为下一步操作打下了良好的基础。", + "frame": 39, + "progress": 25, + "progress_check": 1, + "progress_explanation": "任务规划中定义'抓夹接近灰色的碗'为25%的进度点。视频中，机械臂从初始位置（0%）出发，准确地移动到了目标碗的上方并悬停，完成了接近动作。因此，任务进度从0%上升到了25%。", + "state_description": "当前状态下，白色机械臂的抓夹位于桌子中央灰色碗的垂直上方，距离碗口很近。抓夹处于张开状态，准备进行抓取。目标碗静止在桌面上，盘子位于右侧，位置未变。机械臂已成功完成接近阶段，处于预备抓取的状态。", + "time": 1.29, + "vlm_progress": 25 + }, + { + "action_description": "在这段视频中，机械臂进行了无效的移动，未能接近或对准桌子中央的灰色碗。机械臂似乎在空中调整姿态或向错误的方向移动，导致末端执行器（抓夹）远离了目标物体，没有任何抓取动作的尝试。", + "correction_plan": "机械臂需要重新规划路径。首先将抓夹移动到桌子中央灰色碗的正上方（预抓取位置），调整抓夹角度使其垂直于桌面，然后垂直下降以接近碗体，准备闭合抓夹。", + "error_success_analysis": "该动作是失败的。成功的动作应该包含向桌子中央灰色碗的位移和对准（Approach）。视频中的动作显示机械臂未能正确规划路径，导致抓夹没有移动到碗的上方或周围，违反了抓取任务的空间接近原则。", + "frame": 94, + "progress": -20, + "progress_check": "1", + "progress_explanation": "任务的第一个里程碑是接近碗（25%）。然而，视频开始时进度为25%，结束时降至-20%，说明机械臂不仅没有接近目标，反而执行了错误的运动轨迹，进一步远离了目标碗或进入了更难恢复的错误的姿态，导致完成任务所需的步骤增加，进度因此倒退。", + "state_description": "当前机械臂悬停在桌面上方，抓夹处于张开状态，但位置偏离了目标（中央灰色碗）。灰色碗静止在桌面上，未被触碰。机械臂的姿态显示其处于非抓取准备状态，且距离目标的有效抓取位置较远，任务处于停滞或倒退状态。", + "time": 3.1201298701298703, + "vlm_progress": "0" + }, + { + "action_description": "在这段视频中，白色的机械臂从上方较高的位置开始移动，向下并向桌子中央区域靠近。机械臂的抓夹处于张开状态，正对准桌子正中央的目标灰色碗进行下降接近。", + "correction_plan": "当前动作正确，无需修正。接下来的行动规划应继续保持当前轨迹，将抓夹进一步下降并调整位置，使其精确包围住中央灰色碗的边缘，为闭合抓夹做准备。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地朝着目标物体（桌子中央的灰色碗）移动，没有发生轨迹偏差或与其他物体（如抽屉柜、其他碗）发生碰撞。动作符合'抓取桌子中央灰色的碗'这一任务的第一阶段规划。", + "frame": 114, + "progress": 15, + "progress_check": "1", + "progress_explanation": "视频开始时进度标记为-20%，这通常表示之前的步骤可能有误或处于复位状态。在视频结束时，机械臂已经成功从复位位置移动到了接近目标碗的中间路径上。根据任务规划，'抓夹接近灰色的碗'定为25%，当前状态机械臂正在向该目标靠近，虽然还未完全到位（未达到预抓取位姿），但动作方向正确且有效，因此进度显著上升至15%，处于0%（开始移动）和25%（接近到位）之间。", + "state_description": "当前关键点状态显示机械臂正在执行接近目标的动作。抓夹位于半空中，正下方是桌子中央的灰色碗。相比于起始位置，抓夹已经明显降低了高度并缩短了与目标的水平距离，但尚未达到可以闭合抓取的高度。目标碗静止在桌面上，右侧的白色圆盘处于等待放置的状态。任务处于抓取前的接近阶段。", + "time": 3.785, + "vlm_progress": 15 + }, + { + "action_description": "视频开始时，机械臂位于桌子上方。随后，机械臂没有向桌子中央的目标灰色碗移动，而是向右下方（朝向深褐色抽屉柜的方向）移动。紧接着，机械臂似乎检测到错误或发生碰撞，迅速向上抬起并向后撤退，最终停留在远离桌面的高处位置。", + "correction_plan": "机械臂应该停止向右移动。正确的规划是将机械臂的末端执行器水平移动到桌子正中央灰色碗的正上方（x, y坐标对齐），然后控制机械臂垂直向下（z轴向下）移动，直到抓夹包围住碗的边缘，准备进行抓取。", + "error_success_analysis": "这段视频的动作是错误的。主要原因是方位控制错误：目标物体（灰色碗）位于桌子正中央，而机械臂却向右侧（抽屉柜方向）移动，导致完全错过了目标并可能引发了防碰撞机制使机械臂抬起。", + "frame": 143, + "progress": -30, + "progress_check": 1, + "progress_explanation": "视频开始时任务处于抓夹接近碗的阶段，进度为15%。然而，机械臂执行了错误的移动动作，向右偏离了目标碗，并没有完成接近（25%）或抓取（50%）的步骤。由于动作严重偏离目标且导致机械臂远离工作区，被判定为严重错误或任务失败，导致进度数值变为负数。这段视频开始时的进度为15%,结束时的任务进度为-30%。", + "state_description": "当前机械臂位于高空，抓夹处于张开状态，且距离桌子中央的目标灰色碗非常远。目标灰色碗静止在桌子中央，未被触碰或移动。盘子位于右侧空置。整个场景显示任务执行失败，机械臂处于复位或异常终止状态。", + "time": 4.770618556701031, + "vlm_progress": 0 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506940.2923243/observation.images.Failure1769506940.2923243/Failure1769506940.2923243.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506940.2923243/observation.images.Failure1769506940.2923243/Failure1769506940.2923243.json new file mode 100644 index 0000000000000000000000000000000000000000..73faa6e6dc551cd12bef1b90aad9d9d67a7ef2cd --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Failure1769506940.2923243/observation.images.Failure1769506940.2923243/Failure1769506940.2923243.json @@ -0,0 +1,81 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频中机械臂从静止的初始高位状态开始启动，抓夹向下并向桌面前方中央区域移动，逐渐靠近目标灰色的碗。", + "correction_plan": "当前动作正确，应继续保持向下和向前的运动轨迹，控制抓夹进一步接近桌子中央的灰色碗，直到抓夹张开并对准碗口，准备进行抓取。", + "error_success_analysis": "该动作是成功的。机械臂动作平稳，移动方向正确指向目标物体（桌子中央的灰色碗），没有出现任何偏差或与其他物体发生碰撞的迹象。", + "frame": 21, + "progress": 10, + "progress_check": 1, + "progress_explanation": "视频开始时任务进度为0%，机械臂处于待命状态。视频结束时，机械臂已经成功启动并向下移动了一段距离，明显在向目标靠近，但尚未达到紧贴目标的程度（即未达到25%的‘接近’里程碑）。因此，任务进度从0%推进到10%是合理的，反映了动作的初始化和初步接近。", + "state_description": "当前机械臂抓夹悬停在桌面上方，正处于下降过程中，尚未接触任何物体。桌子中央的目标灰色碗、右侧的盘子以及其他物品均静止在原位。场景状态显示任务刚刚启动，机械臂正在执行接近目标的动作。", + "time": 0.715, + "vlm_progress": 10 + }, + { + "action_description": "视频中，机械臂末端执行器（抓夹）执行了向上抬起并向后方（远离桌面前沿）移动的动作。它没有接近桌子中央的目标灰色碗，而是远离了目标物体，向机械臂底座方向退回。", + "correction_plan": "机械臂应该停止后退，改为向前下方移动。具体来说，需要将抓夹移动到桌子中央灰色碗的正上方，并降低高度，以便进行抓取操作。", + "error_success_analysis": "这段动作是错误的。任务目标是抓取桌子中央的碗，正确的动作应该是向下、向桌子中央移动以接近物体。现在的动作是向上、向后撤退，方向完全相反，导致无法完成抓取任务，属于执行路径规划错误或复位操作。", + "frame": 45, + "progress": 1, + "progress_check": 1, + "progress_explanation": "任务要求是抓取桌子中央的碗。视频开始时进度为10%，意味着机械臂可能刚开始有移动动作。然而在视频过程中，机械臂非但没有继续接近碗（应达到25%），反而向上向后退回到了远离工作区域的位置。这种撤退动作导致之前微小的接近进度作废，状态回退到了几乎未开始的状态，因此进度下降为1%。", + "state_description": "当前机械臂处于高处且靠近底座的初始或复位状态，抓夹张开且并未持有任何物体。目标灰色碗静止在桌子中央，没有任何被移动或抓取的迹象。机械臂的位置距离目标物体较远，需要重新规划路径以接近目标。", + "time": 1.515, + "vlm_progress": 1 + }, + { + "action_description": "视频开始时，机械臂位于初始位置，随后向下并向右移动，将抓夹定位到了位于桌子右后方，而不是任务指定的目标灰色碗。", + "correction_plan": "机械臂需要停止当前的抓取尝试，将抓夹向上抬起，然后向左后方移动（相对于当前位置），直到抓夹垂直对准桌子中央的灰色碗，最后垂直下降以准备抓取。", + "error_success_analysis": "该动作是失败的。任务规划明确要求抓取“桌子中央灰色的碗”，但机械臂的末端执行器移动到无法抓取的奇异点姿态。这是明显的空间定位错误或目标识别错误，导致机械臂未能接近或抓取正确的目标。", + "frame": 64, + "progress": -10, + "progress_check": 1, + "progress_explanation": "这段视频开始时进度为1%，表示动作刚开始。然而，机器人执行了错误的动作，移动到了无法抓取目标物体的姿态。这种错误不仅没有推进任务（即没有达到25%接近灰色碗的里程碑），反而因为偏离目标且需要回退修正，导致任务状态倒退。因此，结束时的进度被评估为-10%，反映了操作失败和需要纠正的成本。", + "state_description": "当前画面显示机械臂的抓夹处于奇异点错误姿态，抓夹处于张开状态。任务的目标物体灰色的碗处于桌面的中心区域。盘子位于右前方。机械臂完全错过了目标物体。", + "time": 2.145, + "vlm_progress": 0 + }, + { + "action_description": "在视频片段中，机械臂处于极度错误的姿态，夹爪和前臂直接压在桌面前方的长方形食品包装盒。机械臂似乎在尝试移动，但由于已经与物体发生剧烈碰撞，动作表现为向下或向侧面的挤压，导致物品位置进一步混乱，完全没有朝向目标灰色的碗进行有效的接近或抓取动作。", + "correction_plan": "建议的纠正动作为：首先立即停止当前挤压动作；控制机械臂垂直向上（Z轴正方向）抬起，直至完全脱离与食品盒及圆罐的接触；将机械臂移动至桌面中央上方的高空安全位置；重新识别灰色碗的位置，规划一条避开周围障碍物的路径，从碗的正上方垂直下降进行抓取。", + "error_success_analysis": "该动作是失败的。原因在于机械臂的路径规划或执行出现了严重偏差，没有从上方（Top-down）接近目标灰色的碗，而是轨迹过低，直接撞上了位于目标碗周围的障碍物。这种空间方位的错误导致了物理干涉，无法完成抓取。", + "frame": 89, + "progress": -20, + "progress_check": 1, + "progress_explanation": "任务进度从-10%下降到-20%，原因是机械臂不仅没有从初始的错误状态中恢复，反而加剧了与环境物体的碰撞。这种持续的错误操作使得完成任务的可能性变得更低，需要更复杂的恢复步骤（如复位、整理桌面），因此进度值为负且数值降低，反映了错误程度的加深。", + "state_description": "当前关键点状态为严重碰撞（Collision/Failure）。机械臂并未处于抓取准备位置，而是陷入了桌面杂物中。目标灰色的碗未被抓取，且可能因碰撞被移动。场景中的障碍物（食品盒、圆罐）被机械臂压住或推倒。任务执行失败，处于需要复位的错误状态。", + "time": 2.96, + "vlm_progress": 0 + }, + { + "action_description": "视频开始时，机械臂位于半空中。随后机械臂向下移动并稍向右侧偏移，在未到达盘子上方的情况下，抓夹松开，导致灰色的碗掉落在白盘子旁边的桌面上。视频结束时，抓夹处于打开状态且为空，悬停在掉落的碗上方。", + "correction_plan": "机械臂需要重新规划动作：首先将抓夹移动到当前灰色碗的上方（桌子右侧区域），向下移动（Z轴向下）接近碗，闭合抓夹重新抓住灰色的碗。然后向上抬起（Z轴向上），平移（XY平面）至白色盘子的正上方，最后缓慢下降并将碗放置在盘子上。", + "error_success_analysis": "这段视频的动作是错误的。任务目标是将碗放在盘子上，但机械臂在到达盘子上方之前就松开了抓夹，或者向下移动时发生了碰撞导致物体脱落，使得碗落在了桌面上而非盘子里。这是一个典型的掉落（Drop）错误。", + "frame": 121, + "progress": -30, + "progress_check": "0", + "progress_explanation": "视频开始时机械臂正抓着碗（本应处于50%-75%的进度区间），但在动作过程中意外将碗掉落在桌面上，导致失去了对物体的控制。这意味着任务状态从“运输中”倒退回了“未抓取”，需要重新进行抓取动作。因此，任务进度显著下降，相比开始时刻是倒退的，这也解释了为何给定的进度值从-20%下降到了-30%（负数通常表示异常或错误状态）。", + "state_description": "当前关键物品灰色的碗并未放置在目标的盘子上，而是掉落在了盘子旁边的桌面上。机械臂抓夹处于开启且空闲的状态。这表明之前的抓取和运输任务失败，回到了需要重新抓取物体的状态。任务并未完成，且物体位置发生了改变，位于盘子右侧。", + "time": 4.035, + "vlm_progress": "0" + }, + { + "action_description": "在这段视频中，机械臂的抓夹始终位于相机视野之外（上方），并未进入桌面的操作区域。机械臂的主体关节虽然可见，但没有表现出向桌面物体移动的趋势，整体保持在无效的高位状态，未与桌面上的任何物体发生交互。", + "correction_plan": "应该控制机械臂将抓夹向下移动（沿Z轴负方向），并向前伸展进入相机视野，使其接近桌面中央的灰色碗，以便进行后续的抓取动作。", + "error_success_analysis": "这段视频的动作是错误的。任务要求抓取桌上的碗，但机械臂的末端执行器（抓夹）根本没有下降到桌面高度，也未出现在相机视野内。这种动作无法接触到目标物体，属于完全无效的操作路径。", + "frame": 146, + "progress": -40, + "progress_check": 0, + "progress_explanation": "这段视频开始时的进度为-30%，结束时的任务进度为-40%。任务进度为负数且呈下降趋势，说明机器人处于严重的错误状态。抓夹未进入视野且未执行任何有效动作，导致任务完全无法推进，甚至相比于初始准备状态更加偏离目标，因此被评估为进度倒退的失败情况。", + "state_description": "当前场景中，关键物品均处于初始位置：目标灰色的碗位于桌面正中央，带红边的白色盘子位于右前方，其他干扰物（如另一个碗、银色圆罐、食品盒等）也未被移动。由于抓夹未出现在画面中，无法确认其状态，但显然没有抓取物体。目前处于任务失败或尚未正确初始化的状态。", + "time": 4.865, + "vlm_progress": 0 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 5.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769502589.460697/observation.images.Success1769502589.460697/Success1769502589.460697.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769502589.460697/observation.images.Success1769502589.460697/Success1769502589.460697.json new file mode 100644 index 0000000000000000000000000000000000000000..4fe463d214ba5608eed0c8b60153159aaf4be67e --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769502589.460697/observation.images.Success1769502589.460697/Success1769502589.460697.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频展示了机械臂从上方初始位置开始动作，向下并向前方移动，精准地移动到桌子中央灰色碗的正上方。抓夹在整个移动过程中保持张开状态，最终悬停在距离碗口很近的位置，完成了接近目标的动作。", + "correction_plan": "基于当前成功的预抓取状态，接下来的动作应该是执行抓取。具体建议为：控制机械臂垂直向下移动（-Z轴方向），直到抓夹指尖低于碗沿，然后闭合抓夹以牢固抓住灰色碗。", + "error_success_analysis": "该动作是成功的。机械臂没有产生多余的震颤或错误的路径规划，直接且准确地定位到了目标灰色碗的上方。它避开了周围的障碍物（如银色罐头和食品盒），并以正确的姿态（抓夹向下、张开）准备进行下一步操作。", + "frame": 31, + "progress": 25, + "progress_check": 1, + "progress_explanation": "这段视频展示了任务的第一阶段。开始时机械臂处于复位状态，进度为0%。视频结束时，机械臂已经成功移动并悬停在目标物体（灰色碗）上方，完全符合任务规划中“抓夹接近灰色的碗”这一里程碑的定义，即25%的进度。因此，进度由0%提升至25%。", + "state_description": "当前机械臂的抓夹位于桌面中央灰色碗的正上方，处于预抓取状态。抓夹张开，中心对准碗的中心，且高度适当，未触碰任何物体。场景中其他物体如左侧的柜子、右侧的盘子和后方的银色罐头均保持静止。任务状态已从初始准备转变为即将抓取。", + "time": 1.027333, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂的抓夹位于桌子中央灰色碗的正上方，处于张开状态。随后，机械臂垂直向下移动，使抓夹指尖包围住灰色碗。最后，抓夹闭合，紧紧抓住了灰色碗，完成了抓取动作。", + "correction_plan": "当前动作已成功完成抓取。接下来的计划应是：控制机械臂向上抬起灰色碗（Up），以避开桌面摩擦或其他物体，然后向右前方移动，将碗运送至红边白色盘子的上方，准备放置。", + "error_success_analysis": "这段视频的动作是成功的。机械臂精准地定位在碗的上方，垂直下降过程中没有触碰或推倒碗，抓夹闭合的时机和位置准确，成功实现了对物体的抓取，符合任务规划中的预期。", + "frame": 67, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，抓夹正处于接近灰色碗的阶段（进度25%）。在视频过程中，机械臂执行了下降和闭合抓夹的动作，成功抓住了灰色碗。根据任务规划，'抓夹抓住灰色的碗'对应进度50%。因此，任务进度从25%上升到了50%。", + "state_description": "当前场景中，白色机械臂位于桌子后方，其末端抓夹已成功在桌子中央位置抓住了目标灰色碗。抓夹处于闭合状态，碗被牢固地握在爪中。目标位置红边白色盘子位于桌面的右前方。左侧是深褐色抽屉柜。任务的抓取阶段已完成，接下来的状态需要将碗移动到盘子上方。", + "time": 2.219499, + "vlm_progress": 50 + }, + { + "action_description": "视频片段开始时，机械臂已经成功抓取了桌子中央的灰色碗。随后，机械臂抬起并将碗向右前方移动，使其悬停在红边白色盘子的上方区域，完成了物体从初始位置到目标位置附近的运输动作。", + "correction_plan": "当前动作执行正确，无需纠正。接下来的计划动作应为：控制机械臂缓慢垂直向下移动，将灰色碗平稳地放置在红边白色盘子上，待接触稳妥后松开抓夹。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在移动过程中保持了对物体的稳定抓取，没有发生掉落，且移动方向正确（向右前方），准确地到达了目标盘子的上方，符合任务规划中接近盘子的要求。", + "frame": 98, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时处于‘抓夹抓住灰色的碗’的状态（50%）。在这段视频中，机械臂完成了将碗搬运至盘子附近的关键动作，达到了‘抓夹抓住灰色的碗接近盘子’的里程碑。根据任务规划，这一状态对应的进度为75%，因此任务进度正常上升。", + "state_description": "当前状态下，机械臂的抓夹稳固地夹持着灰色碗，位于桌面右前方的红边白色盘子上方。碗处于悬空状态，未发生倾斜或滑落，且水平位置已基本对准目标盘子，为接下来的放置动作做好了准备。", + "time": 3.2732681136363637, + "vlm_progress": 75 + }, + { + "action_description": "视频开始时，机械臂夹持着灰色的碗位于桌面右前方红边白色盘子的正上方。随后，机械臂垂直向下移动，将灰色的碗准确地放入盘子中央。放置到位后，抓夹张开释放灰色的碗，最后机械臂垂直向上抬起，离开盘子区域。", + "correction_plan": "由于任务已经成功完成（进度达到100%），当前状态是预期的最终状态，因此不需要任何修正动作。机械臂可以保持当前位置或返回初始位置待命。", + "error_success_analysis": "这段视频的动作是非常成功的。机械臂在空间位置上准确对齐了盘子，下降动作平稳，释放时机恰当，确保了碗落在盘子中心且没有发生倾倒或滑出。完全符合任务规划中将碗放在盘子上的要求。", + "frame": 115, + "progress": 100, + "progress_check": 1, + "progress_explanation": "这段视频展示了任务的最后阶段。开始时，机器人已经完成了抓取和搬运，处于将碗放入盘子的准备姿态（对应75%的进度）。视频中，机器人执行了下降、释放和撤回的动作，成功将碗安置在目标位置。这标志着整个抓取并放置任务的完成，因此进度从75%上升至100%。", + "state_description": "当前关键点状态显示任务已圆满完成。灰色的碗正中地摆放在红边白色盘子上，且处于静止稳定状态。机械臂抓夹已完全张开并提升至盘子上方的一定高度，与物体分离。桌面上的其他物品（如右侧边缘的碗、右侧的盒子和柜子）均未受到干扰。", + "time": 3.833333, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769502705.6696026/observation.images.Success1769502705.6696026/Success1769502705.6696026.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769502705.6696026/observation.images.Success1769502705.6696026/Success1769502705.6696026.json new file mode 100644 index 0000000000000000000000000000000000000000..3a5ba967634793c58f5582eb22231cfeef7fd913 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769502705.6696026/observation.images.Success1769502705.6696026/Success1769502705.6696026.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频展示了机械臂从上方初始位置开始动作，主要沿着向下（Z轴负方向）和稍向前的方向移动。机械臂调整其末端执行器的位置，最终将张开的抓夹精准地悬停在放置于桌面中央的目标灰色碗的正上方。", + "correction_plan": "当前动作无误，无需修正。接下来的规划动作是：保持当前水平位置，控制抓夹垂直向下移动以包围碗体，随后闭合抓夹（Gripper Close）以稳固地抓住灰色碗。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地定位了位于桌面中央的目标灰色碗，并平稳地移动到了其正上方。动作没有出现偏差，未触碰其他物体，且抓夹姿态正确（张开），完全符合'接近灰色的碗'的任务要求。", + "frame": 36, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时处于任务起点，进度为0%。视频结束时，机械臂已经完成了从初始点到目标物体上方的移动过程，达到了'抓夹接近灰色的碗'这一里程碑。根据任务规划，这一状态对应的进度为25%。动作执行流畅且有效，因此进度上升至25%。", + "state_description": "当前状态下，机械臂的抓夹位于桌面中央灰色碗的垂直上方，处于抓取前的准备姿态（Pre-grasp）。抓夹张开，与碗的边缘对齐。目标物体灰色碗位置未变，周围的红色花纹盘子、方盒、抽屉柜等障碍物均未受干扰。任务已完成接近目标的阶段，下一步准备执行抓取。", + "time": 1.215166, + "vlm_progress": 25 + }, + { + "action_description": "在这段视频中，机械臂末端的抓夹从位于桌子中央灰色碗的正上方位置开始，垂直向下移动（Z轴向下）。接触到碗的位置后，抓夹的手指收缩闭合，紧紧抓住了灰色碗的边缘。", + "correction_plan": "当前抓取动作已成功，无需纠正。接下来的可行动作是：控制机械臂向上抬起（Z轴向上），使灰色碗离开桌面，然后向右前方移动，将其运送到带有红色花纹的盘子位置。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在水平方向（X, Y轴）定位准确，垂直下降（Z轴）平稳，抓夹闭合动作顺利完成，成功捕获了目标物体，没有出现抓空或碰撞其他物体的错误。", + "frame": 78, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，抓夹处于接近碗的状态，对应任务规划的25%。视频中展示了完整的抓取过程，包括下放和闭合抓夹。视频结束时，抓夹已成功抓住灰色碗，这与任务规划中'抓夹抓住灰色的碗'（50%）的状态完全一致。因此，进度上升至50%。", + "state_description": "当前关键点状态显示，机械臂的抓夹已经成功闭合，稳固地夹持住了位于桌面中央的目标灰色碗。碗目前仍处于桌面高度或刚被抓紧。右侧是放置目标的红白花纹盘子，左侧是食品盒和抽屉柜。系统状态已从准备抓取转变为成功抓取，准备进入搬运阶段。", + "time": 2.583666, + "vlm_progress": 50 + }, + { + "action_description": "在这段视频中，机械臂夹爪已经处于闭合状态，牢固地抓住了桌面中央的灰色碗。随后，机械臂向上抬起并将碗向右前方的白色红纹盘子方向移动。整个过程中，机械臂带着碗在空中划过一道弧线，越过了桌面上其他的杂物。", + "correction_plan": "当前动作执行正确，无需修正。接下来的操作应该是继续保持当前姿态，将灰色碗精确移动到盘子正上方，对准后垂直下降，直到碗底接触盘面，最后松开夹爪完成放置。", + "error_success_analysis": "该动作是成功的。机械臂没有发生抓取滑脱，移动轨迹平滑且方向准确指向右侧的目标盘子，未与前方的食品盒或右侧的抽屉柜发生碰撞。", + "frame": 99, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时对应任务规划中的‘抓夹抓住灰色的碗’（50%），视频结束时对应‘抓夹抓住灰色的碗接近盘子’（75%）。在此期间，机器人完成了物体的提起和水平位移，有效地缩短了物体与目标的距离，因此进度从50%上升至75%。", + "state_description": "当前关键点状态显示，机械臂成功抓取了目标物体（灰色碗），并且该碗悬空于桌面之上，位置介于初始位置和目标盘子之间，正在向盘子上方靠近。周围环境未受干扰，盘子处于待放置状态。这意味着抓取和提升阶段已完成，正在进行搬运阶段。", + "time": 3.304333, + "vlm_progress": 75 + }, + { + "action_description": "在这段视频中，机械臂抓取着灰色的碗，从桌面中央的半空中向右前方移动。机械臂平稳地调整位置，将碗运送到了右前方带有红色花纹的白色盘子正上方，并略微降低了高度，使其悬停在盘子上方准备放置。", + "correction_plan": "当前动作已准确到位，接下来的建议动作是：控制机械臂垂直向下（Down）缓慢移动，直至碗底接触或极度接近盘子表面，然后张开抓夹（Open Gripper）将碗平稳放置在盘子上。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地执行了从抓取点到放置点的路径规划，方向控制正确（向右前方），并且成功将物体悬停在目标（盘子）的正上方，没有发生偏移或掉落，为下一步的释放动作创造了完美条件。", + "frame": 114, + "progress": 90, + "progress_check": "1", + "progress_explanation": "视频开始时任务进度为75%，对应规划中的‘抓夹抓住灰色的碗接近盘子’。视频结束时，机械臂已经完成了水平移动，将碗精准地悬停在目标盘子上方，完成了放置动作所需的空间位移，仅剩最后的下降和松开步骤。因此，任务进度有了实质性的推进，达到了90%，非常接近完成（100%）。", + "state_description": "当前关键点状态显示，机械臂的抓夹正紧紧夹住灰色的碗，碗体位于右侧白色盘子的垂直上方，且对准了盘子的中心。碗底距离盘面尚有一小段距离。桌面上的其他物体（如左侧的抽屉柜、中间的食品盒、右后方的金属杯）均保持静止，未受干扰。任务状态已从‘接近盘子’转变为‘放置前的最后对准’。", + "time": 3.798833, + "vlm_progress": 90 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769502706.9620764/observation.images.Success1769502706.9620764/Success1769502706.9620764.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769502706.9620764/observation.images.Success1769502706.9620764/Success1769502706.9620764.json new file mode 100644 index 0000000000000000000000000000000000000000..1bfd437f107ef0d41d0c838ad42382c4786a23f9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769502706.9620764/observation.images.Success1769502706.9620764/Success1769502706.9620764.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频展示了机械臂从初始高位向下并向前移动的过程。机械臂从背景上方位置启动，平稳地降低高度并调整水平位置，最终移动到桌面正中央灰色碗的上方。视频结束时，抓夹悬停在目标碗的正上方，呈张开状态。", + "correction_plan": "鉴于当前抓夹已成功悬停在目标上方，接下来的可行动作应为：控制抓夹垂直向下移动，直到抓夹指端低于碗口边缘，然后控制抓夹闭合以牢固抓住灰色碗，随后垂直向上提起。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别了目标物体的位置，并规划了合理的路径移动到碗的上方，且姿态垂直向下，利于后续抓取，过程中未发生任何碰撞。", + "frame": 34, + "progress": 25, + "progress_check": 1, + "progress_explanation": "根据任务进度规划，'抓夹接近灰色的碗'对应25%的进度。这段视频完整地记录了机械臂从远处移动到目标碗上方的全过程，正好对应了从开始到接近目标的阶段。因此，任务进度从0%成功上升至25%。", + "state_description": "当前场景中，机械臂的末端执行器（抓夹）已精确对准并位于桌面中央灰色网状碗的上方，处于极近的悬停位置，即预抓取状态。右下方的盘子、左侧的柜子及前方的食品盒均保持静止，未受干扰。任务的第一阶段接近动作已完成。", + "time": 1.146166, + "vlm_progress": 25 + }, + { + "action_description": "视频片段中，机械臂末端抓夹从位于桌子中央灰色碗的上方垂直向下移动，接近目标物体。随后，抓夹的双指闭合，稳固地扣住了灰色碗的边缘。", + "correction_plan": "当前抓取状态良好，下一步应执行搬运操作。建议机械臂向上抬起灰色碗，然后向右下方（盘子所在位置）水平移动，准备进行放置。", + "error_success_analysis": "该动作是成功的。机械臂准确识别了目标位置，垂直下降没有偏差，抓夹闭合时机恰当，成功捕获了灰色碗，没有发生抓空或碰撞其他物体的错误。", + "frame": 76, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂处于接近目标的状态，对应任务进度的25%。在视频结束时，抓夹完成了下放和闭合动作，成功抓住了目标物体（灰色碗），完全符合任务规划中50%“抓夹抓住灰色的碗”的定义，因此进度更新为50%。", + "state_description": "当前时刻，机械臂的抓夹已经成功闭合并抓住了位于桌面正中央的灰色碗。碗目前仍处于桌面高度，但已被抓夹固定，处于被抓取状态。场景右下方的盘子等待放置，右侧柜子和其他杂物未被触碰。", + "time": 2.537666, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂位于桌面中央，抓夹已紧紧抓住灰色的碗。随后，机械臂将碗向上垂直提起，并向右下方（盘子所在方向）水平移动，最终将碗运送至红白花纹盘子的正上方悬停。", + "correction_plan": "当前动作正确，无需修正。后续动作应控制机械臂垂直向下移动，直到灰色碗平稳放置在盘子上，然后松开抓夹。", + "error_success_analysis": "这段动作是成功的。机械臂在移动过程中保持了抓取的稳定性，没有出现物体掉落的情况。同时，移动路径准确，直接将碗从桌面中央带到了右下方的盘子上方，符合任务逻辑。", + "frame": 98, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时任务处于抓取完成的瞬间（50%）。在视频片段中，机械臂执行了将物体从初始位置搬运至目标位置上方的动作。根据任务规划，‘抓夹抓住灰色的碗接近盘子’对应75%的进度。由于动作成功执行且目标明确，进度按预期上升至75%。", + "state_description": "当前关键点状态显示，机械臂成功保持着对灰色碗的抓取，且碗已完全离开桌面，悬空位于右下方目标盘子的上方区域。这表明物体运输过程已顺利完成，目前处于‘接近盘子’的准备放置状态。", + "time": 3.250666, + "vlm_progress": 75 + }, + { + "action_description": "机械臂夹持着灰色的碗，从桌面上方靠近中央的位置向右下方移动，将碗平稳地运送到了红白花纹盘子的正上方，并降低了高度，准备进行放置。", + "correction_plan": "当前状态已经非常完美，下一步只需执行释放动作：保持当前位置或微调高度，张开抓夹（Open Gripper），将灰色的碗平稳放置在盘子上，然后抬起机械臂。", + "error_success_analysis": "这段视频的动作是成功的。机械臂规划了正确的路径，将目标物体（灰色的碗）从抓取点移动到了目标放置点（盘子）上方，没有发生碰撞或掉落，且对齐准确。", + "frame": 115, + "progress": 95, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂已经抓住了碗并开始向盘子移动（对应75%的进度状态）。视频结束时，碗已经被准确地运送到了盘子上方并做好了放置准备，完成了移动路径，仅剩下松开抓夹这一动作。因此，任务进度从75%显著上升，非常接近完成状态，符合95%的进度评估。", + "state_description": "当前机械臂的抓夹紧紧抓住灰色的碗，碗悬停在右下方盘子的正上方，距离盘子表面非常近。碗的位置已经对准了盘子中心，周围没有障碍物阻挡。任务即将完成，只差最后一步松开抓夹。", + "time": 3.833333, + "vlm_progress": 95 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769503613.9948597/observation.images.Success1769503613.9948597/Success1769503613.9948597.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769503613.9948597/observation.images.Success1769503613.9948597/Success1769503613.9948597.json new file mode 100644 index 0000000000000000000000000000000000000000..d0bac83213470419c39590e8011eb2083bbca88a --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769503613.9948597/observation.images.Success1769503613.9948597/Success1769503613.9948597.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频中，机械臂从桌面后方的高处初始位置启动，主要向下方和前方移动。机械臂的黑色抓夹在下降过程中保持张开状态，精准地移动到了桌面中央那个灰色纹理碗的正上方，并悬停在该位置，完成了接近目标的动作。", + "correction_plan": "当前状态下，抓夹已对准并接近灰色碗，接下来的可行动作是：控制抓夹闭合以稳固地抓住灰色碗，然后将机械臂向上抬起，并向右前方移动，将碗运送到白色盘子的上方。", + "error_success_analysis": "这段视频的操作是成功的。机械臂动作流畅，方向准确，直接从原点移动到了目标物体（灰色碗）的抓取位，没有出现位置偏差或与其他物体（如左侧的盒子或右侧的碗）发生碰撞，为下一步的抓取动作创造了正确的前提条件。", + "frame": 34, + "progress": 25, + "progress_check": "1", + "progress_explanation": "这段视频展示了机械臂从静止起始状态（0%）开始，执行移动指令，直到抓夹成功到达目标物体上方预备位置的过程。根据任务进度规划，‘抓夹接近灰色的碗’被定义为25%。视频结束时的状态完美符合这一描述，因此任务进度由0%上升至25%。", + "state_description": "视频结束时，机械臂的抓夹位于桌面中央灰色碗的垂直上方，位置对齐且距离很近，处于待抓取的姿态。目标灰色碗依然静止在桌面上，周围环境未发生改变，右侧的盘子保持空置。这一状态清晰地对应了任务规划中‘抓夹接近灰色的碗’的节点。", + "time": 1.123166, + "vlm_progress": "25" + }, + { + "action_description": "视频开始时，机械臂末端的抓夹悬停在桌子中央灰色碗的上方。随后，抓夹垂直向下移动接近灰色碗，到达适当高度后，抓夹闭合抓住碗的边缘。最后，机械臂向上垂直抬起，将灰色碗成功抓离桌面。", + "correction_plan": "当前动作成功，无需纠正。下一步应控制机械臂将抓取的灰色碗向右前方移动，对准桌面上带红色边缘的白色盘子上方，为放置动作做准备。", + "error_success_analysis": "这段动作是成功的。机械臂准确地定位了目标物体（灰色碗）的水平位置，垂直下降深度适中，且抓取时机准确，牢固地抓住了碗并将其提起，没有发生抓空或碰撞其他物体的情况。", + "frame": 68, + "progress": 50, + "progress_check": 1, + "progress_explanation": "这段视频展示了从抓夹接近物体到成功抓住物体的完整过程。开始时抓夹已就位（对应25%进度），视频结束时碗已被抓起并离开桌面，这完美对应了任务规划中'抓夹抓住灰色的碗'这一节点，因此进度从25%上升至50%。", + "state_description": "当前关键点状态为：灰色纹理碗已被机械臂的抓夹牢固抓住，并悬空于桌子中央上方。右前方的带红边盘子处于等待放置的状态。任务已经完成了抓取环节，准备进入移动搬运环节。", + "time": 2.276999, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂位于桌面中央，末端抓夹紧紧抓住了灰色的碗。随后，机械臂向上提起灰色的碗，并向桌面的右前方移动。在移动过程中，机械臂保持平稳，将碗从桌面中央搬运至带有红色边缘的白色盘子上方区域，完成了从抓取位置到放置目标位置的运输动作。", + "correction_plan": "当前动作执行正确，无需纠正。后续的计划应是：机械臂垂直向下移动（Z轴向下），将灰色的碗平稳放置在白色盘子的中心位置，待碗接触盘面后，控制抓夹张开释放物体，最后提升机械臂离开。", + "error_success_analysis": "这段视频的动作是成功的。首先，机械臂在移动过程中没有掉落物体，抓取非常稳固。其次，移动的方向准确，直接从桌面中央移向了右前方的目标盘子位置，没有发生偏离或与周围物体（如右后方的银色碗或右侧的食品盒）发生碰撞。", + "frame": 93, + "progress": 75, + "progress_check": 1, + "progress_explanation": "这段视频展示了机械臂从成功抓取物体（进度50%）到将物体移动至目标盘子附近（进度75%）的过程。机械臂成功执行了提起和水平移动的动作，将灰色的碗带到了盘子上方，符合任务规划中'抓夹抓住灰色的碗接近盘子'的描述，因此任务进度从50%上升至75%。", + "state_description": "当前状态下，机械臂正悬停在桌面右前方，抓夹中牢固地夹着灰色的纹理碗。碗的位置已经位于目标物体——白色盘子的正上方或紧邻上方，处于即将进行放置动作的准备姿态。桌面上的其他物品如抽屉柜、电灶和食品盒均保持静止，未受干扰。任务已完成物体的抓取和移动阶段，正处于接近目标盘子的状态。", + "time": 3.093499, + "vlm_progress": 75 + }, + { + "action_description": "在视频片段中，机械臂夹持着灰色的碗，位于桌面右前方带有红色边缘的白色盘子正上方。动作主要包含机械臂沿垂直方向向下移动（z轴向下），将碗送入盘子内部，随后抓夹张开释放灰色的碗，完成放置动作。", + "correction_plan": "当前任务已圆满完成，无需纠正动作。后续可规划机械臂向上抬起并缩回至后方初始位置（Home position），以便进行下一次任务。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了目标位置（右前方的盘子），并且控制抓夹在正确的高度和位置释放了灰色碗，没有发生物体掉落或位置偏差（如放到盘子外），完全符合任务规划。", + "frame": 115, + "progress": 100, + "progress_check": 1, + "progress_explanation": "这段视频展示了任务的最后一步：放置。开始时，机械臂已抓取物体并移动到目标盘子上方，符合75%的进度描述（接近盘子）。随着机械臂下降并释放物体，灰色的碗最终停留在盘子上，达成了‘将灰色的碗放在盘子上’的最终目标。因此，任务进度从75%上升至100%。", + "state_description": "视频结束时，灰色的纹理碗平稳地摆放在右前方的盘子中央。机械臂的抓夹处于张开状态，且不再接触碗体。银色金属碗位于右后方，红色食品盒位于右前方，抽屉柜在最右侧，所有背景物体位置保持不变。任务状态已从“接近目标”变为“完成放置”。", + "time": 3.833333, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769503842.1906989/observation.images.Success1769503842.1906989/Success1769503842.1906989.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769503842.1906989/observation.images.Success1769503842.1906989/Success1769503842.1906989.json new file mode 100644 index 0000000000000000000000000000000000000000..ca1346b42d00dc3bc9d1740f4bd0bb7fde83b0b1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769503842.1906989/observation.images.Success1769503842.1906989/Success1769503842.1906989.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于上方初始位置。随后，机械臂向下并向右前方移动，逐渐接近放置在桌子中央偏右位置的目标灰色碗。到视频结束时，抓夹已成功移动并悬停在灰色碗的正上方。", + "correction_plan": "鉴于抓夹已经位于目标碗的上方，接下来的操作应当是：机械臂继续垂直向下移动（Z轴向下），使抓夹的两侧包围碗体，随后闭合抓夹以完成抓取动作。", + "error_success_analysis": "这段视频的动作判定为成功。机械臂的路径规划合理，直接从空闲位置移动到了目标物体的操作空间上方，且没有发生任何碰撞或误操作。方位的移动（向下、向右前）准确对应了物体在桌面上的位置。", + "frame": 29, + "progress": 25, + "progress_check": 1, + "progress_explanation": "根据任务规划，任务的起步阶段是从初始位置移动到接近目标物体。视频展示了机械臂从0%的初始状态开始，执行了向下的移动动作，最终停在目标碗的上方。这一状态对应任务规划中的“抓夹接近灰色的碗”，其预定进度为25%。因此，视频结束时的进度评估为25%。", + "state_description": "当前时刻，机械臂的抓夹处于张开状态，位置精确地处于目标灰色碗的正上方（预抓取位置）。目标灰色碗静止在桌面上，未发生位移。存放目标的盘子位于右下方空闲待命。场景状态表明机械臂已完成接近动作，准备进行抓取。", + "time": 0.961999, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂位于桌面中央偏右的灰色碗正上方。随后，机械臂垂直向下移动，使抓夹指尖分别位于碗的两侧。紧接着，抓夹闭合，牢固地抓住了灰色碗的边缘。最后，机械臂垂直向上移动，将灰色碗平稳地提离桌面。", + "correction_plan": "鉴于抓取动作已成功完成，接下来的动作是将机械臂向右和后/下方（Down/Back）移动，将灰色碗运送至位于桌面右下角的白色红边盘子上方，准备进行放置。", + "error_success_analysis": "该动作是成功的。机械臂在方位上准确对齐了位于桌面中央偏右的目标碗，垂直下降动作精准无误，抓夹闭合时机恰当，且在提起过程中物体保持稳定，未发生滑落或碰撞，完美执行了预定的抓取任务。", + "frame": 64, + "progress": 50, + "progress_check": "1", + "progress_explanation": "视频开始时，任务处于'抓夹接近灰色的碗'阶段，进度为25%。在视频播放期间，机械臂执行了核心的抓取动作序列（下降、闭合、抬起）。当视频结束时，碗已被成功抓起并悬空，这精准对应了任务规划中'抓夹抓住灰色的碗'这一里程碑（50%）。因此，任务进度由25%上升至50%。", + "state_description": "当前关键点状态显示，机械臂的抓夹已经成功完成了对目标物体的抓取。灰色碗现在被抓夹紧紧握住并悬停在半空中，完全脱离了桌面。这一状态标志着抓取阶段的结束，为下一步的运输做好了准备。后续规划是将这个悬空的碗移动到桌面右下方的盘子位置。", + "time": 2.140666, + "vlm_progress": "50" + }, + { + "action_description": "视频开始时，机械臂已经抓住了桌子中央的灰色碗。在视频过程中，机械臂抬起并将灰色碗向右下方移动，最终将碗运送到了右下方带有红色花纹的盘子正上方悬停。", + "correction_plan": "由于当前碗已经悬停在盘子上方，接下来的动作应该是控制机械臂垂直向下移动，将碗平稳地放置在盘面上，随后松开夹爪完成任务。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在移动过程中保持了对灰色碗的稳定抓取，并且准确地执行了从抓取点到目标点（盘子）的位移，没有出现掉落或轨迹偏差。", + "frame": 100, + "progress": 75, + "progress_check": 1, + "progress_explanation": "这段视频展示了任务中的运输环节。开始时进度为50%（已抓住碗），视频结束时，机械臂成功将碗移动到了盘子附近（上方），达到了任务规划中“抓夹抓住灰色的碗接近盘子”的状态，因此进度上升到75%。", + "state_description": "当前机械臂的夹爪紧紧抓着灰色碗，位于右下方盘子的正上方。碗处于悬空状态，位置已经从桌子中央转移到了目标区域（盘子）的上方，为接下来的放置动作做好了准备。", + "time": 3.336666, + "vlm_progress": 75 + }, + { + "action_description": "机械臂夹持着灰色的碗，从盘子上方略偏右的位置开始，向右下方且向下移动，将碗精准地对齐并放置在位于桌面右下方的白底红边盘子上。", + "correction_plan": "当前操作正确，无需纠正。接下来的建议动作是：松开夹爪（Open Gripper）以释放碗，随后机械臂向上方（Up）移动以离开盘子区域，完成整个任务。", + "error_success_analysis": "该动作是成功的。机械臂准确地控制了位置和高度，将碗平稳地放置在指定的盘子区域内，没有发生偏差或意外掉落。", + "frame": 130, + "progress": 98, + "progress_check": 1, + "progress_explanation": "视频开始时处于抓取碗接近盘子的阶段（75%）。在视频中，机械臂完成了下降和对齐动作，将碗实际放置在了盘子上。这一动作直接对应任务规划中的最终目标“将灰色的碗放在盘子上”，因此进度显著上升，结束时达到98%，仅差松开夹爪的最后一步。", + "state_description": "当前状态显示机械臂已成功将灰色的碗放置在目标盘子上。碗平稳地落在盘子中央，机械臂的夹爪尚未完全松开并离开，但放置动作的主体已经完成。任务接近尾声，后续只需释放夹爪并复位。", + "time": 4.333333, + "vlm_progress": 98 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 4.333333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504365.3602133/observation.images.Success1769504365.3602133/Success1769504365.3602133.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504365.3602133/observation.images.Success1769504365.3602133/Success1769504365.3602133.json new file mode 100644 index 0000000000000000000000000000000000000000..6ac7dd43a350c243c1d3cb86b15812cecd10d779 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504365.3602133/observation.images.Success1769504365.3602133/Success1769504365.3602133.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "在视频片段中，机械臂从上方初始位置启动，向下方和前方移动。抓夹的目标明确，径直移向位于桌子正中央的灰色碗。视频结束时，抓夹悬停在灰色碗的上方，完成了接近动作。", + "correction_plan": "基于当前抓夹悬停在碗上方的状态，下一步的可行动作是：控制抓夹垂直下降，直到手指包围灰色碗的边缘，然后闭合抓夹紧握碗体，最后向上提升高度以离开桌面。", + "error_success_analysis": "该动作是成功的。机械臂准确地定位了位于桌子中央的目标灰色碗，并规划了合理的路径从上方接近，避开了前方的盒子和后方的银色罐头，为下一步抓取做好了准备。", + "frame": 30, + "progress": 25, + "progress_check": 1, + "progress_explanation": "根据任务规划，视频开始时进度为0%，即动作尚未开始。视频结束时，机械臂成功完成了接近目标物体的动作，抓夹到达了灰色碗附近，这与任务规划中'抓夹接近灰色的碗'的描述完全吻合，对应进度为25%。", + "state_description": "当前时刻，白色机械臂的抓夹正位于桌子中央灰色碗的近上方，处于由于接近阶段向抓取阶段过渡的状态。目标灰色碗稳稳地放置在桌面上，周围的方形盒子和银色容器未受干扰。右下角的红边盘子处于空置状态，作为后续的放置目标。", + "time": 0.992833, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂的抓夹悬停在桌子中央灰色碗的上方。随后，抓夹垂直向下移动（Z轴负方向），直到抓夹末端包围住碗身。紧接着，抓夹闭合，牢固地抓住了灰色碗。最后，机械臂带着碗垂直向上移动（Z轴正方向），将碗提离桌面。", + "correction_plan": "当前动作执行成功，无需修正。接下来的可行动作是：保持抓夹闭合状态，控制机械臂向右前方（右下角方向）水平移动，使灰色碗到达盘子的正上方，为放置动作做准备。", + "error_success_analysis": "这段视频的动作是成功的。机器人精准地将抓夹对准了目标灰色碗的中心，垂直下降过程中未触碰到其他物体，抓取力度适中且位置准确，成功将碗提起，符合任务规划中的预期动作。", + "frame": 69, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，抓夹正处于接近碗的阶段（25%）。在视频过程中，机器人执行了下行、闭合抓夹和上提的动作，成功实现了对目标物体的抓取。根据任务进度规划，'抓夹抓住灰色的碗'对应的进度为50%，因此任务进度从25%上升到了50%。", + "state_description": "当前时刻，机械臂已经成功抓取了目标物体——位于桌子中央的灰色碗，并将其悬空保持在原位置上方。碗在抓夹中姿态平稳。右下角的盘子（目标放置位置）为空。任务已完成抓取步骤，后续需要将碗移动至盘子处。", + "time": 2.284666, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂抓手已经在桌子中央稳固地抓住了灰色的碗。在视频过程中，机械臂带着碗向右下方（相对于机器人的右前方）移动，最终将灰色的碗运送到位于右下角的红边盘子正上方悬停。", + "correction_plan": "当前碗已经悬停在盘子上方，接下来的动作应该是控制机械臂垂直向下移动，直到碗接触盘子表面，然后松开抓夹完成放置。", + "error_success_analysis": "该动作是成功的。机器人成功保持了对目标物体（灰色碗）的控制，并准确无误地将其移动到了目标位置（盘子）的上方，符合任务路径规划。", + "frame": 92, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时，机器人已经完成了抓取（50%）。视频展示了机器人将碗从桌子中央运送到盘子上方（右下角）的过程。这一动作对应任务规划中的“抓夹抓住灰色的碗接近盘子”，因此任务进度顺利从50%推进到了75%。", + "state_description": "当前状态下，机械臂抓手紧紧抓着灰色的碗，位置处于右下角红边盘子的上方，这标志着从抓取点到放置点的运送过程已经完成。下一步的任务是将碗放下。", + "time": 3.058999, + "vlm_progress": 75 + }, + { + "action_description": "视频开始时，机械臂夹持着灰色的碗，从空中向右下方的红边白色盘子区域移动。随后，机械臂下降高度，将灰色的碗准确地放入盘子中央。紧接着，夹爪张开，释放了碗，机械臂随即微微向上抬起，完成放置动作。", + "correction_plan": "由于任务已经成功完成，无需进行纠正动作。后续可行的动作是机械臂向上抬升并复位到初始待机位置，以避免阻挡视野或为下一次任务做准备。", + "error_success_analysis": "这段视频的动作是成功的。机械臂不仅准确地将灰色的碗运送到了目标位置（盘子）上方，而且在释放时位置居中，动作平稳，没有发生物体掉落或位置偏移的情况，完全符合任务预期。", + "frame": 115, + "progress": 100, + "progress_check": 1, + "progress_explanation": "这段视频展示了任务的最后阶段。开始时进度为75%，即“抓夹抓住灰色的碗接近盘子”。在视频中，机器人执行了下降、对准盘子、释放物体的动作，最终达成了“抓夹将灰色的碗放在盘子上”的目标状态。因此，任务进度顺利从75%上升至100%。", + "state_description": "当前关键点状态显示任务已完成。灰色的碗已经平稳地放置在位于右下角（右前方）的红边白色盘子上。机械臂的夹爪处于张开状态，悬停在碗的上方。场景中其他物体如右侧的另一个碗、正下方的方盒以及右侧的柜子均未被触碰，保持原位。", + "time": 3.833333, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504406.9398727/observation.images.Success1769504406.9398727/Success1769504406.9398727.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504406.9398727/observation.images.Success1769504406.9398727/Success1769504406.9398727.json new file mode 100644 index 0000000000000000000000000000000000000000..5fae6ca28d4329a08f52a2a500e21933b5ed6d2f --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504406.9398727/observation.images.Success1769504406.9398727/Success1769504406.9398727.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "机械臂从初始位置向下并向前方移动，逐渐接近位于桌面中央的灰色金属碗，抓夹保持张开状态。", + "correction_plan": "当前动作执行正确，无需修正。接下来的动作应是：继续向下移动抓夹以包围灰色碗，然后闭合抓夹抓住碗，随后将其垂直提起。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别了目标物体（桌面中央的灰色碗）的位置，并规划了正确的路径移动到了碗的上方，没有发生碰撞或偏离目标的情况。", + "frame": 32, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频展示了机械臂从起始点移动到目标物体附近的过程。根据任务规划，这一阶段对应于'抓夹接近灰色的碗'。机械臂成功完成了这一移动，达到了预期的预抓取位置，因此进度从0%上升至25%。", + "state_description": "当前机械臂的抓夹位于桌面中央上方，正悬停在目标灰色碗的上方附近，准备进行抓取。目标碗位于红色麦片盒的后方，位置未发生改变。盘子位于右前方，处于等待放置的状态。", + "time": 1.08, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂的抓夹悬停在桌面中央灰色碗的上方（后方中间位置）。随后，机械臂垂直向下移动，接近位于红色麦片盒后方的灰色金属碗。视频结束时，抓夹闭合，成功在桌面中央抓住了这个灰色的碗。", + "correction_plan": "既然抓取动作已成功，下一步的操作是将物体运输到目标位置。建议机械臂先垂直向上抬起灰色的碗以避开桌面障碍物，然后向右前方（Left-Front）移动，对准桌面右下角的白色盘子上方，准备放置。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了目标物体（中央的灰色碗）的方位，从上方垂直下降，没有碰倒前方的红色麦片盒或触碰到右侧的抽屉柜，且抓取动作稳定，未出现抓空或滑落的情况。", + "frame": 73, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时任务进度为25%，对应抓夹接近碗的阶段。在视频过程中，机械臂完成了下降和抓取动作。结束时，抓夹已经稳固地抓住了灰色的碗，这与任务规划中“抓夹抓住灰色的碗：50%”的节点完全一致，因此进度上升至50%。", + "state_description": "当前关键点状态显示，白色机械臂的末端执行器已经紧紧抓住了桌面中央的目标灰色金属碗。碗处于被抓取状态，位于红色麦片盒的正后方。桌面右前方的白色盘子（目标放置点）和右侧的深棕色抽屉柜位置未变。任务已完成抓取阶段，准备进行搬运。", + "time": 2.444, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂的黑色抓夹已经位于桌面中央并紧紧抓住了目标灰色金属碗。在视频过程中，机械臂抬起手臂，保持对碗的抓取，并向右前方（右下角方向）移动，使灰色碗逐渐靠近放置在桌面右下角的白色红边盘子上方。", + "correction_plan": "当前动作执行正确，下一步应继续微调位置，使灰色碗位于盘子正上方，然后控制机械臂垂直下降，直到碗接触盘面，最后松开抓夹完成放置。", + "error_success_analysis": "这段动作是成功的。机器人准确识别并保持了对正确目标（中央灰色碗）的控制，没有掉落物体。同时，移动方向正确（向右前方盘子位置移动），没有与周围的红色麦片盒或右侧抽屉柜发生碰撞，符合任务规划预期。", + "frame": 96, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂已经完成了抓取动作，处于任务进度的50%。在视频结束时，机械臂成功地将碗从初始位置移动到了目标盘子的附近区域，完成了搬运过程中的主要位移，达到了‘抓夹抓住灰色的碗接近盘子’的状态，因此任务进度按计划上升至75%。", + "state_description": "当前时刻，机械臂正处于搬运物体的过程中。抓夹稳固地夹持着灰色金属碗，悬停在半空中，位置位于桌面中央与右下角盘子之间的路径上。盘子位于右前方，红色麦片盒位于正下方。之前的抓取动作已完成，当前状态符合‘接近盘子’的描述，接下来的任务是对准盘子并进行放置。", + "time": 3.203999, + "vlm_progress": 75 + }, + { + "action_description": "视频开始时，机械臂抓夹正抓着灰色的碗悬停在右前方白底红边的盘子上方。随后，机械臂向下移动，将碗精准地放入盘子中。紧接着，抓夹张开释放碗，并向上稍微抬起，完成了放置动作。", + "correction_plan": "当前任务已成功完成，无需纠正。后续可将机械臂移动回初始位置或安全位置。", + "error_success_analysis": "该动作是成功的。机械臂准确地将目标物体（灰色碗）移动到了目标位置（右前方的盘子）的正上方，并执行了垂直下降和释放动作。碗最终稳固地落在盘子内，没有发生倾倒或错位。", + "frame": 120, + "progress": 99, + "progress_check": 1, + "progress_explanation": "视频开始时，抓夹已经抓住了碗并接近盘子，对应任务规划中的75%节点。视频结束时，碗已经被放入盘中且抓夹已松开并撤离，对应任务规划中“抓夹将灰色的碗放在盘子上”的100%完成状态（此处标记为99%表示即将结束）。动作顺利完成，因此进度从75%上升至99%。", + "state_description": "当前时刻，灰色的金属碗已经平稳地放置在桌面上右前方的白色盘子中央。机械臂的抓夹处于张开状态，悬停在碗的上方。右侧的深色抽屉柜和正前方的红色麦片盒位置未变。任务的主要目标——将碗放在盘子上——已经达成。", + "time": 4, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 4.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504445.4434211/observation.images.Success1769504445.4434211/Success1769504445.4434211.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504445.4434211/observation.images.Success1769504445.4434211/Success1769504445.4434211.json new file mode 100644 index 0000000000000000000000000000000000000000..2541be6d6e41c425ccb2f604bcf2886a6a71b99b --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504445.4434211/observation.images.Success1769504445.4434211/Success1769504445.4434211.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "在这段视频中，机械臂从桌面上方较高的初始位置开始，垂直向下并向桌子中央移动。抓夹保持张开状态，平稳地下降并接近位于桌子中央的目标灰色金属碗，最终悬停在该碗的正上方。", + "correction_plan": "当前动作执行正确，无需纠正。接下来的建议动作是：控制抓夹继续垂直向下移动以包围碗体，闭合抓夹紧紧抓住灰色碗，然后向上抬起并向右前方的盘子方向移动。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别了目标物体的位置（桌子中央），并控制抓夹从高处向下精准移动到了碗的上方，路径规划合理，没有发生偏差或碰撞，完美执行了'接近'这一步骤。", + "frame": 33, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时机械臂刚开始移动，进度为0%。视频结束时，机械臂已经成功将抓夹移动到了目标物体（中央的灰色碗）上方，完成了从起始点到目标点的接近过程。根据任务规划，'抓夹接近灰色的碗'对应的进度为25%，因此进度上升至25%。", + "state_description": "当前时刻，机械臂的白色抓夹正位于桌子中央灰色碗的上方，处于准备抓取的姿态，抓夹张开。目标碗静止在原位，右前方的盘子和周围的其他物品（如抽屉柜、另一个灰色碗等）均未被触动。场景状态表明接近目标的动作已完成，即将进入抓取环节。", + "time": 1.084833, + "vlm_progress": 25 + }, + { + "action_description": "视频中，机械臂末端执行器从悬停在桌子中央灰色碗上方的位置开始，垂直向下移动靠近碗。到达合适高度后，抓夹手指闭合，稳固地抓住了灰色的碗。", + "correction_plan": "当前动作成功，无需纠错。接下来的操作应是将抓取到的碗垂直向上提起以离开桌面，避免水平移动时发生摩擦或碰撞，随后向右前方（盘子所在位置）移动机械臂。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别了目标位置，垂直下降路径没有偏差，抓夹闭合时机准确，成功完成了抓取任务，没有发生抓空或碰撞其他物体的错误。", + "frame": 68, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，抓夹正处于接近碗的过程中，符合25%的进度定义。视频结束时，抓夹已经完成了下降和闭合动作，成功抓住了目标物体，达到了任务规划中定义的'抓夹抓住灰色的碗'这一里程碑，因此进度为50%。", + "state_description": "当前关键点状态显示，机械臂的白色抓夹已经成功闭合可以并且夹紧了位于桌面中央的目标灰色金属碗。任务的第一阶段抓取动作已经完成，接下来需要进行搬运。目标放置区域是位于画面右下方的白底红边盘子。", + "time": 2.261666, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂的抓夹已经在桌子中央紧紧抓住灰色的碗。随后，机械臂将碗向上提起并向右侧移动，将其从桌子中央区域运送到了右前方白底红边盘子的上方。动作主要涉及向上和向右的移动。", + "correction_plan": "当前动作无误，接下来的计划是控制机械臂向下移动，将灰色的碗轻轻放置在盘子表面，待放置稳固后松开抓夹。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在移动过程中没有丢失目标物体，移动路径清晰且方向正确（向右侧盘子方向），最终准确停留在盘子上方，为下一步放置做好了准备。", + "frame": 91, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时处于抓取刚完成的状态（50%）。在视频过程中，机械臂执行了运输动作，将碗从初始位置移动到了目标位置（盘子）的附近。根据任务规划，'抓夹抓住灰色的碗接近盘子'对应75%的进度，视频结束时的状态完美契合这一描述，因此进度上升至75%。", + "state_description": "当前关键点状态是机械臂成功保持着对灰色碗的抓取，并已将其悬停在目标盘子的上方。碗处于盘子正上方并未接触盘面，抓夹依然闭合。任务已完成运输阶段，准备进入放置阶段。", + "time": 3.024499, + "vlm_progress": 75 + }, + { + "action_description": "视频开始时，机械臂夹持着灰色的碗位于右前方盘子的上方。随后，机械臂执行了向下移动的动作，将灰色的碗垂直下降并平稳放置在桌面右前方的白底红边盘子中央。", + "correction_plan": "当前碗已正确放置在盘子上。接下来的可行动作是：控制抓夹张开（Open Gripper）以释放灰色的碗，随后控制机械臂垂直向上移动（Move Up）离开盘子区域，从而彻底完成任务。", + "error_success_analysis": "这段视频的动作是成功的。机械臂不仅准确识别了放置位置（盘子），而且动作平稳，将碗垂直放入盘中，没有发生偏移或掉落，完全符合任务规划的最后一步要求。", + "frame": 113, + "progress": 98, + "progress_check": 1, + "progress_explanation": "视频开始时进度为75%，对应规划中‘抓夹抓住灰色的碗接近盘子’的阶段。在视频过程中，机械臂完成了将碗从悬停位置放下到盘子上的动作。结束时，碗已接触盘面，符合‘将灰色的碗放在盘子上’的最终状态前夕，仅差松开抓夹这一收尾动作，因此进度合理地上升至98%。", + "state_description": "当前关键点状态显示，目标灰色的碗已经准确地坐落在右前方的盘子上。机械臂的抓夹末端仍然位于碗的两侧，处于刚刚完成放置但尚未完全撤离的状态。场景中其他物体如右侧的抽屉柜、前方的食品盒及右侧的干扰碗均未被触碰，位置保持不变。任务主要目标已达成，处于等待释放抓夹的最终阶段。", + "time": 3.779666, + "vlm_progress": 98 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504515.6364486/observation.images.Success1769504515.6364486/Success1769504515.6364486.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504515.6364486/observation.images.Success1769504515.6364486/Success1769504515.6364486.json new file mode 100644 index 0000000000000000000000000000000000000000..429e14d10c7b8c52368f63dc38f23e8302faa420 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504515.6364486/observation.images.Success1769504515.6364486/Success1769504515.6364486.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频展示了机械臂从上方起始位置开始，向下并向前移动，最终将张开的抓夹精准地悬停在桌子中央灰色碗的正上方。", + "correction_plan": "当前状态为预抓取状态，后续应当执行抓取动作。建议动作：保持当前位置或微调高度，闭合抓夹以稳固地抓住桌子中央的灰色碗。", + "error_success_analysis": "这段视频的动作是成功的。机械臂没有发生任何错误的位移或与周围物体（如麦片盒、电热炉）发生碰撞，而是直接且准确地移动到了目标物体的抓取位置。", + "frame": 33, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时机械臂处于初始位置，进度为0%。视频结束时，机械臂已经完成了移动动作，将抓夹放置在目标灰色碗的极近距离上方，符合任务规划中‘抓夹接近灰色的碗’的描述。因此，任务进度从0%上升到了25%。", + "state_description": "当前关键点状态显示，机械臂的抓夹已经成功到达目标物体——桌子中央的灰色碗的上方，处于预备抓取的姿态。抓夹是张开的，碗静止在桌面上。根据任务规划，这对应于抓取前的接近阶段，为下一步抓取做好了准备。", + "time": 1.0877704681818183, + "vlm_progress": 25 + }, + { + "action_description": "在这段视频中，机械臂从桌子中央上方的位置开始，垂直向下移动（-Z轴方向），逐渐接近桌子正中央的目标灰色碗。在调整好位置确保抓夹对准碗的中心后，抓夹执行了闭合动作，稳固地抓住了灰色碗的边缘。动作范围主要集中在桌子中心区域，未涉及水平大幅度移动。", + "correction_plan": "既然已经成功抓住物体，接下来的动作应该是将碗运输到目标位置。建议的操作规划是：首先控制机械臂垂直向上提升（+Z轴方向），使灰色碗完全离开桌面以避免摩擦或碰撞；接着向右侧水平移动（朝向桌子右前方的盘子位置）；最后在盘子正上方下降并松开抓夹。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别并定位了目标物体（中央的灰色碗），下降轨迹垂直且精准，避开了紧邻的麦片盒等障碍物。抓夹闭合时机恰当，成功实现了对物体的抓取，符合任务规划中的预期步骤。", + "frame": 70, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，任务处于抓夹接近灰色碗的阶段（25%）。在视频过程中，机械臂完成了下降和闭合抓夹的动作，成功锁定了目标物体。根据任务进度规划，'抓夹抓住灰色的碗'对应50%的进度。由于抓取动作已完成，任务进度顺利从25%上升至50%。", + "state_description": "当前关键点状态显示，机械臂的末端抓夹已经成功闭合，紧紧夹住了位于桌子中央的灰色金属碗。碗底仍然接触桌面，尚未被提起。周围的物体，如右侧的麦片盒和右侧的盘子，位置未发生改变且未受干扰。机械臂处于抓取完成的姿态，准备进行后续的搬运操作。", + "time": 2.349833, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂的抓夹已经在桌子中央紧紧抓住了灰色的碗。在视频过程中，机械臂向上抬起碗，并将其向右方平移，最终将碗运送到桌子右侧红边白色盘子的上方区域悬停。", + "correction_plan": "鉴于碗已经悬停在盘子上方，接下来的动作应该是控制机械臂垂直向下（Down）移动，直到碗平稳放置在盘子上，然后松开抓夹（Release）以完成任务。", + "error_success_analysis": "这段视频的动作是成功的。首先，抓夹在移动过程中没有松脱，一直稳固地抓着碗；其次，机械臂的移动方向正确（向右），准确地将目标物体带到了放置目标（盘子）的上方，没有发生路径偏差。", + "frame": 92, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时，抓取动作刚刚完成，对应进度50%。视频结束时，机械臂已经将碗移动到了盘子附近并悬停在上方，完全符合任务规划中'抓夹抓住灰色的碗接近盘子'的阶段，标志着运输动作的完成，因此进度上升至75%。", + "state_description": "当前关键点状态显示，机械臂末端执行器正稳固地夹持着目标灰色碗。碗的位置已经从初始的桌子中央成功转移到了目标位置——右侧盘子的正上方，并处于悬空状态。这意味着运输阶段已完成，即将进入放置阶段。", + "time": 3.066666, + "vlm_progress": 75 + }, + { + "action_description": "在视频片段中，机械臂抓取着灰色的碗，将其向右下方移动，精准地将碗对准桌子右侧带红边的白色盘子上方。随后，机械臂下降高度将碗放入盘中，并松开抓夹，完成释放动作。", + "correction_plan": "当前任务已成功完成，无需纠正。后续可行的动作为将机械臂向上抬起并复位，移出工作区域，以便进行下一个任务或保持待机。", + "error_success_analysis": "这段视频的动作是成功的。机器人准确地将目标物体（灰色碗）移动到了目标位置（盘子）的正上方，并执行了下降和松开的动作，物体最终稳定地停留在盘子内，没有发生掉落或位置偏差。", + "frame": 115, + "progress": 100, + "progress_check": 1, + "progress_explanation": "视频开始时，抓夹正抓着碗接近盘子，符合任务规划中75%的进度描述。视频结束时，碗已经被成功放入盘子并松开，达到了任务规划中“抓夹将灰色的碗放在盘子上”的状态，意味着任务全部完成，因此进度上升至100%。", + "state_description": "当前关键点状态显示，灰色的碗已经稳稳地放置在桌子右侧的红边白色盘子内。机械臂的抓夹已经打开并处于空闲状态，悬停在碗的上方。这一状态表明任务的核心目标——将碗放在盘子上——已经圆满完成。", + "time": 3.833333, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504665.876111/observation.images.Success1769504665.876111/Success1769504665.876111.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504665.876111/observation.images.Success1769504665.876111/Success1769504665.876111.json new file mode 100644 index 0000000000000000000000000000000000000000..b519121a3e575fec93dcf30b1eeb1c7779004e9e --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504665.876111/observation.images.Success1769504665.876111/Success1769504665.876111.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频中，机械臂从桌面上方的高位起始点开始动作，手臂向下并向前方伸展，同时向右微调，将张开的抓夹精准地移动到了桌子中央灰色碗的正上方悬停。", + "correction_plan": "基于当前抓夹悬停在碗上方的成功状态，后续的可行动作是：控制机械臂垂直向下移动（Z轴负方向），使抓夹的手指包围灰色碗的边缘，然后闭合抓夹以牢固地抓住碗。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别了目标物体的位置，并规划了合理的路径从初始位置移动到了灰色碗的上方，没有发生任何偏差或与其他物体的碰撞，为下一步的抓取做好了充分准备。", + "frame": 31, + "progress": 25, + "progress_check": "1", + "progress_explanation": "视频开始时机械臂处于静止初始状态，对应任务进度的0%。视频结束时，机械臂已经完成了移动并悬停在目标物体上方的动作，这完全符合任务规划中‘抓夹接近灰色的碗’这一阶段的描述，因此任务进度上升至25%。", + "state_description": "当前关键点状态为预抓取状态。机械臂的抓夹位于目标灰色碗的垂直上方，尚未接触碗体。灰色碗静止在桌子中央，右侧的红边盘子和右侧的柜子等其他物体均未受干扰。此时机械臂已就位，准备执行抓取动作。", + "time": 1.042666, + "vlm_progress": "25" + }, + { + "action_description": "机械臂的末端执行器垂直向下移动，到达桌子正中央的上方，并将抓夹张开对准灰色碗，随后下降使得抓夹的两指包围住灰色碗，完成了抓取前的准备姿态。", + "correction_plan": "当前抓夹已包围物体，接下来的动作应闭合抓夹夹紧灰色碗，然后控制机械臂垂直向上移动（Lift），将碗提起至安全高度，随后向右前方（Front-Left）移动，将碗运送至红边盘子的上方。", + "error_success_analysis": "该动作是成功的。机械臂准确地定位了目标物体的位置，并控制抓夹垂直下降，没有发生位置偏差或与周围物体（如前方的盒子或右侧的柜子）发生碰撞。抓夹的姿态正确，为稳固抓取做好了准备。", + "frame": 69, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时进度为25%，即抓夹正在接近碗。结束时，抓夹已经成功到达并包围了位于桌子中央的目标灰色碗，符合任务规划中'抓夹抓住灰色的碗'这一阶段的描述。因此，任务取得了实质性进展，达到了规划中的50%节点。", + "state_description": "当前场景中，白色机械臂的抓夹位于桌子正中央，处于低位，精准地环绕着灰色的碗。碗仍然停留在桌面上，未被提起。右前方的红边盘子是空置的，左侧的深棕色柜子和前方的长方体盒子均未受到干扰。机械臂处于抓取动作的完成瞬间，准备进行下一步的提升操作。", + "time": 2.292333, + "vlm_progress": 50 + }, + { + "action_description": "在这段视频中，机械臂首先在桌子中央位置稳固地抓住了灰色的碗。随后，机械臂执行了抬升和移动动作，将灰色的碗从桌面上提起，并向右前方平移，使其靠近位于桌子右前方的红边盘子上方。", + "correction_plan": "由于当前动作执行正确且符合预期，无需进行修正。接下来的可行动作是：继续微调位置使碗对准盘子中心，控制机械臂缓慢下降高度，将灰色的碗平稳放置在红边盘子上，确认接触后松开抓夹。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地保持了对目标物体（灰色碗）的抓取，没有发生滑落，并且移动路径规划合理，直接将碗运送到了目标盘子的上方附近，没有产生多余的动作或错误的方向。", + "frame": 92, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂刚刚完成抓取动作，进度为50%。视频过程中，机械臂成功完成了将物体从初始位置搬运到目标位置附近的动作，这符合任务规划中‘抓夹抓住灰色的碗接近盘子’的阶段描述。因此，任务进度顺利从50%推进到了75%。", + "state_description": "当前状态下，机械臂的抓夹紧紧握住灰色的碗，碗处于悬空状态，位于桌子中央与右前方盘子之间的路径上，正逐渐接近目标位置。红边盘子位于桌子右前方，处于空闲状态，等待接收碗。场景中没有发生碰撞或物体掉落。", + "time": 3.066666, + "vlm_progress": 75 + }, + { + "action_description": "视频开始时，机械臂夹持着灰色的碗悬停在桌面右前方的红边盘子上方。随后，机械臂执行了垂直下降的动作（-Z方向），将碗送入盘子区域，并在接触或极接近盘底时张开抓夹（Release），将灰色的碗平稳放置在盘子中央，机械臂随之停止动作。", + "correction_plan": "当前动作已成功，无需修正。后续规划建议机械臂垂直向上抬起（+Z方向）以脱离操作区域，防止在撤回过程中意外碰倒已放置好的碗或盘子，随后归位。", + "error_success_analysis": "该动作执行成功。机械臂准确地识别了目标位置（红边盘子），并在空间上实现了精确的对齐（X/Y轴）。下降动作平缓，释放时机恰当，使得碗能够平稳地落入盘中而未发生倾倒或碰撞，符合物理规律和任务要求。", + "frame": 115, + "progress": 99, + "progress_check": 1, + "progress_explanation": "根据任务规划，75%对应‘抓夹抓住灰色的碗接近盘子’，这正是视频开始时的状态。视频中机械臂执行了下降和松开抓夹的动作，完成了‘抓夹将灰色的碗放在盘子上’这一最终步骤。因此，任务进度由75%推进至99%（基本完成），符合任务逻辑。", + "state_description": "关键点状态显示，目标灰色的碗已经端正地摆放在红边盘子内，二者均位于桌面的右前方。机械臂的抓夹呈张开姿态，位于碗的正上方，不再接触碗体。背景中的深棕色柜子、前方的长方体盒子等物体位置保持不变。任务状态已达成目标。", + "time": 3.833333, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504701.4357877/observation.images.Success1769504701.4357877/Success1769504701.4357877.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504701.4357877/observation.images.Success1769504701.4357877/Success1769504701.4357877.json new file mode 100644 index 0000000000000000000000000000000000000000..e90139b4f9425204237135ba8d51003ebef95273 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504701.4357877/observation.images.Success1769504701.4357877/Success1769504701.4357877.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于后方较高的初始位置。随后，机械臂向下并向桌子中央移动，末端抓夹张开，精准地移动到了桌子中央那个目标灰色碗的正上方悬停。", + "correction_plan": "当前抓夹已位于碗上方，接下来的动作应该是垂直下降，使抓夹指尖包围碗的边缘，然后闭合抓夹抓住碗，最后向上提起。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别了目标物体（中央的灰色碗），并平稳地将抓夹移动到了正确的抓取预备位置（正上方），没有发生偏移或碰撞，符合任务预期。", + "frame": 29, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时机械臂刚开始动作，进度为0%。视频结束时，抓夹已经成功移动到了目标物体（灰色碗）的上方，完成了接近目标的动作。根据任务规划，'抓夹接近灰色的碗'对应25%的进度，因此进度上升至25%。", + "state_description": "当前时刻，机械臂的黑色抓夹处于张开状态，悬停在位于桌子中央偏右的目标灰色碗上方，准备进行抓取。目标碗周围的红黄相间食品盒和银色金属罐未受干扰。右侧的盘子和另一个灰色碗保持静止。任务处于抓取前的准备阶段。", + "time": 0.965999, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂的抓夹位于桌子中央灰色碗的正上方，处于张开状态。随后，机械臂垂直向下移动，使抓夹末端包围住灰色碗的边缘。紧接着，抓夹闭合，在红色食品盒后方成功夹住了灰色的碗。整个过程中，机械臂主要执行了向下和抓取的动作。", + "correction_plan": "当前抓取动作已成功完成，接下来的步骤是将碗转移到盘子上。建议的操作是：首先控制机械臂向上抬起（Up），使碗离开桌面以避开周围障碍物，然后向右前方（Left-Front）水平移动，直至碗位于白色盘子的正上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在下降过程中准确对齐了目标物体，未碰撞前方紧邻的红黄食品盒或后方的金属罐。抓夹闭合动作果断且准确，没有发生滑脱或抓空现象，顺利完成了抓取任务。", + "frame": 70, + "progress": 50, + "progress_check": 1, + "progress_explanation": "这段视频展示了任务从“抓夹接近灰色的碗”到“抓夹抓住灰色的碗”的转变。视频开始时抓夹已到位准备抓取（25%），视频结束时抓夹已闭合且稳固地抓住了碗，完全符合任务规划中50%的定义。因此，任务进度从25%上升至50%。", + "state_description": "当前关键点状态为机械臂已成功完成对目标物体的抓取。抓夹紧紧固定住了位于桌面中央的灰色碗，碗目前仍在原位但已被控制。右前方的白色盘子是空闲的，作为放置目标。任务完成了抓取阶段，为后续的搬运做好了准备。", + "time": 2.342166, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂的白色抓夹已经牢固地抓住了位于桌子中央偏右的灰色碗。在视频过程中，机械臂抬起并将碗向右前方移动，跨越了桌面的部分区域，朝向桌子右前方的带有红色圆环的白色盘子靠近。视频结束时，抓夹悬停在空中，碗的位置已经非常接近目标盘子的上方。", + "correction_plan": "当前操作无需修正。接下来的动作应是：继续保持当前位置，控制机械臂沿Z轴向下移动（下降），直到灰色碗接触或刚好位于盘子表面，然后松开抓夹释放碗，最后抬起机械臂完成整个任务。", + "error_success_analysis": "该动作是成功的。机械臂在整个移动过程中保持了对灰色碗的稳定控制，未发生滑落。同时，路径规划正确，避开了前方的红黄盒子，直接向右侧目标盘子移动，没有发生任何碰撞或错误的路径偏移。", + "frame": 93, + "progress": 75, + "progress_check": 1, + "progress_explanation": "这段视频展示了从‘抓住物体’到‘接近放置点’的过程。开始时进度为50%（抓住碗），随着机械臂将碗移动并接近右侧的盘子，完成了搬运的大部分路程，正好对应任务规划中75%的节点‘抓夹抓住灰色的碗接近盘子’。因此，进度上升是合理的，且数值准确。", + "state_description": "当前状态下，机器人正处于物品搬运阶段。目标灰色碗被机械臂成功抓取并悬空，且已从抓取位置移动到了目标放置区域（右侧盘子）的附近。场景中其他物品如红黄食品盒、银色金属罐和左侧柜子均未受干扰。机械臂姿态稳定，碗的位置正对准盘子，预示着即将进行放置动作。", + "time": 3.089666, + "vlm_progress": 75 + }, + { + "action_description": "视频开始时，机械臂夹持着灰色的碗悬停在白色盘子的右上方。接着，机械臂向右下方移动，调整位置将碗对准右前方带有红色圆环的白色盘子中心，并垂直下降，最终将灰色的碗平稳地放置在盘子内。", + "correction_plan": "当前动作已成功完成，无需纠错。后续的可行动作是确认抓夹完全松开（Release Gripper），然后控制机械臂垂直向上移动（Move Up），使抓夹脱离碗的区域，完成整个任务流程。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了目标位置（右前方的盘子），并执行了平滑的移动和下降轨迹，将碗准确无误地放入了盘子边缘范围内，没有发生抛洒或放置在桌面的错误。", + "frame": 115, + "progress": 99, + "progress_check": "1", + "progress_explanation": "在视频开始时，进度为75%，对应抓夹抓住碗接近盘子的阶段。随着视频播放，机械臂执行了下降和放置动作，将碗从空中成功转移到了盘子上。根据任务规划，'抓夹将灰色的碗放在盘子上'对应100%，此处动作已完成放置，仅剩松开和撤离的收尾动作，因此进度上升至99%是合理的。", + "state_description": "当前关键点状态显示，灰色的碗已经准确地坐落在右前方的白色盘子中。机械臂的末端执行器（抓夹）仍然位于碗的正上方，刚刚完成放置动作。任务的主要目标已经达成，物体已到达指定位置。", + "time": 3.833333, + "vlm_progress": 99 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504874.2593927/observation.images.Success1769504874.2593927/Success1769504874.2593927.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504874.2593927/observation.images.Success1769504874.2593927/Success1769504874.2593927.json new file mode 100644 index 0000000000000000000000000000000000000000..e72d82dfd85775f2b574318ce895187148af1444 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504874.2593927/observation.images.Success1769504874.2593927/Success1769504874.2593927.json @@ -0,0 +1,69 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频展示了机械臂从初始静止状态开始启动，末端执行器（抓夹）从桌面上方高处向下并向桌子中央移动。在移动过程中，机械臂调整姿态，最终悬停在桌子中央浅灰色碗的上方，完成了接近目标的动作。", + "correction_plan": "鉴于抓夹已经成功悬停在浅灰色碗上方，接下来的动作应是沿垂直方向（Z轴）向下移动抓夹，使其手指包围碗体，随后闭合抓夹以完成'抓住灰色的碗'这一步骤。", + "error_success_analysis": "这段动作是成功的。机械臂准确识别了任务目标（中央的浅灰色碗），并未误接近右侧的深灰色碗或其他物体。移动路径平滑且方向正确，成功将抓夹送达至目标物体的抓取范围内，未发生碰撞或偏移。", + "frame": 34, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时机械臂处于初始位置，对应进度0%。视频结束时，机械臂已经完成了'移动并接近'目标物体的动作，达到了任务规划中'抓夹接近灰色的碗'这一里程碑。根据给定的进度规划，此状态对应25%的进度，因此进度值为25%。", + "state_description": "当前场景中，桌面上各物品位置保持不变。目标物体——表面光滑的浅灰色碗位于图像中央。机械臂的抓夹已移动至该碗的正上方或斜上方区域，处于预备抓取的姿态。周围的深灰色碗、红黄盒子以及盘子均未受到干扰，场景状态符合'接近目标'的描述。", + "time": 1.130999, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂的抓夹位于桌子中央浅灰色碗的正上方，处于张开状态。随后，抓夹垂直向下移动，指尖包围住碗的边缘。紧接着，抓夹闭合，牢固地抓住了浅灰色碗。视频结束时，抓夹保持在抓住碗的状态，准备起吊。", + "correction_plan": "当前动作成功，无需纠正。后续可行动作为：控制机械臂垂直向上移动（+Z轴）以提起浅灰色碗，使其离开桌面，随后向右前方（右下方向）水平移动，将碗运送至右下角的白色盘子上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了桌子中央浅灰色碗的位置，垂直下降路径精准，避开了前方的障碍物（红黄盒子），并且抓夹闭合时机恰当，稳稳地抓住了目标，没有出现抓空或滑落的现象。", + "frame": 70, + "progress": 50, + "progress_check": 1, + "progress_explanation": "这段视频展示了从‘接近目标’到‘完成抓取’的过程。开始时抓夹已对准目标（进度25%），通过下降和闭合动作，在视频结束时成功抓住了浅灰色碗。根据任务进度规划，‘抓夹抓住灰色的碗’对应的正是50%的进度节点，因此进度由25%上升至50%。", + "state_description": "当前关键点状态是机械臂成功抓取了目标物体。白色的机械臂抓夹已经闭合，将桌子中央表面光滑的浅灰色碗稳固地夹在中间。碗尚未离开桌面，但已处于被控制状态。前方的红黄相间盒子和右侧的深灰色碗未受干扰。根据任务规划，抓取阶段已完成，下一步需要进行搬运。", + "time": 2.339333, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂的抓夹位于桌子中央，已经牢固地抓住了浅灰色的碗。随后，机械臂向上抬起手臂，将碗提离桌面，并向右前方移动，靠近位于桌子右下角的红纹白色盘子。视频结束时，机械臂抓着碗悬停在盘子上方或附近的位置。", + "correction_plan": "当前动作执行正确，无需纠错。基于当前机械臂悬停在盘子附近的状态，下一步的可行动作是：控制机械臂缓慢向下移动（Z轴向下），将浅灰色碗对准盘子中心放置，待碗底接触盘面后，控制抓夹张开以释放物体。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在移动过程中保持了对目标物体（浅灰色碗）的稳定抓取，没有发生滑落。同时，移动路径正确，从桌子中央准确移向了右下角盘子的方位，避开了桌上的其他障碍物（如红黄小盒子），顺利达到了预定的接近盘子的状态。", + "frame": 92, + "progress": 75, + "progress_check": 1, + "progress_explanation": "这段视频开始时，任务进度为50%，即刚刚完成抓取。在视频过程中，机械臂执行了将碗从抓取点移动到放置点（盘子）上方的动作。根据任务规划，'抓夹抓住灰色的碗接近盘子' 对应 75% 的进度。由于机械臂成功完成了这一运输动作且未发生掉落，任务进度按计划上升。", + "state_description": "当前画面显示机械臂正处于运输物体的过程中。浅灰色的碗被稳稳地夹在抓夹中，悬在半空。机械臂的位置已经从桌子中央转移到了右侧区域，碗的位置处于目标盘子的上方或紧邻区域。相比于初始状态，物体已经离开了起始点并接近了终点，表明运输阶段即将结束，准备进入放置阶段。", + "time": 3.064333, + "vlm_progress": 75 + }, + { + "action_description": "在视频片段中，机械臂抓取着浅灰色的碗，位于桌子右前方的白色盘子上方。机械臂控制抓夹带动碗从上向下缓慢移动，垂直高度降低，使碗更加接近盘子表面，同时保持碗在盘子正上方的水平位置对齐。", + "correction_plan": "当前操作正确，无需纠正。接下来的可行动作是：控制机械臂继续微调高度直至碗接触盘面，然后发送指令张开抓夹（Open Gripper）以释放浅灰色的碗，确保碗平稳落在盘子上，随后将机械臂向上抬起离开。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了目标位置（右前方的盘子），并平稳地将已抓取的物体（浅灰色碗）移动到了目标区域的正上方。动作过程中没有出现物体掉落、轨迹偏离或与周围物体（如右侧深灰色碗或中间盒子）的碰撞，符合任务规划预期。", + "frame": 122, + "progress": 85, + "progress_check": 1, + "progress_explanation": "视频开始时，任务处于“抓夹抓住灰色的碗接近盘子”的阶段，对应进度75%。在视频过程中，机械臂执行了有效的下降动作，将碗准确地送到了盘子正上方极近的位置，完成了放置动作的前置准备（Pre-place），动作连贯且方向正确，因此任务进度有所推进，结束时达到85%是合理的。", + "state_description": "当前关键点状态显示，机械臂的白色抓夹紧紧抓住浅灰色的碗，碗底距离右下角带有红色花纹的白色盘子表面非常近，几乎处于即将接触的悬停状态。相比视频开始时，碗的高度显著下降，已经完成了从接近盘子到准备放置的过渡，等待下一步释放动作。", + "time": 4.059999, + "vlm_progress": 85 + }, + { + "action_description": "视频开始时，机械臂抓夹紧紧夹住浅灰色碗，悬停在桌面上方。随后，机械臂向右前方及下方移动，将浅灰色碗精准地运送至右前角带有红色花纹的白色盘子正上方，并进一步降低高度，直至碗底几乎接触到盘子表面。", + "correction_plan": "当前操作无误，无需纠正。接下来的动作应为：控制抓夹张开，让浅灰色碗落入盘中，完成放置任务，随后机械臂垂直向上复位。", + "error_success_analysis": "这段动作是成功的。机械臂在移动过程中保持了对物体的稳定抓取，没有出现掉落或滑脱。同时，方位的控制非常精确，成功将碗从空中引导至目标区域（右下角的盘子）的正上方，且没有发生任何碰撞或偏差。", + "frame": 143, + "progress": 95, + "progress_check": 1, + "progress_explanation": "这段视频展示了从‘抓着碗接近盘子’（75%阶段之后）到‘即将放置’的过程。开始时进度为85%，表示碗正在接近途中；视频结束时，碗已经完全位于盘子上方且高度极低，处于放置动作的前一刻，只差释放抓夹。根据规划，放置完成是100%，因此当前状态非常接近完成，进度上升至95%是符合逻辑且准确的。", + "state_description": "当前关键点状态显示，机械臂抓夹依然稳固地抓取着目标浅灰色碗。碗的位置已经从接近盘子的途中移动到了盘子的正上方中心位置，且垂直高度已降至最低，处于即将释放的悬停状态。相比视频开始时，碗与目标位置（盘子）的对齐度达到最佳，距离任务完成仅剩松开抓夹这一步。", + "time": 4.755999, + "vlm_progress": 95 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 4.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504904.0319445/observation.images.Success1769504904.0319445/Success1769504904.0319445.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504904.0319445/observation.images.Success1769504904.0319445/Success1769504904.0319445.json new file mode 100644 index 0000000000000000000000000000000000000000..7b45286992452b9e9cf6ff280dd0e12deb563c9f --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504904.0319445/observation.images.Success1769504904.0319445/Success1769504904.0319445.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "在视频片段中，机械臂从上方的初始位置启动，向桌子中央区域移动。机械臂调整姿态，向下延伸并接近位于桌子正中央的银灰色金属碗，最终停留在该碗的上方或附近区域，完成了接近动作。", + "correction_plan": "鉴于抓夹已经接近目标碗，接下来的动作应该是垂直向下移动抓夹，使其包围碗体，然后控制抓夹闭合以稳固地抓住碗。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了任务目标（桌子中央的灰色碗），并控制抓夹向该目标移动，没有错误地移向右侧的深色碗或右侧的包装盒，路径规划合理且无碰撞。", + "frame": 32, + "progress": 25, + "progress_check": 1, + "progress_explanation": "根据任务规划，0%是开始移动，25%是接近碗。这段视频展示了机械臂从静止开始移动并最终到达目标碗附近的过程，完成了从启动到接近目标的动作，因此进度从0%上升到25%。", + "state_description": "当前关键点显示机械臂的末端执行器（抓夹）已经移动到了桌子中央银灰色碗的上方近处，处于悬停或准备下降的状态。目标碗静止在桌面上，右侧的盘子和其他物品未被触动。场景状态符合'抓夹接近灰色的碗'的描述。", + "time": 1.078, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂末端的抓夹位于桌子中央银灰色碗的上方。随后，抓夹垂直向下移动，张开机械爪包围住银灰色碗的边缘。接着，机械爪闭合，紧紧抓住碗，并垂直向上提起，将碗抓离桌面。", + "correction_plan": "当前动作已成功，无需纠正。接下来的可行动作是：保持抓夹抓住碗的状态，控制机械臂向右水平移动，将银灰色碗运送至带有红色花纹的白色圆盘正上方，准备进行放置动作。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地定位了目标物体（银灰色碗）的方位（桌子中央），垂直下降没有发生偏移，且抓夹闭合时稳固地抓住了物体，提起的动作验证了抓取的稳定性，没有出现抓空或物体滑落的错误。", + "frame": 65, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，进度为25%，对应抓夹接近碗的状态。在视频过程中，机械臂完成了下降、调整姿态、闭合抓夹以及提起的动作。根据任务规划，'抓夹抓住灰色的碗'对应50%的进度。由于动作顺利完成且未发生掉落，任务进度按计划从25%上升至50%。", + "state_description": "当前关键点状态显示，机械臂的抓夹已经成功抓住了桌子中央的银灰色碗，并将碗悬停在半空中，碗底已离开桌面。右侧的白盘子处于空置状态，等待放入。任务的第一阶段抓取动作已完成，处于持有物体待移动的状态，后续需要将碗向右移动至盘子上方。", + "time": 2.152333, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂已经成功抓取了桌子中央的银灰色碗。随后，机械臂向上抬起并向右方移动，将碗平稳地搬运至带有红色花纹的白色圆盘正上方。视频结束时，机械臂停止移动，碗悬停在盘子上方，准备进行下一步的放置动作。", + "correction_plan": "当前动作已成功将物体运送至目标上方，无需纠正。接下来的动作应为：控制机械臂垂直向下移动，直到碗底接触盘子表面，然后控制抓夹张开以释放碗，完成放置任务。", + "error_success_analysis": "该段动作是成功的。机械臂准确地识别了目标路径，将碗从起始位置向右搬运至目标盘子的上方，过程中没有发生物体掉落或与周围环境（如右侧柜子或前方盒子）的碰撞，且最终停止位置准确，便于后续垂直放置。", + "frame": 86, + "progress": 75, + "progress_check": 1, + "progress_explanation": "这段视频开始时，碗刚被抓住，对应任务规划的50%。在视频过程中，机械臂执行了从抓取点到放置点的移动动作。结束时，碗已经位于盘子上方，即完成了“接近盘子”的动作，这与任务规划中75%的描述“抓夹抓住灰色的碗接近盘子”完全一致。因此，任务进度由50%上升至75%。", + "state_description": "当前关键点显示机械臂紧紧握住银灰色的碗，碗体位于右侧白色圆盘的垂直上方，处于悬空状态。桌面上其他物品如右侧的抽屉柜、电炉以及前方的包装盒均未被触碰。状态表明“抓取并移动”的子任务已完成，目前正处于“接近放置点”的状态，符合任务顺利进行的预期。", + "time": 2.882, + "vlm_progress": 75 + }, + { + "action_description": "在这段视频中，机械臂夹持着灰色的碗，从桌面上方的位置向右下方移动。机械臂调整姿态，将碗精准地对齐到带有红色花纹的白色圆盘正上方，并执行下降动作，将碗放置在盘子上。", + "correction_plan": "当前任务已按计划完成，碗已放置在盘子上。接下来的可行动作是：控制夹爪张开以释放灰色的碗，然后将机械臂向上方抬起并向右或后方缩回，脱离操作区域。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了目标位置（右侧的盘子），并且在移动过程中保持了碗的稳定，没有发生掉落或与周围障碍物（如旁边的碗或盒子）发生碰撞。最终碗被准确地放置在盘子中央，符合任务要求。", + "frame": 109, + "progress": 100, + "progress_check": 1, + "progress_explanation": "视频开始时进度为75%，对应抓夹抓住碗并接近盘子的阶段。在视频过程中，机械臂成功完成了从接近到放置的动作，将碗稳稳地放在了目标盘子上，达成了任务规划中的最终目标（抓夹将灰色的碗放在盘子上），因此结束时进度上升至100%。", + "state_description": "当前关键帧显示，机械臂的白色夹爪正紧紧抓住银灰色的金属碗。碗位于桌子右侧区域，正处于白色红边圆盘的上方，位置居中且高度很低，即将或已经与盘面接触。桌子右侧的抽屉柜、电炉以及右前方的包装盒保持静止，未受干扰。右侧最边缘的另一个碗也未被触碰。整体状态表明抓取并放置的任务已基本完成。", + "time": 3.63, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.666667 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504923.3931553/observation.images.Success1769504923.3931553/Success1769504923.3931553.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504923.3931553/observation.images.Success1769504923.3931553/Success1769504923.3931553.json new file mode 100644 index 0000000000000000000000000000000000000000..d4aff93130784559e68f4e6606083c766530a2fa --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769504923.3931553/observation.images.Success1769504923.3931553/Success1769504923.3931553.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频展示了机械臂从桌面上方的初始位置开始动作，平稳地向下方及前方移动，逐渐接近位于桌子中央的目标灰色碗。在整个移动过程中，机械臂的黑色底座保持静止，白色臂身协调运动，末端抓夹保持张开状态，最终停留在灰色碗的上方，完成了接近目标的动作。", + "correction_plan": "当前动作执行无误，无需纠正。接下来的可行动作是：机械臂需沿垂直方向（向下）继续移动，使抓夹的手指下降至灰色碗的两侧及下方，待位置合适后，执行闭合抓夹（Close Gripper）的指令，以完成对碗的抓取。", + "error_success_analysis": "这段视频的动作是成功的。原因在于：1. 目标识别准确，机械臂径直移向了中央的灰色碗，而非其他干扰物体（如旁边的盘子或罐子）；2. 空间方位控制精确，抓夹成功移动到了碗的正上方，且保持了正确的张开姿态，没有发生碰撞或路径偏差，完美符合'接近灰色的碗'这一子任务的要求。", + "frame": 33, + "progress": 25, + "progress_check": "1", + "progress_explanation": "视频开始时任务处于启动阶段，进度为0%。随着视频播放，机械臂执行了从起始点向目标物体移动的指令，并成功到达了目标物体（灰色碗）的抓取准备位置（即上方邻近区域）。根据任务进度规划，'抓夹接近灰色的碗'对应25%的进度节点，因此该片段结束时任务进度自然上升至25%。", + "state_description": "当前状态下，机械臂的抓夹正悬停在桌子中央灰色碗的上方，抓夹两指张开，对准了碗的边缘，尚未与碗接触。目标灰色碗位于桌子中央，其前方放置着彩色食品盒，右侧有白色盘子和另一个碗，右侧是深色抽屉柜。场景中各物体位置相对稳定。目前的任务状态是已经完成了接近动作，处于抓取动作的前置状态。后续规划应控制机械臂继续垂直下降，包裹住碗体后闭合抓夹。", + "time": 1.107333, + "vlm_progress": "25" + }, + { + "action_description": "在这段视频中，机械臂首先位于桌子中央灰色碗的正上方。接着，机械臂垂直向下移动，使末端夹爪张开并包围住灰色碗。随后，夹爪执行闭合动作，紧紧夹住碗的边缘。最后，机械臂向上垂直抬起，将灰色碗平稳地提离桌面。", + "correction_plan": "当前已成功抓取物体，接下来的动作应是控制机械臂向右前方移动，将灰色碗搬运至带有红色边缘的白色盘子正上方，并准备下降放置。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在垂直方向上精确控制，准确地覆盖了目标物体，夹爪闭合时机得当，成功实现了物理抓取，并顺利将其提起，没有发生抓空或碰撞其他物体的错误。", + "frame": 68, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂已经调整姿态接近了灰色碗，对应任务规划中的25%。视频结束时，机械臂完成了下降、闭合夹爪和提升的一系列动作，成功抓住了目标物体，这与任务规划中“抓夹抓住灰色的碗”这一节点完全吻合，因此任务进度上升至50%。", + "state_description": "当前关键点状态显示，机械臂的夹爪已经成功闭合，牢固地抓取了位于桌子中央的目标灰色纹理碗，并且已经将碗垂直提起，使其悬空。右侧前方的白色盘子（目标放置区）目前为空。任务已经完成了抓取阶段，物体被控制在半空中，准备进行下一步的搬运。", + "time": 2.269666, + "vlm_progress": 50 + }, + { + "action_description": "在视频开始时，机械臂的抓夹已经位于桌子中央并抓住了灰色的碗。随后，机械臂向上抬起，并将灰色的碗向右前方移动。视频结束时，机械臂悬停在半空中，灰色的碗已经被搬运到了靠近桌子右前方白色盘子的上方区域。", + "correction_plan": "当前动作执行顺利，接下来的操作应是将悬停在盘子上方的碗垂直向下移动，直到碗底接触盘子表面，然后松开抓夹完成放置。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在抓住物体后，能够平稳地将其提升并沿正确的方向（向右前方）移动至目标盘子所在的位置。整个过程中物体未掉落，且移动路径清晰无误，准确到达了预定的接近状态。", + "frame": 91, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时，进度为50%，对应规划中的“抓夹抓住灰色的碗”。在视频过程中，机械臂执行了抬起和移动的动作，将碗从抓取点移动到了放置点附近。视频结束时，碗位于盘子上方区域，符合规划中“抓夹抓住灰色的碗接近盘子”的描述，即75%的进度节点。因此，任务进度从50%上升到了75%。", + "state_description": "当前关键点状态显示机械臂成功抓取并持有了目标物体（灰色碗）。碗已经离开了桌面的初始位置，被悬空运输到了目标区域（白色盘子）的附近。抓夹紧紧握住碗边缘，没有发生滑落。场景中的其他物体（如前方的盒子、右侧的另一个碗）未受到干扰。目前的姿态表明搬运过程已完成大半，正处于接近盘子准备放置的阶段。", + "time": 3.047, + "vlm_progress": 75 + }, + { + "action_description": "机械臂抓取着灰色的碗，从桌子上方移动并下降，将其精准地运送到右侧前方带有红色边缘的白色盘子正上方，执行放置动作。", + "correction_plan": "任务已成功完成，无需纠错。接下来的可行动作应为：控制抓夹张开以释放灰色碗，随后机械臂垂直向上抬起并缩回，离开盘子区域。", + "error_success_analysis": "该动作是成功的。机械臂准确地将目标物体（灰色碗）从起始点移动到了指定的终点（右侧盘子），过程中没有发生掉落、碰撞或位置偏移，完全符合任务预期。", + "frame": 110, + "progress": 100, + "progress_check": 1, + "progress_explanation": "根据任务规划，视频开始时处于‘抓夹抓住灰色的碗接近盘子’的状态，进度为75%。在视频过程中，机械臂成功执行了最后一段位移，将碗从空中移动到了目标盘子上，实现了‘抓夹将灰色的碗放在盘子上’的目标，因此任务进度上升至100%。", + "state_description": "当前状态下，机械臂的黑色抓夹紧紧固定着目标灰色纹理碗，碗的位置已经调整到了白色盘子的中心上方，且高度已经下降至贴近盘面。这标志着物体运输阶段的结束，处于任务最终完成的节点。", + "time": 3.666667, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.666667 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769505073.8383768/observation.images.Success1769505073.8383768/Success1769505073.8383768.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769505073.8383768/observation.images.Success1769505073.8383768/Success1769505073.8383768.json new file mode 100644 index 0000000000000000000000000000000000000000..16fc9792e2645b4d58ecce2b16982695b15a478d --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769505073.8383768/observation.images.Success1769505073.8383768/Success1769505073.8383768.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于后方高处的初始位置。随后，机械臂向下并向前移动，朝向桌子中央区域。到视频结束时，机械臂的抓夹已经精准地悬停在桌子正中央那个灰色碗的上方，抓夹保持张开状态，完成了接近动作。", + "correction_plan": "当前状态无需修正。接下来的操作应为：控制机械臂垂直向下微调高度，使抓夹指尖低于碗沿，随后闭合抓夹以牢固抓住灰色的碗。", + "error_success_analysis": "该动作是成功的。机械臂的运动路径平滑，且准确地定位到了任务指定的目标（桌子中央的灰色碗），而非其他位置的碗。末端执行器的姿态垂直向下，为接下来的抓取做好了完美准备，未出现任何偏差或错误。", + "frame": 31, + "progress": 25, + "progress_check": 1, + "progress_explanation": "这段视频展示了机械臂从初始位置移动到目标物体上方的过程。根据任务规划，'抓夹开始移动'为0%，而'抓夹接近灰色的碗'为25%。视频结束时，抓夹正好处于接近并悬停在目标碗上方的状态，完全符合25%节点的定义，因此进度由0%上升至25%。", + "state_description": "当前场景中，机械臂的抓夹位于桌子中央灰色碗的正上方，处于预备抓取的位置（Pre-grasp pose）。目标灰色碗静止在桌面上，未被移动。右侧的盘子和周围的其他物体（如食品盒、其他碗）均未受到干扰。系统已经完成了接近目标的子任务，接下来的逻辑步骤是进行抓取。", + "time": 1.027333, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂悬停在桌子中央灰色碗的上方。随后，机械臂垂直向下移动，使抓夹末端准确对准并包围住灰色碗。接着，抓夹执行闭合动作，紧紧抓住了灰色碗。视频结束时，机械臂保持在低位，抓夹已完成对碗的抓取。", + "correction_plan": "既然已经成功抓住物体，接下来的操作应该是将机械臂向上抬起（Up），以避免在水平移动时物体与桌面或其他障碍物碰撞，随后向右前方移动，将碗运送至盘子上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在垂直方向上的下落位置精准，没有发生偏移，抓夹闭合时机正确，成功捕获了目标物体，且未对周围环境造成干扰。", + "frame": 69, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时对应任务规划中的接近阶段（25%）。在视频过程中，机械臂完成了从上方接近到实际抓取的一系列动作。结束时，抓夹已经牢固地抓住了灰色碗，完全符合任务规划中进度为50%的描述（抓夹抓住灰色的碗），因此进度确认为50%。", + "state_description": "当前状态下，机械臂的抓夹位于桌子中央位置，已经成功闭合并抓住了目标灰色碗。右前方的红边盘子、右侧的抽屉柜以及前方的食品包装盒均处于静止状态。任务已完成抓取阶段，准备进入搬运阶段。", + "time": 2.288499, + "vlm_progress": 50 + }, + { + "action_description": "在这段视频中，机械臂夹持着从桌子中央抓取的灰色碗，将其向上抬起，并向右前方的红边白底盘子方向移动。", + "correction_plan": "当前动作正确，后续应继续将灰色碗移动至红边白底盘子的正上方，对准位置后控制机械臂下降，将碗平稳放置在盘子上，最后松开抓夹。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在移动过程中没有发生物体滑落，且移动方向正确指向目标区域（右前方的盘子），顺利完成了从抓取点到接近放置点的过渡。", + "frame": 92, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂刚刚完成抓取动作，处于任务规划的50%进度点。在视频过程中，机械臂执行了将碗运送向盘子的动作，视频结束时，碗已经移动到了盘子附近区域，符合“抓夹抓住灰色的碗接近盘子”的描述，即75%的进度。因此，任务进度从50%上升至75%是合理的，因为动作有效地推进了物体运输。", + "state_description": "当前关键点状态显示，机械臂正稳固地抓取着灰色碗，碗悬浮在桌面方，位于初始位置和目标盘子之间的路径上。右前方的盘子为空，等待放置。任务已成功完成抓取阶段，目前处于将物体运输至目标位置的过程中。", + "time": 3.078166, + "vlm_progress": 75 + }, + { + "action_description": "在这段视频中，机械臂抓夹紧紧抓住灰色的碗，从右前方盘子的上方位置开始向下垂直移动，调整高度和微调水平位置，最终将碗平稳地放置在红边白底的盘子上。", + "correction_plan": "既然碗已经成功放置在盘子上，接下来的正确操作是松开抓夹（Open Gripper）以释放物体，然后将机械臂向上抬起（Move Up）并复位，从而完全结束任务。", + "error_success_analysis": "这段动作是成功的。机械臂的空间规划准确，能够将抓取的物体精准对齐到目标容器（盘子）上方，并执行了稳定的下降动作，使碗平稳入盘，未出现碰撞或位置偏差。", + "frame": 115, + "progress": 99, + "progress_check": 1, + "progress_explanation": "视频开始时进度为75%，对应“抓夹抓住灰色的碗接近盘子”的状态。视频结束时，碗已经被物理放置在盘子上，完成了“抓夹将灰色的碗放在盘子上”这一动作。根据任务规划，这是任务的最后一步（100%），标注给出的99%非常接近完成态，反映了放置动作的完成，因此进度显著上升至99%。", + "state_description": "关键点状态显示，灰色的碗已经准确地坐落在右前方的盘子中央，碗底与盘面接触。机械臂的抓夹仍然位于碗的两侧，保持着抓取姿态或刚刚完成放置准备松开。任务的主要目标——将碗移动并放置到盘子上——已经达成。", + "time": 3.833333, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769505849.4300506/observation.images.Success1769505849.4300506/Success1769505849.4300506.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769505849.4300506/observation.images.Success1769505849.4300506/Success1769505849.4300506.json new file mode 100644 index 0000000000000000000000000000000000000000..39ba8d33d005dc0d8ceca78ddcf9a746a9f0fb35 --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769505849.4300506/observation.images.Success1769505849.4300506/Success1769505849.4300506.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频中，机械臂从起始位置开始动作，主要向下方和前方移动，将末端执行器（抓夹）精准地移动到了桌子中央那个光滑灰色碗的正上方位置，并且抓夹保持张开状态。", + "correction_plan": "当前动作正确，无需修正。接下来的动作应当是控制抓夹闭合，牢固地抓住灰色碗，随后向上提起碗并移动向盘子方向。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地定位了桌面中央的灰色碗，路径规划合理，没有发生碰撞或错误的目标识别，最终平稳地停在了目标上方，为下一步抓取做好了准备。", + "frame": 30, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时任务进度为0%，机械臂开始移动。视频结束时，机械臂已经成功完成了从起始点移动到目标物体上方的动作，达到了预抓取位置。根据任务规划，'抓夹接近灰色的碗'这一节点对应25%的进度。动作执行准确，因此进度判定为25%。", + "state_description": "当前关键点状态是机械臂的抓夹已经悬停在目标物体（桌子中央的灰色碗）上方，处于预抓取姿态。抓夹张开，与碗对齐良好。这对应了任务规划中“接近灰色的碗”的状态。后续规划应是闭合抓夹以抓取物体。", + "time": 0.992, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，白色的机械臂抓夹悬停在桌子中央灰色碗的上方。随后，机械臂控制抓夹垂直向下移动，使张开的夹爪包围住灰色碗。接着，抓夹闭合，紧紧抓住了灰色碗。最后，机械臂执行向上移动的动作，将灰色碗垂直提离桌面。", + "correction_plan": "当前操作成功，无需修正。接下来的计划是控制机械臂向右前方移动，将抓取的灰色碗运送到白色盘子的正上方，为放置动作做准备。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地识别并定位了桌子中央的灰色碗，向下移动的方位垂直且精准，抓夹闭合时机正确，成功实现了对物体的物理抓取和提升，没有发生抓空或碰撞错误。", + "frame": 67, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时进度为25%，处于抓夹接近碗的阶段。在视频过程中，机器人完成了下降对准、闭合抓取以及向上提起的完整抓取动作。根据任务规划，'抓夹抓住灰色的碗'对应50%的进度。由于动作成功执行且碗已被提起，进度按计划上升至50%。", + "state_description": "当前关键点状态显示，机械臂的抓夹已经成功抓取了目标灰色碗，并将其悬停在空中。碗已经离开了桌面，且被稳固地夹持住。场景中的其他物品，如右前方的盘子、正前方的食品盒和右侧的抽屉柜均未受干扰。此时已完成抓取动作，后续需要将碗移动到右侧的盘子上。", + "time": 2.228, + "vlm_progress": 50 + }, + { + "action_description": "机械臂夹持着位于桌子中央的灰色碗，将其向上提起离开桌面，随后向右前方移动，最终将碗运送到右侧红边白色盘子的上方区域悬停。", + "correction_plan": "鉴于机械臂已将碗成功运送至盘子上方，接下来的动作应是控制机械臂垂直向下移动（-Z轴方向），直到碗平稳接触盘子表面，然后松开夹爪完成任务。", + "error_success_analysis": "这段视频的动作是成功的。机械臂在移动过程中稳固地夹持住物体，没有发生掉落，且移动方向准确指向目标盘子（右前方），有效地执行了从抓取点到放置点的过渡。", + "frame": 95, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂已经完成了抓取动作，对应任务规划的50%。在视频过程中，机械臂执行了提起和移动的动作，将碗带到了盘子附近。结束时，碗悬停在盘子上方，完全符合'抓夹抓住灰色的碗接近盘子'这一节点描述，因此任务进度上升至75%。", + "state_description": "当前关键点状态显示，机械臂成功抓取了目标灰色碗并将其搬运至半空中。碗的位置现在处于目标盘子的正上方，准备进行放置。场景中其他物体如右侧的大碗、前方的食品盒和右侧的抽屉柜均保持静止，未受干扰。任务已完成搬运阶段，即将进入最终的放置阶段。", + "time": 3.18, + "vlm_progress": 75 + }, + { + "action_description": "在这段视频中，机械臂抓取着桌子中央的灰色碗，向右下方移动并下降高度，将碗精确地运送到了右前方带有红色边缘的白色盘子正上方，准备进行最终的放置。", + "correction_plan": "当前动作执行完美，无需修正。接下来的动作应当是张开抓夹（Open Gripper）以释放灰色碗，使其落在盘子上，随后机械臂向上抬起（Move Up）离开。", + "error_success_analysis": "这段视频的动作是成功的。机械臂规划的路径清晰，平稳地将物体从空中移动到了目标容器（盘子）的上方，空间方位判断准确（右前方），没有出现偏差或碰撞。", + "frame": 118, + "progress": 95, + "progress_check": 1, + "progress_explanation": "视频开始时任务进度为75%，对应抓夹抓住碗接近盘子的状态。视频结束时，机械臂已经将碗移动到了盘子正上方的放置位，完成了从接近到对准放置的动作，距离最终松开抓夹完成任务仅一步之遥，因此进度显著上升至95%。", + "state_description": "当前状态下，机械臂的抓夹牢固地抓着灰色小碗，碗体位于白色盘子的正上方，且高度已经降得很低，与盘面非常接近。机械臂的姿态稳定，位置对齐准确，处于完成任务前的最后准备阶段。", + "time": 3.932, + "vlm_progress": 95 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 4.0 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506118.58876/observation.images.Success1769506118.58876/Success1769506118.58876.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506118.58876/observation.images.Success1769506118.58876/Success1769506118.58876.json new file mode 100644 index 0000000000000000000000000000000000000000..330553e48e39bd7b4f1a9f437c36b2994c057e6b --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506118.58876/observation.images.Success1769506118.58876/Success1769506118.58876.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂位于高处的初始位置。随后，机械臂向下方和前方移动，目标直指放置在桌面正中央的灰色碗。在移动过程中，黑色抓夹保持张开状态，最终停留在灰色碗的上方，完成了接近目标的动作。", + "correction_plan": "鉴于动作执行成功且当前状态正确，接下来的计划是执行抓取动作。具体操作为：控制机械臂垂直向下（-Z轴方向）移动，使抓夹完全包围灰色碗，然后闭合抓夹以牢固抓住碗。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地定位了位于桌面中央的目标灰色碗，并平稳地移动到了其上方。路径规划合理，避开了前方的黄色食品盒和右侧的加热台，抓夹的朝向和位置都为接下来的抓取动作创造了理想条件，没有发生任何偏差或错误。", + "frame": 28, + "progress": 25, + "progress_check": 1, + "progress_explanation": "根据任务规划，任务开始时进度为0%。在视频结束时，机械臂已经完成了从起始点到目标物体附近的移动，即‘抓夹接近灰色的碗’这一节点。按照给定的进度定义，这一阶段的完成对应25%的进度。因此，任务进度由0%上升至25%。", + "state_description": "当前关键点状态显示，机械臂的抓夹已经成功移动到了目标物体——桌面中央灰色碗的上方近处，处于待抓取的悬停状态。桌面上的其他物品如右侧的盘子、前方的黄色盒子均未被触碰，位置保持不变。这一状态标志着抓取前的准备工作已经就绪，对应任务规划中的接近阶段。", + "time": 0.938666, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂位于桌面中央上方，正对准目标灰色碗。在视频过程中，机械臂垂直向下（Z轴向下）移动，直到抓夹触及并包围住灰色碗的边缘。随后，黑色抓夹闭合，牢固地抓住了灰色碗。动作主要发生在垂直方向，没有明显的水平位移。", + "correction_plan": "既然已经成功抓住灰色碗，接下来的动作是将机械臂垂直向上抬起一段距离，以确保移动过程中碗底不会剐蹭桌面或碰到前方的黄色包装盒，然后控制机械臂向右前方移动，前往白色盘子的上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地执行了预定的抓取动作，位置对齐精准，抓夹闭合时机正确，成功抓住了目标物体，且在操作过程中没有触碰或推倒周围的其他障碍物（如前方的黄色盒子）。", + "frame": 62, + "progress": 50, + "progress_check": "1", + "progress_explanation": "视频开始时，抓夹处于接近灰色碗的状态，进度为25%。视频结束时，机械臂完成了下放和闭合抓夹的动作，成功实现了'抓夹抓住灰色的碗'这一里程碑。根据任务规划，该状态对应的进度为50%。因此，任务进度从25%上升至50%。", + "state_description": "当前关键点状态是机械臂的抓夹已经成功抓住了位于桌面中央的灰色碗。目标物体已被控制。桌面右前方的白色盘子是接下来的放置目标。环境中的其他物品如抽屉柜、银色杯子等位置未变，未发生碰撞。任务处于完成抓取，准备转移的阶段。", + "time": 2.075333, + "vlm_progress": "50" + }, + { + "action_description": "视频开始时，黑色抓夹位于桌面中央，已经成功抓取了灰色碗。随后，机械臂向上抬起并将灰色碗向右方平稳移动。视频结束时，抓夹悬停在右侧带有红色圆环花纹的白色盘子正上方，准备进行放置。", + "correction_plan": "动作执行正确，无需修正。接下来的可行动作是：控制机械臂垂直向下移动（Z轴负方向），直到灰色碗平稳放置在盘子上，然后打开抓夹释放物体，最后抬起机械臂复位。", + "error_success_analysis": "这段视频的动作是成功的。机器人准确地识别了目标位置（右侧的白色盘子），并在保持对灰色碗稳定抓取的情况下，将其从起始位置平稳地运送到了目标位置上方，没有出现掉落或路径偏差。", + "frame": 84, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时，机器人已经完成了抓取动作，进度为50%。在视频中，机器人执行了搬运任务，将抓住的灰色碗从桌面中央移动到了白色盘子的上方。视频结束时，碗已经处于盘子上方并准备放置，这与任务规划中'抓夹抓住灰色的碗接近盘子'的状态完全一致，因此进度上升至75%。", + "state_description": "当前关键点状态显示，机械臂抓夹紧紧夹持着目标灰色碗，位于桌面右侧区域的半空中。碗的正下方是目标放置点——白色盘子。相比于初始状态，碗已经离开了桌面并被运送到目标位置上方，完成了'移动接近'的任务阶段，等待执行最后的'放下'动作。", + "time": 2.812333, + "vlm_progress": 75 + }, + { + "action_description": "视频开始时，机械臂的黑色抓夹紧紧抓住灰色的碗，悬停在桌子中央偏右的上方区域。随后，机械臂向右前方和下方移动，执行搬运通过作。视频结束时，机械臂成功将灰色的碗运送并定位到了桌子右前方那个带有红色圆环花纹的白色盘子正上方，碗底距离盘面非常近，呈悬停待释放状态。", + "correction_plan": "当前操作无误，无需纠正。接下来的可行动作是：控制抓夹张开（Open Gripper），使灰色的碗平稳落在下方的白色盘子上，随后机械臂垂直向上抬起（Move Up）以退出工作区，从而达成100%的任务完成度。", + "error_success_analysis": "这段视频的动作是成功的。机械臂的运动轨迹平滑且准确，直接导向目标盘子所在的右前方。在移动过程中，抓取保持稳定，没有发生物体滑落，也没有碰撞到桌面上紧凑摆放的其他物体（如银色杯子或黄色盒子）。最终碗悬停的位置非常正，为放置动作做好了完美准备。", + "frame": 107, + "progress": 95, + "progress_check": "1", + "progress_explanation": "这段视频开始时，进度为75%，处于抓住碗并接近盘子的过程中。在视频播放期间，机械臂完成了从空中接近盘子并将碗精确定位在盘子正上方的动作。这是一个关键的位移步骤，直接将物体送达了目标位置。虽然抓夹尚未松开，但物理搬运已全部完成，因此任务进度上升至95%是合理的，表示仅剩最后的释放动作。", + "state_description": "当前画面显示，机器人正处于任务的最后阶段。黑色抓夹依然闭合，稳固地夹持着目标灰色碗。碗的位置已经精确地调整到了目标容器——白色盘子的正上方。周围环境中的银色杯子和黄色盒子未受干扰。此时的任务状态是“已就位”，距离任务完成仅有一步之遥（松开抓夹）。", + "time": 3.564, + "vlm_progress": "95" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.666667 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506238.727691/observation.images.Success1769506238.727691/Success1769506238.727691.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506238.727691/observation.images.Success1769506238.727691/Success1769506238.727691.json new file mode 100644 index 0000000000000000000000000000000000000000..e95766d59919d6c415c11680d738538ab155ab1b --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506238.727691/observation.images.Success1769506238.727691/Success1769506238.727691.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，白色机械臂位于后方高处初始位置。随后，机械臂启动，大臂向下压，小臂向前伸展，末端抓夹保持张开状态，向桌子中央移动。视频结束时，抓夹准确地移动到了桌子中央那个灰色碗的正上方，并将抓夹的两指调整至碗的两侧，完成了接近动作。", + "correction_plan": "当前动作无误，无需修正。后续规划动作应为：控制抓夹闭合（Close Gripper）以稳固抓住灰色碗，接着控制机械臂垂直向上抬起（Lift）以使碗脱离桌面，避免碰撞前方物体，然后向右前方移动至盘子上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别并定位了桌子中央的目标灰色碗，而非右侧的灰色碗或后方的金属罐。移动路径没有发生碰撞，最终的末端执行器姿态（End-effector pose）垂直于桌面且对准碗心，非常适合进行抓取操作。", + "frame": 31, + "progress": 25, + "progress_check": 1, + "progress_explanation": "这段视频展示了任务的第一阶段，即从静止状态到接触目标的移动过程。根据任务规划，'抓夹接近灰色的碗'对应25%的进度。视频结束时，抓夹已经到达了碗的抓取位置，完全符合这一里程碑的描述，因此任务进度从0%上升至25%。", + "state_description": "当前关键点状态为预抓取状态（Pre-grasp）。机械臂的抓夹位于目标灰色碗的上方，垂直对齐，并未闭合。目标灰色碗静止在桌子中央，未发生位移。右前方的盘子和中间的食品包装盒等其他物体均未受到干扰。系统已准备好执行下一步的闭合抓取动作。", + "time": 1.042666, + "vlm_progress": 25 + }, + { + "action_description": "在这段视频中，机械臂末端的抓夹从位于桌子中央灰色碗的正上方开始，垂直向下移动靠近碗。当抓夹的指尖达到碗身高度时，抓夹闭合，成功抓住了桌子中央的灰色碗。", + "correction_plan": "当前状态为已成功抓住碗，接下来的动作应是向上抬起机械臂以离开桌面，然后向右前方移动，将碗运送到红边白色盘子的上方。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地定位在目标灰色碗的上方，垂直下降的距离适中，且抓夹闭合的时机准确，稳固地抓住了目标物体，没有发生抓空或碰撞其他物体的情况。", + "frame": 70, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，抓夹处于接近碗的状态，对应任务进度的25%。在视频过程中，机械臂执行了下放和闭合抓夹的动作，成功将碗抓在手中。根据任务规划，'抓夹抓住灰色的碗'对应进度的50%。动作顺利完成，没有发生错误，因此进度上升至50%。", + "state_description": "视频结束时，机械臂的白色抓夹已经紧紧抓住了位于桌面中央的灰色目标碗。碗目前仍停留在桌面上，但已被抓夹固定，处于被抓取状态。右前方的红边白色盘子是空置的，等待放入。此时已完成抓取动作，准备进入移动阶段。", + "time": 2.334499, + "vlm_progress": 50 + }, + { + "action_description": "视频开始时，机械臂的抓夹已经抓住了位于桌面中央的灰色碗。随后，机械臂向上抬起并将灰色碗向右前方移动，越过了中间的黄色食品包装盒，最终将碗运送到了红边白色盘子的正上方悬停。", + "correction_plan": "动作执行正确，无需修正。接下来的动作应是控制机械臂垂直向下移动，直到灰色碗接触盘子表面，然后松开抓夹完成放置。", + "error_success_analysis": "这段视频的动作为成功。机械臂准确地保持了对灰色碗的抓取，没有发生掉落。同时，机械臂移动路径正确（向右前方），成功将物体运送到了指定的目标盘子上方，符合任务逻辑中关于'接近盘子'的要求。", + "frame": 92, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时进度为50%，对应抓夹抓住碗的状态。在视频过程中，机械臂执行了搬运操作，将碗从桌面中央成功移动到了目标盘子的上方。根据任务规划，'抓夹抓住灰色的碗接近盘子'对应75%的进度。由于机械臂已经完成了接近盘子的动作，处于放置前的悬停状态，因此任务进度上升至75%。", + "state_description": "当前状态显示机械臂紧紧抓握着灰色的碗，碗位于右前方红边白色盘子的垂直上方，位置对齐准确。机械臂已经完成了从抓取位置到目标放置区域的搬运过程，且避开了周围的障碍物。抓夹处于闭合状态，物体未掉落，处于准备放置的阶段。", + "time": 3.070499, + "vlm_progress": 75 + }, + { + "action_description": "视频开始时，机械臂正抓取着灰色的碗，悬停在桌面右前方红边白色盘子的正上方。随后，机械臂缓慢向下移动（降低高度），调整位置使碗对准盘子中心。接着，机械爪张开，将灰色的碗平稳地释放并放置在盘子上。最后，机械臂在松开碗后轻微向上抬起，完成了放置动作。", + "correction_plan": "由于任务已经成功完成，当前无需进行动作纠正。后续建议将机械臂复位到初始安全位置（如向上并向后移动），或等待下一个任务指令。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了目标位置（盘子），并控制机械臂将碗移动到盘子正上方，下降高度后平稳释放，没有发生物体掉落、碰撞或位置偏差，完全符合任务预期。", + "frame": 114, + "progress": 100, + "progress_check": 1, + "progress_explanation": "这段视频展示了任务的最后一步：放置。开始时，机械臂已经完成了抓取和搬运，处于接近盘子的状态，符合75%的进度节点。视频结束时，碗已经被成功放置在盘子上，达到了任务的最终目标，因此进度从75%上升至100%。", + "state_description": "当前关键点状态显示，目标灰色的碗已经准确且平稳地放置在右前方的红边白色盘子中。机械臂的夹爪处于张开状态，悬停在盘子和碗的上方，与物体分离。桌面上的其他物品（如抽屉柜、食品盒、金属罐等）位置未发生改变。任务已圆满完成。", + "time": 3.810333, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.833333 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506551.531523/observation.images.Success1769506551.531523/Success1769506551.531523.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506551.531523/observation.images.Success1769506551.531523/Success1769506551.531523.json new file mode 100644 index 0000000000000000000000000000000000000000..3290714e68f123a1365440355ffa9f649f66808e --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506551.531523/observation.images.Success1769506551.531523/Success1769506551.531523.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "视频开始时，机械臂的白色抓夹位于桌子后方的高处。随着视频播放，抓夹向下并向桌子中央移动，精准地定位到位于桌子中央的目标灰色碗的上方。", + "correction_plan": "鉴于当前状态为成功的预抓取状态（抓夹位于碗上方），接下来的正确动作是控制抓夹垂直向下移动，直到完全包围灰色碗的边缘，然后闭合抓夹以稳固地抓住物体。", + "error_success_analysis": "这段动作是成功的。机械臂准确区分了目标（中央的灰色碗）和干扰项（右侧的灰色碗），路径规划合理，平稳地移动到了目标物体的正上方，没有发生偏移或碰撞。", + "frame": 30, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频展示了任务的第一步，即机械臂从初始位置移动到目标物体附近。根据任务规划，‘抓夹接近灰色的碗’对应的进度为25%。由于机械臂成功完成了这一移动并停在目标上方，任务进度由0%上升至25%。", + "state_description": "当前关键点状态显示，机械臂的抓夹正悬停在桌子中央灰色碗的正上方，爪子处于张开状态，准备进行抓取。目标灰色碗静止在原位，右侧的盘子和另一只灰色碗未被触碰。场景中各物品位置相对稳定，机械臂已处于理想的预抓取位置。", + "time": 1.008332, + "vlm_progress": 25 + }, + { + "action_description": "视频中，机械臂末端执行器从位于桌子中央的灰色碗上方垂直向下移动。到达适当高度后，机械爪闭合，准确地抓住了目标灰色碗的边缘。整个动作流畅，仅包含下降和抓取两个步骤。", + "correction_plan": "当前抓取已成功，后续应当执行搬运任务。建议动作是：控制机械臂向上抬起（Up），使碗离开桌面，然后向右前方（Front-Left）移动，前往白底红边盘子的位置。", + "error_success_analysis": "该动作是成功的。机械臂在下降过程中保持了垂直方向，精准对齐了目标物体（灰色碗）。机械爪闭合时，碗位于爪子中心，抓取稳固，没有发生抓空、滑落或碰撞周围物体（如食品包装盒）的情况。", + "frame": 65, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频展示了从悬停在碗上方到完成抓取的过程。按照任务规划，开始时对应'抓夹接近灰色的碗'（25%），结束时对应'抓夹抓住灰色的碗'（50%）。由于机械臂成功完成了抓取动作，任务进度按计划从25%提升至50%。", + "state_description": "当前机械臂的机械爪处于闭合状态，已成功夹持住桌子中央的灰色碗。目标物体已被控制，准备进行后续的搬运操作。场景中其他物体如右侧的盘子、右侧的柜子等均保持静止，未受干扰。当前状态标志着抓取阶段的完成。", + "time": 2.178, + "vlm_progress": 50 + }, + { + "action_description": "机器人手臂将位于桌子中央的灰色碗抓取并向上提起，随后向右前方移动，将碗运送至靠近右前方白底红边盘子的位置。", + "correction_plan": "继续当前的运动轨迹，将灰色碗移动到白底红边盘子的正上方，随后控制机械臂下降，将碗平稳放置在盘子上。", + "error_success_analysis": "这段视频的动作是成功的。机器人不仅保持了对物体的稳定抓取，而且沿着正确的轨迹（向右前方）将物体运送到了目标容器（盘子）附近，为接下来的放置动作做好了准备。", + "frame": 89, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时任务处于抓取完成的状态（50%）。在片段中，机器人执行了将碗提起并移动到盘子附近的动作，这与任务规划中'抓夹抓住灰色的碗接近盘子'（75%）的描述完全一致，因此任务进度上升至75%。", + "state_description": "当前机器人抓夹牢固地抓着灰色碗，碗悬停在空中，位于桌子中央与右侧盘子之间的路径上，正处于接近目标盘子的状态。场景中其他物体位置未变，目标明确。", + "time": 2.97, + "vlm_progress": 75 + }, + { + "action_description": "在视频片段中，机械臂抓取着灰色的碗，从桌面上方的位置向右前方移动，同时高度下降。机械臂将碗平稳地运送到了白底红边盘子的正上方，并调整高度使碗非常接近盘子表面，准备进行放置。", + "correction_plan": "当前动作已成功将物体送达目标位置，接下来的可行动作是：原地松开抓夹（Open Gripper），将灰色碗放置在盘子上，然后将机械臂垂直向上抬起以离开工作区域。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地执行了“接近盘子”和“对准放置位置”的指令。机械臂在移动过程中没有发生碰撞或物体滑落，最终将灰色碗完美地定位在目标盘子的上方，符合任务规划预期。", + "frame": 110, + "progress": 98, + "progress_check": 1, + "progress_explanation": "视频开始时，任务处于抓取碗接近盘子的阶段，进度为75%。在视频过程中，机械臂成功完成了将碗从空中移动到盘子正上方的动作，并完成了对准和下降，这意味着运输和定位步骤已全部完成。由于只剩下最后一步“松开抓夹”，任务进度自然上升至非常接近100%的数值，即98%。", + "state_description": "当前机械臂的抓夹处于闭合状态，牢固地抓着灰色的碗。碗的位置已经精准地位于右前方白底红边盘子的正上方，且高度极低，几乎接触到盘面。这是任务完成前的最后准备状态，此时只剩下松开抓夹这一动作。", + "time": 3.652, + "vlm_progress": 98 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.666667 +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506827.6415775/observation.images.Success1769506827.6415775/Success1769506827.6415775.json b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506827.6415775/observation.images.Success1769506827.6415775/Success1769506827.6415775.json new file mode 100644 index 0000000000000000000000000000000000000000..ace4b326ad19ee9a8fa6b092ee51602b81d2f98b --- /dev/null +++ b/annotation_files_raw/dataset_ver/video_type_data/libero_zty50/annotations/chunk-Success1769506827.6415775/observation.images.Success1769506827.6415775/Success1769506827.6415775.json @@ -0,0 +1,57 @@ +{ + "task_description": "抓取桌子中央灰色的碗，放在盘子上：\n抓夹开始移动：0%\n抓夹接近灰色的碗：25%\n抓夹抓住灰色的碗：50%\n抓夹抓住灰色的碗接近盘子：75%\n抓夹将灰色的碗放在盘子上：100%", + "progress_points": [ + { + "action_description": "机械臂从底座位置启动，向桌面前方和下方移动，调整姿态后，抓夹准确地移动到了桌子中央那个灰色碗的正上方悬停位置。", + "correction_plan": "当前动作执行正确，无需纠正。接下来的建议动作是：控制机械臂垂直向下移动（Z轴向下），使抓夹包围住灰色碗，然后闭合抓夹进行抓取。", + "error_success_analysis": "这段动作是成功的。机械臂准确识别了目标物体（桌子中央的灰色碗），并规划了合理的路径将末端执行器移动到了目标上方，动作流畅且无偏差。", + "frame": 31, + "progress": 25, + "progress_check": 1, + "progress_explanation": "视频开始时机械臂处于初始位置（0%）。视频内容展示了机械臂移动并接近目标物体的过程。结束时，抓夹已成功悬停在目标灰色碗上方，对应任务规划中的“抓夹接近灰色的碗”这一节点，因此进度为25%。", + "state_description": "当前机械臂处于预抓取状态，抓夹张开并位于目标灰色碗的垂直上方。桌面上其他物品如右侧的盘子、右后方的银色罐子和前方的食品盒均保持静止。机器人已准备好执行下一步的下降和抓取动作。", + "time": 1.044999, + "vlm_progress": 25 + }, + { + "action_description": "视频开始时，机械臂位于桌子中央灰色碗的上方。随后机械臂垂直向下移动，使抓夹末端包围住灰色碗。接着抓夹闭合，紧紧抓住灰色碗的边缘。最后，机械臂向上垂直抬起，将灰色碗提离桌面。", + "correction_plan": "当前动作执行成功，无需修正。接下来的动作应控制机械臂带着抓取的灰色碗向右前方移动，前往带有红边的白色盘子上方，准备进行放置动作。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确地定位在目标灰色碗上方，垂直下降没有偏差，抓夹闭合时机恰当，稳固地抓住了物体，并成功将其提起，没有发生抓空或碰撞其他物体的错误。", + "frame": 72, + "progress": 50, + "progress_check": 1, + "progress_explanation": "视频开始时，抓夹处于接近灰色碗的状态（对应规划的25%）。视频结束时，抓夹已经完全闭合抓住灰色碗并将其抬起，这正是任务规划中定义的'抓夹抓住灰色的碗'这一里程碑，对应进度50%。因此进度从25%上升到50%。", + "state_description": "当前机械臂的抓夹已经成功抓住了位于桌子中央的灰色碗，并将其悬停在半空中。碗处于稳定状态，没有掉落风险。盘子位于机械臂右前方，那是下一个目标位置。任务已完成抓取阶段，准备进入移动阶段。", + "time": 2.409, + "vlm_progress": 50 + }, + { + "action_description": "视频中，机械臂夹爪已经紧紧抓住桌面中央的灰色碗。机械臂先将碗垂直向上提起离开桌面，随即向右前方水平移动，最终将灰色碗搬运并悬停在右侧带有红边的白色盘子正上方。", + "correction_plan": "当前动作执行正确，无需纠正。接下来的可行动作应为：控制机械臂垂直向下移动，直到灰色碗接触盘子表面，然后控制夹爪张开以释放物体，完成放置任务。", + "error_success_analysis": "这段视频的动作是成功的。首先，抓取非常稳固，物体在移动中未滑落；其次，空间方位的移动路径准确，机械臂正确地将物体从桌面中央移向了右前方的盘子区域，没有偏差。", + "frame": 93, + "progress": 75, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂处于已抓住碗的状态，对应任务进度的50%。在视频过程中，机械臂执行了从抓取位置到放置位置的移动动作，成功将碗带到了盘子上方，达成了“抓夹抓住灰色的碗接近盘子”的目标。因此，任务进度顺利从50%上升至75%。", + "state_description": "当前状态显示机械臂已成功完成抓取和搬运步骤。灰色碗被稳固地夹持在空中，其位置正处于目标容器（白色盘子）的上方。这是一个过渡状态，标志着“接近目标”阶段的完成，且为下一步的“放置”动作做好了准备。", + "time": 3.091, + "vlm_progress": 75 + }, + { + "action_description": "视频中，机械臂夹持着桌子中央的灰色碗，从桌面上方向右前方移动，移动到带有红边的白色盘子正上方。随后机械臂下降高度，松开抓夹，将灰色碗平稳地放置在盘子上。", + "correction_plan": "当前任务已成功完成，无需进一步的纠正动作。机械臂可以复位或等待下一个指令。", + "error_success_analysis": "这段视频的动作是成功的。机械臂准确识别了放置位置（盘子），平稳地移动了物体，并没有发生碰撞或物体滑落。最终释放动作时机恰当，物体被准确放置在目标容器内。", + "frame": 110, + "progress": 100, + "progress_check": 1, + "progress_explanation": "视频开始时，机械臂正抓着碗接近盘子，符合规划中75%的状态。视频结束时，碗已经被成功放置在盘子上且抓夹已松开，完全符合规划中“抓夹将灰色的碗放在盘子上”这一最终步骤，任务目标达成，因此进度为100。", + "state_description": "当前关键点状态显示，机械臂已完成抓取和移动动作，目标灰色碗现已位于右前方的白色盘子内。抓夹已经打开并与碗分离，碗稳稳地停留在盘子中心。任务的所有物理操作步骤均已完成，处于任务结束状态。", + "time": 3.666667, + "vlm_progress": 100 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [], + "duration": 3.666667 +} \ No newline at end of file